Reference Manual

PMAC 2 Software Reference
430 PMAC I/0 and Memory Map
Chan #
1* 2*
Hex
[$C091] [$C099]
Decimal
49297 49305
Y:$C09x
Handwheel n Time Since Last Encoder Count (SCLK
cycles)
X:$C09x
Handwheel n Phase Position Capture Register (counts)
Chan #
1* 2*
Hex
[$C092] [$C09A]
Decimal
49298 49306
Y:$C09x
Supplementary Channel n* Output A Command Value
Bits
8-23 PWM Command Value (appears on I/O10 & I/O11 if in
dedicated mode)
0-5 Not Used
X:$C09x
Handwheel n* Servo Position Capture Register
0 Direction of last count (0=up, 1=down)
1-23 Position counter (units of counts)
Chan #
1* 2*
Hex
[$C093] [$C09B]
Decimal
49299 49307
Y:$C09x
Supplementary Channel n* Output B Command Value
Bits
8-23 PWM Command Value (appears on I/O08 & I/O09 if in
dedicated mode)
0-5 Not used
X:$C09x
Handwheel n Flag Position Capture Value; 24 bits,
units of counts
Chan #
1* 2*
Hex
[$C094] [$C09C]
Decimal
49300 49308
Y:$C09x
Supplementary Channel n* Output C Command Value
Bits
8-23 PWM Command Value (appears on PUL1 & DIR1 if in
PWM mode)
0-23 PFM Command Value (appears on PUL1 & DIR1 if in
PFM mode)
X:$C094
Supplementary ADC Strobe Word, 24 bits (Shifted out
MSB first one bit per DAC_CLK cycle, starting on
rising edge of phase clock; appears on SEL0 if in
dedicated mode.)
X:$C09C
Supplementary PWM, PFM, MaxPhase* Control Word
0-7 PWM* Dead Time (16*PWM* CLK cycles) also PFM*
pulse width (PFM* CLK cycles)
8-23 PWM* Max Count Value PWM* Frequency =
117.96MHz / [2*(MaxCount+1)] “MaxPhase*”
Frequency = 2*PWM* Frequency