8 Bit Microcontroller TLCS-870/X Series TMP88CS42NG TMP88CS42NG The information contained herein is subject to change without notice. 021023 _ D TOSHIBA is continually working to improve the quality and reliability of its products. Nevertheless, semiconductor devices in general can malfunction or fail due to their inherent electrical sensitivity and vulnerability to physical stress. It is the responsibility of the buyer, when utilizing TOSHIBA products, to comply with the standards of safety in making a safe design for the entire system, and to avoid situations in which a malfunction or failure of such TOSHIBA products could cause loss of human life, bodily injury or damage to property. In developing your designs, please ensure that TOSHIBA products are used within specified operating ranges as set forth in the most recent TOSHIBA products specifications. Also, please keep in mind the precautions and conditions set forth in the “Handling Guide for Semiconductor Devices,” or “TOSHIBA Semiconductor Reliability Handbook” etc. 021023_A The Toshiba products listed in this document are intended for usage in general electronics applications (computer, personal equipment, office equipment, measuring equipment, industrial robotics, domestic appliances, etc.). These Toshiba products are neither intended nor warranted for usage in equipment that requires extraordinarily high quality and/or reliability or a malfunction or failure of which may cause loss of human life or bodily injury (“Unintended Usage”). Unintended Usage include atomic energy control instruments, airplane or spaceship instruments, transportation instruments, traffic signal instruments, combustion control instruments, medical instruments, all types of safety devices, etc. Unintended Usage of Toshiba products listed in this document shall be made at the customer's own risk. 021023_B The products described in this document shall not be used or embedded to any downstream products of which manufacture, use and/or sale are prohibited under any applicable laws and regulations. 060106_Q The information contained herein is presented only as a guide for the applications of our products. No responsibility is assumed by TOSHIBA for any infringements of patents or other rights of the third parties which may result from its use. No license is granted by implication or otherwise under any patent or patent rights of TOSHIBA or others. 021023_C The products described in this document may include products subject to the foreign exchange and foreign trade laws. 021023_F For a discussion of how the reliability of microcontrollers can be predicted, please refer to Section 1.3 of the chapter entitled Quality and Reliability Assurance/Handling Precautions. 030619_S © 2006 TOSHIBA CORPORATION All Rights Reserved Revision History Date Revision 2007/7/13 1 First Release Table of Contents TMP88CS42NG 1.1 1.2 1.3 1.4 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pin Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 3 4 5 2. Functional Description 2.1 Functions of the CPU Core . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.1.1 2.1.2 2.1.3 2.1.4 Memory Address Map............................................................................................................................... 9 Program Memory (ROM) ........................................................................................................................ 10 Data Memory (RAM) ............................................................................................................................... 10 System Clock Control Circuit .................................................................................................................. 11 2.1.4.1 2.1.4.2 2.1.4.3 2.1.4.4 Clock Generator Timing Generator Standby Control Circuit Controlling Operation Modes 2.1.5.1 2.1.5.2 2.1.5.3 2.1.5.4 External Reset Input Adress Trap Reset Watchdog Timer Reset System Clock Reset 2.1.5 Reset Circuit ........................................................................................................................................... 23 3. Interrupt Control Circuit 3.1 3.2 Interrupt latches (IL38 to IL2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Interrupt enable register (EIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.2.1 3.2.2 Interrupt master enable flag (IMF) .......................................................................................................... 27 Individual interrupt enable flags (EF38 to EF3) ...................................................................................... 27 3.3.1 3.3.2 Interrupt acceptance processing is packaged as follows........................................................................ 30 Saving/restoring general-purpose registers ............................................................................................ 31 3.3 Interrupt Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 3.3.2.1 3.3.2.2 3.3.2.3 3.3.2.4 Using Automatic register bank switcing Using register bank switching Using PUSH and POP instructions Using data transfer instructions 3.3.3 Interrupt return ........................................................................................................................................ 33 3.4.1 3.4.2 Address error detection .......................................................................................................................... 34 Debugging .............................................................................................................................................. 34 3.4 3.5 Software Interrupt (INTSW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 External Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4. Special Function Register 4.1 4.2 SFR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 DBR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 i 5. Input/Output Ports 5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8 Port P0 (P03 to P00) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Port P1 (P17 to P10) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Port P2 (P22 to P20) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Port P3 (P37 to P30) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Port P4 (P47 to P40) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Port P5 (P57 to P50) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Port P6 (P67 to P60) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Port P7 (P77 to P70) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 46 47 48 49 50 51 53 6. Time Base Timer (TBT) and Divider Output (DVO) 6.1 6.2 Time Base Timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Divider Output (DVO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 7. Watchdog Timer (WDT) 7.1 7.2 Watchdog Timer Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 Watchdog Timer Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 7.2.1 7.2.2 7.2.3 7.2.4 7.2.5 Malfunction Detection Methods Using the Watchdog Timer ................................................................... Watchdog Timer Enable ......................................................................................................................... Watchdog Timer Disable ........................................................................................................................ Watchdog Timer Interrupt (INTWDT)...................................................................................................... Watchdog Timer Reset ........................................................................................................................... 60 61 62 62 63 8. 16-Bit TimerCounter 1 (TC1) 8.1 8.2 8.3 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 TimerCounter Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 8.3.1 8.3.2 8.3.3 8.3.4 8.3.5 8.3.6 Timer mode............................................................................................................................................. External Trigger Timer Mode .................................................................................................................. Event Counter Mode ............................................................................................................................... Window Mode ......................................................................................................................................... Pulse Width Measurement Mode............................................................................................................ Programmable Pulse Generate (PPG) Output Mode ............................................................................. 68 70 72 73 74 77 9. 16-Bit Timer (CTC) 9.1 9.2 9.3 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 9.3.1 9.3.2 9.3.3 9.3.4 ii Timer mode with software start............................................................................................................... Timer mode with external trigger start .................................................................................................... Event counter mode................................................................................................................................ Programmable Pulse Generate (PPG) output mode .............................................................................. 85 86 87 88 10. 8-Bit TimerCounter 3 (TC3) 10.1 10.2 10.3 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 TimerCounter Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 10.3.1 Timer mode........................................................................................................................................... 95 Figure 10-3 ...................................................................................................................................................... 97 10.3.3 Capture Mode ....................................................................................................................................... 98 11. 8-Bit TimerCounter 4 (TC4) 11.1 11.2 11.3 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 TimerCounter Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 11.3.1 11.3.2 11.3.3 11.3.4 Timer Mode......................................................................................................................................... Event Counter Mode ........................................................................................................................... Programmable Divider Output (PDO) Mode ....................................................................................... Pulse Width Modulation (PWM) Output Mode .................................................................................... 101 101 101 102 12. 8-Bit TimerCounter 5,6(TC5, 6) 12.1 12.2 12.3 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 TimerCounter Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 12.3.1 12.3.2 12.3.3 12.3.4 12.3.5 12.3.6 12.3.7 12.3.8 8-Bit Timer Mode (TC5 and 6) ............................................................................................................ 8-Bit Event Counter Mode (TC5, 6) .................................................................................................... 8-Bit Programmable Divider Output (PDO) Mode (TC5, 6)................................................................. 8-Bit Pulse Width Modulation (PWM) Output Mode (TC5, 6).............................................................. 16-Bit Timer Mode (TC5 and 6) .......................................................................................................... 16-Bit Event Counter Mode (TC5 and 6) ............................................................................................ 16-Bit Pulse Width Modulation (PWM) Output Mode (TC5 and 6)...................................................... 16-Bit Programmable Pulse Generate (PPG) Output Mode (TC5 and 6) ........................................... 110 111 111 113 115 116 116 119 13. Motor Control Circuit (PMD: Programmable motor driver) 13.1 13.2 13.3 Outline of Motor Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 Configuration of the Motor Control Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 Position Detection Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 13.3.1 13.3.2 13.3.3 Configuration of the position detection unit......................................................................................... 126 Position Detection Circuit Register Functions..................................................................................... 127 Outline Processing in the Position Detection Unit .............................................................................. 130 13.4.1 Configuration of the Timer Unit ........................................................................................................... 132 13.4 13.5 Timer Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 13.4.1.1 13.4.1.2 Three-phase PWM Output Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 13.5.1 Configuration of the three-phase PWM output unit............................................................................. 136 13.5.1.1 13.5.1.2 13.5.2 13.5.3 13.5.4 13.5.5 13.6 Timer Circuit Register Functions Outline Processing in the Timer Unit Pulse width modulation circuit (PWM waveform generating unit) Commutation control circuit Register Functions of the Waveform Synthesis Circuit....................................................................... Port output as set with UOC/VOC/WOC bits and UPWM/VPWM/WPWM bits................................... Protective Circuit................................................................................................................................. Functions of Protective Circuit Registers ............................................................................................ 140 142 144 146 Electrical Angle Timer and Waveform Arithmetic Circuit . . . . . . . . . . . . . . . . . . 148 iii 13.6.1 Electrical Angle Timer and Waveform Arithmetic Circuit .................................................................... 149 13.6.1.1 13.6.1.2 Functions of the Electrical Angle Timer and Waveform Arithmetic Circuit Registers List of PMD Related Control Registers 14. Asynchronous Serial interface (UART) 14.1 14.2 14.3 14.4 14.5 14.6 14.7 14.8 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Transfer Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Transfer Rate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Data Sampling Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . STOP Bit Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Transmit/Receive Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.8.1 14.8.2 Data Transmit Operation .................................................................................................................... 166 Data Receive Operation ..................................................................................................................... 166 14.9.1 14.9.2 14.9.3 14.9.4 14.9.5 14.9.6 Parity Error.......................................................................................................................................... Framing Error...................................................................................................................................... Overrun Error ...................................................................................................................................... Receive Data Buffer Full..................................................................................................................... Transmit Data Buffer Empty ............................................................................................................... Transmit End Flag .............................................................................................................................. 14.9 161 162 164 165 165 166 166 166 Status Flag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 167 167 167 168 168 169 15. Synchronous Serial Interface (SIO) 15.1 15.2 15.3 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 Serial clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 15.3.1 Internal clock External clock 15.3.2.1 15.3.2.2 Leading edge Trailing edge 15.3.2 15.4 15.5 15.6 Clock source ....................................................................................................................................... 173 15.3.1.1 15.3.1.2 Shift edge............................................................................................................................................ 175 Number of bits to transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 Number of words to transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 Transfer Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 15.6.1 15.6.2 15.6.3 4-bit and 8-bit transfer modes ............................................................................................................. 176 4-bit and 8-bit receive modes ............................................................................................................. 178 8-bit transfer / receive mode ............................................................................................................... 179 16. 10-bit AD Converter (ADC) 16.1 16.2 16.3 16.3.1 16.3.2 16.3.3 Software Start Mode ........................................................................................................................... 185 Repeat Mode ...................................................................................................................................... 185 Register Setting ................................................................................................................................ 186 16.6.1 Analog input pin voltage range ........................................................................................................... 189 16.4 16.5 16.6 iv Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 Register configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182 Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 STOP mode during AD Conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 Analog Input Voltage and AD Conversion Result . . . . . . . . . . . . . . . . . . . . . . . 188 Precautions about AD Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 16.6.2 16.6.3 Analog input shared pins .................................................................................................................... 