Microchip DSPIC30F6010AT-30I/S High-performance digital signal controller Datasheet

dsPIC30F6010
Data Sheet
High-Performance
Digital Signal Controllers
 2004 Microchip Technology Inc.
Preliminary
DS70119D
Note the following details of the code protection feature on Microchip devices:
•
Microchip products meet the specification contained in their particular Microchip Data Sheet.
•
Microchip believes that its family of products is one of the most secure families of its kind on the market today, when used in the
intended manner and under normal conditions.
•
There are dishonest and possibly illegal methods used to breach the code protection feature. All of these methods, to our
knowledge, require using the Microchip products in a manner outside the operating specifications contained in Microchip’s Data
Sheets. Most likely, the person doing so is engaged in theft of intellectual property.
•
Microchip is willing to work with the customer who is concerned about the integrity of their code.
•
Neither Microchip nor any other semiconductor manufacturer can guarantee the security of their code. Code protection does not
mean that we are guaranteeing the product as “unbreakable.”
Code protection is constantly evolving. We at Microchip are committed to continuously improving the code protection features of our
products. Attempts to break Microchip’s code protection feature may be a violation of the Digital Millennium Copyright Act. If such acts
allow unauthorized access to your software or other copyrighted work, you may have a right to sue for relief under that Act.
Information contained in this publication regarding device
applications and the like is provided only for your convenience
and may be superseded by updates. It is your responsibility to
ensure that your application meets with your specifications.
MICROCHIP MAKES NO REPRESENTATIONS OR WARRANTIES OF ANY KIND WHETHER EXPRESS OR IMPLIED,
WRITTEN OR ORAL, STATUTORY OR OTHERWISE,
RELATED TO THE INFORMATION, INCLUDING BUT NOT
LIMITED TO ITS CONDITION, QUALITY, PERFORMANCE,
MERCHANTABILITY OR FITNESS FOR PURPOSE.
Microchip disclaims all liability arising from this information and
its use. Use of Microchip’s products as critical components in
life support systems is not authorized except with express
written approval by Microchip. No licenses are conveyed,
implicitly or otherwise, under any Microchip intellectual property
rights.
Trademarks
The Microchip name and logo, the Microchip logo, Accuron,
dsPIC, KEELOQ, microID, MPLAB, PIC, PICmicro, PICSTART,
PRO MATE, PowerSmart, rfPIC, and SmartShunt are
registered trademarks of Microchip Technology Incorporated
in the U.S.A. and other countries.
AmpLab, FilterLab, Migratable Memory, MXDEV, MXLAB,
PICMASTER, SEEVAL, SmartSensor and The Embedded
Control Solutions Company are registered trademarks of
Microchip Technology Incorporated in the U.S.A.
Analog-for-the-Digital Age, Application Maestro, dsPICDEM,
dsPICDEM.net, dsPICworks, ECAN, ECONOMONITOR,
FanSense, FlexROM, fuzzyLAB, In-Circuit Serial
Programming, ICSP, ICEPIC, MPASM, MPLIB, MPLINK,
MPSIM, PICkit, PICDEM, PICDEM.net, PICLAB, PICtail,
PowerCal, PowerInfo, PowerMate, PowerTool, rfLAB,
rfPICDEM, Select Mode, Smart Serial, SmartTel and Total
Endurance are trademarks of Microchip Technology
Incorporated in the U.S.A. and other countries.
SQTP is a service mark of Microchip Technology Incorporated
in the U.S.A.
All other trademarks mentioned herein are property of their
respective companies.
© 2004, Microchip Technology Incorporated, Printed in the
U.S.A., All Rights Reserved.
Printed on recycled paper. 11/12/04
Microchip received ISO/TS-16949:2002 quality system certification for
its worldwide headquarters, design and wafer fabrication facilities in
Chandler and Tempe, Arizona and Mountain View, California in
October 2003. The Company’s quality system processes and
procedures are for its PICmicro® 8-bit MCUs, KEELOQ® code hopping
devices, Serial EEPROMs, microperipherals, nonvolatile memory and
analog products. In addition, Microchip’s quality system for the design
and manufacture of development systems is ISO 9001:2000 certified.
DS70119D-page ii
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
dsPIC30F6010 Enhanced Flash
16-bit Digital Signal Controller
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046). For more information on the device
instruction set and programming, refer to the dsPIC30F
Programmer’s Reference Manual (DS70030).
High-Performance Modified RISC CPU:
• Modified Harvard architecture
• C compiler optimized instruction set architecture
with flexible Addressing modes
• 84 base instructions
• 24-bit wide instructions, 16-bit wide data path
• 144 Kbytes on-chip Flash program space
(Instruction words)
• 8 Kbytes of on-chip data RAM
• 4 Kbytes of non-volatile data EEPROM
• Up to 30 MIPs operation:
- DC to 40 MHz external clock input
- 4 MHz-10 MHz oscillator input with
PLL active (4x, 8x, 16x)
• 44 interrupt sources
- 5 external interrupt sources
- 8 user selectable priority levels for each
interrupt source
- 4 processor trap sources
• 16 x 16-bit working register array
DSP Engine Features:
•
•
•
•
Dual data fetch
Accumulator write back for DSP operations
Modulo and Bit-Reversed Addressing modes
Two, 40-bit wide accumulators with optional
saturation logic
• 17-bit x 17-bit single cycle hardware fractional/
integer multiplier
• All DSP instructions single cycle
• ± 16-bit single cycle shift
 2004 Microchip Technology Inc.
Peripheral Features:
• High current sink/source I/O pins: 25 mA/25 mA
• Timer module with programmable prescaler:
- Five 16-bit timers/counters; optionally pair
16-bit timers into 32-bit timer modules
• 16-bit Capture input functions
• 16-bit Compare/PWM output functions
• 3-wire SPITM modules (supports 4 Frame modes)
• I2CTM module supports Multi-Master/Slave mode
and 7-bit/10-bit addressing
• 2 UART modules with FIFO Buffers
• 2 CAN modules, 2.0B compliant
Motor Control PWM Module Features:
• 8 PWM output channels
- Complementary or Independent Output
modes
- Edge and Center Aligned modes
• 4 duty cycle generators
• Dedicated time base
• Programmable output polarity
• Dead Time control for Complementary mode
• Manual output control
• Trigger for A/D conversions
Quadrature Encoder Interface Module
Features:
•
•
•
•
•
•
•
Phase A, Phase B and Index Pulse input
16-bit up/down position counter
Count direction status
Position Measurement (x2 and x4) mode
Programmable digital noise filters on inputs
Alternate 16-bit Timer/Counter mode
Interrupt on position counter rollover/underflow
Preliminary
DS70119D-page 1
dsPIC30F6010
Analog Features:
• Self-reprogrammable under software control
• Power-on Reset (POR), Power-up Timer (PWRT)
and Oscillator Start-up Timer (OST)
• Flexible Watchdog Timer (WDT) with on-chip low
power RC oscillator for reliable operation
• Fail-Safe clock monitor operation detects clock
failure and switches to on-chip low power RC
oscillator
• Programmable code protection
• In-Circuit Serial Programming™ (ICSP™)
• Selectable Power Management modes
- Sleep, Idle and Alternate Clock modes
• 10-bit Analog-to-Digital Converter (A/D) with
4 S/H Inputs:
- 500 Ksps conversion rate
- 16 input channels
- Conversion available during Sleep and Idle
• Programmable Low Voltage Detection (PLVD)
• Programmable Brown-out Detection and Reset
generation
Special Microcontroller Features:
• Enhanced Flash program memory:
- 10,000 erase/write cycle (min.) for
industrial temperature range, 100K (typical)
• Data EEPROM memory:
- 100,000 erase/write cycle (min.) for
industrial temperature range, 1M (typical)
CMOS Technology:
•
•
•
•
Low power, high speed Flash technology
Wide operating voltage range (2.5V to 5.5V)
Industrial and Extended temperature ranges
Low power consumption
dsPIC30F Motor Control and Power Conversion Family*
UART
SPITM
I2CTM
CAN
Program
Output
Moto
SRAM EEPROM Timer Input
A/D 10-bit Quad
Pins Mem. Bytes/
Comp/Std Control
Bytes
Bytes
16-bit Cap
500 Ksps Enc
Instructions
PWM
PWM
dsPIC30F2010
28
12K/4K
512
1024
3
4
2
6 ch
6 ch
Yes
1
1
1
-
dsPIC30F3010
28
24K/8K
1024
1024
5
4
2
6 ch
6 ch
Yes
1
1
1
-
dsPIC30F4012
28
48K/16K
2048
1024
5
4
2
6 ch
6 ch
Yes
1
1
1
1
dsPIC30F3011 40/44
24K/8K
1024
1024
5
4
4
6 ch
9 ch
Yes
2
1
1
-
dsPIC30F4011 40/44
48K/16K
2048
1024
5
4
4
6 ch
9 ch
Yes
2
1
1
1
dsPIC30F5015
64
66K/22K
2048
1024
5
4
4
8 ch
16 ch
Yes
1
2
1
1
dsPIC30F6010
80
144K/48K
8192
4096
5
8
8
8 ch
16 ch
Yes
2
2
1
2
Device
* This table provides a summary of the dsPIC30F6010 peripheral features. Other available devices in the dsPIC30F
Motor Control and Power Conversion Family are shown for feature comparison.
DS70119D-page 2
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
Pin Diagram
IC5/RD12
OC4/RD3
OC3/RD2
EMUD2/OC2/RD1
OC6/CN14/RD5
OC5/CN13/RD4
IC6/CN19/RD13
OC7/CN15/RD6
C2RX/RG0
C2TX/RG1
C1TX/RF1
C1RX/RF0
VDD
VSS
OC8/CN16/UPDN/RD7
PWM2L/RE2
PWM1H/RE1
PWM1L/RE0
80
79
78
77
76
75
74
73
72
71
70
69
68
67
66
65
64
63
62
61
PWM3L/RE4
PWM2H/RE3
80-Pin TQFP
PWM3H/RE5
1
60
EMUC1/SOSCO/T1CK/CN0/RC14
PWM4L/RE6
2
59
EMUD1/SOSCI/CN1/RC13
EMUC2/OC1/RD0
PWM4H/RE7
3
58
T2CK/RC1
T4CK/RC3
SCK2/CN8/RG6
4
57
5
56
IC4/RD11
IC3/RD10
6
55
IC2/RD9
SDI2/CN9/RG7
7
54
IC1/RD8
SDO2/CN10/RG8
MCLR
8
53
INT4/RA15
9
52
SS2/CN11/RG9
VSS
10
51
INT3/RA14
VSS
VDD
12
49
OSC2/CLKO/RC15
OSC1/CLKI
FLTA/INT1/RE8
13
48
VDD
14
47
SCL/RG2
15
46
SDA/RG3
FLTB/INT2/RE9
AN5/QEB/CN7/RB5
dsPIC30F6010
11
50
29
30
31
32
33
34
35
36
37
38
39
40
VSS
VDD
AN12/RB12
AN13/RB13
AN14/RB14
AN15/OCFB/CN12/RB15
IC7/CN20/RD14
IC8/CN21/RD15
U2RX/CN17/RF4
U2TX/CN18/RF5
28
AN11/RB11
27
AN9/RB9
AN10/RB10
26
AVSS
U1TX/RF3
AN8/RB8
41
25
20
24
U1RX/RF2
PGD/EMUD/AN0/CN2/RB0
AVDD
EMUD3/SDO1/RF8
42
VREF+/RA10
43
19
22
18
23
AN2/SS1/LVDIN/CN4/RB2
PGC/EMUC/AN1/CN3/RB1
VREF-/RA9
EMUC3/SCK1/INT0/RF6
SDI1/RF7
21
44
AN7/RB7
45
AN6/OCFA/RB6
16
17
AN4/QEA/CN6/RB4
AN3/INDX/CN5/RB3
Note: Pinout subject to change.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 3
dsPIC30F6010
Table of Contents
1.0 Device Overview .......................................................................................................................................................................... 5
2.0 CPU Architecture Overview........................................................................................................................................................ 11
3.0 Memory Organization ................................................................................................................................................................. 19
4.0 Address Generator Units ............................................................................................................................................................ 31
5.0 Interrupts .................................................................................................................................................................................... 37
6.0 Flash Program Memory .............................................................................................................................................................. 43
7.0 Data EEPROM Memory ............................................................................................................................................................. 49
8.0 I/O Ports ..................................................................................................................................................................................... 53
9.0 Timer1 Module ........................................................................................................................................................................... 57
10.0 Timer2/3 Module ........................................................................................................................................................................ 61
11.0 Timer4/5 Module ....................................................................................................................................................................... 67
12.0 Input Capture Module ................................................................................................................................................................ 71
13.0 Output Compare Module ............................................................................................................................................................ 75
14.0 Quadrature Encoder Interface (QEI) Module ............................................................................................................................. 79
15.0 Motor Control PWM Module ....................................................................................................................................................... 85
16.0 SPI™ Module ............................................................................................................................................................................. 95
17.0 I2C Module ................................................................................................................................................................................. 99
18.0 Universal Asynchronous Receiver Transmitter (UART) Module .............................................................................................. 107
19.0 CAN Module ............................................................................................................................................................................. 115
20.0 10-bit High Speed Analog-to-Digital Converter (A/D) Module .................................................................................................. 127
21.0 System Integration ................................................................................................................................................................... 135
22.0 Instruction Set Summary .......................................................................................................................................................... 149
23.0 Development Support............................................................................................................................................................... 157
24.0 Electrical Characteristics .......................................................................................................................................................... 163
25.0 Packaging Information.............................................................................................................................................................. 205
On-Line Support................................................................................................................................................................................. 213
Systems Information and Upgrade Hot Line ...................................................................................................................................... 213
Reader Response .............................................................................................................................................................................. 214
Product Identification System............................................................................................................................................................. 215
TO OUR VALUED CUSTOMERS
It is our intention to provide our valued customers with the best documentation possible to ensure successful use of your Microchip
products. To this end, we will continue to improve our publications to better suit your needs. Our publications will be refined and
enhanced as new volumes and updates are introduced.
If you have any questions or comments regarding this publication, please contact the Marketing Communications Department via
E-mail at [email protected] or fax the Reader Response Form in the back of this data sheet to (480) 792-4150.
We welcome your feedback.
Most Current Data Sheet
To obtain the most up-to-date version of this data sheet, please register at our Worldwide Web site at:
http://www.microchip.com
You can determine the version of a data sheet by examining its literature number found on the bottom outside corner of any page.
The last character of the literature number is the version number, (e.g., DS30000A is version A of document DS30000).
Errata
An errata sheet, describing minor operational differences from the data sheet and recommended workarounds, may exist for current
devices. As device/documentation issues become known to us, we will publish an errata sheet. The errata will specify the revision
of silicon and revision of document to which it applies.
To determine if an errata sheet exists for a particular device, please check with one of the following:
• Microchip’s Worldwide Web site; http://www.microchip.com
• Your local Microchip sales office (see last page)
• The Microchip Corporate Literature Center; U.S. FAX: (480) 792-7277
When contacting a sales office or the literature center, please specify which device, revision of silicon and data sheet (include
literature number) you are using.
Customer Notification System
Register on our web site at www.microchip.com/cn to receive the most current information on all of our products.
DS70119D-page 4
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
1.0
DEVICE OVERVIEW
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046). For more information on the device
instruction set and programming, refer to the dsPIC30F
Programmer’s Reference Manual (DS70030).
 2004 Microchip Technology Inc.
This document contains device specific information for
the dsPIC30F6010 device. The dsPIC30F devices
contain extensive Digital Signal Processor (DSP) functionality within a high-performance 16-bit microcontroller
(MCU) architecture. Figure 1-1 shows a device block
diagram for the dsPIC30F6010 device.
Preliminary
DS70119D-page 5
dsPIC30F6010
FIGURE 1-1:
dsPIC30F6010 BLOCK DIAGRAM
Y Data Bus
X Data Bus
16
Interrupt
Controller
PSV & Table
Data Access
24 Control Block
8
16
16
Data Latch
Y Data
RAM
(4 Kbytes)
Address
Latch
16
24
Y AGU
PCU PCH PCL
Program Counter
Loop
Stack
Control
Control
Logic
Logic
Address Latch
Program Memory
(144 Kbytes)
Data EEPROM
(4 Kbytes)
Data Latch
X Data
RAM
(4 Kbytes)
Address
Latch
16
VREF-/RA9
VREF+/RA10
INT3/RA14
INT4/RA15
PORTA
PGC/EMUC/AN0/CN2/RB0
PGD/EMUD/AN1/CN3/RB1
AN2/SS1/LVDIN/CN4/RB2
AN3/INDX/CN5/RB3
AN4/QEA/CN6/RB4
AN5/QEB/CN7/RB5
AN6/OCFA/RB6
AN7/RB7
AN8/RB8
AN9/RB9
AN10/RB10
AN11/RB11
AN12/RB12
AN13/RB13
AN14/RB14
AN15/OCFB/CN12/RB15
16
16
X RAGU
X WAGU
16
24
16
Effective Address
16
Data Latch
ROM Latch
16
24
PORTB
T2CK/RC1
T4CK/RC3
EMUD1/SOSCI/CN1/RC13
EMUC1/SOSCO/T1CK/CN0/RC14
OSC2/CLKO/RC15
IR
16
16
16 x 16
W Reg Array
Decode
PORTC
Instruction
Decode &
Control
16 16
Control Signals
to Various Blocks
OSC1/CLKI
DSP
Engine
Power-up
Timer
ALU<16>
POR/BOR
Reset
MCLR
VDD, VSS
AVDD, AVSS
SPI1,
SPI2
Divide
Unit
Oscillator
Start-up Timer
Timing
Generation
CAN1,
CAN2
EMUC2/OC1/RD0
EMUD2/OC2/RD1
OC3/RD2
OC4/RD3
OC5/CN13/RD4
OC6/CN14/RD5
OC7/CN15/RD6
OC8/CN16/UPDN/RD7
IC1/RD8
IC2/RD9
IC3/RD10
IC4/RD11
IC5/RD12
IC6/CN19/RD13
IC7/CN20/RD14
IC8/CN21/RD15
Watchdog
Timer
Low Voltage
Detect
16
16
PORTD
10-bit ADC
Input
Capture
Module
Output
Compare
Module
I C
Timers
QEI
Motor Control
PWM
UART1,
UART2
PWM1L/RE0
PWM1H/RE1
PWM2L/RE2
PWM2H/RE3
PWM3L/RE4
PWM3H/RE5
PWM4L/RE6
PWM4H/RE7
FLTA/INT1/RE8
FLTB/INT2/RE9
2
PORTE
C1RX/RF0
C1TX/RF1
U1RX/RF2
U1TX/RF3
U2RX/CN17/RF4
U2TX/CN18/RF5
EMUC3/SCK1/INT0/RF6
SDI1/RF7
EMUD3/SDO1/RF8
C2RX/RG0
C2TX/RG1
SCL/RG2
SDA/RG3
SCK2/CN8/RG6
SDI2/CN9/RG7
SDO2/CN10/RG8
SS2/CN11/RG9
PORTG
DS70119D-page 6
Preliminary
PORTF
 2004 Microchip Technology Inc.
dsPIC30F6010
Table 1-1 provides a brief description of the device I/O
pinout and the functions that are multiplexed to a port
pin. Multiple functions may exist on one port pin. When
multiplexing occurs, the peripheral module’s functional
requirements may force an override of the data
direction of the port pin.
TABLE 1-1:
dsPIC30F6010 I/O PIN DESCRIPTIONS
Pin
Type
Buffer
Type
AN0-AN15
I
Analog
AVDD
P
P
Positive supply for analog module.
AVSS
P
P
Ground reference for analog module.
CLKI
CLKO
I
O
CN0-CN23
I
ST
Input change notification inputs.
Can be software programmed for internal weak pull-ups on all inputs.
COFS
CSCK
CSDI
CSDO
I/O
I/O
I
O
ST
ST
ST
—
Data Converter Interface frame synchronization pin.
Data Converter Interface serial clock input/output pin.
Data Converter Interface serial data input pin.
Data Converter Interface serial data output pin.
C1RX
C1TX
C2RX
C2TX
I
O
I
O
ST
—
ST
—
CAN1 bus receive pin.
CAN1 bus transmit pin.
CAN2 bus receive pin.
CAN2 bus transmit pin.
EMUD
EMUC
EMUD1
EMUC1
EMUD2
EMUC2
EMUD3
EMUC3
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
ST
ST
ST
ST
ST
ST
ST
ST
ICD Primary Communication Channel data input/output pin.
ICD Primary Communication Channel clock input/output pin.
ICD Secondary Communication Channel data input/output pin.
ICD Secondary Communication Channel clock input/output pin.
ICD Tertiary Communication Channel data input/output pin.
ICD Tertiary Communication Channel clock input/output pin.
ICD Quaternary Communication Channel data input/output pin.
ICD Quaternary Communication Channel clock input/output pin.
Pin Name
Description
Analog input channels.
AN0 and AN1 are also used for device programming data and clock inputs,
respectively.
ST/CMOS External clock source input. Always associated with OSC1 pin function.
—
Oscillator crystal output. Connects to crystal or resonator in Crystal
Oscillator mode. Optionally functions as CLKO in RC and EC modes. Always
associated with OSC2 pin function.
IC1-IC8
I
ST
Capture inputs 1 through 8.
INDX
QEA
I
I
ST
ST
QEB
I
ST
UPDN
O
CMOS
Quadrature Encoder Index Pulse input.
Quadrature Encoder Phase A input in QEI mode.
Auxiliary Timer External Clock/Gate input in Timer mode.
Quadrature Encoder Phase A input in QEI mode.
Auxiliary Timer External Clock/Gate input in Timer mode.
Position Up/Down Counter Direction State.
INT0
INT1
INT2
INT3
INT4
I
I
I
I
I
ST
ST
ST
ST
ST
LVDIN
Legend:
I
CMOS =
ST
=
I
=
Analog
External interrupt 0.
External interrupt 1.
External interrupt 2.
External interrupt 3.
External interrupt 4.
Low Voltage Detect Reference Voltage input pin.
CMOS compatible input or output
Schmitt Trigger input with CMOS levels
Input
 2004 Microchip Technology Inc.
Analog =
O
=
P
=
Preliminary
Analog input
Output
Power
DS70119D-page 7
dsPIC30F6010
TABLE 1-1:
dsPIC30F6010 I/O PIN DESCRIPTIONS (CONTINUED)
Pin
Type
Buffer
Type
FLTA
FLTB
PWM1L
PWM1H
PWM2L
PWM2H
PWM3L
PWM3H
PWM4L
PWM4H
I
I
O
O
O
O
O
O
O
O
ST
ST
—
—
—
—
—
—
—
—
PWM Fault A input.
PWM Fault B input.
PWM 1 Low output.
PWM 1 High output.
PWM 2 Low output.
PWM 2 High output.
PWM 3 Low output.
PWM 3 High output.
PWM 4 Low output.
PWM 4 High output.
MCLR
I/P
ST
Master Clear (Reset) input or programming voltage input. This pin is an active
low Reset to the device.
OCFA
OCFB
OC1-OC8
I
I
O
ST
ST
—
Compare Fault A input (for Compare channels 1, 2, 3 and 4).
Compare Fault B input (for Compare channels 5, 6, 7 and 8).
Compare outputs 1 through 8.
OSC1
OSC2
I
I/O
PGD
PGC
I/O
I
ST
ST
In-Circuit Serial Programming data input/output pin.
In-Circuit Serial Programming clock input pin.
RA9-RA10
RA14-RA15
I/O
I/O
ST
ST
PORTA is a bi-directional I/O port.
RB0-RB15
I/O
ST
PORTB is a bi-directional I/O port.
RC1
RC3
RC13-RC15
I/O
I/O
I/O
ST
ST
ST
PORTC is a bi-directional I/O port.
RD0-RD15
I/O
ST
PORTD is a bi-directional I/O port.
RE0-RE9
I/O
ST
PORTE is a bi-directional I/O port.
RF0-RF8
I/O
ST
PORTF is a bi-directional I/O port.
RG0-RG3
RG6-RG9
I/O
I/O
ST
ST
PORTG is a bi-directional I/O port.
SCK1
SDI1
SDO1
SS1
SCK2
SDI2
SDO2
SS2
I/O
I
O
I
I/O
I
O
I
ST
ST
—
ST
ST
ST
—
ST
Synchronous serial clock input/output for SPI™ #1.
SPI #1 Data In.
SPI #1 Data Out.
SPI #1 Slave Synchronization.
Synchronous serial clock input/output for SPI #2.
SPI #2 Data In.
SPI #2 Data Out.
SPI #2 Slave Synchronization.
SCL
SDA
I/O
I/O
ST
ST
Synchronous serial clock input/output for I2C.
Synchronous serial data input/output for I2C.
SOSCO
SOSCI
O
I
Pin Name
Legend:
CMOS =
ST
=
I
=
DS70119D-page 8
Description
ST/CMOS Oscillator crystal input. ST buffer when configured in RC mode; CMOS
—
otherwise.
Oscillator crystal output. Connects to crystal or resonator in Crystal Oscillator
mode. Optionally functions as CLKO in RC and EC modes.
—
32 kHz low power oscillator crystal output.
ST/CMOS 32 kHz low power oscillator crystal input. ST buffer when configured in RC
mode; CMOS otherwise.
CMOS compatible input or output
Schmitt Trigger input with CMOS levels
Input
Analog =
O
=
P
=
Preliminary
Analog input
Output
Power
 2004 Microchip Technology Inc.
dsPIC30F6010
TABLE 1-1:
dsPIC30F6010 I/O PIN DESCRIPTIONS (CONTINUED)
Pin
Type
Buffer
Type
T1CK
T2CK
T3CK
T4CK
T5CK
I
I
I
I
I
ST
ST
ST
ST
ST
Timer1 external clock input.
Timer2 external clock input.
Timer3 external clock input.
Timer4 external clock input.
Timer5 external clock input.
U1RX
U1TX
U1ARX
U1ATX
U2RX
U2TX
I
O
I
O
I
O
ST
—
ST
—
ST
—
UART1 Receive.
UART1 Transmit.
UART1 Alternate Receive.
UART1 Alternate Transmit.
UART2 Receive.
UART2 Transmit.
VDD
P
—
Positive supply for logic and I/O pins.
VSS
P
—
Ground reference for logic and I/O pins.
VREF+
I
Analog
Analog Voltage Reference (High) input.
Analog
Analog Voltage Reference (Low) input.
Pin Name
VREFLegend:
I
CMOS =
ST
=
I
=
Description
CMOS compatible input or output
Schmitt Trigger input with CMOS levels
Input
 2004 Microchip Technology Inc.
Analog =
O
=
P
=
Preliminary
Analog input
Output
Power
DS70119D-page 9
dsPIC30F6010
NOTES:
DS70119D-page 10
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
2.0
CPU ARCHITECTURE
OVERVIEW
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046). For more information on the device
instruction set and programming, refer to the dsPIC30F
Programmer’s Reference Manual (DS70030).
This document provides a summary of the
dsPIC30F6010 CPU and peripheral function. For a
complete description of this functionality, please refer
to the dsPIC30F Family Reference Manual (DS70046).
2.1
Core Overview
The core has a 24-bit instruction word. The Program
Counter (PC) is 23 bits wide with the Least Significant
(LS) bit always clear (see Section 3.1), and the Most
Significant (MS) bit is ignored during normal program
execution, except for certain specialized instructions.
Thus, the PC can address up to 4M instruction words
of user program space. An instruction pre-fetch mechanism is used to help maintain throughput. Program
loop constructs, free from loop count management
overhead, are supported using the DO and REPEAT
instructions, both of which are interruptible at any point.
The working register array consists of 16x16-bit registers, each of which can act as data, address or offset
registers. One working register (W15) operates as a
software stack pointer for interrupts and calls.
The data space is 64 Kbytes (32K words) and is split
into two blocks, referred to as X and Y data memory.
Each block has its own independent Address Generation Unit (AGU). Most instructions operate solely
through the X memory AGU, which provides the
appearance of a single unified data space. The
Multiply-Accumulate (MAC) class of dual source DSP
instructions operate through both the X and Y AGUs,
splitting the data address space into two parts (see
Section 3.2). The X and Y data space boundary is
device specific and cannot be altered by the user. Each
data word consists of 2 bytes, and most instructions
can address data either as words or bytes.
There are two methods of accessing data stored in
program memory:
• The upper 32 Kbytes of data space memory can
be mapped into the lower half (user space) of program space at any 16K program word boundary,
defined by the 8-bit Program Space Visibility Page
(PSVPAG) register. This lets any instruction
access program space as if it were data space,
with a limitation that the access requires an additional cycle. Moreover, only the lower 16 bits of
each instruction word can be accessed using this
method.
 2004 Microchip Technology Inc.
• Linear indirect access of 32K word pages within
program space is also possible using any working
register, via table read and write instructions.
Table read and write instructions can be used to
access all 24 bits of an instruction word.
Overhead-free circular buffers (modulo addressing) are
supported in both X and Y address spaces. This is primarily intended to remove the loop overhead for DSP
algorithms.
The X AGU also supports bit-reversed addressing on
destination effective addresses, to greatly simplify input
or output data reordering for radix-2 FFT algorithms.
Refer to Section 4.0 for details on modulo and
bit-reversed addressing.
The core supports Inherent (no operand), Relative, Literal, Memory Direct, Register Direct, Register Indirect,
Register Offset and Literal Offset Addressing modes.
Instructions are associated with predefined Addressing
modes, depending upon their functional requirements.
For most instructions, the core is capable of executing
a data (or program data) memory read, a working register (data) read, a data memory write and a program
(instruction) memory read per instruction cycle. As a
result, 3-operand instructions are supported, allowing
C = A+B operations to be executed in a single cycle.
A DSP engine has been included to significantly
enhance the core arithmetic capability and throughput.
It features a high speed 17-bit by 17-bit multiplier, a
40-bit ALU, two 40-bit saturating accumulators and a
40-bit bi-directional barrel shifter. Data in the accumulator or any working register can be shifted up to 16 bits
right or 16 bits left in a single cycle. The DSP instructions operate seamlessly with all other instructions and
have been designed for optimal real-time performance.
The MAC class of instructions can concurrently fetch
two data operands from memory, while multiplying two
W registers. To enable this concurrent fetching of data
operands, the data space has been split for these
instructions and linear for all others. This has been
achieved in a transparent and flexible manner, by dedicating certain working registers to each address space
for the MAC class of instructions.
The core does not support a multi-stage instruction
pipeline. However, a single stage instruction pre-fetch
mechanism is used, which accesses and partially
decodes instructions a cycle ahead of execution, in
order to maximize available execution time. Most
instructions execute in a single cycle, with certain
exceptions.
The core features a vectored exception processing
structure for traps and interrupts, with 62 independent
vectors. The exceptions consist of up to 8 traps (of
which 4 are reserved) and 54 interrupts. Each interrupt
is prioritized based on a user assigned priority between
1 and 7 (1 being the lowest priority and 7 being the
highest) in conjunction with a predetermined ‘natural
order’. Traps have fixed priorities, ranging from 8 to 15.
Preliminary
DS70119D-page 11
dsPIC30F6010
2.2
Programmer’s Model
2.2.1
The programmer’s model is shown in Figure 2-1 and
consists of 16x16-bit working registers (W0 through
W15), 2x40-bit accumulators (AccA and AccB),
STATUS register (SR), Data Table Page register
(TBLPAG), Program Space Visibility Page register
(PSVPAG), DO and REPEAT registers (DOSTART,
DOEND, DCOUNT and RCOUNT), and Program
Counter (PC). The working registers can act as data,
address or offset registers. All registers are memory
mapped. W0 acts as the W register for file register
addressing.
Some of these registers have a shadow register associated with each of them, as shown in Figure 2-1. The
shadow register is used as a temporary holding register
and can transfer its contents to or from its host register
upon the occurrence of an event. None of the shadow
registers are accessible directly. The following rules
apply for transfer of registers into and out of shadows.
• PUSH.S and POP.S
W0, W1, W2, W3, SR (DC, N, OV, Z and C bits
only) are transferred.
• DO instruction
DOSTART, DOEND, DCOUNT shadows are
pushed on loop start, and popped on loop end.
SOFTWARE STACK POINTER/
FRAME POINTER
The dsPIC® devices contain a software stack. W15 is
the dedicated software stack pointer (SP), and will be
automatically modified by exception processing and
subroutine calls and returns. However, W15 can be referenced by any instruction in the same manner as all
other W registers. This simplifies the reading, writing
and manipulation of the stack pointer (e.g., creating
stack frames).
Note:
In order to protect against misaligned
stack accesses, W15<0> is always clear.
W15 is initialized to 0x0800 during a Reset. The user
may reprogram the SP during initialization to any
location within data space.
W14 has been dedicated as a stack frame pointer as
defined by the LNK and ULNK instructions. However,
W14 can be referenced by any instruction in the same
manner as all other W registers.
2.2.2
STATUS REGISTER
The dsPIC core has a 16-bit Status Register (SR), the
LS Byte of which is referred to as the SR Low Byte
(SRL) and the MS Byte as the SR High Byte (SRH).
See Figure 2-1 for SR layout.
When a byte operation is performed on a working register, only the Least Significant Byte of the target register is affected. However, a benefit of memory mapped
working registers is that both the Least and Most
Significant Bytes can be manipulated through byte
wide data memory space accesses.
SRL contains all the MCU ALU operation status flags
(including the Z bit), as well as the CPU Interrupt Priority Level status bits, IPL<2:0>, and the REPEAT active
status bit, RA. During exception processing, SRL is
concatenated with the MS Byte of the PC to form a
complete word value which is then stacked.
The upper byte of the SR register contains the DSP
Adder/Subtractor status bits, the DO Loop Active bit
(DA) and the Digit Carry (DC) status bit.
2.2.3
PROGRAM COUNTER
The Program Counter is 23 bits wide. Bit 0 is always
clear. Therefore, the PC can address up to 4M
instruction words.
DS70119D-page 12
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 2-1:
dsPIC30F6010 PROGRAMMER’S MODEL
D15
D0
W0/WREG
PUSH.S Shadow
W1
DO Shadow
W2
W3
Legend
W4
DSP Operand
Registers
W5
W6
W7
Working Registers
W8
W9
DSP Address
Registers
W10
W11
W12/DSP Offset
W13/DSP Write Back
W14/Frame Pointer
W15/Stack Pointer
Stack Pointer Limit Register
SPLIM
AD39
AD15
AD31
AD0
AccA
DSP
Accumulators
AccB
PC22
PC0
Program Counter
0
0
7
TABPAG
TBLPAG
7
Data Table Page Address
0
PSVPAG
Program Space Visibility Page Address
15
0
RCOUNT
REPEAT Loop Counter
15
0
DCOUNT
DO Loop Counter
22
0
DOSTART
DO Loop Start Address
DOEND
DO Loop End Address
22
15
0
Core Configuration Register
CORCON
OA
OB
SA
SB OAB SAB DA
SRH
 2004 Microchip Technology Inc.
DC IPL2 IPL1 IPL0 RA
N
OV
Z
C
Status Register
SRL
Preliminary
DS70119D-page 13
dsPIC30F6010
2.3
Divide Support
The dsPIC devices feature a 16/16-bit signed fractional
divide operation, as well as 32/16-bit and 16/16-bit
signed and unsigned integer divide operations, in the
form of single instruction iterative divides. The following
instructions and data sizes are supported:
1.
2.
3.
4.
5.
DIVF – 16/16 signed fractional divide
DIV.sd – 32/16 signed divide
DIV.ud – 32/16 unsigned divide
DIV.sw – 16/16 signed divide
DIV.uw – 16/16 unsigned divide
TABLE 2-1:
The divide instructions must be executed within a
REPEAT loop. Any other form of execution (e.g. a series
of discrete divide instructions) will not function correctly
because the instruction flow depends on RCOUNT. The
divide instruction does not automatically set up the
RCOUNT value, and it must, therefore, be explicitly and
correctly specified in the REPEAT instruction, as shown
in Table 2-1 (REPEAT will execute the target instruction
{operand value+1} times). The REPEAT loop count must
be set up for 18 iterations of the DIV/DIVF instruction.
Thus, a complete divide operation requires 19 cycles.
Note:
The Divide flow is interruptible. However,
the user needs to save the context as
appropriate.
DIVIDE INSTRUCTIONS
Instruction
Function
DIVF
Signed fractional divide: Wm/Wn → W0; Rem → W1
DIV.sd
Signed divide: (Wm+1:Wm)/Wn → W0; Rem → W1
DIV.sw (or DIV.s)
Signed divide: Wm/Wn → W0; Rem → W1
DIV.ud
Unsigned divide: (Wm+1:Wm)/Wn → W0; Rem → W1
DIV.uw (or DIV.u)
Unsigned divide: Wm/Wn → W0; Rem → W1
2.4
DSP Engine
The DSP engine consists of a high speed 17-bit x
17-bit multiplier, a barrel shifter, and a 40-bit adder/
Subtractor (with two target accumulators, round and
saturation logic).
A block diagram of the DSP engine is shown in
Figure 2-2.
TABLE 2-2:
The dsPIC30F devices have a single instruction flow
which can execute either DSP or MCU instructions.
Many of the hardware resources are shared between
the DSP and MCU instructions. For example, the
instruction set has both DSP and MCU Multiply
instructions which use the same hardware multiplier.
The DSP engine also has the capability to perform inherent accumulator-to-accumulator operations, which
require no additional data. These instructions are ADD,
SUB and NEG.
Instruction
CLR
ED
DSP INSTRUCTION
SUMMARY
Algebraic Operation
A=0
A = (x – y)2
EDAC
A = A + (x – y)2
MAC
A = A + (x * y)
MOVSAC
MPY
MPY.N
MSC
No change in A
A=x*y
A=–x*y
A=A–x*y
The DSP engine has various options selected through
various bits in the CPU Core Configuration Register
(CORCON), as listed below:
1.
2.
3.
4.
5.
6.
7.
Fractional or integer DSP multiply (IF).
Signed or unsigned DSP multiply (US).
Conventional or convergent rounding (RND).
Automatic saturation on/off for AccA (SATA).
Automatic saturation on/off for AccB (SATB).
Automatic saturation on/off for writes to data
memory (SATDW).
Accumulator Saturation mode selection
(ACCSAT).
Note:
For CORCON layout, see Table 4-2.
DS70119D-page 14
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 2-2:
DSP ENGINE BLOCK DIAGRAM
40
S
a
40 Round t 16
u
Logic r
a
t
e
40-bit Accumulator A
40-bit Accumulator B
Carry/Borrow Out
Carry/Borrow In
Saturate
Adder
Negate
40
40
40
16
X Data Bus
Barrel
Shifter
40
Y Data Bus
Sign-Extend
32
16
Zero Backfill
32
33
17-bit
Multiplier/Scaler
16
16
To/From W Array
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 15
dsPIC30F6010
2.4.1
MULTIPLIER
2.4.2.1
The 17x17-bit multiplier is capable of signed or
unsigned operation and can multiplex its output using a
scaler to support either 1.31 fractional (Q31) or 32-bit
integer results. Unsigned operands are zero-extended
into the 17th bit of the multiplier input value. Signed
operands are sign-extended into the 17th bit of the multiplier input value. The output of the 17x17-bit multiplier/
scaler is a 33-bit value, which is sign-extended to 40
bits. Integer data is inherently represented as a signed
two’s complement value, where the MSB is defined as
a sign bit. Generally speaking, the range of an N-bit
two’s complement integer is -2N-1 to 2N-1 – 1. For a
16-bit integer, the data range is -32768 (0x8000) to
32767 (0x7FFF), including 0. For a 32-bit integer, the
data range is -2,147,483,648 (0x8000 0000) to
2,147,483,645 (0x7FFF FFFF).
When the multiplier is configured for fractional multiplication, the data is represented as a two’s complement
fraction, where the MSB is defined as a sign bit and the
radix point is implied to lie just after the sign bit
(QX format). The range of an N-bit two’s complement
fraction with this implied radix point is -1.0 to (1-21-N).
For a 16-bit fraction, the Q15 data range is -1.0
(0x8000) to 0.999969482 (0x7FFF), including 0 and
has a precision of 3.01518x10-5. In Fractional mode, a
16x16 multiply operation generates a 1.31 product,
which has a precision of 4.65661x10-10.
The same multiplier is used to support the MCU multiply instructions, which include integer 16-bit signed,
unsigned and mixed sign multiplies.
The adder/subtractor is a 40-bit adder with an optional
zero input into one side and either true or complement
data into the other input. In the case of addition, the
carry/borrow input is active high and the other input is
true data (not complemented), whereas in the case of
subtraction, the carry/borrow input is active low and the
other input is complemented. The adder/subtractor
generates overflow status bits SA/SB and OA/OB,
which are latched and reflected in the status register.
• Overflow from bit 39: this is a catastrophic
overflow in which the sign of the accumulator is
destroyed.
• Overflow into guard bits 32 through 39: this is a
recoverable overflow. This bit is set whenever all
the guard bits are not identical to each other.
The adder has an additional saturation block which
controls accumulator data saturation, if selected. It
uses the result of the adder, the overflow status bits
described above, and the SATA/B (CORCON<7:6>)
and ACCSAT (CORCON<4>) mode control bits to
determine when and to what value to saturate.
Six status register bits have been provided to support
saturation and overflow; they are:
1.
2.
3.
The MUL instruction may be directed to use byte or
word sized operands. Byte operands will direct a 16-bit
result, and word operands will direct a 32-bit result to
the specified register(s) in the W array.
2.4.2
4.
DATA ACCUMULATORS AND
ADDER/SUBTRACTOR
The data accumulator consists of a 40-bit adder/
subtractor with automatic sign extension logic. It can
select one of two accumulators (A or B) as its preaccumulation source and post-accumulation destination. For the ADD and LAC instructions, the data to be
accumulated or loaded can be optionally scaled via the
barrel shifter, prior to accumulation.
DS70119D-page 16
Adder/Subtractor, Overflow and
Saturation
5.
6.
OA:
AccA overflowed into guard bits
OB:
AccB overflowed into guard bits
SA:
AccA saturated (bit 31 overflow and saturation)
or
AccA overflowed into guard bits and saturated
(bit 39 overflow and saturation)
SB:
AccB saturated (bit 31 overflow and saturation)
or
AccB overflowed into guard bits and saturated
(bit 39 overflow and saturation)
OAB:
Logical OR of OA and OB
SAB:
Logical OR of SA and SB
The OA and OB bits are modified each time data
passes through the adder/Subtractor. When set, they
indicate that the most recent operation has overflowed
into the accumulator guard bits (bits 32 through 39).
The OA and OB bits can also optionally generate an
arithmetic warning trap when set and the corresponding overflow trap flag enable bit (OVATEN, OVBTEN) in
the INTCON1 register (refer to Section 5.0) is set. This
allows the user to take immediate action, for example,
to correct system gain.
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
The SA and SB bits are modified each time data passes
through the adder/subtractor, but can only be cleared by
the user. When set, they indicate that the accumulator
has overflowed its maximum range (bit 31 for 32-bit saturation, or bit 39 for 40-bit saturation) and will be saturated (if saturation is enabled). When saturation is not
enabled, SA and SB default to bit 39 overflow and thus
indicate that a catastrophic overflow has occurred. If the
COVTE bit in the INTCON1 register is set, SA and SB
bits will generate an arithmetic warning trap when saturation is disabled.
The overflow and saturation status bits can optionally
be viewed in the Status Register (SR) as the logical OR
of OA and OB (in bit OAB) and the logical OR of SA and
SB (in bit SAB). This allows programmers to check one
bit in the Status Register to determine if either accumulator has overflowed, or one bit to determine if either
accumulator has saturated. This would be useful for
complex number arithmetic which typically uses both
the accumulators.
The device supports three Saturation and Overflow
modes.
1.
2.
3.
Bit 39 Overflow and Saturation:
When bit 39 overflow and saturation occurs, the
saturation logic loads the maximally positive 9.31
(0x7FFFFFFFFF) or maximally negative 9.31
value (0x8000000000) into the target accumulator. The SA or SB bit is set and remains set until
cleared by the user. This is referred to as ‘super
saturation’ and provides protection against erroneous data or unexpected algorithm problems
(e.g., gain calculations).
Bit 31 Overflow and Saturation:
When bit 31 overflow and saturation occurs, the
saturation logic then loads the maximally positive 1.31 value (0x007FFFFFFF) or maximally
negative 1.31 value (0x0080000000) into the
target accumulator. The SA or SB bit is set and
remains set until cleared by the user. When this
Saturation mode is in effect, the guard bits are not
used (so the OA, OB or OAB bits are never set).
Bit 39 Catastrophic Overflow
The bit 39 overflow status bit from the adder is
used to set the SA or SB bit, which remain set
until cleared by the user. No saturation operation
is performed and the accumulator is allowed to
overflow (destroying its sign). If the COVTE bit in
the INTCON1 register is set, a catastrophic
overflow can initiate a trap exception.
 2004 Microchip Technology Inc.
2.4.2.2
Accumulator ‘Write Back’
The MAC class of instructions (with the exception of
MPY, MPY.N, ED and EDAC) can optionally write a
rounded version of the high word (bits 31 through 16)
of the accumulator that is not targeted by the instruction
into data space memory. The write is performed across
the X bus into combined X and Y address space. The
following addressing modes are supported:
1.
2.
W13, Register Direct:
The rounded contents of the non-target accumulator are written into W13 as a 1.15 fraction.
[W13]+=2, Register Indirect with Post-Increment:
The rounded contents of the non-target accumulator are written into the address pointed to by
W13 as a 1.15 fraction. W13 is then
incremented by 2 (for a word write).
2.4.2.3
Round Logic
The round logic is a combinational block, which performs a conventional (biased) or convergent (unbiased)
round function during an accumulator write (store). The
Round mode is determined by the state of the RND bit
in the CORCON register. It generates a 16-bit, 1.15 data
value which is passed to the data space write saturation
logic. If rounding is not indicated by the instruction, a
truncated 1.15 data value is stored and the LS Word is
simply discarded.
Conventional rounding takes bit 15 of the accumulator,
zero-extends it and adds it to the ACCxH word (bits 16
through 31 of the accumulator). If the ACCxL word (bits
0 through 15 of the accumulator) is between 0x8000
and 0xFFFF (0x8000 included), ACCxH is incremented. If ACCxL is between 0x0000 and 0x7FFF,
ACCxH is left unchanged. A consequence of this algorithm is that over a succession of random rounding
operations, the value will tend to be biased slightly
positive.
Convergent (or unbiased) rounding operates in the
same manner as conventional rounding, except when
ACCxL equals 0x8000. If this is the case, the LS bit (bit
16 of the accumulator) of ACCxH is examined. If it is ‘1’,
ACCxH is incremented. If it is ‘0’, ACCxH is not modified. Assuming that bit 16 is effectively random in
nature, this scheme will remove any rounding bias that
may accumulate.
The SAC and SAC.R instructions store either a truncated (SAC) or rounded (SAC.R) version of the contents
of the target accumulator to data memory, via the X bus
(subject to data saturation, see Section 2.4.2.4). Note
that for the MAC class of instructions, the accumulator
write back operation will function in the same manner,
addressing combined MCU (X and Y) data space
though the X bus. For this class of instructions, the data
is always subject to rounding.
Preliminary
DS70119D-page 17
dsPIC30F6010
2.4.2.4
Data Space Write Saturation
2.4.3
In addition to adder/subtractor saturation, writes to data
space may also be saturated, but without affecting the
contents of the source accumulator. The data space
write saturation logic block accepts a 16-bit, 1.15 fractional value from the round logic block as its input,
together with overflow status from the original source
(accumulator) and the 16-bit round adder. These are
combined and used to select the appropriate 1.15 fractional value as output to write to data space memory.
If the SATDW bit in the CORCON register is set, data
(after rounding or truncation) is tested for overflow and
adjusted accordingly. For input data greater than
0x007FFF, data written to memory is forced to the maximum positive 1.15 value, 0x7FFF. For input data less
than 0xFF8000, data written to memory is forced to the
maximum negative 1.15 value, 0x8000. The MS bit of
the source (bit 39) is used to determine the sign of the
operand being tested.
BARREL SHIFTER
The barrel shifter is capable of performing up to 16-bit
arithmetic or logic right shifts, or up to 16-bit left shifts
in a single cycle. The source can be either of the two
DSP accumulators or the X bus (to support multi-bit
shifts of register or memory data).
The shifter requires a signed binary value to determine
both the magnitude (number of bits) and direction of the
shift operation. A positive value will shift the operand
right. A negative value will shift the operand left. A
value of 0 will not modify the operand.
The barrel shifter is 40 bits wide, thereby obtaining a
40-bit result for DSP shift operations and a 16-bit result
for MCU shift operations. Data from the X bus is presented to the barrel shifter between bit positions 16 to
31 for right shifts, and bit positions 0 to 15 for left shifts.
If the SATDW bit in the CORCON register is not set, the
input data is always passed through unmodified under
all conditions.
DS70119D-page 18
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
3.0
MEMORY ORGANIZATION
FIGURE 3-1:
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046). For more information on the device
instruction set and programming, refer to the dsPIC30F
Programmer’s Reference Manual (DS70030).
PROGRAM SPACE
MEMORY MAP FOR
dsPIC30F6010
Reset - GOTO Instruction
Reset - Target Address
000000
000002
000004
Vector Tables
Interrupt Vector Table
Program Address Space
The program address space is 4M instruction words. It
is addressable by the 23-bit PC, table instruction
Effective Address (EA), or data space EA, when
program space is mapped into data space, as defined
by Table 3-1. Note that the program space address is
incremented by two between successive program
words, in order to provide compatibility with data space
addressing.
User Memory
Space
3.1
User program space access is restricted to the lower
4M instruction word address range (0x000000 to
0x7FFFFE), for all accesses other than TBLRD/TBLWT,
which use TBLPAG<7> to determine user or configuration space access. In Table 3-1, Read/Write instructions, bit 23 allows access to the Device ID, the User ID
and the configuration bits. Otherwise, bit 23 is always
clear.
Reserved
Alternate Vector Table
User Flash
Program Memory
(48K instructions)
Reserved
(Read 0’s)
00007E
000080
000084
0000FE
000100
017FFE
018000
7FEFFE
7FF000
Data EEPROM
(4 Kbytes)
7FFFFE
800000
Configuration Memory
Space
Reserved
UNITID (32 instr.)
8005BE
8005C0
8005FE
800600
Reserved
Device Configuration
Registers
F7FFFE
F80000
F8000E
F80010
Reserved
DEVID (2)
 2004 Microchip Technology Inc.
Preliminary
FEFFFE
FF0000
FFFFFE
DS70119D-page 19
dsPIC30F6010
TABLE 3-1:
PROGRAM SPACE ADDRESS CONSTRUCTION
Instruction Access
TBLRD/TBLWT
TBLRD/TBLWT
Program Space Visibility
FIGURE 3-2:
Program Space Address
<23>
<22:16>
<15>
<14:1>
0
PC<22:1>
TBLPAG<7:0>
Data EA <15:0>
Access
Space
Access Type
User
User
(TBLPAG<7> = 0)
Configuration
(TBLPAG<7> = 1)
User
TBLPAG<7:0>
0
<0>
0
Data EA <15:0>
PSVPAG<7:0>
Data EA <14:0>
DATA ACCESS FROM PROGRAM SPACE ADDRESS GENERATION
23 bits
Using
Program
Counter
Program Counter
0
Select
Using
Program
Space
Visibility
0
1
0
EA
PSVPAG Reg
8 bits
15 bits
EA
Using
Table
Instruction
1/0
TBLPAG Reg
8 bits
User/
Configuration
Space
Select
16 bits
24-bit EA
Byte
Select
Note: Program Space Visibility cannot be used to access bits <23:16> of a word in program memory.
DS70119D-page 20
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
3.1.1
DATA ACCESS FROM PROGRAM
MEMORY USING TABLE
INSTRUCTIONS
A set of Table Instructions are provided to move byte or
word sized data to and from program space.
1.
This architecture fetches 24-bit wide program memory.
Consequently, instructions are always aligned. However, as the architecture is modified Harvard, data can
also be present in program space.
There are two methods by which program space can
be accessed; via special table instructions, or through
the remapping of a 16K word program space page into
the upper half of data space (see Section 3.1.2). The
TBLRDL and TBLWTL instructions offer a direct method
of reading or writing the LS Word of any address within
program space, without going through data space. The
TBLRDH and TBLWTH instructions are the only method
whereby the upper 8 bits of a program space word can
be accessed as data.
2.
3.
The PC is incremented by two for each successive
24-bit program word. This allows program memory
addresses to directly map to data space addresses.
Program memory can thus be regarded as two 16-bit
word wide address spaces, residing side by side, each
with the same address range. TBLRDL and TBLWTL
access the space which contains the LS Data Word,
and TBLRDH and TBLWTH access the space which
contains the MS Data Byte.
4.
TBLRDL: Table Read Low
Word: Read the LS Word of the program
address;
P<15:0> maps to D<15:0>.
Byte: Read one of the LS Bytes of the program
address;
P<7:0> maps to the destination byte when byte
select = 0;
P<15:8> maps to the destination byte when byte
select = 1.
TBLWTL: Table Write Low (refer to Section 6.0
for details on Flash Programming).
TBLRDH: Table Read High
Word: Read the MS Word of the program
address;
P<23:16> maps to D<7:0>; D<15:8> always
be = 0.
Byte: Read one of the MS Bytes of the program
address;
P<23:16> maps to the destination byte when
byte select = 0;
The destination byte will always be = 0 when
byte select = 1.
TBLWTH: Table Write High (refer to Section 6.0
for details on Flash Programming).
Figure 3-2 shows how the EA is created for table operations and data space accesses (PSV = 1). Here,
P<23:0> refers to a program space word, whereas
D<15:0> refers to a data space word.
FIGURE 3-3:
PROGRAM DATA TABLE ACCESS (LS WORD)
PC Address
0x000000
0x000002
0x000004
0x000006
Program Memory
‘Phantom’ Byte
(Read as ‘0’).
 2004 Microchip Technology Inc.
23
16
8
0
00000000
00000000
00000000
00000000
TBLRDL.W
TBLRDL.B (Wn<0> = 0)
TBLRDL.B (Wn<0> = 1)
Preliminary
DS70119D-page 21
dsPIC30F6010
FIGURE 3-4:
PROGRAM DATA TABLE ACCESS (MS BYTE)
TBLRDH.W
PC Address
0x000000
0x000002
0x000004
0x000006
23
16
8
0
00000000
00000000
00000000
00000000
TBLRDH.B (Wn<0> = 0)
Program Memory
‘Phantom’ Byte
(Read as ‘0’)
3.1.2
TBLRDH.B (Wn<0> = 1)
DATA ACCESS FROM PROGRAM
MEMORY USING PROGRAM SPACE
VISIBILITY
The upper 32 Kbytes of data space may optionally be
mapped into any 16K word program space page. This
provides transparent access of stored constant data
from X data space, without the need to use special
instructions (i.e., TBLRDL/H, TBLWTL/H instructions).
Program space access through the data space occurs
if the MS bit of the data space EA is set and program
space visibility is enabled, by setting the PSV bit in the
Core Control register (CORCON). The functions of
CORCON are discussed in Section 2.4, DSP Engine.
Data accesses to this area add an additional cycle to
the instruction being executed, since two program
memory fetches are required.
Note that the upper half of addressable data space is
always part of the X data space. Therefore, when a
DSP operation uses program space mapping to access
this memory region, Y data space should typically contain state (variable) data for DSP operations, whereas
X data space should typically contain coefficient
(constant) data.
Although each data space address, 0x8000 and higher,
maps directly into a corresponding program memory
address (see Figure 3-5), only the lower 16-bits of the
24-bit program word are used to contain the data. The
upper 8 bits should be programmed to force an illegal
instruction to maintain machine robustness. Refer
to the dsPIC30F Programmer’s Reference Manual
(DS70030) for details on instruction encoding.
DS70119D-page 22
Note that by incrementing the PC by 2 for each program memory word, the LS 15 bits of data space
addresses directly map to the LS 15 bits in the corresponding program space addresses. The remaining
bits are provided by the Program Space Visibility Page
register, PSVPAG<7:0>, as shown in Figure 3-5.
Note:
PSV access is temporarily disabled during
Table Reads/Writes.
For instructions that use PSV which are executed
outside a REPEAT loop:
• The following instructions will require one instruction cycle in addition to the specified execution
time:
- MAC class of instructions with data operand
pre-fetch
- MOV instructions
- MOV.D instructions
• All other instructions will require two instruction
cycles in addition to the specified execution time
of the instruction.
For instructions that use PSV which are executed
inside a REPEAT loop:
• The following instances will require two instruction
cycles in addition to the specified execution time
of the instruction:
- Execution in the first iteration
- Execution in the last iteration
- Execution prior to exiting the loop due to an
interrupt
- Execution upon re-entering the loop after an
interrupt is serviced
• Any other iteration of the REPEAT loop will allow
the instruction, accessing data using PSV, to
execute in a single cycle.
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 3-5:
DATA SPACE WINDOW INTO PROGRAM SPACE OPERATION
Data Space
Program Space
0x000100
0x0000
EA<15> = 0
Data
Space
EA
PSVPAG(1)
0x00
8
15
16
15
EA<15> = 1
0x8000
Address
15 Concatenation 23
23
15
0
0x001200
Upper half of Data
Space is mapped
into Program Space
0x017FFE
0xFFFF
BSET
MOV
MOV
MOV
CORCON,#2
#0x00, W0
W0, PSVPAG
0x9200, W0
; PSV bit set
; Set PSVPAG register
; Access program memory location
; using a data space access
Data Read
Note: PSVPAG is an 8-bit register, containing bits <22:15> of the program space address
(i.e., it defines the page in program space to which the upper half of data space is being mapped).
3.2
Data Address Space
The core has two data spaces. The data spaces can be
considered either separate (for some DSP instructions), or as one unified linear address range (for MCU
instructions). The data spaces are accessed using two
Address Generation Units (AGUs) and separate data
paths.
3.2.1
DATA SPACE MEMORY MAP
The data space memory is split into two blocks, X and
Y data space. A key element of this architecture is that
Y space is a subset of X space, and is fully contained
within X space. In order to provide an apparent linear
addressing space, X and Y spaces have contiguous
addresses.
 2004 Microchip Technology Inc.
When executing any instruction other than one of the
MAC class of instructions, the X block consists of the 64
Kbyte data address space (including all Y addresses).
When executing one of the MAC class of instructions,
the X block consists of the 64 Kbyte data address
space excluding the Y address block (for data reads
only). In other words, all other instructions regard the
entire data memory as one composite address space.
The MAC class instructions extract the Y address space
from data space and address it using EAs sourced from
W10 and W11. The remaining X data space is
addressed using W8 and W9. Both address spaces are
concurrently accessed only with the MAC class
instructions.
A data space memory map is shown in Figure 3-6.
Figure 3-7 shows a graphical summary of how X and Y
data spaces are accessed for MCU and DSP
instructions.
Preliminary
DS70119D-page 23
dsPIC30F6010
FIGURE 3-6:
dsPIC30F6010 DATA SPACE MEMORY MAP
MS Byte
Address
MSB
2 Kbyte
SFR Space
0x0001
LS Byte
Address
16 bits
LSB
0x0000
SFR Space
0x07FE
0x0800
0x07FF
0x0801
8 Kbyte
Near
Data
Space
X Data RAM (X)
8 Kbyte
SRAM Space
0x17FE
0x1800
0x17FF
0x1801
0x1FFF
0x1FFE
Y Data RAM (Y)
0x27FF
0x27FE
0x2801
0x2800
0x8001
0x8000
X Data
Unimplemented (X)
Optionally
Mapped
into Program
Memory
0xFFFF
DS70119D-page 24
0xFFFE
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
DATA SPACE FOR MCU AND DSP (MAC CLASS) INSTRUCTIONS EXAMPLE
SFR SPACE
SFR SPACE
X SPACE
FIGURE 3-7:
Y SPACE
UNUSED
X SPACE
(Y SPACE)
X SPACE
UNUSED
UNUSED
Non-MAC Class Ops (Read/Write)
MAC Class Ops (Write)
Indirect EA using any W
 2004 Microchip Technology Inc.
MAC Class Ops Read Only
Indirect EA using W8, W9
Preliminary
Indirect EA using W10, W11
DS70119D-page 25
dsPIC30F6010
3.2.2
DATA SPACES
3.2.3
The X data space is used by all instructions and supports all addressing modes. There are separate read
and write data buses. The X read data bus is the return
data path for all instructions that view data space as
combined X and Y address space. It is also the X
address space data path for the dual operand read
instructions (MAC class). The X write data bus is the
only write path to data space for all instructions.
The X data space also supports Modulo Addressing for
all instructions, subject to Addressing mode restrictions. Bit-Reversed Addressing is only supported for
writes to X data space.
The Y data space is used in concert with the X data
space by the MAC class of instructions (CLR, ED,
EDAC, MAC, MOVSAC, MPY, MPY.N and MSC) to provide two concurrent data read paths. No writes occur
across the Y bus. This class of instructions dedicates
two W register pointers, W10 and W11, to always
address Y data space, independent of X data space,
whereas W8 and W9 always address X data space.
Note that during accumulator write back, the data
address space is considered a combination of X and Y
data spaces, so the write occurs across the X bus.
Consequently, the write can be to any address in the
entire data space.
The Y data space can only be used for the data prefetch operation associated with the MAC class of
instructions. It also supports Modulo Addressing for
automated circular buffers. Of course, all other instructions can access the Y data address space through the
X data path, as part of the composite linear space.
The boundary between the X and Y data spaces is
defined as shown in Figure 3-6 and is not user programmable. Should an EA point to data outside its own
assigned address space, or to a location outside physical memory, an all-zero word/byte will be returned. For
example, although Y address space is visible by all
non-MAC instructions using any Addressing mode, an
attempt by a MAC instruction to fetch data from that
space, using W8 or W9 (X space pointers), will return
0x0000.
TABLE 3-2:
The core data width is 16-bits. All internal registers are
organized as 16-bit wide words. Data space memory is
organized in byte addressable, 16-bit wide blocks.
3.2.4
As a consequence of this byte accessibility, all effective
address calculations (including those generated by the
DSP operations, which are restricted to word sized
data) are internally scaled to step through word aligned
memory. For example, the core would recognize that
Post-Modified Register Indirect Addressing mode,
[Ws++], will result in a value of Ws+1 for byte
operations and Ws+2 for word operations.
All word accesses must be aligned to an even address.
Mis-aligned word data fetches are not supported, so
care must be taken when mixing byte and word operations, or translating from 8-bit MCU code. Should a misaligned read or write be attempted, an Address Error
trap will be generated. If the error occurred on a read,
the instruction underway is completed, whereas if it
occurred on a write, the instruction will be executed but
the write will not occur. In either case, a trap will then
be executed, allowing the system and/or user to examine the machine state prior to execution of the address
fault.
Data Returned
EA = an unimplemented address
0x0000
W8 or W9 used to access Y data
space in a MAC instruction
0x0000
W10 or W11 used to access X
data space in a MAC instruction
0x0000
DATA ALIGNMENT
To help maintain backward compatibility with
PICmicro® devices and improve data space memory
usage efficiency, the dsPIC30F instruction set supports
both word and byte operations. Data is aligned in data
memory and registers as words, but all data space EAs
resolve to bytes. Data byte reads will read the complete
word, which contains the byte, using the LS bit of any
EA to determine which byte to select. The selected byte
is placed onto the LS Byte of the X data path (no byte
accesses are possible from the Y data path as the MAC
class of instruction can only fetch words). That is, data
memory and registers are organized as two parallel
byte wide entities with shared (word) address decode,
but separate write lines. Data byte writes only write to
the corresponding side of the array or register which
matches the byte address.
FIGURE 3-8:
EFFECT OF INVALID
MEMORY ACCESSES
Attempted Operation
DATA SPACE WIDTH
15
DATA ALIGNMENT
MS Byte
87
LS Byte
0
0001
Byte 1
Byte 0
0000
0003
Byte 3
Byte 2
0002
0005
Byte 5
Byte 4
0004
All effective addresses are 16 bits wide and point to
bytes within the data space. Therefore, the data space
address range is 64 Kbytes or 32K words.
DS70119D-page 26
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
All byte loads into any W register are loaded into the
LS Byte. The MSB is not modified.
A sign-extend (SE) instruction is provided to allow
users to translate 8-bit signed data to 16-bit signed
values. Alternatively, for 16-bit unsigned data, users
can clear the MSB of any W register by executing a
zero-extend (ZE) instruction on the appropriate
address.
Although most instructions are capable of operating on
word or byte data sizes, it should be noted that some
instructions, including the DSP instructions, operate
only on words.
