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
For all of the above shown configuration examples, it is possible to write back the
current values of the selected registers (
XTARGET
,
POS_COMP
,
GEAR_RATIO
and/or
GENERAL_CONF
) to any of the pipeline registers of their assigned pipeline in order to
generate cyclic pipelines.
By selecting proper
XPIPE_REWRITE_REG
, the value that is written back to the
pipeline register is selected automatically to fit the selected pipeline mapping.
Below, several pipeline mapping examples with the corresponding configuration are
shown.
Example A: Cyclic pipeline for
POS_COMP,
which has eight pipeline stages.
Example B: Cyclic pipeline for
GEAR_RATIO,
which has six pipeline stages.
A
B
Figure 43: Pipeline Example A
Figure 44: Pipeline Example B
Example C: Cyclic pipelines for
XTARGET
and
POS_COMP,
which have four pipeline
stages each.
Example D: Cyclic pipelines for
GEAR_RATIO,
which has three pipeline stages and
GENERAL_CONF,
which has two pipeline stages.
C
D
Figure 45: Pipeline Example C
Figure 46: Pipeline Example D
32
38
39 X_PIPE1
3A X_PIPE2
3B X_PIPE3
3C X_PIPE4
3D X_PIPE5
3E X_PIPE6
3F X_PIPE7
POS_COMP
X_PIPE0
pipline_en=b’0010
XPIPE_REWRITE_REG=b’10000000
12
38
39 X_PIPE1
3A X_PIPE2
3B X_PIPE3
3C X_PIPE4
3D X_PIPE5
3E X_PIPE6
3F X_PIPE7
GEAR_RATIO
X_PIPE0
x_pipe_rewrite_reg(7) = b’00100000
pipline_en=b’0100
XPIPE_REWRITE_REG=b’00100000
32
38
39 X_PIPE1
3A X_PIPE2
3B X_PIPE3
3C X_PIPE4
3D X_PIPE5
3E X_PIPE6
3F X_PIPE7
POS_COMP
X_PIPE0
37 XTARGET
pipline_en=b’0011
XPIPE_REWRITE_REG=b’10001000
10
38
39 X_PIPE1
3A X_PIPE2
3B X_PIPE3
3C X_PIPE4
3D X_PIPE5
3E X_PIPE6
3F X_PIPE7
GENERAL_CONF
X_PIPE0
pipline_en=b’1100
XPIPE_REWRITE_REG=b’00100100
12 GEAR_RATIO
Cyclic Pipelining
Pipeline
Examples
Examples A+B:
Using one
Pipeline
Examples C+D:
Using two
Pipelines