米6体育平台手机版

ZHCSWO7 May 2024 MCT8316A-Q1

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RGF|40
- MPQF173F

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RGF|40
- QFND710

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6.7.1 Algorithm_Configuration 寄存器

表 6-10 列出了 Algorithm_Configuration 寄存器的存储器映射寄存器。表 6-10 中未列出的所有寄存器偏移地址都应视为保留的位置，并且不应修改寄存器内容。

表 6-10 ALGORITHM_CONFIGURATION 寄存器

偏移	首字母缩写词	寄存器名称	部分
80h	ISD_CONFIG	ISD 配置	节 6.7.1.1
82h	MOTOR_STARTUP1	电机启动配置 1	节 6.7.1.2
84h	MOTOR_STARTUP2	电机启动配置 2	节 6.7.1.3
86h	CLOSED_LOOP1	闭环配置 1	节 6.7.1.4
88h	CLOSED_LOOP2	闭环配置 2	节 6.7.1.5
8Ah	CLOSED_LOOP3	闭环配置 3	节 6.7.1.6
8Ch	CLOSED_LOOP4	闭环配置 4	节 6.7.1.7
8Eh	CONST_SPEED	恒定转速配置	节 6.7.1.8
90h	CONST_PWR	恒定功率配置	节 6.7.1.9
96h	150_DEG_TWO_PH_PROFILE	150° 两相曲线	节 6.7.1.10
98h	150_DEG_THREE_PH_PROFILE	150° 三相曲线	节 6.7.1.11
9Ah	TRAP_CONFIG1	陷波配置 1	节 6.7.1.12
9Ch	TRAP_CONFIG2	陷波配置 2	节 6.7.1.13

复杂的位访问类型经过编码可适应小型表单元。表 6-11 展示了适用于此部分中访问类型的代码。

表 6-11 Algorithm_Configuration 访问类型代码

访问类型	代码	说明
读取类型
R	R	读取
写入类型
W	W	写入
复位或默认值
-n		复位后的值或默认值

6.7.1.1 ISD_CONFIG 寄存器（偏移 = 80h）[复位 = 00000000h]

图 6-53 展示了 ISD_CONFIG，表 6-12 中对此进行了介绍。

返回到表 6-10。

用于配置初始速度检测设置的寄存器

图 6-53 ISD_CONFIG 寄存器

31	30	29	28	27	26	25	24
奇偶校验	ISD_EN	BRAKE_EN	HIZ_EN	RVS_DR_EN	RESYNC_EN	STAT_BRK_EN	STAT_DETECT_THR
R/W-0h	R/W-0h	R/W-0h	R/W-0h	R/W-0h	R/W-0h	R/W-0h	R/W-0h

23	22	21	20	19	18	17	16
STAT_DETECT_THR		BRK_MODE	RESERVED	RESERVED			BRK_TIME
R/W-0h		R/W-0h	R-0h	R-0h			R/W-0h

15	14	13	12	11	10	9	8
BRK_TIME			HIZ_TIME				STARTUP_BRK_TIME
R/W-0h			R/W-0h				R/W-0h

7	6	5	4	3	2	1	0
STARTUP_BRK_TIME		RESYNC_MIN_THRESHOLD			RESERVED
R/W-0h		R/W-0h			R-0h

表 6-12 ISD_CONFIG 寄存器字段说明

位	字段	类型	复位	说明
31	奇偶校验	R/W	0h	奇偶校验位
30	ISD_EN	R/W	0h	启用 ISD 0h = 禁用 1h = 启用
29	BRAKE_EN	R/W	0h	启用制动 0h = 禁用 1h = 启用
28	HIZ_EN	R/W	0h	启用高阻态 0h = 禁用 1h = 启用
27	RVS_DR_EN	R/W	0h	启用反向驱动 0h = 禁用 1h = 启用
26	RESYNC_EN	R/W	0h	启用重新同步 0h = 禁用 1h = 启用
25	STAT_BRK_EN	R/W	0h	在静止期间启用或禁用制动 0h =禁用 1h = 启用
24-22	STAT_DETECT_THR	R/W	0h	静止 BEMF 检测阈值 0h = 5mV 1h = 10mV 2h = 15mV 3h = 20mV 4h = 25mV 5h = 30mV 6h = 50mV 7h = 100mV
21	BRK_MODE	R/W	0h	制动模式 0h = 全部三个低侧 FET 导通 1h = 全部三个高侧 FET 导通
20	RESERVED	R	0h	保留
19-17	RESERVED	R	0h	保留
16-13	BRK_TIME	R/W	0h	制动时间 0h = 10ms 1h = 50ms 2h = 100ms 3h = 200ms 4h = 300ms 5h = 400ms 6h = 500ms 7h = 750ms 8h = 1s 9h = 2s Ah = 3s Bh = 4s Ch = 5s Dh = 7.5s Eh = 10s Fh = 15s
12-9	HIZ_TIME	R/W	0h	高阻态时间 0h = 10ms 1h = 50ms 2h = 100ms 3h = 200ms 4h = 300ms 5h = 400ms 6h = 500ms 7h = 750ms 8h = 1s 9h = 2s Ah = 3s Bh = 4s Ch = 5s Dh = 7.5s Eh = 10s Fh = 15s
8-6	STARTUP_BRK_TIME	R/W	0h	电机静止时的制动时间 0h = 1ms 1h = 10ms 2h = 25ms 3h = 50ms 4h = 100ms 5h = 250ms 6h = 500ms 7h = 1000ms
5-3	RESYNC_MIN_THRESHOLD	R/W	0h	电机滑行而非重新同步的最小相 BEMF 阈值 0h = 基于 MIN_DUTY 计算 1h = 300mV 2h = 400mV 3h = 500mV 4h = 600mV 5h = 800mV 6h = 1000mV 7h = 1250mV
2-0	RESERVED	R	0h	保留

