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Stepper Motor Controller (SMC)

MPC5606S Microcontroller Reference Manual, Rev. 7

Freescale Semiconductor 1121

35.1.3 Block diagram

Figure 35-1. SMC block diagram

Period Register MCPER

11-Bit Timer/Counter

Duty Register MCDC0 Comparator

M0C0M

M0C0P

Duty Register MCDC1 Comparator

M0C1M

M0C1P

Duty Register MCDC2 Comparator

M1C0M

M1C0P

Duty Register MCDC3 Comparator

M1C1M

M1C1P

Duty Register MCDC4 Comparator

M2C0M

M2C0P

Duty Register MCDC5 Comparator

M2C1M

M2C1P

Duty Register MCDC6 Comparator

M3C0M

M3C0P

Duty Register MCDC7 Comparator

M3C1M

M3C1P

Control Registers

MCCTL0[DITH]

PWM Channel Pair

PWM Channel

Duty Register MCDC8 Comparator

M4C0M

M4C0P

Duty Register MCDC9 Comparator

M4C1M

M4C1P

Duty Register MCDC10 Comparator

M5C0M

M5C0P

Duty Register MCDC11 Comparator

M5C1M

M5C1P

Default Chapter3
- Table of Contents3
- Introduction43
- MPC5606S Family Comparison45
- Block Diagram47
- Feature Details50
Chapter 153
- E200Z0H Core Processor53
Chapter 1055
Crossbar Switch (XBAR)55
Chapter 15 Enhanced Direct Memory Access (Edma)56
Chapter 2157
Interrupt Controller (INTC)57
- System Integration Unit (SIU)58
- Sram59
  - Enhanced Modular Input/Output System (Emios)60
Chapter 5 Analog-To-Digital Converter (ADC)61
Chapter 11 Deserial Serial Peripheral Interface (DSPI)62
- Flexcan63
Chapter 35 Stepper Motor Controller (SMC)69
- IEEE 1149.1 JTAG Controller (JTAGC)70
- How to Use the MPC5606S Documents71
- Using the MPC5606S73
  - Software Design74
  - Input/Output Pins75
Chapter 277
- Memory Map78
- Memory Map79
- Memory Map80
- Memory Map81
  - Memory Map82
  - Introduction83
Chapter 384
- Package Pinouts84
- Pad Configuration During Reset Phases87
- Pad Types88
- System Pins89
- Functional Ports90
- Signal Details109
Chapter 4121
- Access Errors121
  - Features122
  - External Signal Description123
  - Memory Map124
- SWT Interrupt Register (SWT_IR)125
- SWT Timeout Register (SWT_TO)126
- SWT Window Register (SWT_WN)127
- SWT Counter Output Register (SWT_CO)128
  - Functional Description129
  - Overview131
- Device-Specific Implementation132
  - Functional Description133
  - Normal Conversion Operating Modes134
  - Injected Channel Conversion135
  - Abort Conversion136
- Analog Clock Generator and Conversion Timings137
- Programmable Analog Watchdog139
- DMA Functionality140
- External Decode Signals Delay141
- Register Descriptions142
- Control Logic Registers145
  - Main Status Register (MSR)147
- Interrupt Registers149
  - Channel Pending Registers (CEOCFR[1..2])150
  - Interrupt Mask Register (IMR)151
  - Channel Interrupt Mask Register (CIMR[1..2])152
  - Watchdog Threshold Interrupt Status Register (WTISR)153
  - Watchdog Threshold Interrupt Mask Register (WTIMR)154
- DMA Registers155
  - DMA Channel Select Register (DMAR[1..2])156
- Threshold Registers157
  - Threshold Register (THRHLR[0:3])158
- Conversion Timing Registers CTR[1..2]159
- Mask Registers160
  - Injected Conversion Mask Registers (JCMR[1..2])161
- Delay Registers162
- Data Registers164
  - Overview167
  - Memory Map168
  - Reset Configuration Half Word Source (RCHW)170
- Single-Chip Boot Mode171
Chapter 6172
- Boot and Alternate Boot172
- BAM Software Flow173
- BAM Resources174
- Download and Execute the New Code175
- Download Start Address, VLE Bit and Code Size176
