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17
SPRUI07–March 2020
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List of Figures
5-3. Counter Compare and PRD Effects on the eCAP Output in APWM Mode ....................................... 354
5-4. eCAP Block Diagram..................................................................................................... 355
5-5. Event Prescale Control................................................................................................... 356
5-6. Prescale Function Waveforms .......................................................................................... 356
5-7. Details of the Continuous/One-shot Block............................................................................. 358
5-8. Details of the Counter and Synchronization Block ................................................................... 359
5-9. Interrupts in eCAP Module .............................................................................................. 361
5-10. PWM Waveform Details Of APWM Mode Operation ................................................................ 362
5-11. Time-Base Frequency and Period Calculation........................................................................ 363
5-12. Capture Sequence for Absolute Time-stamp and Rising Edge Detect ............................................ 364
5-13. Capture Sequence for Absolute Time-stamp With Rising and Falling Edge Detect ............................. 365
5-14. Capture Sequence for Delta Mode Time-stamp and Rising Edge Detect......................................... 366
5-15. Capture Sequence for Delta Mode Time-stamp With Rising and Falling Edge Detect.......................... 367
5-16. PWM Waveform Details of APWM Mode Operation ................................................................. 368
5-17. Multi-phase (channel) Interleaved PWM Example Using 3 eCAP Modules....................................... 369
5-18. TSCTR Register .......................................................................................................... 373
5-19. CTRPHS Register ........................................................................................................ 374
5-20. CAP1 Register ............................................................................................................ 375
5-21. CAP2 Register ............................................................................................................ 376
5-22. CAP3 Register ............................................................................................................ 377
5-23. CAP4 Register ............................................................................................................ 378
5-24. ECCTL1 Register ......................................................................................................... 379
5-25. ECCTL2 Register ......................................................................................................... 381
5-26. ECEINT Register.......................................................................................................... 383
5-27. ECFLG Register .......................................................................................................... 385
5-28. ECCLR Register .......................................................................................................... 387
5-29. ECFRC Register .......................................................................................................... 388
6-1. Optical Encoder Disk..................................................................................................... 390
6-2. QEP Encoder Output Signal for Forward/Reverse Movement...................................................... 390
6-3. Index Pulse Example..................................................................................................... 391
6-4. Functional Block Diagram of the eQEP Peripheral................................................................... 393
6-5. Functional Block Diagram of Decoder Unit............................................................................ 395
6-6. Quadrature Decoder State Machine.................................................................................... 396
6-7. Quadrature-clock and Direction Decoding............................................................................. 397
6-8. Position Counter Reset by Index Pulse for 1000 Line Encoder (QPOSMAX = 3999 or 0xF9F) ............... 399
6-9. Position Counter Underflow/Overflow (QPOSMAX = 4) ............................................................ 400
6-10. Software Index Marker for 1000-line Encoder (QEPCTL[IEL] = 1)................................................. 401
6-11. Strobe Event Latch (QEPCTL[SEL] = 1)............................................................................... 402
6-12. eQEP Position-compare Unit............................................................................................ 403
6-13. eQEP Position-compare Event Generation Points ................................................................... 404
6-14. eQEP Position-compare Sync Output Pulse Stretcher .............................................................. 404
6-15. eQEP Edge Capture Unit................................................................................................ 406
6-16. Unit Position Event for Low Speed Measurement (QCAPCTL[UPPS] = 0010) .................................. 406
6-17. eQEP Edge Capture Unit - Timing Details ............................................................................ 407
6-18. eQEP Watchdog Timer .................................................................................................. 408
6-19. eQEP Unit Time Base.................................................................................................... 409
6-20. EQEP Interrupt Generation.............................................................................................. 410
6-21. QPOSCNT Register ...................................................................................................... 413
6-22. QPOSINIT Register....................................................................................................... 414
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