JAJSSO2 データシート

JAJSSO2 December 2023 MCF8315C

PRODMIX

パッケージ・オプション

メカニカル・データ（パッケージ｜ピン）

PWP|24
- MPDS372A
RRY|32
- MPQF713A

サーマルパッド・メカニカル・データ

発注情報

jajsso2_oa

6.8.5 Algorithm_Variables Registers

Table 6-65 lists the memory-mapped registers for the Algorithm_Variables registers. All register offset addresses not listed in Table 6-65 should be considered as reserved locations and the register contents should not be modified.

Table 6-65 ALGORITHM_VARIABLES Registers

Offset	Acronym	Register Name	Section
190h	ALGORITHM_STATE	Current Algorithm State Register	Section 6.8.5.1
196h	FG_SPEED_FDBK	FG Speed Feedback Register	Section 6.8.5.2
410h	BUS_CURRENT	Calculated DC Bus Current Register	Section 6.8.5.3
440h	PHASE_CURRENT_A	Measured Current on Phase A Register	Section 6.8.5.4
442h	PHASE_CURRENT_B	Measured Current on Phase B Register	Section 6.8.5.5
444h	PHASE_CURRENT_C	Measured Current on Phase C Register	Section 6.8.5.6
468h	CSA_GAIN_FEEDBACK	CSA Gain Register	Section 6.8.5.7
472h	VOLTAGE_GAIN_FEEDBACK	Voltage Gain Register	Section 6.8.5.8
474h	VM_VOLTAGE	VM Voltage Register	Section 6.8.5.9
47Ah	PHASE_VOLTAGE_VA	Phase A Voltage Register	Section 6.8.5.10
47Ch	PHASE_VOLTAGE_VB	Phase B Voltage Register	Section 6.8.5.11
47Eh	PHASE_VOLTAGE_VC	Phase C Voltage Register	Section 6.8.5.12
4B6h	SIN_COMMUTATION_ANGLE	Sine of Commutation Angle	Section 6.8.5.13
4B8h	COS_COMMUTATION_ANGLE	Cosine of Commutation Angle	Section 6.8.5.14
4D2h	IALPHA	IALPHA Current Register	Section 6.8.5.15
4D4h	IBETA	IBETA Current Register	Section 6.8.5.16
4D6h	VALPHA	VALPHA Voltage Register	Section 6.8.5.17
4D8h	VBETA	VBETA Voltage Register	Section 6.8.5.18
4E2h	ID	Measured d-axis Current Register	Section 6.8.5.19
4E4h	IQ	Measured q-axis Current Register	Section 6.8.5.20
4E6h	VD	VD Voltage Register	Section 6.8.5.21
4E8h	VQ	VQ Voltage Register	Section 6.8.5.22
524h	IQ_REF_ROTOR_ALIGN	Align Current Reference	Section 6.8.5.23
53Ch	SPEED_REF_OPEN_LOOP	Open Loop Speed Register	Section 6.8.5.24
54Ch	IQ_REF_OPEN_LOOP	Open Loop Current Reference	Section 6.8.5.25
5D2h	SPEED_REF_CLOSED_LOOP	Speed Reference Register	Section 6.8.5.26
604h	ID_REF_CLOSED_LOOP	Reference for Current Loop Register	Section 6.8.5.27
606h	IQ_REF_CLOSED_LOOP	Reference for Current Loop Register	Section 6.8.5.28
680h	ISD_STATE	ISD State Register	Section 6.8.5.29
68Ah	ISD_SPEED	ISD Speed Register	Section 6.8.5.30
6BEh	IPD_STATE	IPD State Register	Section 6.8.5.31
702h	IPD_ANGLE	Calculated IPD Angle Register	Section 6.8.5.32
748h	ED	Estimated BEMF EQ Register	Section 6.8.5.33
74Ah	EQ	Estimated BEMF ED Register	Section 6.8.5.34
758h	SPEED_FDBK	Speed Feedback Register	Section 6.8.5.35
75Ch	THETA_EST	Estimated rotor Position Register	Section 6.8.5.36

Complex bit access types are encoded to fit into small table cells. Table 6-66 shows the codes that are used for access types in this section.