6.7.1.2 MOTOR_STARTUP1 寄存器（偏移 = 82h）[复位 = 00000000h]

图 6-54 展示了 MOTOR_STARTUP1，表 6-13 中对此进行了介绍。

返回到表 6-10。

用于配置电机启动设置 1 的寄存器

图 6-54 MOTOR_STARTUP1 寄存器

31	30	29	28	27	26	25	24
奇偶校验	MTR_STARTUP		ALIGN_RAMP_RATE				ALIGN_TIME
R/W-0h	R/W-0h		R/W-0h				R/W-0h

23	22	21	20	19	18	17	16
ALIGN_TIME			ALIGN_CURR_THR				IPD_CLK_FREQ
R/W-0h			R/W-0h				R/W-0h

15	14	13	12	11	10	9	8
IPD_CLK_FREQ		IPD_CURR_THR				IPD_RLS_MODE
R/W-0h		R/W-0h				R/W-0h

7	6	5	4	3	2	1	0
IPD_ADV_ANGLE		IPD_REPEAT		SLOW_FIRST_CYC_FREQ
R/W-0h		R/W-0h		R/W-0h

表 6-13 MOTOR_STARTUP1 寄存器字段说明

位	字段	类型	复位	说明
31	奇偶校验	R/W	0h	奇偶校验位
30-29	MTR_STARTUP	R/W	0h	电机启动方法 0h = 对齐 1h = 双对齐 2h = IPD 3h = 慢速首循环
28-25	ALIGN_RAMP_RATE	R/W	0h	对齐电压斜坡速率 0h = 0.1V/s 1h = 0.2V/s 2h = 0.5V/s 3h = 1V/s 4h = 2.5V/s 5h = 5V/s 6h = 7.5V/s 7h = 10V/s 8h = 25V/s 9h = 50V/s Ah = 75V/s Bh = 100V/s Ch = 250V/s Dh = 500V/s Eh = 750V/s Fh = 1000V/s
24-21	ALIGN_TIME	R/W	0h	对齐时间 0h = 5ms 1h = 10ms 2h = 25ms 3h = 50ms 4h = 75ms 5h = 100ms 6h = 200ms 7h = 400ms 8h = 600ms 9h = 800ms Ah = 1s Bh = 2s Ch = 4s Dh = 6s Eh = 8s Fh = 10s
20-17	ALIGN_CURR_THR	R/W	0h	对齐电流阈值（对齐电流阈值 (A) = ALIGN_CURR_THR/CSA_GAIN） 0h = 不适用 1h = 0.1V 2h = 0.2V 3h = 0.3V 4h = 0.4V 5h = 0.5V 6h = 0.6V 7h = 0.7V 8h = 0.8V 9h = 0.9V Ah = 1V Bh = 1.1V Ch = 1.2V Dh = 1.3V Eh = 1.4V Fh = 1.5V
16-14	IPD_CLK_FREQ	R/W	0h	IPD 时钟频率 0h = 50Hz 1h = 100Hz 2h = 250Hz 3h = 500Hz 4h = 1000Hz 5h = 2000Hz 6h = 5000Hz 7h = 10000Hz
13-10	IPD_CURR_THR	R/W	0h	IPD 电流阈值（IPD 电流阈值 (A) = IPD_CURR_THR/CSA_GAIN） 0h = 不适用 1h = 不适用 2h = 0.2V 3h = 0.3V 4h = 0.4V 5h = 0.5V 6h = 0.6V 7h = 0.7V 8h = 0.8V 9h = 0.9V Ah = 1V Bh = 1.1V Ch = 1.2V Dh = 1.3V Eh = 1.4V Fh = 1.5V
9-8	IPD_RLS_MODE	R/W	0h	IPD 释放模式 0h = 制动 1h = 三态 2h = 不适用 3h = 不适用
7-6	IPD_ADV_ANGLE	R/W	0h	IPD 超前角度 0h = 0° 1h = 30° 2h = 60° 3h = 90°
5-4	IPD_REPEAT	R/W	0h	执行 IPD 的次数 0h = 一次 1h = 平均 2 次 2h = 平均 3 次 3h = 平均 4 次
3-0	SLOW_FIRST_CYC_FREQ	R/W	0h	首循环频率 0h = 0.05Hz 1h = 0.1Hz 2h = 0.25Hz 3h = 0.5Hz 4h = 1Hz 5h = 2Hz 6h = 3Hz 7h = 5Hz 8h = 10Hz 9h = 15Hz Ah = 25Hz Bh = 50Hz Ch = 75Hz Dh = 100Hz Eh = 150Hz Fh = 200Hz