- Download Data177
- Boot from UART178
- Bootstrap with CAN179
  - Protocol180
    - Interrupts181
    - Introduction183
Chapter 23184
- Main Features184
Chapter 7185
- CAN Sampler Sample Registers 0–11185
- Functional Description186
- Enabling/Disabling the CAN Sampler187
- Baud Rate Generation188
Chapter 8189
- Clock Architecture189
- Auxiliary Clocks190
- Clock Gating191
- Clock Generation Module (MC_CGM)192
- FXOSC External Oscillator211
- Register Description212
- Khz OSC Digital Interface213
- Register Description214
- SIRC Digital Interface215
- Clock Monitor Unit (CMU)226
- Device-Specific Information235
Chapter 9236
- Emios Clocking Configuration236
- Unified Channel Block238
- Unified Channel Memory Map243
- Register Description244
- Emios200 Global FLAG Register (EMIOSGFLAG)245
- Emios200 Output Update Disable (EMIOSOUDIS)246
- Emios200 Disable Channel (EMIOSUCDIS)247
- Emios200 UC a Register (Emiosa[N])248
- Emios200 UC B Register (Emiosb[N])249
- Emios200 UC Counter Register (Emioscnt[N])250
- Emios200 UC Status Register (Emioss[N])255
- Functional Description256
- Unified Channel (UC)258
- Slave Ports284
- Signal Names and Descriptions291
- Serial Peripheral Interface (SPI) Configuration312
  - SPI Master Mode313
  - Receive First in First out (RX FIFO) Buffering Mechanism314
- DSPI Baud Rate and Clock Delay Generation315
  - Baud Rate Generator316
- Transfer Formats318
Chapter 12 Register Summary346
- Register Descriptions355
- Control Descriptor L0_2 Register356
- Control Descriptor L0_3 Register357
- Control Descriptor L0_4 Register358
- Control Descriptor L0_5 Register360
- Control Descriptor L0_6 Register361
- Control Descriptor L0_7 Register363
- Control Descriptor Cursor 2 Register (Ctrldesccursor_2)364
- Control Descriptor Cursor 3 Register (Ctrldesccursor_3)365
- DCU Mode Register (DCU_MODE)366
- BGND Register368
- DISP_SIZE Register369
- HSYN_PARA Register370
- SYN_POL Register371
- Threshold Register372
- Interrupt Status Register (INT_STATUS)373
- Interrupt Mask Register (INT_MASK)375
- COLBAR Registers377
- Divide Ratio (DIV_RATIO) Register381
- SIGN_CALC_1 Register382
- SIGN_CALC_2 Register383
- PDI Status Register384
- PDI Status Mask Register385
- Parameter Error Status (PARR_ERR) Register386
- Mask PARR_ERR Status Register389
- THRESHOLD_INP_BUF_1 Register391
- LUMA Component Register392
- Red Chroma Components393
- Blue Chroma Component Register394
- CRC_POS Register395
- Fg0_Bcolor396
- Global Protection Register397
- Soft Lock Bit Register L0398
- Soft Lock Bit Register L1399
- Soft Lock DISP_SIZE Register401
- Soft Lock HSYNC/VSYNC para Register402
- Soft Lock POL Register403
- Soft Lock L1_TRANSP Register404
- Functional Description405
- TFT LCD Panel Configuration406
- DCU Mode Selection and Background Color408
- Layer Configuration and Blending409
  - Control Descriptors412
  - Graphics and Data Format413
  - Alpha and Chroma-Key Blending415
  - 16 Freescale Semiconductor418
  - Transparency Mode and Blending422
  - Luminance Mode425
- Hardware Cursor426
- Clut/Tile RAM428
- Gamma Correction429
- Synchronizing to Panel Frame Rate430
- Error Detection432
- Register Protection433
- List of Protected Registers434
  - CRC Area Description435
  - Features437
  - Programming for Debug Mode438
  - ITU-R BT.656 Sync Information Extraction439
  - PDI Interface Description440
- Glossary450