3.2.5
NEAR DATA SPACE
An 8 Kbyte ‘near’ data space is reserved in X address
memory space between 0x0000 and 0x1FFF, which is
directly addressable via a 13-bit absolute address field
within all memory direct instructions. The remaining X
address space and all of the Y address space is
addressable indirectly. Additionally, the whole of X data
space is addressable using MOV instructions, which
support memory direct addressing with a 16-bit
address field.
There is a Stack Pointer Limit register (SPLIM) associated with the stack pointer. SPLIM is uninitialized at
Reset. As is the case for the stack pointer, SPLIM<0>
is forced to ‘0’, because all stack operations must be
word aligned. Whenever an effective address (EA) is
generated using W15 as a source or destination
pointer, the address thus generated is compared with
the value in SPLIM. If the contents of the Stack Pointer
(W15) and the SPLIM register are equal and a push
operation is performed, a Stack Error Trap will not
occur. The Stack Error Trap will occur on a subsequent
push operation. Thus, for example, if it is desirable to
cause a Stack Error Trap when the stack grows beyond
address 0x2000 in RAM, initialize the SPLIM with the
value, 0x1FFE.
Similarly, a Stack Pointer Underflow (Stack Error) trap
is generated when the stack pointer address is found to
be less than 0x0800, thus preventing the stack from
interfering with the Special Function Register (SFR)
space.
A write to the SPLIM register should not be immediately
followed by an indirect read operation using W15.
FIGURE 3-9:
The dsPIC device contains a software stack. W15 is
used as the Stack Pointer.
0x0000 15
The stack pointer always points to the first available
free word and grows from lower addresses towards
higher addresses. It pre-decrements for stack pops and
post-increments for stack pushes, as shown in
Figure 3-9. Note that for a PC push during any CALL
instruction, the MSB of the PC is zero-extended before
the push, ensuring that the MSB is always clear.
Note:
CALL STACK FRAME
SOFTWARE STACK
A PC push during exception processing
will concatenate the SRL register to the
MSB of the PC prior to the push.
 2004 Microchip Technology Inc.
Preliminary
Stack Grows Towards
Higher Address
3.2.6
0
PC<15:0>
000000000 PC<22:16>
<Free Word>
W15 (before CALL)
W15 (after CALL)
POP: [--W15]
PUSH: [W15++]
DS70119D-page 27
DS70119D-page 28
Preliminary
001E
0020
0022
0024
0026
0028
002A
002C
002E
0030
0032
0034
W15
SPLIM
ACCAL
ACCAH
ACCAU
ACCBL
ACCBH
ACCBU
PCL
PCH
TBLPAG
PSVPAG
—
CORCON
0044
—
Legend:
u = uninitialized bit
—
OB
—
—
—
—
—
—
—
Bit 14
—
—
Bit 15
OA
0040
001C
W14
0042
001A
W13
SR
0018
W12
DOENDH
0016
W11
003E
0014
W10
003C
0012
W9
DOENDL
0010
W8
DOSTARTH
000E
W7
003A
000C
W6
DOSTARTL
000A
W5
0036
0008
W4
0038
0006
W3
RCOUNT
0004
W2
DCOUNT
0000
0002
W0
W1
SFR Name
Bit 12
Bit 11
—
SA
—
—
—
—
—
US
SB
—
—
—
—
—
EDT
OAB
—
—
—
—
—
Sign-Extension (ACCB<39>)
DL2
SAB
—
—
—
—
—
Bit 10
Sign-Extension (ACCA<39>)
Bit 13
CORE REGISTER MAP
Address
(Home)
TABLE 3-3:
—
DL0
DC
—
DOENDL
IPL2
—
—
SATA
DCOUNT
RCOUNT
—
—
—
PCL
ACCBH
ACCBL
ACCAH
ACCAL
SPLIM
W15
W14
W13
W12
W11
W10
W9
W8
W7
W6
W5
W4
W3
W2
W1
—
Bit 7
W0 / WREG
Bit 8
DOSTARTL
DL1
DA
—
—
—
—
—
Bit 9
SATB
IPL1
Bit 6
Bit 3
RA
IPL3
N
DOENDH
DOSTARTH
PSVPAG
TBLPAG
PCH
ACCBU
ACCAU
Bit 4
SATDW ACCSAT
IPL0
Bit 5
PSV
OV
Bit 2
RND
Z
Bit 1
IF
C
0
0
Bit 0
0000 0000 0010 0000
0000 0000 0000 0000
0000 0000 0uuu uuuu
uuuu uuuu uuuu uuu0
0000 0000 0uuu uuuu
uuuu uuuu uuuu uuu0
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 1000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
Reset State
dsPIC30F6010
 2004 Microchip Technology Inc.
0048
004A
004C
004E
0050
XMODEND
YMODSRT
YMODEND
XBREV
 2004 Microchip Technology Inc.
0052
—
u = uninitialized bit
—
YMODEN
Bit 14
—
Bit 13
—
Bit 12
Bit 11
Bit 9
BWM<3:0>
Bit 10
YE<15:1>
YS<15:1>
XE<15:1>
XS<15:1>
Bit 8
Bit 5
YWM<3:0>
Bit 6
DISICNT<13:0>
XB<14:0>
Bit 7
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
DISICNT
Legend:
BREN
XMODEN
0046
MODCON
XMODSRT
SFR Name
Bit 15
CORE REGISTER MAP (CONTINUED)
Address
(Home)
TABLE 3-3:
Bit 4
Bit 3
Bit 1
XWM<3:0>
Bit 2
1
0
1
0
Bit 0
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuu1
uuuu uuuu uuuu uuu0
uuuu uuuu uuuu uuu1
uuuu uuuu uuuu uuu0
0000 0000 0000 0000
Reset State
dsPIC30F6010
Preliminary
DS70119D-page 29
dsPIC30F6010
NOTES:
DS70119D-page 30
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
4.0
ADDRESS GENERATOR UNITS
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046). For more information on the device
instruction set and programming, refer to the dsPIC30F
Programmer’s Reference Manual (DS70030).
The dsPIC core contains two independent address
generator units: the X AGU and Y AGU. The Y AGU
supports word sized data reads for the DSP MAC class
of instructions only. The dsPIC AGUs support three
types of data addressing:
• Linear Addressing
• Modulo (Circular) Addressing
• Bit-Reversed Addressing
FILE REGISTER INSTRUCTIONS
Most file register instructions use a 13-bit address field
(f) to directly address data present in the first 8192
bytes of data memory (near data space). Most file
register instructions employ a working register W0,
which is denoted as WREG in these instructions. The
destination is typically either the same file register, or
WREG (with the exception of the MUL instruction),
which writes the result to a register or register pair. The
MOV instruction allows additional flexibility and can
access the entire data space during file register
operation.
4.1.2
MCU INSTRUCTIONS
The three-operand MCU instructions are of the form:
Operand 3 = Operand 1 <function> Operand 2
Linear and Modulo Data Addressing modes can be
applied to data space or program space. Bit-Reversed
addressing is only applicable to data space addresses.
4.1
4.1.1
Instruction Addressing Modes
The addressing modes in Table 4-1 form the basis of
the addressing modes optimized to support the specific
features of individual instructions. The addressing
modes provided in the MAC class of instructions are
somewhat different from those in the other instruction
types.
where Operand 1 is always a working register (i.e., the
addressing mode can only be register direct), which is
referred to as Wb. Operand 2 can be a W register,
fetched from data memory, or a 5-bit literal. The result
location can be either a W register or an address
location. The following addressing modes are
supported by MCU instructions:
•
•
•
•
•
Register Direct
Register Indirect
Register Indirect Post-modified
Register Indirect Pre-modified
5-bit or 10-bit Literal
Note:
TABLE 4-1:
Not all instructions support all the addressing modes given above. Individual
instructions may support different subsets
of these addressing modes.
FUNDAMENTAL ADDRESSING MODES SUPPORTED
Addressing Mode
Description
File Register Direct
The address of the file register is specified explicitly.
Register Direct
The contents of a register are accessed directly.
Register Indirect
The contents of Wn forms the EA.
Register Indirect Post-modified
The contents of Wn forms the EA. Wn is post-modified (incremented or
decremented) by a constant value.
Register Indirect Pre-modified
Wn is pre-modified (incremented or decremented) by a signed constant value
to form the EA.
Register Indirect with Register Offset The sum of Wn and Wb forms the EA.
Register Indirect with Literal Offset
 2004 Microchip Technology Inc.
The sum of Wn and a literal forms the EA.
Preliminary
DS70119D-page 31
dsPIC30F6010
4.1.3
MOVE AND ACCUMULATOR
INSTRUCTIONS
In summary, the following addressing modes are
supported by the MAC class of instructions:
Move instructions and the DSP Accumulator class of
instructions provide a greater degree of addressing
flexibility than other instructions. In addition to the
addressing modes supported by most MCU instructions, Move and Accumulator instructions also support
Register Indirect with Register Offset Addressing
mode, also referred to as Register Indexed mode.
Note:
For the MOV instructions, the addressing
mode specified in the instruction can differ
for the source and destination EA. However, the 4-bit Wb (Register Offset) field is
shared between both source and
destination (but typically only used by
one).
In summary, the following addressing modes are
supported by Move and Accumulator instructions:
•
•
•
•
•
•
•
•
Register Direct
Register Indirect
Register Indirect Post-modified
Register Indirect Pre-modified
Register Indirect with Register Offset (Indexed)
Register Indirect with Literal Offset
8-bit Literal
16-bit Literal
Note:
4.1.4
Register Indirect
Register Indirect Post-modified by 2
Register Indirect Post-modified by 4
Register Indirect Post-modified by 6
Register Indirect with Register Offset (Indexed)
4.1.5
OTHER INSTRUCTIONS
Besides the various addressing modes outlined above,
some instructions use literal constants of various sizes.
For example, BRA (branch) instructions use 16-bit
signed literals to specify the branch destination directly,
whereas the DISI instruction uses a 14-bit unsigned
literal field. In some instructions, such as ADD Acc, the
source of an operand or result is implied by the opcode
itself. Certain operations, such as NOP, do not have any
operands.
4.2
Modulo Addressing
Modulo addressing is a method of providing an automated means to support circular data buffers using
hardware. The objective is to remove the need for software to perform data address boundary checks when
executing tightly looped code, as is typical in many
DSP algorithms.
Not all instructions support all the addressing modes given above. Individual
instructions may support different subsets
of these addressing modes.
MAC INSTRUCTIONS
The dual source operand DSP instructions (CLR, ED,
EDAC, MAC, MPY, MPY.N, MOVSAC and MSC), also
referred to as MAC instructions, utilize a simplified set of
addressing modes to allow the user to effectively
manipulate the data pointers through register indirect
tables.
The two source operand pre-fetch registers must be a
member of the set {W8, W9, W10, W11}. For data
reads, W8 and W9 will always be directed to the X
RAGU and W10 and W11 will always be directed to the
Y AGU. The effective addresses generated (before and
after modification) must, therefore, be valid addresses
within X data space for W8 and W9 and Y data space
for W10 and W11.
Note:
•
•
•
•
•
Modulo addressing can operate in either data or program space (since the data pointer mechanism is essentially the same for both). One circular buffer can be
supported in each of the X (which also provides the
pointers into Program space) and Y data spaces. Modulo addressing can operate on any W register pointer.
However, it is not advisable to use W14 or W15 for Modulo addressing, since these two registers are used as
the Stack Frame Pointer and Stack Pointer, respectively.
In general, any particular circular buffer can only be
configured to operate in one direction, as there are certain restrictions on the buffer start address (for incrementing buffers) or end address (for decrementing
buffers) based upon the direction of the buffer.
The only exception to the usage restrictions is for buffers which have a power-of-2 length. As these buffers
satisfy the start and end address criteria, they may
operate in a Bi-directional mode, (i.e., address boundary checks will be performed on both the lower and
upper address boundaries).
Register Indirect with Register Offset
Addressing is only available for W9 (in X
space) and W11 (in Y space).
DS70119D-page 32
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
4.2.1
START AND END ADDRESS
4.2.2
The Modulo addressing scheme requires that a
starting and an end address be specified and loaded
into the 16-bit modulo buffer address registers:
XMODSRT, XMODEND, YMODSRT and YMODEND
(see Table 3-3)..
Note:
Y-space modulo addressing EA calculations assume word-sized data (LS bit of
every EA is always clear).
The length of a circular buffer is not directly specified. It
is determined by the difference between the corresponding start and end addresses. The maximum possible length of the circular buffer is 32K words
(64 Kbytes).
W ADDRESS REGISTER
SELECTION
The Modulo and Bit-Reversed Addressing Control register MODCON<15:0> contains enable flags as well as
a W register field to specify the W address registers.
The XWM and YWM fields select which registers will
operate with modulo addressing. If XWM = 15, X RAGU
and X WAGU modulo addressing are disabled. Similarly, if YWM = 15, Y AGU modulo addressing is
disabled.
The X Address Space Pointer W register (XWM) to
which modulo addressing is to be applied, is stored in
MODCON<3:0> (see Table 3-3). Modulo addressing is
enabled for X data space when XWM is set to any value
other than 15 and the XMODEN bit is set at
MODCON<15>.
The Y Address Space Pointer W register (YWM) to
which modulo addressing is to be applied, is stored in
MODCON<7:4>. Modulo addressing is enabled for Y
data space when YWM is set to any value other than 15
and the YMODEN bit is set at MODCON<14>.
FIGURE 4-1:
MODULO ADDRESSING OPERATION EXAMPLE
Byte
Address
MOV
MOV
MOV
MOV
MOV
MOV
MOV
MOV
DO
MOV
AGAIN:
0x1100
#0x1100,W0
W0, XMODSRT
#0x1163,W0
W0,MODEND
#0x8001,W0
W0,MODCON
#0x0000,W0
#0x1110,W1
AGAIN,#0x31
W0, [W1++]
INC
W0,W0
;set modulo start address
;set modulo end address
;enable W1, X AGU for modulo
;W0 holds buffer fill value
;point W1 to buffer
;fill the 50 buffer locations
;fill the next location
;increment the fill value
0x1163
Start Addr = 0x1100
End Addr = 0x1163
Length = 0x0032 words
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 33
dsPIC30F6010
4.2.3
MODULO ADDRESSING
APPLICABILITY
Modulo addressing can be applied to the effective
address (EA) calculation associated with any W register. It is important to realize that the address boundaries check for addresses less than or greater than the
upper (for incrementing buffers) and lower (for decrementing buffers) boundary addresses (not just equal
to). Address changes may, therefore, jump beyond
boundaries and still be adjusted correctly.
Note:
4.3
The modulo corrected effective address is
written back to the register only when PreModify or Post-Modify Addressing mode is
used to compute the Effective Address.
When an address offset (e.g., [W7+W2]) is
used, modulo address correction is performed, but the contents of the register
remains unchanged.
Bit-Reversed Addressing
Bit-Reversed addressing is intended to simplify data reordering for radix-2 FFT algorithms. It is supported by
the X AGU for data writes only.
The modifier, which may be a constant value or register
contents, is regarded as having its bit order reversed.
The address source and destination are kept in normal
order. Thus, the only operand requiring reversal is the
modifier.
4.3.1
2.
3.
XB<14:0> is the bit-reversed address modifier or ‘pivot
point’ which is typically a constant. In the case of an
FFT computation, its value is equal to half of the FFT
data buffer size.
Note:
BWM (W register selection) in the MODCON
register is any value other than 15 (the stack can
not be accessed using bit-reversed addressing)
and
the BREN bit is set in the XBREV register and
the addressing mode used is Register Indirect
with Pre-Increment or Post-Increment.
FIGURE 4-2:
All Bit-Reversed EA calculations assume
word sized data (LS bit of every EA is
always clear). The XB value is scaled
accordingly to generate compatible (byte)
addresses.
When enabled, bit-reversed addressing will only be
executed for register indirect with pre-increment or
post-increment addressing and word sized data writes.
It will not function for any other addressing mode or for
byte-sized data, and normal addresses will be generated instead. When bit-reversed addressing is active,
the W address pointer will always be added to the
address modifier (XB) and the offset associated with
the Register Indirect Addressing mode will be ignored.
In addition, as word sized data is a requirement, the LS
bit of the EA is ignored (and always clear).
Note:
BIT-REVERSED ADDRESSING
IMPLEMENTATION
Bit-Reversed addressing is enabled when:
1.
If the length of a bit-reversed buffer is M = 2N bytes,
then the last ’N’ bits of the data buffer start address
must be zeros.
Modulo addressing and bit-reversed
addressing should not be enabled
together. In the event that the user
attempts to do this, bit reversed addressing will assume priority when active for the
X WAGU, and X WAGU modulo addressing will be disabled. However, modulo
addressing will continue to function in the
X RAGU.
If bit-reversed addressing has already been enabled by
setting the BREN (XBREV<15>) bit, then a write to the
XBREV register should not be immediately followed by
an indirect read operation using the W register that has
been designated as the bit-reversed pointer.
BIT-REVERSED ADDRESS EXAMPLE
Sequential Address
b15 b14 b13 b12 b11 b10 b9 b8
b7 b6 b5 b4
b3 b2 b1
0
Bit Locations Swapped Left-to-Right
Around Center of Binary Value
b15 b14 b13 b12 b11 b10 b9 b8
b7 b6 b5 b1
b2 b3 b4
0
Bit-Reversed Address
Pivot Point
XB = 0x0008 for a 16-word Bit-Reversed Buffer
DS70119D-page 34
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
TABLE 4-2:
BIT-REVERSED ADDRESS SEQUENCE (16-ENTRY)
Normal Address
A3
A2
A1
A0
Bit-Reversed Address
Decimal
A3
A2
A1
A0
Decimal
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
1
0
0
0
8
0
0
1
0
2
0
1
0
0
4
0
0
1
1
3
1
1
0
0
12
0
1
0
0
4
0
0
1
0
2
0
1
0
1
5
1
0
1
0
10
0
1
1
0
6
0
1
1
0
6
0
1
1
1
7
1
1
1
0
14
1
0
0
0
8
0
0
0
1
1
1
0
0
1
9
1
0
0
1
9
1
0
1
0
10
0
1
0
1
5
1
0
1
1
11
1
1
0
1
13
1
1
0
0
12
0
0
1
1
3
1
1
0
1
13
1
0
1
1
11
1
1
1
0
14
0
1
1
1
7
1
1
1
1
15
1
1
1
1
15
TABLE 4-3:
BIT-REVERSED ADDRESS MODIFIER VALUES FOR XBREV REGISTER
Buffer Size (Words)
XB<14:0> Bit-Reversed Address Modifier Value
4096
0x0800
2048
0x0400
1024
0x0200
512
0x0100
256
0x0080
128
0x0040
64
0x0020
32
0x0010
16
0x0008
8
0x0004
4
0x0002
2
0x0001
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 35
dsPIC30F6010
NOTES:
DS70119D-page 36
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
5.0
INTERRUPTS
Note:
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046). For more information on the device
instruction set and programming, refer to the dsPIC30F
Programmer’s Reference Manual (DS70030).
The dsPIC30F6010 has 44 interrupt sources and 4
processor exceptions (traps), which must be arbitrated
based on a priority scheme.
The CPU is responsible for reading the Interrupt Vector Table (IVT) and transferring the address contained
in the interrupt vector to the program counter. The
interrupt vector is transferred from the program data
bus into the program counter, via a 24-bit wide
multiplexer on the input of the program counter.
The Interrupt Vector Table (IVT) and Alternate Interrupt Vector Table (AIVT) are placed near the beginning
of program memory (0x000004). The IVT and AIVT
are shown in Figure 5-1.
The interrupt controller is responsible for preprocessing the interrupts and processor exceptions,
prior to their being presented to the processor core.
The peripheral interrupts and traps are enabled, prioritized and controlled using centralized special function
registers:
• IFS0<15:0>, IFS1<15:0>, IFS2<15:0>
All interrupt request flags are maintained in these
three registers. The flags are set by their respective peripherals or external signals, and they are
cleared via software.
• IEC0<15:0>, IEC1<15:0>, IEC2<15:0>
All Interrupt Enable Control bits are maintained in
these three registers. These control bits are used
to individually enable interrupts from the
peripherals or external signals.
• IPC0<15:0>... IPC11<7:0>
The user assignable priority level associated with
each of these 44 interrupts is held centrally in
these twelve registers.
• IPL<3:0> The current CPU priority level is explicitly stored in the IPL bits. IPL<3> is present in the
CORCON register, whereas IPL<2:0> are present
in the status register (SR) in the processor core.
• INTCON1<15:0>, INTCON2<15:0>
Global interrupt control functions are derived from
these two registers. INTCON1 contains the control and status flags for the processor exceptions.
The INTCON2 register controls the external interrupt request signal behavior and the use of the
alternate vector table.
 2004 Microchip Technology Inc.
Interrupt Flag bits get set when an interrupt condition occurs, regardless of the
state of its corresponding Enable bit. User
software should ensure the appropriate
Interrupt Flag bits are clear prior to
enabling an interrupt.
All interrupt sources can be user assigned to one of
seven priority levels, 1 through 7, via the IPCx
registers. Each interrupt source is associated with an
interrupt vector, as shown in Table 5-1. Levels 7 and 1
represent the highest and lowest maskable priorities,
respectively.
Note:
Assigning a priority level of 0 to an interrupt source is equivalent to disabling that
interrupt.
If the NSTDIS bit (INTCON1<15>) is set, nesting of
interrupts is prevented. Thus, if an interrupt is currently
being serviced, processing of a new interrupt is prevented, even if the new interrupt is of higher priority
than the one currently being serviced.
Note:
The IPL bits become read-only whenever
the NSTDIS bit has been set to ‘1’.
Certain interrupts have specialized control bits for
features like edge or level triggered interrupts, interrupt-on-change, etc. Control of these features remains
within the peripheral module which generates the
interrupt.
The DISI instruction can be used to disable the
processing of interrupts of priorities 6 and lower for a
certain number of instructions, during which the DISI bit
(INTCON2<14>) remains set.
When an interrupt is serviced, the PC is loaded with the
address stored in the vector location in Program Memory that corresponds to the interrupt. There are 63 different vectors within the IVT (refer to Figure 5-2). These
vectors are contained in locations 0x000004 through
0x0000FE of program memory (refer to Figure 5-2).
These locations contain 24-bit addresses, and in order
to preserve robustness, an address error trap will take
place should the PC attempt to fetch any of these
words during normal execution. This prevents execution of random data as a result of accidentally decrementing a PC into vector space, accidentally mapping
a data space address into vector space, or the PC rolling over to 0x000000 after reaching the end of implemented program memory space. Execution of a GOTO
instruction to this vector space will also generate an
address error trap.
Preliminary
DS70119D-page 37
dsPIC30F6010
5.1
TABLE 5-1:
Interrupt Priority
The user assignable Interrupt Priority (IP<2:0>) bits for
each individual interrupt source are located in the LS 3bits of each nibble, within the IPCx register(s). Bit 3 of
each nibble is not used and is read as a ‘0’. These bits
define the priority level assigned to a particular interrupt
by the user.
Note:
The user selectable priority levels start at
0, as the lowest priority, and level 7, as the
highest priority.
Since more than one interrupt request source may be
assigned to a specific user specified priority level, a
means is provided to assign priority within a given level.
This method is called “Natural Order Priority”.
Natural Order Priority is determined by the position of
an interrupt in the vector table, and only affects
interrupt operation when multiple interrupts with the
same user-assigned priority become pending at the
same time.
Table 5-1 lists the interrupt numbers and interrupt
sources for the dsPIC devices and their associated
vector numbers.
Note 1: The natural order priority scheme has 0
as the highest priority and 53 as the
lowest priority.
2: The natural order priority number is the
same as the INT number.
The ability for the user to assign every interrupt to one
of seven priority levels implies that the user can assign
a very high overall priority level to an interrupt with a
low natural order priority. For example, the PLVD (Low
Voltage Detect) can be given a priority of 7. The INT0
(external interrupt 0) may be assigned to priority level
1, thus giving it a very low effective priority.
DS70119D-page 38
INTERRUPT VECTOR TABLE
INT
Vector
Number Number
Interrupt Source
Highest Natural Order Priority
0
8
INT0 - External Interrupt 0
1
9
IC1 - Input Capture 1
2
10
OC1 - Output Compare 1
3
11
T1 - Timer 1
4
12
IC2 - Input Capture 2
5
13
OC2 - Output Compare 2
6
14
T2 - Timer 2
7
15
T3 - Timer 3
8
16
SPI1
9
17
U1RX - UART1 Receiver
10
18
U1TX - UART1 Transmitter
11
19
ADC - ADC Convert Done
12
20
NVM - NVM Write Complete
13
21
SI2C - I2C Slave Interrupt
14
22
MI2C - I2C Master Interrupt
15
23
Input Change Interrupt
16
24
INT1 - External Interrupt 1
17
25
IC7 - Input Capture 7
18
26
IC8 - Input Capture 8
19
27
OC3 - Output Compare 3
20
28
OC4 - Output Compare 4
21
29
T4 - Timer 4
22
30
T5 - Timer 5
23
31
INT2 - External Interrupt 2
24
32
U2RX - UART2 Receiver
25
33
U2TX - UART2 Transmitter
26
34
SPI2
27
35
C1 - Combined IRQ for CAN1
28
36
IC3 - Input Capture 3
29
37
IC4 - Input Capture 4
30
38
IC5 - Input Capture 5
31
39
IC6 - Input Capture 6
32
40
OC5 - Output Compare 5
33
41
OC6 - Output Compare 6
34
42
OC7 - Output Compare 7
35
43
OC8 - Output Compare 8
36
44
INT3 - External Interrupt 3
37
45
INT4 - External Interrupt 4
38
46
C2 - Combined IRQ for CAN2
39
47
PWM - PWM Period Match
40
48
QEI - QEI Interrupt
41
49
Reserved
42
50
LVD - Low Voltage Detect
43
51
FLTA - PWM Fault A
44
52
FLTB - PWM Fault B
45-53
53-61 Reserved
Lowest Natural Order Priority
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
5.2
Reset Sequence
5.3
A Reset is not a true exception, because the interrupt
controller is not involved in the Reset process. The processor initializes its registers in response to a Reset,
which forces the PC to zero. The processor then begins
program execution at location 0x000000. A GOTO
instruction is stored in the first program memory location, immediately followed by the address target for the
GOTO instruction. The processor executes the GOTO to
the specified address and then begins operation at the
specified target (start) address.
5.2.1
Traps
Traps can be considered as non-maskable interrupts
indicating a software or hardware error, which adhere
to a predefined priority as shown in Figure 5-1. They
are intended to provide the user a means to correct
erroneous operation during debug and when operating
within the application.
Note:
RESET SOURCES
There are 6 sources of error which will cause a device
reset.
• Watchdog Time-out:
The watchdog has timed out, indicating that the
processor is no longer executing the correct flow
of code.
• Uninitialized W Register Trap:
An attempt to use an uninitialized W register as
an address pointer will cause a Reset.
• Illegal Instruction Trap:
Attempted execution of any unused opcodes will
result in an illegal instruction trap. Note that a
fetch of an illegal instruction does not result in an
illegal instruction trap if that instruction is flushed
prior to execution due to a flow change.
• Brown-out Reset (BOR):
A momentary dip in the power supply to the
device has been detected, which may result in
malfunction.
• Trap Lockout:
Occurrence of multiple Trap conditions simultaneously will cause a Reset.
If the user does not intend to take corrective action in the event of a trap error
condition, these vectors must be loaded
with the address of a default handler that
simply contains the RESET instruction. If,
on the other hand, one of the vectors
containing an invalid address is called, an
address error trap is generated.
Note that many of these trap conditions can only be
detected when they occur. Consequently, the questionable instruction is allowed to complete prior to trap
exception processing. If the user chooses to recover
from the error, the result of the erroneous action that
caused the trap may have to be corrected.
There are 8 fixed priority levels for traps: Level 8
through Level 15, which implies that the IPL3 is always
set during processing of a trap.
If the user is not currently executing a trap, and he sets
the IPL<3:0> bits to a value of ‘0111’ (Level 7), then all
interrupts are disabled, but traps can still be processed.
5.3.1
TRAP SOURCES
The following traps are provided with increasing priority. However, since all traps can be nested, priority has
little effect.
Math Error Trap:
The Math Error trap executes under the following three
circumstances:
1.
2.
3.
4.
 2004 Microchip Technology Inc.
Preliminary
Should an attempt be made to divide by zero,
the divide operation will be aborted on a cycle
boundary and the trap taken.
If enabled, a Math Error trap will be taken when
an arithmetic operation on either accumulator A
or B causes an overflow from bit 31 and the
Accumulator Guard bits are not utilized.
If enabled, a Math Error trap will be taken when
an arithmetic operation on either accumulator A
or B causes a catastrophic overflow from bit 39
and all saturation is disabled.
If the shift amount specified in a shift instruction
is greater than the maximum allowed shift
amount, a trap will occur.
DS70119D-page 39
dsPIC30F6010
Address Error Trap:
5.3.2
This trap is initiated when any of the following
circumstances occurs:
It is possible that multiple traps can become active
within the same cycle (e.g., a misaligned word stack
write to an overflowed address). In such a case, the
fixed priority shown in Figure 5-2 is implemented,
which may require the user to check if other traps are
pending, in order to completely correct the fault.
1.
2.
3.
4.
A misaligned data word access is attempted.
A data fetch from our unimplemented data
memory location is attempted.
A data access of an unimplemented program
memory location is attempted.
An instruction fetch from vector space is
attempted.
Note:
5.
6.
In the MAC class of instructions, wherein
the data space is split into X and Y data
space, unimplemented X space includes
all of Y space, and unimplemented Y
space includes all of X space.
Execution of a “BRA #literal” instruction or a
“GOTO #literal” instruction, where literal
is an unimplemented program memory address.
Executing instructions after modifying the PC to
point to unimplemented program memory
addresses. The PC may be modified by loading
a value into the stack and executing a RETURN
instruction.
HARD AND SOFT TRAPS
‘Soft’ traps include exceptions of priority level 8 through
level 11, inclusive. The arithmetic error trap (level 11)
falls into this category of traps.
‘Hard’ traps include exceptions of priority level 12
through level 15, inclusive. The address error (level
12), stack error (level 13) and oscillator error (level 14)
traps fall into this category.
Each hard trap that occurs must be acknowledged
before code execution of any type may continue. If a
lower priority hard trap occurs while a higher priority
trap is pending, acknowledged, or is being processed,
a hard trap conflict will occur.
The device is automatically Reset in a hard trap conflict
condition. The TRAPR status bit (RCON<15>) is set
when the Reset occurs, so that the condition may be
detected in software.
FIGURE 5-1:
Stack Error Trap:
TRAP VECTORS
1.
2.
The stack pointer is loaded with a value which is
greater than the (user programmable) limit value
written into the SPLIM register (stack overflow).
The stack pointer is loaded with a value which is
less than 0x0800 (simple stack underflow).
Oscillator Fail Trap:
Decreasing
Priority
This trap is initiated under the following conditions:
IVT
This trap is initiated if the external oscillator fails and
operation becomes reliant on an internal RC backup.
AIVT
DS70119D-page 40
Preliminary
Reset - GOTO Instruction
Reset - GOTO Address
Reserved
Oscillator Fail Trap Vector
Address Error Trap Vector
Stack Error Trap Vector
Math Error Trap Vector
Reserved Vector
Reserved Vector
Reserved Vector
Interrupt 0 Vector
Interrupt 1 Vector
—
—
—
Interrupt 52 Vector
Interrupt 53 Vector
Reserved
Reserved
Reserved
Oscillator Fail Trap Vector
Stack Error Trap Vector
Address Error Trap Vector
Math Error Trap Vector
Reserved Vector
Reserved Vector
Reserved Vector
Interrupt 0 Vector
Interrupt 1 Vector
—
—
—
Interrupt 52 Vector
Interrupt 53 Vector
0x000000
0x000002
0x000004
0x000014
0x00007E
0x000080
0x000082
0x000084
0x000094
0x0000FE
 2004 Microchip Technology Inc.
dsPIC30F6010
5.4
Interrupt Sequence
5.5
All interrupt event flags are sampled in the beginning of
each instruction cycle by the IFSx registers. A pending
interrupt request (IRQ) is indicated by the flag bit being
equal to a ‘1’ in an IFSx register. The IRQ will cause an
interrupt to occur if the corresponding bit in the interrupt
enable (IECx) register is set. For the remainder of the
instruction cycle, the priorities of all pending interrupt
requests are evaluated.
If there is a pending IRQ with a priority level greater
than the current processor priority level in the IPL bits,
the processor will be interrupted.
The processor then stacks the current program counter
and the low byte of the processor status register (SRL),
as shown in Figure 5-2. The low byte of the status register contains the processor priority level at the time,
prior to the beginning of the interrupt cycle. The processor then loads the priority level for this interrupt into the
status register. This action will disable all lower priority
interrupts until the completion of the Interrupt Service
Routine.
FIGURE 5-2:
Stack Grows Towards
Higher Address
In Program Memory, the Interrupt Vector Table (IVT) is
followed by the Alternate Interrupt Vector Table (AIVT),
as shown in Figure 5-1. Access to the Alternate Vector
Table is provided by the ALTIVT bit in the INTCON2
register. If the ALTIVT bit is set, all interrupt and exception processes will use the alternate vectors instead of
the default vectors. The alternate vectors are organized
in the same manner as the default vectors. The AIVT
supports emulation and debugging efforts by providing
a means to switch between an application and a support environment, without requiring the interrupt vectors to be reprogrammed. This feature also enables
switching between applications for evaluation of
different software algorithms at run time.
If the AIVT is not required, the program memory allocated to the AIVT may be used for other purposes.
AIVT is not a protected section and may be freely
programmed by the user.
5.6
Fast Context Saving
A context saving option is available using shadow registers. Shadow registers are provided for the DC, N,
OV, Z and C bits in SR, and the registers W0 through
W3. The shadows are only one level deep. The shadow
registers are accessible using the PUSH.S and POP.S
instructions only.
INTERRUPT STACK
FRAME
0x0000 15
Alternate Vector Table
0
PC<15:0>
SRL IPL3 PC<22:16>
W15 (before CALL)
<Free Word>
W15 (after CALL)
POP : [--W15]
PUSH : [W15++]
Note 1: The user can always lower the priority level
by writing a new value into SR. The Interrupt
Service Routine must clear the interrupt flag
bits in the IFSx register before lowering the
processor interrupt priority, in order to avoid
recursive interrupts.
2: The IPL3 bit (CORCON<3>) is always clear
when interrupts are being processed. It is
set only during execution of traps.
The RETFIE (Return from Interrupt) instruction will
unstack the program counter and status registers to
return the processor to its state prior to the interrupt
sequence.
When the processor vectors to an interrupt, the
PUSH.S instruction can be used to store the current
value of the aforementioned registers into their
respective shadow registers.
If an ISR of a certain priority uses the PUSH.S and
POP.S instructions for fast context saving, then a
higher priority ISR should not include the same instructions. Users must save the key registers in software
during a lower priority interrupt, if the higher priority ISR
uses fast context saving.
5.7
External Interrupt Requests
The interrupt controller supports five external interrupt
request signals, INT0-INT4. These inputs are edge
sensitive; they require a low-to-high or a high-to-low
transition to generate an interrupt request. The
INTCON2 register has five bits, INT0EP-INT4EP, that
select the polarity of the edge detection circuitry.
5.8
Wake-up from Sleep and Idle
The interrupt controller may be used to wake up the
processor from either Sleep or Idle modes, if Sleep or
Idle mode is active when the interrupt is generated.
If an enabled interrupt request of sufficient priority is
received by the interrupt controller, then the standard
interrupt request is presented to the processor. At the
same time, the processor will wake-up from Sleep or
Idle and begin execution of the Interrupt Service
Routine (ISR) needed to process the interrupt request.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 41
DS70119D-page 42
00A2
00A4
00A6
00A8
00AA
—
—
u = uninitialized bit
IPC7
IPC8
IPC9
IPC10
IPC11
Legend:
Preliminary
FLTAIP<2:0>
—
C1IE
ADIE
—
—
—
—
—
—
—
—
—
—
—
—
—
—
U2TXIF
U1RXIF
—
OVBTE
Bit 9
—
LVDIE
SPI2IE
SPI1IE
QEIIF
U2RXIF
SPI1IF
—
COVTE
Bit 8
—
LVDIP<2:0>
C2IP<2:0>
OC7IP<2:0>
IC5IP<2:0>
SPI2IP<2:0>
T5IP<2:0>
IC8IP<2:0>
MI2CIP<2:0>
U1TXIP<2:0>
T2IP<2:0>
OC1IP<2:0>
—
—
QEIIE
U2TXIE U2RXIE
U1TXIE U1RXIE
LVDIF
SPI2IF
U1TXIF
—
OVATE
Bit 10
—
—
—
—
—
—
—
—
—
—
—
—
PWMIE
INT2IE
T3IE
PWMIF
INT2IF
T3IF
—
—
Bit 7
—
—
C2IE
T5IE
T2IE
C2IF
T5IF
T2IF
—
—
Bit 6
Bit 4
—
—
INT41IP<2:0>
OC6IP<2:0>
IC4IP<2:0>
U2TXIP<2:0>
T4IP<2:0>
IC7IP<2:0>
SI2CIP<2:0>
U1RXIP<2:0>
OC2IP<2:0>
—
—
INT3IE
OC4IE
IC2IE
INT3IF
OC4IF
IC2IF
INT4EP
MATHERR
IC1IP<2:0>
INT4IE
T4IE
OC2IE
INT4IF
T4IF
OC2IF
—
—
Bit 5
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
—
PWMIP<2:0>
OC8IP<2:0>
—
—
IC6IP<2:0>
C1IP<2:0>
—
—
INT2IP<2:0>
00A0
C1IF
ADIF
FLTBIE FLTAIE
IC3IE
NVMIE
—
IPC6
IC3IF
—
—
Bit 11
FLTBIF FLTAIF
OC3IP<2:0>
CNIP<2:0>
—
—
Bit 12
NVMIF
—
—
ADIP<2:0>
—
009E
0098
IPC2
T31P<2:0>
T1IP<2:0>
—
IC4IE
SI2CIE
—
IC4IF
—
IPC5
0096
IPC1
—
—
IC5IE
009A
0094
IPC0
—
IC6IE
009C
0090
IEC2
MI2CIE
—
IC5IF
SI2CIF
—
—
MI2CIF
—
—
IPC4
008E
IEC1
CNIE
—
IC6IF
Bit 13
Bit 14
IPC3
0088
008C
IEC0
0086
IFS1
IFS2
0084
IFS0
CNIF
0080 NSTDIS
0082 ALTIVT
Bit 15
INTCON1
ADR
INTERRUPT CONTROLLER REGISTER MAP
INTCON2
SFR
Name
TABLE 5-2:
—
—
—
—
—
—
—
—
—
—
—
—
OC8IE
OC3IE
T1IE
OC8IF
OC3IF
T1IF
INT3EP
ADDRERR
Bit 3
Bit 1
OC7IE
IC8IE
OC1IE
OC7IF
IC8IF
OC1IF
INT2EP
FLTBIP<2:0>
QEIIP<2:0>
INT3IP<2:0>
OC5IP<2:0>
IC3IP<2:0>
U2RXIP<2:0>
OC4IP<2:0>
INT1IP<2:0>
NVMIP<2:0>
SPI1IP<2:0>
IC2IP<2:0>
INT0IP<2:0>
OC6IE
IC7IE
IC1IE
OC6IF
IC7IF
IC1IF
INT1EP
STKERR OSCFAIL
Bit 2
0000 0000 0000 0000
Reset State
OC5IE
INT1IE
INT0IE
OC5IF
INT1IF
INT0IF
0000 0000 0000 0100
0100 0100 0000 0100
0100 0100 0100 0100
0100 0100 0100 0100
0100 0100 0100 0100
0100 0100 0100 0100
0100 0100 0100 0100
0100 0100 0100 0100
0100 0100 0100 0100
0100 0100 0100 0100
0100 0100 0100 0100
0100 0100 0100 0100
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
INT0EP 0000 0000 0000 0000
—
Bit 0
dsPIC30F6010
 2004 Microchip Technology Inc.
dsPIC30F6010
6.0
FLASH PROGRAM MEMORY
6.2
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046). For more information on the device
instruction set and programming, refer to the dsPIC30F
Programmer’s Reference Manual (DS70030).
RTSP is accomplished using TBLRD (table read) and
TBLWT (table write) instructions.
With RTSP, the user may erase program memory, 32
instructions (96 bytes) at a time and can write program
memory data, 32 instructions (96 bytes) at a time.
6.3
The dsPIC30F family of devices contains internal
program Flash memory for executing user code. There
are two methods by which the user can program this
memory:
1.
2.
6.1
Table Instruction Operation Summary
The TBLRDL and the TBLWTL instructions are used to
read or write to bits <15:0> of program memory.
TBLRDL and TBLWTL can access program memory in
Word or Byte mode.
In-Circuit Serial Programming™ (ICSP™)
Run Time Self-Programming (RTSP)
The TBLRDH and TBLWTH instructions are used to read
or write to bits<23:16> of program memory. TBLRDH
and TBLWTH can access program memory in Word or
Byte mode.
In-Circuit Serial Programming
(ICSP)
dsPIC30F devices can be serially programmed while in
the end application circuit. This is simply done with two
lines for Programming Clock and Programming Data
(which are named PGC and PGD respectively), and
three other lines for Power (VDD), Ground (VSS) and
Master Clear (MCLR). this allows customers to manufacture boards with unprogrammed devices, and then
program the microcontroller just before shipping the
product. This also allows the most recent firmware or a
custom firmware to be programmed.
FIGURE 6-1:
Run Time Self-Programming
(RTSP)
A 24-bit program memory address is formed using
bits<7:0> of the TBLPAG register and the effective
address (EA) from a W register specified in the table
instruction, as shown in Figure 6-1.
ADDRESSING FOR TABLE AND NVM REGISTERS
24 bits
Using
Program
Counter
Program Counter
0
0
NVMADR Reg EA
Using
NVMADR
Addressing
1/0
NVMADRU Reg
8 bits
16 bits
Working Reg EA
Using
Table
Instruction
User/Configuration
Space Select
 2004 Microchip Technology Inc.
1/0
TBLPAG Reg
8 bits
16 bits
24-bit EA
Preliminary
Byte
Select
DS70119D-page 43
dsPIC30F6010
6.4
RTSP Operation
6.5
The dsPIC30F Flash program memory is organized
into rows and panels. Each row consists of 32 instructions, or 96 bytes. Each panel consists of 128 rows, or
4K x 24 instructions. RTSP allows the user to erase one
row (32 instructions) at a time and to program 32
instructions at one time.
Each panel of program memory contains write latches
that hold 32 instructions of programming data. Prior to
the actual programming operation, the write data must
be loaded into the panel write latches. The data to be
programmed into the panel is loaded in sequential
order into the write latches; instruction 0, instruction 1,
etc. The addresses loaded must always be from an
even group of 32 boundary.
RTSP Control Registers
The four SFRs used to read and write the program
Flash memory are:
•
•
•
•
NVMCON
NVMADR
NVMADRU
NVMKEY
6.5.1
NVMCON REGISTER
The NVMCON register controls which blocks are to be
erased, which memory type is to be programmed, and
start of the programming cycle.
6.5.2
NVMADR REGISTER
The basic sequence for RTSP programming is to set up
a table pointer, then do a series of TBLWT instructions
to load the write latches. Programming is performed by
setting the special bits in the NVMCON register. 32
TBLWTL and 32 TBLWTH instructions are required to
load the 32 instructions.
The NVMADR register is used to hold the lower two
bytes of the effective address. The NVMADR register
captures the EA<15:0> of the last table instruction that
has been executed and selects the row to write.
All of the table write operations are single word writes
(2 instruction cycles), because only the table latches
are written.
The NVMADRU register is used to hold the upper byte
of the effective address. The NVMADRU register captures the EA<23:16> of the last table instruction that
has been executed.
After the latches are written, a programming operation
needs to be initiated to program the data.
The Flash Program Memory is readable, writable and
erasable during normal operation over the entire VDD
range.
6.5.3
6.5.4
NVMKEY REGISTER
NVMKEY is a write-only register that is used for write
protection. To start a programming or an erase
sequence, the user must consecutively write 0x55 and
0xAA to the NVMKEY register. Refer to Section 6.6 for
further details.
Note:
DS70119D-page 44
NVMADRU REGISTER
Preliminary
The user can also directly write to the
NVMADR and NVMADRU registers to
specify a program memory address for
erasing or programming.
 2004 Microchip Technology Inc.
dsPIC30F6010
6.6
Programming Operations
4.
A complete programming sequence is necessary for
programming or erasing the internal Flash in RTSP
mode. A programming operation is nominally 2 msec in
duration and the processor stalls (waits) until the operation is finished. Setting the WR bit (NVMCON<15>)
starts the operation, and the WR bit is automatically
cleared when the operation is finished.
6.6.1
5.
PROGRAMMING ALGORITHM FOR
PROGRAM FLASH
The user can erase or program one row of program
Flash memory at a time. The general process is:
1.
2.
3.
Read one row of program Flash (32 instruction
words) and store into data RAM as a data
“image”.
Update the data image with the desired new
data.
Erase program Flash row.
a) Setup NVMCON register for multi-word,
program Flash, erase, and set WREN bit.
b) Write address of row to be erased into
NVMADRU/NVMDR.
c) Write ‘55’ to NVMKEY.
d) Write ‘AA’ to NVMKEY.
e) Set the WR bit. This will begin erase cycle.
f) CPU will stall for the duration of the erase
cycle.
g) The WR bit is cleared when erase cycle
ends.
EXAMPLE 6-1:
6.
Write 32 instruction words of data from data
RAM “image” into the program Flash write
latches.
Program 32 instruction words into program
Flash.
a) Setup NVMCON register for multi-word,
program Flash, program, and set WREN
bit.
b) Write ‘55’ to NVMKEY.
c) Write ‘AA’ to NVMKEY.
d) Set the WR bit. This will begin program
cycle.
e) CPU will stall for duration of the program
cycle.
f) The WR bit is cleared by the hardware
when program cycle ends.
Repeat steps 1 through 5 as needed to program
desired amount of program Flash memory.
6.6.2
ERASING A ROW OF PROGRAM
MEMORY
Example 6-1 shows a code sequence that can be used
to erase a row (32 instructions) of program memory.
ERASING A ROW OF PROGRAM MEMORY
; Setup NVMCON for erase operation, multi word
; program memory selected, and writes enabled
MOV
#0x4041,W0
;
;
MOV
W0,NVMCON
; Init pointer to row to be ERASED
MOV
#tblpage(PROG_ADDR),W0
;
;
MOV
W0,NVMADRU
MOV
#tbloffset(PROG_ADDR),W0
;
MOV
W0, NVMADR
;
DISI
#5
;
;
MOV
#0x55,W0
;
MOV
W0,NVMKEY
MOV
#0xAA,W1
;
;
MOV
W1,NVMKEY
BSET
NVMCON,#WR
;
NOP
;
NOP
;
 2004 Microchip Technology Inc.
write
Init NVMCON SFR
Initialize PM Page Boundary SFR
Intialize in-page EA[15:0] pointer
Intialize NVMADR SFR
Block all interrupts with priority <7
for next 5 instructions
Write the 0x55 key
Write the 0xAA key
Start the erase sequence
Insert two NOPs after the erase
command is asserted
Preliminary
DS70119D-page 45
dsPIC30F6010
6.6.3
LOADING WRITE LATCHES
Example 6-2 shows a sequence of instructions that
can be used to load the 96 bytes of write latches. 32
TBLWTL and 32 TBLWTH instructions are needed to
load the write latches selected by the table pointer.
EXAMPLE 6-2:
LOADING WRITE LATCHES
; Set up a pointer to the first program memory location to be written
; program memory selected, and writes enabled
MOV
#0x0000,W0
;
; Initialize PM Page Boundary SFR
MOV
W0,TBLPAG
MOV
#0x6000,W0
; An example program memory address
; Perform the TBLWT instructions to write the latches
; 0th_program_word
MOV
#LOW_WORD_0,W2
;
MOV
#HIGH_BYTE_0,W3
;
; Write PM low word into program latch
TBLWTL W2,[W0]
TBLWTH W3,[W0++]
; Write PM high byte into program latch
; 1st_program_word
MOV
#LOW_WORD_1,W2
;
MOV
#HIGH_BYTE_1,W3
;
; Write PM low word into program latch
TBLWTL W2,[W0]
; Write PM high byte into program latch
TBLWTH W3,[W0++]
; 2nd_program_word
MOV
#LOW_WORD_2,W2
;
MOV
#HIGH_BYTE_2,W3
;
; Write PM low word into program latch
TBLWTL W2, [W0]
; Write PM high byte into program latch
TBLWTH W3, [W0++]
•
•
•
; 31st_program_word
MOV
#LOW_WORD_31,W2
;
MOV
#HIGH_BYTE_31,W3
;
; Write PM low word into program latch
TBLWTL W2, [W0]
; Write PM high byte into program latch
TBLWTH W3, [W0++]
Note: In Example 6-2, the contents of the upper byte of W3 has no effect.
6.6.4
INITIATING THE PROGRAMMING
SEQUENCE
For protection, the write initiate sequence for NVMKEY
must be used to allow any erase or program operation
to proceed. After the programming command has been
executed, the user must wait for the programming time
until programming is complete. The two instructions
following the start of the programming sequence
should be NOPs.
EXAMPLE 6-3:
INITIATING A PROGRAMMING SEQUENCE
DISI
#5
MOV
MOV
MOV
MOV
BSET
NOP
NOP
#0x55,W0
W0,NVMKEY
#0xAA,W1
W1,NVMKEY
NVMCON,#WR
DS70119D-page 46
; Block all interrupts with priority <7
; for next 5 instructions
;
;
;
;
;
;
Write the 0x55 key
Write the 0xAA key
Start the erase sequence
Insert two NOPs after the erase
command is asserted
Preliminary
 2004 Microchip Technology Inc.
Bit 13
—
—
WRERR
—
—
—
—
—
—
—
—
—
Bit 12 Bit 11 Bit 10
—
—
—
Bit 9
Bit 8
—
Bit 7
—
—
NVMADR<15:0>
TWRI
Bit 6
Bit 5
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
—
NVMKEY
0766
—
Legend:
u = uninitialized bit
NVMADRU
Bit 14
WREN
—
0762
0764
NVMADR
WR
Bit 15
NVM REGISTER MAP
—
0760
Addr.
NVMCON
File Name
TABLE 6-1:
Bit 3
Bit 2
KEY<7:0>
NVMADR<23:16>
PROGOP<6:0>
Bit 4
Bit 1
Bit 0
All RESETS
0000 0000 0000 0000
0000 0000 uuuu uuuu
uuuu uuuu uuuu uuuu
0000 0000 0000 0000
dsPIC30F6010
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 47
dsPIC30F6010
NOTES:
DS70119D-page 48
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
7.0
DATA EEPROM MEMORY
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046). For more information on the device
instruction set and programming, refer to the dsPIC30F
Programmer’s Reference Manual (DS70030).
The Data EEPROM Memory is readable and writable
during normal operation over the entire VDD range. The
data EEPROM memory is directly mapped in the
program memory address space.
The four SFRs used to read and write the program
Flash memory are used to access data EEPROM
memory, as well. As described in Section 4.0, these
registers are:
•
•
•
•
NVMCON
NVMADR
NVMADRU
NVMKEY
Control bit WR initiates write operations, similar to program Flash writes. This bit cannot be cleared, only set,
in software. This bit is cleared in hardware at the completion of the write operation. The inability to clear the
WR bit in software prevents the accidental or
premature termination of a write operation.
The WREN bit, when set, will allow a write operation.
On power-up, the WREN bit is clear. The WRERR bit is
set when a write operation is interrupted by a MCLR
Reset, or a WDT Time-out Reset, during normal operation. In these situations, following Reset, the user can
check the WRERR bit and rewrite the location. The
address register NVMADR remains unchanged.
Note:
The EEPROM data memory allows read and write of
single words and 16-word blocks. When interfacing to
data memory, NVMADR, in conjunction with the
NVMADRU register, is used to address the EEPROM
location being accessed. TBLRDL and TBLWTL instructions are used to read and write data EEPROM. The
dsPIC30F6010 device has 8 Kbytes (4K words) of data
EEPROM, with an address range from 0x7FF000 to
0x7FFFFE.
A word write operation should be preceded by an erase
of the corresponding memory location(s). The write
typically requires 2 ms to complete, but the write time
will vary with voltage and temperature.
 2004 Microchip Technology Inc.
A program or erase operation on the data EEPROM
does not stop the instruction flow. The user is responsible for waiting for the appropriate duration of time
before initiating another data EEPROM write/erase
operation. Attempting to read the data EEPROM while
a programming or erase operation is in progress results
in unspecified data.
7.1
Interrupt flag bit NVMIF in the IFS0 register is set when write is complete. It must be
cleared in software.
Reading the Data EEPROM
A TBLRD instruction reads a word at the current program word address. This example uses W0 as a
pointer to data EEPROM. The result is placed in
register W4, as shown in Example 7-1.
EXAMPLE 7-1:
MOV
MOV
MOV
TBLRDL
Preliminary
DATA EEPROM READ
#LOW_ADDR_WORD,W0 ; Init Pointer
#HIGH_ADDR_WORD,W1
W1,TBLPAG
[ W0 ], W4
; read data EEPROM
DS70119D-page 49
dsPIC30F6010
7.2
7.2.1
Erasing Data EEPROM
ERASING A BLOCK OF DATA
EEPROM
In order to erase a block of data EEPROM, the
NVMADRU and NVMADR registers must initially
point to the block of memory to be erased. Configure
NVMCON for erasing a block of data EEPROM, and
set the ERASE and WREN bits in NVMCON register.
Setting the WR bit initiates the erase, as shown in
Example 7-2.
EXAMPLE 7-2:
DATA EEPROM BLOCK ERASE
; Select data EEPROM block, ERASE, WREN bits
MOV
#4045,W0
; Initialize NVMCON SFR
MOV
W0,NVMCON
; Start erase cycle by setting WR after writing key sequence
DISI
#5
; Block all interrupts with priority <7
; for next 5 instructions
MOV
#0x55,W0
;
; Write the 0x55 key
MOV
W0,NVMKEY
MOV
#0xAA,W1
;
MOV
W1,NVMKEY
; Write the 0xAA key
BSET
NVMCON,#WR
; Initiate erase sequence
NOP
NOP
; Erase cycle will complete in 2mS. CPU is not stalled for the Data Erase Cycle
; User can poll WR bit, use NVMIF or Timer IRQ to determine erasure complete
7.2.2
ERASING A WORD OF DATA
EEPROM
The NVMADRU and NVMADR registers must point to
the block. Select erase a block of data Flash, and set
the ERASE and WREN bits in NVMCON register.
Setting the WR bit initiates the erase, as shown in
Example 7-3.
EXAMPLE 7-3:
DATA EEPROM WORD ERASE
; Select data EEPROM word, ERASE, WREN bits
MOV
#4044,W0
MOV
W0,NVMCON
; Start erase cycle by setting WR after writing key sequence
DISI
#5
; Block all interrupts with priority <7
; for next 5 instructions
MOV
#0x55,W0
;
; Write the 0x55 key
MOV
W0,NVMKEY
MOV
#0xAA,W1
;
; Write the 0xAA key
MOV
W1,NVMKEY
BSET
NVMCON,#WR
; Initiate erase sequence
NOP
NOP
; Erase cycle will complete in 2mS. CPU is not stalled for the Data Erase Cycle
; User can poll WR bit, use NVMIF or Timer IRQ to determine erasure complete
DS70119D-page 50
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
7.3
Writing to the Data EEPROM
To write an EEPROM data location, the following
sequence must be followed:
1.
2.
3.
Erase data EEPROM word.
a) Select word, data EEPROM, erase and set
WREN bit in NVMCON register.
b) Write address of word to be erased into
NVMADRU/NVMADR.
c) Enable NVM interrupt (optional).
d) Write ‘55’ to NVMKEY.
e) Write ‘AA’ to NVMKEY.
f) Set the WR bit. This will begin erase cycle.
g) Either poll NVMIF bit or wait for NVMIF
interrupt.
h) The WR bit is cleared when the erase cycle
ends.
Write data word into data EEPROM write
latches.
Program 1 data word into data EEPROM.
a) Select word, data EEPROM, program, and
set WREN bit in NVMCON register.
b) Enable NVM write done interrupt (optional).
c) Write ‘55’ to NVMKEY.
d) Write ‘AA’ to NVMKEY.
e) Set The WR bit. This will begin program
cycle.
f) Either poll NVMIF bit or wait for NVM
interrupt.
g) The WR bit is cleared when the write cycle
ends.
EXAMPLE 7-4:
The write will not initiate if the above sequence is not
exactly followed (write 0x55 to NVMKEY, write 0xAA to
NVMCON, then set WR bit) for each word. It is strongly
recommended that interrupts be disabled during this
code segment.
Additionally, the WREN bit in NVMCON must be set to
enable writes. This mechanism prevents accidental
writes to data EEPROM, due to unexpected code execution. The WREN bit should be kept clear at all times,
except when updating the EEPROM. The WREN bit is
not cleared by hardware.
After a write sequence has been initiated, clearing the
WREN bit will not affect the current write cycle. The WR
bit will be inhibited from being set unless the WREN bit
is set. The WREN bit must be set on a previous instruction. Both WR and WREN cannot be set with the same
instruction.
At the completion of the write cycle, the WR bit is
cleared in hardware and the Non-Volatile Memory
Write Complete Interrupt Flag bit (NVMIF) is set. The
user may either enable this interrupt, or poll this bit.
NVMIF must be cleared by software.
7.3.1
WRITING A WORD OF DATA
EEPROM
Once the user has erased the word to be programmed,
then a table write instruction is used to write one write
latch, as shown in Example 7-4.
DATA EEPROM WORD WRITE
; Point to data memory
MOV
#LOW_ADDR_WORD,W0
MOV
#HIGH_ADDR_WORD,W1
MOV
W1,TBLPAG
MOV
#LOW(WORD),W2
TBLWTL
W2,[ W0]
; The NVMADR captures last table access address
; Select data EEPROM for 1 word op
MOV
#0x4004,W0
MOV
W0,NVMCON
; Operate key to allow write operation
DISI
#5
MOV
MOV
MOV
MOV
BSET
NOP
NOP
; Write cycle will
; User can poll WR
#0x55,W0
W0,NVMKEY
#0xAA,W1
W1,NVMKEY
NVMCON,#WR
; Init pointer
; Get data
; Write data
; Block all interrupts with priority <7
; for next 5 instructions
; Write the 0x55 key
; Write the 0xAA key
; Initiate program sequence
complete in 2mS. CPU is not stalled for the Data Write Cycle
bit, use NVMIF or Timer IRQ to determine write complete
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 51
dsPIC30F6010
7.3.2
WRITING A BLOCK OF DATA
EEPROM
To write a block of data EEPROM, write to all sixteen
latches first, then set the NVMCON register and
program the block.
EXAMPLE 7-5:
7.4
DATA EEPROM BLOCK WRITE
MOV
MOV
MOV
MOV
TBLWTL
MOV
TBLWTL
MOV
TBLWTL
MOV
TBLWTL
MOV
TBLWTL
MOV
TBLWTL
MOV
TBLWTL
MOV
TBLWTL
MOV
TBLWTL
MOV
TBLWTL
MOV
TBLWTL
MOV
TBLWTL
MOV
TBLWTL
MOV
TBLWTL
MOV
TBLWTL
MOV
TBLWTL
MOV
MOV
DISI
#LOW_ADDR_WORD,W0
#HIGH_ADDR_WORD,W1
W1,TBLPAG
#data1,W2
W2,[ W0]++
#data2,W2
W2,[ W0]++
#data3,W2
W2,[ W0]++
#data4,W2
W2,[ W0]++
#data5,W2
W2,[ W0]++
#data6,W2
W2,[ W0]++
#data7,W2
W2,[ W0]++
#data8,W2
W2,[ W0]++
#data9,W2
W2,[ W0]++
#data10,W2
W2,[ W0]++
#data11,W2
W2,[ W0]++
#data12,W2
W2,[ W0]++
#data13,W2
W2,[ W0]++
#data14,W2
W2,[ W0]++
#data15,W2
W2,[ W0]++
#data16,W2
W2,[ W0]++
#0x400A,W0
W0,NVMCON
#5
MOV
MOV
MOV
MOV
BSET
NOP
NOP
#0x55,W0
W0,NVMKEY
#0xAA,W1
W1,NVMKEY
NVMCON,#WR
; Init pointer
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
Get 1st data
write data
Get 2nd data
write data
Get 3rd data
write data
Get 4th data
write data
Get 5th data
write data
Get 6th data
write data
Get 7th data
write data
Get 8th data
write data
Get 9th data
write data
Get 10th data
write data
Get 11th data
write data
Get 12th data
write data
Get 13th data
write data
Get 14th data
write data
Get 15th data
write data
Get 16th data
write data. The NVMADR captures last table access address.
Select data EEPROM for multi word op
Operate Key to allow program operation
Block all interrupts with priority <7
for next 5 instructions
; Write the 0x55 key
; Write the 0xAA key
; Start write cycle
Write Verify
7.5
Depending on the application, good programming
practice may dictate that the value written to the memory should be verified against the original value. This
should be used in applications where excessive writes
can stress bits near the specification limit.
Protection Against Spurious Write
There are conditions when the device may not want to
write to the data EEPROM memory. To protect against
spurious EEPROM writes, various mechanisms have
been built-in. On power-up, the WREN bit is cleared;
also, the Power-up Timer prevents EEPROM write.
The write initiate sequence and the WREN bit together,
help prevent an accidental write during brown-out,
power glitch or software malfunction.
DS70119D-page 52
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
8.0
I/O PORTS
Any bit and its associated data and control registers
that are not valid for a particular device will be
disabled. That means the corresponding LATx and
TRISx registers and the port pin will read as zeros.
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046).
When a pin is shared with another peripheral or function that is defined as an input only, it is nevertheless
regarded as a dedicated port because there is no
other competing source of outputs. An example is the
INT4 pin.
All of the device pins (except VDD, VSS, MCLR and
OSC1/CLKIN) are shared between the peripherals and
the parallel I/O ports.
The format of the registers for PORTA are shown in
Table 8-1.
All I/O input ports feature Schmitt Trigger inputs for
improved noise immunity.
8.1
The TRISA (Data Direction Control) register controls
the direction of the RA<7:0> pins, as well as the INTx
pins and the VREF pins. The LATA register supplies
data to the outputs, and is readable/writable. Reading
the PORTA register yields the state of the input pins,
while writing the PORTA register modifies the contents
of the LATA register.
Parallel I/O (PIO) Ports
When a peripheral is enabled and the peripheral is
actively driving an associated pin, the use of the pin as
a general purpose output pin is disabled. The I/O pin
may be read, but the output driver for the Parallel Port
bit will be disabled. If a peripheral is enabled, but the
peripheral is not actively driving a pin, that pin may be
driven by a port.
A parallel I/O (PIO) port that shares a pin with a peripheral is, in general, subservient to the peripheral. The
peripheral’s output buffer data and control signals are
provided to a pair of multiplexers. The multiplexers
select whether the peripheral or the associated port
has ownership of the output data and control signals of
the I/O pad cell. Figure 8-2 shows how ports are shared
with other peripherals, and the associated I/O cell (pad)
to which they are connected. Table 8-1 shows the
formats of the registers for the shared ports, PORTB
through PORTG.
All port pins have three registers directly associated
with the operation of the port pin. The data direction
register (TRISx) determines whether the pin is an input
or an output. If the Data Direction bit is a ‘1’, then the
pin is an input. All port pins are defined as inputs after
a Reset. Reads from the latch (LATx), read the latch.
Writes to the latch, write the latch (LATx). Reads from
the port (PORTx), read the port pins, and writes to the
port pins, write the latch (LATx).
FIGURE 8-1:
BLOCK DIAGRAM OF A DEDICATED PORT STRUCTURE
Dedicated Port Module
Read TRIS
I/O Cell
TRIS Latch
Data Bus
D
Q
WR TRIS
CK
Data Latch
D
WR LAT +
WR Port
Q
I/O Pad
CK
Read LAT
Read Port
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 53
dsPIC30F6010
FIGURE 8-2:
BLOCK DIAGRAM OF A SHARED PORT STRUCTURE
Output Multiplexers
Peripheral Module
Peripheral Input Data
Peripheral Module Enable
I/O Cell
Peripheral Output Enable
1
Peripheral Output Data
0
PIO Module
1
Output Enable
Output Data
0
Read TRIS
I/O Pad
Data Bus
D
WR TRIS
Q
CK
TRIS Latch
D
WR LAT +
WR Port
Q
CK
Data Latch
Read LAT
Input Data
Read Port
8.2
8.2.1
Configuring Analog Port Pins
The use of the ADPCFG and TRIS registers control the
operation of the A/D port pins. The port pins that are
desired as analog inputs must have their corresponding TRIS bit set (input). If the TRIS bit is cleared
(output), the digital output level (VOH or VOL) will be
converted.