6.7.1.3 MOTOR_STARTUP2 寄存器（偏移 = 84h）[复位 = 0000000Xh]

图 6-55 展示了 MOTOR_STARTUP2，表 6-14 中对此进行了介绍。

返回到表 6-10。

用于配置电机启动设置 2 的寄存器

图 6-55 MOTOR_STARTUP2 寄存器

31	30	29	28	27	26	25	24
奇偶校验	OL_ILIMIT_CONFIG	OL_DUTY			OL_ILIMIT
R/W-0h	R/W-0h	R/W-0h			R/W-0h

23	22	21	20	19	18	17	16
OL_ILIMIT	OL_ACC_A1					OL_ACC_A2
R/W-0h	R/W-0h					R/W-0h

15	14	13	12	11	10	9	8
OL_ACC_A2			OPN_CL_HANDOFF_THR
R/W-0h			R/W-0h

7	6	5	4	3	2	1	0
AUTO_HANDOFF	FIRST_CYCLE_FREQ_SEL	MIN_DUTY				RESERVED
R/W-0h	R/W-0h	R/W-0h				R-0h

表 6-14 MOTOR_STARTUP2 寄存器字段说明

位	字段	类型	复位	说明
31	奇偶校验	R/W	0h	奇偶校验位
30	OL_ILIMIT_CONFIG	R/W	0h	开环电流限制配置 0h = 由 OL_ILIMIT 定义的开环电流限制 1h = 由 ILIMIT 定义的开环电流限制
29-27	OL_DUTY	R/W	0h	开环期间的占空比限制 0h = 10% 1h = 15% 2h = 20% 3h = 25% 4h = 30% 5h = 40% 6h = 50% 7h = 100%
26-23	OL_ILIMIT	R/W	0h	开环电流限制（OL 电流阈值 (A) = OL_CURR_THR/CSA_GAIN） 0h = 不适用 1h = 0.1V 2h = 0.2V 3h = 0.3V 4h = 0.4V 5h = 0.5V 6h = 0.6V 7h = 0.7V 8h = 0.8V 9h = 0.9V Ah = 1V Bh = 1.1V Ch = 1.2V Dh = 1.3V Eh = 1.4V Fh = 1.5V
22-18	OL_ACC_A1	R/W	0h	开环加速 A1 0h = 0.005Hz/s 1h = 0.01Hz/s 2h = 0.025Hz/s 3h = 0.05Hz/s 4h = 0.1Hz/s 5h = 0.25Hz/s 6h = 0.5Hz/s 7h = 1Hz/s 8h = 2.5Hz/s 9h = 5Hz/s Ah = 7.5Hz/s Bh = 10Hz/s Ch = 12.5Hz/s Dh = 15Hz/s Eh = 20Hz/s Fh = 30Hz/s 10h = 40Hz/s 11h = 50Hz/s 12h = 60Hz/s 13h = 75Hz/s 14h = 100Hz/s 15h = 125Hz/s 16h = 150Hz/s 17h = 175Hz/s 18h = 200Hz/s 19h = 250Hz/s 1Ah = 300Hz/s 1Bh = 400Hz/s 1Ch = 500Hz/s 1Dh = 750Hz/s 1Eh = 1000Hz/s 1Fh = 无限制 (32767) Hz/s
17-13	OL_ACC_A2	R/W	0h	开环加速 A2 0h = 0.005Hz/s2 1h = 0.01Hz/s2 2h = 0.025Hz/s2 3h = 0.05Hz/s2 4h = 0.1Hz/s2 5h = 0.25Hz/s2 6h = 0.5Hz/s2 7h = 1Hz/s2 8h = 2.5Hz/s2 9h = 5Hz/s2 Ah = 7.5Hz/s2 Bh = 10Hz/s2 Ch = 12.5Hz/s2 Dh = 15Hz/s2 Eh = 20Hz/s2 Fh = 30Hz/s2 10h = 40Hz/s2 11h = 50Hz/s2 12h = 60Hz/s2 13h = 75Hz/s2 14h = 100Hz/s2 15h = 125Hz/s2 16h = 150Hz/s2 17h = 175Hz/s2 18h = 200Hz/s2 19h = 250Hz/s2 1Ah = 300Hz/s2 1Bh = 400Hz/s2 1Ch = 500Hz/s2 1Dh = 750Hz/s2 1Eh = 1000Hz/s2 1Fh = 无限制 (32767) Hz/s2
12-8	OPN_CL_HANDOFF_THR	R/W	0h	开环至闭环切换阈值 0h = 1Hz 1h = 4Hz 2h = 8Hz 3h = 12Hz 4h = 16Hz 5h = 20Hz 6h = 24Hz 7h = 28Hz 8h = 32Hz 9h = 36Hz Ah = 40Hz Bh = 45Hz Ch = 50Hz Dh = 55Hz Eh = 60Hz Fh = 65Hz 10h = 70Hz 11h = 75Hz 12h = 80Hz 13h = 85Hz 14h = 90Hz 15h = 100Hz 16h = 150Hz 17h = 200Hz 18h = 250Hz 19h = 300Hz 1Ah = 350Hz 1Bh = 400Hz 1Ch = 450Hz 1Dh = 500Hz 1Eh = 550Hz 1Fh = 600Hz
7	AUTO_HANDOFF	R/W	0h	启用自动切换 0h = 禁用自动切换（使用 OPN_CL_HANDOFF_THR） 1h = 启用自动切换
6	FIRST_CYCLE_FREQ_SEL	R/W	0h	首循环频率选择 0h = 由 SLOW_FIRST_CYC_FREQ 定义 1h = 0Hz
5-2	MIN_DUTY	R/W	0h	最小工作占空比 0h = 1.5 % 1h = 2 % 2h = 3 % 3h = 4 % 4h = 5 % 5h = 6 % 6h = 7 % 7h = 8 % 8h = 9 % 9h = 10 % Ah = 12 % Bh = 15 % Ch = 17.5 % Dh = 20 % Eh = 25 % Fh = 30 %
1-0	RESERVED	R	0h	保留

6.7.1.4 CLOSED_LOOP1 寄存器（偏移 = 86h）[复位 = 00000000h]

图 6-56 展示了 CLOSED_LOOP1，表 6-15 中对此进行了介绍。

返回到表 6-10。

用于配置闭环设置 1 的寄存器

图 6-56 CLOSED_LOOP1 寄存器

31	30	29	28	27	26	25	24
奇偶校验	COMM_CONTROL		CL_ACC
R/W-0h	R/W-0h		R/W-0h

23	22	21	20	19	18	17	16
CL_DEC_CONFIG	CL_DEC					PWM_FREQ_OUT
R/W-0h	R/W-0h					R/W-0h

15	14	13	12	11	10	9	8
PWM_FREQ_OUT			PWM_MODUL		PWM_MODE	LD_ANGLE_POLARITY	LD_ANGLE
R/W-0h			R/W-0h		R/W-0h	R/W-0h	R/W-0h

