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<head><meta http-equiv="Content-Type" content="text/html; charset=UTF-8"/><meta name="viewport" content="width=device-width, initial-scale=1.0"/><meta http-equiv="X-UA-Compatible" content="IE=edge"/><meta name="description" content="CDF CDF 组成结构如下： CDF，Command Data Field，只在发送过程涉及，由以下组成： Start bit：1'b0，固定值。 Sink code：3’b010，固定值。 Frame Code：2-bit，CDF 对应 2’b00。 Encoder Address：3-bit，编码器的地址。 Comand Code：5-bit，命令代码。 CRC code：3-bit，CRC ..."/><meta name="DC.rights.owner" content="(C) 版权 2025"/><meta name="copyright" content="(C) 版权 2025"/><meta name="generator" content="DITA-OT"/><meta name="DC.type" content="concept"/><meta name="DC.contributor" content="yan.wang"/><meta name="DC.date.modified" content="2024-12-18"/><meta name="DC.format" content="HTML5"/><meta name="DC.identifier" content="a_format_0"/><meta name="DC.language" content="zh-CN"/><title>A-Format 域</title><!-- Build number 2023110923. --><meta name="wh-path2root" content="../../../"/><meta name="wh-toc-id" content=""/><meta name="wh-source-relpath" content="topics/ic/ta-if/ta-if-a-format.dita"/><meta name="wh-out-relpath" content="topics/ic/ta-if/ta-if-a-format.html"/>
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<div class=" wh_topic_content body "><main role="main"><article class="- topic/topic concept/concept topic concept" role="article" aria-labelledby="ariaid-title1"><span class="edit-link" style="font-size:12px; opacity:0.6; text-align:right; vertical-align:middle"><a target="_blank" href="http://172.16.35.88/tasks/jdssno1uvvbf2mltu9kb9v3if05d5gopuakboe8hlud18rma/edit/F:/aicdita/aicdita-cn/topics/ic/ta-if/ta-if-a-format.dita">Edit online</a></span><h1 class="- topic/title title topictitle1" id="ariaid-title1">A-Format 域</h1><div class="date inPage">18 Dec 2024</div><div style="color: gray;">
Read time: 2 minute(s)
</div><div class="- topic/body concept/conbody body conbody"><section class="- topic/section section" id="a_format_0__section_d4d_stw_ryb" data-ofbid="a_format_0__section_d4d_stw_ryb"><h2 class="- topic/title title sectiontitle">CDF</h2><p class="- topic/p p" data-ofbid="d218482e25__20250121171645">CDF 组成结构如下：</p><div class="- topic/p p" data-ofbid="d218482e27__20250121171645">
<br/><div class="imagecenter"><img class="- topic/image image imagecenter" id="a_format_0__image_f4d_stw_ryb" src="../../../images/ta_if/ta_if_cdf.png" width="576"/></div><br/>
</div><p class="- topic/p p" data-ofbid="d218482e31__20250121171645">CDF，Command Data Field，只在发送过程涉及，由以下组成：</p><ul class="- topic/ul ul" id="a_format_0__ul_g4d_stw_ryb" data-ofbid="a_format_0__ul_g4d_stw_ryb"><li class="- topic/li li" data-ofbid="d218482e34__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e36__20250121171645">Start bit：1'b0，固定值。</p>
</li><li class="- topic/li li" data-ofbid="d218482e39__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e41__20250121171645">Sink code：3’b010，固定值。</p>
</li><li class="- topic/li li" data-ofbid="d218482e44__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e46__20250121171645">Frame Code：2-bit，CDF 对应 2’b00。</p>
</li><li class="- topic/li li" data-ofbid="d218482e49__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e51__20250121171645">Encoder Address：3-bit，编码器的地址。</p>
</li><li class="- topic/li li" data-ofbid="d218482e54__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e56__20250121171645">Comand Code：5-bit，命令代码。</p>