When reading the PORT register, all pins configured as
analog input channel will read as cleared (a low level).
Pins configured as digital inputs will not convert an analog input. Analog levels on any pin that is defined as a
digital input (including the ANx pins), may cause the
input buffer to consume current that exceeds the
device specifications.
DS70119D-page 54
I/O PORT WRITE/READ TIMING
One instruction cycle is required between a port
direction change or port write operation and a read
operation of the same port. Typically this instruction
would be a NOP.
EXAMPLE 8-1:
PORT WRITE/READ
EXAMPLE
MOV 0xFF00, W0; Configure PORTB<15:8>
; as inputs
MOV W0, TRISBB; and PORTB<7:0> as outputs
NOP
; Delay 1 cycle
btssPORTB, #13; Next Instruction
Preliminary
 2004 Microchip Technology Inc.
 2004 Microchip Technology Inc.
Preliminary
02E2
02E4
02E6
02E8
LATF
TRISG
PORTG
LATG
—
—
—
—
—
—
—
—
—
—
LATD13
RD13
—
—
—
—
—
—
—
—
—
LATD12
RD12
—
—
—
—
—
—
—
—
—
—
—
LATD11
RD11
—
—
—
—
—
—
—
—
—
—
—
LATD10
RD10
—
—
RD5
—
—
RD4
—
—
RD3
RD2
—
—
RC3
LATC3
RD1
LATC1
RC1
TRISC1
LATB1
RB1
RD0
—
—
—
LATB0
RB0
0000 0000 0000 0000
1111 1111 1111 1111
0000 0000 0000 0000
0000 0000 0000 0000
1110 0000 0000 1010
0000 0000 0000 0000
0000 0000 0000 0000
1111 1111 1111 1111
RG9
LATG9
LATE4
RE4
LATD4
LATE3
RE3
LATD3
LATE2
RE2
LATD2
LATE1
RE1
LATD1
RE0
0000 0000 0000 0000
RF7
LATF7
RF8
LATF8
LATF6
RF6
RG8
LATG8
RG7
LATG7
RG6
LATG6
—
—
—
LATF5
RF5
—
—
—
LATF4
RF4
LATF2
RF2
LATF1
RF1
LATF0
RF0
LATG3
RG3
LATG2
RG2
LATG1
RG1
LATG0
RG0
TRISG3 TRISG2 TRISG1 TRISG0
LATF3
RF3
0000 0000 0000 0000
0000 0000 0000 0000
0000 0011 1100 1111
0000 0000 0000 0000
0000 0000 0000 0000
0000 0001 1111 1111
LATE5
RE5
LATD5
0000 0000 0000 0000
LATE6
RE6
LATD6
TRISF8 TRISF7 TRISF6 TRISF5 TRISF4 TRISF3 TRISF2 TRISF1 TRISF0
LATE7
RE7
LATD7
LATE0
LATE8
RE8
LATD8
TRISG9 TRISG8 TRISG7 TRISG6
—
—
—
LATE9
RE9
LATD9
0000 0011 1111 1111
RD6
—
—
—
LATB2
TRISC3
LATB3
RB2
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
RD7
—
—
—
LATB4
RB3
—
TRISE9 TRISE8 TRISE7 TRISE6 TRISE5 TRISE4 TRISE3 TRISE2 TRISE1 TRISE0
RD8
—
—
—
LATB5
RB4
—
1100 0110 0000 0000
Reset State
LATD0
RD9
—
—
—
LATB6
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
—
—
—
—
—
—
—
—
—
—
—
LATD14
RD14
—
—
—
—
—
—
LATD15
RD15
u = uninitialized bit
02E0
PORTF
Legend:
02EE
02DA
PORTE
TRISF
02D8
TRISE
02DC
02D6
LATD
LATE
02D4
PORTD
RC13
LATC13
—
LATB7
RB5
—
—
02D2 TRISD15 TRISD14 TRISD13 TRISD12 TRISD11 TRISD10 TRISD9 TRISD8 TRISD7 TRISD6 TRISD5 TRISD4 TRISD3 TRISD2 TRISD1 TRISD0
RC14
LATC14
—
LATB8
RB6
—
—
TRISD
RC15
LATC15
—
LATB9
RB7
—
—
02D0
—
LATB10
RB8
—
—
02CE
—
LATB11
RB9
—
—
—
Bit 0
LATC
—
LATB12
RB10
—
—
—
Bit 1
PORTC
LATB13
RB11
—
—
—
Bit 2
02CC TRISC15 TRISC14 TRISC13
LATB14
RB12
LATA9
—
—
Bit 3
TRISC
LATB15
RB13
LATA10
—
—
Bit 4
02CB
RB14
—
RA9
—
Bit 5
LATB
RB15
—
RA10
—
Bit 6
02C8
—
—
—
Bit 7
PORTB
LATA14
—
—
Bit 8
02C6 TRISB15 TRISB14 TRISB13 TRISB12 TRISB11 TRISB10 TRISB9 TRISB8 TRISB7 TRISB6 TRISB5 TRISB4 TRISB3 TRISB2 TRISB1 TRISB0
Bit 9
TRISA10 TRISA9
Bit 10
TRISB
LATA15
—
—
Bit 11
02C4
RA14
—
Bit 12
LATA
RA15
—
Bit 13
02C2
Bit 14
02C0 TRISA15 TRISA14
Bit 15
TRISA
Addr.
dsPIC30F6010 PORT REGISTER MAP
PORTA
SFR
Name
TABLE 8-1:
dsPIC30F6010
DS70119D-page 55
dsPIC30F6010
8.3
Input Change Notification Module
The Input Change Notification module provides the
dsPIC30F devices the ability to generate interrupt
requests to the processor in response to a change-ofstate on selected input pins. This module is capable of
detecting input change-of-states even in Sleep mode,
when the clocks are disabled. There are 22 external
signals (CN0 through CN21) that may be selected
(enabled) for generating an interrupt request on a
change-of-state.
Please refer to the Pin Diagram on page 3 for CN pin
locations.
TABLE 8-2:
SFR
Name
INPUT CHANGE NOTIFICATION REGISTER MAP (BITS 15-8)
Addr.
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
CNEN1
00C0
CN15IE
CN14IE
CN13IE
CN12IE
CN11IE
CN10IE
CN9IE
CN8IE
0000 0000 0000 0000
CNEN2
00C2
—
—
—
—
—
—
—
—
0000 0000 0000 0000
CN9PUE
CN8PUE
0000 0000 0000 0000
—
—
0000 0000 0000 0000
CNPU1
00C4
CNPU2
00C6
Legend:
CN15PUE CN14PUE CN13PUE CN12PUE CN11PUE CN10PUE
—
—
—
—
—
—
Reset State
u = uninitialized bit
TABLE 8-3:
INPUT CHANGE NOTIFICATION REGISTER MAP (BITS 7-0)
SFR
Name
Addr.
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Reset State
CNEN1
00C0
CN7IE
CN6IE
CN5IE
CN4IE
CN3IE
CN2IE
CN1IE
CN0IE
0000 0000 0000 0000
CNEN2
00C2
—
—
CN21IE
CN20IE
CN19IE
CN18IE
CN17IE
CN16IE
0000 0000 0000 0000
CNPU1
00C4
CN7PUE
CN6PUE
CN5PUE
CN4PUE
CN3PUE
CN2PUE
CN1PUE
CN0PUE
0000 0000 0000 0000
00C6
—
—
CN21PUE CN20PUE CN19PUE CN18PUE CN17PUE
CN16PUE
0000 0000 0000 0000
CNPU2
Legend:
u = uninitialized bit
DS70119D-page 56
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
9.0
TIMER1 MODULE
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046).
This section describes the 16-bit General Purpose
(GP) Timer1 module and associated operational
modes.
Note:
Timer1 is a ‘Type A’ timer. Please refer to
the specifications for a Type A timer in
Section 24.0 Electrical Characteristics of
this document.
The following sections provide a detailed description,
including setup and control registers along with associated block diagrams for the operational modes of the
timers.
The Timer1 module is a 16-bit timer which can serve as
the time counter for the real-time clock, or operate as a
free running interval timer/counter. The 16-bit timer has
the following modes:
• 16-bit Timer
• 16-bit Synchronous Counter
• 16-bit Asynchronous Counter
Further, the following operational characteristics are
supported:
• Timer gate operation
• Selectable prescaler settings
• Timer operation during CPU Idle and Sleep
modes
• Interrupt on 16-bit period register match or falling
edge of external gate signal
 2004 Microchip Technology Inc.
These operating modes are determined by setting the
appropriate bit(s) in the 16-bit SFR, T1CON. Figure 9-1
presents a block diagram of the 16-bit timer module.
16-bit Timer Mode: In the 16-bit Timer mode, the timer
increments on every instruction cycle up to a match
value, preloaded into the period register PR1, then
resets to 0 and continues to count.
When the CPU goes into the Idle mode, the timer will
stop incrementing, unless the TSIDL (T1CON<13>)
bit = 0. If TSIDL = 1, the timer module logic will resume
the incrementing sequence upon termination of the
CPU Idle mode.
16-bit Synchronous Counter Mode: In the 16-bit
Synchronous Counter mode, the timer increments on
the rising edge of the applied external clock signal,
which is synchronized with the internal phase clocks.
The timer counts up to a match value preloaded in PR1,
then resets to 0 and continues.
When the CPU goes into the Idle mode, the timer will
stop incrementing, unless the respective TSIDL bit = 0.
If TSIDL = 1, the timer module logic will resume the
incrementing sequence upon termination of the CPU
Idle mode.
16-bit Asynchronous Counter Mode: In the 16-bit
Asynchronous Counter mode, the timer increments on
every rising edge of the applied external clock signal.
The timer counts up to a match value preloaded in PR1,
then resets to 0 and continues.
When the timer is configured for the Asynchronous mode
of operation and the CPU goes into the Idle mode, the
timer will stop incrementing if TSIDL = 1.
Preliminary
DS70119D-page 57
dsPIC30F6010
FIGURE 9-1:
16-BIT TIMER1 MODULE BLOCK DIAGRAM (TYPE A TIMER)
PR1
Equal
Comparator x 16
TSYNC
1
Reset
(3)
TMR1
Sync
0
0
1
Q
D
Q
CK
TGATE
TCS
TGATE
SOSCO/
T1CK
1X
LPOSCEN
SOSCI
9.1
Timer Gate Operation
Gate
Sync
01
TCY
00
9.3
The 16-bit timer can be placed in the Gated Time Accumulation mode. This mode allows the internal TCY to
increment the respective timer when the gate input signal (T1CK pin) is asserted high. Control bit TGATE
(T1CON<6>) must be set to enable this mode. The
timer must be enabled (TON = 1) and the timer clock
source set to internal (TCS = 0).
When the CPU goes into the Idle mode, the timer will
stop incrementing, unless TSIDL = 0. If TSIDL = 1, the
timer will resume the incrementing sequence upon
termination of the CPU Idle mode.
9.2
TGATE
T1IF
Event Flag
Timer Prescaler
The input clock (FOSC/4 or external clock) to the 16-bit
Timer, has a prescale option of 1:1, 1:8, 1:64, and
1:256 selected by control bits TCKPS<1:0>
(T1CON<5:4>). The prescaler counter is cleared when
any of the following occurs:
TCKPS<1:0>
TON
2
Prescaler
1, 8, 64, 256
Timer Operation During Sleep
Mode
During CPU Sleep mode, the timer will operate if:
• The timer module is enabled (TON = 1) and
• The timer clock source is selected as external
(TCS = 1) and
• The TSYNC bit (T1CON<2>) is asserted to a logic
0, which defines the external clock source as
asynchronous
When all three conditions are true, the timer will continue to count up to the period register and be reset to
0x0000.
When a match between the timer and the period register occurs, an interrupt can be generated, if the
respective Timer Interrupt Enable bit is asserted.
• a write to the TMR1 register
• clearing of the TON bit (T1CON<15>)
• device Reset such as POR and BOR
However, if the timer is disabled (TON = 0), then the
timer prescaler cannot be reset since the prescaler
clock is halted.
TMR1 is not cleared when T1CON is written. It is
cleared by writing to the TMR1 register.
DS70119D-page 58
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
9.4
9.5.1
Timer Interrupt
The 16-bit timer has the ability to generate an interrupt
on period match. When the timer count matches the
period register, the T1IF bit is asserted and an interrupt
will be generated, if enabled. The T1IF bit must be
cleared in software. The timer interrupt flag T1IF is
located in the IFS0 control register in the Interrupt
Controller.
When the Gated Time Accumulation mode is enabled,
an interrupt will also be generated on the falling edge of
the gate signal (at the end of the accumulation cycle).
RTC OSCILLATOR OPERATION
When the TON = 1, TCS = 1 and TGATE = 0, the timer
increments on the rising edge of the 32 kHz LP oscillator output signal, up to the value specified in the period
register, and is then reset to ‘0’.
The TSYNC bit must be asserted to a logic ‘0’
(Asynchronous mode) for correct operation.
Enabling LPOSCEN (OSCCON<1>) will disable the
normal Timer and Counter modes and enable a timer
carry-out wake-up event.
Enabling an interrupt is accomplished via the respective Timer Interrupt Enable bit, T1IE. The Timer Interrupt Enable bit is located in the IEC0 control register in
the Interrupt Controller.
When the CPU enters Sleep mode, the RTC will continue to operate, provided the 32 kHz external crystal
oscillator is active and the control bits have not been
changed. The TSIDL bit should be cleared to ‘0’ in
order for RTC to continue operation in Idle mode.
9.5
9.5.2
Real-Time Clock
Timer1, when operating in Real-Time Clock (RTC)
mode, provides time-of-day and event time stamping
capabilities. Key operational features of the RTC are:
•
•
•
•
Operation from 32 kHz LP oscillator
8-bit prescaler
Low power
Real-Time Clock Interrupts
These Operating modes are determined by setting the
appropriate bit(s) in the T1CON Control register
FIGURE 9-2:
RTC INTERRUPTS
When an interrupt event occurs, the respective interrupt flag, T1IF, is asserted and an interrupt will be generated, if enabled. The T1IF bit must be cleared in
software. The respective Timer interrupt flag, T1IF, is
located in the IFS0 status register in the Interrupt
Controller.
Enabling an interrupt is accomplished via the respective Timer Interrupt Enable bit, T1IE. The Timer Interrupt Enable bit is located in the IEC0 control register in
the Interrupt Controller.
RECOMMENDED
COMPONENTS FOR
TIMER1 LP OSCILLATOR
RTC
C1
SOSCI
32.768 kHz
XTAL
dsPIC30FXXXX
SOSCO
C2
R
C1 = C2 = 18 pF; R = 100K
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 59
0102
PR1
Bit 15
DS70119D-page 60
TSIDL
Bit 13
—
Bit 12
—
Bit 11
—
Bit 10
—
Bit 9
—
Bit 7
Bit 6
—
TGATE
Period Register 1
Timer 1 Register
Bit 8
Bit 4
TCKPS1 TCKPS0
Bit 5
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
—
Bit 14
TIMER1 REGISTER MAP
0104
TON
u = uninitialized bit
0100
TMR1
T1CON
Legend:
Addr.
SFR Name
TABLE 9-1:
—
Bit 3
TSYNC
Bit 2
TCS
Bit 1
—
Bit 0
Reset State
0000 0000 0000 0000
1111 1111 1111 1111
uuuu uuuu uuuu uuuu
dsPIC30F6010
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
10.0
TIMER2/3 MODULE
For 32-bit timer/counter operation, Timer2 is the LS
Word and Timer3 is the MS Word of the 32-bit timer.
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046).
This section describes the 32-bit General Purpose
(GP) Timer module (Timer2/3) and associated operational modes. Figure 10-1 depicts the simplified block
diagram of the 32-bit Timer2/3 module. Figure 10-2
and Figure 10-3 show Timer2/3 configured as two
independent 16-bit timers; Timer2 and Timer3,
respectively.
Note:
Timer2 is a ‘Type B’ timer and Timer3 is a
‘Type C’ timer. Please refer to the appropriate timer type in Section 24.0 Electrical
Characteristics of this document.
The Timer2/3 module is a 32-bit timer, which can be
configured as two 16-bit timers, with selectable operating modes. These timers are utilized by other
peripheral modules such as:
Note:
For 32-bit timer operation, T3CON control
bits are ignored. Only T2CON control bits
are used for setup and control. Timer 2
clock and gate inputs are utilized for the
32-bit timer module, but an interrupt is
generated with the Timer3 interrupt flag
(T3IF) and the interrupt is enabled with the
Timer3 Interrupt Enable bit (T3IE).
16-bit Mode: In the 16-bit mode, Timer2 and Timer3
can be configured as two independent 16-bit timers.
Each timer can be set up in either 16-bit Timer mode or
16-bit Synchronous Counter mode. See Section 9.0,
Timer1 Module, for details on these two operating
modes.
The only functional difference between Timer2 and
Timer3 is that Timer2 provides synchronization of the
clock prescaler output. This is useful for high frequency
external clock inputs.
• Input Capture
• Output Compare/Simple PWM
32-bit Timer Mode: In the 32-bit Timer mode, the timer
increments on every instruction cycle up to a match
value, preloaded into the combined 32-bit period register PR3/PR2, then resets to 0 and continues to count.
The following sections provide a detailed description,
including setup and control registers, along with associated block diagrams for the operational modes of the
timers.
For synchronous 32-bit reads of the Timer2/Timer3
pair, reading the LS word (TMR2 register) will cause
the MS word to be read and latched into a 16-bit
holding register, termed TMR3HLD.
The 32-bit timer has the following modes:
For synchronous 32-bit writes, the holding register
(TMR3HLD) must first be written to. When followed by
a write to the TMR2 register, the contents of TMR3HLD
will be transferred and latched into the MSB of the
32-bit timer (TMR3).
• Two independent 16-bit timers (Timer2 and
Timer3) with all 16-bit operating modes (except
Asynchronous Counter mode)
• Single 32-bit Timer operation
• Single 32-bit Synchronous Counter
Further, the following operational characteristics are
supported:
•
•
•
•
•
ADC Event Trigger
Timer Gate Operation
Selectable Prescaler Settings
Timer Operation during Idle and Sleep modes
Interrupt on a 32-bit Period Register Match
These operating modes are determined by setting the
appropriate bit(s) in the 16-bit T2CON and T3CON
SFRs.
 2004 Microchip Technology Inc.
32-bit Synchronous Counter Mode: In the 32-bit
Synchronous Counter mode, the timer increments on
the rising edge of the applied external clock signal,
which is synchronized with the internal phase clocks.
The timer counts up to a match value preloaded in the
combined 32-bit period register PR3/PR2, then resets
to ‘0’ and continues.
When the timer is configured for the Synchronous
Counter mode of operation and the CPU goes into the
Idle mode, the timer will stop incrementing, unless the
TSIDL (T2CON<13>) bit = 0. If TSIDL = 1, the timer
module logic will resume the incrementing sequence
upon termination of the CPU Idle mode.
Preliminary
DS70119D-page 61
dsPIC30F6010
FIGURE 10-1:
32-BIT TIMER2/3 BLOCK DIAGRAM
Data Bus<15:0>
TMR3HLD
16
16
Write TMR2
Read TMR2
16
Reset
TMR3
TMR2
MSB
LSB
Sync
ADC Event Trigger
Equal
Comparator x 32
PR3
PR2
0
T3IF
Event Flag
1
D
Q
CK
TGATE(T2CON<6>)
TCS
TGATE
TGATE
(T2CON<6>)
Q
TON
T2CK
Note:
TCKPS<1:0>
2
1X
Gate
Sync
01
TCY
00
Prescaler
1, 8, 64, 256
Timer Configuration bit T32, T2CON(<3>) must be set to 1 for a 32-bit timer/counter operation. All control
bits are respective to the T2CON register.
DS70119D-page 62
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 10-2:
16-BIT TIMER2 BLOCK DIAGRAM (TYPE B TIMER)
PR2
Equal
Reset
Comparator x 16
TMR2
Sync
0
T2IF
Event Flag
Q
D
Q
CK
TGATE
TCS
TGATE
1
TGATE
TON
T2CK
FIGURE 10-3:
TCKPS<1:0>
2
1X
Gate
Sync
01
TCY
00
Prescaler
1, 8, 64, 256
16-BIT TIMER3 BLOCK DIAGRAM (TYPE C TIMER)
PR3
ADC Event Trigger
Equal
Reset
TMR3
0
1
Q
D
Q
CK
TGATE
TCS
TGATE
T3IF
Event Flag
Comparator x 16
TGATE
T3CK
Sync
TON
1X
01
TCY
 2004 Microchip Technology Inc.
Preliminary
TCKPS<1:0>
2
Prescaler
1, 8, 64, 256
00
DS70119D-page 63
dsPIC30F6010
10.1
Timer Gate Operation
10.4
The 32-bit timer can be placed in the Gated Time Accumulation mode. This mode allows the internal TCY to
increment the respective timer when the gate input signal (T2CK pin) is asserted high. Control bit TGATE
(T2CON<6>) must be set to enable this mode. When in
this mode, Timer2 is the originating clock source. The
TGATE setting is ignored for Timer3. The timer must be
enabled (TON = 1) and the timer clock source set to
internal (TCS = 0).
The falling edge of the external signal terminates the
count operation, but does not reset the timer. The user
must reset the timer in order to start counting from zero.
10.2
ADC Event Trigger
When a match occurs between the 32-bit timer (TMR3/
TMR2) and the 32-bit combined period register (PR3/
PR2), a special ADC trigger event signal is generated
by Timer3.
10.3
Timer Operation During Sleep
Mode
During CPU Sleep mode, the timer will not operate,
because the internal clocks are disabled.
10.5
Timer Interrupt
The 32-bit timer module can generate an interrupt on
period match, or on the falling edge of the external gate
signal. When the 32-bit timer count matches the
respective 32-bit period register, or the falling edge of
the external “gate” signal is detected, the T3IF bit
(IFS0<7>) is asserted and an interrupt will be generated if enabled. In this mode, the T3IF interrupt flag is
used as the source of the interrupt. The T3IF bit must
be cleared in software.
Enabling an interrupt is accomplished via the
respective Timer Interrupt Enable bit, T3IE (IEC0<7>).
Timer Prescaler
The input clock (FOSC/4 or external clock) to the timer
has a prescale option of 1:1, 1:8, 1:64, and 1:256
selected by control bits TCKPS<1:0> (T2CON<5:4>
and T3CON<5:4>). For the 32-bit timer operation, the
originating clock source is Timer2. The prescaler operation for Timer3 is not applicable in this mode. The
prescaler counter is cleared when any of the following
occurs:
• a write to the TMR2/TMR3 register
• clearing either of the TON (T2CON<15> or
T3CON<15>) bits to ‘0’
• device Reset such as POR and BOR
However, if the timer is disabled (TON = 0), then the
Timer 2 prescaler cannot be reset, since the prescaler
clock is halted.
TMR2/TMR3 is not cleared when T2CON/T3CON is
written.
DS70119D-page 64
Preliminary
 2004 Microchip Technology Inc.
010A
010C
010E
0110
TMR3
PR2
PR3
T2CON
TON
 2004 Microchip Technology Inc.
TSIDL
TSIDL
—
—
—
—
Bit 12
—
—
Bit 11
Bit 9
Bit 7
Timer2 Register
Bit 8
Bit 6
Bit 5
—
—
—
—
—
—
—
—
TGATE
TGATE
Period Register 3
Period Register 2
Timer3 Register
Bit 4
TCKPS1 TCKPS0
TCKPS1 TCKPS0
Timer3 Holding Register (For 32-bit timer operations only)
Bit 10
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
0112
TON
u = uninitialized bit
0108
T3CON
Legend:
0106
TMR2
TMR3HLD
Bit 13
Bit 15
SFR Name Addr.
Bit 14
TIMER2/3 REGISTER MAP
TABLE 10-1:
—
T32
Bit 3
—
—
Bit 2
TCS
TCS
Bit 1
—
—
Bit 0
Reset State
0000 0000 0000 0000
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1111
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
dsPIC30F6010
Preliminary
DS70119D-page 65
dsPIC30F6010
NOTES:
DS70119D-page 66
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
11.0
TIMER4/5 MODULE
The Timer4/5 module is similar in operation to the
Timer 2/3 module. However, there are some
differences, which are listed below:
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046).
• The Timer4/5 module does not support the ADC
Event Trigger feature
• Timer4/5 can not be utilized by other peripheral
modules such as Input Capture and Output Compare
This section describes the second 32-bit General
Purpose (GP) Timer module (Timer4/5) and associated
operational modes. Figure 11-1 depicts the simplified
block diagram of the 32-bit Timer4/5 Module.
Figure 11-2 and Figure 11-3 show Timer4/5 configured
as two independent 16-bit timers, Timer4 and Timer5,
respectively.
Note:
The operating modes of the Timer4/5 module are
determined by setting the appropriate bit(s) in the 16-bit
T4CON and T5CON SFRs.
For 32-bit timer/counter operation, Timer4 is the LS
Word and Timer5 is the MS Word of the 32-bit timer.
Note:
For 32-bit timer operation, T5CON control
bits are ignored. Only T4CON control bits
are used for setup and control. Timer4
clock and gate inputs are utilized for the
32-bit timer module, but an interrupt is
generated with the Timer5 interrupt flag
(T5IF) and the interrupt is enabled with the
Timer5 Interrupt Enable bit (T5IE).
Timer4 is a ‘Type B’ timer and Timer5 is a
‘Type C’ timer. Please refer to the appropriate timer type in Section 24.0 Electrical
Characteristics of this document.
FIGURE 11-1:
32-BIT TIMER4/5 BLOCK DIAGRAM
Data Bus<15:0>
TMR5HLD
16
16
Write TMR4
Read TMR4
16
Reset
Equal
TMR5
TMR4
MSB
LSB
Comparator x 32
PR5
PR4
0
1
Q
D
Q
CK
TGATE(T4CON<6>)
TCS
TGATE
(T4CON<6>)
TCKPS<1:0>
TON
T4CK
Note:
TGATE
T5IF
Event Flag
Sync
2
1X
Gate
Sync
01
TCY
00
Prescaler
1, 8, 64, 256
Timer Configuration bit T32, T4CON(<3>) must be set to ‘1’ for a 32-bit timer/counter operation. All
control bits are respective to the T4CON register.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 67
dsPIC30F6010
FIGURE 11-2:
16-BIT TIMER4 BLOCK DIAGRAM (TYPE B TIMER)
PR4
Equal
Comparator x 16
TMR4
Reset
Sync
0
1
Q
D
Q
CK
TGATE
TCS
TGATE
T4CK
TGATE
T4IF
Event Flag
TCKPS<1:0>
1X
FIGURE 11-3:
Gate
Sync
01
TCY
00
2
TON
Prescaler
1, 8, 64, 256
16-BIT TIMER5 BLOCK DIAGRAM (TYPE C TIMER)
PR5
Equal
ADC Event Trigger
Reset
TMR5
0
1
Q
D
Q
CK
TGATE
TCS
TGATE
T5CK
Sync
TGATE
T5IF
Event Flag
Comparator x 16
1X
01
TCY
DS70119D-page 68
Preliminary
TCKPS<1:0>
TON
2
Prescaler
1, 8, 64, 256
00
 2004 Microchip Technology Inc.
TON
Bit 15
 2004 Microchip Technology Inc.
TSIDL
TSIDL
Bit 13
—
—
Bit 12
—
—
Bit 11
Bit 9
Bit 7
Bit 6
Timer 4 Register
Bit 8
Bit 5
—
—
—
—
—
—
—
—
TGATE
TGATE
Period Register 5
Period Register 4
Timer 5 Register
TCKPS1
TCKPS1
Timer 5 Holding Register (For 32-bit operations only)
Bit 10
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
—
—
Bit 14
TIMER4/5 REGISTER MAP
0120
TON
u = uninitialized bit
011E
T4CON
T5CON
Legend:
011A
011C
0118
TMR5
PR4
0116
PR5
0114
TMR4
Addr.
TMR5HLD
SFR Name
TABLE 11-1:
TCKPS0
TCKPS0
Bit 4
—
T45
Bit 3
—
—
Bit 2
TCS
TCS
Bit 1
—
—
Bit 0
Reset State
0000 0000 0000 0000
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1111
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
dsPIC30F6010
Preliminary
DS70119D-page 69
dsPIC30F6010
NOTES:
DS70119D-page 70
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
12.0
INPUT CAPTURE MODULE
12.1
Simple Capture Event Mode
The simple capture events in the dsPIC30F product
family are:
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046).
•
•
•
•
•
This section describes the Input Capture module and
associated operational modes. The features provided
by this module are useful in applications requiring
Frequency (Period) and Pulse measurement.
Figure 12-1 depicts a block diagram of the Input
Capture module. Input capture is useful for such modes
as:
Capture every falling edge
Capture every rising edge
Capture every 4th rising edge
Capture every 16th rising edge
Capture every rising and falling edge
These simple Input Capture modes are configured by
setting the appropriate bits ICM<2:0> (ICxCON<2:0>).
12.1.1
CAPTURE PRESCALER
There are four input capture prescaler settings, specified by bits ICM<2:0> (ICxCON<2:0>). Whenever the
capture channel is turned off, the prescaler counter will
be cleared. In addition, any Reset will clear the
prescaler counter.
• Frequency/Period/Pulse Measurements
• Additional sources of External Interrupts
The key operational features of the Input Capture
module are:
• Simple Capture Event mode
• Timer2 and Timer3 mode selection
• Interrupt on input capture event
These operating modes are determined by setting the
appropriate bits in the ICxCON register (where x =
1,2,...,N). The dsPIC30F6010 device has 8 capture
channels.
FIGURE 12-1:
INPUT CAPTURE MODE BLOCK DIAGRAM
From GP Timer Module
T3_CNT
T2_CNT
16
ICx
Pin
16
ICTMR
1
Prescaler
1, 4, 16
3
Edge
Detection
Logic
Clock
Synchronizer
0
FIFO
R/W
Logic
ICM<2:0>
Mode Select
ICxBUF
ICBNE, ICOV
ICI<1:0>
ICxCON
Interrupt
Logic
Data Bus
Note:
Set Flag
ICxIF
Where ‘x’ is shown, reference is made to the registers or bits associated to the respective input
capture channels 1 through N.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 71
dsPIC30F6010
12.1.2
CAPTURE BUFFER OPERATION
12.2
Each capture channel has an associated FIFO buffer,
which is four 16-bit words deep. There are two status
flags, which provide status on the FIFO buffer:
• ICBFNE - Input Capture Buffer Not Empty
• ICOV - Input Capture Overflow
The ICBFNE will be set on the first input capture event
and remain set until all capture events have been read
from the FIFO. As each word is read from the FIFO, the
remaining words are advanced by one position within
the buffer.
In the event that the FIFO is full with four capture
events and a fifth capture event occurs prior to a read
of the FIFO, an overflow condition will occur and the
ICOV bit will be set to a logic ‘1’. The fifth capture event
is lost and is not stored in the FIFO. No additional
events will be captured till all four events have been
read from the buffer.
If a FIFO read is performed after the last read and no
new capture event has been received, the read will
yield indeterminate results.
12.1.3
TIMER2 AND TIMER3 SELECTION
MODE
Each capture channel can select between one of two
timers for the time base, Timer2 or Timer3.
Selection of the timer resource is accomplished
through SFR bit ICTMR (ICxCON<7>). Timer3 is the
default timer resource available for the input capture
module.
12.1.4
HALL SENSOR MODE
When the input capture module is set for capture on
every edge, rising and falling, ICM<2:0> = 001, the following operations are performed by the input capture
logic:
• The input capture interrupt flag is set on every
edge, rising and falling.
• The interrupt on Capture mode setting bits,
ICI<1:0>, is ignored, since every capture
generates an interrupt.
• A capture overflow condition is not generated in
this mode.
Input Capture Operation During
Sleep and Idle Modes
An input capture event will generate a device wake-up
or interrupt, if enabled, if the device is in CPU Idle or
Sleep mode.
Independent of the timer being enabled, the input
capture module will wake-up from the CPU Sleep or
Idle mode when a capture event occurs, if ICM<2:0> =
111 and the Interrupt Enable bit is asserted. The same
wake-up can generate an interrupt, if the conditions for
processing the interrupt have been satisfied. The
wake-up feature is useful as a method of adding extra
external pin interrupts.
12.2.1
INPUT CAPTURE IN CPU SLEEP
MODE
CPU Sleep mode allows input capture module operation with reduced functionality. In the CPU Sleep
mode, the ICI<1:0> bits are not applicable, and the
input capture module can only function as an external
interrupt source.
The capture module must be configured for interrupt
only on the rising edge (ICM<2:0> = 111), in order for
the input capture module to be used while the device
is in Sleep mode. The prescale settings of 4:1 or 16:1
are not applicable in this mode.
12.2.2
INPUT CAPTURE IN CPU IDLE
MODE
CPU Idle mode allows input capture module operation
with full functionality. In the CPU Idle mode, the Interrupt mode selected by the ICI<1:0> bits are applicable,
as well as the 4:1 and 16:1 capture prescale settings,
which are defined by control bits ICM<2:0>. This mode
requires the selected timer to be enabled. Moreover, the
ICSIDL bit must be asserted to a logic ‘0’.
If the input capture module is defined as ICM<2:0> =
111 in CPU Idle mode, the input capture pin will serve
only as an external interrupt pin.
12.3
Input Capture Interrupts
The input capture channels have the ability to generate
an interrupt, based upon the selected number of capture events. The selection number is set by control bits
ICI<1:0> (ICxCON<6:5>).
Each channel provides an interrupt flag (ICxIF) bit. The
respective capture channel interrupt flag is located in
the corresponding IFSx Status register.
Enabling an interrupt is accomplished via the respective capture channel interrupt enable (ICxIE) bit. The
Capture Interrupt Enable bit is located in the
corresponding IEC Control register.
DS70119D-page 72
Preliminary
 2004 Microchip Technology Inc.
 2004 Microchip Technology Inc.
0156
0158
IC6CON
IC7BUF
u = uninitialized bit
—
—
—
—
—
—
—
—
Bit 15
—
—
—
—
—
—
—
—
Bit 14
ICSIDL
ICSIDL
ICSIDL
ICSIDL
ICSIDL
ICSIDL
ICSIDL
ICSIDL
Bit 13
—
—
—
—
—
—
—
—
Bit 12
—
—
—
—
—
—
—
—
Bit 11
INPUT CAPTURE REGISTER MAP
—
—
—
—
—
—
—
—
Bit 10
Bit 8
Bit 7
—
ICTMR
—
ICTMR
—
ICTMR
—
ICTMR
—
ICTMR
—
ICTMR
—
ICTMR
—
—
ICTMR
Input 8 Capture Register
—
Input 7 Capture Register
—
Input 6 Capture Register
—
Input 5 Capture Register
—
Input 4 Capture Register
—
Input 3 Capture Register
—
Input 2 Capture Register
—
Input 1 Capture Register
Bit 9
Bit 5
ICI<1:0>
ICI<1:0>
ICI<1:0>
ICI<1:0>
ICI<1:0>
ICI<1:0>
ICI<1:0>
ICI<1:0>
Bit 6
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
Legend:
015E
0154
IC6BUF
IC8CON
0152
IC5CON
015A
0150
IC5BUF
015C
014E
IC4CON
IC8BUF
014C
IC4BUF
IC7CON
0148
0146
IC2CON
014A
0144
IC2BUF
IC3CON
0142
IC1CON
IC3BUF
0140
IC1BUF
SFR Name Addr.
TABLE 12-1:
ICOV
ICOV
ICOV
ICOV
ICOV
ICOV
ICOV
ICOV
Bit 4
ICBNE
ICBNE
ICBNE
ICBNE
ICBNE
ICBNE
ICBNE
ICBNE
Bit 3
Bit 2
ICM<2:0>
ICM<2:0>
ICM<2:0>
ICM<2:0>
ICM<2:0>
ICM<2:0>
ICM<2:0>
ICM<2:0>
Bit 1
Bit 0
Reset State
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
dsPIC30F6010
Preliminary
DS70119D-page 73
dsPIC30F6010
NOTES:
DS70119D-page 74
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
13.0
OUTPUT COMPARE MODULE
The key operational features of the Output Compare
module include:
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046).
This section describes the Output Compare module
and associated operational modes. The features provided by this module are useful in applications requiring
operational modes such as:
• Generation of Variable Width Output Pulses
• Power Factor Correction
Figure 13-1 depicts a block diagram of the Output
Compare module.
FIGURE 13-1:
•
•
•
•
•
•
Timer2 and Timer3 Selection mode
Simple Output Compare Match mode
Dual Output Compare Match mode
Simple PWM mode
Output Compare during Sleep and Idle modes
Interrupt on Output Compare/PWM Event
These operating modes are determined by setting the
appropriate bits in the 16-bit OCxCON SFR (where x =
1,2,3,...,N). The dsPIC30F6010 device has 8 compare
channels.
OCxRS and OCxR in the figure represent the Dual
Compare registers. In the Dual Compare mode, the
OCxR register is used for the first compare and OCxRS
is used for the second compare.
OUTPUT COMPARE MODE BLOCK DIAGRAM
Set Flag bit
OCxIF
OCxRS
Output
Logic
OCxR
3
OCM<2:0>
Mode Select
Comparator
S Q
R
OCx
Output Enable
OCFA
(for x = 1, 2, 3 or 4)
0
1
OCTSEL
1
0
or OCFB
(for x = 5, 6, 7 or 8)
From GP Timer Module
TMR2<15:0
Note:
TMR3<15:0> T2P2_MATCH
T3P3_MATCH
Where ‘x’ is shown, reference is made to the registers associated with the respective output compare
channels 1 through N.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 75
dsPIC30F6010
13.1
Timer2 and Timer3 Selection Mode
Each output compare channel can select between one
of two 16-bit timers; Timer2 or Timer3.
The selection of the timers is controlled by the OCTSEL
bit (OCxCON<3>). Timer2 is the default timer resource
for the Output Compare module.
13.2
Simple Output Compare Match
Mode
When control bits OCM<2:0> (OCxCON<2:0>) = 001,
010 or 011, the selected output compare channel is
configured for one of three simple output compare
match modes:
• Compare forces I/O pin low
• Compare forces I/O pin high
• Compare toggles I/O pin
Dual Output Compare Match Mode
When control bits OCM<2:0> (OCxCON<2:0>) = 100
or 101, the selected output compare channel is configured for one of two dual output compare modes, which
are:
• Single Output Pulse mode
• Continuous Output Pulse mode
13.3.1
• Determine instruction cycle time TCY.
• Calculate desired pulse width value based on TCY.
• Calculate time to start pulse from timer start value
of 0x0000.
• Write pulse width start and stop times into OCxR
and OCxRS compare registers (x denotes
channel 1, 2, ...,N).
• Set timer period register to value equal to, or
greater than, value in OCxRS compare register.
• Set OCM<2:0> = 100.
• Enable timer, TON (TxCON<15>) = 1.
To initiate another single pulse, issue another write to
set OCM<2:0> = 100.
Simple PWM Mode
When control bits OCM<2:0> (OCxCON<2:0>) = 110
or 111, the selected output compare channel is configured for the PWM mode of operation. When configured
for the PWM mode of operation, OCxR is the Main latch
(read only) and OCxRS is the Secondary latch. This
enables glitchless PWM transitions.
The user must perform the following steps in order to
configure the output compare module for PWM
operation:
1.
2.
4.
For the user to configure the module for the generation
of a single output pulse, the following steps are
required (assuming timer is off):
DS70119D-page 76
• Determine instruction cycle time TCY.
• Calculate desired pulse value based on TCY.
• Calculate timer to start pulse width from timer start
value of 0x0000.
• Write pulse width start and stop times into OCxR
and OCxRS (x denotes channel 1, 2, ...,N)
compare registers, respectively.
• Set timer period register to value equal to, or
greater than, value in OCxRS compare register.
• Set OCM<2:0> = 101.
• Enable timer, TON (TxCON<15>) = 1.
3.
SINGLE PULSE MODE
CONTINUOUS PULSE MODE
For the user to configure the module for the generation
of a continuous stream of output pulses, the following
steps are required:
13.4
The OCxR register is used in these modes. The OCxR
register is loaded with a value and is compared to the
selected incrementing timer count. When a compare
occurs, one of these compare match modes occurs. If
the counter resets to zero before reaching the value in
OCxR, the state of the OCx pin remains unchanged.
13.3
13.3.2
Set the PWM period by writing to the appropriate
period register.
Set the PWM duty cycle by writing to the OCxRS
register.
Configure the output compare module for PWM
operation.
Set the TMRx prescale value and enable the
Timer, TON (TxCON<15>) = 1.
13.4.1
INPUT PIN FAULT PROTECTION
FOR PWM
When control bits OCM<2:0> (OCxCON<2:0>) = 111,
the selected output compare channel is again configured for the PWM mode of operation, with the additional feature of input fault protection. While in this
mode, if a logic 0 is detected on the OCFA/B pin, the
respective PWM output pin is placed in the high impedance input state. The OCFLT bit (OCxCON<4>) indicates whether a FAULT condition has occurred. This
state will be maintained until both of the following
events have occurred:
• The external FAULT condition has been removed.
• The PWM mode has been re-enabled by writing
to the appropriate control bits.
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
13.4.2
PWM PERIOD
The PWM period is specified by writing to the PRx register. The PWM period can be calculated using
Equation 13-1.
EQUATION 13-1:
PWM PERIOD
PWM period = [(PRx) + 1] • 4 • TOSC •
(TMRx prescale value)
PWM frequency is defined as 1 / [PWM period].
When the selected TMRx is equal to its respective
period register, PRx, the following four events occur on
the next increment cycle:
• TMRx is cleared.
• The OCx pin is set.
- Exception 1: If PWM duty cycle is 0x0000,
the OCx pin will remain low.
- Exception 2: If duty cycle is greater than PRx,
the pin will remain high.
• The PWM duty cycle is latched from OCxRS into
OCxR.
• The corresponding timer interrupt flag is set.
See Figure 13-1 for key PWM period comparisons.
Timer3 is referred to in the figure for clarity.
FIGURE 13-1:
PWM OUTPUT TIMING
Period
Duty Cycle
TMR3 = PR3
T3IF = 1
(Interrupt Flag)
OCxR = OCxRS
13.5
TMR3 = PR3
T3IF = 1
(Interrupt Flag)
OCxR = OCxRS
TMR3 = Duty Cycle (OCxR)
TMR3 = Duty Cycle (OCxR)
Output Compare Operation During
CPU Sleep Mode
When the CPU enters the Sleep mode, all internal
clocks are stopped. Therefore, when the CPU enters
the Sleep state, the output compare channel will drive
the pin to the active state that was observed prior to
entering the CPU Sleep state.
For example, if the pin was high when the CPU
entered the Sleep state, the pin will remain high. Likewise, if the pin was low when the CPU entered the
Sleep state, the pin will remain low. In either case, the
output compare module will resume operation when
the device wakes up.
13.6
Output Compare Operation During
CPU Idle Mode
When the CPU enters the Idle mode, the output
compare module can operate with full functionality.
The output compare channel will operate during the
CPU Idle mode if the OCSIDL bit (OCxCON<13>) is at
logic 0 and the selected time base (Timer2 or Timer3)
is enabled and the TSIDL bit of the selected timer is
set to logic 0.
 2004 Microchip Technology Inc.
13.7
Output Compare Interrupts
The output compare channels have the ability to generate an interrupt on a compare match, for whichever
match mode has been selected.
For all modes except the PWM mode, when a compare
event occurs, the respective interrupt flag (OCxIF) is
asserted and an interrupt will be generated, if enabled.
The OCxIF bit is located in the corresponding IFS
Status register, and must be cleared in software. The
interrupt is enabled via the respective compare interrupt enable (OCxIE) bit, located in the corresponding
IEC Control register.
For the PWM mode, when an event occurs, the respective timer interrupt flag (T2IF or T3IF) is asserted and
an interrupt will be generated, if enabled. The IF bit is
located in the IFS0 Status register, and must be cleared
in software. The interrupt is enabled via the respective
Timer Interrupt Enable bit (T2IE or T3IE), located in the
IEC0 Control register. The output compare interrupt
flag is never set during the PWM mode of operation.
Preliminary
DS70119D-page 77
DS70119D-page 78
Preliminary
OC8R
—
—
—
—
—
—
—
—
—
—
—
—
—
—
OCSIDL
OCSIDL
OCSIDL
OCSIDL
OCSIDL
OCSIDL
OCSIDL
OCSIDL
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
Bit 8
Bit 7
Bit 6
—
—
—
Output Compare 1 Main Register
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
Output Compare 8 Main Register
Output Compare 8 Secondary Register
—
Output Compare 7 Main Register
Output Compare 7 Secondary Register
—
Output Compare 6 Main Register
Output Compare 6 Secondary Register
—
Output Compare 5 Main Register
Output Compare 5 Secondary Register
—
Output Compare 4 Main Register
Output Compare 4 Secondary Register
—
Output Compare 3 Main Register
Output Compare 3 Secondary Register
—
Output Compare 2 Main Register
Output Compare 2 Secondary Register
—
—
—
—
—
—
—
—
—
Bit 5
Output Compare 1 Secondary Register
Bit 9
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
OC8CON
01AE
—
Legend:
u = uninitialized bit
01AA
01AC
OC8RS
019C
OC5CON
01A8
019A
OC5R
OC7CON
0198
OC5RS
01A6
0196
OC4CON
OC7R
0194
OC4R
01A4
0192
OC4RS
OC7RS
0190
OC3CON
01A2
018E
OC3R
OC6CON
018C
OC3RS
01A0
018A
OC2CON
OC6R
0188
OC2R
019E
0186
OC2RS
OC6RS
0184
OC1CON
—
0182
Bit 10
0180
Bit 11
OC1R
Bit 12
OC1RS
Bit 13
Bit 15
Addr.
SFR Name
Bit 14
OUTPUT COMPARE REGISTER MAP
TABLE 13-1:
OCFLT
OCFLT
OCFLT
OCFLT
OCFLT
OCFLT
OCFLT
OCFLT
Bit 4
OCTSEL
OCTSEL
OCTSEL
OCTSEL
OCTSEL
OCTSEL
OCTSE
OCTSEL
Bit 3
Bit 2
OCM<2:0>
OCM<2:0>
OCM<2:0>
OCM<2:0>
OCM<2:0>
OCM<2:0>
OCM<2:0>
OCM<2:0>
Bit 1
Bit 0
Reset State
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
dsPIC30F6010
 2004 Microchip Technology Inc.
dsPIC30F6010
14.0
QUADRATURE ENCODER
INTERFACE (QEI) MODULE
The operational features of the QEI include:
• Three input channels for two phase signals and
index pulse
• 16-bit up/down position counter
• Count direction status
• Position Measurement (x2 and x4) mode
• Programmable digital noise filters on inputs
• Alternate 16-bit Timer/Counter mode
• Quadrature Encoder Interface interrupts
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046).
This section describes the Quadrature Encoder Interface (QEI) module and associated operational modes.
The QEI module provides the interface to incremental
encoders for obtaining mechanical position data.
FIGURE 14-1:
These operating modes are determined by setting the
appropriate bits QEIM<2:0> (QEICON<10:8>).
Figure 14-1 depicts the Quadrature Encoder Interface
block diagram.
QUADRATURE ENCODER INTERFACE BLOCK DIAGRAM
TQCKPS<1:0>
Sleep Input
TQCS
TCY
Synchronize
Det
2
0
Prescaler
1, 8, 64, 256
1
1
QEIM<2:0>
0
TQGATE
QEA
Programmable
Digital Filter
UPDN_SRC
0
QEICON<11>
2
Quadrature
Encoder
Interface Logic
QEB
Programmable
Digital Filter
INDX
Programmable
Digital Filter
Q
CK
Q
QEIIF
Event
Flag
16-bit Up/Down Counter
(POSCNT)
Reset
Comparator/
Zero Detect
Equal
3
QEIM<2:0>
Mode Select
1
D
Max Count Register
(MAXCNT)
3
PCDOUT
Existing Pin Logic
0
UPDN
1
 2004 Microchip Technology Inc.
Up/Down
Preliminary
DS70119D-page 79
dsPIC30F6010
14.1
Quadrature Encoder Interface
Logic
A typical incremental (a.k.a. optical) encoder has three
outputs: Phase A, Phase B, and an index pulse. These
signals are useful and often required in position and
speed control of ACIM and SR motors.
The two channels, Phase A (QEA) and Phase B (QEB),
have a unique relationship. If Phase A leads Phase B,
then the direction (of the motor) is deemed positive or
forward. If Phase A lags Phase B, then the direction (of
the motor) is deemed negative or reverse.
A third channel, termed index pulse, occurs once per
revolution and is used as a reference to establish an
absolute position. The index pulse coincides with
Phase A and Phase B, both low.
14.2
16-bit Up/Down Position Counter
Mode
The 16-bit Up/Down Counter counts up or down on
every count pulse, which is generated by the difference
of the Phase A and Phase B input signals. The counter
acts as an integrator, whose count value is proportional
to position. The direction of the count is determined by
the UPDN signal, which is generated by the
Quadrature Encoder Interface Logic.
14.2.1
POSITION COUNTER ERROR
CHECKING
Position count error checking in the QEI is provided for
and indicated by the CNTERR bit (QEICON<15>). The
error checking only applies when the position counter
is configured for Reset on the Index Pulse modes
(QEIM<2:0> = ‘110’ or ‘100’). In these modes, the
contents of the POSCNT register is compared with the
values (0xFFFF or MAXCNT+1, depending on direction). If these values are detected, an error condition is
generated by setting the CNTERR bit and a QEI count
error interrupt is generated. The QEI count error
interrupt can be disabled by setting the CEID bit
(DFLTCON<8>). The position counter continues to
count encoder edges after an error has been detected.
The POSCNT register continues to count up/down until
a natural rollover/underflow. No interrupt is generated
for the natural rollover/underflow event. The CNTERR
bit is a Read/Write bit and reset in software by the user.
14.2.2
POSITION COUNTER RESET
The interrupt is still generated on the detection of the
index pulse and not on the position counter overflow/
underflow.
14.2.3
COUNT DIRECTION STATUS
As mentioned in the previous section, the QEI logic
generates an UPDN signal, based upon the relationship between Phase A and Phase B. In addition to the
output pin, the state of this internal UPDN signal is supplied to a SFR bit UPDN (QEICON<11>) as a read only
bit. To place the state of this signal on an I/O pin, the
SFR bit PCDOUT (QEICON<6>) must be 1.
14.3
Position Measurement Mode
There are two measurement modes which are supported and are termed x2 and x4. These modes are
selected by the QEIM<2:0> mode select bits located in
SFR QEICON<10:8>.
When control bits QEIM<2:0> = 100 or 101, the x2
Measurement mode is selected and the QEI logic only
looks at the Phase A input for the position counter
increment rate. Every rising and falling edge of the
Phase A signal causes the position counter to be incremented or decremented. The Phase B signal is still
utilized for the determination of the counter direction,
just as in the x4 mode.
Within the x2 Measurement mode, there are two
variations of how the position counter is reset:
1.
2.
Position counter reset by detection of index
pulse, QEIM<2:0> = 100.
Position counter reset by match with MAXCNT,
QEIM<2:0> = 101.
When control bits QEIM<2:0> = 110 or 111, the x4
Measurement mode is selected and the QEI logic looks
at both edges of the Phase A and Phase B input signals. Every edge of both signals causes the position
counter to increment or decrement.
Within the x4 Measurement mode, there are two
variations of how the position counter is reset:
1.
The Position Counter Reset Enable bit, POSRES
(QEI<2>) controls whether the position counter is reset
when the index pulse is detected. This bit is only
applicable when QEIM<2:0> = ‘100’ or ‘110’.
DS70119D-page 80
If the POSRES bit is set to ‘1’, then the position counter
is reset when the index pulse is detected. If the
POSRES bit is set to ‘0’, then the position counter is not
reset when the index pulse is detected. The position
counter will continue counting up or down, and will be
reset on the rollover or underflow condition.
2.
Position counter reset by detection of index
pulse, QEIM<2:0> = 110.
Position counter reset by match with MAXCNT,
QEIM<2:0> = 111.
The x4 Measurement mode provides for finer resolution data (more position counts) for determining motor
position.
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
14.4
Programmable Digital Noise
Filters
The digital noise filter section is responsible for rejecting noise on the incoming capture or quadrature signals. Schmitt Trigger inputs and a three-clock cycle
delay filter combine to reject low level noise and large,
short duration noise spikes that typically occur in noise
prone applications, such as a motor system.
In addition, control bit UPDN_SRC (QEICON<0>)
determines whether the timer count direction state is
based on the logic state, written into the UPDN Control/
Status bit (QEICON<11>), or the QEB pin state. When
UPDN_SRC = 1, the timer count direction is controlled
from the QEB pin. Likewise, when UPDN_SRC = 0, the
timer count direction is controlled by the UPDN bit.
Note:
The filter ensures that the filtered output signal is not
permitted to change until a stable value has been
registered for three consecutive clock cycles.
For the QEA, QEB and INDX pins, the clock divide frequency for the digital filter is programmed by bits
QECK<2:0> (DFLTCON<6:4>) and are derived from
the base instruction cycle TCY.
To enable the filter output for channels QEA, QEB and
INDX, the QEOUT bit must be ‘1’. The filter network for
all channels is disabled on POR and BOR.
14.5
Alternate 16-bit Timer/Counter
When the QEI module is not configured for the QEI
mode QEIM<2:0> = 001, the module can be configured
as a simple 16-bit timer/counter. The setup and control
of the auxiliary timer is accomplished through the
QEICON SFR register. This timer functions identically
to Timer1. The QEA pin is used as the timer clock input.
When configured as a timer, the POSCNT register
serves as the Timer Count Register and the MAXCNT
register serves as the Period Register. When a timer/
period register match occur, the QEI interrupt flag will
be asserted.
The only exception between the general purpose timers and this timer is the added feature of external Up/
Down input select. When the UPDN pin is asserted
high, the timer will increment up. When the UPDN pin
is asserted low, the timer will be decremented.
Note:
Changing the operational mode (i.e., from
QEI to Timer or vice versa), will not affect
the Timer/Position Count Register contents.
14.6
14.6.1
This Timer does not support the External
Asynchronous Counter mode of operation.
If using an external clock source, the clock
will automatically be synchronized to the
internal instruction cycle.
QEI Module Operation During CPU
Sleep Mode
QEI OPERATION DURING CPU
SLEEP MODE
The QEI module will be halted during the CPU Sleep
mode.
14.6.2
TIMER OPERATION DURING CPU
SLEEP MODE
During CPU Sleep mode, the timer will not operate,
because the internal clocks are disabled.
14.7
QEI Module Operation During CPU
Idle Mode
Since the QEI module can function as a quadrature
encoder interface, or as a 16-bit timer, the following
section describes operation of the module in both
modes.
14.7.1
QEI OPERATION DURING CPU IDLE
MODE
When the CPU is placed in the Idle mode, the QEI
module will operate if the QEISIDL bit (QEICON<13>)
= 0. This bit defaults to a logic ‘0’ upon executing POR
and BOR. For halting the QEI module during the CPU
Idle mode, QEISIDL should be set to ‘1’.
The UPDN Control/Status bit (QEICON<11>) can be
used to select the count direction state of the Timer
register. When UPDN = 1, the timer will count up. When
UPDN = 0, the timer will count down.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 81
dsPIC30F6010
14.7.2
TIMER OPERATION DURING CPU
IDLE MODE
When the CPU is placed in the Idle mode and the QEI
module is configured in the 16-bit Timer mode, the
16-bit timer will operate if the QEISIDL bit
(QEICON<13>) = 0. This bit defaults to a logic ‘0’ upon
executing POR and BOR. For halting the timer module
during the CPU Idle mode, QEISIDL should be set
to ‘1’.
If the QEISIDL bit is cleared, the timer will function
normally, as if the CPU Idle mode had not been
entered.
14.8
Quadrature Encoder Interface
Interrupts
The quadrature encoder interface has the ability to
generate an interrupt on occurrence of the following
events:
• Interrupt on 16-bit up/down position counter
rollover/underflow
• Detection of qualified index pulse, or if CNTERR
bit is set
• Timer period match event (overflow/underflow)
• Gate accumulation event
The QEI Interrupt Flag bit, QEIIF, is asserted upon
occurrence of any of the above events. The QEIIF bit
must be cleared in software. QEIIF is located in the
IFS2 Status register.
Enabling an interrupt is accomplished via the respective Enable bit, QEIIE. The QEIIE bit is located in the
IEC2 Control register.
DS70119D-page 82
Preliminary
 2004 Microchip Technology Inc.
Bit 6
—
—
Bit 5
—
—
IMV1
IMV0
CEID
QEOUT
QECK2
QECK1
Bit 4
QECK0
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
—
Maximun Count<15:0>
Bit 7
MAXCNT
0128
Legend:
u = uninitialized bit
Bit 8
Position Counter<15:0>
Bit 9
0126
Bit 10
Bit 3
Bit 2
Bit 1
Bit 0
—
—
—
—
INDX UPDN QEIM2 QEIM1 QEIM0 SWPAB PCDOUT TQGATE TQCKPS1 TQCKPS0 POSRES TQCS UPDN_SRC
Bit 12 Bit 11
0124
QEISIDL
Bit 13
DFLTCON
—
Bit 14
POSCNT
Bit 15
0122 CNTERR
Addr.
QEI REGISTER MAP
QEICON
SFR
Name
TABLE 14-1:
1111 1111 1111 1111
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
Reset State
dsPIC30F6010
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 83
dsPIC30F6010
NOTES:
DS70119D-page 84
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
15.0
MOTOR CONTROL PWM
MODULE
The PWM module has the following features:
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046).
This module simplifies the task of generating multiple,
synchronized Pulse Width Modulated (PWM) outputs.
In particular, the following power and motion control
applications are supported by the PWM module:
•
•
•
•
Three Phase AC Induction Motor
Switched Reluctance (SR) Motor
Brushless DC (BLDC) Motor
Uninterruptible Power Supply (UPS)
•
•
•
•
•
•
8 PWM I/O pins with 4 duty cycle generators
Up to 16-bit resolution
‘On-the-Fly’ PWM frequency changes
Edge and Center Aligned Output modes
Single Pulse Generation mode
Interrupt support for asymmetrical updates in
Center Aligned mode
• Output override control for Electrically
Commutative Motor (ECM) operation
• ‘Special Event’ comparator for scheduling other
peripheral events
• FAULT pins to optionally drive each of the PWM
output pins to a defined state
This module contains 4 duty cycle generators, numbered 1 through 4. The module has 8 PWM output pins,
numbered PWM1H/PWM1L through PWM4H/PWM4L.
The eight I/O pins are grouped into high/low numbered
pairs, denoted by the suffix H or L, respectively. For
complementary loads, the low PWM pins are always
the complement of the corresponding high I/O pin.
The PWM module allows several modes of operation
which are beneficial for specific power control
applications.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 85
dsPIC30F6010
FIGURE 15-1:
PWM MODULE BLOCK DIAGRAM
PWMCON1
PWM Enable and Mode SFRs
PWMCON2
DTCON1
Dead Time Control SFRs
DTCON2
FLTACON
FAULT Pin Control SFRs
FLTBCON
OVDCON
PWM Manual
Control SFR
PWM Generator #4
16-bit Data Bus
PDC4 Buffer
PDC4
Comparator
PWM Generator
#3
PTMR
PWM4H
Channel 4 Dead Time
Generator and
Override Logic
Channel 3 Dead Time
Generator and
Override Logic
Comparator
PWM4L
PWM3H
Output
Driver
Block
PWM Generator
#2
Channel 2 Dead Time
Generator and
Override Logic
PTPER
PWM Generator
#1
Channel 1 Dead Time
Generator and
Override Logic
PTPER Buffer
PWM3L
PWM2H
PWM2L
PWM1H
PWM1L
FLTA
PTCON
FLTB
Comparator
SEVTDIR
SEVTCMP
Special Event
Postscaler
Special Event Trigger
PTDIR
PWM time base
Note:
Details of PWM Generator #1, #2, and #3 not shown for clarity.
DS70119D-page 86
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
15.1
15.1.1
PWM Time Base
The PWM time base is provided by a 15-bit timer with
a prescaler and postscaler. The time base is accessible
via the PTMR SFR. PTMR<15> is a Read Only Status
bit, PTDIR, that indicates the present count direction of
the PWM time base. If PTDIR is cleared, PTMR is
counting upwards. If PTDIR is set, PTMR is counting
downwards. The PWM time base is configured via the
PTCON SFR. The time base is enabled/disabled by
setting/clearing the PTEN bit in the PTCON SFR.
PTMR is not cleared when the PTEN bit is cleared in
software.
The PTPER SFR sets the counting period for PTMR.
The user must write a 15-bit value to PTPER<14:0>.
When the value in PTMR<14:0> matches the value in
PTPER<14:0>, the time base will either reset to 0, or
reverse the count direction on the next occurring clock
cycle. The action taken depends on the operating
mode of the time base.
Note:
If the period register is set to 0x0000, the
timer will stop counting, and the interrupt
and the special event trigger will not be
generated, even if the special event value
is also 0x0000. The module will not update
the period register, if it is already at
0x0000; therefore, the user must disable
the module in order to update the period
register.
The PWM time base can be configured for four different
modes of operation:
•
•
•
•
Free Running mode
Single Shot mode
Continuous Up/Down Count mode
Continuous Up/Down Count mode with interrupts
for double updates
These four modes are selected by the PTMOD<1:0>
bits in the PTCON SFR. The Up/Down Counting modes
support center aligned PWM generation. The Single
Shot mode allows the PWM module to support pulse
control of certain Electronically Commutative Motors
(ECMs).
The interrupt signals generated by the PWM time base
depend on the mode selection bits (PTMOD<1:0>) and
the postscaler bits (PTOPS<3:0>) in the PTCON SFR.
 2004 Microchip Technology Inc.
FREE RUNNING MODE
In the Free Running mode, the PWM time base counts
upwards until the value in the Time Base Period register (PTPER) is matched. The PTMR register is reset on
the following input clock edge and the time base will
continue to count upwards as long as the PTEN bit
remains set.
When the PWM time base is in the Free Running mode
(PTMOD<1:0> = 00), an interrupt event is generated
each time a match with the PTPER register occurs and
the PTMR register is reset to zero. The postscaler
selection bits may be used in this mode of the timer to
reduce the frequency of the interrupt events.
15.1.2
SINGLE SHOT MODE
In the Single Shot Counting mode, the PWM time base
begins counting upwards when the PTEN bit is set.
When the value in the PTMR register matches the
PTPER register, the PTMR register will be reset on the
following input clock edge and the PTEN bit will be
cleared by the hardware to halt the time base.
When the PWM time base is in the Single Shot mode
(PTMOD<1:0> = 01), an interrupt event is generated
when a match with the PTPER register occurs, the
PTMR register is reset to zero on the following input
clock edge, and the PTEN bit is cleared. The postscaler
selection bits have no effect in this mode of the timer.
15.1.3
CONTINUOUS UP/DOWN
COUNTING MODES
In the Continuous Up/Down Counting modes, the PWM
time base counts upwards until the value in the PTPER
register is matched. The timer will begin counting
downwards on the following input clock edge. The
PTDIR bit in the PTCON SFR is read only and indicates
the counting direction The PTDIR bit is set when the
timer counts downwards.
In the Up/Down Counting mode (PTMOD<1:0> = 10),
an interrupt event is generated each time the value of
the PTMR register becomes zero and the PWM time
base begins to count upwards. The postscaler selection bits may be used in this mode of the timer to reduce
the frequency of the interrupt events.
Preliminary
DS70119D-page 87
dsPIC30F6010
15.1.4
DOUBLE UPDATE MODE
In the Double Update mode (PTMOD<1:0> = 11), an
interrupt event is generated each time the PTMR register is equal to zero, as well as each time a period match
occurs. The postscaler selection bits have no effect in
this mode of the timer.
The Double Update mode provides two additional functions to the user. First, the control loop bandwidth is
doubled because the PWM duty cycles can be
updated, twice per period. Second, asymmetrical center-aligned PWM waveforms can be generated, which
are useful for minimizing output waveform distortion in
certain motor control applications.
Note:
15.1.5
Programming a value of 0x0001 in the
period register could generate a continuous interrupt pulse, and hence, must be
avoided.
EQUATION 15-1:
TPWM =
can
The PTMR register is not cleared when PTCON is
written.