7	6	5	4	3	2	1	0
LD_ANGLE							RESERVED
R/W-0h							R-0h

表 6-15 CLOSED_LOOP1 寄存器字段说明

位	字段	类型	复位	说明
31	奇偶校验	R/W	0h	奇偶校验位
30-29	COMM_CONTROL	R/W	0h	梯形换向模式 0h = 120° 换向 1h = 120° 和 150° 2h = 不适用 3h = 不适用
28-24	CL_ACC	R/W	0h	闭环加速率 0h = 0.005V/s 1h = 0.01V/s 2h = 0.025V/s 3h = 0.05V/s 4h = 0.1V/s 5h = 0.25V/s 6h = 0.5V/s 7h = 1V/s 8h = 2.5V/s 9h = 5V/s Ah = 7.5V/s Bh = 10V/s Ch = 12.5V/s Dh = 15V/s Eh = 20V/s Fh = 30V/s 10h = 40V/s 11h = 50V/s 12h = 60V/s 13h = 75V/s 14h = 100V/s 15h = 125V/s 16h = 150V/s 17h = 175V/s 18h = 200V/s 19h = 250V/s 1Ah = 300V/s 1Bh = 400V/s 1Ch = 500V/s 1Dh = 750V/s 1Eh = 1000V/s 1Fh = 32767V/s
23	CL_DEC_CONFIG	R/W	0h	闭环减速配置 0h = 由 CL_DEC 定义的闭环减速 1h = 由 CL_ACC 定义的闭环减速
22-18	CL_DEC	R/W	0h	闭环减速率 0h = 0.005V/s 1h = 0.01V/s 2h = 0.025V/s 3h = 0.05V/s 4h = 0.1V/s 5h = 0.25V/s 6h = 0.5V/s 7h = 1V/s 8h = 2.5V/s 9h = 5V/s Ah = 7.5V/s Bh = 10V/s Ch = 12.5V/s Dh = 15V/s Eh = 20V/s Fh = 30V/s 10h = 40V/s 11h = 50V/s 12h = 60V/s 13h = 75V/s 14h = 100V/s 15h = 125V/s 16h = 150V/s 17h = 175V/s 18h = 200V/s 19h = 250V/s 1Ah = 300V/s 1Bh = 400V/s 1Ch = 500V/s 1Dh = 750V/s 1Eh = 1000V/s 1Fh = 32767V/s
17-13	PWM_FREQ_OUT	R/W	0h	输出 PWM 开关频率 0h = 5kHz 1h = 6kHz 2h = 7kHz 3h = 8kHz 4h = 9kHz 5h = 10kHz 6h = 11kHz 7h = 12kHz 8h = 13kHz 9h = 14kHz Ah = 15kHz Bh = 16kHz Ch = 17kHz Dh = 18kHz Eh = 19kHz Fh = 20kHz 10h = 25kHz 11h = 30kHz 12h = 35kHz 13h = 40kHz 14h = 45kHz 15h = 50kHz 16h = 55kHz 17h = 60kHz 18h = 65kHz 19h = 70kHz 1Ah = 75kHz 1Bh = 80kHz 1Ch = 85kHz 1Dh = 90kHz 1Eh = 95kHz 1Fh = 100kHz
12-11	PWM_MODUL	R/W	0h	PWM 调制。 0h = 高侧调制 1h = 低侧调制 2h = 混合调制 3h = 不适用
10	PWM_MODE	R/W	0h	PWM 模式 0h = 单端模式 1h = 互补模式
9	LD_ANGLE_POLARITY	R/W	0h	施加的超前角的极性 0h = 负 1h = 正
8-1	LD_ANGLE	R/W	0h	超前角 {超前角（度）= LD_ANGLE * 0.12}
0	RESERVED	R	0h	保留

6.7.1.5 CLOSED_LOOP2 寄存器（偏移 = 88h）[复位 = 00000000h]

图 6-57 展示了 CLOSED_LOOP2，表 6-16 中对此进行了介绍。

返回到表 6-10。

用于配置闭环设置 2 的寄存器

图 6-57 CLOSED_LOOP2 寄存器

31	30	29	28	27	26	25	24
奇偶校验	FG_SEL		FG_DIV_FACTOR				FG_CONFIG
R/W-0h	R/W-0h		R/W-0h				R/W-0h

23	22	21	20	19	18	17	16
FG_BEMF_THR			MTR_STOP			MTR_STOP_BRK_TIME
R/W-0h			R/W-0h			R/W-0h

15	14	13	12	11	10	9	8
MTR_STOP_BRK_TIME		ACT_SPIN_BRK_THR			BRAKE_DUTY_THRESHOLD
R/W-0h		R/W-0h			R/W-0h

7	6	5	4	3	2	1	0
AVS_EN	CBC_ILIMIT				RESERVED
R/W-0h	R/W-0h				R-0h

表 6-16 CLOSED_LOOP2 寄存器字段说明

位	字段	类型	复位	说明
31	奇偶校验	R/W	0h	奇偶校验位
30-29	FG_SEL	R/W	0h	FG 模式选择 0h = 在开环和闭环中输出 FG 1h = 仅在闭环中输出 FG 2h = 首次尝试时在开环中输出 FG 3h = 不适用
28-25	FG_DIV_FACTOR	R/W	0h	FG 分频因子 0h = 3 分频（2 极电机机械转速/3） 1h = 1 分频（2 极电机机械转速） 2h = 2 分频（4 极电机机械转速） 3h = 3 分频（6 极电机机械转速） 4h = 4 分频（8 极电机机械转速） 5h = 5 分频（10 极电机机械转速） 6h = 6 分频（12 极电机机械转速） 7h = 7 分频（14 极电机机械转速） 8h = 8 分频（16 极电机机械转速） 9h = 9 分频（18 极电机机械转速） Ah = 10 分频（20 极电机机械转速） Bh = 11 分频（22 极电机机械转速） Ch = 12 分频（24 极电机机械转速） Dh = 13 分频（26 极电机机械转速） Eh = 14 分频（28 极电机机械转速） Fh = 15 分频（30 极电机机械转速）
24	FG_CONFIG	R/W	0h	FG 输出配置 0h = FG 在速度降至 FG_BEMF_THR 定义的 BEMF 阈值以下之前一直有效 1h = 只要驱动了电机，FG 就有效
23-21	FG_BEMF_THR	R/W	0h	FG 输出 BEMF 阈值 0h = +/-1mV 1h = +/-2mV 2h = +/-5mV 3h = +/-10mV 4h = +/-20mV 5h = +/-30mV 6h = 不适用 7h = 不适用
20-18	MTR_STOP	R/W	0h	电机停止方法 0h = 高阻态 1h = 再循环 2h = 低侧制动 3h = 高侧制动 4h = 主动降速 5h = 不适用 6h = 不适用 7h = 不适用
17-14	MTR_STOP_BRK_TIME	R/W	0h	电机停止期间的制动时间 0h = 1ms 1h = 2ms 2h = 5ms 3h = 10ms 4h = 15ms 5h = 25ms 6h = 50ms 7h = 75ms 8h = 100ms 9h = 250ms Ah = 500ms Bh = 1000ms Ch = 2500ms Dh = 5000ms Eh = 10000ms Fh = 15000ms
13-11	ACT_SPIN_BRK_THR	R/W	0h	使用主动减速、低侧和高侧制动时的电机停止占空比阈值 0h = 立即 1h = 50% 2h = 25% 3h = 15% 4h = 10% 5h = 7.5% 6h = 5% 7h = 2.5%
10-8	BRAKE_DUTY_THRESHOLD	R/W	0h	基于 BRAKE 引脚的低侧制动的占空比阈值 0h = 立即 1h = 50% 2h = 25% 3h = 15% 4h = 10% 5h = 7.5% 6h = 5% 7h = 2.5%
7	AVS_EN	R/W	0h	启用 AVS 0h = 禁用 1h = 启用
6-3	CBC_ILIMIT	R/W	0h	逐周期 (CBC) 电流限制（CBC 电流限制 (A) = CBC_ILIMIT/CSA_GAIN） 0h = 不适用 1h = 0.1V 2h = 0.2V 3h = 0.3V 4h = 0.4V 5h = 0.5V 6h = 0.6V 7h = 0.7V 8h = 0.8V 9h = 0.9V Ah = 1V Bh = 1.1V Ch = 1.2V Dh = 1.3V Eh = 1.4V Fh = 1.5V
2-0	RESERVED	R	0h	保留

