Datasheet TMC4671 (TRINAMIC) - 18

TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.06 • 2019-Feb-06 18 / 159
4.2.3 UART Interface
The UART interface is a simple three pin (GND, RxD, TxD) 3.3V UART interface with up to 3 Mbit/s transfer speed with one start bit, eight data bits, one stop bit, and no parity bits (1N8). The default speed is 9600 bps. Other supported speeds are 115200 bps, 921600 bps, and 3000000 bps. With an 3.3V-UART-to-USB adapter cable (e.g. FTDI TTL-232R-RPi), the user can use the full maximum data rate. The UART port enables In-System-Setup-Support by multiple-ported register access. An UART datagram consists of five bytes - similar to the datagrams of the SPI. In contrast to SPI, the UART interface has a time out feature. So, the five bytes of a UART datagram need to be send within one second. A pause of sending more than one second causes a time out and sets the UART protocol handler back into IDLE state. In other words, waiting for more than one second in sending via UART ensures that the UART protocol handler is in IDLE state. A simple UART example (similar to the simple SPI example): 0x81 0x00 0x00 0x00 0x00 // 1st write 0x00000000 into address 0x01 (CHIPINFO_ADDR) 0x00 0x00 0x00 0x00 0x00 // 2nd read register 0x00 (CHIPINFO_DATA), returns 0x34363731 Why UART Interface? It might become necessary during the system setup phase to simply access some internal registers without disturbing the application, without changing the actual user application software, and without adding additional debugging code that might disturb the application software itself. The UART enables this supporting function. In addition, it also enables easy access for monitoring purposes with its very simple and direct five byte protocol. It is not recommended as standard communication interface due to low performance. Figure 10: UART Read Datagram (TMC4671 register read via UART) Figure 11: UART Write Datagram (TMC4671 register write via UART) ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Document Outline 1 Order Codes 2 Functional Summary 3 FOC Basics 3.1 Why FOC? 3.2 What is FOC? 3.3 Why FOC as pure Hardware Solution? 3.4 How does FOC work? 3.5 What is Required for FOC? 3.5.1 Coordinate Transformations - Clarke, Park, iClarke, iPark 3.5.2 Measurement of Stator Coil Currents 3.5.3 Stator Coil Currents I_U, I_V, I_W and Association to Terminal Voltages U_U, U_V, U_W 3.5.4 Measurement of Rotor Angle 3.5.5 Measured Rotor Angle vs. Magnetic Axis of Rotor vs. Magnetic Axis of Stator 3.5.6 Knowledge of Relevant Motor Parameters and Position Sensor (Encoder) Parameters 3.5.7 Proportional Integral (PI) Controllers for Closed Loop Current Control 3.5.8 Pulse Width Modulation (PWM) and Space Vector Pulse Width Modulation (SVPWM) 3.5.9 Orientations, Models of Motors, and Coordinate Transformations 4 Functional Description 4.1 Functional Blocks 4.2 Communication Interfaces 4.2.1 SPI Slave User Interface 4.2.2 TRINAMIC Real-Time Monitoring Interface (SPI Master) 4.2.3 UART Interface 4.2.4 Step/Direction Interface 4.2.5 Single Pin Interface 4.3 Numerical Representation, Electrical Angle, Mechanical Angle, and Pole Pairs 4.3.1 Numerical Representation 4.3.2 N_POLE_PAIRS, PHI_E, PHI_M 4.3.3 Numerical Representation of Angles PHI 4.4 ADC Engine 4.4.1 ADC Group A and ADC Group B 4.4.2 Internal Delta Sigma ADCs 4.4.3 External Delta Sigma ADCs 4.5 Delta Sigma Configuration and Timing Configuration 4.5.1 Internal Delta Sigma Modulators - Mapping of V_RAW to ADC_RAW 4.5.2 External Delta Sigma Modulator Interface 4.5.3 ADC Configuration - MDAC 4.6 Analog Signal Conditioning 4.6.1 FOC3 - Stator Coil Currents I_U, I_V, I_W and Association to Terminal Voltages U_U, U_V, U_W 4.6.2 Stator Coil Currents I_X, I_Y and Association to Terminal Voltages U_X, U_Y 4.6.3 ADC Selector & ADC Scaler w/ Offset Correction 4.7 Encoder Engine 4.7.1 Open-Loop Encoder 4.7.2 Incremental ABN Encoder 4.7.3 Secondary Incremental ABN Encoder 4.7.4 Digital Hall Sensor Interface with optional Interim Position Interpolation 4.7.5 Digital Hall Sensor - Interim Position Interpolation 4.7.6 Digital Hall Sensors - Masking and Filtering 4.7.7 Digital Hall Sensors together with Incremental Encoder 4.7.8 Analog Hall and Analog Encoder Interface (SinCos of 0° 90° or 0° 120° 240°) 4.7.9 Analog Position Decoder (SinCos of 0°90° or 0°120°240°) 4.7.10 Encoder Initialization Support 4.7.11 Velocity Measurement 4.7.12 Reference Switches 4.8 FOC23 Engine 4.8.1 PI Controllers 4.8.2 PI Controller Calculations - Classic Structure 4.8.3 PI Controller Calculations - Advanced Structure 4.8.4 PI Controller - Clipping 4.8.5 PI Flux & PI Torque Controller 4.8.6 PI Velocity Controller 4.8.7 P Position Controller 4.8.8 Inner FOC Control Loop - Flux & Torque 4.8.9 FOC Transformations and PI(D) for control of Flux & Torque 4.8.10 Motion Modes 4.8.11 Brake Chopper 4.9 Filtering and Feed-Forward Control 4.9.1 Biquad Filters 4.9.2 Standard Velocity Filter 4.9.3 Feed-Forward Control Structure 4.10 PWM Engine 4.10.1 PWM Polarities 4.10.2 PWM Frequency 4.10.3 PWM Resolution 4.10.4 PWM Modes 4.10.5 Break-Before-Make (BBM) 4.10.6 Space Vector PWM (SVPWM) 5 Safety Functions 5.1 Watchdog 6 Register Map 6.1 Register Map Overview 6.2 Register Map Full 7 Pinning 8 TMC4671 Pin Table 9 Electrical Characteristics 9.1 Absolute Maximum Ratings 9.2 Electrical Characteristics 9.2.1 Operational Range 9.2.2 DC Characteristics 10 Sample Circuits 10.1 Supply Pins 10.2 Clock and Reset Circuitry 10.3 Digital Encoder, Hall Sensor Interface and Reference Switches 10.4 Analog Frontend 10.5 Phase Current Measurement 10.6 Power Stage Interface 11 Setup Guidelines 12 Package Dimensions 13 Supplemental Directives 13.1 Producer Information 13.2 Copyright 13.3 Trademark Designations and Symbols 13.4 Target User 13.5 Disclaimer: Life Support Systems 13.6 Disclaimer: Intended Use 13.7 Collateral Documents & Tools 14 Errata 15 Figures Index 16 Tables Index 17 Revision History 17.1 IC Revision 17.2 Document Revision