  - Introduction451
  - Modes of Operation452
  - Register Descriptions453
  - Functional Description456
  - DMA Channels with no Triggering Capability458
- Microarchitecture Summary464
- Block Diagram465
Chapter 14 Integer Unit Features466
- Unimplemented Sprs and Read-Only Sprs469
- DMA Basic Data Flow508
- DMA Performance511
- Initialization/Application Information514
- DMA Programming Errors515
- DMA Arbitration Mode Considerations516
  - Fixed Group Arbitration, Round-Robin Channel Arbitration517
  - Multiple Requests518
- TCD Status520
  - Preemption Status521
- Dynamic Programming522
- Hardware Request Release Timing523
  - Introduction525
  - Register Description526
Chapter 16527
- Processor Core Type (PCT) Register527
- Miscellaneous Wakeup Control Register (MWCR)528
- Miscellaneous Interrupt Register (MIR)529
- Miscellaneous User-Defined Control Register (MUDCR)530
- ECC Registers531
- ECC Status Register (ESR)532
- ECC Error Generation Register (EEGR)534
- Flash ECC Address Register (FEAR)537
- Flash ECC Master Number Register (FEMR)538
- Flash ECC Data Register (FEDR)539
- RAM ECC Address Register (REAR)540
- RAM ECC Master Number Register (REMR)542
- RAM ECC Data Register (REDR)543
- High-Priority Enables544
Chapter 17563
- 17.2.6.3 Non-Volatile Low/MID Address Space Block Locking Register (NVLML563
  - High Address Space Block Locking Register (HBL)565
  - Secondary Low/MID Address Space Block Locking Register (SLL)566
- Low/MID Address Space Block Select Register (LMS)569
- High Address Space Block Select Register (HBS)570
- Address Register (ADR)571
- Bus Interface Unit 0 Register (BIU0)573
- Bus Interface Unit 2 Register (BIU2)574
- User Test 0 Register (UT0)575
- User Test 1 Register (UT1)577
- User Test 2 Register (UT2)578
- User Multiple Input Signature Register 1 (UMISR1)579
- User Multiple Input Signature Register 2 (UMISR2)580
- User Multiple Input Signature Register 4 (UMISR4)581
- Non-Volatile Private Censorship Password 0 Register (NVPWD0)582
- Non-Volatile Private Censorship Password 1 Register (NVPWD1)583
- Non-Volatile System Censoring Information 1 Register (NVSCI1)584
- Non-Volatile User Options Register (NVUSRO)585
- Programming Considerations586
  - Error Correction Code (ECC)594
- User Mode Operation600
Chapter 26635
- Censored Mode635
- Initialization / Application Information665
  - Flash Memory Setting Recommendations666
- Message Buffer Structure676
- Rx FIFO Structure679
- Transmit Process700
- Receive Process701
- Matching Process702
- Data Coherence704
  - Message Buffer Deactivation705
- Rx FIFO706
- CAN Protocol Related Features707
  - Overload Frames708
  - Arbitration and Matching Timing711
- Flexcan Addressing and RAM Size Configurations715
  - Introduction717
  - Features718
Chapter 19 Bypass Mode719
- External Signal Description720
- Instruction Register721
- Boundary Scan Register722
- TAP Controller State Machine723
- E200Z0 Once Controller728
- DMA Application Information752
- Introduction753
Chapter 40755
- Block Diagram755
- Software Vector Mode756
- Stop Mode757
- INTC Module Configuration Register (INTC_MCR)758
- INTC Interrupt Acknowledge Register (INTC_IACKR)760
- INTC End-Of-Interrupt Register (INTC_EOIR)761
- Functional Description764
- Interrupt Request Sources774
  - Peripheral Interrupt Requests775
  - Last-In First-Out (LIFO)776
- Handshaking with Processor777
