Delta Tau Acc-51E, Руководство пользователя

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Accessory 51E
44 Appendices
APPENDICES
Offset Register Mapping Definitions
Most of the registers in the table below are located inside the DSPGATE1. Refer to the DSPGATE1 in
the Turbo Software Reference Manual under PMAC2 I/O Control Registers for details on the use of these
registers. The Hiperface option registers and the Ext ADC registers are not a part of DSPGATE1.
ADDR X -Memory Y-Memory
First
Channel
Base + 00h Status Word 1 Time Between Enc Counts (SCLKs)
Base + 01h Phase Raw Count 1 Time Since Last Enc Count (SCLKs)
Base + 02h Servo Count 1 24 LSBs (Hiperface)
Base + 03h Flag Position Capture 1 FLAGS + 8MSBs (Hiperface)
Base + 04h Global Clock Control 1-4 PWM C1
Base + 05h Control Word 1 Ext ADC
A
Base + 06h Enc Compare Auto Increment 1 Ext ADC
B
Base + 07h Enc Compare Value B1 Enc Compare Value B1
Second
Channel
Base + 08h Status Word 2 Time Between Enc Counts (SCLKs)
Base + 09h Phase Raw Count 2 Time Since Last Enc Count (SCLKs)
Base + 0Ah Servo Count 2 24 LSBs (Hiperface)
Base + 0Bh Flag Position Capture 2 FLAGS + 8MSBs (Hiperface)
Base + 0Ch DAC Strobe Output Word 1-4 PWM C2
Base + 0Dh Control Word 2 Ext ADC
A
Base + 0Eh Enc Compare Auto Increment 2 Ext ADC
B
Base + 0Fh Enc Compare Value B2 Enc Compare Value B2
Third
Channel
Base + 10h Status Word 3 Time Between Enc Counts (SCLKs)
Base + 11h Phase Raw Count 3 Time Since Last Enc Count (SCLKs)
Base + 12h Servo Count 3 24 LSBs (Hiperface)
Base + 13h Flag Position Capture 3 FLAGS + 8MSBs (Hiperface)
Base + 14h ADC Strobe Output Word 1-4 PWM C3
Base + 15h Control Word 3 Ext ADC
A
Base + 16h Enc Compare Auto Increment 3 Ext ADC
B
Base + 17h Enc Compare Value B3 Enc Compare Value B3
Fourth
Channel
Base + 18h Status Word 4 Time Between Enc Counts (SCLKs)
Base + 19h Phase Raw Count 4 Time Since Last Enc Count (SCLKs)
Base + 1Ah Servo Count 4 24 LSBs (Hiperface)
Base + 1Bh Flag Position Capture 4 FLAGS + 8MSBs (Hiperface)
Base + 1Ch PWM Freq/Dead time/PFM Width 1-4 PWM C4
Base + 1Dh Control Word 4 Ext ADC
A
Base + 1Eh Enc Compare Auto Increment 4 Ext ADC
B
Base + 1Fh Enc Compare Value B4 Enc Compare Value B4
Ext ADC
A
and Ext ADC
B
are addresses to the same A-D converter. When accessed twice, the sine data is
followed by the cosine data.