Table 6-66 Algorithm_Variables Access Type Codes

Access Type	Code	Description
Read Type
R	R	Read
Reset or Default Value
-n		Value after reset or the default value

6.8.5.1 ALGORITHM_STATE Register (Offset = 190h) [Reset = 0000h]

ALGORITHM_STATE is shown in Figure 6-92 and described in Table 6-67.

Return to the Summary Table.

Current Algorithm State Register

Figure 6-92 ALGORITHM_STATE Register

15	14	13	12	11	10	9	8
ALGORITHM_STATE
R-0h

7	6	5	4	3	2	1	0
ALGORITHM_STATE
R-0h

Table 6-67 ALGORITHM_STATE Register Field Descriptions

Bit	Field	Type	Reset	Description
15-0	ALGORITHM_STATE	R	0h	16-bit value indicating current state of device 0h = MOTOR_IDLE 1h = MOTOR_ISD 2h = MOTOR_TRISTATE 3h = MOTOR_BRAKE_ON_START 4h = MOTOR_IPD 5h = MOTOR_SLOW_FIRST_CYCLE 6h = MOTOR_ALIGN 7h = MOTOR_OPEN_LOOP 8h = MOTOR_CLOSED_LOOP_UNALIGNED 9h = MOTOR_CLOSED_LOOP_ALIGNED Ah = MOTOR_CLOSED_LOOP_ACTIVE_BRAKING Bh = MOTOR_SOFT_STOP Ch = MOTOR_RECIRCULATE_STOP Dh = MOTOR_BRAKE_ON_STOP Eh = MOTOR_FAULT Fh = MOTOR_MPET_MOTOR_STOP_CHECK 10h = MOTOR_MPET_MOTOR_STOP_WAIT 11h = MOTOR_MPET_MOTOR_BRAKE 12h = MOTOR_MPET_ALGORITHM_PARAMETERS_INIT 13h = MOTOR_MPET_RL_MEASURE 14h = MOTOR_MPET_KE_MEASURE 15h = MOTOR_MPET_STALL_CURRENT_MEASURE 16h = MOTOR_MPET_TORQUE_MODE 17h = MOTOR_MPET_DONE 18h = MOTOR_MPET_FAULT

6.8.5.2 FG_SPEED_FDBK Register (Offset = 196h) [Reset = 00000000h]

FG_SPEED_FDBK is shown in Figure 6-93 and described in Table 6-68.

Return to the Summary Table.

Speed Feedback from FG

Figure 6-93 FG_SPEED_FDBK Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
FG_SPEED_FDBK
R-0h

Table 6-68 FG_SPEED_FDBK Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	FG_SPEED_FDBK	R	0h	32-bit value indicating estimated rotor speed estimatedSpeed = (FG_SPEED_FDBK / 2²⁷)*MAX_SPEED in Hz

6.8.5.3 BUS_CURRENT Register (Offset = 410h) [Reset = 00000000h]

BUS_CURRENT is shown in Figure 6-94 and described in Table 6-69.

Return to the Summary Table.

Calculated Supply Current Register

Figure 6-94 BUS_CURRENT Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
BUS_CURRENT
R-0h

Table 6-69 BUS_CURRENT Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	BUS_CURRENT	R	0h	32-bit value indicating DC bus current iBus = (BUS_CURRENT / 2²⁷) * Base_Current/8

6.8.5.4 PHASE_CURRENT_A Register (Offset = 440h) [Reset = 00000000h]

PHASE_CURRENT_A is shown in Figure 6-95 and described in Table 6-70.

Return to the Summary Table.

