mc68hc916y3 Freescale Semiconductor, Inc, mc68hc916y3 Datasheet - Page 319

• Manufacturer Part Number: mc68hc916y3
• Description: Mc68hc16y3 16 Bit Microcontroller
• Manufacturer: Freescale Semiconductor, Inc

14.5 G Mask Set Time Functions
14.5.1 Table Stepper Motor (TSM)
14.5.2 New Input Capture/Transition Counter (NITC)
14.5.3 Queued Output Match (QOM)
MC68HC16Y3/916Y3
USER’S MANUAL
The following paragraphs describe factory-programmed time functions implemented
in the motion control microcode ROM. A complete description of the functions is be-
yond the scope of this manual.
Refer to the TPU Reference Manual (TPURM/AD) for additional information.
The TSM function provides for acceleration and deceleration control of a stepper mo-
tor with a programmable number of step rates up to 58. TSM uses a table in parameter
RAM, rather than an algorithm, to define the stepper motor acceleration profile, allow-
ing the user to fully define the profile. In addition, a slew rate parameter allows fine
control of the terminal running speed of the motor independent of the acceleration ta-
ble. The CPU need only write a desired position, and the TPU2 accelerates, slews,
and decelerates the motor to the required position. Full and half step support is pro-
vided for two-phase motors. In addition, a slew rate parameter allows fine control of
the terminal running speed of the motor independent of the acceleration table.
Refer to TPU programming note Table Stepper Motor (TSM) TPU Function
(TPUPN04/D) for more information.
Any channel of the TPU2 can capture the value of a specified TCR or any specified
location in parameter RAM upon the occurrence of each transition or specified number
of transitions, and then generate an interrupt request to notify the CPU16. The times
of the most recent two transitions are maintained in parameter RAM. A channel can
perform input captures continually, or a channel can detect a single transition or spec-
ified number of transitions, ceasing channel activity until reinitialization. After each
transition or specified number of transitions, the channel can generate a link to other
channels.
Refer to TPU programming note New Input Capture/Transition Counter (NITC) TPU
Function (TPUPN08/D) for more information.
QOM can generate single or multiple output match events from a table of offsets in pa-
rameter RAM. Loop modes allow complex pulse trains to be generated once, a spec-
ified number of times, or continuously. The function can be triggered by a link from
another TPU2 channel. In addition, the reference time for the sequence of matches
can be obtained from another channel. QOM can generate pulse width modulated
waveforms, including waveforms with high times of 0% or 100%. QOM also allows a
TPU2 channel to be used as a discrete output pin.
Refer to TPU programming note Queued Output Match (QOM) TPU Function
(TPUPN01/D) for more information.
Freescale Semiconductor, Inc.
For More Information On This Product,
TIME PROCESSOR UNIT 2
Go to: www.freescale.com
MOTOROLA
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