6.7.1.6 CLOSED_LOOP3 寄存器（偏移 = 8Ah）[复位 = 14000000h]

图 6-58 展示了 CLOSED_LOOP3，表 6-17 中对此进行了介绍。

返回到表 6-10。

用于配置闭环设置的寄存器 3

图 6-58 CLOSED_LOOP3 寄存器

31	30	29	28	27	26	25	24
奇偶校验	DYN_DGS_FILT_COUNT		DYN_DGS_UPPER_LIM		DYN_DGS_LOWER_LIM		INTEG_CYCL_THR_LOW
R/W-0h	R/W-0h		R/W-2h		R/W-2h		R/W-0h

23	22	21	20	19	18	17	16
INTEG_CYCL_THR_LOW	INTEG_CYCL_THR_HIGH		INTEG_DUTY_THR_LOW		INTEG_DUTY_THR_HIGH		BEMF_THRESHOLD2
R/W-0h	R/W-0h		R/W-0h		R/W-0h		R/W-0h

15	14	13	12	11	10	9	8
BEMF_THRESHOLD2					BEMF_THRESHOLD1
R/W-0h					R/W-0h

7	6	5	4	3	2	1	0
BEMF_THRESHOLD1			INTEG_ZC_METHOD	DEGAUSS_MAX_WIN			DYN_DEGAUSS_EN
R/W-0h			R/W-0h	R/W-0h			R/W-0h

表 6-17 CLOSED_LOOP3 寄存器字段说明

位	字段	类型	复位	说明
31	奇偶校验	R/W	0h	奇偶校验位
30-29	DYN_DGS_FILT_COUNT	R/W	0h	动态去磁检查所需的样本数 0h = 2 1h = 3 2h = 4 3h = 5
28-27	DYN_DGS_UPPER_LIM	R/W	2h	动态去磁电压上限 0h = (VM - 0.09) V 1h = (VM - 0.12) V 2h = (VM - 0.15) V 3h = (VM - 0.18) V
26-25	DYN_DGS_LOWER_LIM	R/W	2h	动态去磁电压下限 0h = 0.03V 1h = 0.06V 2h = 0.09V 3h = 0.12V
24-23	INTEG_CYCL_THR_LOW	R/W	0h	每 30° 的 BEMF 样本数，在低于该值时换向方法从积分切换至 ZC 0h = 3 1h = 4 2h = 6 3h = 8
22-21	INTEG_CYCL_THR_HIGH	R/W	0h	每 30° 的 BEMF 样本数，在高于该值时换向方法从 ZC 切换至积分 0h = 4 1h = 6 2h = 8 3h = 10
20-19	INTEG_DUTY_THR_LOW	R/W	0h	占空比，在低于该值时换向方法从积分切换至 ZC 0h = 12% 1h = 15% 2h = 18% 3h = 20%
18-17	INTEG_DUTY_THR_HIGH	R/W	0h	占空比，在高于该值时换向方法从 ZC 切换至积分 0h = 12% 1h = 15% 2h = 18% 3h = 20%
16-11	BEMF_THRESHOLD2	R/W	0h	浮动相电压下降期间基于积分的换向的 BEMF 阈值 0h = 0 1h = 25 2h = 50 3h = 75 4h = 100 5h = 125 6h = 150 7h = 175 8h = 200 9h = 225 Ah = 250 Bh = 275 Ch = 300 Dh = 325 Eh = 350 Fh = 375 10h = 400 11h = 425 12h = 450 13h = 475 14h = 500 15h = 525 16h = 550 17h = 575 18h = 600 19h = 625 1Ah = 650 1Bh = 675 1Ch = 700 1Dh = 725 1Eh = 750 1Fh = 775 20h = 800 21h = 850 22h = 900 23h = 950 24h = 1000 25h = 1050 26h = 1100 27h = 1150 28h = 1200 29h = 1250 2Ah = 1300 2Bh = 1350 2Ch = 1400 2Dh = 1450 2Eh = 1500 2Fh = 1550 30h = 1600 31h = 1700 32h = 1800 33h = 1900 34h = 2000 35h = 2100 36h = 2200 37h = 2300 38h = 2400 39h = 2600 3Ah = 2800 3Bh = 3000 3Ch = 3200 3Dh = 3400 3Eh = 3600 3Fh = 3800
10-5	BEMF_THRESHOLD1	R/W	0h	浮动相电压上升期间基于积分的换向的 BEMF 阈值 0h = 0 1h = 25 2h = 50 3h = 75 4h = 100 5h = 125 6h = 150 7h = 175 8h = 200 9h = 225 Ah = 250 Bh = 275 Ch = 300 Dh = 325 Eh = 350 Fh = 375 10h = 400 11h = 425 12h = 450 13h = 475 14h = 500 15h = 525 16h = 550 17h = 575 18h = 600 19h = 625 1Ah = 650 1Bh = 675 1Ch = 700 1Dh = 725 1Eh = 750 1Fh = 775 20h = 800 21h = 850 22h = 900 23h = 950 24h = 1000 25h = 1050 26h = 1100 27h = 1150 28h = 1200 29h = 1250 2Ah = 1300 2Bh = 1350 2Ch = 1400 2Dh = 1450 2Eh = 1500 2Fh = 1550 30h = 1600 31h = 1700 32h = 1800 33h = 1900 34h = 2000 35h = 2100 36h = 2200 37h = 2300 38h = 2400 39h = 2600 3Ah = 2800 3Bh = 3000 3Ch = 3200 3Dh = 3400 3Eh = 3600 3Fh = 3800
4	INTEG_ZC_METHOD	R/W	0h	换向方法选择 0h = 基于 ZC 1h = 基于积分
3-1	DEGAUSS_MAX_WIN	R/W	0h	最大去磁窗口 0h = 22.5° 1h = 10° 2h = 15° 3h = 18° 4h = 30° 5h = 37.5° 6h = 45° 7h = 60°
0	DYN_DEGAUSS_EN	R/W	0h	动态去磁检测 0h = 禁用 1h = 启用

