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following pages provide brief descriptions pre-programmed functions TP


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APPENDIX FUNCTIONS
following pages provide brief descriptions pre-programmed functions TPU3. detailed descriptions, refer programming note individual function. Motorola Programming Note TPUPN00/D, Using Function Library Emulation Mode, provides list available programming notes. Overview TPU3 contains Kbytes microcode ROM. This appendix defines functions that standard MPC555. TPU3 have Kbytes memory maximum four entry tables (see Figure D-1).
TPUROM
Bank Code Entry Code Entry Code Entry Code Entry Bank Code Entry Code Entry (Unimplemented) Code Entry
DPTRAM*
Bank Bank Bank
Bank Bank
*The DPTRAM located 0x30 2000 until switched emulation mode. emulation mode, DPTRAM accessible TPUs only.
Figure TPU3 Memory TPU3 address Kbytes memory time. Kbytes internal ROM, located banks zero one, Kbytes dual ported SRAM (DPTRAM), located banks zero, two. only type memory used time, TPU3 must either internal SRAM. Functions from both memory types cannot used conjunction.
MPC555 USER'S MANUAL FUNCTIONS Rev. January 1999 MOTOROLA
feature TPU3 microcode existence entry tables Kbytes internal ROM. Each entry table sixteen functions user defines which tables TPU3 will able access. Only table used time functions from entry tables cannot mixed. default entry table located bank zero. This table identical standard microcode TPU2, code written TPU2 will work unchanged TPU3. functions default entry table bank zero listed Table Table Bank Functions
Function Num- Function Nickber name
UART NITC COMM HALLD MCPWM PPWA SPWM SIOP
Function Name
Programmable Time Accumulator Queued Output Match Table Stepper Motor Frequency Measurement Universal Asynchronous Receiver/Transmitter Input Capture/Input Transition Counter Multiphase Motor Commutation Hall Effect Decode Multi-Channel Pulse Width Modulation Fast Quadrature Decode Period/Pulse Width Accumulator Output Compare Pulse Width Modulation Discrete Input/Output Synchronized Pulse Width Modulation Serial Input/output Port
functions entry table bank listed Table Table Bank Functions
Function Number Function Nickname UART NITC COMM HALLD Reserved Fast Quadrature Decode Identification Output Compare Pulse Width Modulation Discrete Input/Output Function Name Programmable Time Accumulator Queued Output Match Table Stepper Motor Frequency Measurement Universal Asynchronous Receiver/Transmitter Input Capture/Input Transition Counter Multiphase Motor Commutation Hall Effect Decode
MOTOROLA
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
Table Bank Functions
Function Number Function Nickname RWTPIN SIOP Function Name Read/Write Timers Serial Input/output Port
functions bank entry table identical bank zero entry table functions with three exceptions. Function SPWM, been replaced RWTPIN. This function that allows user read write timebases corresponding pin. Function PPWA, identification function second table. microcode revision number provided this function. Finally, Function MCPWM, been removed left open future use. selects which entry table setting ETBANK field TPUMCR2 register. This register write once after reset. Although entry table specified start-up, possible, some cases, functions from both tables without resetting microcontroller. customer may, example, wish function from bank verify microcode version then MCPWM function from bank zero. customer will typically only function during system configuration, again after that, bank entry table changed bank zero entry table using soft reset feature TPU3. procedure should ETBANK field TPUMCR2 select entry table bank function Stop TPU3 setting STOP TPUMCR one. Reset TPU3 setting SOFTRST TPUMCR2 register Wait least nine clocks Clear SOFTRST TPUMCR2 register TPU3 stays reset until clears SOFTRST bit. After SOFTRST been cleared TPU3 will reset entry table bank zero will selected default. select bank zero entry table write ETBANK field TPUMCR good practice always initialize write once register ensure incorrect value accidentally written. descriptions below document functions listed Table (bank0) Table (bank1) TPU3 module. Programmable Time Accumulator (PTA) accumulates 32-bit total high time, time, period input signal over programmable number periods pulses. period accumulation start rising falling edge. After specified number periods pulses, generates interrupt request. From period measurements accumulated before interrupts CPU, providing instantaneous average frequency measurement capability. Figure shows host interface areas function.