</li><li class="- topic/li li" data-ofbid="d218482e59__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e61__20250121171645">CRC code：3-bit，CRC 校验码，生成多项式为 X^3+X+1，计算范围除了 Start Bit、Stop Bit 和 Sink Code
以外的所有 bit，这里需要硬件自动计算生成。</p>
</li><li class="- topic/li li" data-ofbid="d218482e64__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e66__20250121171645">Delimiter：1'b1，固定值。</p>
</li></ul></section><section class="- topic/section section" id="a_format_0__section_h4d_stw_ryb" data-ofbid="a_format_0__section_h4d_stw_ryb"><h2 class="- topic/title title sectiontitle">MDF</h2><p class="- topic/p p" data-ofbid="d218482e72__20250121171645">MDF 组成结构如下：</p><div class="- topic/p p" data-ofbid="d218482e74__20250121171645">
<br/><div class="imagecenter"><img class="- topic/image image imagecenter" id="a_format_0__image_j4d_stw_ryb" src="../../../images/ta_if/mdf.png" width="576"/></div><br/>
</div><p class="- topic/p p" data-ofbid="d218482e78__20250121171645">MDF0/ 1/ 2，Memory Data Field 0/ 1/ 2，只在发送过程涉及，由以下组成：</p><ul class="- topic/ul ul" id="a_format_0__ul_k4d_stw_ryb" data-ofbid="a_format_0__ul_k4d_stw_ryb"><li class="- topic/li li" data-ofbid="d218482e81__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e83__20250121171645">Start bit：1'b0，固定值。</p>
</li><li class="- topic/li li" data-ofbid="d218482e86__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e88__20250121171645">Sink code：3’b010，固定值。</p>
</li><li class="- topic/li li" data-ofbid="d218482e91__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e93__20250121171645">Frame Code：2-bit，MDF0 对应 2’b01，MDF1 对应 2’b10，MDF2 对应 2’b11。</p>
</li><li class="- topic/li li" data-ofbid="d218482e96__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e98__20250121171645">Data bit：8-bit，数据位。</p>
</li><li class="- topic/li li" data-ofbid="d218482e101__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e103__20250121171645">CRC code：3-bit，CRC 校验码，生成多项式为 X^3+X+1，计算范围除了 Start Bit、Stop Bit 和 Sink Code
以外的所有 bit，这里需要硬件自动生成。</p>
</li><li class="- topic/li li" data-ofbid="d218482e106__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e108__20250121171645">Delimiter：1'b1，固定值。</p>
</li></ul></section><section class="- topic/section section" id="a_format_0__section_l4d_stw_ryb" data-ofbid="a_format_0__section_l4d_stw_ryb"><h2 class="- topic/title title sectiontitle">IF</h2><p class="- topic/p p" data-ofbid="d218482e114__20250121171645">IF 只在接收过程涉及，其格式与 CDF 命令有关。</p><p class="- topic/p p" data-ofbid="d218482e116__20250121171645">当 CDF 为 CDF0~CDF20，适用以下的格式：</p><div class="- topic/p p" data-ofbid="d218482e118__20250121171645">
<br/><div class="imagecenter"><img class="- topic/image image imagecenter" id="a_format_0__image_m4d_stw_ryb" src="../../../images/ta_if/ta_if_a_format_field_if1.png" width="576"/></div><br/>
</div><ul class="- topic/ul ul" id="a_format_0__ul_n4d_stw_ryb" data-ofbid="a_format_0__ul_n4d_stw_ryb"><li class="- topic/li li" data-ofbid="d218482e123__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e125__20250121171645">Start bit：1'b0，固定值。</p>
</li><li class="- topic/li li" data-ofbid="d218482e128__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e130__20250121171645">Sink code：3’b100，固定值。</p>
</li><li class="- topic/li li" data-ofbid="d218482e133__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e135__20250121171645">Encoder Address：3-bit，接收的编码器地址应该与发送的编码器地址一致，不一致则产生错误状态。</p>
</li><li class="- topic/li li" data-ofbid="d218482e138__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e140__20250121171645">Command Code：5-bit，接收的 Command Code 应该与发送的 一致，不一致则产生错误状态。</p>