6.7.1.7 CLOSED_LOOP4 寄存器（偏移 = 8Ch）[复位 = 00000000h]

图 6-59 展示了 CLOSED_LOOP4，表 6-18 中对此进行了介绍。

返回到表 6-10。

用于配置闭环设置的寄存器 4

图 6-59 CLOSED_LOOP4 寄存器

31	30	29	28	27	26	25	24
奇偶校验	RESERVED
R/W-0h	R-0h

23	22	21	20	19	18	17	16
RESERVED				WCOMP_BLANK_EN	FAST_DEC_DUTY_WIN
R-0h				R/W-0h	R/W-0h

15	14	13	12	11	10	9	8
FAST_DEC_DUTY_THR			DYN_BRK_CURR_LOW_LIM				DYNAMIC_BRK_CURR
R/W-0h			R/W-0h				R/W-0h

7	6	5	4	3	2	1	0
FAST_DECEL_EN	FAST_DECEL_CURR_LIM				FAST_BRK_DELTA
R/W-0h	R/W-0h				R/W-0h

表 6-18 CLOSED_LOOP4 寄存器字段说明

位	字段	类型	复位	说明
31	奇偶校验	R/W	0h	奇偶校验位
30-20	RESERVED	R	0h	保留
19	WCOMP_BLANK_EN	R/W	0h	在快速减速期间启用 WCOMP 消隐 0h = 禁用 1h = 启用
18-16	FAST_DEC_DUTY_WIN	R/W	0h	快速减速占空比窗口 0h = 0% 1h = 2.5% 2h = 5% 3h = 7.5% 4h = 10% 5h = 15% 6h = 20% 7h = 25%
15-13	FAST_DEC_DUTY_THR	R/W	0h	快速减速占空比阈值 0h = 100% 1h = 95% 2h = 90% 3h = 85% 4h = 80% 5h = 75% 6h = 70% 7h = 65%
12-9	DYN_BRK_CURR_LOW_LIM	R/W	0h	快速减速动态电流限制下限阈值（减速电流下限阈值 (A) = DYN_BRK_CURR_LOW_LIM/CSA_GAIN） 0h = 不适用 1h = 0.1V 2h = 0.2V 3h = 0.3V 4h = 0.4V 5h = 0.5V 6h = 0.6V 7h = 0.7V 8h = 0.8V 9h = 0.9V Ah = 1V Bh = 1.1V Ch = 1.2V Dh = 1.3V Eh = 1.4V Fh = 1.5V
8	DYNAMIC_BRK_CURR	R/W	0h	在快速减速期间启用动态减小电流限值 0h = 禁用 1h = 启用
7	FAST_DECEL_EN	R/W	0h	启用快速减速 0h = 禁用 1h = 启用
6-3	FAST_DECEL_CURR_LIM	R/W	0h	减速电流阈值（快速减速电流限制上限阈值 (A) = FAST_DECEL_CURR_LIM/CSA_GAIN） 0h = 不适用 1h = 0.1V 2h = 0.2V 3h = 0.3V 4h = 0.4V 5h = 0.5V 6h = 0.6V 7h = 0.7V 8h = 0.8V 9h = 0.9V Ah = 1V Bh = 1.1V Ch = 1.2V Dh = 1.3V Eh = 1.4V Fh = 1.5V
2-0	FAST_BRK_DELTA	R/W	0h	快速减速退出速度差 0h = 0.5% 1h = 1% 2h = 1.5% 3h = 2% 4h = 2.5% 5h = 3% 6h = 4% 7h = 5%

6.7.1.8 CONST_SPEED 寄存器（偏移 = 8Eh）[复位 = 00000000h]

图 6-60 展示了 CONST_SPEED，表 6-19 中对此进行了介绍。

返回到表 6-10。

用于配置恒定转速模式设置的寄存器

图 6-60 CONST_SPEED 寄存器

31	30	29	28	27	26	25	24
奇偶校验	RESERVED	SPD_POWER_KP
R/W-0h	R-0h	R/W-0h

23	22	21	20	19	18	17	16
SPD_POWER_KP				SPD_POWER_KI
R/W-0h				R/W-0h

15	14	13	12	11	10	9	8
SPD_POWER_KI
R/W-0h

7	6	5	4	3	2	1	0
SPD_POWER_V_MAX			SPD_POWER_V_MIN			CLOSED_LOOP_MODE
R/W-0h			R/W-0h			R/W-0h

表 6-19 CONST_SPEED 寄存器字段说明

位	字段	类型	复位	说明
31	奇偶校验	R/W	0h	奇偶校验位
30	RESERVED	R	0h	保留
29-20	SPD_POWER_KP	R/W	0h	速度/电源环路 Kp (Kp = SPD_LOOP_KP/10000)
19-8	SPD_POWER_KI	R/W	0h	速度/电源环路 Ki (Ki = SPD_LOOP_KI/1000000)
7-5	SPD_POWER_V_MAX	R/W	0h	速度/电源环路的饱和上限 0h = 100% 1h = 95% 2h = 90% 3h = 85% 4h = 80% 5h = 75% 6h = 70% 7h = 65%
4-2	SPD_POWER_V_MIN	R/W	0h	速度/电源环路的饱和下限 0h = 0% 1h = 2.5% 2h = 5% 3h = 7.5% 4h = 10% 5h = 15% 6h = 20% 7h = 25%
1-0	CLOSED_LOOP_MODE	R/W	0h	闭环模式 0h = 禁用 1h = 速度环路 2h = 电源环路 3h = 保留