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA
CONTROL BITS NAME CHANNEL FUNCTION SELECT FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) HIGH TIME ACCUMULATE TIME ACCUMULATE PERIOD ACCUMULATE, RISING PERIOD ACCUMULATE, FALLING $###E0C-$###E12 OPTIONS ADDRESSES
HOST SEQUENCE $###E14-$###E16
HOST SERVICE REQUEST
CHANNEL PRIORITY
HOST SERVICE (RESET CONDITION) $###E18-$###E1A USED USED INITIALIZE DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED $###E1C-$###E1E
CHANNEL INTERRUPT ENABLE
$###E0A
CHANNEL INTERRUPT STATUS CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED $###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE MAX_COUNT LAST_TIME ACCUM
CHANNEL_CONTROL PERIOD_COUNT
WRITTEN
WRITTEN
WRITTEN CHANNEL NUMBER
UNUSED PARAMETERS
Figure Parameters
MOTOROLA
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
Queued Output Match Function (QOM) generate single multiple output match events from table offsets parameter RAM. Loop modes allow complex pulse trains generated once, specified number times, continuously. function triggered link from another channel. addition, reference time sequence matches obtained from another channel. generate pulse-width modulated waveforms, including waveforms with high times 100%. also allows channel used discrete output pin. Figure shows host interface areas function. encodings shown Table describe corresponding fields parameter RAM. Table Encoding
Timebase Selection TCR1 Timebase TCR2 Timebase Edge Selection Falling Edge Match Rising Edge Match Reference First Match Immediate Value Last Event Time Value Pointed REF_ADDR Last Event Time
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA
CONTROL BITS NAME CHANNEL FUNCTION SELECT OPTIONS FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) SINGLE-SHOT MODE LOOP MODE CONTINUOUS MODE CONTINUOUS MODE HOST SERVICE (RESET CONDITION) INITIALIZE, CHANGE INITIALIZE, INITIALIZE, HIGH DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED ADDRESSES $###E0C-$###E12
HOST SEQUENCE $###E14-$###E16
HOST SERVICE REQUEST
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT ENABLE
$###E0A
CHANNEL INTERRUPT STATUS CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED $###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE $###F(W $###F(W (LAST_MATCH_TIM) OFFSET_1 OFFSET_2 OFFSET_3 OFFSET_4 OFFSET_5* OFFSET_6* OFFSET_7* OFFSET_8*
REF_ADDR LOOP_CNT
LAST_OFF_ADDR OFF_PTR
$###F(W 1)14 AVAILABLE CHANNELS
OFFSET_14*
WRITTEN UNUSED PARAMETERS CHRT
WRITTEN WRITTEN
PRIMARY CHANNEL NUMBER
Figure Parameters
MOTOROLA
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
Table Stepper Motor (TSM) function provides acceleration deceleration control stepper motor with programmable number step rates uses table parameter RAM, rather than algorithm, define stepper motor acceleration profile, allowing user fully define profile. addition, slew rate parameter allows fine control terminal running speed motor independent acceleration table. need only write desired position, accelerates, slews, decelerates motor required position. Full half step support provided two-phase motors. addition, slew rate parameter allows fine control terminal running speed motor independent acceleration table. Figure Figure show host interface areas function when operating master slave mode, respectively.
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA
CONTROL BITS NAME CHANNEL FUNCTION SELECT FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) LOCAL MODE ACCELERATION TABLE SPLIT MODE ACCELERATION TABLE ROTATE PIN_SEQUENCE ONCE BETWEEN STEPS ROTATE PIN_SEQUENCE TWICE BETWEEN STEP HOST SERVICE (RESET CONDITION) INITIALIZE, INITIALIZE, HIGH MOVE REQUEST (MASTER ONLY) DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY $###E0C-$###E12 OPTIONS ADDRESSES
HOST SEQUENCE BITS $###E14-$###E16
HOST SERVICE BITS
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT ENABLE CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED CHANNEL INTERRUPT STATUS CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED
$###E0A
$###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE TABLE_SIZE
DESIRED_POSITION CURRENT_POSITION CHANNEL_CONTROL SLEW_PERIOD START_PERIOD PIN_SEQUENCE TABLE_INDEX
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS CHRT
PRIMARY CHANNEL NUMBER
Figure Parameters Master Mode
MOTOROLA
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
CONTROL BITS NAME CHANNEL FUNCTION SELECT FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) LOCAL MODE ACCELERATION TABLE SPLIT MODE ACCELERATION TABLE ROTATE PIN_SEQUENCE ONCE BETWEEN STEPS ROTATE PIN_SEQUENCE TWICE BETWEEN STEP HOST SERVICE (RESET CONDITION) INITIALIZE, INITIALIZE, HIGH MOVE REQUEST (MASTER ONLY) DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY $###E0C-$###E12 OPTIONS ADDRESSES
HOST SEQUENCE BITS $###E14-$###E16
HOST SERVICE BITS
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT ENABLE CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED CHANNEL INTERRUPT STATUS CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED PARAMETER $###F(W $###F(W $###F(W $###F(W $###F(W $###F(W
$###E0A
$###E20
ACCEL_RATIO_2 ACCEL_RATIO_4 ACCEL_RATIO_6 ACCEL_RATIO_8 ACCEL_RATIO_10 ACCEL_RATIO_12 ACCEL_RATIO_14
ACCEL_RATIO_1 ACCEL_RATIO_3 ACCEL_RATIO_5 ACCEL_RATIO_7 ACCEL_RATIO_9 ACCEL_RATIO_11 ACCEL_RATIO_13
$###F(W
$###F(W
ACCEL_RATIO_36
ACCEL_RATIO_35
OPTIONAL ADDITIONAL PARAMETERS AVAILABLE CASES. REFER MOTOROLA PROGRAMMING NOTE TPUPN04 DETAILS. WRITTEN WRITTEN
WRITTEN MASTER CHANNEL NUMBER
UNUSED PARAMETERS
Figure Parameters Slave Mode
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA
Frequency Measurement (FQM) counts number input pulses channel during user-defined window period. function single shot continuous modes. pulses lost between sample windows continuous mode. user selects whether detect pulses rising falling edge. This function intended high speed measurement; measurement slow pulses with noise rejection made with PTA. Figure shows host interface areas function.
MOTOROLA D-10
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
CONTROL BITS NAME CHANNEL INTERRUPT ENABLE CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED $###E0A OPTIONS ADDRESSES
CHANNEL FUNCTION SELECT xxxx FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) BEGIN WITH FALLING EDGE, SINGLE-SHOT MODE BEGIN WITH FALLING EDGE, CONTINUOUS MODE BEGIN WITH RISING EDGE, SINGLE-SHOT MODE BEGIN WITH RISING EDGE, CONTINUOUS MODE HOST SERVICE (RESET CONDITION) USED INITIALIZE USED DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY $###E0C-$###E12
HOST SEQUENCE BITS $###E14-$###E16
HOST SERVICE BITS
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT STATUS CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED
$###E20
PARAMETER
$###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA
CHANNEL_CONTROL WINDOW_SIZE PULSE_COUNT IN_WINDOW_ACCUMULATOR
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS CHRT
PRIMARY CHANNEL NUMBER
Figure Parameters
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-11
Universal Asynchronous Receiver/Transmitter (UART) UART function uses channels provide asynchronous communications. Data word length programmable from bits. function supports detection generation even, odd, parity. Baud rate freely programmable higher than Kbaud. Eight bi-directional UART channels running excess 9600 baud could implemented TPU. Figure Figure show host interface areas UART function transmitting receiving modes, respectively.