189 Noise Countermeasure ....................................................................................................................... 189 17. 8-Bit High-speed PWM (HPWM0 and HPWM1) 17.1 17.2 17.3 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 17.3.1 Operation modes ................................................................................................................................ 192 17.3.1.1 17.3.1.2 17.3.1.3 17.3.2 8-bit mode 7-bit mode 6-bit mode Setting output data.............................................................................................................................. 195 18. Input/Output Circuitry 18.1 18.2 Control pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197 Input/output ports. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198 19. Electrical Characteristics 19.1 19.2 19.3 19.4 19.5 19.5 19.5 19.5 19.6 19.7 Absolute Maximum Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operating Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DC Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . AD Conversion Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . AC Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .............................................................. 199 200 200 201 201 201 ............................................................................................................................................................... 201 ............................................................................................................................................................... 201 Recommended Oscillation Conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202 Handling Precaution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202 20. Package Dimensions This is a technical document that describes the operating functions and electrical specifications of the 8-bit microcontroller series TLCS-870/X (LSI). v vi TMP88CS42NG CMOS 8-Bit Microcontroller TMP88CS42NG Product No. ROM (MaskROM) RAM Package OTP MCU TMP88CS42NG 65536 bytes 2176 bytes SDIP64-P-750-1.78 TMP88PS42NG 1.1 Features 1. 8-bit single chip microcomputer TLCS-870/X series - Instruction execution time : 0.20 µs (at 20 MHz) - 181 types & 842 basic instructions 2. 35 interrupt sources (External : 6 Internal : 29) 3. Input / Output ports (55 pins) Large current output: 24pins (Typ. 20mA), LED direct drive 4. Prescaler - Time base timer Divider output function (DVO) 5. Watchdog Timer Select of "internal reset request" or "interrupt request". 6. 16-bit timer counter: 1 ch - Timer, External trigger, Window, Pulse width measurement, Event counter, Programmable pulse generate (PPG) modes 7. 16-bit timer/counter(CTC): 1ch - CTC:Timer,event counter or PPG (Programmable Pulse) output 8. 8-bit timer counter : 1 ch - Timer, Event counter, Capture modes 9. 8-bit timer counter : 1 ch 060116EBP • The information contained herein is subject to change without notice. 021023_D • TOSHIBA is continually working to improve the quality and reliability of its products. Nevertheless, semiconductor devices in general can malfunction or fail due to their inherent electrical sensitivity and vulnerability to physical stress. It is the responsibility of the buyer, when utilizing TOSHIBA products, to comply with the standards of safety in making a safe design for the entire system, and to avoid situations in which a malfunction or failure of such TOSHIBA products could cause loss of human life, bodily injury or damage to property. In developing your designs, please ensure that TOSHIBA products are used within specified operating ranges as set forth in the most recent TOSHIBA products specifications. Also, please keep in mind the precautions and conditions set forth in the “Handling Guide for Semiconductor Devices,” or “TOSHIBA Semiconductor Reliability Handbook” etc. 021023_A • The TOSHIBA products listed in this document are intended for usage in general electronics applications (computer, personal equipment, office equipment, measuring equipment, industrial robotics, domestic appliances, etc.). These TOSHIBA products are neither intended nor warranted for usage in equipment that requires extraordinarily high quality and/or reliability or a malfunctionor failure of which may cause loss of human life or bodily injury (“Unintended Usage”). Unintended Usage include atomic energy control instruments, airplane or spaceship instruments, transportation instruments, traffic signal instruments, combustion control instruments, medical instruments, all types of safety devices, etc. Unintended Usage of TOSHIBA products listed in this document shall be made at the customer's own risk. 021023_B • The products described in this document shall not be used or embedded to any downstream products of which manufacture, use and/or sale are prohibited under any applicable laws and regulations. 060106_Q • The information contained herein is presented only as a guide for the applications of our products. No responsibility is assumed by TOSHIBA for any infringements of patents or other rights of the third parties which may result from its use. No license is granted by implication or otherwise under any patent or patent rights of TOSHIBA or others. 021023_C • The products described in this document are subject to the foreign exchange and foreign trade laws. 021023_E • For a discussion of how the reliability of microcontrollers can be predicted, please refer to Section 1.3 of the chapter entitled Quality and Reliability Assurance/Handling Precautions. 030619_S Page 1 1.1 Features TMP88CS42NG - Timer, Event counter, Pulse width modulation (PWM) output, Programmable divider output (PDO) modes 10. 8-bit timer counter : 2 ch - Timer, Event counter, Programmable divider output (PDO), Pulse width modulation (PWM) output, Programmable pulse generation (PPG) modes 11. Programmable motor driver (PMD) : 2 ch - Sine wave drive circuit (built-in sine wave data-table RAM) Rotor position detect function Motor contro timer and capture function Overload protective function Auto commutation and auto position detection start function 12. 8-bit UART : 1 ch 13. 8-bit SIO: 1 ch 14. 10-bit successive approximation type AD converter - Analog input: 16 ch 15. 8-bit High-speed PWM (HPWM0 and HPWM1) 16. Clock oscillation circuit : 1 set 17. Low power consumption operation (2 modes) - STOP mode: Oscillation stops. (Battery/Capacitor back-up.) - IDLE mode: CPU stops. Only peripherals operate using high frequency clock. Release by interruputs (CPU restarts). 18. Operation voltage: 4.5 V to 5.5 V at 20MHz Page 2 TMP88CS42NG 1.2 Pin Assignment (U2) P52 (V2) P53 (W2) P54 (X2) P55 (Y2) P56 (Z2) P57 VSS XIN XOUT TEST VDD (TC3/INT3)P21 (PWM4/PDO4/TC4/INT4)P22 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 1 2 3 4 5 6 7 8 9 10 11 12 13 RESET 14 (STOP/INT5) P20 15 (Z1) P30 16 (Y1)P31 17 (X1) P32 18 (W1) P33 19 (V1) P34 20 (U1) P35 21 (EMG1) P36 22 (CL1) P37 23 (PDW1) P40 24 (PDV1) P41 25 (PDU1) P42 26 (SCK) P43 27 (SI/RXD1) P44 28 (SO/TXD1) P45 29 (PPG2) P46 30 (CTC) P47 31 (AIN0) P60 32 P51 (EMG2) P50 (CL2) P17 (PDW2) P16 (PDV2) P15 (PDU2) P14 (PPG1/PWM5/PDO5) P13 (TC5/DVO) P12 (INT2/TC1) P11 (INT1) P10 (INT0) P03 (HPWM1) P02 (HPWM0) P01 (TXD2/PDO6/PWM6/PPG6) P00 (RXD2/TC6) AVSS AVDD VAREF P77 (AIN15/DBOUT2) P76 (AIN14) P75 (AIN13) P74 (AIN12) P73 (AIN11) P72 (AIN10) P71 (AIN9) P70 (AIN8) P67 (AIN7/DBOUT1) P66 (AIN6) P65 (AIN5) P64 (AIN4) P63 (AIN3) P62 (AIN2) P61 (AIN1) Figure 1-1 Pin Assignment Page 3 1.3 Block Diagram TMP88CS42NG 1.3 Block Diagram Figure 1-2 Block Diagram Page 4 TMP88CS42NG 1.4 Pin Names and Functions Table 1-1 Pin Names and Functions(1/3) Pin Name Pin Number Input/Output Functions 54 IO O PORT03 High-spped PWM1 output 53 IO O PORT02 High-spped PWM0 output 52 IO O O PORT01 UART data output 2 PDO6/PWM6/PPG6 output P00 RXD2 TC6 51 IO I I PORT00 UART data input 2 TC6 input P17 PDW2 62 IO I PORT17 PMD control input W2 P16 PDV2 61 IO I PORT16 PMD control input V2 P15 PDU2 60 IO I PORT15 PMD control input U2 59 IO O O PORT14 PPG1 output PWM5/PDO5 output 58 IO I O PORT13 TC5 input Divider Output P12 INT2 TC1 57 IO I I PORT12 External interrupt 2 input TC1 input P11 INT1 56 IO I PORT11 External interrupt 1 input 55 IO I PORT10 External interrupt 0 input 13 IO I I O PORT22 External interrupt 4 input TC4 input PWM4/PDO4 output 12 IO I I PORT21 External interrupt 3 input TC3 pin input 15 IO I I PORT20 External interrupt 5 input STOP mode release signal input 23 IO I PORT37 PMD over load protection input1 22 IO I PORT36 PMD emergency stop input1 21 IO O PORT35 PMD control output U1 P03 HPWM1 P02 HPWM0 P01 TXD2 PDO6/PWM6/PPG6 P14 PPG1 PWM5/PDO5 P13 TC5 DVO P10 INT0 P22 INT4 TC4 PWM4/PDO4 P21 INT3 TC3 P20 INT5 STOP P37 CL1 P36 EMG1 P35 U1 Page 5 1.4 Pin Names and Functions TMP88CS42NG Table 1-1 Pin Names and Functions(2/3) Pin Name Pin Number Input/Output Functions P34 V1 20 IO O PORT34 PMD control output V1 P33 W1 19 IO O PORT33 PMD control output W1 P32 X1 18 IO O PORT32 PMD control output X1 P31 Y1 17 IO O PORT31 PMD control output Y1 P30 Z1 16 IO O PORT30 PMD control output Z1 P47 CTC 31 IO I PORT47 CTC input 30 IO O PORT46 PPG2 output P45 TXD1 SO 29 IO O O PORT45 UART data output 1 Serial Data Output P44 RXD1 SI 28 IO I I PORT44 UART data input 1 Serial Data Input 27 IO IO PORT43 Serial Clock I/O P42 PDU1 26 IO I PORT42 PMD control input U1 P41 PDV1 25 IO I PORT41 PMD control input V1 P40 PDW1 24 IO I PORT40 PMD control input W1 P57 Z2 6 IO O PORT57 PMD control output Z2 P56 Y2 5 IO O PORT56 PMD control output Y2 P55 X2 4 IO O PORT55 PMD control output X2 P54 W2 3 IO O PORT54 PMD control output W2 P53 V2 2 IO O PORT53 PMD control output V2 P52 U2 1 IO O PORT52 PMD control output U2 64 IO I PORT51 PMD emergency stop input2 63 IO I PORT50 PMD over load protection input2 39 IO I O PORT67 Analog Input7 PMD debug output1 P46 PPG2 P43 SCK P51 EMG2 P50 CL2 P67 AIN7 DBOUT1 Page 6 TMP88CS42NG Table 1-1 Pin Names and Functions(3/3) Pin Name Pin Number Input/Output Functions P66 AIN6 38 IO I PORT66 Analog Input6 P65 AIN5 37 IO I PORT65 Analog Input5 P64 AIN4 36 IO I PORT64 Analog Input4 P63 AIN3 35 IO I PORT63 Analog Input3 P62 AIN2 34 IO I PORT62 Analog Input2 P61 AIN1 33 IO I PORT61 Analog Input1 P60 AIN0 32 IO I PORT60 Analog Input0 P77 AIN15 DBOUT2 47 IO I O PORT77 Analog Input15 PMD debug output2 P76 AIN14 46 IO I PORT76 Analog Input14 P75 AIN13 45 IO I PORT75 Analog Input13 P74 AIN12 44 IO I PORT74 Analog Input12 P73 AIN11 43 IO I PORT73 Analog Input11 P72 AIN10 42 IO I PORT72 Analog Input10 P71 AIN9 41 IO I PORT71 Analog Input9 P70 AIN8 40 IO I PORT70 Analog Input8 XIN 8 I Resonator connecting pins for high-frequency clock XOUT 9 O Resonator connecting pins for high-frequency clock RESET 14 I Reset signal TEST 10 I Test pin for out-going test and the Serial PROM mode control pin. Usually fix to low level. Fix to high level when the Serial PROM mode starts. VAREF 48 I Analog Base Voltage Input Pin for A/D Conversion AVDD 49 I Analog Power Supply AVSS 50 I Analog Power Supply VDD 11 I +5V VSS 7 I 0(GND) Page 7 1.4 Pin Names and Functions TMP88CS42NG Page 8 TMP88CS42NG 2. Functional Description 2.1 Functions of the CPU Core The CPU core consists mainly of the CPU, system clock control circuit, and interrupt control circuit. This chapter describes the CPU core, program memory, data memory, and reset circuit of the TMP88CS42NG. 2.1.1 Memory Address Map The memory of the TMP88CS42NG consists of four blocks: ROM, RAM, SFR (Special Function Registers), and DBR (Data Buffer Registers), which are mapped into one 1-Mbyte address space. The general-purpose registers consist of 16 banks, which are mapped into the RAM address space. Figure 2-1 shows a memory address map of the TMP88CS42NG. SFR RAM (128 bytes) 00000H 0003FH 00040H 64 bytes 128 bytes 000BFH 000C0H RAM ( 2K bytes) 2048 bytes Special Function Register General-purpose Register Bank (8 registers × 16 banks) Random-Access Memory 008BFH 01F80H DBR 128 bytes 01FFFH Data Buffer Register (peripheral hardware control register / status register) 04000H 65280 bytes ROM ( 64K Kbytes) Program Memory 13EFFH FFF00H FFF3FH FFF40H FFF7FH FFF80H FFFFFH 64 bytes Interrupt Vector Table 64 bytes Vector Table for Vector Call Instructions 128 bytes Interrupt Vector Table SFR: Special Function Registers Input/output port Peripheral hardware control register Peripheral hardware status register RAM: Random Access Memory System control register Data memory Interrupt control register Stack Program status word General-purpose register bank ROM: Read-Only Memory Program memory Vector Table DBR: Data Buffer Registers Input/output port Peripheral hardware control register Peripheral hardware status register Figure 2-1 Memory address map Page 9 2. Functional Description 2.1 Functions of the CPU Core 2.1.2 TMP88CS42NG Program Memory (ROM) The TMP88CS42NG contains 64Kbytes program memory (MaskROM) located at addresses 04000H to 13EFFH and addresses FFF00H to FFFFFH. 2.1.3 Data Memory (RAM) The TMP88CS42NG contains 2Kbytes +128bytes RAM. The first 128bytes location (00040H to 000BFH) of the internal RAM is shared with a general-purpose register bank. The content of the data memory is indeterminate at power-on, so be sure to initialize it in the initialize routine. Example :Clearing the internal RAM of the TMP88CS42NG (clear all RAM addresses to 0, except bank 0) SRAMCLR: LD HL, 0048H ; Set the start address LD A, 00H ; Set the initialization data (00H) LD BC, 877H ; Set byte counts (-1) LD (HL+), A DEC BC JRS F, SRAMCLR Note:Because general-purpose registers exist in the RAM, never clear the current bank address of RAM. In the above example, the RAM is cleared except bank 0. Page 10 TMP88CS42NG 2.1.4 System Clock Control Circuit The System Clock Control Circuit consists of a clock generator, timing generator, and standby control circuit. Timing generator control register TBTCR 00036H Clock generator XIN fc High-frequency clock oscillator circuit Standby control circuit Timing generator XOUT 00038H SYSCR1 00039H SYSCR2 System control register System clocks Figure 2-2 System Clock Control Circuit 2.1.4.1 Clock Generator The Clock Generator generates the fundamental clock which serves as the reference for the system clocks supplied to the CPU core and peripheral hardware units. The high-frequency clock (frequency fc) can be obtained easily by connecting a resonator to the XIN and XOUT pins. Or a clock generated by an external oscillator can also be used. In this case, enter the external clock from the XIN pin and leave the XOUT pin open. The TMP88CS42NG does not support the CR network that produces a time constant. High-frequency Clock XIN XOUT XIN XOUT (Open) (a) Using a crystal or ceramic resonator (b) Using an external oscillator Figure 2-3 Example for Connecting a Resonator Adjusting the oscillation frequency Note: Although no hardware functions are provided that allow the fundamental clock to be monitored directly from the outside, the oscillation frequency can be adjusted by forwarding the pulse of a fixed frequency (e.g., clock output) to a port and monitoring it in a program while interrupts and the watchdog timer are disabled. For systems that require adjusting the oscillation frequency, an adjustment program must be created beforehand. 2.1.4.2 Timing Generator The Timing Generator generates various system clocks from the fundamental clock that are supplied to the CPU core and peripheral hardware units. The Timing Generator has the following functions: Page 11 2. Functional Description 2.1 Functions of the CPU Core TMP88CS42NG 1. Generate a divider output (DVO) pulse 2. Generate the source clock for the time base timer 3. Generate the source clock for the watchdog timer 4. Generate the internal source clock for the timer counter 5. Generate a warm-up clock when exiting STOP mode (1) Configuration of the Timing Generator The Timing Generator a 3-stage prescaler, 21-stage dividers, and a machine cycle counter. When reset and when entering/exiting STOP mode, the prescaler and dividers are cleared to 0. Machine cycle counter DV1CK Prescaler fc 0 1 2 S Divider A Y 1 2 3 4 5 6 Divider 7 8 9 10111213141516171819 2021 B Selector Standby control circuit Watchdog timer Timer counter Time base timer Divider Output etc. Figure 2-4 Configuration of the Timing Generator Page 12 TMP88CS42NG Divider Control Register CGCR (0030H) 7 6 5 4 0 0 DV1CK 3 Selects input clock to the first divider stage DV1CK 2 1 0 0 0 0 (Initial value: 000* *000) 0: fc/4 1: fc/8 R/W Note 1: fc: the high-frequency clock [Hz], *: Don’t care Note 2: The CGCR Register bits 4 and 3 show an indeterminate value when read. Note 3: Be sure to write “0” to CGCR Register bits 7, 6, 2, 1 and 0. Timing Generator Control Register TBTCR (0036H) 7 6 DVOEN 5 DVOCK 4 3 0 TBTEN 2 1 0 TBTCK (Initial value: 0000 0000) Note 1: *: Don’t care Note 2: Be sure to write “0” to TBTCR Register bit 4. (2) Machine cycle Instruction execution and the internal hardware operations are synchronized to the system clocks. The minimum unit of instruction execution is referred to as the “mgmachine cycle”. The TLCS870/X series has 15 types of instructions, from 1-cycle instructions which are executed in one machine cycle up to 15-cycle instructions that require a maximum of 15 machine cycles. A machine cycle consists of four states (S0 to S3), with each state comprised of one main system clock cycle. 1/fc Main system clock States S0 S1 S2 S3 S0 Machine cycle (0.20 µs at 20 MHz) Figure 2-5 Machine Cycles Page 13 S1 S2 S3 2. Functional Description 2.1 Functions of the CPU Core 2.1.4.3 TMP88CS42NG Standby Control Circuit The Standby Control Circuit starts/stops the high-frequency clock oscillator circuit and selects the main system clock. The System Control Registers (SYSCR1, SYSCR2) are used to control operation modes of this circuit. Figure 2-6 shows an operation mode transition diagram, followed by description of the System Control Registers. (1) Single clock mode Only the high-frequency clock oscillator circuit is used. Because the main system clock is generated from the high-frequency clock, the machine cycle time in single clock mode is 4/fc [s]. 1. NORMAL mode In this mode, the CPU core and peripheral hardware units are operated with the high-frequency clock. The TMP88CS42NG enters this NORMAL mode after reset. 