IC-TW28 Datasheet, PDF (30/80 Pages) IC-Haus GmbH – 10-BIT SIN/COS INTERPOLATOR

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Rev D2, Page 30/80
Bit
Bit Name
Null Write
3
1
3
0
2
9
2
8
2
7
2
6
2
5
2
4
2
3
2
2
2
1
2
0
1
9
1
8
1
7
1
6
1
5
1
4
1
3
1
2
1
1
1
0
9
8
7
6
5
4
3
2
1
0
st rm wm
1 ≠3 0 0 0 0
Ignored
Multi-cycle
Counter Write
Multi-cycle Counter
Atomic Read/Write
1 ≠3
1 ≠3
1 000
2 000
Reserved (0)
Reserved (0)
Multi-Cycle Counter Value (0 – 16,383) mcs
Multi-Cycle Counter Value (0 – 16,383) mcs
Register Write 1 ≠3 3 0 0 0
Register Address
Register Data
Position and
10
Status Read
Captured Position
11
and Status Read
Sin, Cos, and Zero
12
ADC Read
Register Data and
13
Position Read
X 000
X 000
X 000
0 000
Depends on Write Mode (wm)
Depends on Write Mode (wm)
Depends on Write Mode (wm)
Register Address
Ignored
Bit Name
Position and
Status Read
Captured Position
and Status Read
Sin, Cos, and Zero
ADC Read
Register Data and
Position Read
0 0 X X X X X X Multi-Cycle Counter Value (0 – 16,383)
Angle Value (0 – 1023)
0 0XXXXXX
Captured Multi-Cycle Counter Value
Captured Angle Value
0 0 0 0 Corrected Sin ADC Value
Corrected Cos ADC Value
Corr. Zero ADC Value
Register Data
Multi-Cycle Counter Value (0 – 16,383)
Angle Value (0 – 1023)
All values, addresses, and data are read and written MSB first.
Figure 22: SPI Command Reference
Command Packet Format
Command packets sent to the iC-TW28 by the host are
formatted
as
shown below. 3
0
0
0
0
0
0
0
w=0: Read
s
Address = 0: ANGLE Register
xSS
SCLK
Bit
SI
SO
3
1
3
0
2
9
2
8
2
7
2
6
2
5
2
4
2
3
2
2
2
1
2
0
1
9
1
8
1
7
1
6
1
5
1
4
1
3
1
2
1
1
1
0
9
8
7
6
5
4
3
2
1
0
SPI Control Byte
Command
Response to Previous Command
Figure 23: Command Packet Response to Previous Command Format
Because of the iC-TW28’s overlapped packet structure,
it is possible to write data to a register or the multiturn
counter and request read-back of position or other val-
ues in the same command. The control byte handles
this, as shown below.
Command
Bi^Dt^ata
Bit
31
7
30:29
6:5
28:27
4:3
26:24
2:0
SPI Control Byte
Name
Description
st
Start (must be 1)
rm
Read mode
wm
Write mode
–
Reserved (must be 0)
Table 14: SPI Control Byte
xSS
SCLK
SI
If s = 0, start a new conversion
on rising edge of xSS.
sw 0 0 0 0 1 1
not used
SO
data from previous request
Data to be returned is latched on falling
edge of xSS
next command word
addr = 3, this is a 0° sensor read
b
0°[9:0]
A read-only command is one in which the write mode
(wm) is 0. The type of data read is determined by the
read mode (rm) encoded in the control byte. A read-
/write command is one in which the write mode (wm) is
1, 2, or 3.
If s = 0, start a new conversion
on rising edge of xSS.