MOTOROLA D-12
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
CONTROL BITS NAME CHANNEL FUNCTION SELECT UART FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) PARITY PARITY EVEN PARITY PARITY USED USED TRANSMIT RECEIVE DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY $###E0C-$###E12 OPTIONS ADDRESSES
HOST SEQUENCE BITS $###E14-$###E16
HOST SERVICE BITS
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT ENABLE CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED CHANNEL INTERRUPT STATUS CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED
$###E0A
$###E20
PARAMETER (TRANSMITTER) $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA TDRE
PARITY_TEMP MATCH_RATE TRANSMIT_DATA_REG CHANNEL_CONTROL DATA_SIZE ACTUAL_BIT_COUNT SHIFT_REGISTER
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS UART TRANS
PRIMARY CHANNEL NUMBER
Figure UART Transmitter Parameters
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-13
CONTROL BITS NAME CHANNEL FUNCTION SELECT UART FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) PARITY PARITY EVEN PARITY PARITY USED USED TRANSMIT RECEIVE DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY $###E0C-$###E12 OPTIONS ADDRESSES
HOST SEQUENCE BITS $###E14-$###E16
HOST SERVICE BITS
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT ENABLE CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED CHANNEL INTERRUPT STATUS CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED
$###E0A
$###E20
PARAMETER (RECEIVER) $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA
PARITY_TEMP MATCH_RATE RECEIVE_DATA_REG CHANNEL_CONTROL DATA_SIZE ACTUAL_BIT_COUNT SHIFT_REGISTER
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS UART CHRT
PRIMARY CHANNEL NUMBER
Figure UART Receiver Parameters
MOTOROLA D-14
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
Input Capture/Transition Counter (NITC) channel capture value specified specified location parameter upon occurrence each transition specified number transitions, then generate interrupt request notify master. times most recent transitions maintained parameter RAM. channel perform input captures continually, channel detect single transition specified number transitions, ceasing channel activity until reinitialization. After each transition specified number transitions, channel generate link other channels. Figure shows host interface areas NITC function.
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-15
CONTROL BITS NAME CHANNEL FUNCTION SELECT NITC FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) SINGLE-SHOT MODE, LINKS CONTINUOUS MODE, LINKS SINGLE-SHOT MODE, LINKS CONTINUOUS MODE, LINKS HOST SERVICE (RESET CONDITION) INITIALIZE MODE INITIALIZE PARAMETER MODE USED DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED $###E0C-$###E12 OPTIONS ADDRESSES
HOST SEQUENCE $###E14-$###E16
HOST SERVICE REQUEST
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT ENABLE
$###E0A
CHANNEL INTERRUPT STATUS CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED $###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA START_LINK_CHANNEL LINK_CHANNEL_COUNT MAX_COUNT TRANS_COUNT FINAL_TRANS_TIME LAST_TRANS_TIME
CHANNEL_CONTROL PARAM_ADDR
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS NITC CHRT
PRIMARY CHANNEL NUMBER
Figure NITC Parameters
MOTOROLA D-16
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
Multiphase Motor Commutation (COMM) COMM function generates phase commutation signals variety brushless motors, including three-phase brushless direct current. derives commutation state directly from position decoded FQD, thus eliminating need hall effect sensors. state sequence implemented user-configurable state machine, thus providing flexible approach with other general applications. offset parameter provided allow switching angles advanced retarded CPU. This feature useful torque maintenance high speeds. Figure D-10 Figure D-11 show host interface areas COMM function.
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-17
CONTROL BITS NAME CHANNEL INTERRUPT ENABLE CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED $###E0A OPTIONS ADDRESSES
CHANNEL FUNCTION SELECT xxxx FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) SENSORLESS MATCH UPDATE MODE SENSORLESS MATCH UPDATE MODE SENSORLESS LINK UPDATE MODE SENSORED MODE $###E0C-$###E12
HOST SEQUENCE $###E14-$###E16
HOST SERVICE REQUEST
CHANNEL PRIORITY
$###E18-$###E1A HOST SERVICE (RESET CONDITION) USED INITIALIZE FORCE STATE INITIALIZE FORCE IMMEDIATE STATE TEST DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED $###E1C-$###E1E
CHANNEL INTERRUPT STATUS
$###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE
START_LINK_CHANNEL NO_OF_STATES OFFSET UPDATE_PERIOD UPPER LOWER
COUNTER_ADDR STATE_NO
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS COMM CHRT
MASTER COMM CHANNEL NUMBER
Figure D-10 COMM Parameters, Part
MOTOROLA D-18
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
$###F(W $###F(W $###F(W $###F(W $###F(W $###F(W $###F(W $###F(W $###F(W $###F(W
STATE STATE STATE STATE STATE STATE
LENGTH LENGTH LENGTH LENGTH LENGTH LENGTH LENGTH LENGTH LENGTH LENGTH
PIN_CONFIG PIN_CONFIG PIN_CONFIG PIN_CONFIG PIN_CONFIG PIN_CONFIG PIN_CONFIG PIN_CONFIG PIN_CONFIG PIN_CONFIG
STATE STATE STATE STATE
$###F(W
LENGTH
STATE
PIN_CONFIG
*NOT AVAILABLE CHANNELS
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS COMM CHRT
MASTER COMM CHANNEL NUMBER
Figure D-11 COMM Parameters, Part Hall Effect Decode (HALLD) HALLD function decodes sensor signals from brushless motor, along with direction input from CPU, into state number. function supports two- threesensor decoding. decoded state number written into COMM channel, which outputs required commutation drive signals. addition brushless motor applications, function have more general applications, such decoding "option" switches. Figure D-12 shows host interface areas HALLD function.