2. IDLE mode In this mode, the CPU and watchdog timer are turned off while the peripheral hardware units are operated with the high-frequency clock. IDLE mode is entered into by using System Control Register 2. The device is placed out of this mode and back into NORMAL mode by an interrupt from the peripheral hardware or an external interrupt. When IMF (interrupt master enable flag) = 1 (interrupt enabled), the device returns to normal operation after the interrupt has been serviced. When IMF = 0 (interrupt disabled), the device restarts execution beginning with the instruction next to one that placed it in IDLE mode. 3. STOP mode The entire system operation including the oscillator circuit is halted, retaining the internal state immediately before being stopped, with a minimal amount of power consumed. STOP mode is entered into by using System Control Register 1, and is exited by STOP pin input (level or edge selectable). After an elapse of the warm-up time, the device restarts execution beginning with the instruction next to one that placed it in STOP mode. Table 2-1 Single Clock Mode Oscillator Circuit Operation Mode High Frequency Low Frequency CPU Core Peripheral Circuit Reset Reset RESET Single Clock NORMAL Machine Cycle Time Operate Oscillate 4/fc [s] Operate IDLE Stop STOP Stop Stop - RESET Instruction IDLE mode Reset deasserted Instruction NORMAL mode Interrupt STOP mode Input for releasing mode Figure 2-6 Operation Mode Transition Diagram Page 14 TMP88CS42NG System Control Register 1 SYSCR1 (0038H) 7 6 5 4 STOP RELM RETM OUTEN 3 2 1 0 WUT (Initial value: 0000 00**) STOP Place the device in STOP mode 0: Keep the CPU core and peripheral hardware operating 1: Stop the CPU core and peripheral hardware (placed in STOP mode) RELM Select method by which the device is released from STOP mode 0: Released by a rising edge on STOP pin input 1: Released by a high level on STOP pin input RETM Select operation mode after exiting STOP mode 0: Returns to NORMAL mode 1: Reserved Select port output state during STOP mode 0: High-impedance state 1: Hold output OUTEN R/W When Returning to NORMAL Mode WUT Unit of warm-up time when exiting STOP mode DV1CK = 0 DV1CK = 1 00 3 × 216/fc 3 × 217/fc 01 216/fc 217/fc 10 214/fc 215/fc 11 Reserved Reserved Note 1: When entering from NORMAL mode into STOP mode, always be sure to set SYSCR1<RETM> to 0. Note 2: When the device is released from STOP mode by RESET pin input, it always returns to NORMAL mode regardless of how SYSCR1<RETM> is set. Note 3: fc: High-frequency clock [Hz], *: Don’t care Note 4: The values of the SYSCR1 Register bits 1 and 0 are indeterminate when read. Note 5: When placed the device in STOP mode, make sure to set "1" to SYSCR1<OUTEN>. Note 6: Releasing the device from the STOP mode causes the STOP bit to be automatically cleared to “0”. Note 7: Select an appropriate value for the warm-up time according to the characteristic of the resonator used. System Control Register 2 SYSCR2 (0039H) 7 6 5 4 XEN 0 SYSCK IDLE XEN SYSCK IDLE 3 2 1 0 (Initial value: 1000 ****) Control high-frequency oscillator 0: Stop oscillation 1: Continue or start oscillating R/W Select (write)/monitor (read) system clock 0: High-frequency clock (NORMAL/IDLE) 1: Reserved R/W Place the device in IDLE mode 0: Keep the CPU and WDT operating 1: Stop the CPU and WDT (IDLE mode entered) R/W RETM Operation Mode after Releasing STOP Mode XEN SYSCK 0 NORMAL mode 1 0 1 No operation 0 1 Note 1: When exiting STOP mode, SYSCR2<XEN and SYSCK> are automatically rewritten according to SYSCR1<RETM>.. Note 2: When SYSCR2<XEN>is cleared to 0, the device is reset. Note 3: WDT: Watchdog Timer, *: Don’t care Note 4: Be sure to write "0" to SYSCR2 Register bit6. Note 5: The values of the SYSCR2 Register bits 3 to 0 are indeterminate when read. Note 6: Change the operation mode after disabling external interrupts. If interrupts are enabled after changing operation mode, clear interrupt latches as appropriate in advance. Page 15 2. Functional Description 2.1 Functions of the CPU Core 2.1.4.4 TMP88CS42NG Controlling Operation Modes (1) STOP mode STOP mode is controlled by System Control Register 1 (SYSCR1) and the STOP pin input. The STOP pin is shared with P20 port and INT5 (external interrupt input 5). STOP mode is entered into by setting STOP (SYSCR1 Register bit 7) to 1. During STOP mode, the device retains the following state. 1. Stop oscillation, thereby stopping operation of all internal circuits. 2. The data memory, register, program status word, and port output latch hold the state in which they were immediately before entering STOP mode. 3. Clear the prescaler and divider for the timing generator to 0. 4. The program counter holds the instruction address two instructions ahead the one that placed the device in STOP mode (e.g., “SET (SYSCR1).7”). The device is released from STOP mode by the active level or edge on STOP pin input as selected by SYSCR1<RELM>. Note: Before entering STOP mode, be sure to disable interrupts. This is because if the signal on an external interrupt pin changes state during STOP (from entering STOP mode till completion of warm-up) the interrupt latch is set to 1, so that the device may accept the interrupt immediately after exiting STOP mode. Also, when reenabling interrupts after exiting STOP mode, be sure to clear the unnecessary interrupt latches beforehand. a. Released by level (when RELM = 1) The device is released from STOP mode by a high level on STOP pin input. Any instruction to place the device in STOP mode is ignored when executed while STOP pin input level is high, and the device immediately goes to a release sequence (warm-up) without entering STOP mode. Therefore, before STOP mode can be entered while RELM = 1, the STOP pin input must be verified to be low in a program. There are following methods to do this verification. 1. Testing the port status 2. INT5 interrupt (interrupt generated at a falling edge on INT5 pin input) Example 1 :Entering STOP mode from NORMAL mode by testing P20 port SSTOPH : LD (SYSCR1), 01010000B ; Select to be released from STOP mode by level TEST (P2DR) . 0 ; Wait until STOP pin input goes low JRS F, SSTOPH ; IMF ← 0 DI SET (SYSCR1) . 7 ; Place the device in STOP mode Example 2 :Entering STOP mode from NORMAL mode by INT5 interrupt PINT5 : TEST (P2DR) . 0 ; Do not enter STOP mode if P20 port input level is high, to eliminate noise JRS F, SINT5 ; Do not enter STOP mode if P20 port input level is high, to eliminate noise LD (SYSCR1), 01010000B ; Select to be released from STOP mode by level ; IMF ← 0 DI SET SINT5 : (SYSCR1) . 7 ; Place the device in STOP mode RETI Page 16 TMP88CS42NG VIH STOP pin XOUT pin STOP mode NORMAL operation Warm-up Detect low on STOP pin input in a program before entering STOP mode NORMAL operation Released from STOP mode in hardware Always released by a high level on STOP pin input Figure 2-7 Released from STOP Mode by Level Note 1: Once warm-up starts, the device does not return to STOP mode even when the STOP pin input is pulled low again. Note 2: If RELM is changed to 1 (level mode) after being set to 0 (edge mode), STOP mode remains unchanged unless a rising edge on STOP pin input is detected. a. Released by edge (when RELM = 0) The device is released from STOP mode by a rising edge on STOP pin input. This method is used in applications where a relatively short time of program processing is repeated at certain fixed intervals. Apply a fixed-period signal (e.g., clock from the low-power oscillating source) to the STOP pin. When RELM = 0 (edge mode), the device is placed in STOP mode even when the STOP pin input level is high. Example :Entering STOP mode from NORMAL mode ; IMF ← 0 DI LD (SYSCR1) , 10010000B ; Set to be released by edge when entering STOP mode VIH STOP pin XOUT pin NORMAL operation STOP mode Warm-up Placed into STOP mode in a program NORMAL operation STOP mode Released from STOP mode in hardware by a rising edge on STOP pin input. Figure 2-8 Released from STOP Mode by Edge Page 17 2. Functional Description 2.1 Functions of the CPU Core TMP88CS42NG The device is released from STOP mode following the sequence described below. 1. Only the high-frequency oscillator is oscillating. 2. A warm-up time is inserted in order to allow for the clock oscillation to stabilize. During warm-up, the internal circuits remain idle. The warm-up time can be selected from three choices according to the oscillator characteristics by using SYSCR1<WUT>. 3. After an elapse of the warm-up time, the device restarts normal operation beginning with the instruction next to one that placed it in STOP mode. At this time, the prescaler and divider for the timing generator start from the zero-cleared state. Table 2-2 Warm-up Time (Example: fc = 20 MHz) Warm-up Time [ms] WUT When Returning to NORMAL Mode DV1CK = 0 DV1CK = 1 00 9.831 19.662 01 3.277 6.554 10 0.819 1.638 11 Reserved Reserved Note: Because the warm-up time is obtained from the fundamental clock by dividing it, if the oscillation frequency fluctuates while exiting STOP mode, the warm-up time becomes to have some error. Therefore, the warm-up time must be handled as an approximate value. The device can also be released from STOP mode by pulling the RESET pin input low, in which case the device is immediately reset as is normally reset by RESET. After reset, the device starts operating from NORMAL mode. Note: When exiting STOP mode while the device is retained at low voltage, the following caution is required. Before exiting STOP mode, the power supply voltage must be raised to the operating voltage. At this time, the RESET pin level also is high and rises along with the power supply voltage. If the device has a time-constant circuit added external to the chip, the voltage on RESET pin input does not rise as fast as the power supply voltage. Therefore, if the voltage level on RESET pin input is below the RESET pin’s noninverted, high-level input voltage (hysteresis input), the device may be reset. Page 18 Page 19 Divider Instruction execution Program counter Main system clock Oscillator circuit STOP pin input Divider Instruction execution Program counter Main system clock Oscillator circuit 0 Stop Stop n Oscillation Oscillation n+1 n+2 SET (SYSCR1). 7 n+3 a+3 Count up Warm-up a+3 (b) Exiting STOP mode 0 1 Instruction at address a + 2 a+4 (a) Entering STOP mode (Example: Entered into by the SET (SYSCR1). 7 instruction placed at address a) a+2 2 Instruction at address a + 3 a+5 n+4 0 3 Instruction at address a + 4 a+6 Stop Stop TMP88CS42NG Figure 2-9 Entering and Exiting STOP Mode (when DV1CK = 0) 2. Functional Description 2.1 Functions of the CPU Core (2) TMP88CS42NG IDLE mode IDLE mode is controlled by System Control Register 2 (SYSCR2) and a maskable interrupt. During IDLE mode, the device retains the following state. 1. The CPU and watchdog timer stop operating. The peripheral hardware continues operating. 2. The data memory, register, program status word, and port output latch hold the state in which they were immediately before entering IDLE mode. 3. The program counter holds the instruction address two instructions ahead the one that placed the device in IDLE mode. Example :Placing the device in IDLE mode SET (SYSCR2) . 4 Place the device in IDLE mode (by instruction) Stop the CPU and WDT Yes Reset input ? Reset No No Interrupt request ? Yes No (Released normally) IMF = 1 Yes (Released by interrupt) Interrupt handling Execute the instruction next to one that placed device IDLE mode Figure 2-10 IDLE Mode Page 20 TMP88CS42NG The device can be released from IDLE mode normally or by an interrupt as selected with the interrupt master enable flag (IMF). a. Released normally (when IMF = 0) The device can be released from IDLE mode by the interrupt source enabled by the interrupt individual enable flag (EF), and restarts execution beginning with the instruction next to one that placed it in IDLE mode. The interrupt latch (IL) for the interrupt source used to exit IDLE mode normally needs to be cleared to 0 using a load instruction. b. Released by interrupt (when IMF = 1) The device can be released from IDLE mode by the interrupt source enabled by the interrupt individual enable flag (EF), and enters interrupt handling. After interrupt handling, the device returns to the instruction next to one that placed it in IDLE mode. The device can also be released from IDLE mode by pulling the RESET pin input low, in which case the device is immediately reset as is normally reset by RESET. After reset, the device starts operating from NORMAL mode. Note: If a watchdog timer interrupt occurs immediately before entering IDLE mode, the device processes the watchdog timer interrupt without entering IDLE mode. Page 21 Page 22 Figure 2-11 Entering and Exiting IDLE Mode IDLE IDLE Watchdog timer IDLE IDLE Instruction execution Program counter Interrupt request Main system clock Watchdog timer Instruction execution Program counter Interrupt request Main system clock Watchdog timer Instruction execution Program counter Interrupt request Main system clock SET (SYSCR2). 4 Operating (b) Exiting IDLE mode 2. Released by interrupt a+3 1. Released normally a+3 Operating Operating Interrupt accepted Instruction at address a + 2 a+4 (a) Entering IDLE mode (Example: Entered into by the SET instruction placed at address a) a+2 IDLE a+3 2.1 Functions of the CPU Core 2. Functional Description TMP88CS42NG TMP88CS42NG 2.1.5 Reset Circuit The TMP88CS42NG has four ways to generate a reset: external reset input, address trap reset, watchdog timer reset, or system clock reset. Table 2-3 shows how the internal hardware is initialized by reset operation. At power-on time, the internal cause reset circuits (watchdog timer reset, address trap reset, and system clock reset) are not initialized. Table 2-3 Internal Hardware Initialization by Reset Operation Internal Hardware Initial Value Program Counter (PC) Internal Hardware (FFFFEH to FFFFCH) Stack Pointer (SP) Not initialized General-purpose Registers (W, A, B, C, D, E, H, L) Not initialized Register Bank Selector (RBS) 0 Jump Status Flag (JF) 1 Prescaler and divider for the timing generator Watchdog timer Zero Flag (ZF) Not initialized Carry Flag (CF) Not initialized Half Carry Flag (HF) Not initialized Sign Flag (SF) Not initialized Overflow Flag (VF) Not initialized Interrupt Master Enable Flag (IMF) 0 Interrupt Individual Enable Flag (EF) 0 Interrupt Latch (IL) 0 Interrupt Nesting Flag (INF) 0 2.1.5.1 Initial Value 0 Enable Output latch of input/output port See description of each input/output port. Control register See description of each control register. RAM Not initialized External Reset Input The RESET pin is a hysteresis input with a pull-up resistor included. By holding the RESET pin low for at least three machine cycles (12/fc [s]) or more while the power supply voltage is within the rated operating voltage range and the oscillator is oscillating stably, the device is reset and its internal state is initialized. When the RESET pin input is released back high, the device is freed from reset and starts executing the program beginning with the vector address stored at addresses FFFFCH to FFFFEH. VDD Reset input RESET Figure 2-12 Reset Circuit 2.1.5.2 Adress Trap Reset If the CPU should start looping for reasons of noise, etc. and attempts to fetch instructions from the internal RAM,SFR or DBR area, the device generats an internal reset. The addess trap permission/prohibition is set by the address trap reset control register (ATAS,ATKEY). The address trap is permited initially and the internal reset is generated by fetching from internal RAM,SFR or DBR area. If the address trap is prohibited, instructions in the internal RAM area can be executed. Page 23 2. Functional Description 2.1 Functions of the CPU Core TMP88CS42NG Address Trap Control Register ATAS (1F94H) 7 6 5 4 3 2 1 0 - - - - - - - ATAS ATAS Select the address trap permission / prohibition (initial value: **** ***0) 0: Permit address trap 1: Prohibit address trap (It may be available after setting control code for ATKEY register) Write only Address Trap Control Code Register ATKEY (1F95H) 7 6 5 4 3 2 1 0 (initial value: **** ****) ATKEY Write control code to prohibit address trap D2H: Address trap prohibition code Others: Ineffective Write only Note: Read-modify-write instructions, such as a bit manipulation, cannot access ATAS or ATKEY register because these register are write only. Note 1: In development tools, address trap cannot be prohibited in the internal RAM,SFR or DBR area with the address trap control registers. When using development tools, even if the address trap permission/prohibition setting is changed in the user’s program, this change is ineffective. To execute instructions from the RAM area, development tools must be set accordingly. Note 2: While the SWI instruction at an address immediately before the address trap area is executing, the program counter is incremented to point to the next address in the address trap area; an address trap is therefore taken immediately. Development tool setting • To prohibit the address trap: 1. Modify the iram (mapping attribute) area to (00040H to 000BFH) in the memory map window. 2. Set 000C0H to "address trap prohibition area" as a new eram (mapping attribute) area. 3. Load the user program 4. Execute the address trap prohibition code in the user’s program 2.1.5.3 Watchdog Timer Reset Refer to the Section “Watchdog Timer.” 