Datasheet

TMC8460-BI Datasheet (V100 / 2016-Sep-01)

1 0 0 Write

1 0 1 Reserved

1 1 0 Address extension, signaling 3 byte mode

1 1 1 Reserved

Figure 11 - 2 byte addressing mode

Figure 12 - 3 byte addressing mode

Unless highest performance is required, using only the 3-byte addressing mode and the read with wait

state command is recommended since it reduces the need for special cases in the software.

During the address/command bytes, the ESC replies with the contents of the event request registers

(0x0220, 0x0221 and in 3 byte addressing mode 0x0222).

OMMAND

–

NOP

This command can be used for checking the event request registers and resetting the PDI watchdog

without a read or write access.

Example datagram:

0x00 0x00

Example reply (AL Control event bit is set):

0x01 0x00

OMMAND

–

EAD

With the read command, an arbitrary amount of data can be read from the device. The first byte read

is the data from the address given by the address/command bytes. With every read byte, the address

is incremented. During the data transfer, the SPI master sends 0x00 except for the last byte where a

0xFF is sent.

When using this command, a pause of 240ns or more must be included between the address/command

bytes and the data bytes for the ESC to fetch the requested data.

Example datagram (Read from address 0x0120 and 0x0121):

0x09 0x02 0x00 0xFF

Example reply (Operational State requested):

0x01 0x00 0x08 0x00