PWM TIME BASE POSTSCALER
The match output of PTMR can optionally be postscaled through a 4-bit postscaler (which gives a 1:1 to
1:16 scaling).
The postscaler counter is cleared when any of the
following occurs:
• a write to the PTMR register
• a write to the PTCON register
• any device Reset
TCY • (PTPER + 1)
The maximum resolution (in bits) for a given device
oscillator and PWM frequency can be determined using
Equation 15-2:
EQUATION 15-2:
15.3
PWM RESOLUTION
log (2 • TPWM / TCY)
log (2)
Edge Aligned PWM
Edge aligned PWM signals are produced by the module
when the PWM time base is in the Free Running or Single Shot mode. For edge aligned PWM outputs, the output has a period specified by the value in PTPER and a
duty cycle specified by the appropriate duty cycle register (see Figure 15-2). The PWM output is driven active
at the beginning of the period (PTMR = 0) and is driven
inactive when the value in the duty cycle register
matches PTMR.
If the value in a particular duty cycle register is zero,
then the output on the corresponding PWM pin will be
inactive for the entire PWM period. In addition, the output on the PWM pin will be active for the entire PWM
period if the value in the duty cycle register is greater
than the value held in the PTPER register.
FIGURE 15-2:
PWM Period
EDGE ALIGNED PWM
New Duty Cycle Latched
PTPER
PTPER is a 15-bit register and is used to set the counting period for the PWM time base. PTPER is a double
buffered register. The PTPER buffer contents are
loaded into the PTPER register at the following instants:
• Free Running and Single Shot modes: When the
PTMR register is reset to zero after a match with
the PTPER register.
• Up/Down Counting modes: When the PTMR
register is zero.
The value held in the PTPER buffer is automatically
loaded into the PTPER register when the PWM time
base is disabled (PTEN = 0).
DS70119D-page 88
using
(PTMR Prescale Value)
The PTMR register is not cleared when PTCON is written.
15.2
determined
PWM PERIOD
Resolution =
• a write to the PTMR register
• a write to the PTCON register
• any device Reset
be
If the PWM time base is configured for one of the Up/
Down Count modes, the PWM period will be twice the
value provided by Equation 15-1.
PWM TIME BASE PRESCALER
The input clock to PTMR (FOSC/4), has prescaler
options of 1:1, 1:4, 1:16, or 1:64, selected by control
bits PTCKPS<1:0> in the PTCON SFR. The prescaler
counter is cleared when any of the following occurs:
15.1.6
The PWM period
Equation 15-1:
Preliminary
PTMR
Value
0
Duty Cycle
Period
 2004 Microchip Technology Inc.
dsPIC30F6010
15.4
15.5.1
Center Aligned PWM
Center aligned PWM signals are produced by the module when the PWM time base is configured in an Up/
Down Counting mode (see Figure 15-3).
The PWM compare output is driven to the active state
when the value of the duty cycle register matches the
value of PTMR and the PWM time base is counting
downwards (PTDIR = 1). The PWM compare output is
driven to the inactive state when the PWM time base is
counting upwards (PTDIR = 0) and the value in the
PTMR register matches the duty cycle value.
If the value in a particular duty cycle register is zero,
then the output on the corresponding PWM pin will be
inactive for the entire PWM period. In addition, the output on the PWM pin will be active for the entire PWM
period if the value in the duty cycle register is equal to
the value held in the PTPER register.
FIGURE 15-3:
CENTER ALIGNED PWM
Period/2
PTPER
The four PWM duty cycle registers are double buffered
to allow glitchless updates of the PWM outputs. For
each duty cycle, there is a duty cycle register that is
accessible by the user and a second duty cycle register
that holds the actual compare value used in the present
PWM period.
For edge aligned PWM output, a new duty cycle value
will be updated whenever a match with the PTPER register occurs and PTMR is reset. The contents of the
duty cycle buffers are automatically loaded into the
duty cycle registers when the PWM time base is disabled (PTEN = 0) and the UDIS bit is cleared in
PWMCON2.
When the PWM time base is in the Up/Down Counting
mode, new duty cycle values are updated when the
value of the PTMR register is zero and the PWM time
base begins to count upwards. The contents of the duty
cycle buffers are automatically loaded into the duty
cycle registers when the PWM time base is disabled
(PTEN = 0).
When the PWM time base is in the Up/Down Counting
mode with double updates, new duty cycle values are
updated when the value of the PTMR register is zero,
and when the value of the PTMR register matches the
value in the PTPER register. The contents of the duty
cycle buffers are automatically loaded into the duty
cycle registers when the PWM time base is disabled
(PTEN = 0).
PTMR
Value
Duty
Cycle
0
15.6
PWM Duty Cycle Comparison
Units
There are four 16-bit special function registers (PDC1,
PDC2, PDC3 and PDC4) used to specify duty cycle
values for the PWM module.
The value in each duty cycle register determines the
amount of time that the PWM output is in the active
state. The duty cycle registers are 16-bits wide. The LS
bit of a duty cycle register determines whether the
PWM edge occurs in the beginning. Thus, the PWM
resolution is effectively doubled.
 2004 Microchip Technology Inc.
Complementary PWM Operation
In the Complementary mode of operation, each pair of
PWM outputs is obtained by a complementary PWM
signal. A dead time may be optionally inserted during
device switching, when both outputs are inactive for a
short period (Refer to Section 15.7).
Period
15.5
DUTY CYCLE REGISTER BUFFERS
In Complementary mode, the duty cycle comparison
units are assigned to the PWM outputs as follows:
•
•
•
•
PDC1 register controls PWM1H/PWM1L outputs
PDC2 register controls PWM2H/PWM2L outputs
PDC3 register controls PWM3H/PWM3L outputs
PDC4 register controls PWM4H/PWM4L outputs
The Complementary mode is selected for each PWM
I/O pin pair by clearing the appropriate PMODx bit in the
PWMCON1 SFR. The PWM I/O pins are set to
Complementary mode by default upon a device Reset.
Preliminary
DS70119D-page 89
dsPIC30F6010
15.7
TABLE 15-1:
Dead Time Generators
Dead time generation may be provided when any of the
PWM I/O pin pairs are operating in the Complementary
Output mode. The PWM outputs use Push-Pull drive
circuits. Due to the inability of the power output devices
to switch instantaneously, some amount of time must
be provided between the turn off event of one PWM
output in a complementary pair and the turn on event of
the other transistor.
The PWM module allows two different dead times to be
programmed. These two dead times may be used in
one of two methods described below to increase user
flexibility:
• The PWM output signals can be optimized for different turn off times in the high side and low side
transistors in a complementary pair of transistors.
The first dead time is inserted between the turn off
event of the lower transistor of the complementary
pair and the turn on event of the upper transistor.
The second dead time is inserted between the
turn off event of the upper transistor and the turn
on event of the lower transistor.
• The two dead times can be assigned to individual
PWM I/O pin pairs. This Operating mode allows
the PWM module to drive different transistor/load
combinations with each complementary PWM I/O
pin pair.
15.7.1
DEAD TIME GENERATORS
DEAD TIME SELECTION BITS
Bit
Function
DTS1A
DTS1I
Selects PWM1L/PWM1H active edge dead time.
Selects PWM1L/PWM1H inactive edge
dead time.
Selects PWM2L/PWM2H active edge dead time.
DTS2A
DTS2I
DTS3A
DTS3I
DTS4A
DTS4I
15.7.3
Selects PWM2L/PWM2H inactive edge
dead time.
Selects PWM3L/PWM3H active edge dead time.
Selects PWM3L/PWM3H inactive edge
dead time.
Selects PWM4L/PWM4H active edge dead time.
Selects PWM4L/PWM4H inactive edge
dead time.
DEAD TIME RANGES
The amount of dead time provided by each dead time
unit is selected by specifying the input clock prescaler
value and a 6-bit unsigned value. The amount of dead
time provided by each unit may be set independently.
Four input clock prescaler selections have been provided to allow a suitable range of dead times, based on
the device operating frequency. The clock prescaler
option may be selected independently for each of the
two dead time values. The dead time clock prescaler
values are selected using the DTAPS<1:0> and
DTBPS<1:0> control bits in the DTCON1 SFR. One of
four clock prescaler options (TCY, 2TCY, 4TCY or 8TCY)
may be selected for each of the dead time values.
Each complementary output pair for the PWM module
has a 6-bit down counter that is used to produce the
dead time insertion. As shown in Figure 15-4, each
dead time unit has a rising and falling edge detector
connected to the duty cycle comparison output.
After the prescaler values are selected, the dead time
for each unit is adjusted by loading two 6-bit unsigned
values into the DTCON1 SFR.
15.7.2
• On a load of the down timer due to a duty cycle
comparison edge event.
• On a write to the DTCON1 or DTCON2 registers.
• On any device Reset.
DEAD TIME ASSIGNMENT
The DTCON2 SFR contains control bits that allow the
dead times to be assigned to each of the complementary outputs. Table 15-1 summarizes the function of
each dead time selection control bit.
DS70119D-page 90
The dead time unit prescalers are cleared on the following events:
Note:
Preliminary
The user should not modify the DTCON1
or DTCON2 values while the PWM module is operating (PTEN = 1). Unexpected
results may occur.
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 15-4:
DEAD TIME TIMING DIAGRAM
Duty Cycle Generator
PWMxH
PWMxL
Time selected by DTSxA bit (A or B)
15.8
Time selected by DTSxI bit (A or B)
Independent PWM Output
15.10 PWM Output Override
An independent PWM Output mode is required for driving certain types of loads. A particular PWM output pair
is in the Independent Output mode when the corresponding PMOD bit in the PWMCON1 register is set.
No dead time control is implemented between adjacent
PWM I/O pins when the module is operating in the
Independent mode and both I/O pins are allowed to be
active simultaneously.
In the Independent mode, each duty cycle generator is
connected to both of the PWM I/O pins in an output
pair. By using the associated duty cycle register and
the appropriate bits in the OVDCON register, the user
may select the following signal output options for each
PWM I/O pin operating in the Independent mode:
Single Pulse PWM Operation
The PWM module produces single pulse outputs when
the PTCON control bits PTMOD<1:0> = 10. Only edge
aligned outputs may be produced in the Single Pulse
mode. In Single Pulse mode, the PWM I/O pin(s) are
driven to the active state when the PTEN bit is set.
When a match with a duty cycle register occurs, the
PWM I/O pin is driven to the inactive state. When a
match with the PTPER register occurs, the PTMR register is cleared, all active PWM I/O pins are driven to
the inactive state, the PTEN bit is cleared, and an
interrupt is generated.
 2004 Microchip Technology Inc.
All control bits associated with the PWM output override function are contained in the OVDCON register.
The upper half of the OVDCON register contains eight
bits, POVDxH<4:1> and POVDxL<4:1>, that determine
which PWM I/O pins will be overridden. The lower half
of the OVDCON register contains eight bits,
POUTxH<4:1> and POUTxL<4:1>, that determine the
state of the PWM I/O pins when a particular output is
overridden via the POVD bits.
15.10.1
COMPLEMENTARY OUTPUT MODE
When a PWMxL pin is driven active via the OVDCON
register, the output signal is forced to be the complement of the corresponding PWMxH pin in the pair.
Dead time insertion is still performed when PWM
channels are overridden manually.
• I/O pin outputs PWM signal
• I/O pin inactive
• I/O pin active
15.9
The PWM output override bits allow the user to manually drive the PWM I/O pins to specified logic states,
independent of the duty cycle comparison units.
15.10.2
OVERRIDE SYNCHRONIZATION
If the OSYNC bit in the PWMCON2 register is set, all
output overrides performed via the OVDCON register
are synchronized to the PWM time base. Synchronous
output overrides occur at the following times:
• Edge Aligned mode, when PTMR is zero.
• Center Aligned modes, when PTMR is zero and
when the value of PTMR matches PTPER.
Preliminary
DS70119D-page 91
dsPIC30F6010
15.11 PWM Output and Polarity Control
15.12.2
There are three device configuration bits associated
with the PWM module that provide PWM output pin
control:
The FLTACON and FLTBCON special function registers have 8 bits each that determine the state of each
PWM I/O pin when it is overridden by a FAULT input.
When these bits are cleared, the PWM I/O pin is driven
to the inactive state. If the bit is set, the PWM I/O pin
will be driven to the active state. The active and inactive
states are referenced to the polarity defined for each
PWM I/O pin (HPOL and LPOL polarity control bits).
• HPOL configuration bit
• LPOL configuration bit
• PWMPIN configuration bit
These three bits in the FPORBOR configuration register (see Section 21) work in conjunction with the four
PWM Enable bits (PWMEN<4:1>) located in the
PWMCON1 SFR. The configuration bits and PWM
Enable bits ensure that the PWM pins are in the correct
states after a device Reset occurs. The PWMPIN configuration fuse allows the PWM module outputs to be
optionally enabled on a device Reset. If PWMPIN = 0,
the PWM outputs will be driven to their inactive states
at Reset. If PWMPIN = 1 (default), the PWM outputs
will be tri-stated. The HPOL bit specifies the polarity for
the PWMxH outputs, whereas the LPOL bit specifies
the polarity for the PWMxL outputs.
15.11.1
OUTPUT PIN CONTROL
15.12 PWM FAULT Pins
There are two FAULT pins (FLTA and FLTB) associated
with the PWM module. When asserted, these pins can
optionally drive each of the PWM I/O pins to a defined
state.
15.12.1
FAULT PIN ENABLE BITS
The FLTACON and FLTBCON SFRs each have 4 control bits that determine whether a particular pair of
PWM I/O pins is to be controlled by the FAULT input
pin. To enable a specific PWM I/O pin pair for FAULT
overrides, the corresponding bit should be set in the
FLTACON or FLTBCON register.
If all enable bits are cleared in the FLTACON or
FLTBCON registers, then the corresponding FAULT
input pin has no effect on the PWM module and the pin
may be used as a general purpose interrupt or I/O pin.
Note:
The FAULT pin logic can operate independent of the PWM logic. If all the enable bits
in the FLTACON/FLTBCON register are
cleared, then the FAULT pin(s) could be
used as general purpose interrupt pin(s).
Each FAULT pin has an interrupt vector,
Interrupt Flag bit and Interrupt Priority bits
associated with it.
DS70119D-page 92
A special case exists when a PWM module I/O pair is
in the Complementary mode and both pins are programmed to be active on a FAULT condition. The
PWMxH pin always has priority in the Complementary
mode, so that both I/O pins cannot be driven active
simultaneously.
15.12.3
FAULT PIN PRIORITY
If both FAULT input pins have been assigned to control
a particular PWM I/O pin, the FAULT state programmed
for the FAULT A input pin will take priority over the
FAULT B input pin.
15.12.4
The PEN<4:1>H and PEN<4:1>L control bits in the
PWMCON1 SFR enable each high PWM output pin
and each low PWM output pin, respectively. If a particular PWM output pin not enabled, it is treated as a
general purpose I/O pin.
FAULT STATES
FAULT INPUT MODES
Each of the FAULT input pins has two modes of
operation:
• Latched Mode: When the FAULT pin is driven
low, the PWM outputs will go to the states defined
in the FLTACON/FLTBCON register. The PWM
outputs will remain in this state until the FAULT
pin is driven high and the corresponding interrupt
flag has been cleared in software. When both of
these actions have occurred, the PWM outputs
will return to normal operation at the beginning of
the next PWM cycle or half-cycle boundary. If the
interrupt flag is cleared before the FAULT condition ends, the PWM module will wait until the
FAULT pin is no longer asserted, to restore the
outputs.
• Cycle-by-Cycle Mode: When the FAULT input
pin is driven low, the PWM outputs remain in the
defined FAULT states for as long as the FAULT
pin is held low. After the FAULT pin is driven high,
the PWM outputs return to normal operation at the
beginning of the following PWM cycle or
half-cycle boundary.
The Operating mode for each FAULT input pin is
selected using the FLTAM and FLTBM control bits in
the FLTACON and FLTBCON Special Function
Registers.
Each of the FAULT pins can be controlled manually in
software.
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
15.13 PWM Update Lockout
15.14.1
For a complex PWM application, the user may need to
write up to four duty cycle registers and the time base
period register, PTPER, at a given time. In some applications, it is important that all buffer registers be written
before the new duty cycle and period values are loaded
for use by the module.
The PWM special event trigger has a postscaler that
allows a 1:1 to 1:16 postscale ratio. The postscaler is
configured by writing the SEVOPS<3:0> control bits in
the PWMCON2 SFR.
The PWM update lockout feature is enabled by setting
the UDIS control bit in the PWMCON2 SFR. The UDIS
bit affects all duty cycle buffer registers and the PWM
time base period buffer, PTPER. No duty cycle
changes or period value changes will have effect while
UDIS = 1.
15.14 PWM Special Event Trigger
The PWM module has a special event trigger that
allows A/D conversions to be synchronized to the PWM
time base. The A/D sampling and conversion time may
be programmed to occur at any point within the PWM
period. The special event trigger allows the user to minimize the delay between the time when A/D conversion
results are acquired and the time when the duty cycle
value is updated.
The PWM special event trigger has an SFR named
SEVTCMP, and five control bits to control its operation.
The PTMR value for which a special event trigger
should occur is loaded into the SEVTCMP register.
When the PWM time base is in an Up/Down Counting
mode, an additional control bit is required to specify the
counting phase for the special event trigger. The count
phase is selected using the SEVTDIR control bit in the
SEVTCMP SFR. If the SEVTDIR bit is cleared, the special event trigger will occur on the upward counting
cycle of the PWM time base. If the SEVTDIR bit is set,
the special event trigger will occur on the downward
count cycle of the PWM time base. The SEVTDIR
control bit has no effect unless the PWM time base is
configured for an Up/Down Counting mode.
 2004 Microchip Technology Inc.
SPECIAL EVENT TRIGGER
POSTSCALER
The special event output postscaler is cleared on the
following events:
• Any write to the SEVTCMP register
• Any device Reset
15.15 PWM Operation During CPU Sleep
Mode
The FAULT A and FAULT B input pins have the ability
to wake the CPU from Sleep mode. The PWM module
generates an interrupt if either of the FAULT pins is
driven low while in Sleep.
15.16 PWM Operation During CPU Idle
Mode
The PTCON SFR contains a PTSIDL control bit. This
bit determines if the PWM module will continue to
operate or stop when the device enters Idle mode. If
PTSIDL = 0, the module will continue to operate. If
PTSIDL = 1, the module will stop operation as long as
the CPU remains in Idle mode.
Preliminary
DS70119D-page 93
PTEN
01C2
01C4
01C6 SEVTDIR
PTPER
SEVTCMP
DS70119D-page 94
—
—
FAOV1H
—
FAOV1L
FLTBM
FLTAM
DTS4A
PWM Duty Cycle #4 Register
PWM Duty Cycle #3 Register
PWM Duty Cycle #2 Register
—
—
DTS4I
PWM Duty Cycle #1 Register
FBOV4L FBOV3H FBOV3L FBOV2H FBOV2L FBOV1H FBOV1L
FAOV2L
—
—
DTS3A
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
u = uninitialized bit
01DA
01DC
PDC3
PDC4
Legend:
01D6
01D8
PDC1
PDC2
FBOV4H
—
FAOV2H
—
—
DTS3I
FBEN4
FAEN4
DTS2A
DTS2I
FBEN3
FAEN3
FBEN2
FAEN2
DTS1A
FBEN1
FAEN1
DTS1I
UDIS
PEN1L
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 1111 1111
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
01D2
—
FAOV3L
OSYNC
PEN2L
01D4 POVD4H POVD4L POVD3H POVD3L POVD2H POVD2L POVD1H POVD1L POUT4H POUT4L POUT3H POUT3L POUT2H POUT2L POUT1H POUT1L 1111 1111 0000 0000
—
FAOV3H
—
PEN3L
Dead Time A Value
—
PEN4L
0000 0000 0000 0000
0000 0000 0000 0000
OVDCON
—
FAOV4L
—
PEN1H
Reset State
0000 0000 0000 0000
FLTBCON
—
FAOV4H
—
PEN2H
Bit 0
PTMOD<1:0>
Bit 1
01D0
—
DTAPS<1:0>
—
PEN3H
Bit 2
PTCKPS<1:0>
Bit 3
01CE
Dead Time B Value
SEVOPS<3:0>
PEN4H
PWM Special Event Compare Register
PWM Time Base Period Register
Bit 4
FLTACON
—
PTOPS<3:0>
PWM Timer Count Value
—
Bit 5
DTCON2
—
—
Bit 6
—
—
—
PTMOD4 PTMOD3 PTMOD2 PTMOD1
—
Bit 7
DTBPS<1:0>
—
—
Bit 8
01CC
—
PTSIDL
Bit 9
PWMCON2 01CA
—
—
Bit 10
DTCON1
—
PWMCON1 01C8
—
PTDIR
01C0
Bit 11
PTCON
Bit 12
PTMR
Bit 13
SFR Name Addr.
Bit 14
8-OUTPUT PWM REGISTER MAP
Bit 15
TABLE 15-2:
dsPIC30F6010
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
16.0
SPI™ MODULE
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046).
The Serial Peripheral Interface (SPI) module is a synchronous serial interface. It is useful for communicating
with other peripheral devices such as EEPROMs, shift
registers, display drivers and A/D converters, or other
microcontrollers. It is compatible with Motorola's SPI
and SIOP interfaces.
16.1
Operating Function Description
Transmit writes are also double buffered. The user
writes to SPIxBUF. When the master or slave transfer
is completed, the contents of the shift register
(SPIxSR) is moved to the receive buffer. If any transmit data has been written to the buffer register, the
contents of the transmit buffer are moved to SPIxSR.
The received data is thus placed in SPIxBUF and the
transmit data in SPIxSR is ready for the next transfer.
Note:
Both the transmit buffer (SPIxTXB) and
the receive buffer (SPIxRXB) are mapped
to the same register address, SPIxBUF.
In Master mode, the clock is generated by prescaling
the system clock. Data is transmitted as soon as a
value is written to SPIxBUF. The interrupt is generated
at the middle of the transfer of the last bit.
Each SPI module consists of a 16-bit shift register,
SPIxSR (where x = 1 or 2), used for shifting data in
and out, and a buffer register, SPIxBUF. A control register, SPIxCON, configures the module. Additionally, a
status register, SPIxSTAT, indicates various status
conditions.
In Slave mode, data is transmitted and received as
external clock pulses appear on SCK. Again, the interrupt is generated when the last bit is latched. If SSx
control is enabled, then transmission and reception
are enabled only when SSx = low. The SDOx output
will be disabled in SSx mode with SSx high.
The serial interface consists of 4 pins: SDIx (serial
data input), SDOx (serial data output), SCKx (shift
clock input or output), and SSx (active low slave
select).
The clock provided to the module is (FOSC/4). This
clock is then prescaled by the primary (PPRE<1:0>)
and the secondary (SPRE<2:0>) prescale factors. The
CKE bit determines whether transmit occurs on transition from active clock state to Idle clock state, or vice
versa. The CKP bit selects the Idle state (high or low)
for the clock.
In Master mode operation, SCK is a clock output, but
in Slave mode, it is a clock input.
A series of eight (8) or sixteen (16) clock pulses shifts
out bits from the SPIxSR to SDOx pin and simultaneously shifts in data from SDIx pin. An interrupt is
generated when the transfer is complete and the corresponding Interrupt Flag bit (SPI1IF or SPI2IF) is set.
This interrupt can be disabled through an Interrupt
Enable bit (SPI1IE or SPI2IE).
The receive operation is double buffered. When a
complete byte is received, it is transferred from
SPIxSR to SPIxBUF.
If the receive buffer is full when new data is being
transferred from SPIxSR to SPIxBUF, the module will
set the SPIROV bit, indicating an overflow condition.
The transfer of the data from SPIxSR to SPIxBUF will
not be completed and the new data will be lost. The
module will not respond to SCL transitions while
SPIROV is 1, effectively disabling the module until
SPIxBUF is read by user software.
16.1.1
WORD AND BYTE
COMMUNICATION
A control bit, MODE16 (SPIxCON<10>), allows the
module to communicate in either 16-bit or 8-bit mode.
16-bit operation is identical to 8-bit operation, except
that the number of bits transmitted is 16 instead of 8.
The user software must disable the module prior to
changing the MODE16 bit. The SPI module is reset
when the MODE16 bit is changed by the user.
A basic difference between 8-bit and 16-bit operation is
that the data is transmitted out of bit 7 of the SPIxSR for
8-bit operation, and data is transmitted out of bit 15 of
the SPIxSR for 16-bit operation. In both modes, data is
shifted into bit 0 of the SPIxSR.
16.1.2
SDOx DISABLE
A control bit, DISSDO, is provided to the SPIxCON register to allow the SDOx output to be disabled. This will
allow the SPI module to be connected in an input only
configuration. SDO can also be used for general
purpose I/O.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 95
dsPIC30F6010
FIGURE 16-1:
SPI BLOCK DIAGRAM
Internal
Data Bus
Read
Write
SPIxBUF
SPIxBUF
Transmit
Receive
SPIxSR
SDIx
bit0
SDOx
Shift
clock
SS & FSYNC
Clock
Control
Control
SSx
Edge
Select
Secondary
Prescaler
1:1 – 1:8
SCKx
Primary
Prescaler
1, 4, 16, 64
FCY
Enable Master Clock
Note: x = 1 or 2.
FIGURE 16-2:
SPI MASTER/SLAVE CONNECTION
SPI™ Master
SPI™ Slave
SDOx
SDIy
Serial Input Buffer
(SPIxBUF)
SDIx
Shift Register
(SPIxSR)
MSb
Serial Input Buffer
(SPIyBUF)
SDOy
LSb
Shift Register
(SPIySR)
MSb
SCKx
Serial Clock
PROCESSOR 1
LSb
SCKy
PROCESSOR 2
Note: x = 1 or 2, y = 1 or 2.
DS70119D-page 96
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
16.2
Framed SPI Support
16.4
The module supports a basic framed SPI protocol in
Master or Slave mode. The control bit FRMEN enables
framed SPI support and causes the SSx pin to perform
the frame synchronization pulse (FSYNC) function.
The control bit SPIFSD determines whether the SSx
pin is an input or an output (i.e., whether the module
receives or generates the frame synchronization
pulse). The frame pulse is an active high pulse for a
single SPI clock cycle. When frame synchronization is
enabled, the data transmission starts only on the
subsequent transmit edge of the SPI clock.
16.3
Slave Select Synchronization
The SSx pin allows a Synchronous Slave mode. The
SPI must be configured in SPI Slave mode, with SSx
pin control enabled (SSEN = 1). When the SSx pin is
low, transmission and reception are enabled, and the
SDOx pin is driven. When SSx pin goes high, the SDOx
pin is no longer driven. Also, the SPI module is resynchronized, and all counters/control circuitry are
reset. Therefore, when the SSx pin is asserted low
again, transmission/reception will begin at the MS bit,
even if SSx had been de-asserted in the middle of a
transmit/receive.
 2004 Microchip Technology Inc.
SPI Operation During CPU Sleep
Mode
During Sleep mode, the SPI module is shut-down. If
the CPU enters Sleep mode while an SPI transaction
is in progress, then the transmission and reception is
aborted.
The transmitter and receiver will stop in Sleep mode.
However, register contents are not affected by
entering or exiting Sleep mode.
16.5
SPI Operation During CPU Idle
Mode
When the device enters Idle mode, all clock sources
remain functional. The SPISIDL bit (SPIxSTAT<13>)
selects if the SPI module will stop or continue on Idle.
If SPISIDL = 0, the module will continue to operate
when the CPU enters Idle mode. If SPISIDL = 1, the
module will stop when the CPU enters Idle mode.
Preliminary
DS70119D-page 97
0220
0222
SPI1STAT
SPI1CON
SPISIDL
—
FRMEN
SPIEN
—
DS70119D-page 98
0226
0228
SPI2STAT
SPI2CON
—
—
Bit 12
—
SPIEN
Bit 15
Bit 13
SPIFSD
SPISIDL
—
—
Bit 12
—
Bit 10
—
Bit 10
DISSDO MODE16
—
Bit 11
DISSDO MODE16
—
Bit 11
CKE
—
Bit 8
SSEN
—
Bit 7
CKP
SPIROV
Bit 6
CKE
—
Bit 8
SSEN
—
Bit 7
Bit 6
CKP
SPIROV
Transmit and Receive Buffer
SMP
—
Bit 9
Transmit and Receive Buffer
SMP
—
Bit 9
MSTEN
—
Bit 5
MSTEN
—
Bit 5
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
FRMEN
—
Bit 14
SPI2 REGISTER MAP
SPI2BUF
022A
Legend:
u = uninitialized bit
Addr.
SFR Name
TABLE 16-2:
SPIFSD
Bit 13
Bit 14
Bit 15
SPI1 REGISTER MAP
SPI1BUF
0224
Legend:
u = uninitialized bit
Addr.
SFR
Name
TABLE 16-1:
SPRE2
—
Bit 4
SPRE2
—
Bit 4
—
Bit 2
SPRE0
—
Bit 2
SPRE1 SPRE0
—
Bit 3
SPRE1
—
Bit 3
PPRE1
SPITBF
Bit 1
PPRE1
SPITBF
Bit 1
Reset State
PPRE0
SPIRBF
Bit 0
PPRE0
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
Reset State
0000 0000 0000 0000
0000 0000 0000 0000
SPIRBF 0000 0000 0000 0000
Bit 0
dsPIC30F6010
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
17.0
I2C MODULE
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046).
The Inter-Integrated Circuit (I2C) module provides
complete hardware support for both Slave and MultiMaster modes of the I2C serial communication
standard, with a 16-bit interface.
This module offers the following key features:
• I2C interface supporting both Master and Slave
operation.
• I2C Slave mode supports 7 and 10-bit address.
• I2C Master mode supports 7 and 10-bit address.
• I2C port allows bi-directional transfers between
master and slaves.
• Serial clock synchronization for I2C port can be
used as a handshake mechanism to suspend and
resume serial transfer (SCLREL control).
• I2C supports Multi-Master operation; detects bus
collision and will arbitrate accordingly.
17.1
Operating Function Description
The hardware fully implements all the master and slave
functions of the I2C Standard and Fast mode specifications, as well as 7 and 10-bit addressing.
Thus, the I2C module can operate either as a slave or
a master on an I2C bus.
17.1.1
VARIOUS I2C MODES
The following types of I2C operation are supported:
•
•
•
I2C Slave operation with 7-bit address
I2C Slave operation with 10-bit address
I2C Master operation with 7 or 10-bit address
See the I2C programmer’s model in Figure 17-1.
FIGURE 17-1:
PROGRAMMER’S MODEL
I2CRCV (8 bits)
bit 7
bit 0
bit 7
bit 0
I2CTRN (8 bits)
I2CBRG (9 bits)
bit 8
bit 0
I2CCON (16-bits)
bit 15
bit 0
bit 15
bit 0
I2CSTAT (16-bits)
I2CADD (10-bits)
bit 9
17.1.2
bit 0
PIN CONFIGURATION IN I2C MODE
I 2C
has a 2-pin interface; pin SCL is clock and pin SDA
is data.
17.1.3
I2C REGISTERS
I2CCON and I2CSTAT are control and status registers,
respectively. The I2CCON register is readable and writable. The lower 6 bits of I2CSTAT are read only. The
remaining bits of the I2CSTAT are read/write.
The I2CADD register holds the slave address. A status
bit, ADD10, indicates 10-bit Address mode. The
I2CBRG acts as the baud rate generator reload value.
In receive operations, I2CRSR and I2CRCV together
form a double buffered receiver. When I2CRSR
receives a complete byte, it is transferred to I2CRCV
and an interrupt pulse is generated. During transmission, the I2CTRN is not double buffered.
Note:
I2CRSR is the shift register used for shifting data,
whereas I2CRCV is the buffer register to which data
bytes are written, or from which data bytes are read.
I2CRCV is the receive buffer, as shown in Figure 16-1.
I2CTRN is the transmit register to which bytes are written during a transmit operation, as shown in Figure 16-2.
 2004 Microchip Technology Inc.
Preliminary
Following a Restart condition in 10-bit
mode, the user only needs to match the
first 7-bit address.
DS70119D-page 99
dsPIC30F6010
FIGURE 17-2:
I2C BLOCK DIAGRAM
Internal
Data Bus
I2CRCV
Read
SCL
Shift
Clock
I2CRSR
LSB
SDA
Addr_Match
Match Detect
Write
I2CADD
Read
Start and
Stop bit Detect
I2CSTAT
Write
Control Logic
Start, Restart,
Stop bit Generate
Write
I2CCON
Collision
Detect
Acknowledge
Generation
Clock
Stretching
Read
Read
Write
I2CTRN
LSB
Shift
Clock
Read
Reload
Control
BRG Down
Counter
DS70119D-page 100
Write
I2CBRG
FCY
Preliminary
Read
 2004 Microchip Technology Inc.
dsPIC30F6010
17.2
I2C Module Addresses
The I2CADD register contains the Slave mode
addresses. The register is a 10-bit register.
If the A10M bit (I2CCON<10>) is ‘0’, the address is
interpreted by the module as a 7-bit address. When an
address is received, it is compared to the 7 LS bits of
the I2CADD register.
If the A10M bit is 1, the address is assumed to be a 10bit address. When an address is received, it will be
compared with the binary value ‘1 1 1 1 0 A9 A8’
(where A9, A8 are two Most Significant bits of
I2CADD). If that value matches, the next address will
be compared with the Least Significant 8-bits of
I2CADD, as specified in the 10-bit addressing protocol.
17.3
I2C 7-bit Slave Mode Operation
Once enabled (I2CEN = 1), the slave module will wait
for a start bit to occur (i.e., the I2C module is ‘Idle’). Following the detection of a start bit, 8 bits are shifted into
I2CRSR and the address is compared against
I2CADD. In 7-bit mode (A10M = 0), bits I2CADD<6:0>
are compared against I2CRSR<7:1> and I2CRSR<0>
is the R_W bit. All incoming bits are sampled on the rising edge of SCL.
If an address match occurs, an acknowledgement will
be sent, and the slave event interrupt flag (SI2CIF) is
set on the falling edge of the ninth (ACK) bit. The
address match does not affect the contents of the
I2CRCV buffer or the RBF bit.
17.3.1
SLAVE TRANSMISSION
If the R_W bit received is a '1', then the serial port will
go into Transmit mode. It will send ACK on the ninth bit
and then hold SCL to '0' until the CPU responds by writing to I2CTRN. SCL is released by setting the SCLREL
bit, and 8 bits of data are shifted out. Data bits are
shifted out on the falling edge of SCL, such that SDA is
valid during SCL high (see timing diagram). The interrupt pulse is sent on the falling edge of the ninth clock
pulse, regardless of the status of the ACK received
from the master.
17.3.2
SLAVE RECEPTION
If the R_W bit received is a '0' during an address match,
then Receive mode is initiated. Incoming bits are sampled on the rising edge of SCL. After 8 bits are
received, if I2CRCV is not full or I2COV is not set,
I2CRSR is transferred to I2CRCV. ACK is sent on the
ninth clock.
If the RBF flag is set, indicating that I2CRCV is still
holding data from a previous operation (RBF = 1), then
ACK is not sent; however, the interrupt pulse is generated. In the case of an overflow, the contents of the
I2CRSR are not loaded into the I2CRCV.
Note:
17.4
The I2CRCV will be loaded if the I2COV
bit = 1 and the RBF flag = 0. In this case,
a read of the I2CRCV was performed, but
the user did not clear the state of the
I2COV bit before the next receive
occurred. The acknowledgement is not
sent (ACK = 1) and the I2CRCV is
updated.
I2C 10-bit Slave Mode Operation
In 10-bit mode, the basic receive and transmit operations are the same as in the 7-bit mode. However, the
criteria for address match is more complex.
The I2C specification dictates that a slave must be
addressed for a write operation, with two address bytes
following a start bit.
The A10M bit is a control bit that signifies that the
address in I2CADD is a 10-bit address rather than a
7-bit address. The address detection protocol for the
first byte of a message address is identical for 7-bit
and 10-bit messages, but the bits being compared are
different.
I2CADD holds the entire 10-bit address. Upon receiving an address following a start bit, I2CRSR <7:3> is
compared against a literal ‘11110’ (the default 10-bit
address) and I2CRSR<2:1> are compared against
I2CADD<9:8>. If a match occurs and if R_W = 0, the
interrupt pulse is sent. The ADD10 bit will be cleared to
indicate a partial address match. If a match fails or
R_W = 1, the ADD10 bit is cleared and the module
returns to the Idle state.
The low byte of the address is then received and compared with I2CADD<7:0>. If an address match occurs,
the interrupt pulse is generated and the ADD10 bit is
set, indicating a complete 10-bit address match. If an
address match did not occur, the ADD10 bit is cleared
and the module returns to the Idle state.
17.4.1
10-BIT MODE SLAVE
TRANSMISSION
Once a slave is addressed in this fashion, with the full
10-bit address (we will refer to this state as
"PRIOR_ADDR_MATCH"), the master can begin sending data bytes for a slave reception operation.
17.4.2
10-BIT MODE SLAVE RECEPTION
Once addressed, the master can generate a Repeated
Start, reset the high byte of the address and set the
R_W bit without generating a Stop bit, thus initiating a
slave transmit operation.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 101
dsPIC30F6010
17.5
Automatic Clock Stretch
In the slave modes, the module can synchronize buffer
reads and write to the master device by clock
stretching.
17.5.1
Note 1: If the user reads the contents of the
I2CRCV, clearing the RBF bit before the
falling edge of the ninth clock, the
SCLREL bit will not be cleared and clock
stretching will not occur.
TRANSMIT CLOCK STRETCHING
2: The SCLREL bit can be set in software,
regardless of the state of the RBF bit. The
user should be careful to clear the RBF bit
in the ISR before the next receive
sequence in order to prevent an overflow
condition.
Both 10-bit and 7-bit transmit modes implement clock
stretching by asserting the SCLREL bit after the falling
edge of the ninth clock if the TBF bit is cleared, indicating the buffer is empty.
In slave transmit modes, clock stretching is always
performed, irrespective of the STREN bit.
Clock synchronization takes place following the ninth
clock of the transmit sequence. If the device samples
an ACK on the falling edge of the ninth clock, and if the
TBF bit is still clear, then the SCLREL bit is automatically cleared. The SCLREL being cleared to ‘0’ will
assert the SCL line low. The user’s ISR must set the
SCLREL bit before transmission is allowed to continue. By holding the SCL line low, the user has time to
service the ISR and load the contents of the I2CTRN
before the master device can initiate another transmit
sequence.
Note 1: If the user loads the contents of I2CTRN,
setting the TBF bit before the falling edge
of the ninth clock, the SCLREL bit will not
be cleared and clock stretching will not
occur.
2: The SCLREL bit can be set in software,
regardless of the state of the TBF bit.
17.5.2
RECEIVE CLOCK STRETCHING
The STREN bit in the I2CCON register can be used to
enable clock stretching in Slave Receive mode. When
the STREN bit is set, the SCL pin will be held low at
the end of each data receive sequence.
17.5.3
CLOCK STRETCHING DURING
7-BIT ADDRESSING (STREN = 1)
When the STREN bit is set in Slave Receive mode,
the SCL line is held low when the buffer register is full.
The method for stretching the SCL output is the same
for both 7 and 10-bit addressing modes.
Clock stretching takes place following the ninth clock of
the receive sequence. On the falling edge of the ninth
clock at the end of the ACK sequence, if the RBF bit is
set, the SCLREL bit is automatically cleared, forcing the
SCL output to be held low. The user’s ISR must set the
SCLREL bit before reception is allowed to continue. By
holding the SCL line low, the user has time to service
the ISR and read the contents of the I2CRCV before the
master device can initiate another receive sequence.
This will prevent buffer overruns from occurring.
DS70119D-page 102
17.5.4
CLOCK STRETCHING DURING
10-BIT ADDRESSING (STREN = 1)
Clock stretching takes place automatically during the
addressing sequence. Because this module has a
register for the entire address, it is not necessary for
the protocol to wait for the address to be updated.
After the address phase is complete, clock stretching
will occur on each data receive or transmit sequence
as was described earlier.
17.6
Software Controlled Clock
Stretching (STREN = 1)
When the STREN bit is ‘1’, the SCLREL bit may be
cleared by software to allow software to control the
clock stretching. The logic will synchronize writes to
the SCLREL bit with the SCL clock. Clearing the
SCLREL bit will not assert the SCL output until the
module detects a falling edge on the SCL output and
SCL is sampled low. If the SCLREL bit is cleared by
the user while the SCL line has been sampled low, the
SCL output will be asserted (held low). The SCL output will remain low until the SCLREL bit is set, and all
other devices on the I2C bus have de-asserted SCL.
This ensures that a write to the SCLREL bit will not
violate the minimum high time requirement for SCL.
If the STREN bit is ‘0’, a software write to the SCLREL
bit will be disregarded and have no effect on the
SCLREL bit.
17.7
Interrupts
The I2C module generates two interrupt flags, MI2CIF
(I2C Master Interrupt Flag) and SI2CIF (I2C Slave Interrupt Flag). The MI2CIF interrupt flag is activated on
completion of a master message event. The SI2CIF
interrupt flag is activated on detection of a message
directed to the slave.
17.8
Slope Control
I2C
The
standard requires slope control on the SDA
and SCL signals for Fast Mode (400 kHz). The control
bit, DISSLW, enables the user to disable slew rate control, if desired. It is necessary to disable the slew rate
control for 1 MHz mode.
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
17.9
IPMI Support
The control bit IPMIEN enables the module to support
Intelligent Peripheral Management Interface (IPMI).
When this bit is set, the module accepts and acts upon
all addresses.
17.10 General Call Address Support
The general call address can address all devices.
When this address is used, all devices should, in theory, respond with an acknowledgement.
The general call address is one of eight addresses
reserved for specific purposes by the I2C protocol. It
consists of all 0’s with R_W = 0.
The general call address is recognized when the General Call Enable (GCEN) bit is set (I2CCON<15> = 1).
Following a start bit detection, 8 bits are shifted into
I2CRSR and the address is compared with I2CADD,
and is also compared with the general call address
which is fixed in hardware.
If a general call address match occurs, the I2CRSR is
transferred to the I2CRCV after the eighth clock, the
RBF flag is set, and on the falling edge of the ninth bit
(ACK bit), the master event interrupt flag (MI2CIF) is
set.
When the interrupt is serviced, the source for the interrupt can be checked by reading the contents of the
I2CRCV to determine if the address was device
specific, or a general call address.
17.11 I2C Master Support
As a Master device, six operations are supported.
• Assert a Start condition on SDA and SCL.
• Assert a Restart condition on SDA and SCL.
• Write to the I2CTRN register initiating
transmission of data/address.
• Generate a Stop condition on SDA and SCL.
• Configure the I2C port to receive data.
• Generate an ACK condition at the end of a
received byte of data.
transmitted, an ACK bit is received. Start and Stop conditions are output to indicate the beginning and the end
of a serial transfer.
In Master Receive mode, the first byte transmitted contains the slave address of the transmitting device (7
bits) and the data direction bit. In this case, the data
direction bit (R_W) is logic 1. Thus, the first byte transmitted is a 7-bit slave address, followed by a ‘1’ to indicate receive bit. Serial data is received via SDA, while
SCL outputs the serial clock. Serial data is received 8
bits at a time. After each byte is received, an ACK bit is
transmitted. Start and Stop conditions indicate the
beginning and end of transmission.
17.12.1
I2C MASTER TRANSMISSION
Transmission of a data byte, a 7-bit address, or the second half of a 10-bit address is accomplished by simply
writing a value to I2CTRN register. The user should
only write to I2CTRN when the module is in a WAIT
state. This action will set the buffer full flag (TBF) and
allow the baud rate generator to begin counting and
start the next transmission. Each bit of address/data
will be shifted out onto the SDA pin after the falling
edge of SCL is asserted. The Transmit Status Flag,
TRSTAT (I2CSTAT<14>), indicates that a master
transmit is in progress.
17.12.2
I2C MASTER RECEPTION
Master mode reception is enabled by programming the
receive enable (RCEN) bit (I2CCON<11>). The I2C
module must be Idle before the RCEN bit is set, otherwise the RCEN bit will be disregarded. The baud rate
generator begins counting, and on each rollover, the
state of the SCL pin toggles, and data is shifted in to the
I2CRSR on the rising edge of each clock.
17.12.3
BAUD RATE GENERATOR
I 2C
In
Master mode, the reload value for the BRG is
located in the I2CBRG register. When the BRG is
loaded with this value, the BRG counts down to 0 and
stops until another reload has taken place. If clock arbitration is taking place, for instance, the BRG is reloaded
when the SCL pin is sampled high.
17.12 I2C Master Operation
The master device generates all of the serial clock
pulses and the Start and Stop conditions. A transfer is
ended with a Stop condition or with a Repeated Start
condition. Since the Repeated Start condition is also
the beginning of the next serial transfer, the I2C bus will
not be released.
As per the I2C standard, FSCK may be 100 kHz or
400 kHz. However, the user can specify any baud rate
up to 1 MHz. I2CBRG values of 0 or 1 are illegal.
EQUATION 17-1:
SERIAL CLOCK RATE
F CY
F CY
I2CBRG =  ------------- – --------------------------- – 1
 F SCL 1, 111, 111
In Master Transmitter mode, serial data is output
through SDA, while SCL outputs the serial clock. The
first byte transmitted contains the slave address of the
receiving device (7 bits) and the data direction bit. In
this case, the data direction bit (R_W) is logic 0. Serial
data is transmitted 8 bits at a time. After each byte is
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 103
dsPIC30F6010
17.12.4
CLOCK ARBITRATION
Clock arbitration occurs when the master de-asserts
the SCL pin (SCL allowed to float high) during any
receive, transmit, or Restart/Stop condition. When the
SCL pin is allowed to float high, the baud rate generator
(BRG) is suspended from counting until the SCL pin is
actually sampled high. When the SCL pin is sampled
high, the baud rate generator is reloaded with the contents of I2CBRG and begins counting. This ensures
that the SCL high time will always be at least one BRG
rollover count in the event that the clock is held low by
an external device.
17.12.5
MULTI-MASTER COMMUNICATION,
BUS COLLISION AND BUS
ARBITRATION
The Master will continue to monitor the SDA and SCL
pins, and if a Stop condition occurs, the MI2CIF bit will
be set.
A write to the I2CTRN will start the transmission of data
at the first data bit, regardless of where the transmitter
left off when bus collision occurred.
In a Multi-Master environment, the interrupt generation
on the detection of Start and Stop conditions allows the
determination of when the bus is free. Control of the I2C
bus can be taken when the P bit is set in the I2CSTAT
register, or the bus is Idle and the S and P bits are
cleared.
17.13 I2C Module Operation During CPU
Sleep and Idle Modes
Multi-Master operation support is achieved by bus arbitration. When the master outputs address/data bits
onto the SDA pin, arbitration takes place when the
master outputs a 1 on SDA, by letting SDA float high
while another master asserts a 0. When the SCL pin
floats high, data should be stable. If the expected data
on SDA is a 1 and the data sampled on the SDA
pin = 0, then a bus collision has taken place. The master will set the MI2CIF pulse and reset the master portion of the I2C port to its Idle state.
17.13.1
If a transmit was in progress when the bus collision
occurred, the transmission is halted, the TBF flag is
cleared, the SDA and SCL lines are de-asserted, and a
value can now be written to I2CTRN. When the user
services the I2C master event Interrupt Service Routine, if the I2C bus is free (i.e., the P bit is set) the user
can resume communication by asserting a Start
condition.
17.13.2
I2C OPERATION DURING CPU
SLEEP MODE
When the device enters Sleep mode, all clock sources
to the module are shutdown and stay at logic ‘0’. If
Sleep occurs in the middle of a transmission, and the
state machine is partially into a transmission as the
clocks stop, then the transmission is aborted. Similarly,
if Sleep occurs in the middle of a reception, then the
reception is aborted.
I2C OPERATION DURING CPU IDLE
MODE
For the I2C, the I2CSIDL bit selects if the module will
stop on Idle or continue on Idle. If I2CSIDL = 0, the
module will continue operation on assertion of the Idle
mode. If I2CSIDL = 1, the module will stop on Idle.
If a Start, Restart, Stop or Acknowledge condition was
in progress when the bus collision occurred, the condition is aborted, the SDA and SCL lines are de-asserted,
and the respective control bits in the I2CCON register
are cleared to 0. When the user services the bus collision Interrupt Service Routine, and if the I2C bus is free,
the user can resume communication by asserting a
Start condition.
DS70119D-page 104
Preliminary
 2004 Microchip Technology Inc.
0204
0206
0208
I2CBRG
I2CCON
I2CSTAT
—
—
—
—
ACKSTAT
—
—
—
—
Bit 13
—
—
—
Bit 12
—
—
—
Bit 11
DISSLW
GCSTAT
BCL
—
—
—
—
Bit 9
A10M
—
—
—
Bit 10
ADD10
SMEN
—
—
Bit 8
IWCOL
GCEN
Bit 7
I2COV
STREN
Bit 6
Bit 3
Transmit Register
Receive Register
Bit 4
P
Address Register
D_A
ACKEN
S
RCEN
Baud Rate Generator
Bit 5
ACKDT
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
I2CSIDL SCLREL IPMIEN
—
—
—
TRSTAT
—
—
—
—
—
—
—
I2CEN
Bit 14
Bit 15
I2C REGISTER MAP
020A
u = uninitialized bit
0202
I2CADD
Legend:
0200
I2CRCV
I2CTRN
SFR Name Addr.
TABLE 17-1:
R_W
PEN
Bit 2
RBF
RSEN
Bit 1
TBF
SEN
Bit 0
Reset State
0000 0000 0000 0000
0000 0000 0000 0000
0001 0000 0000 0000
0000 0000 0000 0000
0000 0000 1111 1111
0000 0000 0000 0000
dsPIC30F6010
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 105
dsPIC30F6010
NOTES:
DS70119D-page 106
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
18.0
UNIVERSAL ASYNCHRONOUS
RECEIVER TRANSMITTER
(UART) MODULE
18.1
The key features of the UART module are:
•
•
•
•
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046).
•
This section describes the Universal Asynchronous
Receiver/Transmitter Communications module.
•
•
•
•
•
•
FIGURE 18-1:
UART Module Overview
Full-duplex, 8 or 9-bit data communication
Even, Odd or No Parity options (for 8-bit data)
One or two Stop bits
Fully integrated Baud Rate Generator with 16-bit
prescaler
Baud rates range from 38 bps to 1.875 Mbps at a
30 MHz instruction rate
4-word deep transmit data buffer
4-word deep receive data buffer
Parity, Framing and Buffer Overrun error detection
Support for Interrupt only on Address Detect
(9th bit = 1)
Separate Transmit and Receive Interrupts
Loopback mode for diagnostic support
UART TRANSMITTER BLOCK DIAGRAM
Internal Data Bus
Control and Status bits
Write
UTX8
Write
UxTXREG Low Byte
Transmit Control
– Control TSR
– Control Buffer
– Generate Flags
– Generate Interrupt
Load TSR
UxTXIF
UTXBRK
Data
UxTX
Transmit Shift Register (UxTSR)
‘0’ (Start)
‘1’ (Stop)
Parity
Parity
Generator
16 Divider
16X Baud Clock
from Baud Rate
Generator
Control
Signals
Note: x = 1 or 2.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 107
dsPIC30F6010
FIGURE 18-2:
UART RECEIVER BLOCK DIAGRAM
Internal Data Bus
16
Write
Read
Read Read
UxMODE
URX8
Write
UxSTA
UxRXREG Low Byte
Receive Buffer Control
– Generate Flags
– Generate Interrupt
– Shift Data Characters
Load RSR
to Buffer
Receive Shift Register
(UxRSR)
0
· Start bit Detect
· Parity Check
· Stop bit Detect
· Shift Clock Generation
· Wake Logic
Control
Signals
FERR
UxRX
1
8-9
PERR
LPBACK
From UxTX
16 Divider
16X Baud Clock from
Baud Rate Generator
UxRXIF
DS70119D-page 108
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
18.2
18.2.1
Enabling and Setting Up UART
18.3
ENABLING THE UART
18.3.1
The UART module is enabled by setting the UARTEN
bit in the UxMODE register (where x = 1 or 2). Once
enabled, the UxTX and UxRX pins are configured as an
output and an input respectively, overriding the TRIS
and LATCH Register bit settings for the corresponding
I/O port pins. The UxTX pin is at logic ‘1’ when no
transmission is taking place.
18.2.2
1.
2.
3.
Disabling the UART module resets the buffers to
empty states. Any data characters in the buffers are
lost, and the baud rate counter is reset.
All error and status flags associated with the UART
module are reset when the module is disabled. The
URXDA, OERR, FERR, PERR, UTXEN, UTXBRK and
UTXBF bits are cleared, whereas RIDLE and TRMT
are set. Other control bits, including ADDEN,
URXISEL<1:0>, UTXISEL, as well as the UxMODE
and UxBRG registers, are not affected.
Clearing the UARTEN bit while the UART is active will
abort all pending transmissions and receptions and
reset the module as defined above. Re-enabling the
UART will restart the UART in the same configuration.
SETTING UP DATA, PARITY AND
STOP BIT SELECTIONS
Control bits PDSEL<1:0> in the UxMODE register are
used to select the data length and parity used in the
transmission. The data length may either be 8-bits with
even, odd or no parity, or 9-bits with no parity.
The STSEL bit determines whether one or two stop bits
will be used during data transmission.
The default (Power-on) setting of the UART is 8 bits, no
parity, 1 stop bit (typically represented as 8, N, 1).
TRANSMITTING IN 8-BIT DATA
MODE
The following steps must be performed in order to
transmit 8-bit data:
DISABLING THE UART
The UART module is disabled by clearing the
UARTEN bit in the UxMODE register. This is the
default state after any Reset. If the UART is disabled,
all I/O pins operate as port pins under the control of
the latch and TRIS bits of the corresponding port pins.
18.2.3
Transmitting Data
Set up the UART:
First, the data length, parity and number of stop
bits must be selected. Then, the Transmit and
Receive Interrupt enable and priority bits are
setup in the UxMODE and UxSTA registers.
Also, the appropriate baud rate value must be
written to the UxBRG register.
Enable the UART by setting the UARTEN bit
(UxMODE<15>).
Set the UTXEN bit (UxSTA<10>), thereby
enabling a transmission.
Note:
4.
5.
The UTXEN bit must be set after the
UARTEN bit is set to enable UART
transmissions.
Write the byte to be transmitted to the lower byte
of UxTXREG. The value will be transferred to the
Transmit Shift register (UxTSR) immediately
and the serial bit stream will start shifting out
during the next rising edge of the baud clock.
Alternatively, the data byte may be written while
UTXEN = 0, following which, the user may set
UTXEN. This will cause the serial bit stream to
begin immediately because the baud clock will
start from a cleared state.
A Transmit interrupt will be generated depending on the value of the interrupt control bit
UTXISEL (UxSTA<15>).
18.3.2
TRANSMITTING IN 9-BIT DATA
MODE
The sequence of steps involved in the transmission of
9-bit data is similar to 8-bit transmission, except that a
16-bit data word (of which the upper 7 bits are always
clear) must be written to the UxTXREG register.
18.3.3
TRANSMIT BUFFER (UXTXB)
The transmit buffer is 9-bits wide and 4 characters
deep. Including the Transmit Shift Register (UxTSR),
the user effectively has a 5-deep FIFO (First In First
Out) buffer. The UTXBF Status bit (UxSTA<9>)
indicates whether the transmit buffer is full.
If a user attempts to write to a full buffer, the new data
will not be accepted into the FIFO, and no data shift
will occur within the buffer. This enables recovery from
a buffer overrun condition.
The FIFO is reset during any device Reset, but is not
affected when the device enters or wakes up from a
Power Saving mode.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 109
dsPIC30F6010
18.3.4
TRANSMIT INTERRUPT
18.4.2
The transmit interrupt flag (U1TXIF or U2TXIF) is
located in the corresponding interrupt flag register.
The transmitter generates an edge to set the UxTXIF
bit. The condition for generating the interrupt depends
on UTXISEL control bit:
a)
b)
If UTXISEL = 0, an interrupt is generated when
a word is transferred from the Transmit buffer to
the Transmit Shift register (UxTSR). This implies
that the transmit buffer has at least one empty
word.
If UTXISEL = 1, an interrupt is generated when
a word is transferred from the Transmit buffer to
the Transmit Shift register (UxTSR) and the
Transmit buffer is empty.
Switching between the two interrupt modes during
operation is possible and sometimes offers more
flexibility.
18.3.5
TRANSMIT BREAK
RECEIVE BUFFER (UXRXB)
The receive buffer is 4 words deep. Including the
Receive Shift register (UxRSR), the user effectively
has a 5-word deep FIFO buffer.
URXDA (UxSTA<0>) = 1 indicates that the receive
buffer has data available. URXDA = 0 implies that the
buffer is empty. If a user attempts to read an empty
buffer, the old values in the buffer will be read and no
data shift will occur within the FIFO.
The FIFO is reset during any device Reset. It is not
affected when the device enters or wakes up from a
Power Saving mode.
18.4.3
RECEIVE INTERRUPT
The receive interrupt flag (U1RXIF or U2RXIF) can be
read from the corresponding interrupt flag register. The
interrupt flag is set by an edge generated by the
receiver. The condition for setting the receive interrupt
flag depends on the settings specified by the
URXISEL<1:0> (UxSTA<7:6>) control bits.
Setting the UTXBRK bit (UxSTA<11>) will cause the
UxTX line to be driven to logic ‘0’. The UTXBRK bit
overrides all transmission activity. Therefore, the user
should generally wait for the transmitter to be Idle
before setting UTXBRK.
a)
To send a break character, the UTXBRK bit must be
set by software and must remain set for a minimum of
13 baud clock cycles. The UTXBRK bit is then cleared
by software to generate stop bits. The user must wait
for a duration of at least one or two baud clock cycles
in order to ensure a valid stop bit(s) before reloading
the UxTXB or starting other transmitter activity. Transmission of a break character does not generate a
transmit interrupt.
b)
18.4
Switching between the Interrupt modes during operation is possible, though generally not advisable during
normal operation.
18.4.1
Receiving Data
RECEIVING IN 8-BIT OR 9-BIT DATA
MODE
The following steps must be performed while receiving
8-bit or 9-bit data:
1.
2.
3.
4.
5.
Set up the UART (see Section 18.3.1).
Enable the UART (see Section 18.3.1).
A receive interrupt will be generated when one
or more data words have been received,
depending on the receive interrupt settings
specified by the URXISEL bits (UxSTA<7:6>).
Read the OERR bit to determine if an overrun
error has occurred. The OERR bit must be reset
in software.
Read the received data from UxRXREG. The act
of reading UxRXREG will move the next word to
the top of the receive FIFO, and the PERR and
FERR values will be updated.
DS70119D-page 110
c)
If URXISEL<1:0> = 00 or 01, an interrupt is
generated every time a data word is transferred
from the Receive Shift Register (UxRSR) to the
Receive Buffer. There may be one or more
characters in the receive buffer.
If URXISEL<1:0> = 10, an interrupt is generated
when a word is transferred from the Receive
Shift Register (UxRSR) to the Receive Buffer,
which, as a result of the transfer, contains 3
characters.
If URXISEL<1:0> = 11, an interrupt is set when
a word is transferred from the Receive Shift
Register (UxRSR) to the Receive Buffer, which,
as a result of the transfer, contains 4 characters
(i.e., becomes full).
18.5
18.5.1
Reception Error Handling
RECEIVE BUFFER OVERRUN
ERROR (OERR BIT)
The OERR bit (UxSTA<1>) is set if all of the following
conditions occur:
a)
b)
c)
The receive buffer is full.
The receive shift register is full, but unable to
transfer the character to the receive buffer.
The stop bit of the character in the UxRSR is
detected, indicating that the UxRSR needs to
transfer the character to the buffer.
Once OERR is set, no further data is shifted in UxRSR
(until the OERR bit is cleared in software or a Reset
occurs). The data held in UxRSR and UxRXREG
remains valid.
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
18.5.2
FRAMING ERROR (FERR)
18.6
The FERR bit (UxSTA<2>) is set if a ‘0’ is detected
instead of a stop bit. If two stop bits are selected, both
stop bits must be ‘1’, otherwise FERR will be set. The
read only FERR bit is buffered along with the received
data. It is cleared on any Reset.
18.5.3
PARITY ERROR (PERR)
The PERR bit (UxSTA<3>) is set if the parity of the
received word is incorrect. This error bit is applicable
only if a Parity mode (odd or even) is selected. The
read only PERR bit is buffered along with the received
data bytes. It is cleared on any Reset.
18.5.4
IDLE STATUS
When the receiver is active (i.e., between the initial
detection of the start bit and the completion of the stop
bit), the RIDLE bit (UxSTA<4>) is ‘0’. Between the
completion of the stop bit and detection of the next
start bit, the RIDLE bit is ‘1’, indicating that the UART
is Idle.
18.5.5
RECEIVE BREAK
The receiver will count and expect a certain number of
bit times based on the values programmed in the
PDSEL (UxMODE<2:1>) and STSEL (UxMODE<0>)
bits.
If the break is longer than 13 bit times, the reception is
considered complete after the number of bit times
specified by PDSEL and STSEL. The URXDA bit is
set, FERR is set, zeros are loaded into the receive
FIFO, interrupts are generated, if appropriate and the
RIDLE bit is set.
When the module receives a long break signal and the
receiver has detected the start bit, the data bits and
the invalid stop bit (which sets the FERR), the receiver
must wait for a valid stop bit before looking for the next
start bit. It cannot assume that the break condition on
the line is the next start bit.
Break is regarded as a character containing all 0’s,
with the FERR bit set. The break character is loaded
into the buffer. No further reception can occur until a
stop bit is received. Note that RIDLE goes high when
the stop bit has not been received yet.
Address Detect Mode
Setting the ADDEN bit (UxSTA<5>) enables this special mode, in which a 9th bit (URX8) value of ‘1’ identifies the received word as an address rather than data.
This mode is only applicable for 9-bit data communication. The URXISEL control bit does not have any
impact on interrupt generation in this mode, since an
interrupt (if enabled) will be generated every time the
received word has the 9th bit set.
18.7
Loopback Mode
Setting the LPBACK bit enables this special mode in
which the UxTX pin is internally connected to the UxRX
pin. When configured for the Loopback mode, the
UxRX pin is disconnected from the internal UART
receive logic. However, the UxTX pin still functions as
in a normal operation.
To select this mode:
a)
b)
c)
Configure UART for desired mode of operation.
Set LPBACK = 1 to enable Loopback mode.
Enable transmission as defined in Section 18.3.
18.8
Baud Rate Generator
The UART has a 16-bit baud rate generator to allow
maximum flexibility in baud rate generation. The baud
rate generator register (UxBRG) is readable and
writable. The baud rate is computed as follows:
BRG = 16-bit value held in UxBRG register
(0 through 65535)
FCY = Instruction Clock Rate (1/TCY)
The Baud Rate is given by Equation 18-1.
EQUATION 18-1:
BAUD RATE
Baud Rate = FCY / (16*(BRG+1))
Therefore, maximum baud rate possible is
FCY /16 (if BRG = 0),
and the minimum baud rate possible is
FCY / (16* 65536).
With a full 16-bit baud rate generator, at 30 MIPs
operation, the minimum baud rate achievable is
28.5 bps.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 111
dsPIC30F6010
18.9
18.10.2
Auto Baud Support
To allow the system to determine baud rates of
received characters, the input can be optionally linked
to a selected capture input. To enable this mode, the
user must program the input capture module to detect
the falling and rising edges of the start bit.
UART OPERATION DURING CPU
IDLE MODE
For the UART, the USIDL bit selects if the module will
stop operation when the device enters Idle mode, or
whether the module will continue on Idle. If USIDL = 0,
the module will continue operation during Idle mode. If
USIDL = 1, the module will stop on Idle.
18.10 UART Operation During CPU
Sleep and Idle Modes
18.10.1
UART OPERATION DURING CPU
SLEEP MODE
When the device enters Sleep mode, all clock sources
to the module are shutdown and stay at logic ‘0’. If
entry into Sleep mode occurs while a transmission is
in progress, then the transmission is aborted. The
UxTX pin is driven to logic ‘1’. Similarly, if entry into
Sleep mode occurs while a reception is in progress,
then the reception is aborted. The UxSTA, UxMODE,
transmit and receive registers and buffers, and the
UxBRG register are not affected by Sleep mode.
If the Wake bit (UxMODE<7>) is set before the device
enters Sleep mode, then a falling edge on the UxRX
pin will generate a receive interrupt. The Receive
Interrupt Select Mode bit (URXISEL) has no effect for
this function. If the receive interrupt is enabled, then
this will wake-up the device from Sleep. The UARTEN
bit must be set in order to generate a wake-up
interrupt.