2.1.5.4 System Clock Reset When SYSCR2<XEN> is cleared to 0 or when SYSCR2<XEN> is cleared to 0 while SYSCR2<SYSCK> = 0, the system clock is turned off, causing the CPU to become locked up. To prevent this problem, upon detecting SYSCR2<XEN> = 0, SYSCR2<XEN> = SYSCR2<SYSCK> = 0 or SYSCR2<SYSCK> = 1, the device automatically generates an internal reset signal to let the system clock continue oscillating. Page 24 TMP88CS42NG 3. Interrupt Control Circuit The TMP88CS42NG has a total of 35 interrupt sources excluding reset. Interrupts can be nested with priorities. Two of the internal interrupt sources are pseudo nonmaskable while the rest are maskable. Interrupt sources are provided with interrupt latches (IL), which hold interrupt requests, and independent vectors. The interrupt latch is set to “1” by the generation of its interrupt request which requests the CPU to accept its interrupts. Interrupts are enabled or disabled by software using the interrupt master enable flag (IMF) and interrupt enable flag (EF). If more than one interrupts are generated simultaneously, interrupts are accepted in order which is dominated by hardware. However, there are no prioritized interrupt factors among non-maskable interrupts. Interrupt Factors Internal/External Enable Condition Interrupt Latch Vector Address Priority (Reset) Nonmaskable – FFFFC High 0 Internal INTSWI (Software interrupt) Pseudo nonmaskable – FFFF8 1 Internal INTWDT (Watchdog timer interrupt) External INT0 (External interrupt 0) Pseudo nonmaskable IL2 FFFF4 2 IMF• EF3 = 1, INT0EN = 1 IL3 FFFF0 3 Reserved IMF• EF4 = 1 IL4 FFFEC 4 External INT1 (External interrupt 1) IMF• EF5 = 1 IL5 FFFE8 5 Internal INTTBT (TBT interrupt) IMF• EF6 = 1 IL6 FFFE4 6 Reserved IMF• EF7 = 1 IL7 FFFE0 7 Internal INTEMG1 (ch1 Error detect interrupt) IMF• EF8 = 1 IL8 FFFDC 8 Internal INTEMG2 (ch2 Error detect interrupt) IMF• EF9 = 1 IL9 FFFD8 9 Internal INTCLM1 (ch1 Overload protection interrupt) IMF• EF10 = 1 IL10 FFFD4 10 Internal INTCLM2 (ch2 Overload protection interrupt) IMF• EF11 = 1 IL11 FFFD0 11 Internal INTTMR31 (ch1 Timer 3 interrupt) IMF• EF12 = 1 IL12 FFFCC 12 Internal INTTMR32 (ch2 Timer 3 interrupt) IMF• EF13 = 1 IL13 FFFC8 13 Reserved IMF• EF14 = 1 IL14 FFFC4 14 External INT5 (External interrupt 5) IMF• EF15 = 1 IL15 FFFC0 15 Internal INTPDC1 (ch1 Posision detect interrupt) IMF• EF16 = 1 IL16 FFFBC 16 Internal INTPDC2 (ch2 Posision detect interrupt) IMF• EF17 = 1 IL17 FFFB8 17 Internal INTPWM1 (ch1 Waveform generater interrupt) IMF• EF18 = 1 IL18 FFFB4 18 Internal INTPWM2 (ch2 Waveform generater interrupt) IMF• EF19 = 1 IL19 FFFB0 19 Internal INTEDT1 (ch1 Erectric angle Timer interrupt) IMF• EF20 = 1 IL20 FFFAC 20 Internal INTEDT2 (ch2 Erectric angle Timer interrupt) IMF• EF21 = 1 IL21 FFFA8 21 Internal INTTMR11 (ch1 Timer1 interrupt) IMF• EF22 = 1 IL22 FFFA4 22 Internal INTTMR12 (ch2 Timer1 interrupt) IMF• EF23 = 1 IL23 FFFA0 23 Internal INTTMR21 (ch1 Timer2 interrupt) IMF• EF24 = 1 IL24 FFF9C 24 Internal INTTMR22 (ch2 Timer2 interrupt) IMF• EF25 = 1 IL25 FFF98 25 Internal INTTC1 (TC1 interrupt) IMF• EF26 = 1 IL26 FFF94 26 Internal INTCTC1 (CTC interrupt) IMF• EF27 = 1 IL27 FFF90 27 Internal INTTC6 (TC6 8bit/16bit interrupt) IMF• EF28 = 1 IL28 FFF8C 28 External INT2 (External interrupt 2) IMF• EF29 = 1 IL29 FFF88 29 External INT3 (External interrupt 3) IMF• EF30 = 1 IL30 FFF84 30 External INT4 (External interrupt 4) IMF• EF31 = 1 IL31 FFF80 31 Internal INTRXD (UART receive interrupt) IMF• EF32 = 1 IL32 FFF3C 32 Internal INTTXD (UART transmit interrupt) IMF• EF33 = 1 IL33 FFF38 33 Internal INTSIO (SIO interrupt) IMF• EF34 = 1 IL34 FFF34 34 Internal INTTC3 (TC3 interrupt) IMF• EF35= 1 IL35 FFF30 35 Internal INTTC4 (TC4 interrupt) IMF• EF36 = 1 IL36 FFF2C 36 Internal INTTC5 (TC5 interrupt) IMF• EF37 = 1 IL37 FFF28 37 Internal INTADC (A/D converter interrupt) IMF• EF38 = 1 IL38 FFF24 Low 38 Page 25 3. Interrupt Control Circuit 3.1 Interrupt latches (IL38 to IL2) TMP88CS42NG Note 1: To use the watchdog timer interrupt (INTWDT), clear WDTCR1<WDTOUT> to "0" (It is set for the "Reset request" after reset is released). It is described in the section "Watchdog Timer" for details. 3.1 Interrupt latches (IL38 to IL2) An interrupt latch is provided for each interrupt source, except for a software interrupt and an executed the undefined instruction interrupt. When interrupt request is generated, the latch is set to “1”, and the CPU is requested to accept the interrupt if its interrupt is enabled. The interrupt latch is cleared to "0" immediately after accepting interrupt. All interrupt latches are initialized to “0” during reset. The interrupt latches are located on address 003CH, 003DH, 002EH, 002FH and 002BH in SFR area. Each latch can be cleared to "0" individually by instruction. However, IL2 and IL3 should not be cleared to "0" by software. For clearing the interrupt latch, load instruction should be used and then IL2 should be set to "1". If the read-modifywrite instructions such as bit manipulation or operation instructions are used, interrupt request would be cleared inadequately if interrupt is requested while such instructions are executed. Since interrupt latches can be read, the status for interrupt requests can be monitored by software. But interrupt latches are not set to “1” by an instruction. Note: In main program, before manipulating the interrupt enable flag (EF) or the interrupt latch (IL), be sure to clear IMF to "0" (Disable interrupt by DI instruction). Then set IMF newly again as required after operating on the EF or IL (Enable interrupt by EI instruction) In interrupt service routine, because the IMF becomes "0" automatically, clearing IMF need not execute normally on interrupt service routine. However, if using multiple interrupt on interrupt service routine, manipulating EF or IL should be executed before setting IMF="1". Example 1 :Clears interrupt latches ; IMF ← 0 DI LD (ILL), 1110100000111111B ; IL2 to IL7 ← 0 LD (ILH), 1110100000111111B ; IL8 to IL15 ← 0 LD (ILE), 1110100000111111B ; IL16 to IL23 ← 0 LD (ILD), 1110100000111111B ; IL24 to IL31 ← 0 LD (ILC), 1110100000111111B ; IL32 toIL38 ← 0 ; IMF ← 1 EI Example 2 :Reads interrupt latches LD WA, (ILL) ; W ← (ILH), A ← (ILL) LD BC, (ILE) ; B ← (ILD), C ← (ILE) LD D, (ILC) ; D ← (ILC) TEST (ILL). 7 ; if IL7 = 1 then jump JR F, SSET Example 3 :Tests interrupt latches Page 26 TMP88CS42NG 3.2 Interrupt enable register (EIR) The interrupt enable register (EIR) enables and disables the acceptance of interrupts, except for the pseudo nonmaskable interrupts (Software interrupt, undefined instruction interrupt, address trap interrupt and watchdog interrupt). Pseudo non-maskable interrupt is accepted regardless of the contents of the EIR. The EIR consists of an interrupt master enable flag (IMF) and the individual interrupt enable flags (EF). These registers are located on address 003AH, 003BH, 002CH, 002DH and 002AH in SFR area, and they can be read and written by an instructions (Including read-modify-write instructions such as bit manipulation or operation instructions). 3.2.1 Interrupt master enable flag (IMF) The interrupt enable register (IMF) enables and disables the acceptance of the whole maskable interrupt. While IMF = “0”, all maskable interrupts are not accepted regardless of the status on each individual interrupt enable flag (EF). By setting IMF to “1”, the interrupt becomes acceptable if the individuals are enabled. When an interrupt is accepted, IMF is cleared to “0” after the latest status on IMF is stacked. Thus the maskable interrupts which follow are disabled temporarily. IMF flag is set to "1" by the maskable interrupt return instruction [RETI] after executing the interrupt service program routine, and MCU can accept the interrupt again. The latest interrupt request is generated already, it is available immediately after the [RETI] instruction is executed. On the pseudo non-maskable interrupt, the non-maskable return instruction [RETN] is adopted. In this case, IMF flag is set to "1" only when it performs the pseudo non-maskable interrupt service routine on the interrupt acceptable status (IMF=1). However, IMF is set to "0" in the pseudo non-maskable interrupt service routine, it maintains its status (IMF="0"). The IMF is located on bit0 in EIRL (Address: 003AH in SFR), and can be read and written by an instruction. The IMF is normally set and cleared by [EI] and [DI] instruction respectively. During reset, the IMF is initialized to “0”. 3.2.2 Individual interrupt enable flags (EF38 to EF3) Each of these flags enables and disables the acceptance of its maskable interrupt. Setting the corresponding bit of an individual interrupt enable flag to “1” enables acceptance of its interrupt, and setting the bit to “0” disables acceptance. During reset, all the individual interrupt enable flags (EF38 to EF3) are initialized to “0” and all maskable interrupts are not accepted until they are set to “1”. Note:In main program, before manipulating the interrupt enable flag (EF) or the interrupt latch (IL), be sure to clear IMF to "0" (Disable interrupt by DI instruction). Then set IMF newly again as required after operating on the EF or IL (Enable interrupt by EI instruction) In interrupt service routine, because the IMF becomes "0" automatically, clearing IMF need not execute normally on interrupt service routine. However, if using multiple interrupt on interrupt service routine, manipulating EF or IL should be executed before setting IMF="1". Example :Enables interrupts individually and sets IMF ; IMF ← 0 DI SET (EIRL), .5 ; EF5 ← 1 CLR (EIRL), .6 ; EF6 ← 0 CLR (EIRH), .4 ; EF12 ← 0 CLR (EIRD), .0 ; EF24 ← 0 : ; IMF ← 1 EI Page 27 3. Interrupt Control Circuit 3.2 Interrupt enable register (EIR) TMP88CS42NG Interrupt Latches (Initial value: 0*000000 *00*0000) ILH,ILL (003DH, 003CH) 15 14 13 12 11 10 9 8 7 6 5 4 3 2 IL15 - IL13 IL12 IL11 IL10 IL9 IL8 - IL6 IL5 - IL3 IL2 ILH (003DH) 1 0 INF ILL (003CH) (Initial value: 00000000 00000000) ILD,ILE (002FH, 002EH) 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 IL31 IL30 IL29 IL28 IL27 IL26 IL25 IL24 IL23 IL22 IL21 IL20 IL19 IL18 IL17 IL16 ILD (002FH) ILE (002EH) (Initial value: *0000000) ILC (002BH) 7 6 5 4 3 2 1 0 - IL38 IL37 IL36 IL35 IL34 IL33 IL32 ILE (002BH) Read IL38 to IL2 Interrupt latches INF Write 0: No interrupt request Interrupt Nesting Flag 1: Interrupt request 0: Clears the interrupt request (Note1) 1: (Unable to set interrupt latch) 00: Out of interrupt service 01: On interrupt service of level 1 01: On interrupt service of more than level 2 01: On interrupt service of more than 00: Reserved 01: Clear the nesting counter 10: Count-down 1 step for the nesting counter (Note2) 11: Reserved R/W level 3 Note 1: IL2 cannot alone be cleard. Note 2: Unable to detect the under-flow of counter. Note 3: The nesting counter is set "0" initially, it performs count-up by the interrupt acceptance and count-down by executing the interrupt return instruction. Note 4: In main program, before manipulating the interrupt enable flag (EF) or the interrupt latch (IL), be sure to clear IMF to "0" (Disable interrupt by DI instruction). Then set IMF newly again as required after operating on the EF or IL (Enable interrupt by EI instruction) In interrupt service routine, because the IMF becomes "0" automatically, clearing IMF need not execute normally on interrupt service routine. However, if using multiple interrupt on interrupt service routine, manipulating EF or IL should be executed before setting IMF="1". Note 5: Do not clear IL with read-modify-write instructions such as bit operations. Interrupt Enable Registers (Initial value: 0*000000 *00*0**0) EIRH,EIRL (003BH, 003AH) 15 14 13 12 11 10 9 8 7 6 5 4 3 EF15 - EF13 EF12 EF11 EF10 EF9 EF8 - EF6 EF5 - EF3 EIRH (003BH) 2 1 0 IMF EIRL (003AH) (Initial value: 00000000 00000000) EIRD,EIRE (002DH, 002CH) 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 EF31 EF30 EF29 EF28 EF27 EF26 EF25 EF24 EF23 EF22 EF21 EF20 EF19 EF18 EF17 EF16 EIRD (002DH) EIRE (002CH) (Initial value: *0000000) EIRE (002AH) 7 6 5 - EF38 EF37 4 3 2 1 0 EF36 EF35 EF34 EF33 EF32 EIRE (002AH) Page 28 TMP88CS42NG EF38 to EF3 Individual-interrupt enable flag (Specified for each bit) 0: 1: Disables the acceptance of each maskable interrupt. Enables the acceptance of each maskable interrupt. Interrupt master enable flag 0: 1: Disables the acceptance of all maskable interrupts Enables the acceptance of all maskable interrupts R/W IMF Note 1: Do not set IMF and the interrupt enable flag (EF38 to EF3) to “1” at the same time. Note 2: In main program, before manipulating the interrupt enable flag (EF) or the interrupt latch (IL), be sure to clear IMF to "0" (Disable interrupt by DI instruction). Then set IMF newly again as required after operating on the EF or IL (Enable interrupt by EI instruction) In interrupt service routine, because the IMF becomes "0" automatically, clearing IMF need not execute normally on interrupt service routine. However, if using multiple interrupt on interrupt service routine, manipulating EF or IL should be executed before setting IMF="1". Page 29 3. Interrupt Control Circuit 3.3 Interrupt Sequence TMP88CS42NG 3.3 Interrupt Sequence An interrupt request, which raised interrupt latch, is held, until interrupt is accepted or interrupt latch is cleared to “0” by resetting or an instruction. Interrupt acceptance sequence requires 12 machine cycles (2.4 µs @20 MHz) after the completion of the current instruction. The interrupt service task terminates upon execution of an interrupt return instruction [RETI] (for maskable interrupts) or [RETN] (for non-maskable interrupts). Figure 3-1 shows the timing chart of interrupt acceptance processing. 3.3.1 Interrupt acceptance processing is packaged as follows. a. The interrupt master enable flag (IMF) is cleared to “0” in order to disable the acceptance of any following interrupt. b. The interrupt latch (IL) for the interrupt source accepted is cleared to “0”. c. The contents of the program counter (PC) and the program status word, including the interrupt master enable flag (IMF), are saved (Pushed) on the stack in sequence of PSWH, PSWL, PCE, PCH, PCL. Meanwhile, the stack pointer (SP) is decremented by 5. d. The entry address (Interrupt vector) of the corresponding interrupt service program, loaded on the vector table, is transferred to the program counter. e. Read the RBS control code from the vector table, add its MSB(4bit) to the register bank selecter (RBS). f. Count up the interrupt nesting counter. g. The instruction stored at the entry address of the interrupt service program is executed. Note:When the contents of PSW are saved on the stack, the contents of IMF are also saved. Interrupt service task 1-machine cycle Interrupt request Interrupt latch (IL) IMF Execute instruction PC SP Execute instruction a-1 a Execute instruction Interrupt acceptance a+1 a n b n-1 n-2 n-3 n-4 b+1 b+2 b+3 Execute RETI instruction c+1 n-5 c+2 n-4 n-3 n-2 n-1 a a+1 a+2 n Note 1: a: Return address, b: Entry address, c: Address which RETI instruction is stored Note 2: On condition that interrupt is enabled, it takes 62/fc [s] at maximum (If the interrupt latch is set at the first machine cycle on 15 cycle instruction) to start interrupt acceptance processing since its interrupt latch is set. Figure 3-1 Timing Chart of Interrupt Acceptance/Return Interrupt Instruction Example: Correspondence between vector table address for INTTBT and the entry address of the interrupt service program Page 30 TMP88CS42NG Entry address Vector table address FFFE4H 45H FFFE5H 23H FFFE6H 01H FFFE7H 12345H Vector Interrupt service program 12346H 12347H RBS control code 06H 12348H Figure 3-2 Vector table address,Entry address A maskable interrupt is not accepted until the IMF is set to “1” even if the maskable interrupt higher than the level of current servicing interrupt is requested. In order to utilize nested interrupt service, the IMF is set to “1” in the interrupt service program. In this case, acceptable interrupt sources are selectively enabled by the individual interrupt enable flags. But don’t use the read-modify-write instruction for EIRL(0003AH) on the pseudo non-maskable interrupt service task. To avoid overloaded nesting, clear the individual interrupt enable flag whose interrupt is currently serviced, before setting IMF to “1”. As for non-maskable interrupt, keep interrupt service shorten compared with length between interrupt requests; otherwise the status cannot be recovered as non-maskable interrupt would simply nested. 3.3.2 Saving/restoring general-purpose registers During interrupt acceptance processing, the program counter (PC) and the program status word (PSW, includes IMF) are automatically saved on the stack, but the accumulator and others are not. These registers are saved by software if necessary. When multiple interrupt services are nested, it is also necessary to avoid using the same data memory area for saving registers. The following four methods are used to save/restore the general-purpose registers. 3.3.2.1 Using Automatic register bank switcing By switching to non-use register bank, it can restore the general-purpose register at hige speed. Usually the bank register "0" is assigned for main task and the bank register "1 to 15" are for the each interrupt service task. To make up its data memory efficiency, the common bank is assigned for non-multiple intrrupt factor. It can return back to main-flow by executing the interrupt return instructions ([RETI]/[RETN]) from the current interrupt register bank automatically. Thus, no need to restore the RBS by a program. Example :Register bank switching PINTxx: (interrupt processing) ; Begin of interrupt routine RETI ; End of interrupt : VINTxx: 3.3.2.2 DP PINTxx ; PINTxx vector address setting DB 1 ; RBS <- RBS + 1 RBS setting on PINTxx Using register bank switching By switching to non-use register bank, it can restore the general-purpose register at hige speed. Usually the bank register "0" is assigned for main task and the bank register "1 to 15" are for the each interrupt service task. Page 31 3. Interrupt Control Circuit 3.3 Interrupt Sequence TMP88CS42NG Example :Register bank switching PINTxx: LD RBS, n ; RBS <- n Begin of interrupt routine (interrupt processing) RETI ; End of interrupt , restore RBS and interrupt return : VINTxx: 3.3.2.3 DP PINTxx ; PINTxx vector address setting DB 0 ; RBS <- RBS + 0 RBS setting on PINTxx Using PUSH and POP instructions If only a specific register is saved or interrupts of the same source are nested, general-purpose registers can be saved/restored using the PUSH/POP instructions. Example :Save/store register using PUSH and POP instructions PINTxx: PUSH WA ; Save WA register (interrupt processing) POP WA ; Restore WA register RETI ; RETURN Address (Example) SP A b-5 SP W SP b-4 PCL PCL PCL b-3 PCH PCH PCH b-2 PSWL PSWL PSWL PSWH PSWH PSWH At acceptance of an interrupt At execution of PUSH instruction At execution of POP instruction b-1 SP b At execution of RETI instruction Figure 3-3 Save/store register using PUSH and POP instructions 3.3.2.4 Using data transfer instructions To save only a specific register without nested interrupts, data transfer instructions are available. Example :Save/store register using data transfer instructions PINTxx: LD (GSAVA), A ; Save A register (interrupt processing) LD A, (GSAVA) ; Restore A register RETI ; Return Page 32 TMP88CS42NG Main task Main task Bank m Interrupt acceptance Interrupt service task Bank m Interrupt acceptance Switch to bank n by LD, RBS and n instruction Interrupt service task Saving registers Switch to bank n automatically Bank n Bank m Interrupt return Restore to bank m automatically by [RETI]/[RETN] Restoring registers Interrupt return (b) Saving/restoring general-purpose registers using PUSH/POP data transfer instruction (a) Saving/restoring by register bank changeover Figure 3-4 Saving/Restoring General-purpose Registers under Interrupt Processing 3.3.3 Interrupt return Interrupt return instructions [RETI]/[RETN] perform as follows. [RETI] Maskable Interrupt Return [RETN] Non-maskable Interrupt Return 1. The contents of the program counter and the program status word are restored from the stack. 