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SPRUI07–March 2020
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Copyright © 2020, Texas Instruments Incorporated
Contents
3.4.4 Dead-Band Submodule Registers............................................................................. 308
3.4.5 PWM-Chopper Submodule Control Register................................................................. 311
3.4.6 Trip-Zone Submodule Control and Status Registers........................................................ 313
3.4.7 Event-Trigger Submodule Registers .......................................................................... 320
3.4.8 Proper Interrupt Initialization Procedure ...................................................................... 325
4 High-Resolution Pulse Width Modulator (HRPWM)................................................................ 326
4.1 Introduction ................................................................................................................ 327
4.2 Operational Description of HRPWM.................................................................................... 328
4.2.1 Controlling the HRPWM Capabilities.......................................................................... 328
4.2.2 Configuring the HRPWM........................................................................................ 330
4.2.3 Principle of Operation ........................................................................................... 330
4.2.4 Scale Factor Optimizing Software (SFO)..................................................................... 335
4.2.5 HRPWM Examples Using Optimized Assembly Code...................................................... 339
4.3 HRPWM Registers........................................................................................................ 346
4.3.1 Register Summary............................................................................................... 346
4.3.2 Registers and Field Descriptions .............................................................................. 347
5 Enhanced Capture (eCAP) ................................................................................................. 349
5.1 Introduction ................................................................................................................ 350
5.2 Features.................................................................................................................... 350
5.3 Description................................................................................................................. 351
5.4 Capture and APWM Operating Mode.................................................................................. 353
5.5 Capture Mode Description............................................................................................... 355
5.5.1 Event Prescaler .................................................................................................. 356
5.5.2 Edge Polarity Select and Qualifier............................................................................. 356
5.5.3 Continuous/One-Shot Control.................................................................................. 358
5.5.4 32-Bit Counter and Phase Control............................................................................. 359
5.5.5 CAP1-CAP4 Registers .......................................................................................... 359
5.5.6 Interrupt Control.................................................................................................. 359
5.5.7 Shadow Load and Lockout Control............................................................................ 361
5.5.8 APWM Mode Operation......................................................................................... 361
5.6 Application of the eCAP Module ....................................................................................... 364
5.6.1 Example 1 - Absolute Time-Stamp Operation Rising Edge Trigger....................................... 364
5.6.2 Example 2 - Absolute Time-Stamp Operation Rising and Falling Edge Trigger ........................ 365
5.6.3 Example 3 - Time Difference (Delta) Operation Rising Edge Trigger..................................... 366
5.6.4 Example 4 - Time Difference (Delta) Operation Rising and Falling Edge Trigger ...................... 367
5.7 Application of the APWM Mode......................................................................................... 368
5.7.1 Example 1 - Simple PWM Generation (Independent Channel/s).......................................... 368
5.7.2 Example 2 - Multi-channel PWM Generation With Phase Control ........................................ 368
5.8 eCAP Registers ........................................................................................................... 371
5.8.1 eCAP Base Addresses.......................................................................................... 371
5.8.2 ECAP_REGS Registers......................................................................................... 372
6 Enhanced Quadrature Encoder Pulse (eQEP)....................................................................... 389
6.1 Introduction ................................................................................................................ 390
6.2 Configuring Device Pins ................................................................................................. 392
6.3 Description................................................................................................................. 392
6.3.1 EQEP Inputs...................................................................................................... 392
6.3.2 Functional Description........................................................................................... 393
6.3.3 eQEP Memory Map ............................................................................................. 394
6.4 Quadrature Decoder Unit (QDU) ....................................................................................... 395
6.4.1 Position Counter Input Modes.................................................................................. 395
6.4.2 eQEP Input Polarity Selection.................................................................................. 398
6.4.3 Position-Compare Sync Output................................................................................ 398
6.5 Position Counter and Control Unit (PCCU)............................................................................ 398
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