6.7.1.9 CONST_PWR 寄存器（偏移 = 90h）[复位 = 00000000h]

图 6-61 展示了 CONST_PWR，表 6-20 中对此进行了介绍。

返回到表 6-10。

用于配置恒定功率模式设置的寄存器

图 6-61 CONST_PWR 寄存器

31	30	29	28	27	26	25	24
奇偶校验	MAX_SPEED
R/W-0h	R/W-0h

23	22	21	20	19	18	17	16
MAX_SPEED
R/W-0h

15	14	13	12	11	10	9	8
MAX_SPEED	DEADTIME_COMP_EN	MAX_POWER
R/W-0h	R/W-0h	R/W-0h

7	6	5	4	3	2	1	0
MAX_POWER				CONST_POWER_LIMIT_HYST		CONST_POWER_MODE
R/W-0h				R/W-0h		R/W-0h

表 6-20 CONST_PWR 寄存器字段说明

位	字段	类型	复位	说明
31	奇偶校验	R/W	0h	奇偶校验位
30-15	MAX_SPEED	R/W	0h	最大速度（最大速度 (Hz) = MAX_SPEED/16）
14	DEADTIME_COMP_EN	R/W	0h	启用死区时间补偿 0h = 禁用 1h = 启用
13-4	MAX_POWER	R/W	0h	最大功率（最大功率 (W) = MAX_POWER/4）
3-2	CONST_POWER_LIMIT_HYST	R/W	0h	用于输入功率调节的迟滞 0h = 5% 1h = 7.5% 2h = 10% 3h = 12.5%
1-0	CONST_POWER_MODE	R/W	0h	输入功率调节模式 0h = 禁用 1h = 闭环功率控制 2h = 功率限制控制 3h = 保留

6.7.1.10 150_DEG_TWO_PH_PROFILE 寄存器（偏移 = 96h）[复位 = 00000000h]

图 6-62 展示了 150_DEG_TWO_PH_PROFILE，表 6-21 中对此进行了介绍。

返回到表 6-10。

用于配置 150 度调制两相占空比的寄存器

图 6-62 150_DEG_TWO_PH_PROFILE 寄存器

31	30	29	28	27	26	25	24
奇偶校验	TWOPH_STEP0			TWOPH_STEP1			TWOPH_STEP2
R/W-0h	R/W-0h			R/W-0h			R/W-0h

23	22	21	20	19	18	17	16
TWOPH_STEP2		TWOPH_STEP3			TWOPH_STEP4
R/W-0h		R/W-0h			R/W-0h

15	14	13	12	11	10	9	8
TWOPH_STEP5			TWOPH_STEP6			TWOPH_STEP7
R/W-0h			R/W-0h			R/W-0h

7	6	5	4	3	2	1	0
TWOPH_STEP7	RESERVED
R/W-0h	R-0h

表 6-21 150_DEG_TWO_PH_PROFILE 寄存器字段说明

位	字段	类型	复位	说明
31	奇偶校验	R/W	0h	奇偶校验位
30-28	TWOPH_STEP0	R/W	0h	150° 调制，两相- 阶跃占空比 - 0 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
27-25	TWOPH_STEP1	R/W	0h	150° 调制，两相- 阶跃占空比 - 1 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
24-22	TWOPH_STEP2	R/W	0h	150° 调制，两相- 阶跃占空比 - 2 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
21-19	TWOPH_STEP3	R/W	0h	150° 调制，两相- 阶跃占空比 - 3 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
18-16	TWOPH_STEP4	R/W	0h	150° 调制，两相- 阶跃占空比 - 4 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
15-13	TWOPH_STEP5	R/W	0h	150° 调制，两相- 阶跃占空比 - 5 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
12-10	TWOPH_STEP6	R/W	0h	150° 调制，两相- 阶跃占空比 - 6 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
9-7	TWOPH_STEP7	R/W	0h	150° 调制，两相- 阶跃占空比 - 7 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
6-0	RESERVED	R	0h	保留

6.7.1.11 150_DEG_THREE_PH_PROFILE 寄存器（偏移 = 98h）[复位 = 00000000h]

图 6-63 展示了 150_DEG_THREE_PH_PROFILE，表 6-22 中对此进行了介绍。

返回到表 6-10。

用于配置 150 度调制三相占空比的寄存器

图 6-63 150_DEG_THREE_PH_PROFILE 寄存器

31	30	29	28	27	26	25	24
奇偶校验	THREEPH_STEP0			THREEPH_STEP1			THREEPH_STEP2
R/W-0h	R/W-0h			R/W-0h			R/W-0h

23	22	21	20	19	18	17	16
THREEPH_STEP2		THREEPH_STEP3			THREEPH_STEP4
R/W-0h		R/W-0h			R/W-0h

15	14	13	12	11	10	9	8
THREEPH_STEP5			THREEPH_STEP6			THREEPH_STEP7
R/W-0h			R/W-0h			R/W-0h

7	6	5	4	3	2	1	0
THREEPH_STEP7	LEAD_ANGLE_150DEG_ADV		RESERVED
R/W-0h	R/W-0h		R-0h

表 6-22 150_DEG_THREE_PH_PROFILE 寄存器字段说明

位	字段	类型	复位	说明
31	奇偶校验	R/W	0h	奇偶校验位
30-28	THREEPH_STEP0	R/W	0h	150° 调制，三相- 阶跃占空比 - 0 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
27-25	THREEPH_STEP1	R/W	0h	150° 调制，三相- 阶跃占空比 - 1 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
24-22	THREEPH_STEP2	R/W	0h	150° 调制，三相- 阶跃占空比 - 2 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
21-19	THREEPH_STEP3	R/W	0h	150° 调制，三相- 阶跃占空比 - 3 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
18-16	THREEPH_STEP4	R/W	0h	150° 调制，三相- 阶跃占空比 - 4 0h = 0.0% 1h = 0.5% 2h = 0.75% 3h = 0.8375% 4h = 0.875% 5h = 0.9375% 6h = 0.975% 7h = 0.99%
15-13	THREEPH_STEP5	R/W	0h	150° 调制，三相- 阶跃占空比 - 5 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
12-10	THREEPH_STEP6	R/W	0h	150° 调制，三相- 阶跃占空比 - 6 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
9-7	THREEPH_STEP7	R/W	0h	150° 调制，三相- 阶跃占空比 - 7 0h = 0% 1h = 50% 2h = 75% 3h = 83.75% 4h = 87.5% 5h = 93.75% 6h = 97.5% 7h = 99%
6-5	LEAD_ANGLE_150DEG_ADV	R/W	0h	150° 调制的角度超前 0h = 0° 1h = 5° 2h = 10° 3h = 15°
4-0	RESERVED	R	0h	保留

