Freescale Semiconductor MC68332 - Page 9

MC68332
USER’S MANUAL
(Continued)
Paragraph Title Page
TABLE OF CONTENTS
7.2.1 Time Bases ............................................................................................ 7-2
7.2.2 Timer Channels ...................................................................................... 7-2
7.2.3 Scheduler ............................................................................................... 7-2
7.2.4 Microengine ............................................................................................ 7-2
7.2.5 Host Interface ......................................................................................... 7-2
7.2.6 Parameter RAM ...................................................................................... 7-3
7.3 TPU Operation ............................................................................................... 7-3
7.3.1 Event Timing .......................................................................................... 7-3
7.3.2 Channel Orthogonality ............................................................................ 7-4
7.3.3 Interchannel Communication .................................................................. 7-4
7.3.4 Programmable Channel Service Priority ................................................ 7-4
7.3.5 Coherency .............................................................................................. 7-4
7.3.6 Emulation Support .................................................................................. 7-4
7.3.7 TPU Interrupts ........................................................................................ 7-5
7.4 Standard and Enhanced Standard Time Functions ....................................... 7-6
7.4.1 Discrete Input/Output (DIO) .................................................................... 7-6
7.4.2 Input Capture/Input Transition Counter (ITC) ......................................... 7-6
7.4.3 Output Compare (OC) ............................................................................ 7-6
7.4.4 Pulse-Width Modulation (PWM) ............................................................. 7-7
7.4.5 Synchronized Pulse-Width Modulation (SPWM) .................................... 7-7
7.4.6 Period Measurement with Additional Transition Detect (PMA) .............. 7-7
7.4.7 Period Measurement with Missing Transition Detect (PMM) ................. 7-7
7.4.8 Position-Synchronized Pulse Generator (PSP) ...................................... 7-7
7.4.9 Stepper Motor (SM) ................................................................................ 7-8
7.4.10 Period/Pulse-Width Accumulator (PPWA) .............................................. 7-8
7.4.11 Quadrature Decode (QDEC) .................................................................. 7-9
7.5 Motion Control Time Functions ...................................................................... 7-9
7.5.1 Table Stepper Motor (TSM) .................................................................... 7-9
7.5.2 New Input Capture/Transition Counter (NITC) ....................................... 7-9
7.5.3 Queued Output Match (QOM) .............................................................. 7-10
7.5.4 Programmable Time Accumulator (PTA) ............................................. 7-10
7.5.5 Multichannel Pulse-Width Modulation (MCPWM) ................................ 7-10
7.5.6 Fast Quadrature Decode (FQD) ........................................................... 7-10
7.5.7 Universal Asynchronous Receiver/Transmitter (UART) ....................... 7-11
7.5.8 Brushless Motor Commutation (COMM) .............................................. 7-11
7.5.9 Frequency Measurement (FQM) .......................................................... 7-11
7.5.10 Hall Effect Decode (HALLD) ................................................................. 7-11
7.6 Host Interface Registers ............................................................................... 7-11
7.6.1 System Configuration Registers ........................................................... 7-12
7.6.1.1 Prescaler Control for TCR1 .......................................................... 7-12
7.6.1.2 Prescaler Control for TCR2 .......................................................... 7-12
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