cui.com

date 02/12/2013

│ page 6 of 7

CUI Inc

│ SERIES: AMT203 │ DESCRIPTION: MODULAR ENCODER

SPI Commands:

The commands are all 8 bits long, the msb is shifted in first, and is the leftmost bit shown in Figure 7.

Encoder Protocol Considerations:

The Encoder is designed to operate with a high speed SPI link, in full duplex mode. This implies the host can

issue commands and read data as quickly as necessary but there has to be an acknowledgement from the

slave just before the data is transferred.

Essentially the host issues a command, receives zero or more wait sequences (0xA5 or 1010,0101) then the

echo of the command followed by an optional payload.

So, for example to read the position, the host issues rd_pos (0x10 or 0001,0000), receiving a series of wait

sequences (0xA5) then a reflected rd_pos (0x10), then the MSB data followed by the LSB data.

It is recommended that the host leave a 20 us gap between reads to avoid extending the read time by forcing

wait sequences.

Command 0x00: nop_a5

This command is ignored by the Encoder and simply causes the next data to be read. The encoder responds

with 0xA5 if there is nothing else to send.

Command 0x10: rd_pos

This command causes a read of the current position.

The sequence is as follows:

1) issue read command, receive idle character

2) issue NOP, receive idle character 0xA5 or 0x10

3) repeat step 2 if it is 0xA5

4) issue NOP and receive MSB position (4 bits valid data)

5) issue NOP and receive LSB position (8 bits valid data)

Note that it is possible to overlap commands, so instead of NOP is several steps above

the user could start another operation. The read and write FIFOs for the PCI streams are

16 bytes long and it is up to the user to avoid overflow.

Command 0x70: set_zero_point

This command sets the current position to zero and saves this setting in the EEPROM. The host

should send nop_a5 repeatedly after sending this command, the response will be 0xa5 while update

is proceeding and 0x80 is the response when update is finished.