DS70119D-page 112
Preliminary
 2004 Microchip Technology Inc.
0210
0212
U1TXREG
U1RXREG
UARTEN
—
—
UTXISEL
 2004 Microchip Technology Inc.
—
—
021A
021C
U2TXREG
U2RXREG
—
—
—
—
—
—
—
—
Bit 12
—
Bit 10
—
Bit 10
—
—
—
—
—
—
UTXBRK UTXEN
—
Bit 11
—
—
UTXBRK UTXEN
—
Bit 11
—
—
UTXBF
—
Bit 9
—
—
URX8
UTX8
TRMT
—
Bit 8
LPBACK
Bit 6
LPBACK
Bit 6
ABAUD
Bit 5
PERR
—
Bit 3
RIDLE
—
Bit 4
PERR
—
Bit 3
Receive Register
Transmit Register
RIDLE
—
Bit 4
Receive Register
Transmit Register
URXISEL1 URXISEL0 ADDEN
WAKE
Bit 7
Baud Rate Generator Prescaler
URX8
UTX8
TRMT
—
Bit 8
ABAUD
Bit 5
URXISEL1 URXISEL0 ADDEN
WAKE
Bit 7
Baud Rate Generator Prescaler
UTXBF
—
Bit 9
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
021E
u = uninitialized bit
—
—
USIDL
—
—
UARTEN
UTXISEL
0216
0218
U2MODE
Bit 13
Bit 14
U2STA
Bit 15
Addr.
U2BRG
Legend:
—
—
—
—
Bit 12
UART2 REGISTER MAP
—
—
—
—
—
USIDL
—
SFR
Name
TABLE 18-2:
0214
u = uninitialized bit
020E
U1BRG
Legend:
020C
U1MODE
U1STA
Bit 13
Bit 15
SFR Name Addr.
Bit 14
UART1 REGISTER MAP
TABLE 18-1:
Bit 1
Bit 0
Reset State
Bit 1
OERR
FERR
OERR
PDSEL1 PDSEL0
Bit 2
FERR
Reset State
0000 0000 0000 0000
0000 0000 0000 0000
0000 000u uuuu uuuu
URXDA 0000 0001 0001 0000
STSEL 0000 0000 0000 0000
Bit 0
0000 0000 0000 0000
0000 0000 0000 0000
0000 000u uuuu uuuu
URXDA 0000 0001 0001 0000
PDSEL1 PDSEL0 STSEL 0000 0000 0000 0000
Bit 2
dsPIC30F6010
Preliminary
DS70119D-page 113
dsPIC30F6010
NOTES:
DS70119D-page 114
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
19.0
CAN MODULE
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046).
19.1
Overview
The Controller Area Network (CAN) module is a serial
interface, useful for communicating with other CAN
modules or microcontroller devices. This interface/
protocol was designed to allow communications within
noisy environments. The dsPIC30F6010 has 2 CAN
modules.
The CAN module is a communication controller implementing the CAN 2.0 A/B protocol, as defined in the
BOSCH specification. The module will support
CAN 1.2, CAN 2.0A, CAN2.0B Passive and CAN 2.0B
Active versions of the protocol. The module implementation is a full CAN system. The CAN specification is
not covered within this data sheet. The reader may
refer to the BOSCH CAN specification for further
details.
The module features are as follows:
• Implementation of the CAN protocol CAN 1.2,
CAN 2.0A and CAN 2.0B
• Standard and extended data frames
• 0-8 bytes data length
• Programmable bit rate up to 1 Mbit/sec
• Support for remote frames
• Double buffered receiver with two prioritized
received message storage buffers (each buffer
may contain up to 8 bytes of data)
• 6 full (standard/extended identifier) acceptance
filters, 2 associated with the high priority receive
buffer, and 4 associated with the low priority
receive buffer
• 2 full acceptance filter masks, one each associated with the high and low priority receive buffers
• Three transmit buffers with application specified
prioritization and abort capability (each buffer may
contain up to 8 bytes of data)
• Programmable wake-up functionality with
integrated low pass filter
• Programmable Loopback mode supports self-test
operation
• Signaling via interrupt capabilities for all CAN
receiver and transmitter error states
• Programmable clock source
• Programmable link to timer module for
time-stamping and network synchronization
• Low power Sleep and Idle mode
 2004 Microchip Technology Inc.
The CAN bus module consists of a protocol engine,
and message buffering/control. The CAN protocol
engine handles all functions for receiving and transmitting messages on the CAN bus. Messages are transmitted by first loading the appropriate data registers.
Status and errors can be checked by reading the
appropriate registers. Any message detected on the
CAN bus is checked for errors and then matched
against filters to see if it should be received and stored
in one of the receive registers.
19.2
Frame Types
The CAN module transmits various types of frames,
which include data messages or remote transmission
Requests initiated by the user as other frames that are
automatically generated for control purposes. The
following frame types are supported:
• Standard Data Frame
A Standard Data Frame is generated by a node when
the node wishes to transmit data. It includes a 11-bit
Standard Identifier (SID) but not an 18-bit Extended
Identifier (EID).
• Extended Data Frame
An Extended Data Frame is similar to a Standard Data
Frame, but includes an Extended Identifier as well.
• Remote Frame
It is possible for a destination node to request the data
from the source. For this purpose, the destination node
sends a Remote Frame with an identifier that matches
the identifier of the required Data Frame. The appropriate data source node will then send a Data Frame as a
response to this Remote request.
• Error Frame
An Error Frame is generated by any node that detects
a bus error. An error frame consists of 2 fields: an Error
Flag field and an Error Delimiter field.
• Overload Frame
An Overload Frame can be generated by a node as a
result of 2 conditions. First, the node detects a dominant bit during lnterframe Space which is an illegal
condition. Second, due to internal conditions, the node
is not yet able to start reception of the next message. A
node may generate a maximum of 2 sequential
Overload Frames to delay the start of the next
message.
• Interframe Space
Interframe Space separates a proceeding frame (of
whatever type) from a following Data or Remote
Frame.
Preliminary
DS70119D-page 115
dsPIC30F6010
FIGURE 19-1:
CAN BUFFERS AND PROTOCOL ENGINE BLOCK DIAGRAM
Acceptance Mask
RXM1
BUFFERS
Acceptance Filter
RXF2
Message
Queue
Control
MESSAGE
MSGREQ
TXABT
TXLARB
TXERR
MTXBUFF
TXB2
MESSAGE
MSGREQ
TXABT
TXLARB
TXERR
MTXBUFF
TXB1
MESSAGE
MSGREQ
TXABT
TXLARB
TXERR
MTXBUFF
TXB0
A
c
c
e
p
t
Acceptance Mask
RXM0
Acceptance Filter
RXF3
Acceptance Filter
RXF0
Acceptance Filter
RXF4
Acceptance Filter
RXF1
Acceptance Filter
RXF5
R
X
B
0
Identifier
M
A
B
Data Field
Transmit Byte Sequencer
Data Field
PROTOCOL
ENGINE
RERRCNT
TERRCNT
Transmit
Error
Counter
CRC Generator
R
X
B
1
Identifier
Receive
Error
Counter
Transmit Shift
A
c
c
e
p
t
ErrPas
BusOff
Receive Shift
Protocol
Finite
State
Machine
CRC Check
Transmit
Logic
Bit
Timing
Logic
CiTX(1)
CiRX(1)
Bit Timing
Generator
Note 1: i = 1 or 2 refers to a particular CAN module (CAN1 or CAN2).
DS70119D-page 116
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
19.3
Modes of Operation
The CAN Module can operate in one of several operation modes selected by the user. These modes include:
•
•
•
•
•
•
Initialization Mode
Disable Mode
Normal Operation Mode
Listen Only Mode
Loop Back Mode
Error Recognition Mode
Note:
Modes are requested by setting the REQOP<2:0>
bits (CiCTRL<10:8>), except the Error Recognition
mode which is requested through the RXM<1:0> bits
(CiRXnCON<6:5>, where n = 0 or 1 represents a
particular receive buffer). Entry into a mode is
acknowledged by monitoring the OPMODE<2:0> bits
(CiCTRL<7:5>). The module will not change the mode
and the OPMODE bits until a change in mode is
acceptable, generally during bus idle time which is
defined as at least 11 consecutive recessive bits.
19.3.1
INITIALIZATION MODE
In the Initialization mode, the module will not transmit or
receive. The error counters are cleared and the interrupt flags remain unchanged. The programmer will
have access to configuration registers that are access
restricted in other modes. The module will protect the
user from accidentally violating the CAN protocol
through programming errors. All registers which control
the configuration of the module can not be modified
while the module is on-line. The CAN module will not
be allowed to enter the Configuration mode while a
transmission is taking place. The Configuration mode
serves as a lock to protect the following registers.
•
•
•
•
•
All Module Control Registers
Baud Rate and interrupt Configuration Registers
Bus Timing Registers
Identifier Acceptance Filter Registers
Identifier Acceptance Mask Registers
19.3.2
19.3.3
Typically, if the CAN module is allowed to
transmit in a particular mode of operation
and a transmission is requested immediately after the CAN module has been
placed in that mode of operation, the module waits for 11 consecutive recessive bits
on the bus before starting transmission. If
the user switches to Disable mode within
this 11-bit period, then this transmission is
aborted and the corresponding TXABT bit
is set and TXREQ bit is cleared.
NORMAL OPERATION MODE
Normal Operating mode is selected when
REQOP<2:0> = ‘000’. In this mode, the module is
activated, the I/O pins will assume the CAN bus
functions. The module will transmit and receive CAN
bus messages via the CxTX and CxRX pins.
19.3.4
LISTEN ONLY MODE
If the Listen Only mode is activated, the module on the
CAN bus is passive. The transmitter buffers revert to
the Port I/O function. The receive pins remain inputs.
For the receiver, no error flags or acknowledge signals
are sent. The error counters are deactivated in this
state. The Listen Only mode can be used for detecting
the baud rate on the CAN bus. To use this, it is necessary that there are at least two further nodes that
communicate with each other.
19.3.5
ERROR RECOGNITION MODE
The module can be set to ignore all errors and receive
any message. The Error Recognition mode is activated
by setting the RXM<1:0> bits (CiRXnCON<6:5>) registers to ‘11’. In this mode the data which is in the
message assembly buffer until the time an error
occurred, is copied in the receive buffer and can be
read via the CPU interface.
DISABLE MODE
In Disable mode, the module will not transmit or
receive. The module has the ability to set the WAKIF bit
due to bus activity, however any pending interrupts will
remain and the error counters will retain their value.
If the REQOP<2:0> bits (CiCTRL<10:8>) = ‘001’, the
module will enter the Module Disable mode. If the module is active, the module will wait for 11 recessive bits
on the CAN bus, detect that condition as an idle bus,
then accept the module disable command. When the
OPMODE<2:0> bits (CiCTRL<7:5>) = ‘001’, that indicates whether the module successfully went into Module Disable mode. The I/O pins will revert to normal I/O
function when the module is in the Module Disable
mode.
 2004 Microchip Technology Inc.
The module can be programmed to apply a low-pass
filter function to the CiRX input line while the module or
the CPU is in Sleep mode. The WAKFIL bit
(CiCFG2<14>) enables or disables the filter.
19.3.6
LOOP BACK MODE
If the Loopback mode is activated, the module will connect the internal transmit signal to the internal receive
signal at the module boundary. The transmit and
receive pins revert to their Port I/O function.
Preliminary
DS70119D-page 117
dsPIC30F6010
19.4
19.4.1
Message Reception
19.4.4
RECEIVE BUFFERS
The CAN bus module has 3 receive buffers. However,
one of the receive buffers is always committed to monitoring the bus for incoming messages. This buffer is
called the message assembly buffer (MAB). So there
are 2 receive buffers visible, RXB0 and RXB1, that can
essentially instantaneously receive a complete
message from the protocol engine.
All messages are assembled by the MAB, and are
transferred to the RXBn buffers only if the acceptance
filter criterion are met. When a message is received,
the RXnIF flag (CiINTF<0> or CiINRF<1>) will be set.
This bit can only be set by the module when a message
is received. The bit is cleared by the CPU when it has
completed processing the message in the buffer. If the
RXnIE bit (CiINTE<0> or CiINTE<1>) is set, an interrupt will be generated when a message is received.
RXF0 and RXF1 filters with RXM0 mask are associated
with RXB0. The filters RXF2, RXF3, RXF4, and RXF5
and the mask RXM1 are associated with RXB1.
19.4.2
MESSAGE ACCEPTANCE FILTERS
The message acceptance filters and masks are used to
determine if a message in the message assembly
buffer should be loaded into either of the receive buffers. Once a valid message has been received into the
Message Assembly Buffer (MAB), the identifier fields of
the message are compared to the filter values. If there
is a match, that message will be loaded into the
appropriate receive buffer.
The acceptance filter looks at incoming messages for
the RXIDE bit (CiRXnSID<0>) to determine how to
compare the identifiers. If the RXIDE bit is clear, the
message is a standard frame, and only filters with the
EXIDE bit (CiRXFnSID<0>) clear are compared. If the
RXIDE bit is set, the message is an extended frame,
and only filters with the EXIDE bit set are compared.
Configuring the RXM<1:0> bits to 01 or 10 can
override the EXIDE bit.
19.4.3
MESSAGE ACCEPTANCE FILTER
MASKS
The mask bits essentially determine which bits to apply
the filter to. If any mask bit is set to a zero, then that bit
will automatically be accepted regardless of the filter
bit. There are 2 programmable acceptance filter masks
associated with the receive buffers, one for each buffer.
RECEIVE OVERRUN
An overrun condition occurs when the Message
Assembly Buffer (MAB) has assembled a valid
received message, the message is accepted through
the acceptance filters, and when the receive buffer
associated with the filter has not been designated as
clear of the previous message.
The overrun error flag, RXnOVR (CiINTF<15> or
CiINTF<14>) and the ERRIF bit (CiINTF<5>) will be set
and the message in the MAB will be discarded.
If the DBEN bit is clear, RXB1 and RXB0 operate independently. When this is the case, a message intended
for RXB0 will not be diverted into RXB1 if RXB0
contains an unread message and the RX0OVR bit will
be set.
If the DBEN bit is set, the overrun for RXB0 is handled
differently. If a valid message is received for RXB0 and
RXFUL = 1 indicates that RXB0 is full, and RXFUL = 0
indicates that RXB1 is empty, the message for RXB0
will be loaded into RXB1. An overrun error will not be
generated for RXB0. If a valid message is received for
RXB0 and RXFUL = 1, and RXFUL = 1 indicating that
both RXB0 and RXB1 are full, the message will be lost
and an overrun will be indicated for RXB1.
19.4.5
RECEIVE ERRORS
The CAN module will detect the following receive
errors:
• Cyclic Redundancy Check (CRC) Error
• Bit Stuffing Error
• Invalid message receive error
These receive errors do not generate an interrupt.
However, the receive error counter is incremented by
one in case one of these errors occur. The RXWAR bit
(CiINTF<9>) indicates that the Receive Error Counter
has reached the CPU warning limit of 96 and an
interrupt is generated.
19.4.6
RECEIVE INTERRUPTS
Receive interrupts can be divided into 3 major groups,
each including various conditions that generate
interrupts:
• Receive Interrupt
A message has been successfully received and loaded
into one of the receive buffers. This interrupt is activated immediately after receiving the End-of-Frame
(EOF) field. Reading the RXnIF flag will indicate which
receive buffer caused the interrupt.
• Wake-up interrupt
The CAN module has woken up from Disable mode or
the device has woken up from Sleep mode.
DS70119D-page 118
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
• Receive Error Interrupts
A receive error interrupt will be indicated by the ERRIF
bit. This bit shows that an error condition occurred. The
source of the error can be determined by checking the
bits in the CAN Interrupt Status Register CiINTF.
• Invalid message received
• If any type of error occurred during reception of
the last message, an error will be indicated by the
IVRIF bit.
• Receiver overrun
• The RXnOVR bit indicates that an overrun condition occurred.
• Receiver warning
• The RXWAR bit indicates that the Receive Error
Counter (RERRCNT<7:0>) has reached the
Warning limit of 96.
• Receiver error passive
• The RXEP bit indicates that the Receive Error
Counter has exceeded the Error Passive limit of
127 and the module has gone into Error Passive
state.
19.5
19.5.1
Message Transmission
TRANSMIT BUFFERS
The CAN module has three transmit buffers. Each of
the three buffers occupies 14 bytes of data. Eight of the
bytes are the maximum 8 bytes of the transmitted message. Five bytes hold the standard and extended
identifiers and other message arbitration information.
19.5.2
TRANSMIT MESSAGE PRIORITY
Transmit priority is a prioritization within each node of the
pending transmittable messages. There are 4 levels of
transmit priority. If TXPRI<1:0> (CiTXnCON<1:0>, where
n = 0, 1 or 2 represents a particular transmit buffer) for a
particular message buffer is set to ‘11’, that buffer has the
highest priority. If TXPRI<1:0> for a particular message
buffer is set to ‘10’ or ‘01’, that buffer has an intermediate
priority. If TXPRI<1:0> for a particular message buffer is
‘00’, that buffer has the lowest priority.
19.5.3
TRANSMISSION SEQUENCE
To initiate transmission of the message, the TXREQ bit
(CiTXnCON<3>) must be set. The CAN bus module
resolves any timing conflicts between setting of the
TXREQ bit and the Start of Frame (SOF), ensuring
that if the priority was changed, it is resolved correctly
before the SOF occurs. When TXREQ is set, the
TXABT (CiTXnCON<6>), TXLARB (CiTXnCON<5>)
and TXERR (CiTXnCON<4>) flag bits are
automatically cleared.
 2004 Microchip Technology Inc.
Setting TXREQ bit simply flags a message buffer as
enqueued for transmission. When the module detects
an available bus, it begins transmitting the message
which has been determined to have the highest priority.
If the transmission completes successfully on the first
attempt, the TXREQ bit is cleared automatically and an
interrupt is generated if TXIE was set.
If the message transmission fails, one of the error
condition flags will be set and the TXREQ bit will
remain set indicating that the message is still pending
for transmission. If the message encountered an error
condition during the transmission attempt, the TXERR
bit will be set and the error condition may cause an
interrupt. If the message loses arbitration during the
transmission attempt, the TXLARB bit is set. No
interrupt is generated to signal the loss of arbitration.
19.5.4
ABORTING MESSAGE
TRANSMISSION
The system can also abort a message by clearing the
TXREQ bit associated with each message buffer. Setting the ABAT bit (CiCTRL<12>) will request an abort of
all pending messages. If the message has not yet
started transmission, or if the message started but is
interrupted by loss of arbitration or an error, the abort
will be processed. The abort is indicated when the
module sets the TXABT bit, and the TXnIF flag is not
automatically set.
19.5.5
TRANSMISSION ERRORS
The CAN module will detect the following transmission
errors:
• Acknowledge Error
• Form Error
• Bit Error
These transmission errors will not necessarily generate
an interrupt but are indicated by the transmission error
counter. However, each of these errors will cause the
transmission error counter to be incremented by one.
Once the value of the error counter exceeds the value
of 96, the ERRIF (CiINTF<5>) and the TXWAR bit
(CiINTF<10>) are set. Once the value of the error
counter exceeds the value of 96, an interrupt is generated and the TXWAR bit in the error flag register is set.
Preliminary
DS70119D-page 119
dsPIC30F6010
19.5.6
19.6
TRANSMIT INTERRUPTS
Baud Rate Setting
Transmit interrupts can be divided into 2 major groups,
each including various conditions that generate
interrupts:
All nodes on any particular CAN bus must have the
same nominal bit rate. In order to set the baud rate, the
following parameters have to be initialized:
• Transmit Interrupt
•
•
•
•
•
•
At least one of the three transmit buffers is empty (not
scheduled) and can be loaded to schedule a message
for transmission. Reading the TXnIF flags will indicate
which transmit buffer is available and caused the
interrupt.
• Transmit Error Interrupts
A transmission error interrupt will be indicated by the
ERRIF flag. This flag shows that an error condition
occurred. The source of the error can be determined by
checking the error flags in the CAN Interrupt Status register, CiINTF. The flags in this register are related to
receive and transmit errors.
• Transmitter Warning Interrupt
• The TXWAR bit indicates that the Transmit Error
Counter has reached the CPU warning limit of 96.
• Transmitter Error Passive
• The TXEP bit (CiINTF<12>) indicates that the
Transmit Error Counter has exceeded the Error
Passive limit of 127 and the module has gone to
Error Passive state.
• Bus Off
• The TXBO bit (CiINTF<13>) indicates that the
Transmit Error Counter has exceeded 255 and
the module has gone to Bus Off state.
FIGURE 19-2:
Synchronization Jump Width
Baud rate prescaler
Phase segments
Length determination of Phase2 Seg
Sample Point
Propagation segment bits
19.6.1
BIT TIMING
All controllers on the CAN bus must have the same
baud rate and bit length. However, different controllers
are not required to have the same master oscillator
clock. At different clock frequencies of the individual
controllers, the baud rate has to be adjusted by adjusting the number of time quanta in each segment.
The Nominal Bit Time can be thought of as being
divided into separate non-overlapping time segments.
These segments are shown in Figure 19-2.
•
•
•
•
Synchronization segment (Sync Seg)
Propagation time segment (Prop Seg)
Phase segment 1 (Phase1 Seg)
Phase segment 2 (Phase2 Seg)
The time segments and also the nominal bit time are
made up of integer units of time called time quanta or
TQ. By definition, the Nominal Bit Time has a minimum
of 8 TQ and a maximum of 25 TQ. Also, by definition,
the minimum nominal bit time is 1 µsec, corresponding
to a maximum bit rate of 1 MHz.
CAN BIT TIMING
Input Signal
Sync
Prop
Segment
Phase
Segment 1
Phase
Segment 2
Sync
Sample Point
TQ
DS70119D-page 120
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
19.6.2
PRESCALER SETTING
19.6.5
There is a programmable prescaler, with integral values ranging from 1 to 64, in addition to a fixed divideby-2 for clock generation. The Time Quantum (TQ) is a
fixed unit of time derived from the oscillator period, and
is given by Equation 19-1, where FCAN is FCY (if the
CANCKS bit is set or 4 FCY (if CANCKS is cleared).
Note:
FCAN must not exceed 30 MHz. If
CANCKS = 0, then FCY must not exceed
7.5 MHz.
EQUATION 19-1:
TIME QUANTUM FOR
CLOCK GENERATION
19.6.6
PROPAGATION SEGMENT
This part of the bit time is used to compensate physical
delay times within the network. These delay times consist of the signal propagation time on the bus line and
the internal delay time of the nodes. The Propagation
Segment can be programmed from 1 TQ to 8 TQ by
setting the PRSEG<2:0> bits (CiCFG2<2:0>).
19.6.4
The Sample Point is the point of time at which the bus
level is read and interpreted as the value of that respective bit. The location is at the end of Phase1 Seg. If the
bit timing is slow and contains many TQ, it is possible to
specify multiple sampling of the bus line at the sample
point. The level determined by the CAN bus then corresponds to the result from the majority decision of three
values. The majority samples are taken at the sample
point and twice before with a distance of TQ/2. The
CAN module allows the user to chose between sampling three times at the same point or once at the same
point, by setting or clearing the SAM bit (CiCFG2<6>).
Typically, the sampling of the bit should take place at
about 60-70% through the bit time, depending on the
system parameters.
TQ = 2 ( BRP<5:0> + 1 ) / FCAN
19.6.3
SAMPLE POINT
PHASE SEGMENTS
The phase segments are used to optimally locate the
sampling of the received bit within the transmitted bit
time. The sampling point is between Phase1 Seg and
Phase2 Seg. These segments are lengthened or shortened by re-synchronization. The end of the Phase1
Seg determines the sampling point within a bit period.
The segment is programmable from 1 TQ to 8 TQ.
Phase2 Seg provides delay to the next transmitted data
transition. The segment is programmable from 1 TQ to
8 TQ, or it may be defined to be equal to the greater of
Phase1 Seg or the Information Processing Time
(2 TQ). The Phase1 Seg is initialized by setting bits
SEG1PH<2:0> (CiCFG2<5:3>), and Phase2 Seg is initialized by setting SEG2PH<2:0> (CiCFG2<10:8>).
The following requirement must be fulfilled while setting
the lengths of the Phase Segments:
• Propagation Segment + Phase1 Seg > = Phase2
Seg
SYNCHRONIZATION
To compensate for phase shifts between the oscillator
frequencies of the different bus stations, each CAN
controller must be able to synchronize to the relevant
signal edge of the incoming signal. When an edge in
the transmitted data is detected, the logic will compare
the location of the edge to the expected time (Synchronous Segment). The circuit will then adjust the values
of Phase1 Seg and Phase2 Seg. There are 2
mechanisms used to synchronize.
19.6.6.1
Hard Synchronization
Hard Synchronization is only done whenever there is a
'recessive' to 'dominant' edge during Bus Idle, indicating the start of a message. After hard synchronization,
the bit time counters are restarted with the Synchronous Segment. Hard synchronization forces the edge
which has caused the hard synchronization to lie within
the synchronization segment of the restarted bit time. If
a hard synchronization is done, there will not be a
re-synchronization within that bit time.
19.6.6.2
Re-synchronization
As a result of re-synchronization, Phase1 Seg may be
lengthened or Phase2 Seg may be shortened. The
amount of lengthening or shortening of the phase
buffer segment has an upper bound known as the Synchronization Jump Width, and is specified by the
SJW<1:0> bits (CiCFG1<7:6>). The value of the synchronization jump width will be added to Phase1 Seg or
subtracted from Phase2 Seg. The re-synchronization
jump width is programmable between 1 TQ and 4 TQ.
The following requirement must be fulfilled while setting
the SJW<1:0> bits:
• Phase2 Seg > Synchronization Jump Width
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 121
DS70119D-page 122
Preliminary
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
Transmit Buffer 1 Standard Identifier <10:6>
—
Transmit Buffer 1 Byte 1
Transmit Buffer 1 Extended Identifier <5:0>
—
—
Transmit Buffer 2 Byte 3
Transmit Buffer 2 Byte 1
Transmit Buffer 1 Extended Identifier <17:14>
u = uninitialized bit
0356
C1TX1B1
Legend:
0352
0350
C1TX1SID
0354
034E
C1TX1DLC
034C
C1TX2B4
C1TX2CON
C1TX1EID
Transmit Buffer 2 Byte 7
0348
034A
C1TX2B2
C1TX2B3
—
Transmit Buffer 2 Byte 5
0346
C1TX2B1
—
Transmit Buffer 2 Extended Identifier <5:0>
Transmit Buffer 2 Extended Identifier <17:14>
0342
0344
C1TX2DLC
Transmit Buffer 2 Standard Identifier <10:6>
Receive Acceptance Mask 1 Extended Identifier <5:0>
—
—
Receive Acceptance Mask 0 Extended Identifier <5:0>
—
—
Receive Acceptance Filter 5 Extended Identifier <5:0>
—
—
C1TX2EID
0340
C1TX2SID
—
033C
C1RXM1EIDH 033A
C1RXM1EIDL
—
0338
C1RXM1SID
—
0334
C1RXM0EIDH 0332
C1RXM0EIDL
—
0330
—
Receive Acceptance Filter 4 Extended Identifier <5:0>
—
—
—
032C
—
—
Receive Acceptance Filter 3 Extended Identifier <5:0>
—
—
—
C1RXM0SID
Bit 11
Receive Acceptance Filter 2 Extended Identifier <5:0>
—
—
—
C1RXF5EIDL
—
Bit 12
Receive Acceptance Filter 1 Extended Identifier <5:0>
—
—
—
032A
0324
C1RXF4EIDL
—
C1RXF5EIDH
0322
C1RXF4EIDH
—
0328
0320
—
—
—
—
—
—
—
—
Bit 13
Receive Acceptance Filter 0 Extended Identifier <5:0>
—
—
—
—
Bit 14
Bit 15
CAN1 REGISTER MAP
C1RXF5SID
031C
0314
C1RXF2EIDL
C1RXF4SID
0312
C1RXF2EIDH
C1RXF3EIDL
0310
C1RXF2SID
0318
030C
C1RXF1EIDL
031A
030A
C1RXF1EIDH
C1RXF3EIDH
0308
C1RXF1SID
C1RXF3SID
0302
0304
C1RXF0EIDH
0300
C1RXF0SID
C1RXF0EIDL
Addr.
SFR Name
TABLE 19-1:
—
—
—
—
—
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
TXRTR
—
—
—
TXRTR
—
—
—
—
—
—
—
TXRB1
—
—
—
TXRB1
—
—
—
TXRB0
—
TXRB0
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
Bit 2
TXERR
TXREQ
Transmit Buffer 2 Byte 6
TXLARB
—
—
Transmit Buffer 1 Byte 0
DLC<3:0>
—
Transmit Buffer 1 Extended Identifier <13:6>
Transmit Buffer 1 Standard Identifier <5:0>
TXABT
Transmit Buffer 2 Byte 4
Transmit Buffer 2 Byte 2
Transmit Buffer 2 Byte 0
DLC<3:0>
Transmit Buffer 2 Extended Identifier <13:6>
Transmit Buffer 2 Standard Identifier <5:0>
—
Receive Acceptance Mask 1 Extended Identifier <17:6>
—
Receive Acceptance Mask 0 Extended Identifier <17:6>
—
Receive Acceptance Mask 1 Standard Identifier <10:0>
—
—
Receive Acceptance Filter 5 Extended Identifier <17:6>
Receive Acceptance Mask 0 Standard Identifier <10:0>
—
—
Receive Acceptance Filter 4 Extended Identifier <17:6>
Receive Acceptance Filter 5 Standard Identifier <10:0>
—
—
Receive Acceptance Filter 3 Extended Identifier <17:6>
Receive Acceptance Filter 4 Standard Identifier <10:0>
—
—
Receive Acceptance Filter 2 Extended Identifier <17:6>
Receive Acceptance Filter 3 Standard Identifier <10:0>
—
—
—
Bit 3
Receive Acceptance Filter 1 Extended Identifier <17:6>
Receive Acceptance Filter 2 Standard Identifier <10:0>
—
Bit 4
Receive Acceptance Filter 0 Extended Identifier <17:6>
—
Receive Acceptance Filter 1 Standard Identifier <10:0>
—
Receive Acceptance Filter 0 Standard Identifier <10:0>
Bit 0
—
TXIDE
—
MIDE
—
MIDE
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
—
SRR
—
TXIDE
TXPRI<1:0>
—
SRR
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
Bit 1
Reset State
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu u000
uuuu 0000 uuuu uuuu
uuuu u000 uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu u000
uuuu 0000 uuuu uuuu
uuuu u000 uuuu uuuu
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
dsPIC30F6010
 2004 Microchip Technology Inc.
Bit 11
—
—
Transmit Buffer 0 Byte 5
Transmit Buffer 0 Byte 7
0366
0368
036A
036C
036E
0370
C1TX0B1
C1TX0B2
C1TX0B3
C1TX0B4
C1TX0CON
C1RX1SID
—
 2004 Microchip Technology Inc.
Receive Buffer 1 Byte 7
037C
037E
0380
C1RX1B4
C1RX1CON
C1RX0SID
Preliminary
0392
0394
0396
C1CFG1
C1CFG2
C1INTF
u = uninitialized bit
—
RX0OVR
—
—
CANCAP
—
RX1OVR
WAKFIL
—
—
—
—
TXEP
—
—
ABAT
—
—
RXEP
—
—
CANCKS
—
Transmit Error Count Register
—
TXBO
—
—
CSIDLE
—
Receive Buffer 0 Byte 3
Receive Buffer 0 Byte 1
—
TXRB1
—
—
—
Bit 8
—
—
TXRB0
—
Bit 7
—
RXRB1
SEG2PH<2:0>
—
—
—
RXRB1
REQOP<2:0>
—
RXRTR
—
—
TXERR
RXFUL
TXABT
—
—
TXERR
—
—
—
—
IVRIE
IVRIF
SEG2PHTS
WAKIE
WAKIF
SAM
SJW<1:0>
RXRB0
TX2IE
SRR
RXIDE
DLC<3:0>
SRR
RXIDE
FILHIT<2:0>
TX1IE
TX1IF
TX0IE RX1E
—
RX0IE
RX0IF
PRSEG<2:0>
TX0IF RX1IF
BRP<5:0>
ICODE<2:0>
Receive Error Count Register
ERRIE
TX2IF
—
TXIDE
TXPRI<1:0>
—
SRR
DLC<3:0>
—
—
Bit 0
TXPRI<1:0>
Bit 1
RXRTRRO DBEN JTOFF FILHIT0
SEG1PH<2:0>
—
—
Receive Buffer 0 Byte 6
Receive Buffer 0 Byte 4
Receive Buffer 0 Byte 2
Receive Buffer 0 Byte 0
ERRIF
—
—
RXRTRRO
Receive Buffer 1 Byte 6
Receive Buffer 1 Byte 4
Receive Buffer 1 Byte 2
Receive Buffer 1 Byte 0
RXRB0
TXREQ
Transmit Buffer 0 Byte 6
Transmit Buffer 0 Byte 4
Transmit Buffer 0 Byte 2
Transmit Buffer 0 Byte 0
DLC<3:0>
TXLARB
OPMODE<2:0>
RXFUL
—
—
Bit 2
Transmit Buffer 0 Extended Identifier <13:6>
Receive Buffer 0 Extended Identifier <17:6>
—
TXREQ
Transmit Buffer 1 Byte 6
Receive Buffer 1 Extended Identifier <17:6>
—
Bit 3
Transmit Buffer 1 Byte 4
TXLARB
Receive Buffer 0 Standard Identifier <10:0>
—
RXRTR
Bit 4
Transmit Buffer 1 Byte 2
Bit 5
Transmit Buffer 0 Standard Identifier <5:0>
TXABT
Bit 6
Receive Buffer 1 Standard Identifier <10:0>
—
TXRTR
—
—
—
Bit 9
TXWAR RXWAR EWARN
—
—
—
—
—
—
—
Bit 10
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
Legend:
0398
0390
C1CTRL
039A
038E
C1EC
038C
C1RX0B4
C1RX0CON
C1INTE
Receive Buffer 0 Byte 7
0388
038A
C1RX0B2
C1RX0B3
—
Receive Buffer 0 Byte 5
0386
—
C1RX0B1
—
Receive Buffer 0 Extended Identifier <5:0>
—
—
0382
—
—
0384
—
—
C1RX0DLC
—
—
Receive Buffer 1 Byte 3
Receive Buffer 1 Byte 1
C1RX0EID
—
—
Receive Buffer 1 Byte 5
0378
037A
C1RX1B2
—
C1RX1B3
—
0376
—
Receive Buffer 1 Extended Identifier <5:0>
C1RX1B1
—
0372
—
0374
—
—
C1RX1DLC
—
—
—
C1RX1EID
—
—
Transmit Buffer 0 Byte 3
Transmit Buffer 0 Byte 1
Transmit Buffer 0 Extended Identifier <5:0>
Transmit Buffer 0 Extended Identifier <17:14>
—
0362
Transmit Buffer 0 Standard Identifier <10:6>
0364
0360
C1TX0SID
Transmit Buffer 1 Byte 7
C1TX0DLC
035E
C1TX1CON
—
Bit 12
C1TX0EID
035A
035C
C1TX1B3
—
Bit 13
Transmit Buffer 1 Byte 5
Bit 14
Transmit Buffer 1 Byte 3
Bit 15
CAN1 REGISTER MAP (CONTINUED)
0358
Addr.
C1TX1B4
C1TX1B2
SFR Name
TABLE 19-1:
Reset State
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0u00 0uuu uuuu uuuu
0000 0000 0000 0000
0000 0100 1000 0000
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu 000u uuuu
0000 uuuu uuuu uuuu
000u uuuu uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu 000u uuuu
0000 uuuu uuuu uuuu
000u uuuu uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu u000
uuuu 0000 uuuu uuuu
uuuu u000 uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
dsPIC30F6010
DS70119D-page 123
DS70119D-page 124
03E0
03E2
03E4
C2RXF4EIDH
C2RXF4EIDL
Preliminary
03F8
—
—
—
—
—
—
—
—
—
—
—
—
0410
0412
0414
0416
0418
041A
C2TX1DLC
C2TX1B1
C2TX1B2
C2TX1B3
040E
C2TX2CON
C2TX1SID
040C
C2TX2B4
C2TX1EID
0408
040A
C2TX2B1
C2TX2B3
0406
C2TX2DLC
C2TX2B2
0402
0404
C2TX2EID
—
—
Transmit Buffer 1 Standard Identifier <10:6>
—
Transmit Buffer 1 Byte 5
Transmit Buffer 1 Byte 3
Transmit Buffer 1 Byte 1
Transmit Buffer 1 Extended Identifier <5:0>
—
—
Transmit Buffer 2 Byte 7
Transmit Buffer 2 Byte 5
Transmit Buffer 2 Byte 3
Transmit Buffer 2 Byte 1
Transmit Buffer 1 Extended Identifier <17:14>
—
—
Transmit Buffer 2 Extended Identifier <5:0>
Transmit Buffer 2 Extended Identifier <17:14>
Transmit Buffer 2 Standard Identifier <10:6>
—
0400
—
C2TX2SID
—
—
—
Receive Acceptance Mask 1 Extended Identifier <5:0>
—
C2RXM1EIDL 03FC
C2RXM1EIDH 03FA
C2RXM1SID
—
—
—
—
—
—
Bit 10
Receive Acceptance Mask 0 Extended Identifier <5:0>
—
—
—
—
C2RXM0EIDH 03F2
C2RXM0EIDL 03F4
—
—
03F0
—
—
Receive Acceptance Filter 5 Extended Identifier <5:0>
—
C2RXM0SID
—
Receive Acceptance Filter 4 Extended Identifier <5:0>
—
—
C2RXF5EIDH 03EA
03EC
—
—
Receive Acceptance Filter 3 Extended Identifier <5:0>
—
—
—
C2RXF5EIDL
Bit 11
Receive Acceptance Filter 2 Extended Identifier <5:0>
—
—
—
—
—
—
Bit 12
Receive Acceptance Filter 1 Extended Identifier <5:0>
—
—
03E8
C2RXF5SID
03DC
C2RXF4SID
—
03D8
C2RXF3SID
C2RXF3EIDH 03DA
C2RXF3EIDL
—
—
03D4
C2RXF2EIDH 03D2
C2RXF2EIDL
—
03D0
C2RXF2SID
—
03CC
C2RXF1EIDH 03CA
C2RXF1EIDL
—
03C8
C2RXF1SID
—
—
Bit 13
Receive Acceptance Filter 0 Extended Identifier <5:0>
—
—
C2RXF0EIDH 03C2
03C4
—
—
C2RXF0EIDL
Bit 14
Bit 15
03C0
C2RXF0SID
CAN2 REGISTER MAP
Addr.
SFR Name
TABLE 19-2:
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
TXRTR
—
—
—
TXRTR
—
—
—
—
—
—
—
—
TXRB1
—
—
—
TXRB1
—
—
—
TXRB0
—
TXRB0
—
—
—
—
—
—
—
—
—
—
—
Bit 3
Bit 0
Reset State
uuuu u000 uuuu uuuu
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
uuuu uu00 0000 0000
0000 uuuu uuuu uuuu
000u uuuu uuuu uu0u
TXLARB TXERR
TXREQ
—
Transmit Buffer 1 Byte 4
Transmit Buffer 1 Byte 2
Transmit Buffer 1 Byte 0
DLC<3:0>
—
Transmit Buffer 1 Extended Identifier <13:6>
Transmit Buffer 1 Standard Identifier <5:0>
TXABT
Transmit Buffer 2 Byte 6
Transmit Buffer 2 Byte 4
Transmit Buffer 2 Byte 2
Transmit Buffer 2 Byte 0
DLC<3:0>
—
SRR
—
TXIDE
TXPRI<1:0>
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu u000
uuuu 0000 uuuu uuuu
uuuu u000 uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu u000
—
TXIDE
—
MIDE
—
MIDE
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
uuuu 0000 uuuu uuuu
—
SRR
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
Bit 1
—
—
—
—
—
—
—
—
—
Bit 2
Transmit Buffer 2 Extended Identifier <13:6>
Transmit Buffer 2 Standard Identifier <5:0>
—
Receive Acceptance Mask 1 Extended Identifier <17:6>
—
Receive Acceptance Mask 0 Extended Identifier <17:6>
Receive Acceptance Mask 1 Standard Identifier <10:0>
—
—
Receive Acceptance Filter 5 Extended Identifier <17:6>
Receive Acceptance Mask 0 Standard Identifier <10:0>
—
—
Receive Acceptance Filter 4 Extended Identifier <17:6>
Receive Acceptance Filter 5 Standard Identifier <10:0>
—
—
Receive Acceptance Filter 3 Extended Identifier <17:6>
Receive Acceptance Filter 4 Standard Identifier <10:0>
—
—
Receive Acceptance Filter 2 Extended Identifier <17:6>
Receive Acceptance Filter 3 Standard Identifier <10:0>
—
—
Receive Acceptance Filter 1 Extended Identifier <17:6>
Receive Acceptance Filter 2 Standard Identifier <10:0>
—
Bit 4
Receive Acceptance Filter 0 Extended Identifier <17:6>
Receive Acceptance Filter 1 Standard Identifier <10:0>
—
Receive Acceptance Filter 0 Standard Identifier <10:0>
dsPIC30F6010
 2004 Microchip Technology Inc.
 2004 Microchip Technology Inc.
Preliminary
Bit 12
—
—
—
RX0OVR
—
—
—
—
—
—
—
—
—
—
Receive Buffer 1 Byte 7
Receive Buffer 1 Byte 5
Receive Buffer 1 Byte 3
Receive Buffer 1 Byte 1
WAKFIL
—
RX1OVR
—
TXEP
—
—
ABAT
—
—
RXEP
—
—
CANCKS
—
Transmit Error Count Register
—
TXBO
—
—
CSIDLE
—
—
—
—
Receive Buffer 0 Byte 7
Receive Buffer 0 Byte 5
Receive Buffer 0 Byte 3
Receive Buffer 0 Byte 1
Receive Buffer 0 Extended Identifier <5:0>
—
—
—
CANCAP
—
—
—
Transmit Buffer 0 Byte 7
Transmit Buffer 0 Byte 5
Transmit Buffer 0 Byte 3
Transmit Buffer 0 Byte 1
Receive Buffer 1 Extended Identifier <5:0>
—
—
—
—
—
—
—
Transmit Buffer 0 Extended Identifier <5:0>
—
—
—
—
—
Bit 11
Transmit Buffer 1 Byte 7
Bit 13
Transmit Buffer 0 Standard Identifier <10:6>
—
Bit 14
Transmit Buffer 0 Extended Identifier <17:14>
—
Bit 15
—
—
TXRB1
—
—
—
Bit 8
—
TXRB0
—
Bit 7
TXLARB TXERR
—
RXRB1
RXFUL
—
RXRTR
—
RXWAR
—
—
EWARN
SEG2PH<2:0>
—
—
RXRB1
TXABT
TXLARB TXERR
—
—
RXRB0
—
—
SEG2PHTS
IVRIE
WAKIE
WAKIF
SAM
SJW<1:0>
IVRIF
—
OPMODE<2:0>
RXFUL
—
RXRB0
—
Bit 2
TX2IE
TX2IF
—
TXIDE
SRR
DLC<3:0>
SRR
RXIDE
FILHIT<2:0>
RXIDE
TXPRI<1:0>
—
SRR
DLC<3:0>
—
—
Bit 0
TXPRI<1:0>
Bit 1
Reset State
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu 000u uuuu
0000 uuuu uuuu uuuu
000u uuuu uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu 000u uuuu
0000 uuuu uuuu uuuu
000u uuuu uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu uuuu
uuuu uuuu uuuu u000
uuuu 0000 uuuu uuuu
uuuu u000 uuuu uuuu
0000 0000 0000 0000
uuuu uuuu uuuu uuuu
TX1IE
TX1IF
TX0IE
RX1E
—
RX0IE
RX0IF
PRSEG<2:0>
TX0IF RX1IF
BRP<5:0>
ICODE<2:0>
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0u00 0uuu uuuu uuuu
0000 0000 0000 0000
0000 0100 1000 0000
RXRTRRO DBEN JTOFF FILHIT0 0000 0000 0000 0000
SEG1PH<2:0>
—
—
Receive Error Count Register
ERRIE
ERRIF
—
Receive Buffer 0 Byte 6
Receive Buffer 0 Byte 4
Receive Buffer 0 Byte 2
Receive Buffer 0 Byte 0
—
RXRTRRO
Receive Buffer 1 Byte 6
Receive Buffer 1 Byte 4
Receive Buffer 1 Byte 2
Receive Buffer 1 Byte 0
—
TXREQ
Transmit Buffer 0 Byte 6
Transmit Buffer 0 Byte 4
Transmit Buffer 0 Byte 2
Receive Buffer 0 Extended Identifier <17:6>
—
TXREQ
Transmit Buffer 0 Byte 0
DLC<3:0>
Receive Buffer 1 Extended Identifier <17:6>
—
Bit 3
Transmit Buffer 0 Extended Identifier <13:6>
Receive Buffer 0 Standard Identifier <10:0>
—
RXRTR
Bit 4
Transmit Buffer 1 Byte 6
Bit 5
Transmit Buffer 0 Standard Identifier <5:0>
TXABT
Bit 6
Receive Buffer 1 Standard Identifier <10:0>
—
TXRTR
—
—
—
Bit 9
REQOP<2:0>
TXWAR
—
—
—
—
—
—
—
Bit 10
CAN2 REGISTER MAP (CONTINUED)
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
045A
C2EC
0452
C2CFG1
0458
0450
C2CTRL
C2INTE
044E
C2RX0CON
0454
044C
C2RX0B4
0456
044A
C2RX0B3
C2CFG2
0448
C2RX0B2
C2INTF
0446
C2RX0B1
043E
C2RX1CON
0444
043C
C2RX1B4
C2RX0DLC
043A
C2RX1B3
0440
0438
C2RX1B2
0442
0436
C2RX1B1
C2RX0SID
0434
C2RX1DLC
C2RX0EID
0430
0432
042E
C2TX0CON
C2RX1SID
042C
C2TX0B4
C2RX1EID
0428
042A
C2TX0B3
0426
C2TX0B1
C2TX0B2
0422
0424
0420
C2TX0SID
C2TX0DLC
041E
C2TX1CON
C2TX0EID
041C
Addr.
C2TX1B4
SFR Name
TABLE 19-2:
dsPIC30F6010
DS70119D-page 125
dsPIC30F6010
NOTES:
DS70119D-page 126
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
20.0
10-BIT HIGH SPEED ANALOGTO-DIGITAL CONVERTER (A/D)
MODULE
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046).
The10-bit high-speed analog-to-digital converter (A/D)
allows conversion of an analog input signal to a 10-bit
digital number. This module is based on a Successive
Approximation Register (SAR) architecture, and provides a maximum sampling rate of 500 ksps. The A/D
module has 16 analog inputs which are multiplexed into
four sample and hold amplifiers. The output of the sample and hold is the input into the converter, which generates the result. The analog reference voltages are
software selectable to either the device supply voltage
(AVDD/AVSS) or the voltage level on the (VREF+/VREF-)
pin. The A/D converter has a unique feature of being
able to operate while the device is in Sleep mode.
 2004 Microchip Technology Inc.
The A/D module has six 16-bit registers:
•
•
•
•
•
•
A/D Control Register1 (ADCON1)
A/D Control Register2 (ADCON2)
A/D Control Register3 (ADCON3)
A/D Input Select Register (ADCHS)
A/D Port Configuration Register (ADPCFG)
A/D Input Scan Selection Register (ADCSSL)
The ADCON1, ADCON2 and ADCON3 registers control the operation of the A/D module. The ADCHS register selects the input channels to be converted. The
ADPCFG register configures the port pins as analog
inputs or as digital I/O. The ADCSSL register selects
inputs for scanning.
Note:
The SSRC<2:0>, ASAM, SIMSAM,
SMPI<3:0>, BUFM and ALTS bits, as well
as the ADCON3 and ADCSSL registers,
must not be written to while ADON = 1.
This would lead to indeterminate results.
The block diagram of the A/D module is shown in
Figure 20-1.
Preliminary
DS70119D-page 127
dsPIC30F6010
FIGURE 20-1:
10-BIT HIGH SPEED A/D FUNCTIONAL BLOCK DIAGRAM
AVDD AVSS
VREF+
VREF-
AN2
+
AN6
AN9
-
AN1
AN4
+
AN7
AN10
-
AN2
AN5
+
AN8
AN11
-
S/H
CH1
ADC
10-bit Result
S/H
CH2
16-word, 10-bit
Dual Port
Buffer
S/H
CH3
CH1,CH2,
CH3,CH0
sample
AN3
AN0
AN1
AN2
AN3
AN4
AN4
AN5
AN5
AN6
AN6
AN7
AN7
AN8
AN8
AN9
AN9
AN10
AN10
AN11
AN11
AN12
AN12
AN13
AN13
AN14
AN14
AN15
AN15
+
AN1
-
DS70119D-page 128
Conversion Logic
input
switches
S/H
Sample/Sequence
Control
Bus Interface
AN1
AN0
AN3
Data
Format
AN0
Input Mux
Control
CH0
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
20.1
A/D Result Buffer
The module contains a 16-word dual port read-only
buffer, called ADCBUF0...ADCBUFF, to buffer the A/D
results. The RAM is 10-bits wide, but is read into different
format 16-bit words. The contents of the sixteen A/D
conversion result buffer registers, ADCBUF0 through
ADCBUFF, cannot be written by user software.
20.2
Conversion Operation
After the A/D module has been configured, the sample
acquisition is started by setting the SAMP bit. Various
sources, such as a programmable bit, timer time-outs and
external events, will terminate acquisition and start a conversion. When the A/D conversion is complete, the result
is loaded into ADCBUF0...ADCBUFF, and the A/D
interrupt flag ADIF and the DONE bit are set after the
number of samples specified by the SMPI bit.
The following steps should be followed for doing an
A/D conversion:
1.
2.
3.
4.
5.
6.
7.
Configure the A/D module:
Configure analog pins, voltage reference and
digital I/O
Select A/D input channels
Select A/D conversion clock
Select A/D conversion trigger
Turn on A/D module
Configure A/D interrupt (if required):
Clear ADIF bit
Select A/D interrupt priority
Start sampling.
Wait the required acquisition time.
Trigger acquisition end, start conversion
Wait for A/D conversion to complete, by either:
Waiting for the A/D interrupt
Read A/D result buffer, clear ADIF if required.
20.3
Selecting the Conversion
Sequence
Several groups of control bits select the sequence in
which the A/D connects inputs to the sample/hold
channels, converts channels, writes the buffer memory,
and generates interrupts. The sequence is controlled
by the sampling clocks.
The SIMSAM bit controls the acquire/convert
sequence for multiple channels. If the SIMSAM bit is
‘0’, the two or four selected channels are acquired and
converted sequentially, with two or four sample clocks.
If the SIMSAM bit is ‘1’, two or four selected channels
are acquired simultaneously, with one sample clock.
The channels are then converted sequentially. Obviously, if there is only 1 channel selected, the SIMSAM
bit is not applicable.
 2004 Microchip Technology Inc.
The CHPS bits selects how many channels are sampled. This can vary from 1, 2 or 4 channels. If CHPS
selects 1 channel, the CH0 channel will be sampled at
the sample clock and converted. The result is stored in
the buffer. If CHPS selects 2 channels, the CH0 and
CH1 channels will be sampled and converted. If CHPS
selects 4 channels, the CH0, CH1, CH2 and CH3
channels will be sampled and converted.
The SMPI bits select the number of acquisition/conversion sequences that would be performed before an
interrupt occurs. This can vary from 1 sample per
interrupt to 16 samples per interrupt.
The user cannot program a combination of CHPS and
SMPI bits that specifies more than 16 conversions per
interrupt, or 8 conversions per interrupt, depending on
the BUFM bit. The BUFM bit, when set, will split the
16--word results buffer (ADCBUF0...ADCBUFF) into
two 8-word groups. Writing to the 8-word buffers will be
alternated on each interrupt event. Use of the BUFM bit
will depend on how much time is available for moving
data out of the buffers after the interrupt, as determined
by the application.
If the processor can quickly unload a full buffer within
the time it takes to acquire and convert one channel,
the BUFM bit can be ‘0’ and up to 16 conversions may
be done per interrupt. The processor will have one
sample and conversion time to move the sixteen
conversions.
If the processor cannot unload the buffer within the
acquisition and conversion time, the BUFM bit should
be ‘1’. For example, if SMPI<3:0> (ADCON2<5:2>) =
0111, then eight conversions will be loaded into 1/2 of
the buffer, following which an interrupt occurs. The next
eight conversions will be loaded into the other 1/2 of the
buffer. The processor will have the entire time between
interrupts to move the eight conversions.
The ALTS bit can be used to alternate the inputs
selected during the sampling sequence. The input multiplexer has two sets of sample inputs: MUX A and
MUX B. If the ALTS bit is ‘0’, only the MUX A inputs are
selected for sampling. If the ALTS bit is ‘1’ and
SMPI<3:0> = 0000, on the first sample/convert
sequence, the MUX A inputs are selected, and on the
next acquire/convert sequence, the MUX B inputs are
selected.
The CSCNA bit (ADCON2<10>) will allow the CH0
channel inputs to be alternately scanned across a
selected number of analog inputs for the MUX A group.
The inputs are selected by the ADCSSL register. If a
particular bit in the ADCSSL register is ‘1’, the corresponding input is selected. The inputs are always
scanned from lower to higher numbered inputs, starting
after each interrupt. If the number of inputs selected is
greater than the number of samples taken per interrupt,
the higher numbered inputs are unused.
Preliminary
DS70119D-page 129
dsPIC30F6010
20.4
Programming the Start of
Conversion Trigger
20.6
The conversion trigger will terminate acquisition and
start the requested conversions.
The SSRC<2:0> bits select the source of the
conversion trigger.
The SSRC bits provide for up to 5 alternate sources of
conversion trigger.
The A/D conversion requires 12 TAD. The source of the
A/D conversion clock is software selected using a six
bit counter. There are 64 possible options for TAD.
EQUATION 20-1:
Other trigger sources can come from timer modules,
Motor Control PWM module, or external interrupts.
Note:
To operate the A/D at the maximum specified conversion speed, the Auto Convert
Trigger option should be selected (SSRC
= 111) and the Auto Sample Time bits
shoud be set to 1 TAD (SAMC = 00001).
This configuration will give a total conversion period (sample + convert) of 13 TAD.
The internal RC oscillator is selected by setting the
ADRC bit.
For correct A/D conversions, the A/D conversion clock
(TAD) must be selected to ensure a minimum TAD time
of 154 nsec (for VDD = 5V). Refer to the Electrical
Specifications section for minimum TAD under other
operating conditions.
Example 20-1 shows a sample calculation for the
ADCS<5:0> bits, assuming a device operating speed
of 30 MIPS.
EXAMPLE 20-1:
The use of any other conversion trigger
will result in additional TAD cycles to
synchronize the external event to the A/D.
20.5
A/D CONVERSION CLOCK
TAD = TCY * (0.5*(ADCS<5:0> +1))
TAD
ADCS<5:0> = 2
–1
TCY
When SSRC<2:0> = 000, the conversion trigger is
under software control. Clearing the SAMP bit will
cause the conversion trigger.
When SSRC<2:0> = 111 (Auto Start mode), the conversion trigger is under A/D clock control. The SAMC
bits select the number of A/D clocks between the start
of acquisition and the start of conversion. This provides
the fastest conversion rates on multiple channels.
SAMC must always be at least 1 clock cycle.
Selecting the A/D Conversion
Clock
Aborting a Conversion
Clearing the ADON bit during a conversion will abort
the current conversion and stop the sampling sequencing. The ADCBUF will not be updated with the partially
completed A/D conversion sample. That is, the
ADCBUF will continue to contain the value of the last
completed conversion (or the last value written to the
ADCBUF register).
If the clearing of the ADON bit coincides with an auto
start, the clearing has a higher priority.
A/D CONVERSION CLOCK
CALCULATION
Minimum TAD = 154 nsec
TCY = 33 nsec (30 MIPS)
TAD
–1
TCY
154 nsec
=2•
–1
33 nsec
= 8.33
ADCS<5:0> = 2
Therefore,
Set ADCS<5:0> = 9
TCY
(ADCS<5:0> + 1)
2
33 nsec
=
(9 + 1)
2
Actual TAD =
= 165 nsec
After the A/D conversion is aborted, a 2 TAD wait is
required before the next sampling may be started by
setting the SAMP bit.
If sequential sampling is specified, the A/D will continue
at the next sample pulse which corresponds with the
next channel converted. If simultaneous sampling is
specified, the A/D will continue with the next
multi-channel group conversion sequence.
DS70119D-page 130
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
20.7
A/D Acquisition Requirements
The analog input model of the 10-bit A/D converter is
shown in Figure 20-2. The total sampling time for the
A/D is a function of the internal amplifier settling time,
device VDD and the holding capacitor charge time.
For the A/D converter to meet its specified accuracy,
the charge holding capacitor (CHOLD) must be allowed
to fully charge to the voltage level on the analog input
pin. The source impedance (RS), the interconnect
impedance (RIC), and the internal sampling switch
(RSS) impedance combine to directly affect the time
required to charge the capacitor CHOLD. The combined
impedance of the analog sources must therefore be
small enough to fully charge the holding capacitor
within the chosen sample time. To minimize the effects
of pin leakage currents on the accuracy of the A/D converter, the maximum recommended source impedance, RS, is 5 kΩ. After the analog input channel is
selected (changed), this sampling function must be
completed prior to starting the conversion. The internal
holding capacitor will be in a discharged state prior to
each sample operation.
FIGURE 20-2:
The user must allow at least 1 TAD period of sampling
time, TSAMP, between conversions to allow each sample to be acquired. This sample time may be controlled
manually in software by setting/clearing the SAMP bit,
or it may be automatically controlled by the A/D converter. In an automatic configuration, the user must
allow enough time between conversion triggers so that
the minimum sample time can be satisfied. Refer to the
Electrical Specifications for TAD and sample time
requirements.
A/D CONVERTER ANALOG INPUT MODEL
VDD
Rs
VA
ANx
CPIN
RIC ≤ 250Ω
VT = 0.6V
Sampling
Switch
RSS ≤ 3 kΩ
RSS
VT = 0.6V
I leakage
± 500 nA
CHOLD
= DAC capacitance
= 4.4 pF
VSS
Legend: CPIN
= input capacitance
VT
= threshold voltage
I leakage = leakage current at the pin due to
various junctions
RIC
= interconnect resistance
RSS
= sampling switch resistance
CHOLD
= sample/hold capacitance (from DAC)
Note: CPIN value depends on device package and is not tested. Effect of CPIN negligible if Rs ≤ 5 kΩ.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 131
dsPIC30F6010
20.8
Module Power-down Modes
If the A/D interrupt is enabled, the device will wake-up
from Sleep. If the A/D interrupt is not enabled, the A/D
module will then be turned off, although the ADON bit
will remain set.
The module has 3 internal power modes. When the
ADON bit is ‘1’, the module is in Active mode; it is fully
powered and functional. When ADON is ‘0’, the module
is in Off mode. The digital and analog portions of the
circuit are disabled for maximum current savings. In
order to return to the Active mode from Off mode, the
user must wait for the ADC circuitry to stabilize.
20.9
20.9.1
20.9.2
The ADSIDL bit selects if the module will stop on Idle or
continue on Idle. If ADSIDL = 0, the module will continue operation on assertion of Idle mode. If ADSIDL =
1, the module will stop on Idle.
A/D Operation During CPU Sleep
and Idle Modes
20.10 Effects of a Reset
A/D OPERATION DURING CPU
SLEEP MODE
A device Reset forces all registers to their Reset state.
This forces the A/D module to be turned off, and any
conversion and acquisition sequence is aborted. The
values that are in the ADCBUF registers are not modified. The A/D result register will contain unknown data
after a Power-on Reset.
When the device enters Sleep mode, all clock sources
to the module are shutdown and stay at logic ‘0’.
If Sleep occurs in the middle of a conversion, the conversion is aborted. The converter will not continue with
a partially completed conversion on exit from Sleep
mode.
20.11 Output Formats
Register contents are not affected by the device
entering or leaving Sleep mode.
The A/D result is 10-bits wide. The data buffer RAM is
also 10-bits wide. The 10-bit data can be read in one of
four different formats. The FORM<1:0> bits select the
format. Each of the output formats translates to a 16-bit
result on the data bus.
The A/D module can operate during Sleep mode if the
A/D clock source is set to RC (ADRC = 1). When the
RC clock source is selected, the A/D module waits one
instruction cycle before starting the conversion. This
allows the SLEEP instruction to be executed, which
eliminates all digital switching noise from the conversion. When the conversion is complete, the Done bit
will be set and the result loaded into the ADCBUF
register.
FIGURE 20-3:
A/D OPERATION DURING CPU IDLE
MODE
Write data will always be in right justified (integer)
format.
A/D OUTPUT DATA FORMATS
RAM Contents:
d09 d08 d07 d06 d05 d04 d03 d02 d01 d00
Read to Bus:
Signed Fractional (1.15)
d09 d08 d07 d06 d05 d04 d03 d02 d01 d00
0
0
0
0
0
0
Fractional (1.15)
d09 d08 d07 d06 d05 d04 d03 d02 d01 d00
0
0
0
0
0
0
Signed Integer
Integer
DS70119D-page 132
d09 d09 d09 d09 d09 d09 d09 d08 d07 d06 d05 d04 d03 d02 d01 d00
0
0
0
0
0
0
d09 d08 d07 d06 d05 d04 d03 d02 d01 d00
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
20.12 Configuring Analog Port Pins
20.13 Connection Considerations
The use of the ADPCFG and TRIS registers control the
operation of the A/D port pins. The port pins that are
desired as analog inputs must have their corresponding TRIS bit set (input). If the TRIS bit is cleared (output), the digital output level (VOH or VOL) will be
converted.
The analog inputs have diodes to VDD and VSS as ESD
protection. This requires that the analog input be
between VDD and VSS. If the input voltage exceeds this
range by greater than 0.3V (either direction), one of the
diodes becomes forward biased and it may damage the
device if the input current specification is exceeded.
The A/D operation is independent of the state of the
CH0SA<3:0>/CH0SB<3:0> bits and the TRIS bits.
An external RC filter is sometimes added for antialiasing of the input signal. The R component should be
selected to ensure that the sampling time requirements
are satisfied. Any external components connected (via
high impedance) to an analog input pin (capacitor,
zener diode, etc.) should have very little leakage
current at the pin.
When reading the PORT register, all pins configured as
analog input channels will read as cleared.
Pins configured as digital inputs will not convert an analog input. Analog levels on any pin that is defined as a
digital input (including the ANx pins), may cause the
input buffer to consume current that exceeds the
device specifications.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 133
DS70119D-page 134
0288
028A
028C
028E
0290
0292
0294
0296
0298
029A
029C
ADCBUF4
ADCBUF5
ADCBUF6
ADCBUF7
ADCBUF8
ADCBUF9
ADCBUFA
ADCBUFB
ADCBUFC
ADCBUFD
ADCBUFE
02A6
02A8 PCFG15 PCFG14
02AA CSSL15 CSSL14
u = uninitialized bit
ADCHS
ADPCFG
ADCSSL
Legend:
—
Preliminary
CSSL13
PCFG13
CH123SB
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
Bit 11
Bit 8
CHPS<1:0>
FORM<1:0>
Bit 9
CH0SB<3:0>
SAMC<4:0>
CSCNA
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
Bit 10
—
—
CSSL12 CSSL11 CSSL10
CSSL9 CSSL8 CSSL7 CSSL6
Bit 5
Bit 4
CSSL5
CSSL4
PCFG4
CH123SA CH0NA
PCFG5
SIMSAM
Bit 3
ASAM
Bit 2
CSSL3
PCFG3
BUFM
SAMP
Bit 1
ALTS
DONE
Bit 0
Reset State
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 0000 0000 0000
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
0000 00uu uuuu uuuu
CSSL2 CSSL1 CSSL0
0000 0000 0000 0000
PCFG2 PCFG1 PCFG0 0000 0000 0000 0000
CH0SA<3:0>
ADCS<5:0>
SMPI<3:0>
—
ADC Data Buffer 15
ADC Data Buffer 14
ADC Data Buffer 13
ADC Data Buffer 12
ADC Data Buffer 11
ADC Data Buffer 10
ADC Data Buffer 9
ADC Data Buffer 8
ADC Data Buffer 7
ADC Data Buffer 6
ADC Data Buffer 5
ADC Data Buffer 4
ADC Data Buffer 3
ADC Data Buffer 2
ADC Data Buffer 1
ADC Data Buffer 0
SSRC<2:0>
Bit 6
CH123NA<1:0>
ADRC
BUFS
Bit 7
PCFG12 PCFG11 PCFG10 PCFG9 PCFG8 PCFG7 PCFG6
CH0NB
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
Bit 12
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
CH123NB<1:0>
—
02A4
ADCON3
VCFG<2:0>
ADSIDL
02A2
—
ADON
02A0
ADCON1
ADCON2
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
029E
ADCBUFF
0286
ADCBUF3
—
—
0284
ADCBUF2
—
0282
ADCBUF1
—
Bit 13
Bit 14
—
0280
SFR Name Addr.