Measured current on Phase A Register

Figure 6-95 PHASE_CURRENT_A Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
PHASE_CURRENT_A
R-0h

Table 6-70 PHASE_CURRENT_A Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	PHASE_CURRENT_A	R	0h	32-bit value indicating measured current on Phase A iA = (PHASE_CURRENT_A / 2²⁷) * Base_Current/8

6.8.5.5 PHASE_CURRENT_B Register (Offset = 442h) [Reset = 00000000h]

PHASE_CURRENT_B is shown in Figure 6-96 and described in Table 6-71.

Return to the Summary Table.

Measured current on Phase B Register

Figure 6-96 PHASE_CURRENT_B Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
PHASE_CURRENT_B
R-0h

Table 6-71 PHASE_CURRENT_B Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	PHASE_CURRENT_B	R	0h	32-bit value indicating measured current on Phase B iB = (PHASE_CURRENT_B / 2²⁷) * Base_Current/8

6.8.5.6 PHASE_CURRENT_C Register (Offset = 444h) [Reset = 00000000h]

PHASE_CURRENT_C is shown in Figure 6-97 and described in Table 6-72.

Return to the Summary Table.

Measured current on Phase C Register

Figure 6-97 PHASE_CURRENT_C Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
PHASE_CURRENT_C
R-0h

Table 6-72 PHASE_CURRENT_C Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	PHASE_CURRENT_C	R	0h	32-bit value indicating measured current on Phase C iC = (PHASE_CURRENT_C / 2²⁷) * Base_Current/8

6.8.5.7 CSA_GAIN_FEEDBACK Register (Offset = 468h) [Reset = 0000h]

CSA_GAIN_FEEDBACK is shown in Figure 6-98 and described in Table 6-73.

Return to the Summary Table.

VM Voltage Register

Figure 6-98 CSA_GAIN_FEEDBACK Register

15	14	13	12	11	10	9	8
CSA_GAIN_FEEDBACK
R-0h

7	6	5	4	3	2	1	0
CSA_GAIN_FEEDBACK
R-0h

Table 6-73 CSA_GAIN_FEEDBACK Register Field Descriptions

Bit	Field	Type	Reset	Description
15-0	CSA_GAIN_FEEDBACK	R	0h	16-bit value indicating current sense gain 0h = MAX_CSA_GAIN * 8 1h = MAX_CSA_GAIN * 4 2h = MAX_CSA_GAIN * 2 3h = MAX_CSA_GAIN * 1

6.8.5.8 VOLTAGE_GAIN_FEEDBACK Register (Offset = 472h) [Reset = 0000h]

VOLTAGE_GAIN_FEEDBACK is shown in Figure 6-99 and described in Table 6-74.

Return to the Summary Table.

Voltage Gain Register

Figure 6-99 VOLTAGE_GAIN_FEEDBACK Register

15	14	13	12	11	10	9	8
VOLTAGE_GAIN_FEEDBACK
R-0h

7	6	5	4	3	2	1	0
VOLTAGE_GAIN_FEEDBACK
R-0h

Table 6-74 VOLTAGE_GAIN_FEEDBACK Register Field Descriptions

Bit	Field	Type	Reset	Description
15-0	VOLTAGE_GAIN_FEEDBACK	R	0h	16-bit value indicating voltage gain 0h = 60V 1h = 30V 2h = 15V

6.8.5.9 VM_VOLTAGE Register (Offset = 474h) [Reset = 00000000h]

VM_VOLTAGE is shown in Figure 6-100 and described in Table 6-75.

Return to the Summary Table.

Supply voltage register

Figure 6-100 VM_VOLTAGE Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
VM_VOLTAGE
R-0h

Table 6-75 VM_VOLTAGE Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	VM_VOLTAGE	R	0h	32-bit value indicating DC bus voltage DC Bus Voltage = VM_VOLTAGE * 60 / 2²⁷

6.8.5.10 PHASE_VOLTAGE_VA Register (Offset = 47Ah) [Reset = 00000000h]

PHASE_VOLTAGE_VA is shown in Figure 6-101 and described in Table 6-76.

