1 //==============================================================================
2 // DUAL-PORT RAM MAPPING
3 //==============================================================================
4 // This memory is an interface to the master MCU. Here is brief memory map
7 // b'0000xxxx' - general registers of 1 axis
8 // b'0001ppxx' - registers of all phases (pp - phase number)
10 // address line width for 1 axis is 5 bits
12 0x00 : MCC enable flags
19 0x07 : reserved (Angle scale)
20 0x08 : reserved (Scaled Angle)
21 0x09 : reserved (Table base)
22 0x0A : reserved (P2 offset)
23 0x0B : reserved (P3 offset)
24 0x0C : reserved (Table index mask)
25 0x0D : reserved (PWM PID - P)
26 0x0E : reserved (PWM PID - I)
27 0x0F : reserved (PWM PID - D)
31 0x11 : PWM1 // PWMx = Phasex * Action
42 //==============================================================================
43 // MOTION-CONTROL-CHAIN COMPONENTS
44 //==============================================================================
45 // Positions of all units in MCC. Each unit handle specific task. They can be
46 // enable/disabled by 0x00 register (MCC enable flags) - bits correspond to
47 // indexes in this table.
52 3 : Reference value generator (PWM value)
53 4 : reserved (PID controller)