2. The stack pointer is incremented 5 times. 3. The interrupt master enable flag is set to "1". 4. The interrupt nesting counter is decremented, and the interrupt nesting flag is changed. 1. The contents of the program counter and the program status word are restored from the stack. 2. The stack pointer is incremented 5 times. 3. The interrupt master enable flag is set to "1" only when a non-maskable interrupt is accepted in interrupt enable status. However, the interrupt master enable flag remains at "0" when so clear by an interrupt service program. 4. The interrupt nesting counter is decremented, and the interrupt nesting flag is changed. Interrupt requests are sampled during the final cycle of the instruction being executed. Thus, the next interrupt can be accepted immediately after the interrupt return instruction is executed. Note: When the interrupt processing time is longer than the interrupt request generation time, the interrupt service task is performed but not the main task. Page 33 3. Interrupt Control Circuit 3.4 Software Interrupt (INTSW) TMP88CS42NG 3.4 Software Interrupt (INTSW) Executing the SWI instruction generates a software interrupt and immediately starts interrupt processing (INTSW is highest prioritized interrupt). However, if processing of a non-maskable inerrupt is already underway, executing the SWI instruction will not generate a software interrupt but will result in the same operation as the NOP instruction. Use the SWI instruction only for detection of the address error or for debugging. 3.4.1 Address error detection FFH is read if for some cause such as noise the CPU attempts to fetch an instruction from a non-existent memory address during single chip mode. Code FFH is the SWI instruction, so a software interrupt is generated and an address error is detected. The address error detection range can be further expanded by writing FFH to unused areas of the program memory. Address trap reset is generated in case that an instruction is fetched from RAM, DBR or SFR areas. 3.4.2 Debugging Debugging efficiency can be increased by placing the SWI instruction at the software break point setting address. Page 34 TMP88CS42NG 3.5 External Interrupts The TMP88CS42NG has 6 external interrupt inputs. These inputs are equipped with digital noise reject circuits (Pulse inputs of less than a certain time are eliminated as noise). Edge selection is also possible with INT1 to INT4. The INT0/P10 pin can be configured as either an external interrupt input pin or an input/output port, and is configured as an input port during reset. Edge selection, and noise reject control and INT0/P10 pin function selection are performed by the external interrupt control register (EINTCR). Source Pin Sub-Pin INT0 INT0 P10 Enable Conditions Release Edge (level) IMF ! EF3 ! INT0EN=1 INT1 INT1 P11 IMF ! EF5 = 1 INT2 INT2 P12/TC1 IMF ! EF29 = 1 INT3 INT3 P21/TC3 IMF ! EF30 = 1 INT4 INT4 P22/TC4 IMF ! EF31 = 1 INT5 INT5 P20/STOP IMF ! EF15 = 1 Falling edge Digital Noise Reject Pulses of less than 2/fc [s] are eliminated as noise. Pulses of 6/fc [s] or more are considered to be signals. (at CGCR<DV1CK>=0). Pulses of less than 15/fc or 63/fc [s] are eliminated as noise. Pulses of 48/fc or 192/fc [s] or more are considered to be signals. (at CGCR<DV1CK>=0). Falling edge or Rising edge Falling edge Pulses of less than 7/fc [s] are eliminated as noise. Pulses of 24/fc [s] or more are considered to be signals.(at CGCR<DV1CK>=0). Pulses of less than 2/fc [s] are eliminated as noise. Pulses of 6/fc [s] or more are considered to be signals. Note 1: In NORMAL or IDLE mode, if a signal with no noise is input on an external interrupt pin, it takes a maximum of "signal establishment time" from the input signal's edge to set the interrupt latch. (1) INT1 pin 49/fc [s] ( at EINTCR<INT1NC> = "1") , 193/fc [s] ( at EINTCR<INT1NC> = "0") (2) INT2 to INT4 pins 25/fc [s] Note 2: When EINTCR<INT0EN> = "0", IL3 is not set even if a falling edge is detected on the INT0 pin input. Note 3: When a pin with more than one function is used as an output and a change occurs in data or input/output status, an interrupt request signal is generated in a pseudo manner. In this case, it is necessary to perform appropriate processing such as disabling the interrupt enable flag. Page 35 3. Interrupt Control Circuit 3.5 External Interrupts TMP88CS42NG External Interrupt Control Register EINTCR 7 6 (0037H) INT1NC INT0EN 5 4 INT4ES 3 2 1 INT3ES INT2ES INT1ES 0 (Initial value: 0000 000*) INT1NC Noise reject time select 0: Pulses of less than 63/fc [s] are eliminated as noise 1: Pulses of less than 15/fc [s] are eliminated as noise R/W INT0EN P10/INT0 pin configuration 0: P10 input/output port 1: INT0 pin (Port P10 should be set to an input mode) R/W INT4 ES INT4 edge select 00: Rising edge 01: Falling edge 10: Rising edge and Falling edge 11: H level R/W INT3 ES INT3 edge select INT2 ES INT2 edge select 0: Rising edge 1: Falling edge R/W INT1 ES INT1 edge select Note 1: fc: High-frequency clock [Hz], *: Don’t care Note 2: When the external interrupt control register (EINTCR) is overwritten, the noise canceller may not operate normally. It is recommended that external interrupts are disabled using the interrupt enable register (EIR). Note 3: The maximum time from modifying EINTCR<INT1NC> until a noise reject time is changed is 26/fc. Note 4: In case RESET pin is released while the state of INT4 pin keeps "H" level, the external interrupt 4 request is not generated even if the INT4 edge select(EINTCR<INT4ES>) is specified as "H" level. The rising edge is needed after RESET pin is released. Page 36 TMP88CS42NG 4. Special Function Register The TMP88CS42NG adopts the memory mapped I/O system, and all peripheral control and transfers are performed through the special function register (SFR) or the data buffer register (DBR). The SFR is mapped on address 0000H to 003FH, DBR is mapped on address 01F80H to 01FFFH. This chapter shows the arrangement of the special function register (SFR) and data buffer register (DBR) for TMP88CS42NG. 4.1 SFR Address Read Write 0000H P0DR 0001H P1DR 0002H P2DR 0003H P3DR 0004H P4DR 0005H P5DR 0006H P6DR 0007H P7DR 0008H Reserved 0009H Reserved 000AH P0CR 000BH P1CR 000CH HPWMCR 000DH HPWMDR0 000EH HPWMDR1 000FH TC1CR 0010H TC1DRAL 0011H TC1DRAH 0012H TC1DRBL 0013H TC1DRBH 0014H CTC1CR1 0015H CTC1CR2 0016H - 0017H - CTC1DRL CTC1DRH 0018H Reserved 0019H Reserved 001AH TC4CR 001BH TC4DR 001CH TC3DRA 001DH TC3DRB - 001EH TC3CR 001FH Reserved 0020H TC5CR 0021H TC6CR 0022H TTREG5 0023H TTREG6 0024H PWREG5 0025H PWREG6 Page 37 4. Special Function Register 4.1 SFR TMP88CS42NG Address Read Write 0026H ADCCRA 0027H ADCCRB 0028H ADCDRL - 0029H ADCDRH - 002AH EIRC 002BH ILC 002CH EIRE 002DH EIRD 002EH ILE 002FH ILD 0030H CGCR 0031H Reserved 0032H Reserved 0033H Reserved 0034H - WDTCR1 0035H - WDTCR2 0036H TBTCR 0037H EINTCR 0038H SYSCR1 0039H SYSCR2 003AH EIRL 003BH EIRH 003CH ILL 003DH ILH 003EH PSWL 003FH PSWH Note 1: Do not access reserved areas by the program. Note 2: − ; Cannot be accessed. Note 3: Write-only registers and interrupt latches cannot use the read-modify-write instructions (Bit manipulation instructions such as SET, CLR, etc. and logical operation instructions such as AND, OR, etc.). Page 38 TMP88CS42NG 4.2 DBR Address PMD ch Read Write 1F80H P0ODE 1F81H − 1F82H − 1F83H P3ODE 1F84H P4ODE 1F85H P5ODE 1F86H − 1F87H − 1F88H − 1F89H P3CR 1F8AH P4CR 1F8BH P5CR 1F8CH P6CR 1F8DH P7CR 1F8EH − 1F8FH − 1F90H UARTSEL 1F91H UARTSR UARTCRA 1F92H − UARTCRB 1F93H RDBUF TDBUF 1F94H − ATAS 1F95H − ATKEY 1F96H − SIOCR1 1F97H SIOSR SIOCR2 1F98H SIOBR0 1F99H SIOBR1 1F9AH SIOBR2 1F9BH SIOBR3 1F9CH SIOBR4 1F9DH SIOBR5 1F9EH SIOBR6 1F9FH SIOBR7 1FA0H for PMD ch.1 1FA1H for PMD ch.1 1FA2H for PMD ch.1 PDCRA PDCRB − PDCRC 1FA3H for PMD ch.1 SDREG 1FA4H for PMD ch.1 MTCRA 1FA5H for PMD ch.1 1FA6H for PMD ch.1 MCAPL 1FA7H for PMD ch.1 MCAPH 1FA8H for PMD ch.1 CMP1L MTCRB − − 1FA9H for PMD ch.1 CMP1H 1FAAH for PMD ch.1 CMP2L 1FABH for PMD ch.1 CMP2H 1FACH for PMD ch.1 CMP3L 1FADH for PMD ch.1 CMP3H 1FAEH for PMD ch.1 MDCRA 1FAFH for PMD ch.1 MDCRB Page 39 4. Special Function Register 4.2 DBR TMP88CS42NG Address PMD ch Read Write 1FB0H for PMD ch.1 EMGCRA 1FB1H for PMD ch.1 EMGCRB 1FB2H for PMD ch.1 MDOUTL 1FB3H for PMD ch.1 MDOUTH 1FB4H for PMD ch.1 MDCNTL − 1FB5H for PMD ch.1 MDCNTH − 1FB6H for PMD ch.1 MDPRDL 1FB7H for PMD ch.1 MDPRDH 1FB8H for PMD ch.1 CMPUL 1FB9H for PMD ch.1 CMPUH 1FBAH for PMD ch.1 CMPVL 1FBBH for PMD ch.1 CMPVH 1FBCH for PMD ch.1 CMPWL 1FBDH for PMD ch.1 CMPWH 1FBEH for PMD ch.1 1FBFH for PMD ch.1 1FC0H for PMD ch.1 EDCRA 1FC1H for PMD ch.1 EDCRB 1FC2H for PMD ch.1 EDSETL 1FC3H for PMD ch.1 EDSETH 1FC4H for PMD ch.1 ELDEGL 1FC5H for PMD ch.1 ELDEGH 1FC6H for PMD ch.1 AMPL 1FC7H for PMD ch.1 AMPH 1FC8H for PMD ch.1 EDCAPL − 1FC9H for PMD ch.1 EDCAPH − 1FCAH for PMD ch.1 − DTR − EMGREL WFMDR 1FCBH − 1FCCH Reserved 1FCDH Reserved 1FCEH Reserved 1FCFH Reserved 1FD0H for PMD ch.2 PDCRA 1FD1H for PMD ch.2 PDCRB 1FD2H for PMD ch.2 1FD3H for PMD ch.2 SDREG 1FD4H for PMD ch.2 MTCRA 1FD5H for PMD ch.2 MTCRB 1FD6H for PMD ch.2 MCAPL − 1FD7H for PMD ch.2 MCAPH − − PDCRC 1FD8H for PMD ch.2 CMP1L 1FD9H for PMD ch.2 CMP1H 1FDAH for PMD ch.2 CMP2L 1FDBH for PMD ch.2 CMP2H 1FDCH for PMD ch.2 CMP3L 1FDDH for PMD ch.2 CMP3H 1FDEH for PMD ch.2 MDCRA 1FDFH for PMD ch.2 MDCRB 1FE0H for PMD ch.2 EMGCRA 1FE1H for PMD ch.2 EMGCRB 1FE2H for PMD ch.2 MDOUTL Page 40 TMP88CS42NG Address PMD ch Read Write 1FE3H for PMD ch.2 1FE4H for PMD ch.2 MDCNTL MDOUTH 1FE5H for PMD ch.2 MDCNTH 1FE6H for PMD ch.2 MDPRDL 1FE7H for PMD ch.2 MDPRDH 1FE8H for PMD ch.2 CMPUL 1FE9H for PMD ch.2 CMPUH 1FEAH for PMD ch.2 CMPVL − − 1FEBH for PMD ch.2 CMPVH 1FECH for PMD ch.2 CMPWL 1FEDH for PMD ch.2 CMPWH 1FEEH for PMD ch.2 DTR − 1FEFH for PMD ch.2 1FF0H for PMD ch.2 EMGREL 1FF1H for PMD ch.2 EDCRB 1FF2H for PMD ch.2 EDSETL 1FF3H for PMD ch.2 EDSETH 1FF4H for PMD ch.2 ELDEGL 1FF5H for PMD ch.2 ELDEGH 1FF6H for PMD ch.2 AMPL 1FF7H for PMD ch.2 1FF8H for PMD ch.2 EDCAPL 1FF9H for PMD ch.2 EDCAPH − 1FFAH for PMD ch.2 − WFMDR EDCRA AMPH − 1FFBH − 1FFCH Reserved 1FFDH Reserved 1FFEH Reserved 1FFFH Reserved Note 1: Do not access reserved areas by the program. Note 2: − ; Cannot be accessed. Note 3: Write-only registers and interrupt latches cannot use the read-modify-write instructions (Bit manipulation instructions such as SET, CLR, etc. and logical operation instructions such as AND, OR, etc.). Page 41 4. Special Function Register 4.2 DBR TMP88CS42NG Page 42 TMP88CS42NG 5. Input/Output Ports The TMP88CS42NG contains 8 input/output ports comprised of 55 pins. Primary Function Secondary Functions Port P0 4-bit I/O port Timer/counter input, serial interface input/output, and high-speed PWM output Port P1 8-bit I/O port External interrupt input, timer/counter input/output, divider output, and motor control circuit input Port P2 3-bit I/O port External interrupt input, timer/counter input/output, and STOP mode release signal input Port P3 8-bit I/O port Motor control input/output Port P4 8-bit I/O port Timer/counter output, serial interface input/output, motor control circuit input Port P5 8-bit I/O port Motor control circuit input/output Port P6 8-bit I/O port Analog input and motor control circuit output Port P7 8-bit I/O port Analog input and motor control circuit output All output ports contain a latch, and the output data therefore are retained by the latch. But none of the input ports have a latch, so it is desirable that the input data be retained externally until it is read out, or read several times before being processed. Figure 5-1 shows input/output timing. The timing at which external data is read in from input/output ports is S1 state in the read cycle of instruction execution. Because this timing cannot be recognized from the outside, transient input data such as chattering needs to be dealt with in a program. The timing at which data is forwarded to input/output ports is S2 state in the write cycle of instruction execution. ! "! #! $! ! "! #! $! ! "! #! $ ' ! "! #! $! & ! "! #! $! ! "! #! $ % % ' Note: The read/write cycle positions vary depending on instructions. Figure 5-1 Example of Input/Output Timing Page 43 5. Input/Output Ports TMP88CS42NG When an operation is performed for read from any input/output port except programmable input/output ports, whether the input value of the pin or the content of the output latch is read depends on the instruction executed, as shown below. 1. Instructions which read the content of the output latch - XCH r, (src) - SET/CLR/CPL (src).b - SET/CLR/CPL (pp).g - LD (src).b, CF - LD (pp).b, CF - XCH CF, (src). b - ADD/ADDC/SUB/SUBB/AND/OR/XOR (src), n - ADD/ADDC/SUB/SUBB/AND/OR/XOR (src), (HL) instructions, the (src) side thereof - MXOR (src), m 2. Instructions which read the input value of the pin Any instructions other than those listed above and ADD/ADDC/SUB/SUBB/AND/OR/XOR (src),(HL) instructions, the (HL) side thereof Page 44 TMP88CS42NG 5.1 Port P0 (P03 to P00) Port P0 is a 4-bit input/output port shared with serial interface input/output. This port is switched between input and output modes using the P0 port input/output control register (P0CR). When reset, the P0CR register is initialized to 0, with the P0 port set for input mode. Also, the output latch (P0DR) is initialized to 0 when reset. The P0 port contains bitwise programmable open-drain control. The P0 port open-drain control register (P0ODE) is used to select open-drain or tri-state mode for the port. When reset, the P0ODE register is initialized to 0, with tristate mode selected for the port. Figure 5-2 Port P0 P0 Port Input/Output Registers 7 6 5 4 P0DR (00000H) P0CR (0000AH) P0ODE (01F80H) 7 6 5 4 3 2 1 0 P03 P02 HPWM1 HPWM0 P01 TC6O TXD2 P00 TC6I RXD2 3 2 1 0 Read/Write (Initial value: **** 0000) TC6O: PDO6, PWM6, PPG6 (Initial value: **** 0000) P0CR P0 port input/output control (Specify bitwise) 0: Input mode 1: Output mode 7 6 3 5 4 2 R/W 1 0 (Initial value: **** 0000) P0ODE P0 port open-drain control (Specify bitwise) 0: Tri-state 1: Open drain R/W Note 1: Even when open-drain mode is selected, the protective diode remains connected. Therefore, do not apply voltages exceeding VDD. Note 2: Read-Modify-Write (RMW) operation executes at open-drain mode is selected, read out the output latch states. When any other instruction is executed, external pin states is read out. Note 3: *: Don’t care Page 45 5. Input/Output Ports TMP88CS42NG 5.2 Port P1 (P17 to P10) Port P1 is an 8-bit input/output port shared with external interrupt input, timer/counter input/output, and divider output. This port is switched between input and output modes using the P1 port input/output control register (P1CR). When reset, the P1CR register is initialized to 0, with the P1 port set for input mode. Also, the output latch (P1DR) is initialized to 0 when reset. Figure 5-3 Port P1 P1 Port Input/Output Registers 7 6 5 4 P1DR (00001H) 3 2 1 0 P17 PDW2 P16 PDV2 P15 PDU2 P14 P13 PPG1 DVO P11 INT1 INT0 TC5I P12 INT2 TC1 TC5O P1CR (0000BH) 7 6 5 4 3 2 1 0 P10 Read/Write (Initial value: 0000 0000) TC5O: PDO5, PWM5 (Initial value: 0000 0000) P1CR P1 port input/output control (Specify bitwise) 0: Input mode 1: Output mode Page 46 R/W TMP88CS42NG 5.3 Port P2 (P22 to P20) Port P2 is a 3-bit input/output port shared with external interrupt input and STOP mode release signal. When using this port as these functional pins or an input port, set the output latch to 1. When reset, the output latch is initialized to 1. We recommend using the P20 pin as external interrupt input, STOP mode release signal input, or input port. When using this port as an output port, note that the interrupt latch is set by a falling edge of output pulse. And note that outputs on this port during STOP mode go to a high-impedance state even if SYSCR1<OUTEN> is set "1" , because P20 port is also used as STOP port. When a read instruction is executed on P2 port, indeterminate values are read in from bits 7 to 3. When any read-modify-write instruction is executed on P2 port, the content of the output latch is read out. When any other instruction is executed, the external pin state is read out. Figure 5-4 Port P2 P2 Port Input/Output Registers 7 P2DR (00002H) 6 5 4 3 2 1 0 P22 TC4 INT4 P21 TC3 INT3 INT5 PWM4 P20 STOP Read/Write (Initial value: **** *111) PDO4 Note 1: When a read instruction is executed on P2 port, indeterminate values are read in from bits 7 to 3. Note 2: Port P20 is used as STOP pin. Therefore, when stop mode is started, SYSCR1<OUTEN> does not affect to P20, and P20 becomes High-Z mode. Note 3: *: Don’t care Page 47 5. Input/Output Ports TMP88CS42NG 5.4 Port P3 (P37 to P30) Port P3 is an 8-bit input/output port. This port is switched between input and output modes using the P3 port Input/ output control register (P3CR). When reset, the P3CR register is initialized to 0, with the P3 port set for input mode. Also, the output latch (P3DR) is initialized to 0 when reset. The P3 port contains bitwise programmable open-drain control. The P3 port open-drain control register (P3ODE) is used to select open-drain or tri-state mode for the port. When reset, the P3ODE register is initialized to 0, with tristate mode selected for the port. Figure 5-5 Port P3 P3 Port Input/Output Registers P3DR (00003H) P3CR (01F89H) P3ODE (01F83H) 7 6 5 4 3 2 1 0 P37 P36 CL1 EMG1 P35 U1 P34 V1 P33 W1 P32 X1 P31 Y1 P30 Z1 7 6 5 4 3 2 1 0 Read/Write (Initial value: 0000 0000) (Initial value: 0000 0000) P3CR P3 port input/output control (Specify bitwise) 0: Input mode 1: Output mode 7 6 3 5 4 2 R/W 1 0 (Initial value: 0000 0000) P3ODE P3 port open-drain control (Specify bitwise) 0: Tri-state 1: Open drain Note 1: Even when open-drain mode is selected, the protective diode remains connected. Therefore, do not apply voltages exceeding VDD. Note 2: Read-modify-write (RMW) operation executes at open-drain mode is selected, read out the output latch states. When any other instruction is executed, external pin states is read out. Note 3: For PMD circuit output, set the P3DR output latch to 1. Note 4: When using P3 port as an input/output port, disable the EMG1 circuit. Page 48 R/W TMP88CS42NG 5.5 Port P4 (P47 to P40) Port P4 is an 8-bit input/output port shared with serial