MC68336/376
MOTOROLA
USER’S MANUAL
xi
(Continued)
Paragraph
Title
Page
TABLE OF CONTENTS
10.9.10.1
PWM Duty Cycle Boundary Cases ....................................... 10-17
10.9.11
PWMSM Registers ........................................................................ 10-17
10.10
CTM4 Interrupts .................................................................................... 10-18
SECTION 11 TIME PROCESSOR UNIT
11.1
General .................................................................................................... 11-1
11.2
TPU Components .................................................................................... 11-2
11.2.1
Time Bases ..................................................................................... 11-2
11.2.2
Timer Channels ............................................................................... 11-2
11.2.3
Scheduler ........................................................................................ 11-3
11.2.4
Microengine ..................................................................................... 11-3
11.2.5
Host Interface .................................................................................. 11-3
11.2.6
Parameter RAM ............................................................................... 11-3
11.3
TPU Operation ........................................................................................ 11-3
11.3.1
Event Timing ................................................................................... 11-4
11.3.2
Channel Orthogonality ..................................................................... 11-4
11.3.3
Interchannel Communication ........................................................... 11-4
11.3.4
Programmable Channel Service Priority ......................................... 11-4
11.3.5
Coherency ....................................................................................... 11-4
11.3.6
Emulation Support ........................................................................... 11-5
11.3.7
TPU Interrupts ................................................................................. 11-5
11.4
A Mask Set Time Functions .................................................................... 11-6
11.4.1
Discrete Input/Output (DIO) ............................................................. 11-6
11.4.2
Input Capture/Input Transition Counter (ITC) .................................. 11-6
11.4.3
Output Compare (OC) ..................................................................... 11-7
11.4.4
Pulse-Width Modulation (PWM) ...................................................... 11-7
11.4.5
Synchronized Pulse-Width Modulation (SPWM) ............................. 11-7
11.4.6
Period Measurement with Additional Transition Detect (PMA) ....... 11-8
11.4.7
Period Measurement with Missing Transition Detect (PMM) .......... 11-8
11.4.8
Position-Synchronized Pulse Generator (PSP) ............................... 11-8
11.4.9
Stepper Motor (SM) ......................................................................... 11-9
11.4.10
Period/Pulse-Width Accumulator (PPWA) ....................................... 11-9
11.4.11
Quadrature Decode (QDEC) ......................................................... 11-10
11.5
G Mask Set Time Functions .................................................................. 11-10
11.5.1
Table Stepper Motor (TSM) ........................................................... 11-10
11.5.2
New Input Capture/Transition Counter (NITC) .............................. 11-11
11.5.3
Queued Output Match (QOM) ....................................................... 11-11
11.5.4
Programmable Time Accumulator (PTA) ...................................... 11-11
11.5.5
Multichannel Pulse-Width Modulation (MCPWM) ......................... 11-11
11.5.6
Fast Quadrature Decode (FQD) .................................................... 11-12
11.5.7
Universal Asynchronous Receiver/Transmitter (UART) ................ 11-12
336376UMBook Page xi Friday, November 15, 1996 2:09 PM