Return to the Summary Table.

Phase A Voltage Register

Figure 6-101 PHASE_VOLTAGE_VA Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
PHASE_VOLTAGE_VA
R-0h

Table 6-76 PHASE_VOLTAGE_VA Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	PHASE_VOLTAGE_VA	R	0h	32-bit value indicating phase voltage Va during ISD Phase A voltage = PHASE_VOLTAGE_VA * 60 / (sqrt(3) * 2²⁷)

6.8.5.11 PHASE_VOLTAGE_VB Register (Offset = 47Ch) [Reset = 00000000h]

PHASE_VOLTAGE_VB is shown in Figure 6-102 and described in Table 6-77.

Return to the Summary Table.

Phase B Voltage Register

Figure 6-102 PHASE_VOLTAGE_VB Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
PHASE_VOLTAGE_VB
R-0h

Table 6-77 PHASE_VOLTAGE_VB Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	PHASE_VOLTAGE_VB	R	0h	32-bit value indicating phase voltage Vb during ISD Phase B voltage = PHASE_VOLTAGE_VB * 60 / (sqrt(3) * 2²⁷)

6.8.5.12 PHASE_VOLTAGE_VC Register (Offset = 47Eh) [Reset = 00000000h]

PHASE_VOLTAGE_VC is shown in Figure 6-103 and described in Table 6-78.

Return to the Summary Table.

Phase C Voltage Register

Figure 6-103 PHASE_VOLTAGE_VC Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
PHASE_VOLTAGE_VC
R-0h

Table 6-78 PHASE_VOLTAGE_VC Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	PHASE_VOLTAGE_VC	R	0h	32-bit value indicating phase voltage Vc during ISD Phase C voltage = PHASE_VOLTAGE_VC * 60 / (sqrt(3) * 2²⁷)

6.8.5.13 SIN_COMMUTATION_ANGLE Register (Offset = 4B6h) [Reset = 00000000h]

SIN_COMMUTATION_ANGLE is shown in Figure 6-104 and described in Table 6-79.

Return to the Summary Table.

Sine of Commutation Angle

Figure 6-104 SIN_COMMUTATION_ANGLE Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
SIN_COMMUTATION_ANGLE
R-0h

Table 6-79 SIN_COMMUTATION_ANGLE Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	SIN_COMMUTATION_ANGLE	R	0h	32-bit value indicating sine of commutation Angle sinCommutationAngle = (SIN_COMMUTATION_ANGLE / 2²⁷)

6.8.5.14 COS_COMMUTATION_ANGLE Register (Offset = 4B8h) [Reset = 00000000h]

COS_COMMUTATION_ANGLE is shown in Figure 6-105 and described in Table 6-80.

Return to the Summary Table.

Cosine of Commutation Angle

Figure 6-105 COS_COMMUTATION_ANGLE Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
COS_COMMUTATION_ANGLE
R-0h

Table 6-80 COS_COMMUTATION_ANGLE Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	COS_COMMUTATION_ANGLE	R	0h	32-bit value indicating cosine of commutation Angle cosCommutationAngle = (COS_COMMUTATION_ANGLE / 2²⁷)

6.8.5.15 IALPHA Register (Offset = 4D2h) [Reset = 00000000h]

IALPHA is shown in Figure 6-106 and described in Table 6-81.

Return to the Summary Table.

IALPHA Current Register

Figure 6-106 IALPHA Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
IALPHA
R-0h

Table 6-81 IALPHA Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	IALPHA	R	0h	32-bit value indicating calculated IALPHA iAlpha = (IALPHA / 2²⁷) * Base_Current/8

6.8.5.16 IBETA Register (Offset = 4D4h) [Reset = 00000000h]

IBETA is shown in Figure 6-107 and described in Table 6-82.

Return to the Summary Table.