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-19
CONTROL BITS NAME CHANNEL INTERRUPT ENABLE CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED $###E0A OPTIONS ADDRESSES
CHANNEL FUNCTION SELECT xxxx FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) CHANNEL CHANNEL CHANNEL CHANNEL (3-CHANNEL MODE ONLY) HOST SERVICE (RESET CONDITION) USED INITIALIZE, 2-CHANNEL MODE INITIALIZE, 3-CHANNEL MODE DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY USED $###E0C-$###E12
HOST SEQUENCE $###E14-$###E16
HOST SERVICE REQUEST
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT STATUS
$###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE PINSTATE DIRECTION STATE_NO_ADDR
WRITTEN NOTES: CHANNEL ONLY. CHANNEL ONLY (CHANNEL 2-CHANNEL MODE, CHANNEL 3-CHANNEL MODE).
WRITTEN
WRITTEN CHANNEL NUMBER
UNUSED PARAMETERS
HALLD CHRT
Figure D-12 HALLD Parameters
MOTOROLA D-20
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
D.10 Multichannel Pulse-Width Modulation (MCPWM) MCPWM generates pulse-width modulated outputs with full 100% duty cycle range independent other activity. This capability requires channels plus external gate channel. simple one-channel capability supported function.) Multiple PWMs generated MCPWM have types high time alignment: edge aligned center aligned. Edge-aligned mode uses channels PWMs; center-aligned mode uses channels. Center-aligned mode allows user-defined "dead time" specified that PWMs used drive H-bridge without destructive current spikes. This feature important motor control applications. Figure D-13 through Figure D-18 show host interface areas MCPWM function each mode.
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-21
CONTROL BITS NAME CHANNEL INTERRUPT ENABLE CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED $###E0A OPTIONS ADDRESSES
CHANNEL FUNCTION SELECT xxxx FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) EDGE ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE HOST SERVICE (RESET CONDITION) INITIALIZE SLAVE (INVERTED) INITIALIZE SLAVE (NORMAL) INITIALIZE MASTER DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED $###E0C-$###E12
HOST SEQUENCE $###E14-$###E16
HOST SERVICE REQUEST
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT STATUS
$###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE IRQ_RATE LAST_RISE_TIME LAST_FALL_TIME RISE_TIME_PTR FALL_TIME_PTR
PERIOD PERIOD_COUNT
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS
PRIMARY CHANNEL NUMBER MCPWM CHRT
Figure D-13 MCPWM Parameters Master Mode
MOTOROLA D-22
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
CONTROL BITS NAME CHANNEL FUNCTION SELECT MCPWM FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) EDGE ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE HOST SERVICE (RESET CONDITION) INITIALIZE SLAVE (INVERTED) INITIALIZE SLAVE (NORMAL) INITIALIZE MASTER DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED $###E0C-$###E12 OPTIONS ADDRESSES
HOST SEQUENCE $###E14-$###E16
HOST SERVICE REQUEST
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT ENABLE
$###E0A
CHANNEL INTERRUPT STATUS CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED $###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE HIGH_TIME_PTR RISE_TIME_PTR FALL_TIME_PTR
PERIOD HIGH_TIME
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS
PRIMARY CHANNEL NUMBER MCPWM CHRT
Figure D-14 MCPWM Parameters Slave Edge-Aligned Mode
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-23
CONTROL BITS NAME CHANNEL FUNCTION SELECT MCPWM FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) EDGE ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE HOST SERVICE (RESET CONDITION) INITIALIZE SLAVE (INVERTED) INITIALIZE SLAVE (NORMAL) INITIALIZE MASTER DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED $###E0C-$###E12 OPTIONS ADDRESSES
HOST SEQUENCE $###E14-$###E16
HOST SERVICE REQUEST
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT ENABLE
$###E0A
CHANNEL INTERRUPT STATUS CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED $###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE DEAD_TIME RISE_TIME_PTR FALL_TIME_PTR
PERIOD NXT_B_RISE_TIME NXT_B_FALL_TIME HIGH_TIME_PTR
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS MCPWM NICA
PRIMARY CHANNEL NUMBER
Figure D-15 MCPWM Parameters Slave Non-Inverted Center-Aligned Mode
MOTOROLA D-24
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
CONTROL BITS NAME CHANNEL FUNCTION SELECT MCPWM FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) EDGE ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE HOST SERVICE (RESET CONDITION) INITIALIZE SLAVE (INVERTED) INITIALIZE SLAVE (NORMAL) INITIALIZE MASTER DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED $###E0C-$###E12 OPTIONS ADDRESSES
HOST SEQUENCE $###E14-$###E16
HOST SERVICE REQUEST
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT ENABLE
$###E0A
CHANNEL INTERRUPT STATUS CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED $###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE B_FALL_TIME_PTR B_RISE_TIME_PTR
HIGH_TIME CURRENT_HIGH_TIME TEMP_STORAGE
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS MCPWM NICA
PRIMARY CHANNEL NUMBER
Figure D-16 MCPWM Parameters Slave Non-Inverted Center-Aligned Mode
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-25
