IC-TW28 Datasheet, PDF (45/80 Pages) IC-Haus GmbH – 10-BIT SIN/COS INTERPOLATOR

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Rev D2, Page 45/80
FILT_CFG
FILT_CFG is a static register used to configure the sig-
nal path filter. See Filter Configuration on page 70 for
more information.
FILT_K
FILT_K is a static register used to set the filter coeffi-
cients. See Filter Configuration on page 70 for more
information.
Value
0
1
FILT_CFG.auto (0x0300 Bit 0)
Description
Filter kp is static
Filter kp is dynamic
Value
0–6
7
FILT_K.kp (0x0302 Bits 2:0)
Description
Minimum - maximum filter kp
Reserved (do not use)
Table 73: Dynamic Filtering Enable
Table 77: Filter P-Coefficient
Value
0
1
Value
0–2
3–6
7
FILT_CFG.fb (0x0300 Bit 1)
Description
No feedback loop delay (normal lag)
600 ns feedback loop delay (reduced lag)
Table 74: Lag Reduction
FILT_CFG.kpmax (0x0300 Bits 4:2)
Description
Reserved (do not use)
Minimum - maximum dynamic kp limit
Reserved (do not use)
Table 75: Dynamic Filter Limit
When dynamic kp is used, FILT_K.kp is dynamic and
updated by the iC-TW28 based on sin/cos input accel-
eration.
Value
0–3
FILT_K.ki (0x0302 Bits 5:4)
Description
Minimum – maximum filter ki
Table 78: Filter I-Coefficient
FILT_LAG
FILT_LAG is a static register used to set the lag thresh-
old of the signal path filter when dynamic kp is used
(FILT_CFG.auto = 1). See Filter Configuration on page
70 for more information.
Value
0
1 – 31
FILT_LAG.threshold (0x0301 Bit 4:0)
Description
Reserved
Minimum – maximum filter lag threshold
Table 76: Dynamic Filtering Adaption Threshold
When dynamic kp is used, if filter lag is greater than
the filter lag threshold, kp is reduced to make the filter
more responsive. If filter lag is less than the filter lag
threshold, kp is increased to increase filter smoothing.