IBETA Current Register

Figure 6-107 IBETA Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
IBETA
R-0h

Table 6-82 IBETA Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	IBETA	R	0h	32-bit value indicating calculated IBETA iBeta = (IBETA / 2²⁷) * Base_Current/8

6.8.5.17 VALPHA Register (Offset = 4D6h) [Reset = 00000000h]

VALPHA is shown in Figure 6-108 and described in Table 6-83.

Return to the Summary Table.

VALPHA Voltage Register

Figure 6-108 VALPHA Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
VALPHA
R-0h

Table 6-83 VALPHA Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	VALPHA	R	0h	32-bit value indicating calculated VALPHA vAlpha = (VALPHA / 2²⁷) * 60 / sqrt(3)

6.8.5.18 VBETA Register (Offset = 4D8h) [Reset = 00000000h]

VBETA is shown in Figure 6-109 and described in Table 6-84.

Return to the Summary Table.

VBETA Voltage Register

Figure 6-109 VBETA Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
VBETA
R-0h

Table 6-84 VBETA Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	VBETA	R	0h	32-bit value indicating calculated VBETA vBeta = (VBETA / 2²⁷) * 60 / sqrt(3)

6.8.5.19 ID Register (Offset = 4E2h) [Reset = 00000000h]

ID is shown in Figure 6-110 and described in Table 6-85.

Return to the Summary Table.

Measured d-axis Current Register

Figure 6-110 ID Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
ID
R-0h

Table 6-85 ID Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	ID	R	0h	32-bit value indicating estimated Id id = (ID / 2²⁷) * Base_Current/8

6.8.5.20 IQ Register (Offset = 4E4h) [Reset = 00000000h]

IQ is shown in Figure 6-111 and described in Table 6-86.

Return to the Summary Table.

Measured q-axis Current Register

Figure 6-111 IQ Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
IQ
R-0h

Table 6-86 IQ Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	IQ	R	0h	32-bit value indicating estimated Iq iq = (IQ / 2²⁷) * Base_Current/8

6.8.5.21 VD Register (Offset = 4E6h) [Reset = 00000000h]

VD is shown in Figure 6-112 and described in Table 6-87.

Return to the Summary Table.

VD Voltage Register

Figure 6-112 VD Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
VD
R-0h

Table 6-87 VD Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	VD	R	0h	32-bit value indicating applied Vd vd = (VD / 2²⁷) * 60 / sqrt(3)

6.8.5.22 VQ Register (Offset = 4E8h) [Reset = 00000000h]

VQ is shown in Figure 6-113 and described in Table 6-88.

Return to the Summary Table.

VQ Voltage Register

Figure 6-113 VQ Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
VQ
R-0h

Table 6-88 VQ Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	VQ	R	0h	32-bit value indicating applied Vq vq = (VQ / 2²⁷) * 60 / sqrt(3)

6.8.5.23 IQ_REF_ROTOR_ALIGN Register (Offset = 524h) [Reset = 00000000h]

IQ_REF_ROTOR_ALIGN is shown in Figure 6-114 and described in Table 6-89.

Return to the Summary Table.

Align Current Reference

Figure 6-114 IQ_REF_ROTOR_ALIGN Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
IQ_REF_ROTOR_ALIGN
R-0h

Table 6-89 IQ_REF_ROTOR_ALIGN Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	IQ_REF_ROTOR_ALIGN	R	0h	32-bit value indicating align current reference iqRefRotorAlign = (IQ_REF_ROTOR_ALIGN / 2²⁷) * Base_Current/8

6.8.5.24 SPEED_REF_OPEN_LOOP Register (Offset = 53Ch) [Reset = 00000000h]

SPEED_REF_OPEN_LOOP is shown in Figure 6-115 and described in Table 6-90.

Return to the Summary Table.

