Datasheet
TMC8460-BI Datasheet (V1.00 / 2016-Sep-01)
Copyright © 2016 TRINAMIC Motion Control GmbH & Co. KG 142
6.10 MFCIO General Purpose IO Unit
The MFC GPIO Unit handles the general-purpose inputs and outputs.
Eight (8) independent GPIO ports are available.
Each GPIO is configurable either as input or as output.
6.10.1 GPIO Registers
Three registers are required for MFC GPIO configuration:
GPO_OUT_VAL defines the output values of the outputs.
GPI_IN_VAL is read only and contains the actual input values.
GPIO_CONFIG allows to configure the GPIO direction.
Table 150 : MFCIO GPIO unit registers
MFCIO
direct
access
register
address
#
Register
Name
R/W
Size
[bit]
Description
33 GPO_OUT_VAL
W 16
7:0 : GPO output values
15:8 : GPO safe state (when MFC_nES = ‘0’)
34
GPI_IN_VAL
R
8
7:0 : GPI input values
35
GPIO_CONFIG
W
8
7:0 : GPIO direction (0 = in
put, 1 = output)
6.10.2 General purpose Inputs (GPI)
If configured as input, each GPI value can be read from the GPI_IN_VAL from the respective bit position.
6.10.3 General purpose Outputs (GPO)
If configured as output, each GPO takes the value defined in GPO_OUT_VAL[7:0].
For output data to be visible on the output signals, the following conditions have to be met:
• ESC must be in OP state
• Your output data must be written to the register
• MFC_nES must be driven high externally
6.10.4 Emergency Switch Input State
The external emergency switch input MFC_nES (if masked/enabled) brings all GPIOs currently
configured as outputs into a configurable safe state.
The GPO_OUT_VAL register high byte (bits 15:8) defines the safe state.