TS-4800 Motor Core
From embeddedTS Manuals
The TS-4800 FPGA includes our motor core which can be used for quadrature and PWM.
The PWM values are 0-256 for 0%-100% duty cycle.
Address | Bits | Access | Description |
---|---|---|---|
0x0 | 15-0 | Read / Write | PWM Channel 0 |
0x2 | 15-0 | Read/Write | PWM channel 1 |
0x4 | 15-0 | Read/Write | PWM Channel 2 |
0x6 | 15-0 | Read/Write | PWM Channel 3 |
0x8 | 15-0 | Read/Write | PWM Channel 4 |
0xa | 15-0 | Read/Write | PWM Channel 5 |
0xc | 15-0 | Read/Write | PWM Channel 6 |
0xe | 15-0 | Read/Write | PWM Channel 7 |
0x10 | 15-0 | Read Only | Quadrature Count #0 |
0x12 | 15-0 | Read Only | Quadrature Count #1 |
0x14 | 15-0 | Read Only | Quadrature Count #2 |
0x16 | 15-0 | Read Only | Quadrature Count #3 |
0x18 | 15-0 | Read Only | Index Pulse Count #0 |
0x1a | 15-0 | Read Only | Index Pulse Count #1 |
0x1c | 15-0 | Read Only | Index Pulse Count #2 |
0x1e | 15-0 | Read Only | Index Pulse Count #3 |
0x20 | 3-0 | Read/Write | H-Bridge Enable Channel 3-0 (LSB is #0) |
7-4 | Read/Write | Index Pulse Enable Channel 3-0 (LSB is #0) | |
11-8 | Read/Write | Index Pulse Polarity Channel 3-0 (LSB is #0) | |
15-12 | Read/Write | Quadrature Enable Channel 3-0 (LSB is #0) | |
0x22 | 15-8 | Read Only | Quadrature Input Pins 7-0 |
7-0 | Read Only | General Input Pins 7-0 | |
0x24 | 15-4 | N/A | Reserved |
3-0 | Read Only | Overcurrent Status Channel 3-0 |
If the quadrature channels are disabled, quadrature counts become free running upcounters and index pulse counts become edge counters. If overcurrent is tripped, H-bridge enable is automatically temporarily deasserted. This acts as nagative feedback keeping current maxed out at approximately the trip point.
If the Syscon motor core enable bit is set, then the following pin overrides apply:
Connector | Pin | DIO | Motor core usage |
---|---|---|---|
CN1 | 93 | 0 | PWM 0 |
CN1 | 91 | 1 | PWM 1 |
CN1 | 89 | 2 | PWM 2 |
CN1 | 87 | 3 | Quadrature 3 |
CN1 | 77 | 8 | Quadrature 0 |
CN1 | 73 | 9 | Quadrature 1 |
CN1 | 92 | 22 | Quadrature 2 |
CN1 | 90 | 23 | PWM 3 |
CN1 | 88 | 24 | PWM 4 |
CN1 | 84 | 26 | PWM 5 |
CN1 | 82 | 27 | PWM 6 |
CN1 | 80 | 28 | PWM 7 |