  - Hardware Vector Mode Handshaking778
- Initialization/Application Information779
  - Software Vector Mode780
- ISR, RTOS, and Task Hierarchy781
- Order of Execution782
- Priority Ceiling Protocol783
  - Software Configurable Interrupt Requests784
  - Scheduling an ISR on Another Processor785
    - Proper Setting of Interrupt Request Priority786
Chapter 22 Information Specific to this Device787
- Introduction788
- Features789
- Modes of Operation790
- Memory Map and Register Definition791
- Interrupts822
- LCD Waveform Examples823
- Fractional Baud Rate Generation833
- Register Map and Reset Values865
- UART Mode869
- Overview883
  - Features885
- External Signal Description886
- Functional Description897
- Access Evaluation—Hit Determination898
- Putting It All Together and AHB Error Terminations899
- Initialization Information900
- Introduction903
Chapter 13905
- Features905
- External Signal Description906
- Memory Map907
  - Register Description914
Chapter 25916
- Mode Control Register (ME_MCTL)916
- Mode Enable Register (ME_ME)917
- Interrupt Status Register (ME_IS)919
- Interrupt Mask Register (ME_IM)920
- Invalid Mode Transition Status Register (ME_IMTS)921
- Debug Mode Transition Status Register (ME_DMTS)922
- Reset Mode Configuration Register (ME_RESET_MC)924
- Test Mode Configuration Register (ME_TEST_MC)925
- DRUN Mode Configuration Register (ME_DRUN_MC)926
- Run0...3 Mode Configuration Registers (ME_RUN0...3_MC)927
- Stop Mode Configuration Register (ME_STOP_MC)928
- Peripheral Status Register 0 (ME_PS0)930
- Peripheral Status Register 1 (ME_PS1)931
- Peripheral Status Register 2 (ME_PS2)932
- Run Peripheral Configuration Registers (ME_RUN_PC0...7)933
- Low-Power Peripheral Configuration Registers (ME_LP_PC0...7)934
- Peripheral Control Registers (ME_PCTL0...143)935
- Mode Details937
  - Test Mode938
  - Run0...3 Modes939
Chapter 36940
- Stop Mode940
- Standby Mode941
- Target Mode Request942
- Peripheral Clocks Disable943
- Processor Low-Power Mode Entry944
- Flash Modules Switch-On945
- Peripheral Clocks Enable946
- Power Domain #2 Switch-Off947
- FMPLL0 Switch-Off948
- Current Mode Update949
- Protection of Mode Configuration Registers951
  - Safe Mode Transition Interrupt953
- Application Example954
- Introduction957
- Features958
  - Modes of Operation959
- Operating Mode960
- Memory Map and Register Description961
  - Port Configuration Register (PCR)962
  - Development Control Register 1, 2 (DC1, DC2)964
  - Development Status Register (DS)967
  - Read/Write Access Control/Status (RWCS)968
  - Read/Write Access Address (RWA)969
  - Watchpoint Trigger Register (WT)970
- Functional Description971
- Enabling Nexus Clients for TAP Access972
- Configuring the NDI for Nexus Messaging973
- Nexus Messaging974
- Introduction975
- Signal Description976
  - Register Descriptions977
  - Current Timer Value (CVAL) Register978
  - Timer Control (TCTRL) Register979
  - Functional Description980
Chapter 29990
- Power Domain #1 Configuration Register (PCU_PCONF1)990
- Power Domain Status Register (PCU_PSTAT)991
- Mode Transitions992
  - Standby Mode Transition993
  - Power Saving for Memories During Standby Mode994
- Preface995
Chapter 30996
- Glossary for Quadspi Module996
- Introduction997
Chapter 39999
- Overview999
- Quadspi Modes of Operation1000
  - Debug Mode (SPI Modes Only)1001
- Detailed Signal Description1002