</li><li class="- topic/li li" data-ofbid="d218482e143__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e145__20250121171645">Encoder Status：4-bit。</p>
</li><li class="- topic/li li" data-ofbid="d218482e148__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e150__20250121171645">Delimiter：1'b1，固定值。</p>
</li></ul><p class="- topic/p p" data-ofbid="d218482e153__20250121171645">当 CDF 为 CDF21/ 22，适用以下的格式：</p><div class="- topic/p p" data-ofbid="d218482e155__20250121171645">
<br/><div class="imagecenter"><img class="- topic/image image imagecenter" id="a_format_0__image_o4d_stw_ryb" src="../../../images/ta_if/ta_if_a_format_field_if2.png" width="576"/></div><br/>
</div><ul class="- topic/ul ul" id="a_format_0__ul_p4d_stw_ryb" data-ofbid="a_format_0__ul_p4d_stw_ryb"><li class="- topic/li li" data-ofbid="d218482e160__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e162__20250121171645">Start bit：1'b0，固定值。</p>
</li><li class="- topic/li li" data-ofbid="d218482e165__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e167__20250121171645">Sink code：3’b100，固定值。</p>
</li><li class="- topic/li li" data-ofbid="d218482e170__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e172__20250121171645">EAX：3-bit。</p>
</li><li class="- topic/li li" data-ofbid="d218482e175__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e177__20250121171645">ES：1-bit，状态位，ES = ES0 + ES1 + ES2 + ES3。</p>
</li><li class="- topic/li li" data-ofbid="d218482e180__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e182__20250121171645">Data bit：9-bit，数据位。</p>
</li><li class="- topic/li li" data-ofbid="d218482e185__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e187__20250121171645">Delimiter：1'b1，固定值。</p>
</li></ul></section><section class="- topic/section section" id="a_format_0__section_q4d_stw_ryb" data-ofbid="a_format_0__section_q4d_stw_ryb"><h2 class="- topic/title title sectiontitle">DF0/ 1/ 2</h2><p class="- topic/p p" data-ofbid="d218482e193__20250121171645">DF0/ 1/ 2 组成结构如下：</p><div class="- topic/p p" data-ofbid="d218482e195__20250121171645"><br/><div class="imagecenter"><img class="- topic/image image imagecenter" id="a_format_0__image_s4d_stw_ryb" src="../../../images/ta_if/ta_if_a_format_field_df.png" width="672"/></div><br/></div><p class="- topic/p p" data-ofbid="d218482e197__20250121171645">DF0/ 1/ 2，Data Field 0/ 1/ 2，只在接收过程涉及，DF 的数量与 CDF 有关，由以下组成：</p><ul class="- topic/ul ul" id="a_format_0__ul_t4d_stw_ryb" data-ofbid="a_format_0__ul_t4d_stw_ryb"><li class="- topic/li li" data-ofbid="d218482e200__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e202__20250121171645">Start bit：1'b0，固定值。</p>
</li><li class="- topic/li li" data-ofbid="d218482e205__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e207__20250121171645">Data bit：16-bit，数据位。</p>
</li><li class="- topic/li li" data-ofbid="d218482e210__20250121171645">
<p class="- topic/p p" data-ofbid="d218482e212__20250121171645">Delimiter：1'b1，固定值。</p>
</li></ul></section><section class="- topic/section section" id="a_format_0__section_u4d_stw_ryb" data-ofbid="a_format_0__section_u4d_stw_ryb"><h2 class="- topic/title title sectiontitle">RX_CRC_ERR</h2>
<p class="- topic/p p" data-ofbid="d218482e220__20250121171645">对于接收到的编码器的数据，包含了 8 bits CRC 码，CRC 码的生成多项式为
X^<sup class="+ topic/ph hi-d/sup ph sup">8</sup>+X<sup class="+ topic/ph hi-d/sup ph sup">4</sup>+X<sup class="+ topic/ph hi-d/sup ph sup">3</sup>+X<sup class="+ topic/ph hi-d/sup ph sup">2</sup>+1，计算的范围为所有接收的