ADCBUF0
ADC REGISTER MAP
Bit 15
TABLE 20-1:
dsPIC30F6010
 2004 Microchip Technology Inc.
dsPIC30F6010
21.0
SYSTEM INTEGRATION
21.1
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046). For more information on the device
instruction set and programming, refer to the dsPIC30F
Programmer’s Reference Manual (DS70030).
There are several features intended to maximize system reliability, minimize cost through elimination of
external components, provide power saving operating
modes and offer code protection:
• Oscillator Selection
• Reset
- Power-on Reset (POR)
- Power-up Timer (PWRT)
- Oscillator Start-up Timer (OST)
- Programmable Brown-out Reset (BOR)
• Watchdog Timer (WDT)
• Power Saving modes (Sleep and Idle)
• Code Protection
• Unit ID Locations
• In-Circuit Serial Programming (ICSP)
Oscillator System Overview
The dsPIC30F oscillator system has the following
modules and features:
• Various external and internal oscillator options as
clock sources
• An on-chip PLL to boost internal operating
frequency
• A clock switching mechanism between various
clock sources
• Programmable clock postscaler for system power
savings
• A Fail-Safe Clock Monitor (FSCM) that detects
clock failure and takes fail-safe measures
• Clock Control Register OSCCON
• Configuration bits for main oscillator selection
Table 21-1 provides a summary of the dsPIC30F
oscillator operating modes. A simplified diagram of the
oscillator system is shown in Figure 21-1.
Configuration bits determine the clock source upon
Power-on Reset (POR) and Brown-out Reset (BOR).
Thereafter, the clock source can be changed between
permissible clock sources. The OSCCON register
controls the clock switching and reflects system clock
related status bits.
dsPIC30F devices have a Watchdog Timer, which is
permanently enabled via the configuration bits or can
be software controlled. It runs off its own RC oscillator
for added reliability. There are two timers that offer necessary delays on power-up. One is the Oscillator Startup Timer (OST), intended to keep the chip in Reset until
the crystal oscillator is stable. The other is the Powerup Timer (PWRT), which provides a delay on power-up
only, designed to keep the part in Reset while the
power supply stabilizes. With these two timers on-chip,
most applications need no external Reset circuitry.
Sleep mode is designed to offer a very low current
Power-down mode. The user can wake-up from Sleep
through external Reset, Watchdog Timer Wake-up or
through an interrupt. Several oscillator options are also
made available to allow the part to fit a wide variety of
applications. In the Idle mode, the clock sources are
still active, but the CPU is shut-off. The RC oscillator
option saves system cost, while the LP crystal option
saves power.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 135
dsPIC30F6010
TABLE 21-1:
OSCILLATOR OPERATING MODES
Oscillator Mode
Description
XTL
200 kHz-4 MHz crystal on OSC1:OSC2.
XT
4 MHz-10 MHz crystal on OSC1:OSC2.
XT w/ PLL 4x
4 MHz-10 MHz crystal on OSC1:OSC2. 4x PLL enabled.
XT w/ PLL 8x
4 MHz-10 MHz crystal on OSC1:OSC2. 8x PLL enabled.
XT w/ PLL 16x
4 MHz-10 MHz crystal on OSC1:OSC2. 16x PLL enabled(1).
LP
32 kHz crystal on SOSCO:SOSCI(2).
HS
10 MHz-25 MHz crystal.
EC
External clock input (0-40 MHz).
ECIO
External clock input (0-40 MHz). OSC2 pin is I/O.
EC w/ PLL 4x
External clock input (0-40 MHz). OSC2 pin is I/O. 4x PLL enabled(1).
EC w/ PLL 8x
External clock input (0-40 MHz). OSC2 pin is I/O. 8x PLL enabled(1).
EC w/ PLL 16x
External clock input (0-40 MHz). OSC2 pin is I/O. 16x PLL enabled(1).
ERC
External RC oscillator. OSC2 pin is FOSC/4 output(3).
ERCIO
External RC oscillator. OSC2 pin is I/O(3).
FRC
8 MHz internal RC Oscillator.
LPRC
512 kHz internal RC Oscillator.
Note 1: dsPIC30F maximum operating frequency of 120 MHz must be met.
2: LP oscillator can be conveniently shared as system clock, as well as real-time clock for Timer1.
3: Requires external R and C. Frequency operation up to 4 MHz.
DS70119D-page 136
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 21-1:
OSCILLATOR SYSTEM BLOCK DIAGRAM
Oscillator Configuration bits
PWRSAV Instruction
Wake-up Request
FPLL
OSC1
OSC2
Primary
Oscillator
PLL
x4, x8, x16
PLL
Lock
COSC<1:0>
Primary Osc
NOSC<1:0>
Primary
Oscillator
Stability Detector
POR Done
OSWEN
Oscillator
Start-up
Timer
Clock
Secondary Osc
Switching
and Control
Block
SOSCO
SOSCI
32 kHz LP
Oscillator
Secondary
Oscillator
Stability Detector
Programmable
Clock Divider System
Clock
2
POST<1:0>
Internal Fast RC
Oscillator (FRC)
FRC
Internal Low
Power RC
Oscillator (LPRC)
LPRC
FCKSM<1:0>
2
Fail-Safe Clock
Monitor (FSCM)
CF
Oscillator Trap
to Timer1
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 137
dsPIC30F6010
21.2
21.2.1
Oscillator Configurations
INITIAL CLOCK SOURCE
SELECTION
While coming out of Power-on Reset or Brown-out
Reset, the device selects its clock source based on:
a)
FOS<1:0> configuration bits that select one of
four oscillator groups.
AND FPR<3:0> configuration bits that select
one of 13 oscillator choices within the primary
group.
b)
The selection is as shown in Table 21-2.
TABLE 21-2:
CONFIGURATION BIT VALUES FOR CLOCK SELECTION
Oscillator Mode
Oscillator
Source
FOS1
FOS0
FPR3
FPR2
FPR1
FPR0
OSC2
Function
EC
Primary
1
1
1
0
1
1
CLKO
ECIO
Primary
1
1
1
1
0
0
I/O
EC w/ PLL 4x
Primary
1
1
1
1
0
1
I/O
EC w/ PLL 8x
Primary
1
1
1
1
1
0
I/O
EC w/ PLL 16x
Primary
1
1
1
1
1
1
I/O
ERC
Primary
1
1
1
0
0
1
CLKO
ERCIO
Primary
1
1
1
0
0
0
I/O
XT
Primary
1
1
0
1
0
0
OSC2
XT w/ PLL 4x
Primary
1
1
0
1
0
1
OSC2
XT w/ PLL 8x
Primary
1
1
0
1
1
0
OSC2
XT w/ PLL 16x
Primary
1
1
0
1
1
1
OSC2
XTL
Primary
1
1
0
0
0
X
OSC2
HS
Primary
1
1
0
0
1
X
OSC2
LP
Secondary
0
0
—
—
—
—
(Notes 1, 2)
FRC
Internal FRC
0
1
—
—
—
—
(Notes 1, 2)
LPRC
Internal LPRC
1
0
—
—
—
—
(Notes 1, 2)
Note 1: OSC2 pin function is determined by the Primary Oscillator mode selection (FPR<3:0>).
2: Note that OSC1 pin cannot be used as an I/O pin, even if the secondary oscillator or an internal clock
source is selected at all times.
21.2.2
21.2.3
OSCILLATOR START-UP TIMER
(OST)
In order to ensure that a crystal oscillator (or ceramic
resonator) has started and stabilized, an oscillator
start-up timer is included. It is a simple 10-bit counter
that counts 1024 TOSC cycles before releasing the
oscillator clock to the rest of the system. The time-out
period is designated as TOST. The TOST time is involved
every time the oscillator has to restart (i.e., on POR,
BOR and wake-up from Sleep). The oscillator start-up
timer is applied to the LP Oscillator, XT, XTL, and HS
modes (upon wake-up from Sleep, POR and BOR) for
the primary oscillator.
DS70119D-page 138
LP OSCILLATOR CONTROL
Enabling the LP oscillator is controlled with two
elements:
1.
2.
The current oscillator group bits COSC<1:0>.
The LPOSCEN bit (OSCON register).
The LP oscillator is ON (even during Sleep mode) if
LPOSCEN = 1. The LP oscillator is the device clock if:
• COSC<1:0> = 00 (LP selected as main oscillator)
and
• LPOSCEN = 1
Keeping the LP oscillator ON at all times allows for a
fast switch to the 32 kHz system clock for lower power
operation. Returning to the faster main oscillator will
still require a start-up time.
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
21.2.4
21.2.6
PHASE LOCKED LOOP (PLL)
The PLL multiplies the clock which is generated by the
primary oscillator. The PLL is selectable to have either
gains of x4, x8, and x16. Input and output frequency
ranges are summarized in Table 21-3.
TABLE 21-3:
Fin
4 MHz-10 MHz
4 MHz-10 MHz
4 MHz-7.5 MHz
PLL FREQUENCY RANGE
PLL
Multiplier
x4
x8
x16
Fout
16 MHz-40 MHz
32 MHz-80 MHz
64 MHz-120 MHz
The PLL features a lock output, which is asserted when
the PLL enters a phase locked state. Should the loop
fall out of lock (e.g., due to noise), the lock signal will be
rescinded. The state of this signal is reflected in the
read only LOCK bit in the OSCCON register.
21.2.5
FAST RC OSCILLATOR (FRC)
The FRC oscillator is a fast (8 MHz nominal) internal
RC oscillator. This oscillator is intended to provide reasonable device operating speeds without the use of an
external crystal, ceramic resonator, or RC network.
The dsPIC30F operates from the FRC oscillator whenever the Current Oscillator Selection control bits in the
OSCCON register (OSCCON<13:12>) are set to ‘01’.
There are four tuning bits (TUN<3:0>) for the FRC
oscillator in the OSCCON register. These tuning bits
allow the FRC oscillator frequency to be adjusted as
close to 8 MHz as possible, depending on the device
operating conditions. The FRC oscillator frequency has
been calibrated during factory testing. Table 21-4
describes the adjustment range of the TUN<3:0> bits.
TABLE 21-4:
TUN<3:0>
Bits
0111
0110
0101
0100
0011
0010
0001
0000
1111
1110
1101
1100
1011
1010
1001
1000
FRC TUNING
FRC Frequency
+ 10.5%
+ 9.0%
+ 7.5%
+ 6.0%
+ 4.5%
+ 3.0%
+ 1.5%
Center Frequency (oscillator is
running at calibrated frequency)
- 1.5%
- 3.0%
- 4.5%
- 6.0%
- 7.5%
- 9.0%
- 10.5%
- 12.0%
 2004 Microchip Technology Inc.
LOW POWER RC OSCILLATOR
(LPRC)
The LPRC oscillator is a component of the Watchdog
Timer (WDT) and oscillates at a nominal frequency of
512 kHz. The LPRC oscillator is the clock source for
the Power-up Timer (PWRT) circuit, WDT and clock
monitor circuits. It may also be used to provide a low
frequency clock source option for applications where
power consumption is critical, and timing accuracy is
not required.
The LPRC oscillator is always enabled at a Power-on
Reset, because it is the clock source for the PWRT.
After the PWRT expires, the LPRC oscillator will remain
ON if one of the following is TRUE:
• The Fail-Safe Clock Monitor is enabled
• The WDT is enabled
• The LPRC oscillator is selected as the system
clock via the COSC<1:0> control bits in the
OSCCON register
If one of the above conditions is not true, the LPRC will
shut-off after the PWRT expires.
Note 1: OSC2 pin function is determined by the
Primary Oscillator mode selection
(FPR<3:0>).
2: Note that OSC1 pin cannot be used as an
I/O pin, even if the secondary oscillator or
an internal clock source is selected at all
times.
21.2.7
FAIL-SAFE CLOCK MONITOR
The Fail-Safe Clock Monitor (FSCM) allows the device
to continue to operate even in the event of an oscillator
failure. The FSCM function is enabled by appropriately
programming the FCKSM configuration bits (Clock
Switch and Monitor Selection bits) in the FOSC device
configuration register. If the FSCM function is enabled,
the LPRC Internal oscillator will run at all times (except
during Sleep mode) and will not be subject to control
by the SWDTEN bit.
In the event of an oscillator failure, the FSCM will generate a Clock Failure Trap event and will switch the system clock over to the FRC oscillator. The user will then
have the option to either attempt to restart the oscillator
or execute a controlled shutdown. The user may decide
to treat the Trap as a warm Reset by simply loading the
Reset address into the oscillator fail trap vector. In this
event, the CF (Clock Fail) status bit (OSCCON<3>) is
also set whenever a clock failure is recognized.
In the event of a clock failure, the WDT is unaffected
and continues to run on the LPRC clock.
Preliminary
DS70119D-page 139
dsPIC30F6010
If the oscillator has a very slow start-up time coming
out of POR, BOR or Sleep, it is possible that the
PWRT timer will expire before the oscillator has
started. In such cases, the FSCM will be activated and
the FSCM will initiate a Clock Failure Trap, and the
COSC<1:0> bits are loaded with FRC oscillator selection. This will effectively shut-off the original oscillator
that was trying to start.
The user may detect this situation and restart the
oscillator in the Clock Fail Trap ISR.
If configuration bits FCKSM<1:0> = 1x, then the clock
switching and fail-safe clock monitor functions are
disabled. This is the default configuration bit setting.
If clock switching is disabled, then the FOS<1:0> and
FPR<3:0> bits directly control the oscillator selection
and the COSC<1:0> bits do not control the clock
selection. However, these bits will reflect the clock
source selection.
Note:
Upon a clock failure detection, the FSCM module will
initiate a clock switch to the FRC Oscillator as follows:
1.
2.
3.
The COSC bits (OSCCON<13:12>) are loaded
with the FRC Oscillator selection value.
CF bit is set (OSCCON<3>).
OSWEN control bit (OSCCON<0>) is cleared.
For the purpose of clock switching, the clock sources
are sectioned into four groups:
1.
2.
3.
4.
PROTECTION AGAINST
ACCIDENTAL WRITES TO OSCCON
A write to the OSCCON register is intentionally made
difficult because it controls clock switching and clock
scaling.
Primary
Secondary
Internal FRC
Internal LPRC
The user can switch between these functional groups,
but cannot switch between options within a group. If the
primary group is selected, then the choice within the
group is always determined by the FPR<3:0>
configuration bits.
The OSCCON register holds the CONTROL and
STATUS bits related to clock switching.
• COSC<1:0>: Read only status bits always reflect
the current oscillator group in effect.
• NOSC<1:0>: Control bits which are written to
indicate the new oscillator group of choice.
- On POR and BOR, COSC<1:0> and
NOSC<1:0> are both loaded with the
Configuration bit values FOS<1:0>.
• LOCK: The LOCK status bit indicates a PLL lock.
• CF: Read only status bit indicating if a clock fail
detect has occurred.
• OSWEN: Control bit changes from a ‘0’ to a ‘1’
when a clock transition sequence is initiated.
Clearing the OSWEN control bit will abort a clock
transition in progress (used for hang-up
situations).
DS70119D-page 140
21.2.8
The application should not attempt to
switch to a clock of frequency lower than
100 KHz when the fail-safe clock monitor is
enabled. If such clock switching is
performed, the device may generate an
oscillator fail trap and switch to the Fast RC
oscillator.
To write to the OSCCON low byte, the following code
sequence must be executed without any other
instructions in between:
• Byte Write “0x46” to OSCCON low
• Byte Write “0x57” to OSCCON low
Byte Write is allowed for one instruction cycle. Write the
desired value or use bit manipulation instruction.
To write to the OSCCON high byte, the following
instructions must be executed without any other
instructions in between:
• Byte Write “0x78” to OSCCON high
• Byte Write “0x9A” to OSCCON high
Byte Write is allowed for one instruction cycle. Write the
desired value or use bit manipulation instruction.
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
21.3
Reset
The PIC18F1220/1320 differentiates between various
kinds of Reset:
a)
b)
c)
d)
e)
f)
g)
h)
Power-on Reset (POR)
MCLR Reset during normal operation
MCLR Reset during Sleep
Watchdog Timer (WDT) Reset (during normal
operation)
Programmable Brown-out Reset (BOR)
RESET Instruction
Reset cause by trap lockup (TRAPR)
Reset caused by illegal opcode, or by using an
uninitialized W register as an address pointer
(IOPUWR)
FIGURE 21-2:
Different registers are affected in different ways by various Reset conditions. Most registers are not affected
by a WDT wake-up, since this is viewed as the resumption of normal operation. Status bits from the RCON
register are set or cleared differently in different Reset
situations, as indicated in Table 21-5. These bits are
used in software to determine the nature of the Reset.
A block diagram of the on-chip Reset circuit is shown in
Figure 21-2.
A MCLR noise filter is provided in the MCLR Reset
path. The filter detects and ignores small pulses.
Internally generated Resets do not drive MCLR pin low.
RESET SYSTEM BLOCK DIAGRAM
RESET
Instruction
Digital
Glitch Filter
MCLR
Sleep or Idle
WDT
Module
POR
VDD Rise
Detect
S
VDD
Brown-out
Reset
BOR
BOREN
R
Q
SYSRST
TRAP Conflict
Illegal Opcode/
Uninitialized W Register
21.3.1
POR: POWER-ON RESET
A power-on event will generate an internal POR pulse
when a VDD rise is detected. The Reset pulse will occur
at the POR circuit threshold voltage (VPOR), which is
nominally 1.85V. The device supply voltage characteristics must meet specified starting voltage and rise rate
requirements. The POR pulse will reset a POR timer
and place the device in the Reset state. The POR also
selects the device clock source identified by the oscillator configuration fuses.
The POR circuit inserts a small delay, TPOR, which is
nominally 10 µs and ensures that the device bias circuits are stable. Furthermore, a user selected powerup time-out (TPWRT) is applied. The TPWRT parameter
is based on device configuration bits and can be 0 ms
(no delay), 4 ms, 16 ms or 64 ms. The total delay is at
device power-up TPOR + TPWRT. When these delays
have expired, SYSRST will be negated on the next
leading edge of the Q1 clock, and the PC will jump to
the Reset vector.
The timing for the SYSRST signal is shown in
Figure 21-3 through Figure 21-5.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 141
dsPIC30F6010
FIGURE 21-3:
TIME-OUT SEQUENCE ON POWER-UP (MCLR TIED TO VDD)
VDD
MCLR
INTERNAL POR
TOST
OST TIME-OUT
TPWRT
PWRT TIME-OUT
INTERNAL Reset
TIME-OUT SEQUENCE ON POWER-UP (MCLR NOT TIED TO VDD): CASE 1
FIGURE 21-4:
VDD
MCLR
INTERNAL POR
TOST
OST TIME-OUT
TPWRT
PWRT TIME-OUT
INTERNAL Reset
TIME-OUT SEQUENCE ON POWER-UP (MCLR NOT TIED TO VDD): CASE 2
FIGURE 21-5:
VDD
MCLR
INTERNAL POR
TOST
OST TIME-OUT
TPWRT
PWRT TIME-OUT
INTERNAL Reset
DS70119D-page 142
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
21.3.1.1
POR with Long Crystal Start-up Time
(with FSCM Enabled)
The oscillator start-up circuitry is not linked to the POR
circuitry. Some crystal circuits (especially low frequency crystals) will have a relatively long start-up
time. Therefore, one or more of the following conditions
is possible after the POR timer and the PWRT have
expired:
A BOR will generate a Reset pulse which will reset the
device. The BOR will select the clock source, based on
the device configuration bit values (FOS<1:0> and
FPR<3:0>). Furthermore, if an Oscillator mode is
selected, the BOR will activate the Oscillator Start-up
Timer (OST). The system clock is held until OST
expires. If the PLL is used, then the clock will be held
until the LOCK bit (OSCCON<5>) is “1”.
• The oscillator circuit has not begun to oscillate.
• The oscillator start-up timer has NOT expired (if a
crystal oscillator is used).
• The PLL has not achieved a LOCK (if PLL is
used).
Concurrently, the POR time-out (TPOR) and the PWRT
time-out (TPWRT) will be applied before the internal
Reset is released. If TPWRT = 0 and a crystal oscillator
is being used, then a nominal delay of TFSCM = 100 µs
is applied. The total delay in this case is (TPOR +
TFSCM).
If the FSCM is enabled and one of the above conditions
is true, then a Clock Failure Trap will occur. The device
will automatically switch to the FRC oscillator and the
user can switch to the desired crystal oscillator in the
trap ISR.
The BOR status bit (RCON<1>) will be set to indicate
that a BOR has occurred. The BOR circuit, if enabled,
will continue to operate while in Sleep or Idle modes
and will reset the device should VDD fall below the BOR
threshold voltage.
21.3.1.2
FIGURE 21-6:
Operating without FSCM and PWRT
If the FSCM is disabled and the Power-up Timer
(PWRT) is also disabled, then the device will exit rapidly from Reset on power-up. If the clock source is
FRC, LPRC, EXTRC or EC, it will be active
immediately.
If the FSCM is disabled and the system clock has not
started, the device will be in a frozen state at the Reset
vector until the system clock starts. From the user’s
perspective, the device will appear to be in Reset until
a system clock is available.
21.3.2
BOR: PROGRAMMABLE
BROWN-OUT RESET
The BOR (Brown-out Reset) module is based on an
internal voltage reference circuit. The main purpose of
the BOR module is to generate a device Reset when a
brown-out condition occurs. Brown-out conditions are
generally caused by glitches on the AC mains (i.e.,
missing portions of the AC cycle waveform due to bad
power transmission lines or voltage sags due to excessive current draw when a large inductive load is turned
on).
VDD
D
2.0V
2.7V
4.2V
4.5V
Note:
C
MCLR
dsPIC30F
Note 1: External Power-on Reset circuit is
required only if the VDD power-up slope
is too slow. The diode D helps discharge
the capacitor quickly when VDD powers
down.
2: R should be suitably chosen so as to
make sure that the voltage drop across
R does not violate the device’s electrical
specification.
3: R1 should be suitably chosen so as to
limit any current flowing into MCLR from
external capacitor C, in the event of
MCLR/VPP pin breakdown due to Electrostatic Discharge (ESD) or Electrical
Overstress (EOS).
Note:
The BOR voltage trip points indicated here
are nominal values provided for design
guidance only.
 2004 Microchip Technology Inc.
R
R1
The BOR module allows selection of one of the following voltage trip points:
•
•
•
•
EXTERNAL POWER-ON
RESET CIRCUIT (FOR
SLOW VDD POWER-UP)
Preliminary
Dedicated supervisory devices, such as
the MCP1XX and MCP8XX, may also be
used as an external Power-on Reset
circuit.
DS70119D-page 143
dsPIC30F6010
Table 21-5 shows the Reset conditions for the RCON
Register. Since the control bits within the RCON register are R/W, the information in the table implies that all
the bits are negated prior to the action specified in the
condition column.
TABLE 21-5:
INITIALIZATION CONDITION FOR RCON REGISTER CASE 1
Condition
Program
Counter
TRAPR IOPUWR EXTR SWR WDTO IDLE SLEEP POR BOR
Power-on Reset
0x000000
0
0
0
0
0
0
0
1
1
Brown-out Reset
0x000000
0
0
0
0
0
0
0
0
1
MCLR Reset during normal
operation
0x000000
0
0
1
0
0
0
0
0
0
Software Reset during
normal operation
0x000000
0
0
0
1
0
0
0
0
0
MCLR Reset during Sleep
0x000000
0
0
1
0
0
0
1
0
0
MCLR Reset during Idle
0x000000
0
0
1
0
0
1
0
0
0
WDT Time-out Reset
0x000000
0
0
0
0
1
0
0
0
0
WDT Wake-up
PC + 2
0
0
0
0
1
0
1
0
0
Interrupt Wake-up from
Sleep
PC + 2(1)
0
0
0
0
0
0
1
0
0
Clock Failure Trap
0x000004
0
0
0
0
0
0
0
0
0
Trap Reset
0x000000
1
0
0
0
0
0
0
0
0
Illegal Operation Trap
0x000000
0
1
0
0
0
0
0
0
0
Legend:
Note 1:
u = unchanged, x = unknown, - = unimplemented bit, read as '0'
When the wake-up is due to an enabled interrupt, the PC is loaded with the corresponding interrupt vector.
Table 21-6 shows a second example of the bit
conditions for the RCON Register. In this case, it is not
assumed the user has set/cleared specific bits prior to
action specified in the condition column.
TABLE 21-6:
INITIALIZATION CONDITION FOR RCON REGISTER CASE 2
Condition
Program
Counter
TRAPR IOPUWR EXTR SWR WDTO IDLE SLEEP POR BOR
Power-on Reset
0x000000
Brown-out Reset
0x000000
u
u
u
u
u
u
u
0
1
MCLR Reset during normal
operation
0x000000
u
u
1
0
0
0
0
u
u
Software Reset during
normal operation
0x000000
u
u
0
1
0
0
0
u
u
0
0
0
0
0
0
0
1
1
MCLR Reset during Sleep
0x000000
u
u
1
u
0
0
1
u
u
MCLR Reset during Idle
0x000000
u
u
1
u
0
1
0
u
u
WDT Time-out Reset
0x000000
u
u
0
0
1
0
0
u
u
PC + 2
u
u
u
u
1
u
1
u
u
Interrupt Wake-up from
Sleep
PC + 2
(1)
u
u
u
u
u
u
1
u
u
Clock Failure Trap
0x000004
u
u
u
u
u
u
u
u
u
Trap Reset
0x000000
1
u
u
u
u
u
u
u
u
Illegal Operation Reset
0x000000
u
1
u
u
u
u
u
u
u
WDT Wake-up
Legend:
Note 1:
u = unchanged, x = unknown, - = unimplemented bit, read as '0'
When the wake-up is due to an enabled interrupt, the PC is loaded with the corresponding interrupt vector.
DS70119D-page 144
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
21.4
21.4.1
Watchdog Timer (WDT)
21.6
WATCHDOG TIMER OPERATION
The primary function of the Watchdog Timer (WDT) is
to reset the processor in the event of a software malfunction. The WDT is a free running timer, which runs
off an on-chip RC oscillator, requiring no external component. Therefore, the WDT timer will continue to operate even if the main processor clock (e.g., the crystal
oscillator) fails.
21.4.2
ENABLING AND DISABLING THE
WDT
The Watchdog Timer can be “Enabled” or “Disabled”
only through a configuration bit (FWDTEN) in the
configuration register FWDT.
Setting FWDTEN = 1 enables the Watchdog Timer.
The enabling is done when programming the device.
By default, after chip-erase, FWDTEN bit = 1. Any
device programmer capable of programming
dsPIC30F devices allows programming of this and
other configuration bits.
If enabled, the WDT will increment until it overflows or
“times out”. A WDT time-out will force a device Reset
(except during Sleep). To prevent a WDT time-out, the
user must clear the Watchdog Timer using a CLRWDT
instruction.
If a WDT times out during Sleep, the device will wakeup. The WDTO bit in the RCON register will be cleared
to indicate a wake-up resulting from a WDT time-out.
Setting FWDTEN = 0 allows user software to enable/
disable the Watchdog Timer via the SWDTEN
(RCON<5>) control bit.
21.5
The Low Voltage Detect (LVD) module is used to detect
when the VDD of the device drops below a threshold
value VLVD, which is determined by the LVDL<3:0> bits
(RCON<11:8>) and is thus user-programmable. The
internal voltage reference circuitry requires a nominal
amount of time to stabilize, and the BGST bit
(RCON<13>) indicates when the voltage reference has
stabilized.
In some devices, the LVD threshold voltage may be
applied externally on the LVDIN pin.
The LVD module is enabled by setting the LVDEN bit
(RCON<12>).
 2004 Microchip Technology Inc.
There are two power saving states that can be entered
through the execution of a special instruction, PWRSAV.
These are: Sleep and Idle.
The format of the PWRSAV instruction is as follows:
PWRSAV <parameter>, where ‘parameter’ defines
Idle or Sleep mode.
21.6.1
SLEEP MODE
In Sleep mode, the clock to the CPU and peripherals is
shutdown. If an on-chip oscillator is being used, it is
shutdown.
The fail-safe clock monitor is not functional during
Sleep, since there is no clock to monitor. However,
LPRC clock remains active if WDT is operational during
Sleep.
The Brown-out protection circuit and the Low Voltage
Detect circuit, if enabled, will remain functional during
Sleep.
The processor wakes up from Sleep if at least one of
the following conditions has occurred:
• any interrupt that is individually enabled and
meets the required priority level
• any Reset (POR, BOR and MCLR)
• WDT time-out
On waking up from Sleep mode, the processor will
restart the same clock that was active prior to entry
into Sleep mode. When clock switching is enabled,
bits COSC<1:0> will determine the oscillator source
that will be used on wake-up. If clock switch is
disabled, then there is only one system clock.
Note:
Low Voltage Detect
Power Saving Modes
If a POR or BOR occurred, the selection of
the oscillator is based on the FOS<1:0>
and FPR<3:0> configuration bits.
If the clock source is an oscillator, the clock to the
device will be held off until OST times out (indicating a
stable oscillator). If PLL is used, the system clock is
held off until LOCK = 1 (indicating that the PLL is stable). In either case, TPOR, TLOCK and TPWRT delays are
applied.
If EC, FRC, LPRC or EXTRC oscillators are used, then
a delay of TPOR (~ 10 µs) is applied. This is the smallest
delay possible on wake-up from Sleep.
Moreover, if LP oscillator was active during Sleep, and
LP is the oscillator used on wake-up, then the start-up
delay will be equal to TPOR. PWRT delay and OST
timer delay are not applied. In order to have the smallest possible start-up delay when waking up from Sleep,
one of these faster wake-up options should be selected
before entering Sleep.
Preliminary
DS70119D-page 145
dsPIC30F6010
Any interrupt that is individually enabled (using the
corresponding IE bit) and meets the prevailing priority
level will be able to wake-up the processor. The processor will process the interrupt and branch to the ISR.
The Sleep status bit in RCON register is set upon
wake-up.
Note:
In spite of various delays applied (TPOR,
TLOCK and TPWRT), the crystal oscillator
(and PLL) may not be active at the end of
the time-out (e.g., for low frequency crystals. In such cases), if FSCM is enabled,
then the device will detect this as a clock
failure and process the Clock Failure Trap,
the FRC oscillator will be enabled, and the
user will have to re-enable the crystal
oscillator. If FSCM is not enabled, then the
device will simply suspend execution of
code until the clock is stable, and will
remain in Sleep until the oscillator clock
has started.
All Resets will wake-up the processor from Sleep
mode. Any Reset, other than POR, will set the Sleep
status bit. In a POR, the Sleep bit is cleared.
If Watchdog Timer is enabled, then the processor will
wake-up from Sleep mode upon WDT time-out. The
Sleep and WDTO status bits are both set.
21.6.2
IDLE MODE
Any interrupt that is individually enabled (using IE bit)
and meets the prevailing priority level will be able to
wake-up the processor. The processor will process the
interrupt and branch to the ISR. The Idle status bit in
RCON register is set upon wake-up.
Any Reset, other than POR, will set the Idle status bit.
On a POR, the Idle bit is cleared.
If Watchdog Timer is enabled, then the processor will
wake-up from Idle mode upon WDT time-out. The Idle
and WDTO status bits are both set.
Unlike wake-up from Sleep, there are no time delays
involved in wake-up from Idle.
21.7
The configuration bits in each device configuration register specify some of the device modes and are programmed by a device programmer, or by using the InCircuit Serial Programming™ (ICSP™) feature of the
device. Each device configuration register is a 24-bit
register, but only the lower 16 bits of each register are
used to hold configuration data. There are four device
configuration registers available to the user:
FOSc (0xF80000): Oscillator Configuration
Register
FWDT (0xF80002): Watchdog Timer
Configuration Register
FBORPOR (0xF80004): BOR and POR
Configuration Register
FGS (0xF8000A): General Code Segment
Configuration Register
1.
2.
3.
In Idle mode, the clock to the CPU is shutdown while
peripherals keep running. Unlike Sleep mode, the clock
source remains active.
Several peripherals have a control bit in each module,
that allows them to operate during Idle.
LPRC fail-safe clock remains active if clock failure
detect is enabled.
The processor wakes up from Idle if at least one of the
following conditions is true:
• on any interrupt that is individually enabled (IE bit
is ‘1’) and meets the required priority level
• on any Reset (POR, BOR, MCLR)
• on WDT time-out
4.
The placement of the configuration bits is automatically
handled when you select the device in your device programmer. The desired state of the configuration bits
may be specified in the source code (dependent on the
language tool used), or through the programming interface. After the device has been programmed, the application software may read the configuration bit values
through the table read instructions. For additional information, please refer to the programming specifications
of the device.
Note:
Upon wake-up from Idle mode, the clock is re-applied
to the CPU and instruction execution begins immediately, starting with the instruction following the PWRSAV
instruction.
DS70119D-page 146
Device Configuration Registers
Preliminary
If the code protection configuration fuse
bits (FGS<GCP> and FGS<GWRP>)
have been programmed, an erase of the
entire code-protected device is only
possible at voltages VDD ≥ 4.5V.
 2004 Microchip Technology Inc.
dsPIC30F6010
21.8
In-Circuit Debugger
When MPLAB ICD2 is selected as a Debugger, the
In-Circuit Debugging functionality is enabled. This
function allows simple debugging functions when used
with MPLAB IDE. When the device has this feature
enabled, some of the resources are not available for
general use. These resources include the first 80 bytes
of Data RAM and two I/O pins.
One of four pairs of Debug I/O pins may be selected by
the user using configuration options in MPLAB IDE.
These pin pairs are named EMUD/EMUC, EMUD1/
EMUC1, EMUD2/EMUC2 and MUD3/EMUC3.
In each case, the selected EMUD pin is the Emulation/
Debug Data line, and the EMUC pin is the Emulation/
Debug Clock line. These pins will interface to the
MPLAB ICD 2 module available from Microchip. The
selected pair of Debug I/O pins is used by MPLAB
ICD 2 to send commands and receive responses, as
well as to send and receive data. To use the In-Circuit
Debugger function of the device, the design must
implement ICSP connections to MCLR, VDD, VSS,
PGC, PGD and the selected EMUDx/EMUCx pin pair.
This gives rise to two possibilities:
1.
2.
 2004 Microchip Technology Inc.
Preliminary
If EMUD/EMUC is selected as the Debug I/O pin
pair, then only a 5-pin interface is required, as
the EMUD and EMUC pin functions are multiplexed with the PGD and PGC pin functions in
all dsPIC30F devices.
If EMUD1/EMUC1, EMUD2/EMUC2 or EMUD3/
EMUC3 is selected as the Debug I/O pin pair,
then a 7-pin interface is required, as the
EMUDx/EMUCx pin functions (x = 1, 2 or 3) are
not multiplexed with the PGD and PGC pin
functions.
DS70119D-page 147
Bit 15
Bit 14
Bit 13
Bit 12
DS70119D-page 148
T2MD
—
Bit 8
IC2MD
F80004
F8000A
FBORPOR
FGS
—
MCLREN
—
—
Bit 14
—
—
—
FCKSM<1:0>
FWDTEN
—
—
Bit 15
—
—
—
—
Bit 13
Bit 12
—
—
—
—
I2CMD
U2MD
—
—
—
—
Bit 11
—
PWMPIN
—
—
Bit 10
—
HPOL
—
Bit 4
CF
SLEEP
Bit 3
C2MD
—
IDLE
Bit 2
Bit 8
—
LPOL
—
—
BOREN
—
—
Bit 7
—
—
—
—
Bit 6
OC5MD OC4MD OC3MD
SPI2MD SPI1MD
—
WDTO
FOS<1:0>
Bit 9
OC6MD
U1MD
LOCK
SWDTEN
Bit 5
Note: Refer to dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
F80000
F80002
FWDT
Bits 23-16
SWR
Bit 6
POST<1:0>
EXTR
Bit 7
IC1MD OC8MD OC7MD
—
NOSC<1:0>
LVDL<3:0>
Bit 9
T1MD QEIMD PWMMD
—
IC6MD IC5MD IC4MD IC3MD
T3MD
COSC<1:0>
Bit 10
DEVICE CONFIGURATION REGISTER MAP
Addr.
FOSC
File Name
TABLE 21-8:
T4MD
0772 IC8MD IC7MD
u = uninitialized bit
T5MD
0770
PMD2
Legend:
—
PMD1
—
Bit 11
SYSTEM INTEGRATION REGISTER MAP
0740 TRAPR IOPUWR BGST LVDEN
Addr
.
OSCCON 0742
RCON
SFR
Name
TABLE 21-7:
POR
Bit 0
Depends on type of Reset.
Reset State
—
Bit 4
—
—
BORV<1:0>
—
—
Bit 3
OC1MD
ADCMD
FWPSA<1:0>
—
Bit 5
OC2MD
C1MD
Bit 1
—
—
Bit 0
GCP
GWRP
FPWRT<1:0>
FWPSB<3:0>
FPR<3:0>
Bit 2
0000 0000 0000 0000
0000 0000 0000 0000
LPOSCEN OSWEN Depends on configuration bits.
BOR
Bit 1
dsPIC30F6010
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
22.0
INSTRUCTION SET SUMMARY
Note: This data sheet summarizes features of this group
of dsPIC30F devices and is not intended to be a complete
reference source. For more information on the CPU,
peripherals, register descriptions and general device
functionality, refer to the dsPIC30F Family Reference
Manual (DS70046). For more information on the device
instruction set and programming, refer to the dsPIC30F
Programmer’s Reference Manual (DS70030).
The dsPIC30F instruction set adds many
enhancements to the previous PICmicro® instruction
sets, while maintaining an easy migration from
PICmicro instruction sets.
Most instructions are a single program memory word
(24-bits). Only three instructions require two program
memory locations.
Each single-word instruction is a 24-bit word divided
into an 8-bit opcode which specifies the instruction
type, and one or more operands which further specify
the operation of the instruction.
The instruction set is highly orthogonal and is grouped
into five basic categories:
•
•
•
•
•
Word or byte-oriented operations
Bit-oriented operations
Literal operations
DSP operations
Control operations
• The W register (with or without an address modifier) or file register (specified by the value of ‘Ws’
or ‘f’)
• The bit in the W register or file register
(specified by a literal value, or indirectly by the
contents of register ‘Wb’)
The literal instructions that involve data movement may
use some of the following operands:
• A literal value to be loaded into a W register or file
register (specified by the value of ‘k’)
• The W register or file register where the literal
value is to be loaded (specified by ‘Wb’ or ‘f’)
However, literal instructions that involve arithmetic or
logical operations use some of the following operands:
• The first source operand, which is a register ‘Wb’
without any address modifier
• The second source operand, which is a literal
value
• The destination of the result (only if not the same
as the first source operand), which is typically a
register ‘Wd’ with or without an address modifier
The MAC class of DSP instructions may use some of the
following operands:
Table 22-1 shows the general symbols used in
describing the instructions.
The dsPIC30F instruction set summary in Table 22-2
lists all the instructions along with the status flags
affected by each instruction.
Most word or byte-oriented W register instructions
(including barrel shift instructions) have three
operands:
• The first source operand, which is typically a
register ‘Wb’ without any address modifier
• The second source operand, which is typically a
register ‘Ws’ with or without an address modifier
• The destination of the result, which is typically a
register ‘Wd’ with or without an address modifier
However, word or byte-oriented file register instructions
have two operands:
• The file register specified by the value ‘f’
• The destination, which could either be the file
register ‘f’ or the W0 register, which is denoted as
‘WREG’
 2004 Microchip Technology Inc.
Most bit oriented instructions (including simple rotate/
shift instructions) have two operands:
• The accumulator (A or B) to be used (required
operand)
• The W registers to be used as the two operands
• The X and Y address space pre-fetch operations
• The X and Y address space pre-fetch destinations
• The accumulator write back destination
The other DSP instructions do not involve any
multiplication, and may include:
• The accumulator to be used (required)
• The source or destination operand (designated as
Wso or Wdo, respectively) with or without an
address modifier
• The amount of shift, specified by a W register ‘Wn’
or a literal value
The control instructions may use some of the following
operands:
• A program memory address
• The mode of the Table Read and Table Write
instructions
All instructions are a single word, except for certain
double-word instructions, which were made doubleword instructions so that all the required information is
available in these 48-bits. In the second word, the
8 MSb’s are 0’s. If this second word is executed as an
instruction (by itself), it will execute as a NOP.
Preliminary
DS70119D-page 149
dsPIC30F6010
Most single word instructions are executed in a single
instruction cycle, unless a conditional test is true or the
program counter is changed as a result of the instruction. In these cases, the execution takes two instruction
cycles with the additional instruction cycle(s) executed
as a NOP. Notable exceptions are the BRA (unconditional/computed branch), indirect CALL/GOTO, all
Table Reads and Writes and RETURN/RETFIE instructions, which are single word instructions, but take two
or three cycles. Certain instructions that involve skipping over the subsequent instruction, require either two
TABLE 22-1:
or three cycles if the skip is performed, depending on
whether the instruction being skipped is a single word
or two-word instruction. Moreover, double-word moves
require two cycles. The double-word instructions
execute in two instruction cycles.
Note:
For more details on the instruction set,
refer to the dsPIC30F Programmer’s
Reference Manual (DS70030).
SYMBOLS USED IN OPCODE DESCRIPTIONS
Field
#text
(text)
[text]
{ }
<n:m>
.b
.d
.S
.w
Acc
AWB
bit4
C, DC, N, OV, Z
Expr
f
lit1
lit4
lit5
lit8
lit10
lit14
lit16
lit23
None
OA, OB, SA, SB
PC
Slit10
Slit16
Slit6
DS70119D-page 150
Description
Means literal defined by “text“
Means “content of text“
Means “the location addressed by text”
Optional field or operation
Register bit field
Byte mode selection
Double-word mode selection
Shadow register select
Word mode selection (default)
One of two accumulators {A, B}
Accumulator write back destination address register ∈ {W13, [W13]+=2}
4-bit bit selection field (used in word addressed instructions) ∈ {0...15}
MCU status bits: Carry, Digit Carry, Negative, Overflow, Zero
Absolute address, label or expression (resolved by the linker)
File register address ∈ {0x0000...0x1FFF}
1-bit unsigned literal ∈ {0,1}
4-bit unsigned literal ∈ {0...15}
5-bit unsigned literal ∈ {0...31}
8-bit unsigned literal ∈ {0...255}
10-bit unsigned literal ∈ {0...255} for Byte mode, {0:1023} for Word mode
14-bit unsigned literal ∈ {0...16384}
16-bit unsigned literal ∈ {0...65535}
23-bit unsigned literal ∈ {0...8388608}; LSB must be 0
Field does not require an entry, may be blank
DSP status bits: AccA Overflow, AccB Overflow, AccA Saturate, AccB Saturate
Program Counter
10-bit signed literal ∈ {-512...511}
16-bit signed literal ∈ {-32768...32767}
6-bit signed literal ∈ {-16...16}
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
TABLE 22-1:
SYMBOLS USED IN OPCODE DESCRIPTIONS (CONTINUED)
Field
Wb
Wd
Wdo
Wm,Wn
Wm*Wm
Wm*Wn
Wn
Wnd
Wns
WREG
Ws
Wso
Wx
Wxd
Wy
Wyd
 2004 Microchip Technology Inc.
Description
Base W register ∈ {W0..W15}
Destination W register ∈ { Wd, [Wd], [Wd++], [Wd--], [++Wd], [--Wd] }
Destination W register ∈
{ Wnd, [Wnd], [Wnd++], [Wnd--], [++Wnd], [--Wnd], [Wnd+Wb] }
Dividend, Divisor working register pair (direct addressing)
Multiplicand and Multiplier working register pair for Square instructions ∈
{W4*W4,W5*W5,W6*W6,W7*W7}
Multiplicand and Multiplier working register pair for DSP instructions ∈
{W4*W5,W4*W6,W4*W7,W5*W6,W5*W7,W6*W7}
One of 16 working registers ∈ {W0..W15}
One of 16 destination working registers ∈ {W0..W15}
One of 16 source working registers ∈ {W0..W15}
W0 (working register used in file register instructions)
Source W register ∈ { Ws, [Ws], [Ws++], [Ws--], [++Ws], [--Ws] }
Source W register ∈
{ Wns, [Wns], [Wns++], [Wns--], [++Wns], [--Wns], [Wns+Wb] }
X data space pre-fetch address register for DSP instructions
∈ {[W8]+=6, [W8]+=4, [W8]+=2, [W8], [W8]-=6, [W8]-=4, [W8]-=2,
[W9]+=6, [W9]+=4, [W9]+=2, [W9], [W9]-=6, [W9]-=4, [W9]-=2,
[W9+W12],none}
X data space pre-fetch destination register for DSP instructions ∈ {W4..W7}
Y data space pre-fetch address register for DSP instructions
∈ {[W10]+=6, [W10]+=4, [W10]+=2, [W10], [W10]-=6, [W10]-=4, [W10]-=2,
[W11]+=6, [W11]+=4, [W11]+=2, [W11], [W11]-=6, [W11]-=4, [W11]-=2,
[W11+W12], none}
Y data space pre-fetch destination register for DSP instructions ∈ {W4..W7}
Preliminary
DS70119D-page 151
dsPIC30F6010
TABLE 22-2:
Base
Instr
#
Assembly
Mnemonic
1
ADD
2
3
4
ADDC
AND
ASR
5
BCLR
6
BRA
7
8
9
BSET
BSW
BTG
INSTRUCTION SET OVERVIEW
Assembly Syntax
Description
# of
words
# of
cycle
s
Status Flags
Affected
ADD
Acc
Add Accumulators
1
1
OA,OB,SA,SB
ADD
f
f = f + WREG
1
1
C,DC,N,OV,Z
ADD
f,WREG
WREG = f + WREG
1
1
C,DC,N,OV,Z
ADD
#lit10,Wn
Wd = lit10 + Wd
1
1
C,DC,N,OV,Z
ADD
Wb,Ws,Wd
Wd = Wb + Ws
1
1
C,DC,N,OV,Z
ADD
Wb,#lit5,Wd
Wd = Wb + lit5
1
1
C,DC,N,OV,Z
ADD
Wso,#Slit4,Acc
16-bit Signed Add to Accumulator
1
1
OA,OB,SA,SB
ADDC
f
f = f + WREG + (C)
1
1
C,DC,N,OV,Z
ADDC
f,WREG
WREG = f + WREG + (C)
1
1
C,DC,N,OV,Z
ADDC
#lit10,Wn
Wd = lit10 + Wd + (C)
1
1
C,DC,N,OV,Z
ADDC
Wb,Ws,Wd
Wd = Wb + Ws + (C)
1
1
C,DC,N,OV,Z
ADDC
Wb,#lit5,Wd
Wd = Wb + lit5 + (C)
1
1
C,DC,N,OV,Z
AND
f
f = f .AND. WREG
1
1
N,Z
AND
f,WREG
WREG = f .AND. WREG
1
1
N,Z
AND
#lit10,Wn
Wd = lit10 .AND. Wd
1
1
N,Z
AND
Wb,Ws,Wd
Wd = Wb .AND. Ws
1
1
N,Z
AND
Wb,#lit5,Wd
Wd = Wb .AND. lit5
1
1
N,Z
ASR
f
f = Arithmetic Right Shift f
1
1
C,N,OV,Z
ASR
f,WREG
WREG = Arithmetic Right Shift f
1
1
C,N,OV,Z
ASR
Ws,Wd
Wd = Arithmetic Right Shift Ws
1
1
C,N,OV,Z
ASR
Wb,Wns,Wnd
Wnd = Arithmetic Right Shift Wb by Wns
1
1
N,Z
ASR
Wb,#lit5,Wnd
Wnd = Arithmetic Right Shift Wb by lit5
1
1
N,Z
BCLR
f,#bit4
Bit Clear f
1
1
None
BCLR
Ws,#bit4
Bit Clear Ws
1
1
None
BRA
C,Expr
Branch if Carry
1
1 (2)
None
BRA
GE,Expr
Branch if greater than or equal
1
1 (2)
None
BRA
GEU,Expr
Branch if unsigned greater than or equal
1
1 (2)
None
BRA
GT,Expr
Branch if greater than
1
1 (2)
None
BRA
GTU,Expr
Branch if unsigned greater than
1
1 (2)
None
BRA
LE,Expr
Branch if less than or equal
1
1 (2)
None
BRA
LEU,Expr
Branch if unsigned less than or equal
1
1 (2)
None
BRA
LT,Expr
Branch if less than
1
1 (2)
None
BRA
LTU,Expr
Branch if unsigned less than
1
1 (2)
None
BRA
N,Expr
Branch if Negative
1
1 (2)
None
BRA
NC,Expr
Branch if Not Carry
1
1 (2)
None
BRA
NN,Expr
Branch if Not Negative
1
1 (2)
None
BRA
NOV,Expr
Branch if Not Overflow
1
1 (2)
None
BRA
NZ,Expr
Branch if Not Zero
1
1 (2)
None
BRA
OA,Expr
Branch if accumulator A overflow
1
1 (2)
None
BRA
OB,Expr
Branch if accumulator B overflow
1
1 (2)
None
BRA
OV,Expr
Branch if Overflow
1
1 (2)
None
BRA
SA,Expr
Branch if accumulator A saturated
1
1 (2)
None
BRA
SB,Expr
Branch if accumulator B saturated
1
1 (2)
None
BRA
Expr
Branch Unconditionally
1
2
None
BRA
Z,Expr
Branch if Zero
1
1 (2)
None
BRA
Wn
Computed Branch
1
2
None
BSET
f,#bit4
Bit Set f
1
1
None
BSET
Ws,#bit4
Bit Set Ws
1
1
None
BSW.C
Ws,Wb
Write C bit to Ws<Wb>
1
1
None
BSW.Z
Ws,Wb
Write Z bit to Ws<Wb>
1
1
None
BTG
f,#bit4
Bit Toggle f
1
1
None
BTG
Ws,#bit4
Bit Toggle Ws
1
1
None
DS70119D-page 152
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
TABLE 22-2:
Base
Instr
#
Assembly
Mnemonic
10
BTSC
11
12
13
14
15
BTSS
BTST
BTSTS
CALL
CLR
INSTRUCTION SET OVERVIEW (CONTINUED)
Assembly Syntax
Description
# of
words
BTSC
f,#bit4
Bit Test f, Skip if Clear
1
BTSC
Ws,#bit4
Bit Test Ws, Skip if Clear
1
BTSS
f,#bit4
Bit Test f, Skip if Set
1
BTSS
Ws,#bit4
Bit Test Ws, Skip if Set
1
# of
cycle
s
Status Flags
Affected
BTST
f,#bit4
Bit Test f
1
1
(2 or
3)
1
(2 or
3)
1
(2 or
3)
1
(2 or
3)
1
None
BTST.C
Ws,#bit4
Bit Test Ws to C
1
1
C
BTST.Z
Ws,#bit4
Bit Test Ws to Z
1
1
Z
BTST.C
Ws,Wb
Bit Test Ws<Wb> to C
1
1
C
BTST.Z
Ws,Wb
Bit Test Ws<Wb> to Z
1
1
Z
BTSTS
f,#bit4
Bit Test then Set f
1
1
Z
BTSTS.C
Ws,#bit4
Bit Test Ws to C, then Set
1
1
C
BTSTS.Z
Ws,#bit4
Bit Test Ws to Z, then Set
1
1
Z
None
None
None
None
Z
CALL
lit23
Call subroutine
2
2
CALL
Wn
Call indirect subroutine
1
2
None
CLR
f
f = 0x0000
1
1
None
CLR
WREG
WREG = 0x0000
1
1
None
CLR
Ws
Ws = 0x0000
1
1
None
CLR
Acc,Wx,Wxd,Wy,Wyd,AWB
Clear Accumulator
1
1
OA,OB,SA,SB
16
CLRWDT
CLRWDT
Clear Watchdog Timer
1
1
WDTO,Sleep
17
COM
COM
f
f=f
1
1
N,Z
COM
f,WREG
WREG = f
1
1
N,Z
COM
Ws,Wd
Wd = Ws
1
1
N,Z
CP
f
Compare f with WREG
1
1
C,DC,N,OV,Z
CP
Wb,#lit5
Compare Wb with lit5
1
1
C,DC,N,OV,Z
CP
Wb,Ws
Compare Wb with Ws (Wb - Ws)
1
1
C,DC,N,OV,Z
C,DC,N,OV,Z
18
19
CP
CP0
20
CP1
21
CPB
CP0
f
Compare f with 0x0000
1
1
CP0
Ws
Compare Ws with 0x0000
1
1
C,DC,N,OV,Z
CP1
f
Compare f with 0xFFFF
1
1
C,DC,N,OV,Z
CP1
Ws
Compare Ws with 0xFFFF
1
1
C,DC,N,OV,Z
CPB
f
Compare f with WREG, with Borrow
1
1
C,DC,N,OV,Z
CPB
Wb,#lit5
Compare Wb with lit5, with Borrow
1
1
C,DC,N,OV,Z
CPB
Wb,Ws
1
1
C,DC,N,OV,Z
1
22
CPSEQ
CPSEQ
Wb, Wn
Compare Wb with Ws, with Borrow
(Wb - Ws - C)
Compare Wb with Wn, skip if =
23
CPSGT
CPSGT
Wb, Wn
Compare Wb with Wn, skip if >
1
24
CPSLT
CPSLT
Wb, Wn
Compare Wb with Wn, skip if <
1
25
CPSNE
CPSNE
Wb, Wn
Compare Wb with Wn, skip if ≠
1
26
DAW
DAW
Wn
Wn = decimal adjust Wn
1
1
(2 or
3)
1
(2 or
3)
1
(2 or
3)
1
(2 or
3)
1
27
DEC
DEC
f
f = f -1
1
1
DEC
f,WREG
WREG = f -1
1
1
C,DC,N,OV,Z
DEC
Ws,Wd
Wd = Ws - 1
1
1
C,DC,N,OV,Z
C,DC,N,OV,Z
28
29
DEC2
DISI
None
None
None
None
C
C,DC,N,OV,Z
DEC2
f
f = f -2
1
1
DEC2
f,WREG
WREG = f -2
1
1
C,DC,N,OV,Z
DEC2
Ws,Wd
Wd = Ws - 2
1
1
C,DC,N,OV,Z
DISI
#lit14
Disable Interrupts for k instruction cycles
1
1
None
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 153
dsPIC30F6010
TABLE 22-2:
Base
Instr
#
Assembly
Mnemonic
30
DIV
INSTRUCTION SET OVERVIEW (CONTINUED)
Assembly Syntax
Description
# of
words
# of
cycle
s
Status Flags
Affected
DIV.S
DIV.SD
Wm,Wn
Signed 16/16-bit Integer Divide
1
18
N,Z,C, OV
Wm,Wn
Signed 32/16-bit Integer Divide
1
18
N,Z,C, OV
DIV.U
Wm,Wn
Unsigned 16/16-bit Integer Divide
1
18
N,Z,C, OV
DIV.UD
Wm,Wn
Unsigned 32/16-bit Integer Divide
1
18
N,Z,C, OV
Signed 16/16-bit Fractional Divide
1
18
N,Z,C, OV
#lit14,Expr
Do code to PC+Expr, lit14+1 times
2
2
None
31
DIVF
32
DO
DIVF
DO
DO
Wn,Expr
Do code to PC+Expr, (Wn)+1 times
2
2
None
33
ED
ED
Wm*Wm,Acc,Wx,Wy,Wxd
Euclidean Distance ( no accumulate)
1
1
34
EDAC
EDAC
Wm*Wm,Acc,Wx,Wy,Wxd
Euclidean Distance
1
1
35
EXCH
EXCH
Wns,Wnd
Swap Wns with Wnd
1
1
OA,OB,OAB,
SA,SB,SAB
OA,OB,OAB,
SA,SB,SAB
None
36
FBCL
FBCL
Ws,Wnd
Find Bit Change from Left (MSb) Side
1
1
C
37
FF1L
FF1L
Ws,Wnd
Find First One from Left (MSb) Side
1
1
C
Wm,Wn
38
FF1R
FF1R
Ws,Wnd
Find First One from Right (LSb) Side
1
1
C
39
GOTO
GOTO
Expr
Go to address
2
2
None
GOTO
Wn
Go to indirect
1
2
None
INC
f
f=f+1
1
1
C,DC,N,OV,Z
INC
f,WREG
WREG = f + 1
1
1
C,DC,N,OV,Z
INC
Ws,Wd
Wd = Ws + 1
1
1
C,DC,N,OV,Z
INC2
f
f=f+2
1
1
C,DC,N,OV,Z
INC2
f,WREG
WREG = f + 2
1
1
C,DC,N,OV,Z
INC2
Ws,Wd
Wd = Ws + 2
1
1
C,DC,N,OV,Z
IOR
f
f = f .IOR. WREG
1
1
N,Z
IOR
f,WREG
WREG = f .IOR. WREG
1
1
N,Z
IOR
#lit10,Wn
Wd = lit10 .IOR. Wd
1
1
N,Z
IOR
Wb,Ws,Wd
Wd = Wb .IOR. Ws
1
1
N,Z
IOR
Wb,#lit5,Wd
Wd = Wb .IOR. lit5
1
1
N,Z
LAC
Wso,#Slit4,Acc
Load Accumulator
1
1
40
41
42
43
INC
INC2
IOR
44
LNK
LNK
#lit14
Link frame pointer
1
1
OA,OB,OAB,
SA,SB,SAB
None
45
LSR
LSR
f
f = Logical Right Shift f
1
1
C,N,OV,Z
LSR
f,WREG
WREG = Logical Right Shift f
1
1
C,N,OV,Z
LSR
Ws,Wd
Wd = Logical Right Shift Ws
1
1
C,N,OV,Z
LSR
Wb,Wns,Wnd
Wnd = Logical Right Shift Wb by Wns
1
1
N,Z
LSR
Wb,#lit5,Wnd
Wnd = Logical Right Shift Wb by lit5
1
1
N,Z
MAC
Wm*Wn,Acc,Wx,Wxd,Wy,Wyd,
AWB
Multiply and Accumulate
1
1
OA,OB,OAB,
SA,SB,SAB
MAC
Wm*Wm,Acc,Wx,Wxd,Wy,Wyd
Square and Accumulate
1
1
OA,OB,OAB,
SA,SB,SAB
None
46
47
LAC
MAC
MOV
MOV
f,Wn
Move f to Wn
1
1
MOV
f
Move f to f
1
1
N,Z
MOV
f,WREG
Move f to WREG
1
1
N,Z
MOV
#lit16,Wn
Move 16-bit literal to Wn
1
1
None
MOV.b
#lit8,Wn
Move 8-bit literal to Wn
1
1
None
MOV
Wn,f
Move Wn to f
1
1
None
MOV
Wso,Wdo
Move Ws to Wd
1
1
None
Move WREG to f
1
1
N,Z
Move Double from W(ns):W(ns+1) to Wd
Move Double from Ws to W(nd+1):W(nd)
Pre-fetch and store accumulator
1
1
1
2
2
1
None
None
None
Multiply Wm by Wn to Accumulator
1
1
OA,OB,OAB,
SA,SB,SAB
OA,OB,OAB,
SA,SB,SAB
None
OA,OB,OAB,
SA,SB,SAB
MOV
WREG,f
Wns,Wd
Ws,Wnd
48
MOVSAC
MOV.D
MOV.D
MOVSAC
49
MPY
MPY
Acc,Wx,Wxd,Wy,Wyd,AWB
Wm*Wn,Acc,Wx,Wxd,Wy,Wyd
MPY
Wm*Wm,Acc,Wx,Wxd,Wy,Wyd
Square Wm to Accumulator
1
1
MPY.N
MSC
Wm*Wn,Acc,Wx,Wxd,Wy,Wyd
-(Multiply Wm by Wn) to Accumulator
Multiply and Subtract from Accumulator
1
1
1
1
50
51
MPY.N
MSC
DS70119D-page 154
Wm*Wm,Acc,Wx,Wxd,Wy,Wyd,
AWB
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
TABLE 22-2:
Base
Instr
#
Assembly
Mnemonic
52
MUL
53
54
55
56
57
58
NEG
NOP
POP
PUSH
PWRSAV
RCALL
INSTRUCTION SET OVERVIEW (CONTINUED)
Assembly Syntax
Description
# of
words
# of
cycle
s
Status Flags
Affected
MUL.SS
Wb,Ws,Wnd
{Wnd+1, Wnd} = signed(Wb) * signed(Ws)
1
1
None
MUL.SU
Wb,Ws,Wnd
{Wnd+1, Wnd} = signed(Wb) * unsigned(Ws)
1
1
None
MUL.US
Wb,Ws,Wnd
{Wnd+1, Wnd} = unsigned(Wb) * signed(Ws)
1
1
None
MUL.UU
Wb,Ws,Wnd
1
1
None
MUL.SU
Wb,#lit5,Wnd
{Wnd+1, Wnd} = unsigned(Wb) *
unsigned(Ws)
{Wnd+1, Wnd} = signed(Wb) * unsigned(lit5)
1
1
None
MUL.UU
Wb,#lit5,Wnd
1
1
None
MUL
f
{Wnd+1, Wnd} = unsigned(Wb) *
unsigned(lit5)
W3:W2 = f * WREG
1
1
None
NEG
Acc
Negate Accumulator
1
1
NEG
f
f=f+1
1
1
OA,OB,OAB,
SA,SB,SAB
C,DC,N,OV,Z
NEG
f,WREG
WREG = f + 1
1
1
C,DC,N,OV,Z
NEG
Ws,Wd
Wd = Ws + 1
1
1
C,DC,N,OV,Z
NOP
No Operation
1
1
None
NOPR
No Operation
1
1
None
None
POP
f
Pop f from top-of-stack (TOS)
1
1
POP
Wdo
Pop from top-of-stack (TOS) to Wdo
1
1
None
POP.D
Wnd
1
2
None
POP.S
PUSH
f
Pop from top-of-stack (TOS) to
W(nd):W(nd+1)
Pop Shadow Registers
Push f to top-of-stack (TOS)
1
1
1
1
All
None
PUSH
Wso
Push Wso to top-of-stack (TOS)
1
1
None
PUSH.D
Wns
Push W(ns):W(ns+1) to top-of-stack (TOS)
1
2
None
Push Shadow Registers
Go into Sleep or Idle mode
Relative Call
1
1
1
1
1
2
None
WDTO,Sleep
None
PUSH.S
PWRSAV
RCALL
#lit1
Expr
RCALL
Wn
Computed Call
1
2
None
REPEAT
#lit14
Repeat Next Instruction lit14+1 times
1
1
None
REPEAT
Wn
None
59
REPEAT
Repeat Next Instruction (Wn)+1 times
1
1
60
RESET
RESET
Software device Reset
1
1
None
61
RETFIE
RETFIE
Return from interrupt
1
3 (2)
None
Return with literal in Wn
1
3 (2)
None
Return from Subroutine
1
3 (2)
None
1
1
C,N,Z
62
RETLW
RETLW
63
RETURN
RETURN
64
RLC
RLC
f
f = Rotate Left through Carry f
RLC
f,WREG
WREG = Rotate Left through Carry f
1
1
C,N,Z
RLC
Ws,Wd
Wd = Rotate Left through Carry Ws
1
1
C,N,Z
RLNC
f
f = Rotate Left (No Carry) f
1
1
N,Z
RLNC
f,WREG
WREG = Rotate Left (No Carry) f
1
1
N,Z
RLNC
Ws,Wd
Wd = Rotate Left (No Carry) Ws
1
1
N,Z
65
66
67
68
RLNC
RRC
RRNC
SAC
69
SE
70
SETM
71
SFTAC
#lit10,Wn
RRC
f
f = Rotate Right through Carry f
1
1
C,N,Z
RRC
f,WREG
WREG = Rotate Right through Carry f
1
1
C,N,Z
RRC
Ws,Wd
Wd = Rotate Right through Carry Ws
1
1
C,N,Z
RRNC
f
f = Rotate Right (No Carry) f
1
1
N,Z
RRNC
f,WREG
WREG = Rotate Right (No Carry) f
1
1
N,Z
RRNC
Ws,Wd
Wd = Rotate Right (No Carry) Ws
1
1
N,Z
None
SAC
Acc,#Slit4,Wdo
Store Accumulator
1
1
SAC.R
Acc,#Slit4,Wdo
Store Rounded Accumulator
1
1
None
SE
Ws,Wnd
Wnd = sign extended Ws
1
1
C,N,Z
None
SETM
f
f = 0xFFFF
1
1
SETM
WREG
WREG = 0xFFFF
1
1
None
SETM
Ws
Ws = 0xFFFF
1
1
None
SFTAC
Acc,Wn
Arithmetic Shift Accumulator by (Wn)
1
1
SFTAC
Acc,#Slit6
Arithmetic Shift Accumulator by Slit6
1
1
OA,OB,OAB,
SA,SB,SAB
OA,OB,OAB,
SA,SB,SAB
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 155
dsPIC30F6010
TABLE 22-2:
Base
Instr
#
Assembly
Mnemonic
72
SL
73
74
75
76
77
SUB
SUBB
SUBR
SUBBR
SWAP
INSTRUCTION SET OVERVIEW (CONTINUED)
Assembly Syntax
Description
# of
words
# of
cycle
s
Status Flags
Affected
SL
f
f = Left Shift f
1
1
C,N,OV,Z
SL
f,WREG
WREG = Left Shift f
1
1
C,N,OV,Z
SL
Ws,Wd
Wd = Left Shift Ws
1
1
C,N,OV,Z
SL
Wb,Wns,Wnd
Wnd = Left Shift Wb by Wns
1
1
N,Z
SL
Wb,#lit5,Wnd
Wnd = Left Shift Wb by lit5
1
1
N,Z
SUB
Acc
Subtract Accumulators
1
1
SUB
f
f = f - WREG
1
1
OA,OB,OAB,
SA,SB,SAB
C,DC,N,OV,Z
SUB
f,WREG
WREG = f - WREG
1
1
C,DC,N,OV,Z
SUB
#lit10,Wn
Wn = Wn - lit10
1
1
C,DC,N,OV,Z
SUB
Wb,Ws,Wd
Wd = Wb - Ws
1
1
C,DC,N,OV,Z
SUB
Wb,#lit5,Wd
Wd = Wb - lit5
1
1
C,DC,N,OV,Z
SUBB
f
f = f - WREG - (C)
1
1
C,DC,N,OV,Z
SUBB
f,WREG
WREG = f - WREG - (C)
1
1
C,DC,N,OV,Z
SUBB
#lit10,Wn
Wn = Wn - lit10 - (C)
1
1
C,DC,N,OV,Z
SUBB
Wb,Ws,Wd
Wd = Wb - Ws - (C)
1
1
C,DC,N,OV,Z
SUBB
Wb,#lit5,Wd
Wd = Wb - lit5 - (C)
1
1
C,DC,N,OV,Z
SUBR
f
f = WREG - f
1
1
C,DC,N,OV,Z
SUBR
f,WREG
WREG = WREG - f
1
1
C,DC,N,OV,Z
SUBR
Wb,Ws,Wd
Wd = Ws - Wb
1
1
C,DC,N,OV,Z
C,DC,N,OV,Z
SUBR
Wb,#lit5,Wd
Wd = lit5 - Wb
1
1
SUBBR
f
f = WREG - f - (C)
1
1
C,DC,N,OV,Z
SUBBR
f,WREG
WREG = WREG -f - (C)
1
1
C,DC,N,OV,Z
SUBBR
Wb,Ws,Wd
Wd = Ws - Wb - (C)
1
1
C,DC,N,OV,Z
SUBBR
Wb,#lit5,Wd
Wd = lit5 - Wb - (C)
1
1
C,DC,N,OV,Z
SWAP.b
Wn
Wn = nibble swap Wn
1
1
None
SWAP
Wn
Wn = byte swap Wn
1
1
None
78
TBLRDH
TBLRDH
Ws,Wd
Read Prog<23:16> to Wd<7:0>
1
2
None
79
TBLRDL
TBLRDL
Ws,Wd
Read Prog<15:0> to Wd
1
2
None
80
TBLWTH
TBLWTH
Ws,Wd
Write Ws<7:0> to Prog<23:16>
1
2
None
81
TBLWTL
TBLWTL
Ws,Wd
Write Ws to Prog<15:0>
1
2
None
82
ULNK
ULNK
Unlink frame pointer
1
1
None
83
XOR
84
ZE
XOR
f
f = f .XOR. WREG
1
1
N,Z
XOR
f,WREG
WREG = f .XOR. WREG
1
1
N,Z
XOR
#lit10,Wn
Wd = lit10 .XOR. Wd
1
1
N,Z
XOR
Wb,Ws,Wd
Wd = Wb .XOR. Ws
1
1
N,Z
XOR
Wb,#lit5,Wd
Wd = Wb .XOR. lit5
1
1
N,Z
ZE
Ws,Wnd
Wnd = Zero-Extend Ws
1
1
C,Z,N
DS70119D-page 156
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
23.0
DEVELOPMENT SUPPORT
23.1
The PICmicro® microcontrollers are supported with a
full range of hardware and software development tools:
• Integrated Development Environment
- MPLAB® IDE Software
• Assemblers/Compilers/Linkers
- MPASMTM Assembler
- MPLAB C17 and MPLAB C18 C Compilers
- MPLINKTM Object Linker/
MPLIBTM Object Librarian
- MPLAB C30 C Compiler
- MPLAB ASM30 Assembler/Linker/Library
• Simulators
- MPLAB SIM Software Simulator
- MPLAB dsPIC30 Software Simulator
• Emulators
- MPLAB ICE 2000 In-Circuit Emulator
- MPLAB ICE 4000 In-Circuit Emulator
• In-Circuit Debugger
- MPLAB ICD 2
• Device Programmers
- PRO MATE® II Universal Device Programmer
- PICSTART® Plus Development Programmer
- MPLAB PM3 Device Programmer
• Low-Cost Demonstration Boards
- PICDEMTM 1 Demonstration Board
- PICDEM.netTM Demonstration Board
- PICDEM 2 Plus Demonstration Board
- PICDEM 3 Demonstration Board
- PICDEM 4 Demonstration Board
- PICDEM 17 Demonstration Board
- PICDEM 18R Demonstration Board
- PICDEM LIN Demonstration Board
- PICDEM USB Demonstration Board
• Evaluation Kits
- KEELOQ®
- PICDEM MSC
- microID®
- CAN
- PowerSmart®
- Analog
MPLAB Integrated Development
Environment Software
The MPLAB IDE software brings an ease of software
development previously unseen in the 8/16-bit microcontroller market. The MPLAB IDE is a Windows®
based application that contains:
• An interface to debugging tools
- simulator
- programmer (sold separately)
- emulator (sold separately)
- in-circuit debugger (sold separately)
• A full-featured editor with color coded context
• A multiple project manager
• Customizable data windows with direct edit of
contents
• High-level source code debugging
• Mouse over variable inspection
• Extensive on-line help
The MPLAB IDE allows you to:
• Edit your source files (either assembly or C)
• One touch assemble (or compile) and download
to PICmicro emulator and simulator tools
(automatically updates all project information)
• Debug using:
- source files (assembly or C)
- mixed assembly and C
- machine code
MPLAB IDE supports multiple debugging tools in a
single development paradigm, from the cost effective
simulators, through low-cost in-circuit debuggers, to
full-featured emulators. This eliminates the learning
curve when upgrading to tools with increasing flexibility
and power.