Speed at which motor transitions to close loop

Figure 6-115 SPEED_REF_OPEN_LOOP Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
SPEED_REF_OPEN_LOOP
R-0h

Table 6-90 SPEED_REF_OPEN_LOOP Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	SPEED_REF_OPEN_LOOP	R	0h	32-bit value indicating open loop speed openLoopSpeedRef = (SPEED_REF_OPEN_LOOP / 2²⁷) * MAX_SPEED in Hz

6.8.5.25 IQ_REF_OPEN_LOOP Register (Offset = 54Ch) [Reset = 00000000h]

IQ_REF_OPEN_LOOP is shown in Figure 6-116 and described in Table 6-91.

Return to the Summary Table.

Open Loop Current Reference

Figure 6-116 IQ_REF_OPEN_LOOP Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
IQ_REF_OPEN_LOOP
R-0h

Table 6-91 IQ_REF_OPEN_LOOP Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	IQ_REF_OPEN_LOOP	R	0h	32-bit value indicating open loop current reference iqRefOpenLoop = (IQ_REF_OPEN_LOOP / 2²⁷) * Base_Current/8

6.8.5.26 SPEED_REF_CLOSED_LOOP Register (Offset = 5D2h) [Reset = 00000000h]

SPEED_REF_CLOSED_LOOP is shown in Figure 6-117 and described in Table 6-92.

Return to the Summary Table.

Speed Reference Register

Figure 6-117 SPEED_REF_CLOSED_LOOP Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
SPEED_REF_CLOSED_LOOP
R-0h

Table 6-92 SPEED_REF_CLOSED_LOOP Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	SPEED_REF_CLOSED_LOOP	R	0h	32-bit value indicating reference for speed loop Speed reference in closed loop (Hz) = (SPEED_REF_CLOSED_LOOP/ 2²⁷) * MAX_SPEED in Hz

6.8.5.27 ID_REF_CLOSED_LOOP Register (Offset = 604h) [Reset = 00000000h]

ID_REF_CLOSED_LOOP is shown in Figure 6-118 and described in Table 6-93.

Return to the Summary Table.

Reference for Current Loop Register

Figure 6-118 ID_REF_CLOSED_LOOP Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
ID_REF_CLOSED_LOOP
R-0h

Table 6-93 ID_REF_CLOSED_LOOP Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	ID_REF_CLOSED_LOOP	R	0h	32-bit value indicating Id_ref for flux loop idRefClosedLoop = (ID_REF_CLOSED_LOOP / 2²⁷) * Base_Current/8

6.8.5.28 IQ_REF_CLOSED_LOOP Register (Offset = 606h) [Reset = 00000000h]

IQ_REF_CLOSED_LOOP is shown in Figure 6-119 and described in Table 6-94.

Return to the Summary Table.

Reference for Current Loop Register

Figure 6-119 IQ_REF_CLOSED_LOOP Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
IQ_REF_CLOSED_LOOP
R-0h

Table 6-94 IQ_REF_CLOSED_LOOP Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	IQ_REF_CLOSED_LOOP	R	0h	32-bit value indicating Iq_ref for torque loop iqRefClosedLoop = (IQ_REF_CLOSED_LOOP / 2²⁷) * Base_Current/8

6.8.5.29 ISD_STATE Register (Offset = 680h) [Reset = 0000h]

ISD_STATE is shown in Figure 6-120 and described in Table 6-95.

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ISD state Register

Figure 6-120 ISD_STATE Register

15	14	13	12	11	10	9	8
ISD_STATE
R-0h

7	6	5	4	3	2	1	0
ISD_STATE
R-0h

Table 6-95 ISD_STATE Register Field Descriptions

Bit	Field	Type	Reset	Description
15-0	ISD_STATE	R	0h	16-bit value indicating current ISD state 0h = ISD_INIT 1h = ISD_MOTOR_STOP_CHECK 2h = ISD_ESTIM_INIT 3h = ISD_RUN_MOTOR_CHECK 4h = ISD_MOTOR_DIRECTION_CHECK 5h = ISD_COMPLETE 6h = ISD_FAULT

6.8.5.30 ISD_SPEED Register (Offset = 68Ah) [Reset = 00000000h]

ISD_SPEED is shown in Figure 6-121 and described in Table 6-96.

