Datasheet
TMC429 DATASHEET (v. 1.07 / 2012-AUG-01) 46
Copyright © 2010-2012, TRINAMIC Motion Control GmbH & Co. KG
32 bit DATAGRAM sent from a µC to the TMC429 via pin SDI_C
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
RRS
ADDRESS
RW
DATA
(x)
10
data @ odd
RAM addresses
(x)
10
data @ even
RAM addresses
1
1
0
0
0
0
0
0
2
0
0
0
0
1
0
0
0
0
0
0
0
0
0
0
0
0
1
5
0
0
0
1
0
1
3
0
0
0
0
1
1
0
0
0
1
0
8
0
0
1
0
0
0
6
0
0
0
1
1
0
0
0
0
1
1
11
0
0
1
0
1
1
9
0
0
1
0
0
1
0
0
1
0
0
14
0
0
1
1
1
0
12
0
0
1
1
0
0
…
…
…
…
…
…
…
…
…
…
…
…
…
…
…
…
…
1
1
0
1
1
62
1
1
1
1
1
0
62
1
1
1
1
1
0
1
1
1
0
0
63
1
1
1
1
1
1
63
1
1
1
1
1
1
1
1
1
0
1
63
1
1
1
1
1
1
63
1
1
1
1
1
1
1
1
1
1
0
63
1
1
1
1
1
1
63
1
1
1
1
1
1
1
1
1
1
1
63
1
1
1
1
1
1
63
1
1
1
1
1
1
Table 13-1: Scheme of ¼ sine wave period with 6 bit resolution and 64 ( 32 x 2 ) values
These 64 values represent a quarter sine period in the interval [0 ... /4[ which is expanded
automatically by the TMC429 to a full sine cosine period (see section 13.1, page 47). The table is sent
to the on-chip RAM of the TMC429 by 32 datagrams:
% binary representation of the datagram : decimal represented pair of values : $ hexadecimal
(separated by & character) representation
% 11 00000 0 00000000 00 000010 00 000000 : 2 & 0 : $C0000200
% 11 00001 0 00000000 00 000101 00 000011 : 5 & 3 : $C2000503
% 11 00010 0 00000000 00 001000 00 000110 : 8 & 6 : $C4000806
% 11 00011 0 00000000 00 001011 00 001001 : 11 & 9 : $C6000B09
% 11 00100 0 00000000 00 001110 00 001100 : 14 & 12 : $C8000E0C
% 11 00101 0 00000000 00 010001 00 010000 : 17 & 16 : $CA001110
% 11 00110 0 00000000 00 010100 00 010011 : 20 & 19 : $CC001413
% 11 00111 0 00000000 00 010111 00 010110 : 23 & 22 : $CE001716
% 11 01000 0 00000000 00 011010 00 011000 : 26 & 24 : $D0001A18
% 11 01001 0 00000000 00 011101 00 011011 : 29 & 27 : $D2001D1B
% 11 01010 0 00000000 00 100000 00 011110 : 32 & 30 : $D400201E
% 11 01011 0 00000000 00 100010 00 100001 : 34 & 33 : $D6002221
% 11 01100 0 00000000 00 100101 00 100100 : 37 & 36 : $D8002524
% 11 01101 0 00000000 00 100111 00 100110 : 39 & 38 : $DA002726
% 11 01110 0 00000000 00 101010 00 101001 : 42 & 41 : $DC002A29
% 11 01111 0 00000000 00 101100 00 101011 : 44 & 43 : $DE002C2B
% 11 10000 0 00000000 00 101110 00 101101 : 46 & 45 : $E0002E2D
% 11 10001 0 00000000 00 110000 00 101111 : 48 & 47 : $E200302F