Field，除去起始位和截止位的数据。 以下是 3 field 的 CRC 计算示例：</p>
<div class="table-container"><table class="- topic/table table frame-all" id="a_format_0__id29" data-ofbid="a_format_0__id29" data-cols="3"><caption class="- topic/title title tablecap" data-caption-side="top" data-is-repeated="true"><span class="table--title-label">表<span class="table--title-label-number"> 1</span><span class="table--title-label-punctuation">. </span></span><span class="table--title">CRC 计算举例</span></caption><colgroup><col style="width:33.33333333333333%"/><col style="width:33.33333333333333%"/><col style="width:33.33333333333333%"/></colgroup><thead class="- topic/thead thead"><tr class="- topic/row"><th class="- topic/entry entry colsep-0 rowsep-0" id="a_format_0__id29__entry__1">IF</th><th class="- topic/entry entry colsep-0 rowsep-0" id="a_format_0__id29__entry__2">DF0</th><th class="- topic/entry entry colsep-0 rowsep-0" id="a_format_0__id29__entry__3">DF1</th></tr></thead><tbody class="- topic/tbody tbody"><tr class="- topic/row"><td class="- topic/entry entry colsep-0 rowsep-0" headers="a_format_0__id29__entry__1">00111110 00000011</td><td class="- topic/entry entry colsep-0 rowsep-0" headers="a_format_0__id29__entry__2">00000000 11101111</td><td class="- topic/entry entry colsep-0 rowsep-0" headers="a_format_0__id29__entry__3">11011111 00110101</td></tr></tbody></table></div>
<p class="- topic/p p" data-ofbid="d218482e259__20250121171645">对于 RX 数据域的 CRC，支持对该 CRC 码的验证，如果 CRC
码不正确，则在
RX_ASTS 寄存器中相应的 BIT 位指示校验不正确。</p>
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<div class=" wh_topic_content body "><main role="main"><article class="- topic/topic concept/concept topic concept" role="article" aria-labelledby="ariaid-title1"><span class="edit-link" style="font-size:12px; opacity:0.6; text-align:right; vertical-align:middle"><a target="_blank" href="http://172.16.35.88/tasks/jdssno1uvvbf2mltu9kb9v3if05d5gopuakboe8hlud18rma/edit/F:/aicdita/aicdita-cn/topics/ic/ta-if/ta_interface_ta_if.dita">Edit online</a></span><h1 class="- topic/title title topictitle1" id="ariaid-title1">TA Interface (TA_IF)</h1><div class="date inPage">16 Aug 2024</div><div style="color: gray;">
Read time: 1 minute(s)
</div><div class="- topic/body concept/conbody body conbody"><p class="- topic/p p" data-ofbid="d76688e22__20250121171524">TFormat / AFormat Absolute Encoder Interface (TA-AEI)，简称 TA_IF，即 TA 绝对值编码器接口，主要用作
Master，控制 T-Format/ A-Format 接口的绝对值编码器。Tamgawa 的编码器接口格式对应为 T-Format，Nikon 编码器接口格式对应为
A-Format。</p><section class="- topic/section section" id="ta_interface_ta_if__section_pfq_4kk_qbc" data-ofbid="ta_interface_ta_if__section_pfq_4kk_qbc"><h2 class="- topic/title title sectiontitle">特性说明</h2>
<ul class="- topic/ul ul" id="ta_interface_ta_if__ul_all_hlk_qbc" data-ofbid="ta_interface_ta_if__ul_all_hlk_qbc"><li class="- topic/li li" data-ofbid="d76688e30__20250121171524">支持 T-Format 和 A-Format（A-Format 只支持点对点模式）。</li><li class="- topic/li li" data-ofbid="d76688e32__20250121171524">波特率支持 2.5 Mbps/ 4 Mbps/ 6.6 Mbps/ 8 Mbps/ 16 Mbps。</li><li class="- topic/li li" data-ofbid="d76688e34__20250121171524">支持编码器绝对值位置数据解码。</li></ul>
</section><section class="- topic/section section" id="ta_interface_ta_if__section_igv_qmk_qbc" data-ofbid="ta_interface_ta_if__section_igv_qmk_qbc"><h2 class="- topic/title title sectiontitle">原理框图</h2>
<div class="- topic/p p" data-ofbid="d76688e42__20250121171524"><br/><div class="imagecenter"><img class="- topic/image image imagecenter" id="ta_interface_ta_if__image_sk2_mnk_qbc" src="../../../images/ta_if/ta_principle.png" width="672"/></div><br/></div>
