16.2.1 Input and Output Signals

The following table lists the input and output ports of Stepper Theta Generation.

Table 16-2. Inputs and Outputs of Stepper Theta Generation
Signal Name	Direction	Description
sys_clk_i	Input	System clock.
reset_i	Input	Asynchronous active low reset signal.
enable_i	Input	Input signal enables angle generation.
mode_i	Input	When set to 0 (zero), generates angle in the Position Mode. When set to 1, generates angle in the Speed Mode (Continuous rotation mode).
slew_cnt_i	Input	Slew count input – decides the speed at which theta value is updated in terms of 1 µs.
rate_limit_i	Input	Rate limit input – decides the number of Microsteps by defining angle increment Microstep length should be exponent of 2 (for example, 1, 2, 4, 8, 16 and so on).
cmd_step_no_i	Input	Command– the number of steps/micro-steps motor must move.
theta_output_o	Output	Angle generated based on the inputs.
step_cnt_o	Output	Step count output to track the number of steps.