CONTROL BITS NAME CHANNEL FUNCTION SELECT MCPWM FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) EDGE ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE HOST SERVICE (RESET CONDITION) INITIALIZE SLAVE (INVERTED) INITIALIZE SLAVE (NORMAL) INITIALIZE MASTER DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED $###E0C-$###E12 OPTIONS ADDRESSES
HOST SEQUENCE $###E14-$###E16
HOST SERVICE REQUEST
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT ENABLE
$###E0A
CHANNEL INTERRUPT STATUS CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED $###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE DEAD_TIME FALL_TIME_PTR RISE_TIME_PTR
PERIOD NXT_B_FALL_TIME NXT_B_RISE_TIME HIGH_TIME_PTR
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS MCPWM
PRIMARY CHANNEL NUMBER
Figure D-17 MCPWM Parameters Slave Inverted Center-Aligned Mode
MOTOROLA D-26
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
CONTROL BITS NAME CHANNEL FUNCTION SELECT MCPWM FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) EDGE ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE SLAVE TYPE CENTER ALIGNED MODE HOST SERVICE (RESET CONDITION) INITIALIZE SLAVE (INVERTED) INITIALIZE SLAVE (NORMAL) INITIALIZE MASTER DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY CHANNEL INTERRUPTS DISABLED CHANNEL INTERRUPTS ENABLED $###E0C-$###E12 OPTIONS ADDRESSES
HOST SEQUENCE $###E14-$###E16
HOST SERVICE REQUEST
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT ENABLE
$###E0A
CHANNEL INTERRUPT STATUS CHANNEL INTERRUPT ASSERTED CHANNEL INTERRUPT ASSERTED $###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE B_FALL_TIME_PTR B_RISE_TIME_PTR
HIGH_TIME CURRENT_HIGH_TIME TEMP_STORAGE
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS MCPWM CHRT
PRIMARY CHANNEL NUMBER
Figure D-18 MCPWM Parameters Slave Inverted Center-Aligned Mode
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-27
D.11 Fast Quadrature Decode Function (FQD) position feedback function motor control. decodes signals from slotted encoder provide with 16-bit free-running position counter. incorporates "speed switch" which disables channels high speed, allowing faster signals decoded. time stamp provided every counter update allow position interpolation better velocity determination speed when resolution encoders used. third index channel provided some encoders handled function. Figure D-19 Figure D-20 show host interface areas function primary secondary channels, respectively.
MOTOROLA D-28
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
CONTROL BITS NAME CHANNEL INTERRUPT ENABLE USED $###E0A OPTIONS ADDRESSES
CHANNEL FUNCTION SELECT xxxx FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) PRIMARY CHANNEL (NORMAL MODE) SECONDARY CHANNEL (NORMAL MODE) PRIMARY CHANNEL (FAST MODE) SECONDARY CHANNEL (FAST MODE) HOST SERVICE (RESET CONDITION) USED READ TCR1 INITIALIZE DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY USED $###E0C-$###E12
HOST SEQUENCE BITS $###E14-$###E16
HOST SERVICE BITS
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT STATUS
$###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE
EDGE_TIME POSITION_COUNT TCR1_VALUE CHAN_PINSTATE CORR_PINSTATE_ADDR EDGE_TIME_LSB_ADDR
WRITTEN
WRITTEN
WRITTEN CHANNEL NUMBER
UNUSED PARAMETERS
Figure D-19 Parameters Primary Channel
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-29
CONTROL BITS NAME CHANNEL INTERRUPT ENABLE USED $###E0A OPTIONS ADDRESSES
CHANNEL FUNCTION SELECT xxxx FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) PRIMARY CHANNEL (NORMAL MODE) SECONDARY CHANNEL (NORMAL MODE) PRIMARY CHANNEL (FAST MODE) SECONDARY CHANNEL (FAST MODE) HOST SERVICE (RESET CONDITION) USED READ TCR1 INITIALIZE DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY USED $###E0C-$###E12
HOST SEQUENCE BITS $###E14-$###E16
HOST SERVICE BITS
$###E18-$###E1A
CHANNEL PRIORITY
$###E1C-$###E1E
CHANNEL INTERRUPT STATUS
$###E20
PARAMETER $###F(W+1)0 $###F(W+1)2 $###F(W+1)4 $###F(W+1)6 $###F(W+1)8 $###F(W+1)A $###F(W+1)C $###F(W+1)E TCR1_VALUE CHAN_PINSTATE CORR_PINSTATE_ADDR EDGE_TIME_LSB_ADDR
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS
PRIMARY CHANNEL NUMBER
CHRT
Figure D-20 Parameters Secondary Channel
MOTOROLA D-30
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
D.12 Period/Pulse-Width Accumulator (PPWA) period/pulse-width accumulator (PPWA) algorithm accumulates 16-bit 24-bit either period pulse width input signal over programmable number periods pulses (from 255). After accumulation period, algorithm generate link sequential block eight channels. user specifies starting channel block number channels within block. Generation links depends mode operation. channel used measure accumulated number periods input signal. maximum bits used accumulation parameter. From period measurements made summed with previous measurement(s) before interrupts CPU, allowing instantaneous average frequency measurement, latest complete accumulation (over programmed number periods). pulse width (high-time portion) input signal measured bits) added previous measurement over programmable number periods (one 255). This provides instantaneous average pulse-width measurement capability, allowing latest complete accumulation (over specified number periods) always available parameter. using output compare function conjunction with PPWA, output signal generated that proportional specified input signal. ratio input output frequency programmable. more output signals with different frequencies, proportional synchronized single input signal, generated separate channels. Figure D-21 shows host interface areas parameter PPWA function.