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ISD Speed Register

Figure 6-121 ISD_SPEED Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
ISD_SPEED
R-0h

Table 6-96 ISD_SPEED Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	ISD_SPEED	R	0h	32-bit value indicating calculated speed during ISD state isdSpeed = (ISD_SPEED / 2²⁷) * MAX_SPEED in Hz

6.8.5.31 IPD_STATE Register (Offset = 6BEh) [Reset = 0000h]

IPD_STATE is shown in Figure 6-122 and described in Table 6-97.

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IPD state Register

Figure 6-122 IPD_STATE Register

15	14	13	12	11	10	9	8
IPD_STATE
R-0h

7	6	5	4	3	2	1	0
IPD_STATE
R-0h

Table 6-97 IPD_STATE Register Field Descriptions

Bit	Field	Type	Reset	Description
15-0	IPD_STATE	R	0h	16-bit value indicating current IPD state 0h = IPD_INIT 1h = IPD_VECTOR_CONFIG 2h = IPD_RUN 3h = IPD_SLOW_RISE_CLOCK 4h = IPD_SLOW_FALL_CLOCK 5h = IPD_WAIT_CURRENT_DECAY 6h = IPD_GET_TIMES 7h = IPD_SET_NEXT_VECTOR 8h = IPD_CALC_SECTOR_RISE 9h = IPD_CALC_ROTOR_POSITION Ah = IPD_CALC_ANGLE Bh = IPD_COMPLETE Ch = IPD_FAULT

6.8.5.32 IPD_ANGLE Register (Offset = 702h) [Reset = 00000000h]

IPD_ANGLE is shown in Figure 6-123 and described in Table 6-98.

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Calculated IPD Angle Register

Figure 6-123 IPD_ANGLE Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
IPD_ANGLE
R-0h

Table 6-98 IPD_ANGLE Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	IPD_ANGLE	R	0h	32-bit value indicating measured IPD angle ipdAngle = (IPD_ANGLE / 2²⁷) * 360 (Degree)

6.8.5.33 ED Register (Offset = 748h) [Reset = 00000000h]

ED is shown in Figure 6-124 and described in Table 6-99.

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Estimated BEMF EQ Register

Figure 6-124 ED Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
ED
R-0h

Table 6-99 ED Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	ED	R	0h	32-bit value indicating estimated ED Ed = (ED / 2²⁷) * 60 / sqrt(3)

6.8.5.34 EQ Register (Offset = 74Ah) [Reset = 00000000h]

EQ is shown in Figure 6-125 and described in Table 6-100.

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Estimated BEMF ED Register

Figure 6-125 EQ Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
EQ
R-0h

Table 6-100 EQ Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	EQ	R	0h	32-bit value indicating estimated EQ Eq = (EQ / 2²⁷) * 60 / sqrt(3)

6.8.5.35 SPEED_FDBK Register (Offset = 758h) [Reset = 00000000h]

SPEED_FDBK is shown in Figure 6-126 and described in Table 6-101.

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Speed Feedback Register

Figure 6-126 SPEED_FDBK Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
SPEED_FDBK
R-0h

Table 6-101 SPEED_FDBK Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	SPEED_FDBK	R	0h	32-bit value indicating estimated rotor speed estimatedSpeed = (SPEED_FDBK / 2²⁷)*MAX_SPEED in Hz

6.8.5.36 THETA_EST Register (Offset = 75Ch) [Reset = 00000000h]

THETA_EST is shown in Figure 6-127 and described in Table 6-102.

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Estimated rotor Position Register

Figure 6-127 THETA_EST Register

31	30	29	28	27	26	25	24	23	22	21	20	19	18	17	16	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
THETA_EST
R-0h

Table 6-102 THETA_EST Register Field Descriptions

Bit	Field	Type	Reset	Description
31-0	THETA_EST	R	0h	32-bit value indicating estimated rotor angle estimatedAngle = (THETA_EST / 2²⁷)*360 (Degree)