interface input/output. This port is switched between input and output modes using the P4 port input/output control register (P4CR). When reset, the P4CR register is initialized to 0, with the P4 port set for input mode. Also, the output latch (P4DR) is initialized to 0 when reset. The P4 port contains bitwise programmable open-drain control. The P4 port open-drain control register (P4ODE) is used to select open-drain or tri-state mode for the port. When reset, the P4ODE register is initialized to 0, with tristate mode selected for the port. Figure 5-6 Port P4 P4 Port Input/Output Registers 7 6 5 4 3 2 1 0 P4DR (00004H) P47 CTC P46 P44 SI RXD1 P43 PPG2 P45 SO TXD1 SCK P42 PDU1 P41 PDV1 P40 PDW1 P4CR (01F8AH) 7 6 5 4 3 2 1 0 P4ODE (01F84H) (Initial value: 0000 0000) (Initial value: 0000 0000) P4CR P4 port input/output control (Specify bitwise) 0: Input mode 1: Output mode 7 6 3 5 4 2 R/W 1 0 (Initial value: 0000 0000) P4ODE P4 port open-drain control (Specify bitwise) 0: Tri-state 1: Open drain Note 1: Even when open-drain mode is selected, the protective diode remains connected. Therefore, do not apply voltages exceeding VDD. Note 2: Read-modify-write (RMW) operation executes at open-drain mode is selected, read out the output latch states. When any other instruction is executed, external pin states is read out. Note 3: When using the 16-bit timer (CTC) as an ordinary timer, set P47 (CTC) for output mode. Page 49 R/W 5. Input/Output Ports TMP88CS42NG 5.6 Port P5 (P57 to P50) Port P5 is an 8-bit input/output port. This port is switched between input and output modes using the P5 port input/ output control register (P5CR). When reset, the P5CR register is initialized to 0, with the P5 port set for input mode. Also, the output latch (P5DR) is initialized to 0 when reset. The P5 port contains bitwise programmable open-drain control. The P5 port open-drain control register (P5ODE) is used to select open-drain or tri-state mode for the port. When reset, the P5ODE register is initialized to 0, with tristate mode selected for the port. Figure 5-7 Port P5 P5 Port Input/Output Registers P5DR (00005H) P5CR (01F8BH) P5ODE (01F85H) 7 6 5 4 3 2 1 0 P57 Z2 P56 Y2 P55 X2 P54 W2 P53 V2 P52 U2 P51 P50 EMG2 CL2 7 6 5 4 3 2 1 0 Read/Write (Initial value: 0000 0000) (Initial value: 0000 0000) P5CR P5 port input/output control (Specify bitwise) 0: Input mode 1: Output mode 7 6 3 5 4 2 R/W 1 0 (Initial value: 0000 0000) P5ODE P5 port open-drain control (Specify bitwise) 0: Tri-state 1: Open drain Note 1: Even when open-drain mode is selected, the protective diode remains connected. Therefore, do not apply voltages exceeding VDD. Note 2: Read-modify-write (RMW) operation executes at open-drain mode is selected, read out the output latch states. When any other instruction is executed, external pin states is read out. Note 3: For PMD circuit output, set the P5DR output latch to 1. Note 4: When using P5 port as an input/output port, disable the EMG2 circuit. Page 50 R/W TMP88CS42NG 5.7 Port P6 (P67 to P60) Port P6 is an 8-bit input/output port shared with AD converter analog input. This port is switched between input and output modes using the P6 port input/output control register (P6CR), P6 port output latch (P6DR), and ADCCRA<AINDS>. When reset, the P6CR Register and the P6DR output latch are initialized to 0 while ADCCRA<AINDS> is set to 1, so that P67 to P60 have their inputs fixed low (= 0). When using the P6 port as an input port, set the corresponding bits for input mode (P6CR = 0, P6DR = 1). The reason why the output latch = 1 is because it is necessary to prevent current from flowing into the shared data input circuit. When using the port as an output port, set the P6CR Register's corresponding bits to 1. When using the port for analog input, set the corresponding bits for analog input (P6CR = 0, P6DR = 0). Then set ADCCRA<AINDS> = 0, and AD conversion will start. The ports used for analog input must have their output latches set to 0 beforehand. The actual input channels for AD conversion are selected using ADCCRA<SAIN>. Although the bits of P6 port not used for analog input can be used as input/output ports, do not execute output instructions on these ports during AD conversion. This is necessary to maintain the accuracy of AD conversion. Also, do not apply rapidly changing signals to ports adjacent to analog input during AD conversion. If an input instruction is executed while the P6DR output latch is cleared to 0, data “0” is read in from said bits. $ ' ( ' ( ! " # $% %&$" Figure 5-8 Port P6 Page 51 5. Input/Output Ports TMP88CS42NG P6 Port Input/Output Registers 7 6 5 4 3 2 1 0 P6DR (00006H) P67 AIN7 DBOUT1 P66 AIN6 P65 AIN5 P64 AIN4 P63 AIN3 P62 AIN2 P61 AIN1 P60 AIN0 P6CR (01F8CH) 7 6 5 4 3 2 1 0 Read/Write (Initial value: 0000 0000) (Initial value: 0000 0000) AINDS = 1 (when not using AD) P6DR = “0” P6CR P6 port input/output control (Specify bitwise) 0 Inputs fixed to 0 1 AINDS = 0 (when using AD) P6DR = “1” P6DR = “0” P6DR = “1” Input mode Analog Input mode (Note2) Input mode R/W Output mode Note 1: The pins used for analog input cannot be set for output mode (P6CR = 1) because they become shorted with external signals. Note 2: When a read instruction is executed on bits of this port which are set for analog input mode, data "0" is read in. Note 3: For DBOUT1 output, set the P6DR (P67) output latch to 1. Note 4: When using this port in input mode (including analog input), do not use bit manipulating or other read-modify-write instructions. When a read instruction is executed on the bits of this port that are set for input, the contents of the pins are read in, so that if a read-modify-write instruction is executed, their output latches may be rewritten, making the pins unable to accept input. (A read-modify-write instruction first reads data from all of the eight bits and after modifying them (bit manipulation), writes data for all of the eight bits to the output latches.) Page 52 TMP88CS42NG 5.8 Port P7 (P77 to P70) Port P7 is an 8-bit input/output port shared with AD converter analog input. This port is switched between input and output modes using the P7 port input/output control register (P7CR), P7 port output latch (P7DR), and ADCCRA<AINDS>. When reset, the P7CR register and the P7DR output latch are initialized to 0 while ADCCRA<AINDS> is set to 1, so that P77 to P70 have their inputs fixed low (= 0). When using the P7 port as an input port, set the corresponding bits for input mode (P7CR = 0, P7DR = 1). The reason why the output latch = 1 is because it is necessary to prevent current from flowing into the shared data input circuit. When using the port as an output port, set the P7CR Register's corresponding bits to 1. When using the port for analog input, set the corresponding bits for analog input (P7CR = 0, P7DR = 0). Then set ADCCRA<AINDS> = 0, and AD conversion will start. The ports used for analog input must have their output latches set to 0 beforehand. The actual input channels for AD conversion are selected using ADCCRA<SAIN>. Although the bits of P7 port not used for analog input can be used as input/output ports, do not execute output instructions on these ports during AD conversion. This is necessary to maintain the accuracy of AD conversion. Also, do not apply rapidly changing signals to ports adjacent to analog input during AD conversion. If an input instruction is executed while the P7DR output latch is cleared to 0, data “0” is read in from said bits. # & ' & ' ! " #$ $%#! Figure 5-9 Port P7 Page 53 5. Input/Output Ports TMP88CS42NG P7 Port Input/Output Registers 7 6 5 4 3 2 1 0 P7DR (00007H) P77 AIN15 DBOUT2 P76 AIN14 P75 AIN13 P74 AIN12 P73 AIN11 P72 AIN10 P71 AIN9 P70 AIN8 P7CR (01F8DH) 7 6 5 4 3 2 1 0 Read/Write (Initial value: 0000 0000) (Initial value: 0000 0000) AINDS = 1 (when not using AD) P7DR = “0” P7CR P7 port input/output control (Specify bitwise) 0 Inputs fixed to 0 1 AINDS = 0 (when using AD) P7DR = “1” P7DR = “0” P7DR = “1” Input mode Analog Input mode (Note2) Input mode R/W Output mode Note 1: The pins used for analog input cannot be set for output mode (P7CR = 1) because they become shorted with external signals. Note 2: When a read instruction is executed on bits of this port which are set for analog input mode, data "0" is read in. Note 3: For DBOUT2 output, set the P7DR (P77) output latch to 1. Note 4: When using this port in input mode (including analog input), do not use bit manipulating or other read-modify-write instructions. When a read instruction is executed on the bits of this port that are set for input, the contents of the pins are read in, so that if a read-modify-write instruction is executed, their output latches may be rewritten, making the pins unable to accept input. (A read-modify-write instruction first reads data from all of the eight bits and after modifying them (bit manipulation), writes data for all of the 8 bits to the output latches.) Page 54 TMP88CS42NG 6. Time Base Timer (TBT) and Divider Output (DVO) 6.1 Time Base Timer The time base timer generates time base for key scanning, dynamic displaying, etc. It also provides a time base timer interrupt (INTTBT). An INTTBT ( Time Base Timer Interrupt ) is generated on the first falling edge of source clock ( The divider output of the timing generator which is selected by TBTCK. ) after time base timer has been enabled. The divider is not cleared by the program; therefore, only the first interrupt may be generated ahead of the set interrupt period ( Figure 6-2 ). The interrupt frequency (TBTCK) must be selected with the time base timer disabled (TBTEN="0"). (The interrupt frequency must not be changed with the disble from the enable state.) Both frequency selection and enabling can be performed simultaneously. MPX fc/223,fc/224 fc/221,fc/222 fc/216,fc/217 fc/214,fc/215 fc/213,fc/214 fc/212,fc/213 fc/211,fc/212 fc/29,fc/210 Source clock Falling edge detector INTTBT interrupt request 3 TBTCK TBTEN TBTCR Time base timer control register Figure 6-1 Time Base Timer configuration Source clock TBTCR<TBTEN> INTTBT interrupt request Interrupt period Enable TBT Figure 6-2 Time Base Timer Interrupt Example :Set the time base timer frequency to fc/216 [Hz] and enable an INTTBT interrupt. LD (TBTCR) , 00000010B ; TBTCK ← 010 (Freq. set) LD (TBTCR) , 00001010B ; TBTEN ← 1 (TBT enable) DI SET (EIRL) . 6 EI Page 55 6. Time Base Timer (TBT) and Divider Output (DVO) 6.1 Time Base Timer TMP88CS42NG Time Base Timer is controled by Time Base Timer control register (TBTCR). Time Base Timer Control Register 7 TBTCR (00036H) 6 (DVOEN) TBTEN 5 (DVOCK) 4 3 0 TBTEN Time Base Timer Enable / Disable 2 1 0 TBTCK (Initial Value: 0000 0000) 0: Disable 1: Enable NORMAL, IDLE Mode DV1CK=0 TBTCK Time Base Timer interrupt Frequency select : [Hz] DV1CK=1 000 fc/2 23 fc/224 001 fc/221 fc/222 010 fc/216 fc/217 011 fc/214 fc/215 100 fc/213 fc/214 101 fc/212 fc/213 110 fc/211 fc/212 111 fc/29 fc/210 Note 1: fc; High-frequency clock [Hz], *; Don't care Note 2: Always set "0" in bit4 on TBTCR register. Table 6-1 Time Base Timer Interrupt Frequency ( Example : fc = 20.0 MHz ) Time Base Timer Interrupt Frequency [Hz] TBTCK NORMAL, IDLE Mode DV1CK = 0 DV1CK = 1 000 2.38 1.20 001 9.53 4.78 010 305.18 153.50 011 1220.70 610.35 100 2441.40 1220.70 101 4882.83 2441.40 110 9765.63 4882.83 111 39063.00 19531.25 Page 56 R/W TMP88CS42NG 6.2 Divider Output (DVO) Approximately 50% duty pulse can be output using the divider output circuit, which is useful for piezoelectric buzzer drive. Divider output is from DVO pin. Output latch D Data output Q DVO pin MPX A B C Y D S 2 fc/213,fc/214 fc/212,fc/213 fc/211,fc/212 fc/210,fc/211 Port output latch TBTCR<DVOEN> DVOEN DVOCK TBTCR DVO pin output Divider output control register (a) configuration (b) Timing chart Figure 6-3 Divider Output The Divider Output is controlled by the Time Base Timer Control Register (TBTCR). Time Base Timer Control Register 7 TBTCR (00036H) 6 DVOEN DVOEN 5 DVOCK 4 3 "0" (TBTEN) Divider output enable / disable 2 1 0 (TBTCK) (Initial value: 0000 0000) 0: Disable 1: Enable R/W NORMAL, IDLE Mode DV1CK=0 DVOCK Divider Output (DVO) frequency selection: [Hz] DV1CK=1 00 fc/2 13 fc/214 01 fc/212 fc/213 10 fc/211 fc/212 11 fc/210 fc/211 R/W Note 1: Selection of divider output frequency (DVOCK) must be made while divider output is disabled (DVOEN="0"). Also, in other words, when changing the state of the divider output frequency from enabled (DVOEN="1") to disable(DVOEN="0"), do not change the setting of the divider output frequency. Note 2: In case of using DVO output, set output mode by P1CR register after setting the related port output latch to "1" by P1DR register. Note 3: fc; High-frequency clock [Hz], *; Don't care Note 4: Be sure to write "0" to TBTCR Register bit 4. Page 57 6. Time Base Timer (TBT) and Divider Output (DVO) 6.2 Divider Output (DVO) TMP88CS42NG Example : 2.44 kHz pulse output (fc = 20.0 MHz) Port setting LD (TBTCR) , 00000000B ; DVOCK ← "00" LD (TBTCR) , 10000000B ; DVOEN ← "1" Table 6-2 Divider Output Frequency ( Example : fc = 20.0 MHz ) Divider Output Frequency [Hz] DVOCK NORMAL, IDLE Mode DV1CK=0 DV1CK=1 00 2.4415 k 1.22075 k 01 4.8825 k 2.4415 k 10 9.765 k 4.8825 k 11 19.5325 k 9.765 k Page 58 TMP88CS42NG 7. Watchdog Timer (WDT) The watchdog timer is a fail-safe system to detect rapidly the CPU malfunctions such as endless loops due to spurious noises or the deadlock conditions, and return the CPU to a system recovery routine. The watchdog timer signal for detecting malfunctions can be programmed only once as “reset request” or “pseudo nonmaskable interrupt request”. Upon the reset release, this signal is initialized to “reset request”. When the watchdog timer is not used to detect malfunctions, it can be used as the timer to provide a periodic interrupt. Note: Care must be taken in system design since the watchdog timer functions are not be operated completely due to effect of disturbing noise. 7.1 Watchdog Timer Configuration Reset release 23 24 Binary counters Selector fc/2 ,fc/2 fc/221,fc/222 fc/219,fc/220 fc/217,fc/218 R Clock Overflow Clear 1 WDT output 2 S 2 Q Interrupt request Internal reset Q S R WDTEN WDTT Writing disable code Writing clear code WDTOUT Controller 0034H WDTCR1 0035H WDTCR2 Watchdog timer control registers Figure 7-1 Watchdog Timer Configuration Page 59 Reset request INTWDT interrupt request 7. Watchdog Timer (WDT) 7.2 Watchdog Timer Control TMP88CS42NG 7.2 Watchdog Timer Control The watchdog timer is controlled by the watchdog timer control registers (WDTCR1 and WDTCR2). The watchdog timer is automatically enabled after the reset release. 7.2.1 Malfunction Detection Methods Using the Watchdog Timer The CPU malfunction is detected, as shown below. 1. Set the detection time, select the output, and clear the binary counter. 2. Clear the binary counter repeatedly within the specified detection time. If the CPU malfunctions such as endless loops or the deadlock conditions occur for some reason, the watchdog timer output is activated by the binary-counter overflow unless the binary counters are cleared. When WDTCR1<WDTOUT> is set to “1” at this time, the reset request is generated and then internal hardware is initialized. When WDTCR1<WDTOUT> is set to “0”, a watchdog timer interrupt (INTWDT) is generated. The watchdog timer temporarily stops counting in the STOP mode including the warm-up or IDLE mode, and automatically restarts (continues counting) when the STOP/IDLE mode is inactivated. Note:The watchdog timer consists of an internal divider and a two-stage binary counter. When the clear code 4EH is written, only the binary counter is cleared, but not the internal divider. The minimum binary-counter overflow time, that depends on the timing at which the clear code (4EH) is written to the WDTCR2 register, may be 3/ 4 of the time set in WDTCR1<WDTT>. Therefore, write the clear code using a cycle shorter than 3/4 of the time set to WDTCR1<WDTT>. Example :Setting the watchdog timer detection time to 221/fc [s], and resetting the CPU malfunction detection Within 3/4 of WDT detection time LD (WDTCR2), 4EH : Clears the binary counters. LD (WDTCR1), 00001101B : WDTT ← 10, WDTOUT ← 1 LD (WDTCR2), 4EH : Clears the binary counters (always clears immediately before and after changing WDTT). (WDTCR2), 4EH : Clears the binary counters. (WDTCR2), 4EH : Clears the binary counters. : : LD Within 3/4 of WDT detection time : : LD Page 60 TMP88CS42NG Watchdog Timer Control Register 1 WDTCR1 (0034H) 7 6 5 4 3 2 1 WDTEN WDTEN Watchdog timer enable/disable 0 WDTT WDTOUT (Initial value: **** 1001) 0: Disable (Writing the disable code to WDTCR2 is required.) 1: Enable Write only NORMAL mode WDTT WDTOUT Watchdog timer detection time [s] Watchdog timer output select DV1CK = 0 DV1CK = 1 00 225/fc 226/fc 01 223/fc 224/fc 10 221fc 222fc 11 219/fc 220/fc 0: Interrupt request 1: Reset request Write only Write only Note 1: After clearing WDTCR1<WDTOUT> to “0”, the program cannot set it to “1”. Note 2: fc: High-frequency clock [Hz], *: Don’t care Note 3: WDTCR1 is a write-only register and must not be used with any of read-modify-write instructions. If WDTCR1 is read, a unknown data is read. Note 4: To activate the STOP mode, disable the watchdog timer or clear the counter immediately before entering the STOP mode. After clearing the counter, clear the counter again immediately after the STOP mode is inactivated. Note 5: To clear WDTCR1<WDTEN>, set the register in accordance with the procedures shown in “7.2.3 Watchdog Timer Disable”. Note 6: If the watchdog timer is disabled during watchdog timer interrupt processing, the watchdog timer interrupt will never be cleared. Therefore, clear the watchdog timer ( set the clear code (4EH) to WDTCR2 ) before disabling it, or disable the watchdog timer a sufficient time before it overflows. Note 7: The watchdog timer consists of an internal divider and a two-stage binary counter. When clear code (4EH) is written, only the binary counter is cleared, not the internal divider. Depending on the timing at which clear code (4EH) is written on the WDTCR2 register, the overflow time of the binary counter may be at minimum 3/4 of the time set in WDTCR1<WDTT>. Thus, write the clear code using a shorter cycle than 3/4 of the time set in WDTCR1<WDTT>. Watchdog Timer Control Register 2 WDTCR2 (0035H) 7 6 5 4 3 2 1 0 (Initial value: **** ****) WDTCR2 Write Watchdog timer control code 4EH: Clear the watchdog timer binary counter (Clear code) B1H: Disable the watchdog timer (Disable code) Others: Invalid Write only Note 1: The disable code is valid only when WDTCR1<WDTEN> = 0. Note 2: *: Don’t care Note 3: The binary counter of the watchdog timer must not be cleared by the interrupt task. Note 4: Write the clear code (4EH) using a cycle shorter than 3/4 of the time set in WDTCR1<WDTT>. Note 5: WDTCR2 is a write-only register and must not be used with any of read-modify-write instructions. If WDTCR2 is read, a unknown data is read. 7.2.2 Watchdog Timer Enable Setting WDTCR1<WDTEN> to “1” enables the watchdog timer. Since WDTCR1<WDTEN> is initialized to “1” during reset, the watchdog timer is enabled automatically after the reset release. Page 61 7. Watchdog Timer (WDT) 7.2 Watchdog Timer Control 7.2.3 TMP88CS42NG Watchdog Timer Disable To disable the watchdog timer, set the register in accordance with the following procedures. Setting the register in other procedures causes a malfunction of the microcontroller. 