Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
Based upon the TMC2130-supported settings explained above, the TMC4361A now
sends 40 bit datagrams automatically.
In order to send cover datagrams to TMC2130 stepper drivers, do as
follows:
Action:
 Set COVER_HIGH (7 : 0) register 0x6D to address value that needs to be sent.
 Set COVER_LOW (31:0) register 0x6C to data values that needs to be sent.
Result:
A cover datagram is sent to the connected driver. COVER _ DONE is set after data
transfer. The response of TMC2130 is stored in COVER_DRV_HIGH (7:0) and
COVER_DRV_LOW (31:0).
In case the TMC2130 driver operates in SPI mode, COVER_DONE is also set when a
current datagram is transferred. This also applies to polling datagrams, explained in
section 10.8.8, page 115.
In order to enable COVER_DONE only for cover datagrams, do as follows:
Action:
 Set cover_done_only_for_covers = 1 (bit12 of SPI_OUT_CONF register 0x04).
Result:
COVER_DONE event is only set if a cover datagram is sent, not for current datagrams.
It is a common approach that the microcontroller continuously rewrites register values
for TMC2130 to respond to possible voltage drops at the VS pin of TMC2130, which –
if they occur – prompt an internal register reset, by design.
TMC4361A provides an option to continuously rewrite five configuration registers of
TMC2130, which take off workload from the microcontroller.
These registers are: GCONF 0x00, IHOLD_IRUN 0x10, CHOPCONF 0x6C,
COOLCONF 0x6D, and DCCTRL 0x6E.
In order to activate automatic continuous streaming of TMC2130 cover
datagrams, do as follows:
Action:
 Set autorepeat_cover_en = 1 (bit7 of SPI_OUT_CONF register 0x04).
Result:
In case cover datagrams are sent to TMC2130 register – that are mentioned above –
while autorepeat_cover_en = 1, TMC4361A transfers a cover datagram every 2
20
clock
cycle. Everytime another register is addressed, the cover datagrams are retransferred
one after the other in consecutive order; i.e. round-robin style.
i However, the transfer rate remains at one datagram per 2
20
clock cycles.
NOTE:
 When TMC2130 is operating in SPI mode, current datagrams are also repeated, if
the value does not change; within one transfer interval cycle.
 In case one of the five above mentioned TMC2130 register is rewritten manually
by cover datagrams, this last register value is, by definition, repeated.
 Automatic register changes executed by TMC4361A – e.g. automatic scaling value
transfers – are considered as well for repeated cover datagrams.
Sending Cover
Datagrams to
TMC2130
Automatic
Continuous
Streaming of
Cover Datagrams
for TMC2130