IC-MU_13 Datasheet, PDF(31/59 Page) IC-Haus GmbH – OFF-AXIS NONIUS ENCODER WITH INTEGRATED HALL SENSORS

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IC-MU_13 Datasheet, PDF (31/59 Pages) IC-Haus GmbH – OFF-AXIS NONIUS ENCODER WITH INTEGRATED HALL SENSORS

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iC-MU OFF-AXIS NONIUS ENCODER

WITH INTEGRATED HALL SENSORS

preliminary

SPI interface: general description

Rev B1, Page 31/59

NCS

SCLK: MODE 0

SCLK: MODE 3

MOSI

MISO

OP7 OP6 OP5 OP4 OP3 OP2 OP1 OP0 ADR7 ADR6 ADR5 ADR4 ADR3 ADR2 ADR1 ADR0

Figure 16: SPI transmission SPI-Mode 0 and 3, using opcode Read REGISTER(single) as an example

MODEA

Code

0x0

0x1

Description

SPITRI

SPI

Table 41: MODEA: SPI

In mode SPITRI MISO (Pin PA3) is set to tristate if the

slave is not selected by the master, i.e. NCS=1.

OPCODE

Code

0xB0

0xA6

0xF5

0x97

0xD2

0xAD

Description

ACTIVATE

SDAD-transmission (sensor data)

SDAD Status (no latch)

Read REGISTER(single)

Write REGISTER (single)

Table 42: SPI OPCODEs

SPI modes 0 and 3 are supported, i.e. idle level of

SCLK 0 or 1, acceptance of data on a rising edge.

Data is sent in packages of 8 bits and with the MSB

ï¬rst (see Figure 16). Each data transmission starts

with the master sending an opcode (Table 42) to the

slave.

For the setup to be compatible with SPI protocol, when

setting the sensor data length for the command "SDAD

transmission" with parameters OUT_MSB, OUT_LSB,

and OUT_ZERO, it must be ensured that the output

data length is a multiple of 8 bits.

The following describes the typical sequence of an SPI

data transmission, taking the command Read REGIS-

TER (single) as an example (see Figure 16):

SPI interface: Command ACTIVATE

1. The master initializes a transmission with a falling

edge at NCS.

2. iC-MU passes the level on from MOSI to MISO.

Each iC-MU has one RACTIVE and one PACTIVE reg-

ister. These registers are used pairwise to conï¬gure

the register data channel and the sensor/actuator data

channel of a slave.

3. The master transmits the opcode OP and ad-

dress ADR via MOSI; iC-MU immediately outputs

OP and ADR via MISO.

4. The master terminates the command with a ris-

ing edge at NCS.

Using the ACTIVATE command, the register and sen-

sor data channels of the connected slaves can be

switched on and off. The command causes all slaves

to switch their RACTIVE and PACTIVE registers be-

tween MOSI and MISO and set them to 0 (slaves in

chain connection). The register and sensor/actuator

data channels can be switched on and off with data

bytes following the OPCODE.

5. iC-MU switches its MISO output to 1 After startup of iC-MU RACTIVE and PACTIVE is set

(MODEA=0x1) or tristate (MODEA=0x0).

to 1.

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