1. Set the interrupt master flag (IMF) to “0”. 2. Set WDTCR2 to the clear code (4EH). 3. Set WDTCR1<WDTEN> to “0”. 4. Set WDTCR2 to the disable code (B1H). Note:While the watchdog timer is disabled, the binary counters of the watchdog timer are cleared. Example :Disabling the watchdog timer : IMF ← 0 DI LD (WDTCR2), 04EH : Clears the binary coutner LDW (WDTCR1), 0B101H : WDTEN ← 0, WDTCR2 ← Disable code : IMF ← 1 EI Table 7-1 Watchdog Timer Detection Time (Example: fc = 20 MHz) Watchdog Timer Detection Time[s] WDTT NORMAL Mode DV1CK = 0 DV1CK = 1 00 1.678 3.355 01 419.430 m 838.861 m 10 104.858 m 209.715 m 11 26.214 m 52.429 m Note: If the watchdog timer is disabled during watchdog timer interrupt processing, the watchdog timer interrupt will never be cleared. Therefore, clear the watchdog timer ( set the clear code (4EH) to WDTCR2 ) before disabling it, or disable the watchdog timer a sufficient time before it overflows. 7.2.4 Watchdog Timer Interrupt (INTWDT) When WDTCR1<WDTOUT> is cleared to “0”, a watchdog timer interrupt request (INTWDT) is generated by the binary-counter overflow. A watchdog timer interrupt is the non-maskable interrupt which can be accepted regardless of the interrupt master flag (IMF). When a watchdog timer interrupt is generated while the other interrupt including a watchdog timer interrupt is already accepted, the new watchdog timer interrupt is processed immediately and the previous interrupt is held pending. Therefore, if watchdog timer interrupts are generated continuously without execution of the RETN instruction, too many levels of nesting may cause a malfunction of the microcontroller. To generate a watchdog timer interrupt, set the stack pointer before setting WDTCR1<WDTOUT>. Page 62 TMP88CS42NG Example :Setting watchdog timer interrupt 7.2.5 LD SP, 08BFH : Sets the stack pointer LD (WDTCR1), 00001000B : WDTOUT ← 0 Watchdog Timer Reset When a binary-counter overflow occurs while WDTCR1<WDTOUT> is set to “1”, a watchdog timer reset request is generated. When a watchdog timer reset request is generated, the internal hardware is reset. The reset time is maximum 24/fc [s] ( max. 1.2 µs @ fc = 20 MHz). 219/fc [s] 217/fc Clock Binary counter (WDTT=11B) 1 2 3 0 1 2 3 0 Overflow INTWDT interrupt request (WDTCR1<WDTOUT>= "0") Internal reset A reset occurs (WDTCR1<WDTOUT>= "1") Write 4EH to WDTCR2 Figure 7-2 Watchdog timer Interrupt and Reset Page 63 7. Watchdog Timer (WDT) 7.2 Watchdog Timer Control TMP88CS42NG Page 64 B A TC1㩷㫇㫀㫅 Falling External trigger TC1S Page 65 C fc/23, fc/24 Figure 8-1 TimerCounter 1 (TC1) S ACAP1 TC1CR Y Y S A B Source clock Start Selector TC1DRA CMP PPG output mode 16-bit timer register A, B TC1DRB 16-bit up-counter Clear MPPG1 INTTC1 interript S Match Q Enable Toggle Set Clear Pulse width measurement mode TC1S clear TFF1 PPG output mode Internal reset Write to TC1CR Note: Function I/O may not operate depending on I/O port setting. For more details, see the chapter "I/O Port". Capture Window mode TC1 control register TC1CK 2 B A D Clear Set Q Command start METT1 External trigger start Decoder 2 fc/27, fc/28 12 Port (Note) Edge detector Rising fc/2 , fc/2 11 Pulse width measurement mode Y S MCAP1 Clear Set Toggle Q Port (Note) 㪧㪧㪞 pin TMP88CS42NG 8. 16-Bit TimerCounter 1 (TC1) 8.1 Configuration 8. 16-Bit TimerCounter 1 (TC1) 8.2 TimerCounter Control TMP88CS42NG 8.2 TimerCounter Control The TimerCounter 1 is controlled by the TimerCounter 1 control register (TC1CR) and two 16-bit timer registers (TC1DRA and TC1DRB). Timer Register 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 TC1DRA (0011H, 0010H) TC1DRAH (0011H) TC1DRAL (0010H) (Initial value: 1111 1111 1111 1111) Read/Write TC1DRB (0013H, 0012H) TC1DRBH (0013H) TC1DRBL (0012H) (Initial value: 1111 1111 1111 1111) Read/Write (Write enabled only in the PPG output mode) TimerCounter 1 Control Register TC1CR (000FH) TFF1 7 6 TFF1 ACAP1 MCAP1 METT1 MPPG1 5 4 3 TC1S 2 1 TC1CK 0 Read/Write (Initial value: 0000 0000) TC1M Timer F/F1 control 0: Clear 1: Set R/W ACAP1 Auto capture control 0:Auto-capture disable 1:Auto-capture enable MCAP1 Pulse width measurement mode control 0:Double edge capture 1:Single edge capture METT1 External trigger timer mode control 0:Trigger start 1:Trigger start and stop MPPG1 PPG output control 0:Continuous pulse generation 1:One-shot R/W TC1S TC1 start control Timer Extrigger Event Window Pulse 00: Stop and counter clear O O O O O O 01: Command start O – – – – O 10: Rising edge start (Ex-trigger/Pulse/PPG) Rising edge count (Event) Positive logic count (Window) – O O O O O 11: Falling edge start (Ex-trigger/Pulse/PPG) Falling edge count (Event) Negative logic count (Window) – O O O O O PPG R/W NORMAL, IDLE mode DV1CK = 0 TC1CK TC1 source clock select [Hz] fc/2 11 fc/212 01 fc/27 fc/28 10 fc/23 fc/24 11 TC1M TC1 operating mode select DV1CK = 1 00 R/W External clock (TC1 pin input) 00: Timer/external trigger timer/event counter mode 01: Window mode 10: Pulse width measurement mode 11: PPG (Programmable pulse generate) output mode R/W Note 1: fc: High-frequency clock [Hz] Note 2: The timer register consists of two shift registers. A value set in the timer register becomes valid at the rising edge of the first source clock pulse that occurs after the upper byte (TC1DRAH and TC1DRBH) is written. Therefore, write the lower byte and the upper byte in this order (it is recommended to write the register with a 16-bit access instruction). Writing only the lower byte (TC1DRAL and TC1DRBL) does not enable the setting of the timer register. Note 3: To set the mode, source clock, PPG output control and timer F/F control, write to TC1CR during TC1CR<TC1S>=00. Set the timer F/F1 control until the first timer start after setting the PPG mode. Note 4: Auto-capture can be used only in the timer, event counter, and window modes. Page 66 TMP88CS42NG Note 5: To set the timer registers, the following relationship must be satisfied. TC1DRA > TC1DRB > 1 (PPG output mode), TC1DRA > 1 (other modes) Note 6: Set TC1CR<TFF1> to “0” in the mode except PPG output mode. Note 7: Set TC1DRB after setting TC1CR<TC1M> to the PPG output mode. Note 8: When the STOP mode is entered, the start control (TC1CR<TC1S>) is cleared to “00” automatically, and the timer stops. After the STOP mode is exited, set the TC1CR<TC1S> to use the timer counter again. Note 9: Use the auto-capture function in the operative condition of TC1. A captured value may not be fixed if it's read after the execution of the timer stop or auto-capture disable. Read the capture value in a capture enabled condition. Note 10:Since the up-counter value is captured into TC1DRB by the source clock of up-counter after setting TC1CR<ACAP1> to "1". Therefore, to read the captured value, wait at least one cycle of the internal source clock before reading TC1DRB for the first time. Page 67 8. 16-Bit TimerCounter 1 (TC1) 8.3 Function TMP88CS42NG 8.3 Function TimerCounter 1 has six types of operating modes: timer, external trigger timer, event counter, window, pulse width measurement, programmable pulse generator output modes. 8.3.1 Timer mode In the timer mode, the up-counter counts up using the internal clock. When a match between the up-counter and the timer register 1A (TC1DRA) value is detected, an INTTC1 interrupt is generated and the up-counter is cleared. After being cleared, the up-counter restarts counting. Setting TC1CR<ACAP1> to “1” captures the upcounter value into the timer register 1B (TC1DRB) with the auto-capture function. Use the auto-capture function in the operative condition of TC1. A captured value may not be fixed if it's read after the execution of the timer stop or auto-capture disable. Read the capture value in a capture enabled condition. Since the upcounter value is captured into TC1DRB by the source clock of up-counter after setting TC1CR<ACAP1> to "1". Therefore, to read the captured value, wait at least one cycle of the internal source clock before reading TC1DRB for the first time. Table 8-1 Source Clock for TimerCounter 1 (Example: fc = 20 MHz) TC1CK NORMAL, IDLE Mode DV1CK = 0 DV1CK = 1 Resolution [µs] Maximum Time Setting [s] Resolution [µs] Maximum Time Setting [s] 00 102.4 6.7108 204.8 13.4216 01 6.4 0.4194 12.8 0.8388 10 0.5 26.214 m 0.8 52.428 m Example 1 :Setting the timer mode with source clock fc/211 [Hz] and generating an interrupt 1 second later (fc = 20 MHz, CGCR<DV1CK> = “0”) LDW ; Sets the timer register (1 s ÷ 211/fc = 2625H) (TC1DRA), 2625H DI SET ; IMF= “0” (EIRD). 2 ; Enables INTTC1 EI ; IMF= “1” LD (TC1CR), 00000000B ; Selects the source clock and mode LD (TC1CR), 00010000B ; Starts TC1 LD (TC1CR), 01010000B ; ACAP1 ← 1 : : ; Wait at least one cycle of the internal source clock LD WA, (TC1DRB) ; Reads the capture value Example 2 :Auto-capture Page 68 TMP88CS42NG Timer start Source clock Counter 0 TC1DRA ? 1 2 3 n−1 4 n 0 1 3 2 4 5 6 n Match detect INTTC1 interruput request Counter clear (a) Timer mode Source clock m−2 Counter m−1 m m+1 m+2 n−1 Capture TC1DRB ? m−1 m n n+1 Capture m+1 m+2 ACAP1 (b) Auto-capture Figure 8-2 Timer Mode Timing Chart Page 69 n−1 n n+1 7 8. 16-Bit TimerCounter 1 (TC1) 8.3 Function TMP88CS42NG 8.3.2 External Trigger Timer Mode In the external trigger timer mode, the up-counter starts counting by the input pulse triggering of the TC1 pin, and counts up at the edge of the internal clock. For the trigger edge used to start counting, either the rising or falling edge is defined in TC1CR<TC1S>. • When TC1CR<METT1> is set to “1” (trigger start and stop) When a match between the up-counter and the TC1DRA value is detected after the timer starts, the up-counter is cleared and halted and an INTTC1 interrupt request is generated. If the edge opposite to trigger edge is detected before detecting a match between the up-counter and the TC1DRA, the up-counter is cleared and halted without generating an interrupt request. Therefore, this mode can be used to detect exceeding the specified pulse by interrupt. After being halted, the up-counter restarts counting when the trigger edge is detected. • When TC1CR<METT1> is set to “0” (trigger start) When a match between the up-counter and the TC1DRA value is detected after the timer starts, the up-counter is cleared and halted and an INTTC1 interrupt request is generated. The edge opposite to the trigger edge has no effect in count up. The trigger edge for the next counting is ignored if detecting it before detecting a match between the up-counter and the TC1DRA. Since the TC1 pin input has the noise rejection, pulses of 4/fc [s] or less are rejected as noise. A pulse width of 12/fc [s] or more is required to ensure edge detection. Example 1 :Generating an interrupt 1 ms after the rising edge of the input pulse to the TC1 pin (fc =20 MHz, CGCR<DV1CK> = “1”) LDW ; 1ms ÷ 27/fc = 7DH (TC1DRA), 007DH DI SET ; IMF= “0” (EIRD). 2 ; Enables INTTC1 interrupt EI ; IMF= “1” LD (TC1CR), 00001000B ; Selects the source clock and mode LD (TC1CR), 00111000B ; Starts TC1 external trigger, METT1 = 0 Example 2 :Generating an interrupt when the low-level pulse with 4 ms or more width is input to the TC1 pin (fc =20 MHz, CGCR<DV1CK> = “1”) LDW ; 4 ms ÷ 28/fc = 0138H (TC1DRA), 0138H DI SET ; IMF= “0” (EIRD). 2 ; Enables INTTC1 interrupt EI ; IMF= “1” LD (TC1CR), 00000100B ; Selects the source clock and mode LD (TC1CR), 01110100B ; Starts TC1 external trigger, METT1 = 0 Page 70 TMP88CS42NG At the rising edge (TC1S = 10) Count start Count start TC1 pin input Source clock Up-counter 0 1 2 TC1DRA 3 n−1 n 4 n Match detect 0 2 1 3 Count clear INTTC1 interrupt request (a) Trigger start (METT1 = 0) Count clear Count start At the rising edge (TC1S = 10) Count start TC1 pin input Source clock Up-counter TC1DRA 0 1 2 m−1 m 3 0 1 2 n n 3 Match detect 0 Count clear INTTC1 interrupt request Note: m < n (b) Trigger start and stop (METT1 = 1) Figure 8-3 External Trigger Timer Mode Timing Chart Page 71 8. 16-Bit TimerCounter 1 (TC1) 8.3 Function TMP88CS42NG 8.3.3 Event Counter Mode In the event counter mode, the up-counter counts up at the edge of the input pulse to the TC1 pin. Either the rising or falling edge of the input pulse is selected as the count up edge in TC1CR<TC1S>. When a match between the up-counter and the TC1DRA value is detected, an INTTC1 interrupt is generated and the up-counter is cleared. After being cleared, the up-counter restarts counting at each edge of the input pulse to the TC1 pin. Since a match between the up-counter and the value set to TC1DRA is detected at the edge opposite to the selected edge, an INTTC1 interrupt request is generated after a match of the value at the edge opposite to the selected edge. Two or more machine cycles are required for the low-or high-level pulse input to the TC1 pin. Setting TC1CR<ACAP1> to “1” captures the up-counter value into TC1DRB with the auto capture function. Use the auto-capture function in the operative condition of TC1. A captured value may not be fixed if it's read after the execution of the timer stop or auto-capture disable. Read the capture value in a capture enabled condition. Since the up-counter value is captured into TC1DRB by the source clock of up-counter after setting TC1CR<ACAP1> to "1". Therefore, to read the captured value, wait at least one cycle of the internal source clock before reading TC1DRB for the first time. Timer start TC1 pin Input Up-counter TC1DRA 0 ? 1 n−1 2 n 0 1 n Match detect INTTC1 interrput request Counter clear Figure 8-4 Event Counter Mode Timing Chart Table 8-2 Input Pulth Width to TC1 Pin Minimum Pulse Width [s] NORMAL, IDLE Mode High-going 23/fc Low-going 23/fc Page 72 2 At the rising edge (TC1S = 10) TMP88CS42NG 8.3.4 Window Mode In the window mode, the up-counter counts up at the rising edge of the pulse that is logical ANDed product of the input pulse to the TC1 pin (window pulse) and the internal source clock. Either the positive logic (count up during high-going pulse) or negative logic (count up during low-going pulse) can be selected. When a match between the up-counter and the TC1DRA value is detected, an INTTC1 interrupt is generated and the up-counter is cleared. Define the window pulse to the frequency which is sufficiently lower than the internal source clock programmed with TC1CR<TC1CK>. Count start Count stop Count start Timer start TC1 pin input Internal clock Counter TC1DRA 0 ? 1 2 3 4 5 6 7 0 1 2 3 7 Match detect INTTC1 interrput request Counter clear (a) Positive logic (TC1S = 10) Timer start Count start Count stop Count start TC1 pin input Internal clock 0 Counter TC1DRA ? 1 2 3 4 5 6 7 8 9 0 1 9 Match detect INTTC1 interrput request (b) Negative logic (TC1S = 11) Figure 8-5 Window Mode Timing Chart Page 73 Counter clear 8. 16-Bit TimerCounter 1 (TC1) 8.3 Function TMP88CS42NG 8.3.5 Pulse Width Measurement Mode In the pulse width measurement mode, the up-counter starts counting by the input pulse triggering of the TC1 pin, and counts up at the edge of the internal clock. Either the rising or falling edge of the internal clock is selected as the trigger edge in TC1CR<TC1S>. Either the single- or double-edge capture is selected as the trigger edge in TC1CR<MCAP1>. • When TC1CR<MCAP1> is set to “1” (single-edge capture) Either high- or low-level input pulse width can be measured. To measure the high-level input pulse width, set the rising edge to TC1CR<TC1S>. To measure the low-level input pulse width, set the falling edge to TC1CR<TC1S>. When detecting the edge opposite to the trigger edge used to start counting after the timer starts, the up-counter captures the up-counter value into TC1DRB and generates an INTTC1 interrupt request. The up-counter is cleared at this time, and then restarts counting when detecting the trigger edge used to start counting. • When TC1CR<MCAP1> is set to “0” (double-edge capture) The cycle starting with either the high- or low-going input pulse can be measured. To measure the cycle starting with the high-going pulse, set the rising edge to TC1CR<TC1S>. To measure the cycle starting with the low-going pulse, set the falling edge to TC1CR<TC1S>. When detecting the edge opposite to the trigger edge used to start counting after the timer starts, the up-counter captures the up-counter value into TC1DRB and generates an INTTC1 interrupt request. The up-counter continues counting up, and captures the up-counter value into TC1DRB and generates an INTTC1 interrupt request when detecting the trigger edge used to start counting. The up-counter is cleared at this time, and then continues counting. Note 1: The captured value must be read from TC1DRB until the next trigger edge is detected. If not read, the captured value becomes a don’t care. It is recommended to use a 16-bit access instruction to read the captured value from TC1DRB. Note 2: For the single-edge capture, the counter after capturing the value stops at “1” until detecting the next edge. Therefore, the second captured value is “1” larger than the captured value immediately after counting starts. Note 3: The first captured value after the timer starts may be read incorrectively, therefore, ignore the first captured value. Page 74 TMP88CS42NG Example :Duty measurement (resolution fc/27 [Hz], CGCR<DV1CK> = “0”) CLR (INTTC1SW). 0 ; INTTC1 service switch initial setting Address set to convert INTTC1SW at each INTTC1 LD (TC1CR), 00000110B ; Sets the TC1 mode and source clock (EIRD). 2 ; Enables INTTC1 DI SET ; IMF= “0” EI LD ; IMF= “1” (TC1CR), 00100110B ; Starts TC1 with an external trigger at MCAP1 = 0 CPL (INTTC1SW). 0 ; INTTC1 interrupt, inverts and tests INTTC1 service switch JRS F, SINTTC1 LD A, (TC1DRBL) LD W,(TC1DRBH) LD (HPULSE), WA ; Stores high-level pulse width in RAM A, (TC1DRBL) ; Reads TC1DRB (Cycle) : PINTTC1: ; Reads TC1DRB (High-level pulse width) RETI SINTTC1: LD LD W,(TC1DRBH) LD (WIDTH), WA ; Stores cycle in RAM : RETI ; Duty calculation : VINTTC1: DW PINTTC1 ; INTTC1 Interrupt vector WIDTH HPULSE TC1 pin INTTC1 interrupt request INTTC1SW Page 75 8. 