6.7.1.12 TRAP_CONFIG1 寄存器（偏移 = 9Ah）[复位 = 00000000h]

图 6-64 展示了 TRAP_CONFIG1，表 6-23 中对此进行了介绍。

返回到表 6-10。

用于配置内部算法变量的寄存器

图 6-64 TRAP_CONFIG1 寄存器

31	30	29	28	27	26	25	24
奇偶校验	RESERVED		RESERVED			RESERVED
R/W-0h	R-0h		R-0h			R-0h

23	22	21	20	19	18	17	16
OL_HANDOFF_CYCLES		RESERVED			AVS_NEG_CURR_LIMIT
R/W-0h		R-0h			R/W-0h

15	14	13	12	11	10	9	8
AVS_LIMIT_HYST	ISD_BEMF_THR					ISD_CYCLE_THR
R/W-0h	R/W-0h					R/W-0h

7	6	5	4	3	2	1	0
ISD_CYCLE_THR	RESERVED	RESERVED		ZC_ANGLE_OL_THR		FAST_STARTUP_DIV_FACTOR
R/W-0h	R-0h	R-0h		R/W-0h		R/W-0h

表 6-23 TRAP_CONFIG1 寄存器字段说明

位	字段	类型	复位	说明
31	奇偶校验	R/W	0h	奇偶校验位
30-29	RESERVED	R	0h	保留
28-26	RESERVED	R	0h	保留
25-24	RESERVED	R	0h	保留
23-22	OL_HANDOFF_CYCLES	R/W	0h	开环切换周期数 0h = 3 1h = 6 2h = 12 3h = 24
21-19	RESERVED	R	0h	保留
18-16	AVS_NEG_CURR_LIMIT	R/W	0h	AVS 负电流限制（AVS 负电流限制 (A) = (AVS_NEG_CURRENT_LIMIT * 3/4095)/CSA_GAIN） 0h = 0 1h = -40 2h = -30 3h = -20 4h = -10 5h = 10 6h = 20 7h = 30
15	AVS_LIMIT_HYST	R/W	0h	AVS 电流迟滞（AVS 正电流限制 (A) = ((AVS_LIMIT_HYST + AVS_NEG_CURR_LIMIT) * 3 /4095)/CSA_GAIN） 0h = 20 1h = 10
14-10	ISD_BEMF_THR	R/W	0h	ISD BEMF 阈值（ISD BEMF 阈值 = 200 * ISD_BEMF_THR） 0h = 0 1h = 200 2h = 400 3h = 600 4h = 800 5h = 1000 6h = 1200 7h = 1400 8h = 1600 9h = 1800 Ah = 2000 Bh = 2200 Ch = 2400 Dh = 2600 Eh = 2800 Fh = 3000 10h = 3200 11h = 3400 12h = 3600 13h = 3800 14h = 4000 15h = 4200 16h = 4400 17h = 4600 18h = 4800 19h = 5000 1Ah = 5200 1Bh = 5400 1Ch = 5600 1Dh = 5800 1Eh = 6000 1Fh = 6200
9-7	ISD_CYCLE_THR	R/W	0h	ISD 周期阈值 0h = 2， 1h = 5， 2h = 8， 3h = 11， 4h = 14， 5h = 17， 6h = 20， 7h = 23
6	RESERVED	R	0h	保留
5-4	RESERVED	R	0h	保留
3-2	ZC_ANGLE_OL_THR	R/W	0h	在 OL 期间进行 ZC 检测的角度 0h = 5° 1h = 8° 2h = 12° 3h = 15°
1-0	FAST_STARTUP_DIV_FACTOR	R/W	0h	动态 A1、A2 变化率 0h = 1 1h = 2 2h = 4 3h = 8

6.7.1.13 TRAP_CONFIG2 寄存器（偏移 = 9Ch）[复位 = 00200000h]

图 6-65 展示了 TRAP_CONFIG2，表 6-24 中对此进行了介绍。

返回到表 6-10。

用于配置内部算法变量的寄存器

图 6-65 TRAP_CONFIG2 寄存器

31	30	29	28	27	26	25	24
奇偶校验	TBLANK				TPWDTH
R/W-0h	R/W-0h				R/W-0h

23	22	21	20	19	18	17	16
RESERVED	RESERVED	RESERVED	ALIGN_DUTY			RESERVED
R-0h	R-0h	R-0h	R/W-0h			R-0h

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

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

表 6-24 TRAP_CONFIG2 寄存器字段说明

位	字段	类型	复位	说明
31	奇偶校验	R/W	0h	奇偶校验位
30-27	TBLANK	R/W	0h	PWM 边沿后的消隐时间 0h = 0µs 1h = 1µs 2h = 2µs 3h = 3µs 4h = 4µs 5h = 5µs 6h = 6µs 7h = 7µs 8h = 8µs 9h = 9µs Ah = 10µs Bh = 11µs Ch = 12µs Dh = 13µs Eh = 14µs Fh = 15µs
26-24	TPWDTH	R/W	0h	比较器抗尖峰脉冲时间 0h = 0µs 1h = 1µs 2h = 2µs 3h = 3µs 4h = 4µs 5h = 5µs 6h = 6µs 7h = 7µs
23	RESERVED	R	0h	保留
22	RESERVED	R	0h	保留
21	RESERVED	R	0h	保留
20-18	ALIGN_DUTY	R/W	0h	对齐期间的占空比限制 0h = 10% 1h = 15% 2h = 20% 3h = 25% 4h = 30% 5h = 40% 6h = 50% 7h = 100%
17-0	RESERVED	R	0h	保留