TLE5012B
SSC Registers
User’s Manual
70
Rev. 1.2, 2018-02
6.1.3
Signed registers and Two’s complement
Many registers are described as signed registers. Data in the registers such as the Angle Speed and also
configuration parameters such as the X and Y Offset, the Amplitude Synchronicity, Orthogonality Correction and
the Offset Temperature Coefficients are, among others, signed registers. That means, that they are stored in two’s
complement. The Angle Value is also a signed register (-180°...179.9°), but can also be viewed as unsigned
(0...359.9°).
A two’s complement number is generated by the following equation:
(6.1)
For example, if the AVAL Register value is 1100 1101 1001 0011 the MSB indicates that the RD_AV field is “high”
and a new angle value is present (ANG_VAL). ANG_VAL are represented by the following 15 bits (100 1101 1001
0011). Therefore the angle value is:
(6.2)
And if we calculate the angle (formula provided in the AVAL register description) we can calculate the angle:
(6.3)
∑
−
=
−
∗
+
∗
−
=
2
0
1
2
2
N
i
i
i
N
MSB
b
b
Value
12909
1
2
16
128
256
1024
2048
16384
2
*
1
2
*
1
2
*
1
2
*
1
2
*
1
2
*
1
2
*
1
2
*
1
2
*
1
2
*
1
2
*
0
2
*
0
2
*
1
2
*
0
2
*
0
2
*
1
2
*
1
2
*
0
2
*
1
2
*
1
2
*
0
2
*
0
2
*
1
2
2
0
1
4
7
8
10
11
14
15
15
14
15
13
15
12
15
11
15
10
15
9
15
8
15
7
15
6
15
5
15
4
15
3
15
2
15
1
15
2
0
1
−
=
+
+
+
+
+
+
+
−
=
+
+
+
+
+
+
+
+
−
=
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
−
=
∗
+
∗
−
=
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
=
−
∑
N
i
i
i
N
MSB
b
b
Value
°
−
=
−
°
=
°
=
°
82
.
141
)
12909
(
*
32768
360
]
[
_
2
360
]
[
15
digits
VAL
ANG
Angle