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-31
CONTROL BITS NAME CHANNEL FUNCTION SELECT PPWA FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) CHANNEL PRIORITY CHANNEL DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY ACCUMULATE 24-BIT PERIODS, LINKS ACCUMULATE 16-BIT PERIODS, LINKS ACCUMULATE 24-BIT PULSE WIDTHS, LINKS ACCUMULATE 16-BIT PULSE WIDTHS, LINKS USED USED INITIALIZE USED INTERRUPT ASSERTED INTERRUPT ASSERTED $###E1C-$###E1E $###E0C-$###E12 OPTIONS ADDRESSES
HOST SEQUENCE BITS
$###E14-$###E16
HOST SERVICE BITS
$###E18-$###E1A
INTERRUPT ENABLE
$###E0A
INTERRUPT STATUS $###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE ACCUM_RATE PPWA_LW
START_LINK_CHANNEL
LINK_CHANNEL_COUNT
CHANNEL_CONTROL PERIOD_COUNT
MAX_COUNT LAST_ACCUM ACCUM
PPWA_UB
WRITTEN
WRITTEN
WRITTEN
UNUSED PARAMETERS
CHANNEL NUMBER NOTES: DOES CHECK VALUE LINK_CHANNEL_COUNT. THIS PARAMETER RESULTS UNPREDICTABLE. MAX_COUNT WRITTEN TIME HOST CPU, VALUE WRITTEN PERIOD_COUNT, PERIOD PULSE-WIDTH ACCUMULATION TERMINATED. THIS HAPPENS, NUMBER PERIODS OVER WHICH ACCUMULATION DONE WILL CORRESPOND MAX_COUNT.
1049A
Figure D-21 PPWA Parameters
MOTOROLA D-32
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
D.13 Output Compare (OC) output compare (OC) function generates rising edge, falling edge, toggle previous edge three ways: Immediately upon initiation, thereby generating pulse with length equal programmable delay time programmable delay time from user-specified time Continuously. Upon receiving link from channel, references, without interaction, specifiable period calculates offset: Offset Period Ratio where RATIO parameter supplied user. This algorithm generates duty-cycle continuous square wave with each high/ time equal calculated OFFSET. offset calculation, there initial link time before continuous pulse generation begins. Figure D-22 shows host interface areas parameter function.
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-33
CONTROL BITS NAME CHANNEL FUNCTION SELECT FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) CHANNEL DISABLED PRIORITY MEDIUM PRIORITY HIGH PRIORITY MATCHES PULSES SCHEDULED ONLY READ TCR1, TCR2 $###E0C-$###E12 OPTIONS ADDRESSES
CHANNEL PRIORITY $###E1C-$###E1E
HOST SEQUENCE BITS
$###E14-$###E16
HOST SERVICE BITS HOST SERVICE REQUEST HOST-INITIATED PULSE USED INITIALIZE, CONTINUOUS PULSES INTERRUPT ASSERTED INTERRUPT ASSERTED $###E18-$###E1A
INTERRUPT ENABLE
$###E0A
INTERRUPT STATUS $###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA RATIO REF_ADDR2 REF_TIME ACTUAL_MATCH_TIME OFFSET REF_ADDR1 REF_ADDR3
CHANNEL_CONTROL
$###FEC $###FEE
TCR1 TCR2
WRITTEN WRITTEN CHANNEL NUMBER
WRITTEN UNUSED PARAMETERS
1024A
Figure D-22 Parameters
MOTOROLA D-34
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
D.14 Pulse-Width Modulation (PWM) generate pulse-width modulation (PWM) waveform with duty cycle from zero 100% (within resolution latency capability TPU). define PWM, provides parameter that indicates period another parameter that indicates high time. Updates both these parameters direct waveform change take effect immediately, coherently beginning next low-to-high transition pin. Figure D-23 shows host interface areas parameter function.
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-35
CONTROL BITS NAME CHANNEL FUNCTION SELECT FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) DISABLE PRIORITY MEDIUM PRIORITY HIGH PRIORITY USED $###E0C-$###E12 OPTIONS ADDRESSES
CHANNEL PRIORITY $###E1C-$###E1E
HOST SEQUENCE BITS
$###E14-$###E16
HOST SERVICE BITS USED IMMEDIATE UPDATE INITIALIZE USED INTERRUPT ASSERTED INTERRUPT ASSERTED $###E18-$###E1A
INTERRUPT ENABLE
$###E0A
INTERRUPT STATUS $###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE OLDRIS PWMHI PWMPER (2,3) PWMRIS
CHANNEL_CONTROL
WRITTEN WRITTEN CHANNEL NUMBER
WRITTEN UNUSED PARAMETERS
NOTES: BEST-CASE MINIMUM PWMHI SYSTEM CLOCK CYCLES. BEST-CASE MINIMUM PWMPER SYSTEM CLOCK CYCLES. PWMHI PWMPER MUST ACCESSED COHERENTLY.
1027A
Figure D-23 Parameters
MOTOROLA D-36
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
D.15 Discrete Input/Output (DIO) function allows channel used digital pin. When used discrete input, parameter indicates current input level previous levels pin. most significant parameter, indicates most recent state. indicates next most recent state, programmer choose three following conditions update parameter: when transition occurs when makes request, when rate specified another parameter matched When used discrete output, high only upon request CPU. Figure D-24 shows host interface areas function.