23.2
MPASM Assembler
The MPASM assembler is a full-featured, universal
macro assembler for all PICmicro MCUs.
The MPASM assembler generates relocatable object
files for the MPLINK object linker, Intel® standard HEX
files, MAP files to detail memory usage and symbol reference, absolute LST files that contain source lines and
generated machine code and COFF files for
debugging.
The MPASM assembler features include:
• Integration into MPLAB IDE projects
• User defined macros to streamline assembly code
• Conditional assembly for multi-purpose source
files
• Directives that allow complete control over the
assembly process
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 157
dsPIC30F6010
23.3
MPLAB C17 and MPLAB C18
C Compilers
23.6
The MPLAB C17 and MPLAB C18 Code Development
Systems are complete ANSI C compilers for
Microchip’s PIC17CXXX and PIC18CXXX family of
microcontrollers. These compilers provide powerful
integration capabilities, superior code optimization and
ease of use not found with other compilers.
For easy source level debugging, the compilers provide
symbol information that is optimized to the MPLAB IDE
debugger.
23.4
MPLINK Object Linker/
MPLIB Object Librarian
The MPLINK object linker combines relocatable
objects created by the MPASM assembler and the
MPLAB C17 and MPLAB C18 C compilers. It can link
relocatable objects from precompiled libraries, using
directives from a linker script.
The MPLIB object librarian manages the creation and
modification of library files of precompiled code. When
a routine from a library is called from a source file, only
the modules that contain that routine will be linked in
with the application. This allows large libraries to be
used efficiently in many different applications.
The object linker/library features include:
• Efficient linking of single libraries instead of many
smaller files
• Enhanced code maintainability by grouping
related modules together
• Flexible creation of libraries with easy module
listing, replacement, deletion and extraction
23.5
MPLAB C30 C Compiler
MPLAB C30 is distributed with a complete ANSI C
standard library. All library functions have been validated and conform to the ANSI C library standard. The
library includes functions for string manipulation,
dynamic memory allocation, data conversion, timekeeping and math functions (trigonometric, exponential
and hyperbolic). The compiler provides symbolic
information for high-level source debugging with the
MPLAB IDE.
DS70119D-page 158
MPLAB ASM30 assembler produces relocatable
machine code from symbolic assembly language for
dsPIC30F devices. MPLAB C30 compiler uses the
assembler to produce it’s object file. The assembler
generates relocatable object files that can then be
archived or linked with other relocatable object files and
archives to create an executable file. Notable features
of the assembler include:
•
•
•
•
•
•
Support for the entire dsPIC30F instruction set
Support for fixed-point and floating-point data
Command line interface
Rich directive set
Flexible macro language
MPLAB IDE compatibility
23.7
MPLAB SIM Software Simulator
The MPLAB SIM software simulator allows code development in a PC hosted environment by simulating the
PICmicro series microcontrollers on an instruction
level. On any given instruction, the data areas can be
examined or modified and stimuli can be applied from
a file, or user defined key press, to any pin. The execution can be performed in Single-Step, Execute Until
Break or Trace mode.
The MPLAB SIM simulator fully supports symbolic
debugging using the MPLAB C17 and MPLAB C18
C Compilers, as well as the MPASM assembler. The
software simulator offers the flexibility to develop and
debug code outside of the laboratory environment,
making it an excellent, economical software
development tool.
23.8
The MPLAB C30 C compiler is a full-featured, ANSI
compliant, optimizing compiler that translates standard
ANSI C programs into dsPIC30F assembly language
source. The compiler also supports many command
line options and language extensions to take full
advantage of the dsPIC30F device hardware capabilities and afford fine control of the compiler code
generator.
MPLAB ASM30 Assembler, Linker
and Librarian
MPLAB SIM30 Software Simulator
The MPLAB SIM30 software simulator allows code
development in a PC hosted environment by simulating
the dsPIC30F series microcontrollers on an instruction
level. On any given instruction, the data areas can be
examined or modified and stimuli can be applied from
a file, or user defined key press, to any of the pins.
The MPLAB SIM30 simulator fully supports symbolic
debugging using the MPLAB C30 C Compiler and
MPLAB ASM30 assembler. The simulator runs in either
a Command Line mode for automated tasks, or from
MPLAB IDE. This high-speed simulator is designed to
debug, analyze and optimize time intensive DSP
routines.
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
23.9
MPLAB ICE 2000
High-Performance Universal
In-Circuit Emulator
23.11 MPLAB ICD 2 In-Circuit Debugger
The MPLAB ICE 2000 universal in-circuit emulator is
intended to provide the product development engineer
with a complete microcontroller design tool set for
PICmicro microcontrollers. Software control of the
MPLAB ICE 2000 in-circuit emulator is advanced by
the MPLAB Integrated Development Environment,
which allows editing, building, downloading and source
debugging from a single environment.
The MPLAB ICE 2000 is a full-featured emulator system with enhanced trace, trigger and data monitoring
features. Interchangeable processor modules allow the
system to be easily reconfigured for emulation of different processors. The universal architecture of the
MPLAB ICE in-circuit emulator allows expansion to
support new PICmicro microcontrollers.
The MPLAB ICE 2000 in-circuit emulator system has
been designed as a real-time emulation system with
advanced features that are typically found on more
expensive development tools. The PC platform and
Microsoft® Windows 32-bit operating system were
chosen to best make these features available in a
simple, unified application.
23.10 MPLAB ICE 4000
High-Performance Universal
In-Circuit Emulator
The MPLAB ICE 4000 universal in-circuit emulator is
intended to provide the product development engineer
with a complete microcontroller design tool set for highend PICmicro microcontrollers. Software control of the
MPLAB ICE in-circuit emulator is provided by the
MPLAB Integrated Development Environment, which
allows editing, building, downloading and source
debugging from a single environment.
The MPLAB ICD 4000 is a premium emulator system,
providing the features of MPLAB ICE 2000, but with
increased emulation memory and high-speed performance for dsPIC30F and PIC18XXXX devices. Its
advanced emulator features include complex triggering
and timing, up to 2 Mb of emulation memory and the
ability to view variables in real-time.
The MPLAB ICE 4000 in-circuit emulator system has
been designed as a real-time emulation system with
advanced features that are typically found on more
expensive development tools. The PC platform and
Microsoft Windows 32-bit operating system were
chosen to best make these features available in a
simple, unified application.
 2004 Microchip Technology Inc.
Microchip’s In-Circuit Debugger, MPLAB ICD 2, is a
powerful, low-cost, run-time development tool,
connecting to the host PC via an RS-232 or high-speed
USB interface. This tool is based on the Flash
PICmicro MCUs and can be used to develop for these
and other PICmicro microcontrollers. The MPLAB
ICD 2 utilizes the in-circuit debugging capability built
into the Flash devices. This feature, along with
Microchip’s In-Circuit Serial ProgrammingTM (ICSPTM)
protocol, offers cost effective in-circuit Flash debugging
from the graphical user interface of the MPLAB
Integrated Development Environment. This enables a
designer to develop and debug source code by setting
breakpoints, single-stepping and watching variables,
CPU status and peripheral registers. Running at full
speed enables testing hardware and applications in
real-time. MPLAB ICD 2 also serves as a development
programmer for selected PICmicro devices.
23.12 PRO MATE II Universal Device
Programmer
The PRO MATE II is a universal, CE compliant device
programmer with programmable voltage verification at
VDDMIN and VDDMAX for maximum reliability. It features
an LCD display for instructions and error messages
and a modular detachable socket assembly to support
various package types. In Stand-Alone mode, the
PRO MATE II device programmer can read, verify and
program PICmicro devices without a PC connection. It
can also set code protection in this mode.
23.13 MPLAB PM3 Device Programmer
The MPLAB PM3 is a universal, CE compliant device
programmer with programmable voltage verification at
VDDMIN and VDDMAX for maximum reliability. It features
a large LCD display (128 x 64) for menus and error
messages and a modular detachable socket assembly
to support various package types. The ICSP™ cable
assembly is included as a standard item. In StandAlone mode, the MPLAB PM3 device programmer can
read, verify and program PICmicro devices without a
PC connection. It can also set code protection in this
mode. MPLAB PM3 connects to the host PC via an
RS-232 or USB cable. MPLAB PM3 has high-speed
communications and optimized algorithms for quick
programming of large memory devices and incorporates an SD/MMC card for file storage and secure data
applications.
Preliminary
DS70119D-page 159
dsPIC30F6010
23.14 PICSTART Plus Development
Programmer
23.17 PICDEM 2 Plus
Demonstration Board
The PICSTART Plus development programmer is an
easy-to-use, low-cost, prototype programmer. It connects to the PC via a COM (RS-232) port. MPLAB
Integrated Development Environment software makes
using the programmer simple and efficient. The
PICSTART Plus development programmer supports
most PICmicro devices up to 40 pins. Larger pin count
devices, such as the PIC16C92X and PIC17C76X,
may be supported with an adapter socket. The
PICSTART Plus development programmer is CE
compliant.
The PICDEM 2 Plus demonstration board supports
many 18, 28 and 40-pin microcontrollers, including
PIC16F87X and PIC18FXX2 devices. All the necessary hardware and software is included to run the demonstration programs. The sample microcontrollers
provided with the PICDEM 2 demonstration board can
be programmed with a PRO MATE II device programmer, PICSTART Plus development programmer, or
MPLAB ICD 2 with a Universal Programmer Adapter.
The MPLAB ICD 2 and MPLAB ICE in-circuit emulators
may also be used with the PICDEM 2 demonstration
board to test firmware. A prototype area extends the
circuitry for additional application components. Some
of the features include an RS-232 interface, a 2 x 16
LCD display, a piezo speaker, an on-board temperature
sensor, four LEDs and sample PIC18F452 and
PIC16F877 Flash microcontrollers.
23.15 PICDEM 1 PICmicro
Demonstration Board
The PICDEM 1 demonstration board demonstrates the
capabilities of the PIC16C5X (PIC16C54 to
PIC16C58A), PIC16C61, PIC16C62X, PIC16C71,
PIC16C8X, PIC17C42, PIC17C43 and PIC17C44. All
necessary hardware and software is included to run
basic demo programs. The sample microcontrollers
provided with the PICDEM 1 demonstration board can
be programmed with a PRO MATE II device programmer or a PICSTART Plus development programmer.
The PICDEM 1 demonstration board can be connected
to the MPLAB ICE in-circuit emulator for testing. A
prototype area extends the circuitry for additional application components. Features include an RS-232
interface, a potentiometer for simulated analog input,
push button switches and eight LEDs.
23.16 PICDEM.net Internet/Ethernet
Demonstration Board
The PICDEM.net demonstration board is an Internet/
Ethernet demonstration board using the PIC18F452
microcontroller and TCP/IP firmware. The board
supports any 40-pin DIP device that conforms to the
standard pinout used by the PIC16F877 or
PIC18C452. This kit features a user friendly TCP/IP
stack, web server with HTML, a 24L256 Serial
EEPROM for Xmodem download to web pages into
Serial EEPROM, ICSP/MPLAB ICD 2 interface connector, an Ethernet interface, RS-232 interface and a
16 x 2 LCD display. Also included is the book and
CD-ROM “TCP/IP Lean, Web Servers for Embedded
Systems,” by Jeremy Bentham
DS70119D-page 160
23.18 PICDEM 3 PIC16C92X
Demonstration Board
The PICDEM 3 demonstration board supports the
PIC16C923 and PIC16C924 in the PLCC package. All
the necessary hardware and software is included to run
the demonstration programs.
23.19 PICDEM 4 8/14/18-Pin
Demonstration Board
The PICDEM 4 can be used to demonstrate the capabilities of the 8, 14 and 18-pin PIC16XXXX and
PIC18XXXX MCUs, including the PIC16F818/819,
PIC16F87/88, PIC16F62XA and the PIC18F1320
family of microcontrollers. PICDEM 4 is intended to
showcase the many features of these low pin count
parts, including LIN and Motor Control using ECCP.
Special provisions are made for low-power operation
with the supercapacitor circuit and jumpers allow onboard hardware to be disabled to eliminate current
draw in this mode. Included on the demo board are provisions for Crystal, RC or Canned Oscillator modes, a
five volt regulator for use with a nine volt wall adapter
or battery, DB-9 RS-232 interface, ICD connector for
programming via ICSP and development with MPLAB
ICD 2, 2 x 16 liquid crystal display, PCB footprints for
H-Bridge motor driver, LIN transceiver and EEPROM.
Also included are: header for expansion, eight LEDs,
four potentiometers, three push buttons and a prototyping area. Included with the kit is a PIC16F627A and
a PIC18F1320. Tutorial firmware is included along with
the User’s Guide.
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
23.20 PICDEM 17 Demonstration Board
The PICDEM 17 demonstration board is an evaluation
board that demonstrates the capabilities of several
Microchip microcontrollers, including PIC17C752,
PIC17C756A, PIC17C762 and PIC17C766. A programmed sample is included. The PRO MATE II device
programmer, or the PICSTART Plus development programmer, can be used to reprogram the device for user
tailored application development. The PICDEM 17
demonstration board supports program download and
execution from external on-board Flash memory. A
generous prototype area is available for user hardware
expansion.
23.21 PICDEM 18R PIC18C601/801
Demonstration Board
The PICDEM 18R demonstration board serves to assist
development of the PIC18C601/801 family of Microchip
microcontrollers. It provides hardware implementation
of both 8-bit Multiplexed/Demultiplexed and 16-bit
Memory modes. The board includes 2 Mb external
Flash memory and 128 Kb SRAM memory, as well as
serial EEPROM, allowing access to the wide range of
memory types supported by the PIC18C601/801.
23.22 PICDEM LIN PIC16C43X
Demonstration Board
The powerful LIN hardware and software kit includes a
series of boards and three PICmicro microcontrollers.
The small footprint PIC16C432 and PIC16C433 are
used as slaves in the LIN communication and feature
on-board LIN transceivers. A PIC16F874 Flash
microcontroller serves as the master. All three microcontrollers are programmed with firmware to provide
LIN bus communication.
23.24 PICDEM USB PIC16C7X5
Demonstration Board
The PICDEM USB Demonstration Board shows off the
capabilities of the PIC16C745 and PIC16C765 USB
microcontrollers. This board provides the basis for
future USB products.
23.25 Evaluation and
Programming Tools
In addition to the PICDEM series of circuits, Microchip
has a line of evaluation kits and demonstration software
for these products.
• KEELOQ evaluation and programming tools for
Microchip’s HCS Secure Data Products
• CAN developers kit for automotive network
applications
• Analog design boards and filter design software
• PowerSmart battery charging evaluation/
calibration kits
• IrDA® development kit
• microID development and rfLabTM development
software
• SEEVAL® designer kit for memory evaluation and
endurance calculations
• PICDEM MSC demo boards for Switching mode
power supply, high-power IR driver, delta sigma
ADC and flow rate sensor
Check the Microchip web page and the latest Product
Selector Guide for the complete list of demonstration
and evaluation kits.
23.23 PICkit™ 1 Flash Starter Kit
A complete “development system in a box”, the PICkit
Flash Starter Kit includes a convenient multi-section
board for programming, evaluation and development of
8/14-pin Flash PIC® microcontrollers. Powered via
USB, the board operates under a simple Windows GUI.
The PICkit 1 Starter Kit includes the User’s Guide (on
CD ROM), PICkit 1 tutorial software and code for
various applications. Also included are MPLAB® IDE
(Integrated Development Environment) software,
software and hardware “Tips 'n Tricks for 8-pin Flash
PIC® Microcontrollers” Handbook and a USB interface
cable. Supports all current 8/14-pin Flash PIC
microcontrollers, as well as many future planned
devices.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 161
dsPIC30F6010
NOTES:
DS70119D-page 162
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
24.0
ELECTRICAL CHARACTERISTICS
This section provides an overview of dsPIC30F electrical characteristics. Additional information will be provided in future
revisions of this document as it becomes available.
For detailed information about the dsPIC30F architecture and core, refer to dsPIC30F Family Reference Manual
(DS70046).
Absolute maximum ratings for the dsPIC30F family are listed below. Exposure to these maximum rating conditions for
extended periods may affect device reliability. Functional operation of the device at these or any other conditions above
the parameters indicated in the operation listings of this specification is not implied.
Absolute Maximum Ratings(†)
Ambient temperature under bias.............................................................................................................-40°C to +125°C
Storage temperature .............................................................................................................................. -65°C to +150°C
Voltage on any pin with respect to VSS (except VDD and MCLR) (Note 1) .................................... -0.3V to (VDD + 0.3V)
Voltage on VDD with respect to VSS ......................................................................................................... -0.3V to +5.5V
Voltage on MCLR with respect to VSS........................................................................................................ 0V to +13.25V
Maximum current out of VSS pin ...........................................................................................................................300 mA
Maximum current into VDD pin (Note 2)...............................................................................................................250 mA
Input clamp current, IIK (VI < 0 or VI > VDD) ..........................................................................................................±20 mA
Output clamp current, IOK (VO < 0 or VO > VDD) ................................................................................................... ±20 mA
Maximum output current sunk by any I/O pin..........................................................................................................25 mA
Maximum output current sourced by any I/O pin ....................................................................................................25 mA
Maximum current sunk by all ports .......................................................................................................................200 mA
Maximum current sourced by all ports (Note 2)...................................................................................................200 mA
Note 1: Voltage spikes below VSS at the MCLR/VPP pin, inducing currents greater than 80 mA, may cause latchup.
Thus, a series resistor of 50-100Ω should be used when applying a “low” level to the MCLR/VPP pin, rather
than pulling this pin directly to VSS.
2: Maximum allowable current is a function of device maximum power dissipation. See Table 24-4.
†NOTICE:
Stresses above those listed under “Absolute Maximum Ratings” may cause permanent damage to the
device. This is a stress rating only and functional operation of the device at those or any other conditions above those
indicated in the operation listings of this specification is not implied. Exposure to maximum rating conditions for
extended periods may affect device reliability.
24.1
DC Characteristics
Note:
All peripheral electrical characteristics are specified. For exact peripherals available on specific
devices, please refer the the Family Cross Reference Table.
TABLE 24-1:
VDD Range
(in Volts)
OPERATING MIPS VS. VOLTAGE
Max MIPS
Temp Range
(in °C)
dsPIC30F6010-30I
dsPIC30F6010-20I
4.75-5.5V
-40°C to +85°C
30
20
—
4.75-5.5V
-40°C to +125°C
—
—
20
3.0-3.6V
-40°C to +85°C
15
10
—
3.0-3.6V
-40°C to +125°C
—
—
10
2.5-3.0V
-40°C to +85°C
7.5
7.5
—
 2004 Microchip Technology Inc.
Preliminary
dsPIC30F6010-20E
DS70119D-page 163
dsPIC30F6010
TABLE 24-2:
THERMAL OPERATING CONDITIONS
Rating
Symbol
Min
Operating Junction Temperature Range
TJ
Operating Ambient Temperature Range
TA
Operating Junction Temperature Range
Operating Ambient Temperature Range
Typ
Max
Unit
-40
+125
°C
-40
+85
°C
TJ
-40
+150
°C
TA
-40
+85
°C
Operating Junction Temperature Range
TJ
-40
+150
°C
Operating Ambient Temperature Range
TA
-40
+125
°C
dsPIC30F6010-30I
dsPIC30F6010-20I
dsPIC30F6010-20E
Power Dissipation:
Internal chip power dissipation:
P INT = V DD × ( I D D – ∑ I O H)
I/O Pin power dissipation:
P I/O = ∑ ( { V DD – V O H } × I OH ) + ∑ ( V O L × I OL )
Maximum Allowed Power Dissipation
TABLE 24-3:
PD
PINT + PI/O
W
PDMAX
(TJ - TA) / θJA
W
THERMAL PACKAGING CHARACTERISTICS
Characteristic
Symbol
θJA
θJA
Package Thermal Resistance, 80-pin TQFP (14x14x1mm)
Package Thermal Resistance, 64-pin TQFP (14x14x1mm)
Note 1:
Max
Unit
Notes
50
°C/W
1
50
°C/W
1
Junction to ambient thermal resistance, Theta-ja (θJA) numbers are achieved by package simulations.
TABLE 24-4:
DC TEMPERATURE AND VOLTAGE SPECIFICATIONS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
DC CHARACTERISTICS
Param
No.
Typ
Symbol
Characteristic
Min
Typ(1)
Max
Units
Conditions
Operating Voltage(2)
DC10
VDD
Supply Voltage
2.5
—
5.5
V
Industrial temperature
DC11
VDD
Supply Voltage
2.5
—
5.5
V
Extended temperature
Voltage(3)
DC12
VDR
RAM Data Retention
—
1.5
—
V
DC16
VPOR
VDD Start Voltage
to ensure internal
Power-on Reset signal
—
VSS
—
V
DC17
SVDD
VDD Rise Rate
to ensure internal
Power-on Reset signal
0.05
Note 1:
2:
3:
V/ms 0-5V in 0.1 sec
0-3V in 60 ms
Data in “Typ” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only and
are not tested.
These parameters are characterized but not tested in manufacturing.
This is the limit to which VDD can be lowered without losing RAM data.
DS70119D-page 164
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
TABLE 24-5:
DC CHARACTERISTICS: OPERATING CURRENT (IDD)
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
DC CHARACTERISTICS
Parameter
No.
Typical(1)
Max
Units
Conditions
Operating Current (IDD)(2)
DC20
—
—
mA
-40°C
DC20a
4
—
mA
25°C
DC20b
—
—
mA
85°C
DC20c
—
—
mA
125°C
DC20d
—
—
mA
-40°C
DC20e
7
—
mA
25°C
DC20f
—
—
mA
85°C
DC20g
—
—
mA
125°C
DC23
—
—
mA
-40°C
DC23a
13
—
mA
25°C
DC23b
—
—
mA
85°C
DC23c
—
—
mA
125°C
DC23d
—
—
mA
-40°C
DC23e
22
—
mA
25°C
DC23f
—
—
mA
85°C
DC23g
—
—
mA
125°C
DC24
—
—
mA
-40°C
DC24a
29
—
mA
25°C
DC24b
—
—
mA
85°C
DC24c
—
—
mA
125°C
DC24d
—
—
mA
-40°C
DC24e
50
—
mA
25°C
DC24f
—
—
mA
85°C
DC24g
—
—
mA
125°C
DC25
—
—
mA
-40°C
DC25a
23
—
mA
25°C
DC25b
—
—
mA
85°C
DC25c
—
—
mA
125°C
DC25d
—
—
mA
-40°C
DC25e
41
—
mA
25°C
DC25f
—
—
mA
85°C
—
—
mA
125°C
DC25g
Note 1:
2:
3.3V
1 MIPS EC mode
5V
3.3V
4 MIPS EC mode, 4X PLL
5V
3.3V
10 MIPS EC mode, 4X PLL
5V
3.3V
8 MIPS EC mode, 8X PLL
5V
Data in “Typical” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only
and are not tested.
The supply current is mainly a function of the operating voltage and frequency. Other factors such as I/O
pin loading and switching rate, oscillator type, internal code execution pattern and temperature also have
an impact on the current consumption. The test conditions for all IDD measurements are as follows: OSC1
driven with external square wave from rail to rail. All I/O pins are configured as Inputs and pulled to VDD.
MCLR = VDD, WDT, FSCM, LVD and BOR are disabled. CPU, SRAM, Program Memory and Data
Memory are operational. No peripheral modules are operating.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 165
dsPIC30F6010
TABLE 24-5:
DC CHARACTERISTICS: OPERATING CURRENT (IDD) (CONTINUED)
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
DC CHARACTERISTICS
Parameter
No.
Typical(1)
Max
Units
Conditions
Operating Current (IDD)(2)
DC27
—
—
mA
-40°C
DC27a
50
—
mA
25°C
DC27b
—
—
mA
85°C
DC27c
—
—
mA
-40°C
DC27d
90
—
mA
25°C
DC27e
—
—
mA
85°C
DC27f
—
—
mA
125°C
DC28
—
—
mA
-40°C
DC28a
42
—
mA
25°C
DC28b
—
—
mA
85°C
DC28c
—
—
mA
-40°C
DC28d
76
—
mA
25°C
DC28e
—
—
mA
85°C
DC28f
—
—
mA
125°C
DC29
—
—
mA
-40°C
DC29a
146
—
mA
25°C
DC29b
—
—
mA
85°C
DC29c
—
—
mA
125°C
DC30
—
—
mA
-40°C
DC30a
7.0
—
mA
25°C
DC30b
—
—
mA
85°C
DC30c
—
—
mA
125°C
DC30d
—
—
mA
-40°C
DC30e
12
—
mA
25°C
DC30f
—
—
mA
85°C
DC30g
—
—
mA
125°C
DC31
—
—
mA
-40°C
DC31a
1.5
—
mA
25°C
DC31b
—
—
mA
85°C
DC31c
—
—
mA
125°C
DC31d
—
—
mA
-40°C
DC31e
2.5
—
mA
25°C
DC31f
—
—
mA
85°C
DC31g
—
—
mA
125°C
Note 1:
2:
3.3V
20 MIPS EC mode, 8X PLL
5V
3.3V
16 MIPS EC mode, 16X PLL
5V
5V
30 MIPS EC mode, 16X PLL
3.3V
FRC (~ 2 MIPS)
5V
3.3V
LPRC (~ 512 kHz)
5V
Data in “Typical” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only
and are not tested.
The supply current is mainly a function of the operating voltage and frequency. Other factors such as I/O
pin loading and switching rate, oscillator type, internal code execution pattern and temperature also have
an impact on the current consumption. The test conditions for all IDD measurements are as follows: OSC1
driven with external square wave from rail to rail. All I/O pins are configured as Inputs and pulled to VDD.
MCLR = VDD, WDT, FSCM, LVD and BOR are disabled. CPU, SRAM, Program Memory and Data
Memory are operational. No peripheral modules are operating.
DS70119D-page 166
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
TABLE 24-6:
DC CHARACTERISTICS: IDLE CURRENT (IIDLE)
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
DC CHARACTERISTICS
Parameter
No.
Typical(1)
Max
Units
Conditions
Idle Current (IIDLE): Core OFF Clock ON Base Current(2)
DC40
—
—
mA
-40°C
DC40a
3
—
mA
25°C
DC40b
—
—
mA
85°C
DC40c
—
—
mA
125°C
DC40d
—
—
mA
-40°C
DC40e
5
—
mA
25°C
DC40f
—
—
mA
85°C
DC40g
—
—
mA
125°C
DC43
—
—
mA
-40°C
DC43a
7.7
—
mA
25°C
DC43b
—
—
mA
85°C
DC43c
—
—
mA
125°C
DC43d
—
—
mA
-40°C
DC43e
13
—
mA
25°C
DC43f
—
—
mA
85°C
DC43g
—
—
mA
125°C
DC44
—
—
mA
-40°C
DC44a
15
—
mA
25°C
DC44b
—
—
mA
85°C
DC44c
—
—
mA
125°C
DC44d
—
—
mA
-40°C
DC44e
29
—
mA
25°C
DC44f
—
—
mA
85°C
DC44g
—
—
mA
125°C
DC45
—
—
mA
-40°C
DC45a
13
—
mA
25°C
DC45b
—
—
mA
85°C
DC45c
—
—
mA
125°C
DC45d
—
—
mA
-40°C
DC45e
24
—
mA
25°C
DC45f
—
—
mA
85°C
—
—
mA
125°C
DC45g
Note 1:
2:
3.3V
1 MIPS EC mode
5V
3.3V
4 MIPS EC mode, 4X PLL
5V
3.3V
10 MIPS EC mode, 4X PLL
5V
3.3V
8 MIPS EC mode, 8X PLL
5V
Data in “Typical” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only
and are not tested.
Base IIDLE current is measured with Core off, Clock on and all modules turned off.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 167
dsPIC30F6010
TABLE 24-6:
DC CHARACTERISTICS: IDLE CURRENT (IIDLE) (CONTINUED)
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
DC CHARACTERISTICS
Parameter
No.
Typical(1)
Max
Units
Conditions
Idle Current (IIDLE): Core OFF Clock ON Base Current(2)
DC47
—
—
mA
-40°C
DC47a
29
—
mA
25°C
DC47b
—
—
mA
85°C
DC47c
—
—
mA
-40°C
DC47d
52
—
mA
25°C
DC47e
—
—
mA
85°C
DC47f
—
—
mA
125°C
DC48
—
—
mA
-40°C
DC48a
24
—
mA
25°C
DC48b
—
—
mA
85°C
DC48c
—
—
mA
-40°C
DC48d
43
—
mA
25°C
DC48e
—
—
mA
85°C
DC48f
—
—
mA
125°C
DC49
—
—
mA
-40°C
DC49a
73
—
mA
25°C
DC49b
—
—
mA
85°C
DC49c
—
—
mA
125°C
DC50
—
—
mA
-40°C
DC50a
4.0
—
mA
25°C
DC50b
—
—
mA
85°C
DC50c
—
—
mA
125°C
DC50d
—
—
mA
-40°C
DC50e
7.0
—
mA
25°C
DC50f
—
—
mA
85°C
DC50g
—
—
mA
125°C
DC51
—
—
mA
-40°C
DC51a
1.0
—
mA
25°C
DC51b
—
—
mA
85°C
DC51c
—
—
mA
125°C
DC51d
—
—
mA
-40°C
DC51e
1.5
—
mA
25°C
DC51f
—
—
mA
85°C
DC51g
—
—
mA
125°C
Note 1:
2:
3.3V
20 MIPS EC mode, 8X PLL
5V
3.3V
16 MIPS EC mode, 16X PLL
5V
5V
30 MIPS EC mode, 16X PLL
3.3V
FRC (~ 2 MIPS)
5V
3.3V
LPRC (~ 512 kHz)
5V
Data in “Typical” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only
and are not tested.
Base IIDLE current is measured with Core off, Clock on and all modules turned off.
DS70119D-page 168
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
TABLE 24-7:
DC CHARACTERISTICS: POWER-DOWN CURRENT (IPD)
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
DC CHARACTERISTICS
Parameter
No.
Typical(1)
Max
Units
Conditions
Power Down Current (IPD)(2)
DC60
—
—
µA
-40°C
DC60a
0.1
—
µA
25°C
DC60b
—
—
µA
85°C
DC60c
—
—
µA
125°C
DC60d
—
—
µA
-40°C
DC60e
0.2
—
µA
25°C
DC60f
—
—
µA
85°C
DC60g
—
—
µA
125°C
DC61
—
—
µA
-40°C
DC61a
6.8
—
µA
25°C
DC61b
—
—
µA
85°C
DC61c
—
—
µA
125°C
DC61d
—
—
µA
-40°C
DC61e
16
—
µA
25°C
DC61f
—
—
µA
85°C
DC61g
—
—
µA
125°C
DC62
—
—
µA
-40°C
DC62a
5.5
—
µA
25°C
DC62b
—
—
µA
85°C
DC62c
—
—
µA
125°C
DC62d
—
—
µA
-40°C
DC62e
7.5
—
µA
25°C
DC62f
—
—
µA
85°C
DC62g
—
—
µA
125°C
DC63
—
—
µA
-40°C
DC63a
32
—
µA
25°C
DC63b
—
—
µA
85°C
DC63c
—
—
µA
125°C
DC63d
—
—
µA
-40°C
DC63e
38
—
µA
25°C
DC63f
—
—
µA
85°C
DC63g
—
—
µA
125°C
Note 1:
2:
3:
3.3V
Base Power Down Current(3)
5V
3.3V
Watchdog Timer Current: ∆IWDT(3)
5V
3.3V
Timer 1 w/32 kHz Crystal: ∆ITI32(3)
5V
3.3V
BOR On: ∆IBOR(3)
5V
Data in the Typical column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance
only and are not tested.
Base IPD is measured with all peripherals and clocks shut down. All I/Os are configured as inputs and
pulled high. LVD, BOR, WDT, etc. are all switched off.
The ∆ current is the additional current consumed when the module is enabled. This current should be
added to the base IPD current.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 169
dsPIC30F6010
TABLE 24-7:
DC CHARACTERISTICS: POWER-DOWN CURRENT (IPD) (CONTINUED)
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
DC CHARACTERISTICS
Parameter
No.
Typical(1)
Max
Units
Conditions
Power Down Current (IPD)(2)
DC66
—
—
µA
-40°C
DC66a
25
—
µA
25°C
DC66b
—
—
µA
85°C
DC66c
—
—
µA
125°C
DC66d
—
—
µA
-40°C
DC66e
30
—
µA
25°C
DC66f
—
—
µA
85°C
—
—
µA
125°C
DC66g
Note 1:
2:
3:
3.3V
Low Voltage Detect: ∆ILVD(3)
5V
Data in the Typical column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance
only and are not tested.
Base IPD is measured with all peripherals and clocks shut down. All I/Os are configured as inputs and
pulled high. LVD, BOR, WDT, etc. are all switched off.
The ∆ current is the additional current consumed when the module is enabled. This current should be
added to the base IPD current.
DS70119D-page 170
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
TABLE 24-8:
DC CHARACTERISTICS: I/O PIN INPUT SPECIFICATIONS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
DC CHARACTERISTICS
Param
Symbol
No.
Min
Typ(1)
Max
Units
I/O pins:
with Schmitt Trigger buffer
VSS
—
0.2 VDD
V
DI15
MCLR
VSS
—
0.2 VDD
V
DI16
OSC1 (in XT, HS and LP modes)
VSS
—
0.2 VDD
V
VIL
DI10
Characteristic
Conditions
Input Low Voltage(2)
(3)
DI17
OSC1 (in RC mode)
VSS
—
0.3 VDD
V
DI18
SDA, SCL
TBD
—
TBD
V
SM bus disabled
SDA, SCL
TBD
—
TBD
V
SM bus enabled
I/O pins:
with Schmitt Trigger buffer
0.8 VDD
—
VDD
V
DI25
MCLR
0.8 VDD
—
VDD
V
DI26
OSC1 (in XT, HS and LP modes) 0.7 VDD
—
VDD
V
DI27
(3)
OSC1 (in RC mode)
0.9 VDD
—
VDD
V
DI28
SDA, SCL
TBD
—
TBD
V
SM bus disabled
DI29
SDA, SCL
TBD
—
TBD
V
SM bus enabled
50
250
400
µA
VDD = 5V, VPIN = VSS
TBD
TBD
TBD
µA
VDD = 3V, VPIN = VSS
DI19
VIH
DI20
ICNPU
Input High Voltage(2)
CNXX Pull-up
Current(2)
DI30
DI31
IIL
Input Leakage Current(2)(4)(5)
DI50
I/O ports
—
0.01
±1
µA
VSS ≤ VPIN ≤ VDD,
Pin at hi-impedance
DI51
Analog Input Pins
—
0.50
—
µA
VSS ≤ VPIN ≤ VDD,
Pin at hi-impedance
DI55
MCLR
—
0.05
±5
µA
VSS ≤ VPIN ≤ VDD
DI56
OSC1
—
0.05
±5
µA
VSS ≤ VPIN ≤ VDD, XT, HS
and LP Osc mode
Note 1:
2:
3:
4:
5:
Data in “Typ” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only and
are not tested.
These parameters are characterized but not tested in manufacturing.
In RC oscillator configuration, the OSC1/CLKl pin is a Schmitt Trigger input. It is not recommended that
the dsPIC30F device be driven with an external clock while in RC mode.
The leakage current on the MCLR pin is strongly dependent on the applied voltage level. The specified
levels represent normal operating conditions. Higher leakage current may be measured at different input
voltages.
Negative current is defined as current sourced by the pin.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 171
dsPIC30F6010
TABLE 24-9:
DC CHARACTERISTICS: I/O PIN OUTPUT SPECIFICATIONS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
DC CHARACTERISTICS
Param
Symbol
No.
Characteristic
Min
Typ(1)
Max
Units
—
—
0.6
V
IOL = 8.5 mA, VDD = 5V
Conditions
Output Low Voltage(2)
VOL
DO10
I/O ports
—
—
TBD
V
IOL = 2.0 mA, VDD = 3V
DO16
OSC2/CLKOUT
—
—
0.6
V
IOL = 1.6 mA, VDD = 5V
(RC or EC Osc mode)
—
—
TBD
V
IOL = 2.0 mA, VDD = 3V
VDD – 0.7
—
—
V
IOH = -3.0 mA, VDD = 5V
TBD
—
—
V
IOH = -2.0 mA, VDD = 3V
Output High Voltage(2)
VOH
DO20
I/O ports
DO26
OSC2/CLKOUT
(RC or EC Osc mode)
VDD – 0.7
—
—
V
IOH = -1.3 mA, VDD = 5V
TBD
—
—
V
IOH = -2.0 mA, VDD = 3V
Capacitive Loading Specs
on Output Pins(2)
DO50
COSC2
OSC2/SOSC2 pin
—
—
15
pF
In XTL, XT, HS and LP modes
when external clock is used to
drive OSC1.
DO56
CIO
All I/O pins and OSC2
—
—
50
pF
RC or EC Osc mode
DO58
CB
SCL, SDA
—
—
400
pF
In I2C mode
Note 1:
2:
Data in “Typ” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only and
are not tested.
These parameters are characterized but not tested in manufacturing.
FIGURE 24-1:
LOW-VOLTAGE DETECT CHARACTERISTICS
VDD
LV10
LVDIF
(LVDIF set by hardware)
DS70119D-page 172
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
TABLE 24-10: ELECTRICAL CHARACTERISTICS: LVDL
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
DC CHARACTERISTICS
Param
No.
LV10
Characteristic(1)
Symbol
VPLVD
Min
Typ
Max
Units
LVDL Voltage on VDD transition LVDL = 0000(2)
high to low
—
—
—
V
LVDL = 0001(2)
—
—
—
V
LVDL = 0010(2)
—
—
—
V
—
—
—
V
LVDL = 0100
2.50
—
2.65
V
LVDL = 0101
2.70
—
2.86
V
LVDL = 0110
2.80
—
2.97
V
LVDL = 0111
3.00
—
3.18
V
LVDL = 1000
3.30
—
3.50
V
LVDL = 1001
3.50
—
3.71
V
LVDL = 1010
3.60
—
3.82
V
LVDL = 1011
3.80
—
4.03
V
LVDL = 1100
4.00
—
4.24
V
LVDL = 1101
4.20
—
4.45
V
LVDL = 1110
4.50
—
4.77
V
LVDL = 1111
—
—
—
V
LVDL = 0011
LV15
Note 1:
2:
VLVDIN
External LVD input pin
threshold voltage
(2)
Conditions
These parameters are characterized but not tested in manufacturing.
These values not in usable operating range.
FIGURE 24-2:
BROWN-OUT RESET CHARACTERISTICS
VDD
BO10
(Device in Brown-out Reset)
BO15
(Device not in Brown-out Reset)
RESET (due to BOR)
Power Up Time-out
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 173
dsPIC30F6010
TABLE 24-11: ELECTRICAL CHARACTERISTICS: BOR
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
DC CHARACTERISTICS
Param
No.
Symbol
VBOR
BO10
Min
Typ(1)
Max
Units
BORV = 00(3)
—
—
—
V
BORV = 01
2.7
—
2.86
V
BORV = 10
4.2
—
4.46
V
BORV = 11
4.5
—
4.78
V
—
5
—
mV
Characteristic
BOR Voltage(2) on
VDD transition high to
low
Conditions
Not in operating
range
BO15
VBHYS
Note 1:
Data in “Typ” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only and
are not tested.
These parameters are characterized but not tested in manufacturing.
00 values not in usable operating range.
2:
3:
TABLE 24-12: DC CHARACTERISTICS: PROGRAM AND EEPROM
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
DC CHARACTERISTICS
Param
Symbol
No.
Characteristic
Min
Typ(1)
Max
Units
Conditions
Data EEPROM Memory(2)
-40°C ≤ TA ≤ +85°C
D120
ED
Byte Endurance
100K
1M
—
E/W
D121
VDRW
VDD for Read/Write
VMIN
—
5.5
V
D122
TDEW
Erase/Write Cycle Time
—
2
—
ms
D123
TRETD
Characteristic Retention
40
100
—
Year
Provided no other specifications
are violated
D124
IDEW
IDD During Programming
—
10
30
mA
Row Erase
Using EECON to read/write
VMIN = Minimum operating
voltage
Program FLASH Memory(2)
D130
EP
Cell Endurance
10K
100K
—
E/W
D131
VPR
VDD for Read
VMIN
—
5.5
V
D132
VEB
VDD for Bulk Erase
4.5
—
5.5
V
D133
VPEW
VDD for Erase/Write
3.0
—
5.5
V
-40°C ≤ TA ≤ +85°C
VMIN = Minimum operating
voltage
D134
TPEW
Erase/Write Cycle Time
—
2
—
ms
D135
TRETD
Characteristic Retention
40
100
—
Year
D136
TEB
ICSP Block Erase Time
—
4
—
ms
D137
IPEW
IDD During Programming
—
10
30
mA
Row Erase
D138
IEB
IDD During Programming
—
10
30
mA
Bulk Erase
Note 1:
2:
Provided no other specifications
are violated
Data in “Typ” column is at 5V, 25°C unless otherwise stated.
These parameters are characterized but not tested in manufacturing.
DS70119D-page 174
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
24.2
AC Characteristics and Timing Parameters
The information contained in this section defines dsPIC30F AC characteristics and timing parameters.
TABLE 24-13: TEMPERATURE AND VOLTAGE SPECIFICATIONS – AC
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
Operating voltage VDD range as described in DC Spec Section 24.0.
AC CHARACTERISTICS
FIGURE 24-3:
LOAD CONDITIONS FOR DEVICE TIMING SPECIFICATIONS
Load Condition 1 - for all pins except OSC2
Load Condition 2 - for OSC2
VDD/2
RL
CL
Pin
VSS
CL
Pin
RL = 464 Ω
CL = 50 pF for all pins except OSC2
5 pF for OSC2 output
VSS
FIGURE 24-4:
EXTERNAL CLOCK TIMING
Q4
Q1
Q2
Q3
Q4
Q1
OSC1
OS20
OS30
OS25
OS30
OS31
OS31
CLKOUT
OS40
 2004 Microchip Technology Inc.
Preliminary
OS41
DS70119D-page 175
dsPIC30F6010
TABLE 24-14: EXTERNAL CLOCK TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
Symb
ol
FOSC
OS10
Min
Typ(1)
Max
Units
External CLKIN Frequency(2)
(External clocks allowed only
in EC mode)
DC
4
4
4
—
—
—
—
40
10
10
7.5
MHz
MHz
MHz
MHz
EC
EC with 4x PLL
EC with 8x PLL
EC with 16x PLL
Oscillator Frequency(2)
DC
0.4
4
4
4
4
10
31
—
—
—
—
—
—
—
—
—
—
8
512
4
4
10
10
10
7.5
25
33
—
—
MHz
MHz
MHz
MHz
MHz
MHz
MHz
kHz
MHz
kHz
RC
XTL
XT
XT with 4x PLL
XT with 8x PLL
XT with 16x PLL
HS
LP
FRC internal
LPRC internal
Characteristic
Conditions
OS20
TOSC
TOSC = 1/FOSC
—
—
—
—
See parameter OS10
for FOSC value
OS25
TCY
Instruction Cycle Time(2)(3)
33
—
DC
ns
See Table 24-16
(2)
OS30
TosL,
TosH
External Clock in (OSC1)
High or Low Time
.45 x TOSC
—
—
ns
EC
OS31
TosR,
TosF
External Clock(2) in (OSC1)
Rise or Fall Time
—
—
20
ns
EC
OS40
TckR
CLKOUT Rise Time(2)(4)
—
6
10
ns
—
6
10
ns
OS41
TckF
Note 1:
2:
3:
4:
CLKOUT Fall
Time(2)(4)
Data in “Typ” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only and
are not tested.
These parameters are characterized but not tested in manufacturing.
Instruction cycle period (TCY) equals four times the input oscillator time-base period. All specified values
are based on characterization data for that particular oscillator type under standard operating conditions
with the device executing code. Exceeding these specified limits may result in an unstable oscillator
operation and/or higher than expected current consumption. All devices are tested to operate at “min.”
values with an external clock applied to the OSC1/CLKI pin. When an external clock input is used, the
“Max.” cycle time limit is “DC” (no clock) for all devices.
Measurements are taken in EC or ERC modes. The CLKOUT signal is measured on the OSC2 pin.
CLKOUT is low for the Q1-Q2 period (1/2 TCY) and high for the Q3-Q4 period (1/2 TCY).
DS70119D-page 176
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
TABLE 24-15: PLL CLOCK TIMING SPECIFICATIONS (VDD = 2.5 TO 5.5 V)
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
Characteristic(1)
Symbol
Min
Typ(2)
Max
Units
Conditions
OS50
FPLLI
PLL Input Frequency Range(2)
4
—
10
MHz
EC, XT modes with PLL
OS51
FSYS
On-chip PLL Output(2)
16
—
120
MHz
EC, XT modes with PLL
OS52
TLOC
PLL Start-up Time (Lock Time)
—
20
50
µs
OS53
DCLK
CLKOUT Stability (Jitter)
TBD
1
TBD
%
Note 1:
2:
Measured over 100 ms
period
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only and
are not tested.
TABLE 24-16: INTERNAL CLOCK TIMING EXAMPLES
Clock
Oscillator
Mode
FOSC
(MHz)(1)
TCY (µsec)(2)
MIPS(3)
w/o PLL
MIPS(3)
w PLL x4
MIPS(3)
w PLL x8
MIPS(3)
w PLL x16
EC
0.200
20.0
0.05
—
—
—
XT
Note 1:
2:
3:
4
1.0
1.0
4.0
8.0
16.0
10
0.4
2.5
10.0
20.0
—
25
0.16
25.0
—
—
—
4
1.0
1.0
4.0
8.0
16.0
10
0.4
2.5
10.0
20.0
—
Assumption: Oscillator Postscaler is divide by 1.
Instruction Execution Cycle Time: TCY = 1 / MIPS.
Instruction Execution Frequency: MIPS = (FOSC * PLLx) / 4 [since there are 4 Q clocks per instruction
cycle].
TABLE 24-17: AC CHARACTERISTICS: INTERNAL RC ACCURACY
AC CHARACTERISTICS
Param
No.
Characteristic
Standard Operating Conditions: 2.5 V to 5.5 V
(unless otherwise stated)
Operating temperature
-40°C ≤ TA ≤ +85°C for industrial
-40°C ≤ TA ≤ +125°C for Extended
Min
Typ
Max
Units
Conditions
Internal FRC Accuracy @ FRC Freq = 7.5 MHz(1)
FRC
Note 1:
TBD
%
+25°C
VDD = 3.0-3.6V
TBD
%
+25°C
VDD = 4.5-5.5V
TBD
%
-40°C ≤ TA ≤ +85°C
TBD
%
TBD
%
-40°C ≤ TA ≤ +85°C
-40°C ≤ TA ≤ +125°C
VDD = 3.0-3.6V
VDD = 4.5-5.5V
VDD = 4.5-5.5V
Frequency calibrated at 25°C and 5V. TUN bits can be used to compensate for temperature drift.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 177
dsPIC30F6010
TABLE 24-18: AC CHARACTERISTICS: INTERNAL RC JITTER
AC CHARACTERISTICS
Param
No.
Standard Operating Conditions: 2.5 V to 5.5 V
(unless otherwise stated)
Operating temperature
-40°C ≤ TA ≤ +85°C for industrial
-40°C ≤ TA ≤ +125°C for Extended
Characteristic
Min
Typ
Max
Units
Conditions
Internal FRC Jitter @ FRC Freq = 7.5 MHz(1)
FRC
Note 1:
TBD
%
VDD = 3.0-3.6V
+25°C
TBD
%
+25°C
VDD = 4.5-5.5V
TBD
%
-40°C ≤ TA ≤ +85°C
VDD = 3.0-3.6V
TBD
%
TBD
%
-40°C ≤ TA ≤ +125°C
VDD = 4.5-5.5V
-40°C ≤ TA ≤ +85°C
VDD = 4.5-5.5V
Frequency calibrated at 25°C and 5V. TUN bits can be used to compensate for temperature drift.
TABLE 24-19: INTERNAL RC ACCURACY
AC CHARACTERISTICS
Param
No.
Characteristic
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
Min
Typ
Max
Units
Conditions
TBD
—
TBD
%
-40°C to +85°C
VDD = 3V
TBD
—
TBD
%
-40°C to +85°C
VDD = 5V
LPRC @ Freq = 512 kHz(1)
F20
F21
Note 1:
Change of LPRC frequency as VDD changes.
DS70119D-page 178
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 24-5:
CLKOUT AND I/O TIMING CHARACTERISTICS
I/O Pin
(Input)
DI35
DI40
I/O Pin
(Output)
New Value
Old Value
DO31
DO32
Note: Refer to Figure 24-3 for load conditions.
TABLE 24-20: CLKOUT AND I/O TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
Characteristic(1)(2)(3)
Symbol
Min
Typ(4)
Max
Units
Conditions
DO31
TIOR
Port output rise time
—
10
25
ns
—
DO32
TIOF
Port output fall time
—
10
25
ns
—
DI35
TINP
INTx pin high or low time (output)
20
—
—
ns
—
DI40
TRBP
CNx high or low time (input)
2 TCY
—
—
ns
—
Note 1:
2:
3:
4:
These parameters are asynchronous events not related to any internal clock edges
Measurements are taken in RC mode and EC mode where CLKOUT output is 4 x TOSC.
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 5V, 25°C unless otherwise stated.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 179
dsPIC30F6010
FIGURE 24-6:
VDD
RESET, WATCHDOG TIMER, OSCILLATOR START-UP TIMER AND POWER-UP
TIMER TIMING CHARACTERISTICS
SY12
MCLR
SY10
Internal
POR
SY11
PWRT
Time-out
OSC
Time-out
SY30
Internal
RESET
Watchdog
Timer
RESET
SY13
SY20
SY13
I/O Pins
SY35
FSCM
Delay
Note: Refer to Figure 24-3 for load conditions.
DS70119D-page 180
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
TABLE 24-21: RESET, WATCHDOG TIMER, OSCILLATOR START-UP TIMER, POWER-UP TIMER
AND BROWN-OUT RESET TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
Symbol
No.
Characteristic(1)
Min
Typ(2)
Max
Units
Conditions
SY10
TmcL
MCLR Pulse Width (low)
2
—
—
µs
-40°C to +85°C
SY11
TPWRT
Power-up Timer Period
TBD
TBD
TBD
TBD
0
4
16
64
TBD
TBD
TBD
TBD
ms
-40°C to +85°C
User programmable
SY12
TPOR
Power On Reset Delay
3
10
30
µs
-40°C to +85°C
SY13
TIOZ
I/O Hi-impedance from MCLR
Low or Watchdog Timer Reset
—
—
100
ns
SY20
TWDT1
Watchdog Timer Time-out Period
(No Prescaler)
1.8
2.0
2.2
ms
VDD = 5V, -40°C to +85°C
1.9
2.1
2.3
ms
VDD = 3V, -40°C to +85°C
TWDT2
Width(3)
SY25
TBOR
Brown-out Reset Pulse
100
—
—
µs
VDD ≤ VBOR (D034)
SY30
TOST
Oscillation Start-up Timer Period
—
1024 TOSC
—
—
TOSC = OSC1 period
SY35
TFSCM
Fail-Safe Clock Monitor Delay
—
100
—
µs
-40°C to +85°C
Note 1:
2:
3:
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 5V, 25°C unless otherwise stated.
Refer to Figure 24-2 and Table 24-11 for BOR.
FIGURE 24-7:
BAND GAP START-UP TIME CHARACTERISTICS
VBGAP
0V
Enable Band Gap
(see Note)
Band Gap
Stable
SY40
Note: Set LVDEN bit (RCON<12>) or FBORPOR<7>set.
TABLE 24-22: BAND GAP START-UP TIME REQUIREMENTS
AC CHARACTERISTICS
Param
No.
SY40
Note 1:
2:
Symbol
TBGAP
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
Characteristic(1)
Min
Typ(2)
Max
Units
Band Gap Start-up Time
—
20
50
µs
Conditions
Defined as the time between the
instant that the band gap is enabled
and the moment that the band gap
reference voltage is stable.
RCON<13>Status bit
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 5V, 25°C unless otherwise stated.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 181
dsPIC30F6010
FIGURE 24-8:
TIMER 1, 2, 3, 4 AND 5 EXTERNAL CLOCK TIMING CHARACTERISTICS
TxCK
Tx11
Tx10
Tx15
Tx20
OS60
TMRX
Note: Refer to Figure 24-3 for load conditions.
TABLE 24-23: TIMER1 EXTERNAL CLOCK TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
TA10
TA11
TA15
Symbol
TTXH
TTXL
TTXP
Characteristic
TxCK High Time
TxCK Low Time
Min
Typ
Max
Units
Conditions
Synchronous,
no prescaler
0.5 TCY + 20
—
—
ns
Must also meet
parameter TA15
Synchronous,
with prescaler
10
—
—
ns
Asynchronous
10
—
—
ns
Synchronous,
no prescaler
0.5 TCY + 20
—
—
ns
Synchronous,
with prescaler
10
—
—
ns
Asynchronous
10
—
—
ns
TCY + 10
—
—
ns
Synchronous,
with prescaler
Greater of:
20 ns or
(TCY + 40)/N
—
—
—
Asynchronous
20
—
—
ns
DC
—
50
kHz
6 TOSC
—
TxCK Input Period Synchronous,
no prescaler
OS60
Ft1
TA20
TCKEXTMRL Delay from External TxCK Clock
Edge to Timer Increment
Note:
SOSC1/T1CK oscillator input
frequency range (oscillator enabled
by setting bit TCS (T1CON, bit 1))
2 TOSC
Must also meet
parameter TA15
N = prescale
value
(1, 8, 64, 256)
Timer1 is a Type A.
DS70119D-page 182
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
TABLE 24-24: TIMER2 AND TIMER4 EXTERNAL CLOCK TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
TB10
TB11
TB15
Symbol
TtxH
TtxL
TtxP
Characteristic
TxCK High Time
TxCK Low Time
Min
Typ
Max
Units
Synchronous,
no prescaler
0.5 TCY + 20
—
—
ns
Synchronous,
with prescaler
10
—
—
ns
Synchronous,
no prescaler
0.5 TCY + 20
—
—
ns
Synchronous,
with prescaler
10
—
—
ns
TCY + 10
—
—
ns
—
6 TOSC
—
TxCK Input Period Synchronous,
no prescaler
Synchronous,
with prescaler
TB20
TCKEXTMRL Delay from External TxCK Clock
Edge to Timer Increment
Greater of:
20 ns or
(TCY + 40)/N
2 TOSC
Conditions
Must also meet
parameter TB15
Must also meet
parameter TB15
N = prescale
value
(1, 8, 64, 256)
TABLE 24-25: TIMER3 AND TIMER5 EXTERNAL CLOCK TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic
Min
Typ
Max
Units
Conditions
TC10
TtxH
TxCK High Time
Synchronous
0.5 TCY + 20
—
—
ns
Must also meet
parameter TC15
TC11
TtxL
TxCK Low Time
Synchronous
0.5 TCY + 20
—
—
ns
Must also meet
parameter TC15
TC15
TtxP
TxCK Input Period Synchronous,
no prescaler
TCY + 10
—
—
ns
N = prescale
value
(1, 8, 64, 256)
—
6 TOSC
—
Synchronous,
with prescaler
TC20
TCKEXTMRL Delay from External TxCK Clock
Edge to Timer Increment
 2004 Microchip Technology Inc.
Greater of:
20 ns or
(TCY + 40)/N
2 TOSC
Preliminary
DS70119D-page 183
dsPIC30F6010
FIGURE 24-9:
TIMERQ (QEI MODULE) EXTERNAL CLOCK TIMING CHARACTERISTICS
QEB
TQ11
TQ10
TQ15
TQ20
POSCNT
TABLE 24-26: QEI MODULE EXTERNAL CLOCK TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic(1)
Min
Typ
Max
Units
Conditions
TQ10
TtQH
TQCK High Time
Synchronous,
with prescaler
TCY + 20
—
ns
Must also meet
parameter TQ15
TQ11
TtQL
TQCK Low Time
Synchronous,
with prescaler
TCY + 20
—
ns
Must also meet
parameter TQ15
TQ15
TtQP
TQCP Input Period Synchronous,
with prescaler
2 * TCY + 40
—
ns
—
TQ20
TCKEXTMRL Delay from External TxCK Clock
Edge to Timer Increment
Tosc
5 Tosc
ns
—
Note 1:
These parameters are characterized but not tested in manufacturing.
DS70119D-page 184
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 24-10:
INPUT CAPTURE (CAPx) TIMING CHARACTERISTICS
ICX
IC10
IC11
IC15
Note: Refer to Figure 24-3 for load conditions.
TABLE 24-27: INPUT CAPTURE TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
Characteristic(1)
Symbol
IC10
TccL
ICx Input Low Time
No Prescaler
IC11
TccH
ICx Input High Time
No Prescaler
IC15
TccP
ICx Input Period
Min
Max
Units
0.5 TCY + 20
—
ns
10
—
ns
0.5 TCY + 20
—
ns
With Prescaler
With Prescaler
Note 1:
10
—
ns
(2 TCY + 40)/N
—
ns
Conditions
N = prescale
value (1, 4, 16)
These parameters are characterized but not tested in manufacturing.