- Qspi_Io2—Quadspi Data IO_21003
- AMBA Bus Register Memory Map1004
- IP Bus Register Descriptions1005
- Transfer Count Register (QSPI_TCR)1008
- SPI Status Register (QSPI_SPISR)1014
- PUSH TX FIFO Register (QSPI_PUSHR)1017
- POP RX FIFO Register (QSPI_POPR)1018
- Transmit FIFO Registers 0 – 14 (QSPI_TXFR0 – QSPI_TXFR14)1019
- RX FIFO Registers 0 – 14 (QSPI_RXFR0 – QSPI_RXFR14)1020
- Instruction Code Register (QSPI_ICR)1021
- Sampling Register (QSPI_SMPR)1022
- RX Buffer Status Register (QSPI_RBSR)1023
- RX Buffer Data Registers 0–14 (QSPI_RBDR0–QSPI_RBDR14)1024
- TX Buffer Status Register (QSPI_TBSR)1025
- TX Buffer Data Register (QSPI_TBDR)1026
- Serial Flash Mode Status Register (QSPI_SFMSR)1027
- Serial Flash Mode Flag Register (QSPI_SFMFR)1029
- AHB Bus Register Memory Map Descriptions1031
  - AHB Bus Access Considerations1032
  - Modes of Operation1033
- SPI (Serial Peripheral Interface) Modes1034
  - Start and Stop of SPI Transfers1035
  - Master Mode1036
  - Receive First in First out (RX FIFO) Buffering Mechanism1037
  - Baud Rate and Clock Delay Generation1038
  - SPI Transfer Formats1040
  - Continuous Serial Communications Clock1047
  - SPI Mode Interrupt and DMA Requests1048
- SFM (Serial Flash) Mode1049
  - Issuing SFM Commands1050
  - Flash Programming1051
  - Byte Ordering of Serial Flash Data1053
    - Serial Flash Mode Interrupt and DMA Requests1054
    - TX Buffer Operation1055
  - Power Saving Features1056
  - DMA Usage1065
- Serial Flash Devices1066
  - Supported Instruction Codes in Winbond Devices1067
  - Serial Flash Clock Frequency Limitations1069
Chapter 311079
- Functional Event Status Register (RGM_FES)1079
- Destructive Event Status Register (RGM_DES)1080
- Functional Event Reset Disable Register (RGM_FERD)1082
- Destructive Event Reset Disable Register (RGM_DERD)1083
- Functional Event Alternate Request Register (RGM_FEAR)1084
- Destructive Event Alternate Request Register (RGM_DEAR)1085
- Functional Event Short Sequence Register (RGM_FESS)1086
- Standby Reset Sequence Register (RGM_STDBY)1088
- Functional Description1089
- Phase0 Phase1091
- Phase1 Phase1092
- Destructive Resets1093
- Functional Resets1094
- Alternate Event Generation1095
- Overview1097
- Device Specific Information1099
- Debug Support1100
Chapter 321101
- RTC Control Register (RTCC)1101
- RTC Status Register (RTCS)1103
- RTC Counter Register (RTCCNT)1104
- API Functional Description1105
- Introduction1107
- Register Memory Map1108
Chapter 33 Reset Effects on SRAM Accesses1109
- Initialization and Application Information1110
Chapter 341115
- SOUND_DURATION Register1115
- SGL_STATUS Register1116
  - Interrupts1120
  - Introduction1121
- PWM Alignment Modes1122
- Register Description1127
- Motor Controller Control Register 0 (MCCTL0)1128
- Motor Controller Control Register 1 (MCCTL1)1129
- Motor Controller Period Register (MCPER)1130
- Motor Controller Duty Cycle Register (MCDC0..11)1131
- Short-Circuit Detector Timeout Register (MCSDTO)1133
- PWM Duty Cycle1151
- Output Switching Delay1152
- Reset1157
- Stepper Stall Detection Measurement1176
  - Details of the SSD Measurement1177
- Additional Modes of Operation1179
- SSD Startup1180
- Setting of the PRESCALE Register1182
  - Offset Cancellation Considerations1183
- Stepper Motor Transition Considerations1184
Chapter 37 Register Protection1192
- MCU ID Register #2 (MIDR2)1193