<div class="- topic/p p" data-ofbid="d76688e45__20250121171524">外部接口说明如下：<ul class="- topic/ul ul" id="ta_interface_ta_if__ul_jcl_trw_ryb" data-ofbid="ta_interface_ta_if__ul_jcl_trw_ryb"><li class="- topic/li li" data-ofbid="d76688e48__20250121171524">
<p class="- topic/p p" data-ofbid="d76688e50__20250121171524">TA-DE：用于驱动外部的 RS485 芯片，自动切换 Dirver/Reception 状态。</p>
</li><li class="- topic/li li" data-ofbid="d76688e53__20250121171524">
<p class="- topic/p p" data-ofbid="d76688e55__20250121171524">TA-DIO：输入输出数据信号。</p>
</li></ul></div>
</section><section class="- topic/section section" id="ta_interface_ta_if__section_ksy_lxj_syb" data-ofbid="ta_interface_ta_if__section_ksy_lxj_syb"><h2 class="- topic/title title sectiontitle">实时控制外设互联图</h2>
<figure class="- topic/fig fig fignone" id="ta_interface_ta_if__fig_grn_kcr_5bc" data-ofbid="ta_interface_ta_if__fig_grn_kcr_5bc"><br/><div class="imagecenter"><img class="- topic/image image imagecenter" id="ta_interface_ta_if__image_kzf_5rw_ryb" src="../../../images/ta_if/ta_connect_block.png" width="576"/></div><br/><figcaption data-caption-side="bottom" class="- topic/title title figcapcenter"><span class="figtitleprefix fig--title-label">图<span class="fig--title-label-number"> 1</span><span class="fig--title-label-punctuation">. </span></span><span class="fig--title">TA_IF 实时控制外设互联</span></figcaption></figure>
<p class="- topic/p p" data-ofbid="d76688e69__20250121171524"><strong class="+ topic/ph hi-d/b ph b">TA_IF 输入输出管脚</strong></p>
<p class="- topic/p p" data-ofbid="d76688e73__20250121171524">如<a class="- topic/xref xref" href="#ta_interface_ta_if__fig_grn_kcr_5bc">TA_IF 实时控制外设互联</a>所示，TA_IF 的输入输出管脚信号 TA_DE 和 TA_DIO
复用于 ENC_IO_MUX 模块，需通过 SYS_CFG 配置寄存器 ENCODER_CFG 进行选择。其中对应关系为：</p>
<ul class="- topic/ul ul" id="ta_interface_ta_if__ul_lzf_5rw_ryb" data-ofbid="ta_interface_ta_if__ul_lzf_5rw_ryb"><li class="- topic/li li" data-ofbid="d76688e81__20250121171524">
<p class="- topic/p p" data-ofbid="d76688e83__20250121171524">ENC_IO0 对应 TA_DE。</p>
</li><li class="- topic/li li" data-ofbid="d76688e86__20250121171524">
<p class="- topic/p p" data-ofbid="d76688e88__20250121171524">ENC_IO1 对应 TA_DIO。</p>
</li><li class="- topic/li li" data-ofbid="d76688e91__20250121171524">
<p class="- topic/p p" data-ofbid="d76688e93__20250121171524">ENC_IO2 无对应 TA_IF 模块的信号，无需使用。</p>
</li></ul>
<p class="- topic/p p" data-ofbid="d76688e98__20250121171524"><strong class="+ topic/ph hi-d/b ph b">TA_IF 位置数据</strong></p>
<p class="- topic/p p" data-ofbid="d76688e102__20250121171524">如<a class="- topic/xref xref" href="#ta_interface_ta_if__fig_grn_kcr_5bc">TA_IF 实时控制外设互联</a>所示，TA_IF 的解析所得的位置数据，可以传输到 HCL 以及
QOUT 模块，分别用于硬件电流环的电角度计算和 QOUT 的任意分频输出。</p>
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<div class=" wh_topic_toc "><div class="wh_topic_label">在本页上</div><ul><li class="section-item"><div class="section-title"><a href="#ta_interface_ta_if__section_pfq_4kk_qbc" data-tocid="ta_interface_ta_if__section_pfq_4kk_qbc">特性说明</a></div></li><li class="section-item"><div class="section-title"><a href="#ta_interface_ta_if__section_igv_qmk_qbc" data-tocid="ta_interface_ta_if__section_igv_qmk_qbc">原理框图</a></div></li><li class="section-item"><div class="section-title"><a href="#ta_interface_ta_if__section_ksy_lxj_syb" data-tocid="ta_interface_ta_if__section_ksy_lxj_syb">实时控制外设互联图</a></div></li></ul></div>
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