FIGURE 24-11:
OUTPUT COMPARE MODULE (OCx) TIMING CHARACTERISTICS
OCx
(Output Compare
or PWM Mode)
OC10
OC11
Note: Refer to Figure 24-3 for load conditions.
TABLE 24-28: OUTPUT COMPARE MODULE TIMING REQUIREMENTS
AC CHARACTERISTICS
Param
Symbol
No.
Characteristic(1)
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
Min
Typ(2)
Max
Units
Conditions
OC10
TccF
OCx Output Fall Time
—
10
25
ns
—
OC11
TccR
OCx Output Rise Time
—
10
25
ns
—
Note 1:
2:
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only and
are not tested.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 185
dsPIC30F6010
FIGURE 24-12:
OC/PWM MODULE TIMING CHARACTERISTICS
OC20
OCFA/OCFB
OC15
OCx
TABLE 24-29: SIMPLE OC/PWM MODE TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
Symbol
No.
OC15 TFD
OC20 TFLT
Note 1:
2:
Characteristic(1)
Min
Typ(2)
Fault Input to PWM I/O
Change
—
—
Fault Input Pulse Width
—
—
Max
Units
Conditions
25
ns
VDD = 3V
TBD
ns
VDD = 5V
50
ns
VDD = 3V
TBD
ns
VDD = 5V
-40°C to +85°C
-40°C to +85°C
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only and
are not tested.
DS70119D-page 186
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 24-13:
MOTOR CONTROL PWM MODULE FAULT TIMING CHARACTERISTICS
MP30
FLTA/B
MP20
PWMx
FIGURE 24-14:
MOTOR CONTROL PWM MODULE TIMING CHARACTERISTICS
MP11 MP10
PWMx
Note: Refer to Figure 24-3 for load conditions.
TABLE 24-30: MOTOR CONTROL PWM MODULE TIMING REQUIREMENTS
AC CHARACTERISTICS
Param
No.
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
Characteristic(1)
Min
Typ(2)
Max
Units
TFPWM
PWM Output Fall Time
—
10
25
ns
VDD = 5V
-40°C to +85°C
MP11
TRPWM
PWM Output Rise Time
—
10
25
ns
VDD = 5V
-40°C to +85°C
MP12
TFPWM
PWM Output Fall Time
—
TBD
TBD
ns
VDD = 3V
-40°C to +85°C
MP13
TRPWM
PWM Output Rise Time
—
TBD
TBD
ns
VDD = 3V
-40°C to +85°C
TFD
Fault Input ↓ to PWM
I/O Change
—
—
25
ns
VDD = 3V
-40°C to +85°C
TBD
ns
VDD = 5V
TFH
Minimum Pulse Width
—
—
50
ns
VDD = 3V
TBD
ns
VDD = 5V
MP10
MP20
MP30
Note 1:
2:
Symbol
Conditions
-40°C to +85°C
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only and
are not tested.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 187
dsPIC30F6010
FIGURE 24-15:
QEA/QEB INPUT CHARACTERISTICS
TQ36
QEA
(input)
TQ30
TQ31
TQ35
QEB
(input)
TQ41
TQ40
TQ30
TQ31
TQ35
QEB
Internal
TABLE 24-31: QUADRATURE DECODER TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic(1)
Typ(2)
Max
Units
Conditions
TQ30
TQUL
Quadrature Input Low Time
6 TCY
—
ns
—
TQ31
TQUH
Quadrature Input High Time
6 TCY
—
ns
—
TQ35
TQUIN
Quadrature Input Period
12 TCY
—
ns
—
TQ36
TQUP
Quadrature Phase Period
3 TCY
—
ns
—
TQ40
TQUFL
Filter Time to Recognize Low,
with Digital Filter
3 * N * TCY
—
ns
N = 1, 2, 4, 16, 32, 64,
128 and 256 (Note 2)
TQ41
TQUFH
Filter Time to Recognize High,
with Digital Filter
3 * N * TCY
—
ns
N = 1, 2, 4, 16, 32, 64,
128 and 256 (Note 2)
Note 1:
2:
These parameters are characterized but not tested in manufacturing.
N = Index Channel Digital Filter Clock Divide Select Bits. Refer to Section 16. “Quadrature Encoder
Interface (QEI)” in the dsPIC30F Family Reference Manual.
DS70119D-page 188
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 24-16:
QEI MODULE INDEX PULSE TIMING CHARACTERISTICS
QEA
(input)
QEB
(input)
Ungated
Index
TQ50
TQ51
Index Internal
TQ55
Position
TABLE 24-32: QEI INDEX PULSE TIMING REQUIREMENTS
AC CHARACTERISTICS
Param
No.
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
Characteristic(1)
Symbol
Min
Max
Units
Conditions
TQ50
TqIL
Filter Time to Recognize Low,
with Digital Filter
3 * N * TCY
—
ns
N = 1, 2, 4, 16, 32, 64,
128 and 256 (Note 2)
TQ51
TqiH
Filter Time to Recognize High,
with Digital Filter
3 * N * TCY
—
ns
N = 1, 2, 4, 16, 32, 64,
128 and 256 (Note 2)
TQ55
Tqidxr
Index Pulse Recognized to Position
Counter Reset (Ungated Index)
3 TCY
—
ns
Note 1:
2:
—
These parameters are characterized but not tested in manufacturing.
Alignment of Index Pulses to QEA and QEB is shown for Position Counter reset timing only. Shown for
forward direction only (QEA leads QEB). Same timing applies for reverse direction (QEA lags QEB) but
Index Pulse recognition occurs on falling edge.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 189
dsPIC30F6010
FIGURE 24-17:
SPI MODULE MASTER MODE (CKE = 0) TIMING CHARACTERISTICS
SCKx
(CKP = 0)
SP11
SP10
SP21
SP20
SP20
SP21
SCKx
(CKP = 1)
SP35
BIT14 - - - - - -1
MSb
SDOx
SP31
SDIx
LSb
SP30
MSb IN
LSb IN
BIT14 - - - -1
SP40 SP41
Note: Refer to Figure 24-3 for load conditions.
TABLE 24-33: SPI MASTER MODE (CKE = 0) TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic(1)
Min
Typ(2)
Max
Units
Conditions
SP10
TscL
SCKX Output Low Time(3)
TCY / 2
—
—
ns
—
SP11
TscH
SCKX Output High Time(3)
TCY / 2
—
—
ns
—
—
10
25
ns
—
—
10
25
ns
—
Time(4
SP20
TscF
SCKX Output Fall
SP21
TscR
SCKX Output Rise Time(4)
Time(4)
SP30
TdoF
SDOX Data Output Fall
—
10
25
ns
—
SP31
TdoR
SDOX Data Output Rise Time(4)
—
10
25
ns
—
SP35
TscH2doV,
TscL2doV
SDOX Data Output Valid after
SCKX Edge
—
—
30
ns
—
SP40
TdiV2scH,
TdiV2scL
Setup Time of SDIX Data Input
to SCKX Edge
20
—
—
ns
—
SP41
TscH2diL,
TscL2diL
Hold Time of SDIX Data Input
to SCKX Edge
20
—
—
ns
—
Note 1:
2:
3:
4:
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only and
are not tested.
The minimum clock period for SCK is 100 ns. Therefore, the clock generated in Master mode must not
violate this specification.
Assumes 50 pF load on all SPI pins.
DS70119D-page 190
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 24-18:
SPI MODULE MASTER MODE (CKE =1) TIMING CHARACTERISTICS
SP36
SCKX
(CKP = 0)
SP11
SP10
SP21
SP20
SP20
SP21
SCKX
(CKP = 1)
SP35
SDOX
BIT14 - - - - - -1
MSb
SP40
SDIX
LSb
SP30,SP31
MSb IN
BIT14 - - - -1
LSb IN
SP41
Note: Refer to Figure 24-3 for load conditions.
TABLE 24-34: SPI MODULE MASTER MODE (CKE = 1) TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic(1)
Min
Typ(2)
Max
Units
Conditions
SP10
TscL
SCKX output low time(3)
TCY / 2
—
—
ns
—
SP11
TscH
SCKX output high time(3)
TCY / 2
—
—
ns
—
—
10
25
ns
—
—
10
25
ns
—
—
10
25
ns
—
—
10
25
ns
—
time(4)
SP20
TscF
SCKX output fall
SP21
TscR
SCKX output rise time(4)
(4)
SP30
TdoF
SDOX data output fall time
SP31
TdoR
SDOX data output rise time(4)
SP35
TscH2doV, SDOX data output valid after
TscL2doV SCKX edge
—
—
30
ns
—
SP36
TdoV2sc, SDOX data output setup to
TdoV2scL first SCKX edge
30
—
—
ns
—
SP40
TdiV2scH, Setup time of SDIX data input
TdiV2scL to SCKX edge
20
—
—
ns
—
SP41
TscH2diL,
TscL2diL
20
—
—
ns
—
Note 1:
2:
3:
4:
Hold time of SDIX data input
to SCKX edge
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only and
are not tested.
The minimum clock period for SCK is 100 ns. Therefore, the clock generated in Master mode must not
violate this specification.
Assumes 50 pF load on all SPI pins.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 191
dsPIC30F6010
FIGURE 24-19:
SPI MODULE SLAVE MODE (CKE = 0) TIMING CHARACTERISTICS
SSX
SP52
SP50
SCKX
(CKP = 0)
SP71
SP70
SP73
SP72
SP72
SP73
SCKX
(CKP = 1)
SP35
MSb
SDOX
LSb
BIT14 - - - - - -1
SP51
SP30,SP31
SDIX
MSb IN
SP40
BIT14 - - - -1
LSb IN
SP41
Note: Refer to Figure 24-3 for load conditions.
TABLE 24-35: SPI MODULE SLAVE MODE (CKE = 0) TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic(1)
Min
Typ(2)
Max
Units
Conditions
TscL
TscH
TscF
TscR
TdoF
TdoR
TscH2doV,
TscL2doV
TdiV2scH,
TdiV2scL
TscH2diL,
TscL2diL
SCKX Input Low Time
SCKX Input High Time
SCKX Input Fall Time(3)
SCKX Input Rise Time(3)
SDOX Data Output Fall Time(3)
SDOX Data Output Rise Time(3)
SDOX Data Output Valid after
SCKX Edge
Setup Time of SDIX Data Input
to SCKX Edge
Hold Time of SDIX Data Input
to SCKX Edge
30
30
—
—
—
—
—
—
—
10
10
10
10
—
—
—
25
25
25
25
30
ns
ns
ns
ns
ns
ns
ns
—
—
—
—
—
—
—
20
—
—
ns
—
20
—
—
ns
—
SP50
TssL2scH, SSX↓ to SCKX↑ or SCKX↓ Input
TssL2scL
120
—
—
ns
—
SP51
TssH2doZ SSX↑ to SDOX Output
Hi-Impedance(3)
10
—
50
ns
—
SP52
1.5 TCY +40
—
—
ns
—
TscH2ssH SSX after SCK Edge
TscL2ssH
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only and
are not tested.
Assumes 50 pF load on all SPI pins.
SP70
SP71
SP72
SP73
SP30
SP31
SP35
SP40
SP41
Note 1:
2:
3:
DS70119D-page 192
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 24-20:
SPI MODULE SLAVE MODE (CKE = 1) TIMING CHARACTERISTICS
SP60
SSX
SP52
SP50
SCKX
(CKP = 0)
SP71
SP70
SP73
SP72
SP72
SP73
SCKX
(CKP = 1)
SP35
SP52
MSb
SDOX
BIT14 - - - - - -1
LSb
SP30,SP31
SDIX
MSb IN
SP51
BIT14 - - - -1
LSb IN
SP41
SP40
Note: Refer to Figure 24-3 for load conditions.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 193
dsPIC30F6010
TABLE 24-36: SPI MODULE SLAVE MODE (CKE = 1) TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic(1)
Min
Typ(2)
Max
Units
Conditions
SP70
TscL
SCKX Input Low Time
30
—
—
ns
—
SP71
TscH
SCKX Input High Time
30
—
—
ns
—
SP72
TscF
SCKX Input Fall Time(3)
—
10
25
ns
—
SP73
TscR
SCKX Input Rise Time(3)
—
10
25
ns
—
—
10
25
ns
—
—
10
25
ns
—
(3)
SP30
TdoF
SDOX Data Output Fall Time
SP31
TdoR
SDOX Data Output Rise Time(3)
SP35
TscH2doV, SDOX Data Output Valid after
TscL2doV SCKX Edge
—
—
30
ns
—
SP40
TdiV2scH, Setup Time of SDIX Data Input
TdiV2scL to SCKX Edge
20
—
—
ns
—
SP41
TscH2diL, Hold Time of SDIX Data Input
TscL2diL to SCKX Edge
20
—
—
ns
—
SP50
TssL2scH, SSX↓ to SCKX↓ or SCKX↑ input
TssL2scL
120
—
—
ns
—
SP51
TssH2doZ SS↑ to SDOX Output
Hi-Impedance(4)
10
—
50
ns
—
SP52
TscH2ssH SSX↑ after SCKX Edge
TscL2ssH
1.5 TCY + 40
—
—
ns
—
SP60
TssL2doV SDOX Data Output Valid after
SSX Edge
—
—
50
ns
—
Note 1:
2:
3:
4:
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only and
are not tested.
The minimum clock period for SCK is 100 ns. Therefore, the clock generated in Master mode must not
violate this specification.
Assumes 50 pF load on all SPI pins.
DS70119D-page 194
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 24-21:
I2C BUS START/STOP BITS TIMING CHARACTERISTICS (MASTER MODE)
SCL
IM31
IM34
IM30
IM33
SDA
Stop
Condition
Start
Condition
Note: Refer to Figure 24-3 for load conditions.
FIGURE 24-22:
I2C BUS DATA TIMING CHARACTERISTICS (MASTER MODE)
IM20
IM21
IM11
IM10
SCL
IM11
IM26
IM10
IM25
IM33
SDA
In
IM40
IM40
IM45
SDA
Out
Note: Refer to Figure 24-3 for load conditions.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 195
dsPIC30F6010
TABLE 24-37: I2C BUS DATA TIMING REQUIREMENTS (MASTER MODE)
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
Symbol
No.
IM10
Min(1)
Max
Units
Conditions
TLO:SCL Clock Low Time 100 kHz mode
TCY / 2 (BRG + 1)
—
µs
—
400 kHz mode
TCY / 2 (BRG + 1)
—
µs
—
Characteristic
TCY / 2 (BRG + 1)
—
µs
—
Clock High Time 100 kHz mode
TCY / 2 (BRG + 1)
—
µs
—
400 kHz mode
TCY / 2 (BRG + 1)
—
µs
—
1 MHz mode(2)
TCY / 2 (BRG + 1)
—
µs
—
100 kHz mode
—
300
ns
400 kHz mode
20 + 0.1 CB
300
ns
1 MHz mode
THI:SCL
IM11
TF:SCL
IM20
TR:SCL
IM21
SDA and SCL
Fall Time
SDA and SCL
Rise Time
TSU:DAT Data Input
Setup Time
IM25
THD:DAT Data Input
Hold Time
IM26
TSU:STA
IM30
Start Condition
Setup Time
THD:STA Start Condition
Hold Time
IM31
TSU:STO Stop Condition
Setup Time
IM33
THD:STO Stop Condition
IM34
Hold Time
TAA:SCL
IM40
Output Valid
From Clock
CB
IM50
Note 1:
2:
CB is specified to be
from 10 to 400 pF
1 MHz mode(2)
—
100
ns
100 kHz mode
—
1000
ns
400 kHz mode
20 + 0.1 CB
300
ns
1 MHz mode(2)
—
300
ns
100 kHz mode
250
—
ns
400 kHz mode
100
—
ns
1 MHz mode(2)
TBD
—
ns
100 kHz mode
0
—
ns
400 kHz mode
0
0.9
µs
1 MHz mode(2)
TBD
—
ns
100 kHz mode
TCY / 2 (BRG + 1)
—
µs
400 kHz mode
TCY / 2 (BRG + 1)
—
µs
1 MHz mode(2)
TCY / 2 (BRG + 1)
—
µs
100 kHz mode
TCY / 2 (BRG + 1)
—
µs
400 kHz mode
TCY / 2 (BRG + 1)
—
µs
1 MHz mode(2)
TCY / 2 (BRG + 1)
—
µs
100 kHz mode
TCY / 2 (BRG + 1)
—
µs
400 kHz mode
TCY / 2 (BRG + 1)
—
µs
1 MHz mode(2)
TCY / 2 (BRG + 1)
—
µs
100 kHz mode
TCY / 2 (BRG + 1)
—
ns
400 kHz mode
TCY / 2 (BRG + 1)
—
ns
1 MHz mode(2)
TCY / 2 (BRG + 1)
—
ns
100 kHz mode
—
3500
ns
—
400 kHz mode
—
1000
ns
—
(2)
—
—
ns
100 kHz mode
4.7
—
µs
400 kHz mode
1.3
—
µs
1 MHz mode(2)
TBD
—
µs
—
400
pF
1 MHz mode
TBF:SDA Bus Free Time
IM45
(2)
Bus Capacitive Loading
CB is specified to be
from 10 to 400 pF
—
—
Only relevant for
repeated Start
condition
After this period the
first clock pulse is
generated
—
—
—
Time the bus must be
free before a new
transmission can start
BRG is the value of the I2C Baud Rate Generator. Refer to Section 21 “Inter-Integrated Circuit™ (I2C)”
in the dsPIC30F Family Reference Manual.
Maximum pin capacitance = 10 pF for all I2C pins (for 1 MHz mode only).
DS70119D-page 196
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 24-23:
I2C BUS START/STOP BITS TIMING CHARACTERISTICS (SLAVE MODE)
SCL
IS34
IS31
IS30
IS33
SDA
Stop
Condition
Start
Condition
FIGURE 24-24:
I2C BUS DATA TIMING CHARACTERISTICS (SLAVE MODE)
IS20
IS21
IS11
IS10
SCL
IS30
IS26
IS31
IS25
IS33
SDA
In
IS40
IS40
IS45
SDA
Out
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 197
dsPIC30F6010
TABLE 24-38: I2C BUS DATA TIMING REQUIREMENTS (SLAVE MODE)
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
IS10
IS11
IS20
IS21
IS25
IS26
IS30
IS31
IS33
IS34
IS40
IS45
IS50
Note
Symbol
TLO:SCL
THI:SCL
Characteristic
Clock Low Time
Clock High Time
Min
Max
Units
100 kHz mode
4.7
—
µs
400 kHz mode
1.3
—
µs
1 MHz mode(1)
100 kHz mode
0.5
4.0
—
—
µs
µs
400 kHz mode
0.6
—
µs
0.5
—
µs
1 MHz mode(1)
TF:SCL
SDA and SCL
100 kHz mode
—
300
ns
Fall Time
300
ns
400 kHz mode
20 + 0.1 CB
1 MHz mode(1)
—
100
ns
SDA and SCL
100 kHz mode
—
1000
ns
TR:SCL
Rise Time
400 kHz mode
20 + 0.1 CB
300
ns
—
300
ns
1 MHz mode(1)
TSU:DAT Data Input
100 kHz mode
250
—
ns
Setup Time
400 kHz mode
100
—
ns
100
—
ns
1 MHz mode(1)
THD:DAT Data Input
100 kHz mode
0
—
ns
Hold Time
400 kHz mode
0
0.9
µs
0
0.3
µs
1 MHz mode(1)
100 kHz mode
4.7
—
µs
TSU:STA Start Condition
Setup Time
400 kHz mode
0.6
—
µs
0.25
—
µs
1 MHz mode(1)
THD:STA Start Condition
100 kHz mode
4.0
—
µs
Hold Time
400 kHz mode
0.6
—
µs
0.25
—
µs
1 MHz mode(1)
TSU:STO Stop Condition
100 kHz mode
4.7
—
µs
Setup Time
400 kHz mode
0.6
—
µs
0.6
—
µs
1 MHz mode(1)
100 kHz mode
4000
—
ns
THD:STO Stop Condition
Hold Time
400 kHz mode
600
—
ns
250
ns
1 MHz mode(1)
TAA:SCL Output Valid From 100 kHz mode
0
3500
ns
Clock
400 kHz mode
0
1000
ns
0
350
ns
1 MHz mode(1)
TBF:SDA Bus Free Time
100 kHz mode
4.7
—
µs
400 kHz mode
1.3
—
µs
0.5
—
µs
1 MHz mode(1)
Bus Capacitive
—
400
pF
CB
Loading
1: Maximum pin capacitance = 10 pF for all I2C pins (for 1 MHz mode only).
DS70119D-page 198
Preliminary
Conditions
Device must operate at a
minimum of 1.5 MHz
Device must operate at a
minimum of 10 MHz.
—
Device must operate at a
minimum of 1.5 MHz
Device must operate at a
minimum of 10 MHz
—
CB is specified to be from
10 to 400 pF
CB is specified to be from
10 to 400 pF
—
—
Only relevant for repeated
Start condition
After this period the first
clock pulse is generated
—
—
—
Time the bus must be free
before a new transmission
can start
—
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 24-25:
CXTX Pin
(output)
CAN MODULE I/O TIMING CHARACTERISTICS
New Value
Old Value
CA10 CA11
CXRX Pin
(input)
CA20
TABLE 24-39: CAN MODULE I/O TIMING REQUIREMENTS
Standard Operating Conditions: 2.5V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
Characteristic(1)
Symbol
Min
Typ(2)
Max
Units
Conditions
—
10
25
ns
—
10
25
TioF
Port Output Fall Time
CA11
TioR
Port Output Rise Time
—
CA20
Tcwf
Pulse Width to Trigger
CAN Wakeup Filter
500
CA10
Note 1:
2:
ns
—
ns
—
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 5V, 25°C unless otherwise stated. Parameters are for design guidance only and
are not tested.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 199
dsPIC30F6010
TABLE 24-40: 10-BIT HIGH-SPEED A/D MODULE SPECIFICATIONS
Standard Operating Conditions: 2.7V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic
Min.
Typ
Max.
Units
Conditions
Device Supply
AD01
AVDD
Module VDD Supply
Greater of
VDD - 0.3
or 2.7
Lesser of
VDD + 0.3
or 5.5
V
—
AD02
AVSS
Module VSS Supply
Vss - 0.3
VSS + 0.3
V
—
AD05
VREFH
Reference Voltage High
AVDD
V
—
Reference Inputs
AVss+2.7
AD06
VREFL
Reference Voltage Low
AD07
VREF
Absolute Reference Voltage
AVss
AVDD - 2.7
V
—
AVss - 0.3
AVDD + 0.3
V
—
AD08
IREF
Current Drain
300
3
µA
µA
A/D operating
A/D off
AD10
VINH-VINL Full-Scale Input Span
VREFH
V
—
AD11
VIN
Absolute Input Voltage
AVDD + 0.3
V
—
AD12
—
Leakage Current
—
±0.001
±0.244
µA
VINL = AVSS = VREFL = 0V,
AVDD = VREFH = 5V
Source Impedance = 5 kΩ
AD13
—
Leakage Current
—
±0.001
±0.244
µA
VINL = AVSS = VREFL = 0V,
AVDD = VREFH = 3V
Source Impedance = 5 kΩ
—
—
200
.001
Analog Input
VREFL
AVSS - 0.3
AD15
RSS
Switch Resistance
—
3.2K
AD16
CSAMPLE Sample Capacitor
—
4.4
AD17
RIN
—
Recommended Impedance
Of Analog Voltage Source
5K
Ω
—
pF
—
Ω
—
bits
—
DC Accuracy
AD20
Nr
Resolution
AD21
INL
Integral Nonlinearity
—
±0.5
< ±1
LSb VINL = AVSS = VREFL = 0V,
AVDD = VREFH = 5V
AD21A INL
Integral Nonlinearity
—
±0.5
< ±1
LSb VINL = AVSS = VREFL = 0V,
AVDD = VREFH = 3V
AD22
DNL
Differential Nonlinearity
—
±0.5
< ±1
LSb VINL = AVSS = VREFL = 0V,
AVDD = VREFH = 5V
AD22A DNL
Differential Nonlinearity
—
±0.5
< ±1
LSb VINL = AVSS = VREFL = 0V,
AVDD = VREFH = 3V
GERR
Gain Error
—
±0.75
TBD
LSb VINL = AVSS = VREFL = 0V,
AVDD = VREFH = 5V
AD23A GERR
Gain Error
—
±0.75
TBD
LSb VINL = AVSS = VREFL = 0V,
AVDD = VREFH = 3V
AD23
Note 1:
2:
10 data bits
Because the sample caps will eventually lose charge, clock rates below 10 kHz can affect linearity
performance, especially at elevated temperatures.
The A/D conversion result never decreases with an increase in the input voltage, and has no missing
codes.
DS70119D-page 200
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
TABLE 24-40: 10-BIT HIGH-SPEED A/D MODULE SPECIFICATIONS (CONTINUED)
Standard Operating Conditions: 2.7V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic
Min.
Typ
Max.
Units
Conditions
EOFF
Offset Error
—
±0.75
TBD
LSb VINL = AVSS = VREFL = 0V,
AVDD = VREFH = 5V
AD24A EOFF
Offset Error
—
±0.75
TBD
LSb VINL = AVSS = VREFL = 0V,
AVDD = VREFH = 3V
AD25
—
Monotonicity(2)
—
—
—
—
AD26
CMRR
Common-Mode Rejection
—
TBD
—
dB
—
AD27
PSRR
Power Supply Rejection
Ratio
—
TBD
—
dB
—
AD28
CTLK
Channel to Channel
Crosstalk
—
TBD
—
dB
—
AD30
THD
Total Harmonic Distortion
—
TBD
—
dB
—
AD31
SINAD
Signal to Noise and
Distortion
—
TBD
—
dB
—
AD32
SFDR
Spurious Free Dynamic
Range
—
TBD
—
dB
—
AD33
FNYQ
Input Signal Bandwidth
—
—
250
kHz
—
AD34
ENOB
Effective Number of Bits
—
TBD
TBD
bits
—
AD24
Guaranteed
Dynamic Performance
Note 1:
2:
Because the sample caps will eventually lose charge, clock rates below 10 kHz can affect linearity
performance, especially at elevated temperatures.
The A/D conversion result never decreases with an increase in the input voltage, and has no missing
codes.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 201
dsPIC30F6010
FIGURE 24-26:
10-BIT HIGH-SPEED A/D CONVERSION TIMING CHARACTERISTICS
(CHPS = 01, SIMSAM = 0, ASAM = 0, SSRC = 000)
AD50
ADCLK
Instruction
Execution SET SAMP
CLEAR SAMP
SAMP
ch0_dischrg
ch0_samp
ch1_dischrg
ch1_samp
eoc
AD61
AD60
TSAMP
AD55
AD55
DONE
ADIF
ADRES(0)
ADRES(1)
1
2
3
4
5
6
8
9
5
6
8
9
1 - Software sets ADCON. SAMP to start sampling.
2 - Sampling starts after discharge period TSAMP is described in Section 20.7.
3 - Software clears ADCON. SAMP to start conversion.
4 - Sampling ends, conversion sequence starts.
5 - Convert bit 9.
6 - Convert bit 8.
8 - Convert bit 0.
9 - One TAD for end of conversion.
DS70119D-page 202
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
FIGURE 24-27:
10-BIT HIGH-SPEED A/D CONVERSION TIMING CHARACTERISTICS
(CHPS = 01, SIMSAM = 0, ASAM = 1, SSRC = 111, SAMC = 00001)
AD50
ADCLK
Instruction
Execution SET ADON
SAMP
ch0_dischrg
ch0_samp
ch1_dischrg
ch1_samp
eoc
TSAMP
TSAMP
AD55
TCONV
AD55
DONE
ADIF
ADRES(0)
ADRES(1)
1
2
3
4
5
6
7
3
4
5
6
8
3
1 - Software sets ADCON. ADON to start AD operation.
5 - Convert bit 0.
2 - Sampling starts after discharge period.
TSAMP is described in the dsPIC30F
Family Reference Manual, Section 17.
6 - One TAD for end of conversion.
3 - Convert bit 9.
8 - Sample for time specified by SAMC.
TSAMP is described in Section 20.7.
4 - Convert bit 8.
 2004 Microchip Technology Inc.
4
7 - Begin conversion of next channel
Preliminary
DS70119D-page 203
dsPIC30F6010
TABLE 24-41: 10-BIT HIGH-SPEED A/D CONVERSION TIMING REQUIREMENTS
Standard Operating Conditions: 2.7V to 5.5V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
-40°C ≤ TA ≤ +125°C for Extended
AC CHARACTERISTICS
Param
Symbol
No.
Characteristic
Min.
Typ
Max.
Units
Conditions
Clock Parameters
AD50
TAD
A/D Clock Period
AD51
tRC
A/D Internal RC Oscillator Period
AD55
tCONV
Conversion Time
AD56
FCNV
Throughput Rate
AD57
TSAMP
Sample Time
AD60
tPCS
Conversion Start from Sample
Trigger
AD61
tPSS
AD62
AD63
154
256
700
900
ns
1100
VDD = 5V (Note 1)
VDD = 2.7V (Note 1)
ns
—
12 TAD
ns
—
500
300
ksps
ksps
Conversion Rate
—
1 TAD
VDD = VREF = 5V
VDD = VREF = 3V
—
ns
VDD = 3-5.5V
Timing Parameters
Note 1:
—
—
TAD
ns
—
Sample Start from Setting
Sample (SAMP) Bit
0.5 TAD
—
1.5 TAD
ns
—
tCSS
Conversion Completion to
Sample Start (ASAM = 1)
—
—
TBD
ns
—
tDPU
Time to Stabilize Analog Stage
from A/D Off to A/D On
—
—
TBD
µs
—
Because the sample caps will eventually lose charge, clock rates below 10 kHz can affect linearity
performance, especially at elevated temperatures.
DS70119D-page 204
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
25.0
PACKAGING INFORMATION
25.1
Package Marking Information
80-Lead TQFP
Example
XXXXXXXXXXXX
XXXXXXXXXXXX
YYWWNNN
Legend:
Note:
*
XX...X
Y
YY
WW
NNN
dsPIC30F6010
-I/PT
04230WY
Customer specific information*
Year code (last digit of calendar year)
Year code (last 2 digits of calendar year)
Week code (week of January 1 is week ‘01’)
Alphanumeric traceability code
In the event the full Microchip part number cannot be marked on one line, it will
be carried over to the next line thus limiting the number of available characters
for customer specific information.
Standard device marking consists of Microchip part number, year code, week code, and traceability
code. For device marking beyond this, certain price adders apply. Please check with your Microchip
Sales Office. For QTP devices, any special marking adders are included in QTP price.
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 205
dsPIC30F6010
80-Lead Plastic Thin Quad Flatpack 14x14x1 mm Body, 1.0/0.10 mm Lead Form (TQFP)
E
E1
#leads=n1
p
D1
D
2
1
B
n
CH x 45 °
A
α
c
φ
β
L
A2
A1
(F)
Units
Dimension Limits
n
p
Number of Pins
Pitch
Pins per Side
Overall Height
Molded Package Thickness
Standoff §
Foot Length
Footprint (Reference)
Foot Angle
Overall Width
Overall Length
Molded Package Width
Molded Package Length
Lead Thickness
Lead Width
Pin 1 Corner Chamfer
Mold Draft Angle Top
Mold Draft Angle Bottom
n1
A
A2
A1
L
(F)
φ
E
D
E1
D1
c
B
CH
α
β
INCHES
NOM
80
.026
20
MIN
.037
.002
.018
.039
.024
.039
0
.
.004
.009
MAX
MIN
MILLIMETERS*
NOM
80
0.65
20
.047
.041
.006
.030
0.95
0.05
0.45
7
0
.630
.630
.551
.551
.013
11
11
1.00
0.60
1.00
MAX
1.20
1.05
0.15
0.75
7
16.00
16.00
14.00
14.00
.008
.015
0.09
0.22
13
13
11
11
0.32
0.20
0.38
13
13
* Controlling Parameter
§ Significant Characteristic
Notes:
Dimensions D1 and E1 do not include mold flash or protrusions. Mold flash or protrusions shall not exceed
.010” (0.254mm) per side.
JEDEC Equivalent: MS-026
Drawing No. C04-092
DS70119D-page 206
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
INDEX
Numerics
10-bit High Speed A/D
A/D Acquisition Requirements .................................. 131
Aborting a Conversion .............................................. 130
ADCHS ..................................................................... 127
ADCON1 ................................................................... 127
ADCON2 ................................................................... 127
ADCON3 ................................................................... 127
ADCSSL.................................................................... 127
ADPCFG ................................................................... 127
Configuring Analog Port Pins.................................... 133
Connection Considerations....................................... 133
Conversion Operation ............................................... 129
Effects of a Reset...................................................... 132
Operation During CPU Idle Mode ............................. 132
Operation During CPU Sleep Mode.......................... 132
Output Formats ......................................................... 132
Power-down Modes .................................................. 132
Programming the Start of Conversion Trigger .......... 130
Register Map............................................................. 134
Result Buffer ............................................................. 129
Sampling Requirements............................................ 131
Selecting the Conversion Clock ................................ 130
Selecting the Conversion Sequence......................... 129
10-Bit High Speed Analog-to-Digital (A/D)
Converter Module ............................................................. 127
16-bit Up/Down Position Counter Mode.............................. 80
Count Direction Status ................................................ 80
Error Checking ............................................................ 80
8-Output PWM
Register Map............................................................... 94
A
AC Characteristics ............................................................ 175
Load Conditions ........................................................ 175
AC Temperature and Voltage Specifications .................... 175
Address Generator Units .................................................... 31
Alternate 16-bit Timer/Counter............................................ 81
Alternate Vector Table ........................................................ 41
Assembler
MPASM Assembler................................................... 157
Automatic Clock Stretch.................................................... 102
During 10-bit Addressing (STREN = 1)..................... 102
During 7-bit Addressing (STREN = 1)....................... 102
Receive Mode ........................................................... 102
Transmit Mode .......................................................... 102
B
Bandgap Start-up Time
Requirements............................................................ 181
Timing Characteristics .............................................. 181
Barrel Shifter ....................................................................... 18
Bit-Reversed Addressing .................................................... 34
Example ...................................................................... 34
Implementation ........................................................... 34
Modifier Values (table) ................................................ 35
Sequence Table (16-Entry)......................................... 35
Block Diagrams
10-bit High Speed A/D Functional............................. 128
16-bit Timer1 Module .................................................. 58
16-bit Timer4............................................................... 68
16-bit Timer5............................................................... 68
32-bit Timer4/5............................................................ 67
 2004 Microchip Technology Inc.
CAN Buffers and Protocol Engine ............................ 116
Dedicated Port Structure ............................................ 53
DSP Engine ................................................................ 15
dsPIC30F6010.............................................................. 6
External Power-on Reset Circuit .............................. 143
I2C ............................................................................ 100
Input Capture Mode.................................................... 71
Oscillator System...................................................... 137
Output Compare Mode ............................................... 75
PWM Module .............................................................. 86
Quadrature Encoder Interface .................................... 79
Reset System ........................................................... 141
Shared Port Structure................................................. 54
SPI.............................................................................. 96
SPI Master/Slave Connection..................................... 96
UART Receiver......................................................... 108
UART Transmitter..................................................... 107
BOR Characteristics ......................................................... 174
BOR. See Brown-out Reset
Brown-out Reset
Characteristics.......................................................... 173
Timing Requirements ............................................... 181
Brown-out Reset (BOR).................................................... 135
C
C Compilers
MPLAB C17.............................................................. 158
MPLAB C18.............................................................. 158
MPLAB C30.............................................................. 158
CAN Module ..................................................................... 115
CAN1 Register Map.................................................. 122
CAN2 Register Map.................................................. 124
I/O Timing Characteristics ........................................ 199
I/O Timing Requirements.......................................... 199
Overview................................................................... 115
Center Aligned PWM .......................................................... 89
CLKOUT and I/O Timing
Characteristics.......................................................... 179
Requirements ........................................................... 179
Code Examples
Data EEPROM Block Erase ....................................... 50
Data EEPROM Block Write ........................................ 52
Data EEPROM Read.................................................. 49
Data EEPROM Word Erase ....................................... 50
Data EEPROM Word Write ........................................ 51
Erasing a Row of Program Memory ........................... 45
Initiating a Programming Sequence ........................... 46
Loading Write Latches................................................ 46
Code Protection ................................................................ 135
Complementary PWM Operation........................................ 89
Configuring Analog Port Pins.............................................. 54
Control Registers ................................................................ 44
NVMADR .................................................................... 44
NVMADRU ................................................................. 44
NVMCON.................................................................... 44
NVMKEY .................................................................... 44
Core Overview .................................................................... 11
Core Register Map.............................................................. 27
CPU Architecture Overview ................................................ 11
D
Data Access from Program Memory Using
Program Space Visibility..................................................... 22
Preliminary
DS70119D-page 207
dsPIC30F6010
Data Accumulators and Adder/Subtractor........................... 16
Data Space Write Saturation ...................................... 18
Overflow and Saturation ............................................. 16
Round Logic ................................................................ 17
Write Back................................................................... 17
Data Address Space ........................................................... 23
Alignment .................................................................... 26
Alignment (Figure) ...................................................... 26
Effect of Invalid Memory Accesses ............................. 26
MCU and DSP (MAC Class) Instructions
Example ...................................................................... 25
Memory Map ......................................................... 23, 24
Near Data Space ........................................................ 27
Software Stack ............................................................ 27
Spaces ........................................................................ 26
Width........................................................................... 26
Data EEPROM Memory ...................................................... 49
Erasing ........................................................................ 50
Erasing, Block ............................................................. 50
Erasing, Word ............................................................. 50
Protection Against Spurious Write .............................. 52
Reading....................................................................... 49
Write Verify ................................................................. 52
Writing ......................................................................... 51
Writing, Block .............................................................. 52
Writing, Word .............................................................. 51
DC Characteristics ............................................................ 163
BOR .......................................................................... 174
Brown-out Reset ....................................................... 173
I/O Pin Input Specifications ....................................... 171
I/O Pin Output Specifications .................................... 172
Idle Current (IIDLE) .................................................... 167
Low-Voltage Detect................................................... 172
LVDL ......................................................................... 173
Operating Current (IDD)............................................. 165
Power-Down Current (IPD) ........................................ 169
Program and EEPROM............................................. 174
Temperature and Voltage Specifications .................. 163
Dead-Time Generators ....................................................... 90
Assignment ................................................................. 90
Ranges........................................................................ 90
Selection Bits .............................................................. 90
Demonstration Boards
PICDEM 1 ................................................................. 160
PICDEM 17 ............................................................... 161
PICDEM 18R ............................................................ 161
PICDEM 2 Plus ......................................................... 160
PICDEM 3 ................................................................. 160
PICDEM 4 ................................................................. 160
PICDEM LIN ............................................................. 161
PICDEM USB............................................................ 161
PICDEM.net Internet/Ethernet .................................. 160
Development Support ....................................................... 157
Device Configuration
Register Map............................................................. 148
Device Configuration Registers......................................... 146
FBORPOR ................................................................ 146
FGS........................................................................... 146
FOSC ........................................................................ 146
FWDT........................................................................ 146
Device Overview ................................................................... 5
Divide Support..................................................................... 14
DSP Engine......................................................................... 14
Multiplier...................................................................... 16
dsPIC30F6010 Port Register Map ...................................... 55
DS70119D-page 208
Dual Output Compare Match Mode .................................... 76
Continuous Pulse Mode.............................................. 76
Single Pulse Mode...................................................... 76
E
Edge Aligned PWM............................................................. 88
Electrical Characteristics .................................................. 163
AC............................................................................. 175
DC ............................................................................ 163
Equations
A/D Conversion Clock............................................... 130
Baud Rate......................................................... 111, 121
PWM Period................................................................ 88
PWM Resolution ......................................................... 88
Serial Clock Rate ...................................................... 103
Errata .................................................................................... 4
Evaluation and Programming Tools.................................. 161
Exception Processing
Interrupt Priority .......................................................... 38
Exception Sequence
Trap Sources .............................................................. 39
External Clock Timing Characteristics
Type A, B and C Timer ............................................. 182
External Clock Timing Requirements ............................... 176
Type A Timer ............................................................ 182
Type B Timer ............................................................ 183
Type C Timer ............................................................ 183
External Interrupt Requests ................................................ 41
F
Fast Context Saving ........................................................... 41
Flash Program Memory ...................................................... 43
In-Circuit Serial Programming (ICSP)......................... 43
Run Time Self-Programming (RTSP) ......................... 43
Table Instruction Operation Summary ........................ 43
I
I/O Pin Specifications
Input.......................................................................... 171
Output ....................................................................... 172
I/O Ports.............................................................................. 53
Parallel I/O (PIO) ........................................................ 53
I2C 10-bit Slave Mode Operation...................................... 101
Reception ................................................................. 101
Transmission ............................................................ 101
I2C 7-bit Slave Mode Operation........................................ 101
Reception ................................................................. 101
Transmission ............................................................ 101
I2C Master Mode
Baud Rate Generator ............................................... 103
Clock Arbitration ....................................................... 104
Multi-Master Communication, Bus Collision
and Bus Arbitration ................................................... 104
Reception ................................................................. 103
Transmission ............................................................ 103
I2C Module.......................................................................... 99
Addresses................................................................. 101
Bus Data Timing Characteristics
Master Mode..................................................... 195
Slave Mode....................................................... 197
Bus Data Timing Requirements
Master Mode..................................................... 196
Slave Mode....................................................... 198
Bus Start/Stop Bits Timing Characteristics
Master Mode..................................................... 195
Slave Mode....................................................... 197
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
General Call Address Support .................................. 103
Interrupts................................................................... 102
IPMI Support ............................................................. 103
Master Operation ...................................................... 103
Master Support ......................................................... 103
Operating Function Description .................................. 99
Operation During CPU Sleep and Idle Modes .......... 104
Pin Configuration ........................................................ 99
Programmer’s Model................................................... 99
Register Map............................................................. 105
Registers..................................................................... 99
Slope Control ............................................................ 102
Software Controlled Clock Stretching (STREN = 1).. 102
Various Modes ............................................................ 99
Idle Current (IIDLE) ............................................................ 167
In-Circuit Serial Programming (ICSP) ............................... 135
Independent PWM Output .................................................. 91
Initialization Condition for RCON Register Case 1 ........... 144
Initialization Condition for RCON Register Case 2 ........... 144
Input Capture (CAPX) Timing Characteristics .................. 185
Input Capture Interrupts ...................................................... 72
Register Map............................................................... 73
Input Capture Module ......................................................... 71
In CPU Sleep Mode .................................................... 72
Simple Capture Event Mode ....................................... 71
Input Capture Timing Requirements ................................. 185
Input Change Notification Module ....................................... 56
Register Map (bits 15-8) ............................................. 56
Register Map (bits 7-0) ............................................... 56
Input Characteristics
QEA/QEB.................................................................. 188
Instruction Addressing Modes............................................. 31
File Register Instructions ............................................ 31
Fundamental Modes Supported.................................. 31
MAC Instructions......................................................... 32
MCU Instructions ........................................................ 31
Move and Accumulator Instructions............................ 32
Other Instructions........................................................ 32
Instruction Set Overview ................................................... 152
Instruction Set Summary................................................... 149
Interrupt Controller
Register Map............................................................... 42
Interrupt Priority
Traps........................................................................... 39
Interrupt Sequence ............................................................. 41
Interrupt Stack Frame ................................................. 41
Interrupts ............................................................................. 37
L
Load Conditions ................................................................ 175
Low-Voltage Detect Characteristics .................................. 172
LVDL Characteristics ........................................................ 173
M
Memory Organization.......................................................... 19
Modulo Addressing ............................................................. 32
Applicability ................................................................. 34
Operation Example ..................................................... 33
Start and End Address................................................ 33
W Address Register Selection .................................... 33
Motor Control PWM Module................................................ 85
Fault Timing Characteristics ..................................... 187
Timing Characteristics .............................................. 187
Timing Requirements................................................ 187
MPLAB ASM30 Assembler, Linker, Librarian ................... 158
 2004 Microchip Technology Inc.
MPLAB ICD 2 In-Circuit Debugger ................................... 159
MPLAB ICE 2000 High-Performance Universal
In-Circuit Emulator ............................................................ 159
MPLAB ICE 4000 High-Performance Universal
In-Circuit Emulator ............................................................ 159
MPLAB Integrated Development Environment
Software ........................................................................... 157
MPLAB PM3 Device Programmer .................................... 159
MPLINK Object Linker/MPLIB Object Librarian ................ 158
O
OC/PWM Module Timing Characteristics ......................... 186
Operating Current (IDD) .................................................... 165
Operating Frequency vs Voltage
dsPIC30FXXXX-20 (Extended) ................................ 163
Oscillator Configurations................................................... 138
Fail-Safe Clock Monitor ............................................ 139
Fast RC (FRC).......................................................... 139
Initial Clock Source Selection ................................... 138
Low Power RC (LPRC)............................................. 139
LP Oscillator Control................................................. 138
Phase Locked Loop (PLL) ........................................ 139
Start-up Timer (OST)................................................ 138
Oscillator Operating Modes Table .................................... 136
Oscillator Selection ........................................................... 135
Oscillator Start-up Timer
Timing Characteristics .............................................. 180
Timing Requirements ............................................... 181
Output Compare Interrupts ................................................. 77
Output Compare Mode
Register Map .............................................................. 78
Output Compare Module .................................................... 75
Timing Characteristics .............................................. 185
Timing Requirements ............................................... 185
Output Compare Operation During CPU Idle Mode ........... 77
Output Compare Sleep Mode Operation ............................ 77
P
Packaging Information ...................................................... 205
Marking..................................................................... 205
PICkit 1 Flash Starter Kit .................................................. 161
PICSTART Plus Development Programmer..................... 160
Pinout Descriptions............................................................... 7
PLL Clock Timing Specifications ...................................... 177
POR. See Power-on Reset
Port Write/Read Example ................................................... 54
Position Measurement Mode .............................................. 80
Power Saving Modes........................................................ 145
Idle............................................................................ 146
Sleep ........................................................................ 145
Power Saving Modes (Sleep and Idle) ............................. 135
Power-Down Current (IPD)................................................ 169
Power-on Reset (POR)..................................................... 135
Oscillator Start-up Timer (OST)................................ 135
Power-up Timer (PWRT) .......................................... 135
Power-up Timer
Timing Characteristics .............................................. 180
Timing Requirements ............................................... 181
PRO MATE II Universal Device Programmer ................... 159
Program Address Space..................................................... 19
Construction ............................................................... 20
Data Access From Program Memory Using
Table Instructions ....................................................... 21
Data Access from, Address Generation ..................... 20
Memory Map............................................................... 19
Preliminary
DS70119D-page 209
dsPIC30F6010
Table Instructions
TBLRDH.............................................................. 21
TBLRDL .............................................................. 21
TBLWTH ............................................................. 21
TBLWTL.............................................................. 21
Program and EEPROM Characteristics ............................ 174
Program Counter................................................................. 12
Program Data Table Access ............................................... 22
Program Space Visibility
Window into Program Space Operation...................... 23
Programmable................................................................... 135
Programmable Digital Noise Filters..................................... 81
Programmer’s Model........................................................... 12
Diagram ...................................................................... 13
Programming Operations .................................................... 45
Algorithm for Program Flash ....................................... 45
Erasing a Row of Program Memory ............................ 45
Initiating the Programming Sequence ......................... 46
Loading Write Latches ................................................ 46
Protection Against Accidental Writes to OSCCON ........... 140
PWM Duty Cycle Comparison Units ................................... 89
Duty Cycle Register Buffers ........................................ 89
PWM Fault Pins .................................................................. 92
Enable Bits.................................................................. 92
Fault States ................................................................. 92
Modes ......................................................................... 92
Cycle-by-Cycle.................................................... 92
Latched ............................................................... 92
Priority ......................................................................... 92
PWM Operation During CPU Idle Mode.............................. 93
PWM Operation During CPU Sleep Mode .......................... 93
PWM Output and Polarity Control ....................................... 92
Output Pin Control ...................................................... 92
PWM Output Override......................................................... 91
Complementary Output Mode ..................................... 91
Synchronization .......................................................... 91
PWM Period ........................................................................ 88
PWM Special Event Trigger ................................................ 93
Postscaler ................................................................... 93
PWM Time Base ................................................................. 87
Continuous Up/Down Counting Modes ....................... 87
Double Update Mode .................................................. 88
Free Running Mode .................................................... 87
Postscaler ................................................................... 88
Prescaler ..................................................................... 88
Single Shot Mode........................................................ 87
PWM Update Lockout ......................................................... 93
Q
QEA/QEB Input Characteristics ........................................ 188
QEI Module
External Clock Timing Requirements........................ 184
Index Pulse Timing Characteristics........................... 189
Index Pulse Timing Requirements ............................ 189
Operation During CPU Idle Mode ............................... 81
Operation During CPU Sleep Mode ............................ 81
Register Map............................................................... 83
Timer Operation During CPU Idle Mode ..................... 82
Timer Operation During CPU Sleep Mode.................. 81
Quadrature Decoder Timing Requirements ...................... 188
Quadrature Encoder Interface (QEI) Module ...................... 79
Quadrature Encoder Interface Interrupts ............................ 82
Quadrature Encoder Interface Logic ................................... 80
DS70119D-page 210
R
Reset ........................................................................ 135, 141
Reset Sequence ................................................................. 39
Reset Sources ............................................................ 39
Reset Timing Characteristics............................................ 180
Reset Timing Requirements ............................................. 181
Resets
BOR, Programmable ................................................ 143
POR .......................................................................... 141
POR with Long Crystal Start-up Time....................... 143
POR, Operating without FSCM and PWRT .............. 143
S
Simple Capture Event Mode
Capture Buffer Operation............................................ 72
Capture Prescaler....................................................... 71
Hall Sensor Mode ....................................................... 72
Input Capture in CPU Idle Mode................................. 72
Timer2 and Timer3 Selection Mode............................ 72
Simple OC/PWM Mode Timing Requirements ................. 186
Simple Output Compare Match Mode ................................ 76
Simple PWM Mode ............................................................. 76
Input Pin Fault Protection ........................................... 76
Period ......................................................................... 77
Single Pulse PWM Operation ............................................. 91
Software Simulator (MPLAB SIM) .................................... 158
Software Simulator (MPLAB SIM30) ................................ 158
Software Stack Pointer, Frame Pointer .............................. 12
CALL Stack Frame ..................................................... 27
SPI Mode
Slave Select Synchronization ..................................... 97
SPI1 Register Map...................................................... 98
SPI2 Register Map...................................................... 98
SPI Module ......................................................................... 95
Framed SPI Support ................................................... 97
Operating Function Description .................................. 95
SDOx Disable ............................................................. 95
Timing Characteristics
Master Mode (CKE = 0).................................... 190
Master Mode (CKE = 1).................................... 191
Slave Mode (CKE = 1).............................. 192, 193
Timing Requirements
Master Mode (CKE = 0).................................... 190
Master Mode (CKE = 1).................................... 191
Slave Mode (CKE = 0)...................................... 192
Slave Mode (CKE = 1)...................................... 194
Word and Byte Communication .................................. 95
SPI Operation During CPU Idle Mode ................................ 97
SPI Operation During CPU Sleep Mode............................. 97
Status Register ................................................................... 12
Symbols Used in Opcode Descriptions ............................ 150
System Integration............................................................ 135
Overview................................................................... 135
Register Map ............................................................ 148
T
Temperature and Voltage Specifications
AC............................................................................. 175
DC ............................................................................ 163
Timer1 Module.................................................................... 57
16-bit Asynchronous Counter Mode ........................... 57
16-bit Synchronous Counter Mode ............................. 57
16-bit Timer Mode....................................................... 57
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
Gate Operation ........................................................... 58
Interrupt....................................................................... 59
Operation During Sleep Mode .................................... 58
Prescaler..................................................................... 58
Real-Time Clock ......................................................... 59
RTC Interrupts .................................................... 59
RTC Oscillator Operation.................................... 59
Register Map............................................................... 60
Timer2 and Timer3 Selection Mode .................................... 76
Timer2/3 Module ................................................................. 61
32-bit Synchronous Counter Mode ............................. 61
32-bit Timer Mode....................................................... 61
ADC Event Trigger...................................................... 64
Gate Operation ........................................................... 64
Interrupt....................................................................... 64
Operation During Sleep Mode .................................... 64
Register Map............................................................... 65
Timer Prescaler........................................................... 64
Timer4/5 Module ................................................................. 67
Register Map............................................................... 69
TimerQ (QEI Module) External Clock Timing
Characteristics .................................................................. 184
Timing Characteristics
A/D Conversion
10-Bit High-speed (CHPS = 01,
SIMSAM = 0, ASAM = 0, SSRC = 000) ............ 202
10-Bit High-speed (CHPS = 01,
SIMSAM = 0, ASAM = 1,
SSRC = 111, SAMC = 00001) .......................... 203
Bandgap Start-up Time............................................. 181
CAN Module I/O........................................................ 199
CLKOUT and I/O....................................................... 179
External Clock........................................................... 175
I2C Bus Data
Master Mode ..................................................... 195
Slave Mode ....................................................... 197
I2C Bus Start/Stop Bits
Master Mode ..................................................... 195
Slave Mode ....................................................... 197
Input Capture (CAPX) ............................................... 185
Motor Control PWM Module...................................... 187
Motor Control PWM Module Falult............................ 187
OC/PWM Module ...................................................... 186
Oscillator Start-up Timer ........................................... 180
Output Compare Module........................................... 185
Power-up Timer ........................................................ 180
QEI Module Index Pulse ........................................... 189
Reset......................................................................... 180
SPI Module
Master Mode (CKE = 0) .................................... 190
Master Mode (CKE = 1) .................................... 191
Slave Mode (CKE = 0) ...................................... 192
Slave Mode (CKE = 1) ...................................... 193
TimerQ (QEI Module) External Clock ....................... 184
Type A, B and C Timer External Clock ..................... 182
Watchdog Timer........................................................ 180
Timing Diagrams
Center Aligned PWM .................................................. 89
Dead-Time .................................................................. 91
Edge Aligned PWM..................................................... 88
PWM Output ............................................................... 77
Time-out Sequence on Power-up
(MCLR Not Tied to VDD), Case 1.............................. 142
Time-out Sequence on Power-up
(MCLR Not Tied to VDD), Case 2.............................. 142
 2004 Microchip Technology Inc.
Time-out Sequence on Power-up
(MCLR Tied to VDD) ................................................. 142
Timing Diagrams.See Timing Characteristics
Timing Requirements
A/D Conversion
10-Bit High-speed............................................. 204
Bandgap Start-up Time ............................................ 181
Brown-out Reset....................................................... 181
CAN Module I/O ....................................................... 199
CLKOUT and I/O ...................................................... 179
External Clock .......................................................... 176
I2C Bus Data (Master Mode) .................................... 196
I2C Bus Data (Slave Mode) ...................................... 198
Input Capture............................................................ 185
Motor Control PWM Module ..................................... 187
Oscillator Start-up Timer........................................... 181
Output Compare Module .......................................... 185
Power-up Timer ........................................................ 181
QEI Module
External Clock .................................................. 184
Index Pulse....................................................... 189
Quadrature Decoder................................................. 188
Reset ........................................................................ 181
Simple OC/PWM Mode ............................................ 186
SPI Module
Master Mode (CKE = 0).................................... 190
Master Mode (CKE = 1).................................... 191
Slave Mode (CKE = 0)...................................... 192
Slave Mode (CKE = 1)...................................... 194
Type A Timer External Clock.................................... 182
Type B Timer External Clock.................................... 183
Type C Timer External Clock.................................... 183
Watchdog Timer ....................................................... 181
Timing Specifications
PLL Clock ................................................................. 177
Trap Vectors ....................................................................... 40
U
UART
Address Detect Mode ............................................... 111
Auto Baud Support ................................................... 112
Baud Rate Generator ............................................... 111
Enabling and Setting Up UART ................................ 109
Disabling........................................................... 109
Enabling ........................................................... 109
Setting Up Data, Parity and Stop Bit
Selections ......................................................... 109
Loopback Mode ........................................................ 111
Module Overview...................................................... 107
Operation During CPU Sleep and Idle Modes.......... 112
Receiving Data ......................................................... 110
In 8-bit or 9-bit Data Mode................................ 110
Interrupt ............................................................ 110
Receive Buffer (UxRCB)................................... 110
Reception Error Handling ......................................... 110
Framing Error (FERR) ...................................... 111
Idle Status ........................................................ 111
Parity Error (PERR) .......................................... 111
Receive Break .................................................. 111
Receive Buffer Overrun Error (OERR Bit) ........ 110
Transmitting Data ..................................................... 109
In 8-bit Data Mode ............................................ 109
In 9-bit Data Mode ............................................ 109
Interrupt ............................................................ 110
Transmit Buffer (UxTXB) .................................. 109
Preliminary
DS70119D-page 211
dsPIC30F6010
UART1 Register Map ................................................ 113
UART2 Register Map ................................................ 113
Unit ID Locations............................................................... 135
Universal Asynchronous Receiver Transmitter
Module (UART) ................................................................. 107
W
Wake-up from Sleep ......................................................... 135
Wake-up from Sleep and Idle.............................................. 41
Watchdog Timer
Timing Characteristics .............................................. 180
Timing Requirements ................................................ 181
Watchdog Timer (WDT) ............................................ 135, 145
Enabling and Disabling ............................................. 145
Operation .................................................................. 145
WWW, On-Line Support........................................................ 4
DS70119D-page 212
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
ON-LINE SUPPORT
Microchip provides on-line support on the Microchip
World Wide Web site.
The web site is used by Microchip as a means to make
files and information easily available to customers. To
view the site, the user must have access to the Internet
and a web browser, such as Netscape® or Microsoft®
Internet Explorer. Files are also available for FTP
download from our FTP site.
SYSTEMS INFORMATION AND
UPGRADE HOT LINE
The Systems Information and Upgrade Line provides
system users a listing of the latest versions of all of
Microchip's development systems software products.
Plus, this line provides information on how customers
can receive the most current upgrade kits.The Hot Line
Numbers are:
1-800-755-2345 for U.S. and most of Canada, and
1-480-792-7302 for the rest of the world.
Connecting to the Microchip Internet
Web Site
042003
The Microchip web site is available at the following
URL:
www.microchip.com
The file transfer site is available by using an FTP service to connect to:
ftp://ftp.microchip.com
The web site and file transfer site provide a variety of
services. Users may download files for the latest
Development Tools, Data Sheets, Application Notes,
User's Guides, Articles and Sample Programs. A variety of Microchip specific business information is also
available, including listings of Microchip sales offices,
distributors and factory representatives. Other data
available for consideration is:
• Latest Microchip Press Releases
• Technical Support Section with Frequently Asked
Questions
• Design Tips
• Device Errata
• Job Postings
• Microchip Consultant Program Member Listing
• Links to other useful web sites related to
Microchip Products
• Conferences for products, Development Systems,
technical information and more
• Listing of seminars and events
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 213
dsPIC30F6010
READER RESPONSE
It is our intention to provide you with the best documentation possible to ensure successful use of your Microchip product. If you wish to provide your comments on organization, clarity, subject matter, and ways in which our documentation
can better serve you, please FAX your comments to the Technical Publications Manager at (480) 792-4150.
Please list the following information, and use this outline to provide us with your comments about this document.
To:
Technical Publications Manager
RE:
Reader Response
Total Pages Sent ________
From: Name
Company
Address
City / State / ZIP / Country
Telephone: (_______) _________ - _________
FAX: (______) _________ - _________
Application (optional):
Would you like a reply?
Device: dsPIC30F6010
Y
N
Literature Number: DS70119D
Questions:
1. What are the best features of this document?
2. How does this document meet your hardware and software development needs?
3. Do you find the organization of this document easy to follow? If not, why?
4. What additions to the document do you think would enhance the structure and subject?
5. What deletions from the document could be made without affecting the overall usefulness?
6. Is there any incorrect or misleading information (what and where)?
7. How would you improve this document?
DS70119D-page 214
Preliminary
 2004 Microchip Technology Inc.
dsPIC30F6010
PRODUCT IDENTIFICATION SYSTEM
To order or obtain information, e.g., on pricing or delivery, refer to the factory or the listed sales office.
d s P I C 3 0 F 6 0 1 0 AT- 3 0 I / P F - 0 0 0
Custom ID (3 digits) or
Engineering Sample (ES)
Trademark
Architecture
Package
PF = TQFP 14x14
S = Die (Waffle Pack)
W = Die (Wafers)
Flash
Memory Size in Bytes
0 = ROMless
1 = 1K to 6K
2 = 7K to 12K
3 = 13K to 24K
4 = 25K to 48K
5 = 49K to 96K
6 = 97K to 192K
7 = 193K to 384K
8 = 385K to 768K
9 = 769K and Up
Temperature
I = Industrial -40°C to +85°C
E = Extended High Temp -40°C to +125°C
Speed
20 = 20 MIPS
30 = 30 MIPS
Device ID
T = Tape and Reel
A,B,C… = Revision Level
Example:
dsPIC30F6010AT-30I/PF = 30 MIPS, Industrial temp., TQFP package, Rev. A
 2004 Microchip Technology Inc.
Preliminary
DS70119D-page 215
WORLDWIDE SALES AND SERVICE
AMERICAS
ASIA/PACIFIC
ASIA/PACIFIC
EUROPE
Corporate Office
2355 West Chandler Blvd.
Chandler, AZ 85224-6199
Tel: 480-792-7200
Fax: 480-792-7277
Technical Support:
http://support.microchip.com
Web Address:
www.microchip.com
Australia - Sydney
Tel: 61-2-9868-6733
Fax: 61-2-9868-6755
India - Bangalore
Tel: 91-80-2229-0061
Fax: 91-80-2229-0062
China - Beijing
Tel: 86-10-8528-2100
Fax: 86-10-8528-2104
India - New Delhi
Tel: 91-11-5160-8631
Fax: 91-11-5160-8632
Austria - Weis
Tel: 43-7242-2244-399
Fax: 43-7242-2244-393
Denmark - Ballerup
Tel: 45-4450-2828
Fax: 45-4485-2829
China - Chengdu
Tel: 86-28-8676-6200
Fax: 86-28-8676-6599
Japan - Kanagawa
Tel: 81-45-471- 6166
Fax: 81-45-471-6122
France - Massy
Tel: 33-1-69-53-63-20
Fax: 33-1-69-30-90-79
China - Fuzhou
Tel: 86-591-8750-3506
Fax: 86-591-8750-3521
Korea - Seoul
Tel: 82-2-554-7200
Fax: 82-2-558-5932 or
82-2-558-5934
Germany - Ismaning
Tel: 49-89-627-144-0
Fax: 49-89-627-144-44
Atlanta
Alpharetta, GA
Tel: 770-640-0034
Fax: 770-640-0307
Boston
Westford, MA
Tel: 978-692-3848
Fax: 978-692-3821
Chicago
Itasca, IL
Tel: 630-285-0071
Fax: 630-285-0075
Dallas
Addison, TX
Tel: 972-818-7423
Fax: 972-818-2924
Detroit
Farmington Hills, MI
Tel: 248-538-2250
Fax: 248-538-2260
Kokomo
Kokomo, IN
Tel: 765-864-8360
Fax: 765-864-8387
China - Hong Kong SAR
Tel: 852-2401-1200
Fax: 852-2401-3431
China - Shanghai
Tel: 86-21-5407-5533
Fax: 86-21-5407-5066
China - Shenyang
Tel: 86-24-2334-2829
Fax: 86-24-2334-2393
Singapore
Tel: 65-6334-8870
Fax: 65-6334-8850
Taiwan - Kaohsiung
Tel: 886-7-536-4818
Fax: 886-7-536-4803
China - Shenzhen
Tel: 86-755-8203-2660
Fax: 86-755-8203-1760
China - Shunde
Tel: 86-757-2839-5507
Fax: 86-757-2839-5571
Taiwan - Taipei
Tel: 886-2-2500-6610
Fax: 886-2-2508-0102
Italy - Milan
Tel: 39-0331-742611
Fax: 39-0331-466781
Netherlands - Drunen
Tel: 31-416-690399
Fax: 31-416-690340
England - Berkshire
Tel: 44-118-921-5869
Fax: 44-118-921-5820
Taiwan - Hsinchu
Tel: 886-3-572-9526
Fax: 886-3-572-6459
China - Qingdao
Tel: 86-532-502-7355
Fax: 86-532-502-7205
Los Angeles
Mission Viejo, CA
Tel: 949-462-9523
Fax: 949-462-9608
San Jose
Mountain View, CA
Tel: 650-215-1444
Fax: 650-961-0286
Toronto
Mississauga, Ontario,
Canada
Tel: 905-673-0699
Fax: 905-673-6509
10/20/04
DS70119D-page 216
Preliminary
 2004 Microchip Technology Inc.
Similar pages