- Interrupt Status Flag Register (ISR)1195
- Interrupt Rising-Edge Event Enable Register (IREER)1196
- Interrupt Filter Enable Register (IFER)1197
- GPIO Pad Data Output Registers (GPDO0_3–GPDO132_135)1204
- Parallel GPIO Pad Data out Registers (PGPDO0–PGPDO4)1205
- Parallel GPIO Pad Data in Register (PGPDI0–PGPDI4)1207
- Interrupt Filter Maximum Counter Registers (IFMC0–IFMC15)1209
- Functional Description1210
- External Interrupts1211
Chapter 381217
- System Status Register (STATUS)1217
- Error Configuration1218
- Debug Status Port Register1219
- Password Comparison Registers1220
- STM Count Register (STM_CNT)1225
- STM Channel Control Register (Stm_Ccrn)1226
- STM Channel Compare Register (Stm_Cmpn)1227
- Introduction1229
Chapter 201230
- Block Diagram1230
  - Detailed Signal Descriptions1231
  - Functional Description1232
- VREG Digital Interface1233
- GPIO Power Supply Configuration1234
- Power Domain Organization1235
Chapter 181239
- Overview1239
  - Features1240
  - External Signal Description1241
- Register Description1242
Chapter 411243
- NMI Configuration Register (NCR)1243
- Wakeup/Interrupt Status Flag Register (WISR)1244
- Interrupt Request Enable Register (IRER)1245
- Wakeup/Interrupt Falling-Edge Event Enable Register (WIFEER)1246
- Wakeup/Interrupt Pullup Enable Register (WIPUER)1247
- NMI Management1248
- External Wakeups/Interrupts1249
  - External Interrupt Management1250
- On-Chip Wakeups1251
Appendix A1253
- Registers under Protection1254
- Registers under Protection1255
Registers under Protection1256
- Registers under Protection1257
- Registers under Protection1258
Appendix B1259
Register Map1260
- Register Map1261
- Register Map1262
- Register Map1263
- Register Map1264
- Register Map1265
- Register Map1266
- Register Map1267
- Register Map1268
- Register Map1269
- Register Map1270
- Register Map1271
- Register Map1272
- Register Map1273
- Register Map1274
- Register Map1275
- Register Map1276
- Register Map1277
- Register Map1278
- Register Map1279
- Register Map1280
- Register Map1281
- Register Map1282
- Register Map1283
- Register Map1284
- Register Map1285
- Register Map1286
- Register Map1287
- Register Map1288
- Register Map1289
- Register Map1290
- Register Map1291
- Register Map1292
- Register Map1293
- Register Map1294
- Register Map1295
- Register Map1296
- Register Map1297
- Register Map1298
- Register Map1299
- Register Map1300
- Register Map1301
- Register Map1302
- Register Map1303
- Register Map1304
- Register Map1305
- Register Map1306
- Register Map1307
- Register Map1308
- Register Map1309
- Register Map1310
- Register Map1311
- Register Map1312
- Register Map1313
- Register Map1314
- Register Map1315
- Register Map1316
- Register Map1317
- Register Map1318
- Register Map1319
- Register Map1320
- Register Map1321
- Register Map1322
- Register Map1323
- Register Map1324
Appendix C1325
- C.1 Changes between Revisions 6 and 71325
- C.2 Changes between Revisions 5 and 61327
- C.3 Changes between Revisions 4 and 51331
- C.4 Changes between Revisions 3 and 41332
- C.5 Changes between Revisions 2 and 31337
- C.6 Changes between Revisions 1 and 21340
- C.7 Changes between Revisions 0 and 11344

Brand	NXP Semiconductors
Model	MPC5606S
Category	Microcontrollers
Language	English

NXP Semiconductors MPC5606S User Manual

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