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-37
CONTROL BITS NAME CHANNEL FUNCTION SELECT FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) CHANNEL PRIORITY DISABLE PRIORITY MEDIUM PRIORITY HIGH PRIORITY UPDATE TRANSITION UPDATE MATCH RATE UPDATE USED USED DRIVE HIGH DRIVE INITIALIZE INTERRUPT ASSERTED INTERRUPT ASSERTED $###E1C-$###E1E $###E0C-$###E12 OPTIONS ADDRESSES
HOST SEQUENCE BITS
$###E14-$###E16
HOST SERVICE BITS
$###E18-$###E1A
INTERRUPT ENABLE
$###E0A
INTERRUPT STATUS $###E20
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE PIN_LEVEL MATCH_RATE
CHANNEL_CONTROL
WRITTEN WRITTEN CHANNEL NUMBER
WRITTEN UNUSED PARAMETERS 1017A
Figure D-24 Parameters
MOTOROLA D-38
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
D.16 Synchronized Pulse-Width Modulation (SPWM) SPWM function generates pulse-width modulated waveform (PWM). change period high time waveform time. Three different operating modes allow function maintain complex timing relationships between channels without intervention. SPWM output waveform duty cycle excludes 100%. does need maintain time relationship another PWM, function should used instead. Figure D-25 Figure D-26 show host interface areas SPWM function.
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-39
CONTROL BITS NAME CHANNEL FUNCTION SELECT SPWM FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) DISABLE PRIORITY MEDIUM PRIORITY HIGH PRIORITY MODE MODE MODE USED HOST SERVICE REQUEST USED INITIALIZE IMMEDIATE UPDATE (MODE INTERRUPT ASSERTED INTERRUPT ASSERTED $###E0C-$###E12 OPTIONS ADDRESSES
CHANNEL PRIORITY $###E1C-$###E1E
HOST SEQUENCE BITS
$###E14-$###E16
HOST SERVICE BITS
$###E18-$###E1A
INTERRUPT ENABLE
$###E0A
INTERRUPT STATUS $###E20
PARAMETER (MODE $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 PWMRIS DELAY LASTRISE NEXTRISE HIGH_TIME PERIOD REF_ADDR1
CHANNEL_CONTROL
$###FWA $###FWC $###FWE
WRITTEN WRITTEN CHANNEL NUMBER
WRITTEN UNUSED PARAMETERS
1030A-1
Figure D-25 SPWM Parameters, Part
MOTOROLA D-40
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
PARAMETER (MODE LASTRISE NEXTRISE HIGH_TIME DELAY REF_ADDR1 REF_VALUE REF_ADDR2
$###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE
CHANNEL_CONTROL
PARAMETER (MODE LASTRISE NEXTRISE HIGH_TIME PERIOD START_LINK_CHANNEL PWMRIS LINK_CHANNEL_COUNT DELAY REF_ADDR1
$###FW0 $###FW2 $###FW4 $###FW6 $###FW8 $###FWA $###FWC $###FWE
CHANNEL_CONTROL
WRITTEN WRITTEN CHANNEL NUMBER
WRITTEN UNUSED PARAMETERS
1030A-2
Figure D-26 SPWM Parameters, Part
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-41
D.17 Serial Input/Output Port (SIOP) serial input/output port (SIOP) function uses three channels form uni- bi-directional synchronous serial port that used communicate with wide variety devices. Features such baud rate transfer size user programmable. function also produce clock-only, when uses just channel. SIOP function been designed closely resemble SIOP hardware port found some Motorola MCUs used serial capabilities device without serial port, extend capabilities with hardware synchronous port. SIOP operates master mode (i.e., always generates clock) following features programmable user: Choice clock-only (one channel), clock transmit (two channels), clock receive (two channels) clock transmit receive (three channels) operating modes Baud rate period freely programmable user over 15-bit range TCR1 counts Selection first shift direction Variable transfer size from bits Clock polarity programmable When transfer data complete SIOP function notifies host issuing interrupt request. arrangement multiple SIOP channels fixed: data channel channel above clock channel data channel channel below clock channel. clock-only uni-directional mode, unused channels free other functions. possible SIOP configurations show Figure D-27.
Out-Chan Out-Chan In-Cha
8-bit bi-directional transfer, first with data valid clock rising edge
Out-Cha Cloc Out-Chan
10-bit output only transfer, first with data valid clock falling edge
Figure D-27 Possible SIOP Configurations
MOTOROLA D-42
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL
D.17.1 Parameters Figure D-28 shows host interface areas parameter SIOP function. following sections describe these parameters. Note that only clock channel requires programming user data channels entirely under microcode control.
CONTROL BITS NAME CHANNEL FUNCTION SELECT SIOP FUNCTION NUMBER (ASSIGNED DURING MICROCODE ASSEMBLY) DISABLE PRIORITY MEDIUM PRIORITY HIGH PRIORITY CLOCK CHANNEL ACTIVE ONLY, DATA TRANSFER DOUT CHANNELS ACTIVE, DATA RECEIVE CLOCK CHANNELS ACTIVE, DATA TRANSMIT FULL BIDIRECTIONAL TRANSMIT RECEIVE HOST SERVICE (RESET CONDITION) ACTION ACTION INITIALIZE CLOCK CHANNEL START TRANSFER INTERRUPT ASSERTED INTERRUPT ASSERTED OPTIONS
CHANNEL PRIORITY
HOST SEQUENCE BITS
HOST SERVICE BITS
CHANNEL INTERRUPT ENABLE
PARAMETER $###FW0 $###FW2 $###FW4 $###FW6 $###FW8 DATA HALF_PERIOD BIT_COUNT XFER_SIZE
CHANNEL_CONTROL
WRITTEN WRITTEN
WRITTEN UNUSED PARAMETERS
PRIMARY CHANNEL NUMBER
Figure D-28 SIOP Parameters
MPC555 USER'S MANUAL FUNCTIONS Rev. January 1999 MOTOROLA D-43
D.17.1.1 CHAN_CONTROL This 9-bit written parameter used setup clock polarity SIOP data transfer. valid values CHAN_CONTROL this function given table below. CHAN_CONTROL must written host prior issuing host service request (HSR) initialize function. Table SIOP Function Valid CHAN_Control Options
CHAN_CONTROL1 876543210 010001101 010001110 Resulting Action Data valid clock Falling edge. Data valid clock Rising edge.
NOTES: Other values CHAN_CONTROL result indeterminate operation.
D.17.1.2 BIT_D BIT_D written that determines direction shift SIOP data. BIT_D zero then SIOP_DATA right shifted (lsb first). BIT_D then SIOP_DATA left shifted (msb first). D.17.1.3 HALF_PERIOD This CPU-written parameter defines baud rate SIOP function. value contained HALF_PERIOD number TCR1 counts half SIOP clock period (e.g., baud rate, with TCR1 period value [(1/50 KHz)/ 2]/240 should written HALF_PERIOD. range HALF_PERIOD $8000, although minimum value practice will limited other system conditions. notes performance SIOP function. D.17.1.4 BIT_COUNT This parameter used count down number bits remaining while transfer progress. During SIOP initialization state, BIT_COUNT loaded with value contained XFER_SIZE. then decremented data transferred when reaches zero, transfer complete issues interrupt request CPU. D.17.1.5 XFER_SIZE This CPU-written parameter determines number bits that make data transfer. During initialization, XFER_SIZE copied into BIT_COUNT. XFER_SIZE shown 5-bit parameter match maximum size bits SIOP_DATA, although uses whole word location. normal use, XFER_SIZE should range 1-to-16. D.17.1.6 SIOP_DATA This parameter data register SIOP transfers. Data shifted SIOP_DATA shifted other end, shift direction being determined value BIT_D. output only mode, zero will shifted into SIOP_DATA
MOTOROLA D-44 FUNCTIONS Rev. January 1999 MPC555 USER'S MANUAL
input only mode, data shifted ignored. clock-only mode SIOP_DATA still shifted. Note that `justifying' SIOP_DATA performed TPU, (e.g., 8-bit bi-directional transfer made, shifting first, then bottom byte SIOP_DATA will shifted input data will shifted into upper byte SIOP_DATA). Note SIOP_DATA buffered. should only access between completion transfer start next. D.17.2 Host Initialization SIOP Function initializes SIOP function Disabling channel clearing channel priority bits Selecting SIOP function channel writing assigned SIOP function number function select bits Writing CHAN_CONTROL clock channel parameter Writing HALF_PERIOD, BIT_D XFER_SIZE clock channel parameter determine speed, shift direction size transfer Writing SIOP_DATA data output used Selecting required operating mode host sequence bits Issuing host service request type Enabling service assigning priority clock channel channel priority bits then starts data transfer, issues interrupt request when transfer complete. Once function been initialized, only needs write SIOP_DATA with data issue initiate transfer. input clock-only modes, just required. D.17.3 SIOP Function Performance Like functions, performance limit SIOP function given application dependent some extent service time (latency) associated with other active channels. This operational nature scheduler. Where channels being used uni-directional system, other channels active, maximum baud rate approximately speed 16.77 MHz. three-channel bi-directional system under same conditions maximum baud rate approximately KHz. When more channels active, these performance figures will degraded, however, scheduler assures that worst case latency application closely approximated. recommended that guidelines given reference manual used along with information given SIOP state timing table perform analysis proposed application that appears approach performance limits TPU.
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-45
Table SIOP State Timing1
State Number Name SIOP_INIT DATA_OUT DATA_IN Max. Clock Cycles Number Accesses
NOTES: Execution times include time slot transition time (TST clocks).
D.17.3.1 XFER_SIZE Greater than XFER_SIZE normally programmed range 1-to-16 match size SIOP_DATA, thus been shown 5-bit value host interface diagram. However, actually uses bits XFER_SIZE parameter when loading BIT_COUNT. some unusual circumstances this used user's advantage. input device producing data stream greater than bits then manipulation XFER_SIZE will allow selective capturing data. clock-only mode, extended XFER_SIZE used generate $FFFF clocks. D.17.3.2 Data Positioning stated above, `justifying' data position SIOP_DATA performed TPU. This means that case byte transfer, data output will sourced from byte data input will shift into other byte. This rule holds data size options except bits when full SIOP_DATA register used both data output input. D.17.3.3 Data Timing example given Figure D-29, data output transitions shown being completely synchronous with relevant clock edge assumed that data input latched exactly opposite clock edge. This simplest show examples, strictly true. Since multi-tasking system, data channels manipulated directly microcode software while servicing clock edge, there finite delay between relevant clock edge data-out being valid data-in being latched. This delay equivalent latency servicing clock channel other activity shown `Td' timing diagram. delay between clock edge next output data being valid also delay between opposite clock edge input data being read. vast majority applications, delay will present problem ignored. Only system which heavily loads should user calculate worst case latency SIOP clock channel actual SIOP service time ensure that baud rate chosen such that HALF_PERIOD less that minimum setup time receiving device. transmitting device must also hold data valid minimum time after clock.
MOTOROLA D-46 FUNCTIONS Rev. January 1999 MPC555 USER'S MANUAL
Figure D-29 SIOP Function Data Transition Example
MPC555 USER'S MANUAL
FUNCTIONS Rev. January 1999
MOTOROLA D-47
MOTOROLA D-48
FUNCTIONS Rev. January 1999
MPC555 USER'S MANUAL

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