16-Bit TimerCounter 1 (TC1) 8.3 Function TMP88CS42NG Count start TC1 pin input Count start Trigger (TC1S = "10") Internal clock Counter 0 1 2 3 4 1 Capture n n-1 n 0 TC1DRB INTTC1 interrupt request 2 3 [Application] High-or low-level pulse width measurement (a) Single-edge capture (MCAP1 = "1") Count start Count start TC1 pin input (TC1S = "10") Internal clock Counter 0 1 2 3 4 n+1 TC1DRB n n+1 n+2 n+3 Capture n m-2 m-1 m 0 1 Capture m INTTC1 interrupt request [Application] (1) Cycle/frequency measurement (2) Duty measurement (b) Double-edge capture (MCAP1 = "0") Figure 8-6 Pulse Width Measurement Mode Page 76 2 TMP88CS42NG 8.3.6 Programmable Pulse Generate (PPG) Output Mode In the programmable pulse generation (PPG) mode, an arbitrary duty pulse is generated by counting performed in the internal clock. To start the timer, TC1CR<TC1S> specifies either the edge of the input pulse to the TC1 pin or the command start. TC1CR<MPPG1> specifies whether a duty pulse is produced continuously or not (one-shot pulse). • When TC1CR<MPPG1> is set to “0” (Continuous pulse generation) When a match between the up-counter and the TC1DRB value is detected after the timer starts, the level of the PPG pin is inverted and an INTTC1 interrupt request is generated. The up-counter continues counting. When a match between the up-counter and the TC1DRA value is detected, the level of the PPG pin is inverted and an INTTC1 interrupt request is generated. The up-counter is cleared at this time, and then continues counting and pulse generation. When TC1CR<TC1S> is cleared to “00” during PPG output, the PPG pin retains the level immediately before the counter stops. • When TC1CR<MPPG1> is set to “1” (One-shot pulse generation) When a match between the up-counter and the TC1DRB value is detected after the timer starts, the level of the PPG pin is inverted and an INTTC1 interrupt request is generated. The up-counter continues counting. When a match between the up-counter and the TC1DRA value is detected, the level of the PPG pin is inverted and an INTTC1 interrupt request is generated. TC1CR<TC1S> is cleared to “00” automatically at this time, and the timer stops. The pulse generated by PPG retains the same level as that when the timer stops. Since the output level of the PPG pin can be set with TC1CR<TFF1> when the timer starts, a positive or negative pulse can be generated. Since the inverted level of the timer F/F1 output level is output to the PPG pin, specify TC1CR<TFF1> to “0” to set the high level to the PPG pin, and “1” to set the low level to the PPG pin. Upon reset, the timer F/F1 is initialized to “0”. Note 1: To change TC1DRA or TC1DRB during a run of the timer, set a value sufficiently larger than the count value of the counter. Setting a value smaller than the count value of the counter during a run of the timer may generate a pulse different from that specified. Note 2: Do not change TC1CR<TFF1> during a run of the timer. TC1CR<TFF1> can be set correctly only at initialization (after reset). When the timer stops during PPG, TC1CR<TFF1> can not be set correctly from this point onward if the PPG output has the level which is inverted of the level when the timer starts. (Setting TC1CR<TFF1> specifies the timer F/F1 to the level inverted of the programmed value.) Therefore, the timer F/F1 needs to be initialized to ensure an arbitrary level of the PPG output. To initialize the timer F/F1, change TC1CR<TC1M> to the timer mode (it is not required to start the timer mode), and then set the PPG mode. Set TC1CR<TFF1> at this time. Note 3: In the PPG mode, the following relationship must be satisfied. TC1DRA > TC1DRB Note 4: Set TC1DRB after changing the mode of TC1M to the PPG mode. Page 77 8. 16-Bit TimerCounter 1 (TC1) 8.3 Function TMP88CS42NG Example :Generating a pulse which is high-going for 800 µs and low-going for 200 µs (fc = 20 MHz, CGCR<DV1CK> = “0”) Setting port LD (TC1CR), 10001011B ; Sets the PPG mode, selects the source clock LDW (TC1DRA), 04E2H ; Sets the cycle (1 ms ÷ 24/fc µs = 04E2H) LDW (TC1DRB), 00FAH ; Sets the low-level pulse width (200 µs ÷ 24/fc = 00FAH) LD (TC1CR), 10010111B ; Starts the timer I/O port output latch shared with PPG output Data output Port output enable Q D PPG pin R Function output TC1CR<TFF1> Set Write to TC1CR Internal reset Clear Match to TC1DRB Match to TC1DRA Q Toggle Timer F/F1 INTTC1 interrupt request TC1CR<TC1S> clear Figure 8-7 PPG Output Page 78 TMP88CS42NG Timer start Internal clock Counter 0 1 TC1DRB n TC1DRA m 2 n n+1 m 0 1 2 n n+1 m 0 1 2 Match detect PPG pin output INTTC1 interrupt request Note: m > n (a) Continuous pulse generation (TC1S = 01) Count start TC1 pin input Trigger Internal clock Counter 0 TC1DRB n TC1DRA m 1 n n+1 m 0 PPG pin output INTTC1 interrupt request [Application] One-shot pulse output (b) One-shot pulse generation (TC1S = 10) Figure 8-8 PPG Mode Timing Chart Page 79 Note: m > n 8. 16-Bit TimerCounter 1 (TC1) 8.3 Function TMP88CS42NG Page 80 Figure 9-1 CTC Block Diagram Page 81 12 Y CTC1CR2 3 CTC1CK CTC1S CTC1CK CTC1FF0 CTC1CR1 Start control H A B C D Y E F G S CTC1M 2 CTC1REG Falling edge Rising edge CTC1SM CTC1E Edge detection CTC1SE CTC1CY CTC1M CTC1REG 2 11 S A B fc/27 or fc/28 fc/25 or fc/26 fc/2 or fc/2 fc/23 or fc/24 fc/22 or fc/23 2 fc/2 or fc/2 fc or fc/2 PPGFF0 CTC1RES EXTREGDIS CTC pin CTC1S CTC1SM CTC1SE CTC1CY CTC1E CTC1DRC CTC1DRB CTC1DRA 3 Select read register Read/Write control and clear interrupt 16-bit up counter Select write register 3 2 Start Trigger clear Stop Comparator Interrupt Last coincidence CTC1FF0 PPGFF0 CTC1M Set Clear Q Toggle INTCTC1 interrupt PPG2 pin TMP88CS42NG 9. 16-Bit Timer (CTC) 9.1 Configuration 9. 16-Bit Timer (CTC) 9.2 Control TMP88CS42NG 9.2 Control Compare timer/counter 1 is controlled using Compare timer/counter 1 Control Registers (CTC1CR1 and CTC1CR2), as well as three 16-bit Timer Registers (CTC1DRA, CTC1DRB, and CTC1DRC). Compare Timer Registers (CTC1DRH: 00017h, CTC1DRL: 00016h) 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Write only (Initial value: ******** ********) 2 1 0 Write only Initial value: ******** ******** 2 1 0 Write only Initial value: ******** ******** CTC1DRA CTC1DRAH 15 14 13 12 11 CTC1DRAL 10 9 8 7 6 5 4 3 CTC1DRB CTC1DRBH 15 14 13 12 11 CTC1DRBL 10 9 8 7 6 5 4 3 CTC1DRC CTC1DRCH CTC1DRCL Note: CTC1DRA, CTC1DRB, and CTC1DRC are write-only registers and must not be used with any of the read-modify-write instructions such as SET, CLR, etc. Compare Timer/Counter 1 Control Registers (CTC1CR2: 00015h, CTC1CR1: 00014h) CTC1CR1 lower address CTC1CR2 upper address 7 6 5 4 3 2 1 0 CTC1RES PPGFF0 CTC1M CTC1CY CTC1SE CTC1E CTC1SM CTC1S 7 6 5 4 3 2 1 0 * EXTRGDIS CTC1REG CTC1CK CTC1FF0 R/W (Initial value: 00000000) R/W (Initial value: *0000000) Note 1: *: Don’t care Note 2: The CTC1CR1<CTC1RES> is 0 when read. Note 3: Use the LDW instruction for write to the CTC1DR H/L Registers. Set a value equal to or greater than 2. Note 4: Write to CTC1DR H/L A, B, and C Registers as many as set with the CTC1CR2 Register CTC1REG bit. Note 5: Data are written to CTC1DR H/L Registers in order of CTC1DRA, CTC1DRB, and CTC1DRC. Page 82 TMP88CS42NG Setting-up the CTC1CR1 Register CTC1S Control start 0: Stop and clear counter 1: Command start Timer Event PPG ο ο ο ο ο ο ο ο ο ο × ο ο ο ο ο × ο ο ο ο ο ο ο ο ο ο ο × ο Select start 0: Software start 1: External trigger start CTC1E Select external trigger edge 0: Enable one edge 1: Enable both edges CTC1SE Select external trigger start edge 0: Rising edge 1: Falling edge CTC1CY Select cycle 0: Successive 1: One shot CTC1M Set operation mode 0: Timer/Event counter modes 1: PPG (programmable pulse generator) output mode PPGFF0 Select PPG output 0: Forward output immediately after start 1: Reverse output immediately after start Reset all 0: Normal operation 1: CTC1 reset CTC1SM CTC1RES R/W Setting-up the CTC1CR2 Register CTC1FF0 Control timer output F/F0 0: Clear 1: Set NORMAL and IDLE Modes CTC1CK Select timer/counter clock source Unit: Hz DV1CK = 0 DV1CK = 1 000 fc/211 fc/212 001 fc/27 fc/28 010 fc/25 fc/26 011 fc/23 fc/24 100 fc/22 fc/23 fc/2 fc/22 - - 101 110 111 R/W External clock input (CTC1 pin input) CTC1REG Set registers used by timer/ counter 00: CTC1DRA 01: CTC1DRA + CTC1DRB 10: CTC1DRA + CTC1DRB + CTC1DRC 11: Reserved EXTRGDIS External trigger input 0: Enable external trigger input 1: Disable external trigger input 1REG 2REG 3REG Note 1: fc: Clock [Hz] Note 2: Make sure the timer/counter is idle (CTC1CR1<CTC1SM, CTC1S> = 00) before setting operation mode, edge, start, source clock, external trigger timer mode control, and PPG output control. Note 3: The CTC1DRB and CTC1DRC Registers cannot be accessed for write unless they are set for PPG output mode and specified with CTC1CR2<CTC1REG>. Note 4: CTC1CR1<CTC1E> is effective only when using an external clock as trigger (CTC1CR1<CTC1SM>). Note 5: Data must be written to as many data registers as set with CTC1CR2<CTC1REG>. Note 6: To write data to CTC1DRA/B/C, use the LDW instruction, or use the LD instruction writing in order of L, H. Note 7: Data register values must be written to the respective registers before starting. To modify the values after starting, write the new data within an interval from an INTCTC1 interrupt to the next INTCTC1. Note 8: Specifying CTC1CR1<CTC1RES> = 1 causes all conditions to be reset. Even when the CTC circuit is operating, they are reset, and the PPG output becomes “0”. However, only the INTCTC1 signal is not reset if the signal is being generated. Note 9: For event counter mode (when CTC pin input is selected in timer mode), the active edge of the external trigger to count can be selected with CTC1CR1<CTC1SE>. Note 10:Disabling external trigger input with CTC1CR2<EXTRGDIS> creates the 0 input state. Note 11:To stop the counter by software at trigger start, set CTC1CR2<CTC1SM, CTC1S> = 00. Page 83 9. 16-Bit Timer (CTC) 9.2 Control TMP88CS42NG Note 12:The number of registers set and the values set in the timer registers must meet the conditions shown below. Number of Registers CTC1REG Timer Register Value Conditions 1 Register CTC1DRA ≥ 2 2 Register CTC1DRB > CTC1DRA + 1, and CTC1DRA ≥ 2 3 Register CTC1DRC > CTC1DRB + 1, CTC1DRB > CTC1DRA + 1, and CTC1DRA ≥ 2 Page 84 TMP88CS42NG 9.3 Function Compare timer/counter 1 has three modes: timer, event counter, and programmable pulse generator output modes. 9.3.1 Timer mode with software start In this mode, the timer/counter (16-bit counter) counts up synchronously with the internal clock. When the counter value and the set value of Compare Timer Register 1 (CTC1DRA) match, an INTCTC1 interrupt is generated and the counter is cleared. After the counter is cleared, it restarts and continues counting up. Table 9-1 Internal Clock Source for Compare Timer/Counter 1 (Example: fc = 20 MHz) NORMAL and IDLE Modes CTC1CK DV1CK = 0 DV1CK = 1 Resolution [µs] Maximum Setting Time [s] Resolution [µs] Maximum Setting Time [s] 000 102.4 6.71 204.8 13.42 001 6.4 0.419 12.8 0.839 010 1.6 0.105 3.2 0.210 011 0.4 26.21 m 0.8 52.43 m 100 0.2 13.11 m 0.4 26.21 m 101 0.1 6.55 m 0.2 13.11 m 110 - - - - Internal clock 0 Counter Timer Register A 1 2 3 n-1 n 1 2 3 4 5 6 7 8 9 n INTCTC1 interrupt Successive Figure 9-2 Timer Mode Timing Chart Note:If the CTC input port (P47) is set for input mode, the timer/counter is reset by an input edge on port. When using the timer/counter as an ordinary timer, set CTC1CR2<EXTRGDIS> to 1 or set P47 for output mode. Page 85 9. 16-Bit Timer (CTC) 9.2 Control TMP88CS42NG 9.3.2 Timer mode with external trigger start In this timer mode, the timer/counter starts counting as triggered by input on CTC pin (rising or falling edge selected with CTC1CR1<CTC1SE>). The source clock is an internal clock. For successive cycles, when the counter value and the set value of the CTC1DRA Register match, an INTCTC1 interrupt is generated and the counter is cleared and then restarted. The counter is stopped by a trigger input on CTC pin and restarted by the next trigger input. For a one-shot cycle, when the counter value and the set value of the CTC1DRA Register match, an INTCTC1 interrupt is generated and the counter is cleared and stopped. The counter restarts counting up by input on CTC pin. When CTC1CR1<CTC1E> = 1, the counter is cleared and stops counting at an edge on CTC pin input opposite the active edge that triggers the counter to start counting. In this mode, an interrupt can be generated by entering a pulse which has a certain width. When CTC1CR1<CTC1E> = 0, opposite edges on CTC input are ignored. (I) When rising edge start is selected, with counting enabled on one edge ( CTC1SE = 0, CTC1E = 0 ) Stop Count start Trigger CTC pin input Count start Trigger Trigger Internal clock Counter 0 1 2 n-1 n 1 2 3 4 1 2 5 6 Clear Timer Register A n INTCTC1 interrupt Successive Count start Count start Trigger CTC pin input Trigger Internal clock Counter 0 1 2 n-1 n 0 1 2 3 Stop Timer Register A n INTCTC1 interrupt One Shot Figure 9-3 External Trigger Mode Timing Chart Page 86 4 TMP88CS42NG (II) When rising start edge is selected, with counting enabled on both edges ( CTC1SE = 0, CTC1E = 1 ) Count stop Count start Trigger CTC pin input Count start Trigger Trigger Internal clock Counter 0 Timer Register A 1 2 m 0 1 n-1 n 1 2 3 n INTCTC1 interrupt Successive Count start Count start Trigger CTC pin input Note) m < n Count clear Trigger Trigger Internal clock Counter 0 Timer Register A 1 2 n 0 1 2 3 4 5 0 1 2 3 n INTCTC1 interrupt One Shot Figure 9-4 External Trigger Mode Timing Chart 9.3.3 Event counter mode In this mode, the timer/counter counts up at the active edge on CTC pin input (rising or falling edge selected with the CTC1CR1<CTC1SE> which is provided for selecting external trigger edge). When the counter value and the set value of the CTC1DRA Register match, an INTCTC1 interrupt is generated and the counter is cleared. After the counter is cleared, it restarts and continues counting up at each edge on CTC pin input. The maximum applied frequency is shown in the table below. Because coincidence detection is made at an edge opposite the selected edge, the external clock signal on CTC pin must always be entered. When rising start edge is selected Command start CTC pin input Counter 0 Timer Register n 1 2 n-1 n 0 INTCTC1 interrupt Figure 9-5 Event Counter Mode Timing Chart Page 87 1 9. 16-Bit Timer (CTC) 9.2 Control TMP88CS42NG Table 9-2 External Clock Source for Compare Timer/Counter 1 NORMAL and IDLE Modes 9.3.4 Maximum applied frequency [Hz] Up to fc/22 Minimum pulse width 22/fc and over Programmable Pulse Generate (PPG) output mode The timer/counter starts counting as a command or edge on CTC pin input (rising/falling edge and one/both edges respectively selected with the CTC1CR1<CTC1SE> and CTC1CR1<CTC1E>). The source clock is an internal clock. When matched with the CTC1DR A/B/C Registers, the timer output F/F corresponding to each mode is inverted. When matched with the CTC1DR A/B/C Registers next time, the timer output F/F is inverted again. An INTCTC1 interrupt request is generated when the counter value matches the maximum register value set by CTC1CR2<CTCREG>. The timer output F/F is cleared to 0 when reset. Because CTC1CR2<CTC1FF0> can be used to set the initial value for the timer output F/F, an active-high or active-low pulse whichever is desired can be output. The CTC1DRB and CTC1DRC Registers cannot be accessed for write unless they are set for PPG output mode and the registers used are selected with CTC1CR2<CTC1REG>. The number of registers set can be altered during operation. In this case, however, be sure to set the number of registers used and write values to the data registers before the next CTC1INIT1 is output after the first CTC1INIT1 output. Even when only altering the data register values while leaving the number of registers unchanged, be sure to do this within the same period of time. Table 9-3 Internal Clock Source for Compare Timer/Counter 1 (Example: fc = 20 MHz) NORMAL and IDLE Modes CTC1CK DV1CK = 0 DV1CK = 1 Resolution [µs] Maximum Setting Time [s] Resolution [µs] Maximum Setting Time [s] 000 102.4 6.71 204.8 13.42 001 6.4 0.419 12.8 0.839 010 1.6 0.105 3.2 0.210 011 0.4 26.21 m 0.8 52.43 m 100 0.2 13.11 m 0.4 26.21 m 101 0.1 6.55 m 0.2 13.11 m 110 - - - - (I) One register used When command start, interrupt output, and counter clear are set in Timer Register A Command start CTC pin input Counter Timer Register A 0 1 n 1 n 1 n 1 n PPG2 pin output INTCTC1 interrupt Successive Figure 9-6 PPG Output Mode Timing Chart Page 88 n 1 2 3 TMP88CS42NG (II) Two registers used (CTC1REG = 01) When external trigger rising edge start, one edge enable, interrupt output, and counter clear are set in Timer Register B. Command start Stop CTC pin input Internal clock 0 Counter 1 Timer Register A m Timer Register B n m m+1 n 1 m m+1 n 1 2 PPG2 pin output 0 Initial value INTCTC1 interrupt Successive Command start Start CTC pin input Internal clock 0 Counter 1 Timer Register A m Timer Register B n m m+1 n 0 PPG2 pin output INTCTC1 interrupt One shot Figure 9-7 PPG Output Two Register Mode Timing Chart Page 89 1 9. 16-Bit Timer (CTC) 9.2 Control TMP88CS42NG When external trigger rising edge start, both edges enable, interrupt output, and counter clear are set in Timer Register B. Command start Stop Start CTC pin input Internal clock 0 Counter 1 Timer Register A m Timer Register B n m m+1 n 1 0 m 1 Initial value PPG2 pin output INTCTC1 interrupt Successive Start Start Start Start CTC pin input Internal clock 0 Counter 1 m m+1 n 0 1 2 0 1 m 0 1 m m+1 m+1 Timer Register A m Timer Register B n PPG2 pin output INTCTC1 interrupt One shot Figure 9-8 PPG Output External Trigger Mode Timing Chart Page 90 n 0 TMP88CS42NG (III) Three registers used (CTC1REG = 10) When command start, interrupt output, and counter clear are set in Timer Register C. Command start CTC pin input 0 Counter 1 Timer Register A m Timer Register B n Timer Register C s m m+1 n n+1 s 1 m m+1 n PPG2 pin output INTCTC1 interrupt Successive Command start Command restart CTC pin input 0 Counter 1 Timer Register A m Timer Register B n Timer Register C s m m+1 n n+1 s 0 1 m m+1 PPG2 pin output INTCTC1 interrupt One shot Note: In the single-shot mode, the PPG pin output is not toggled at the last register match; it stays at the value specified with CTC1CR2<CTC1FF0>. Figure 9-9 PPG Output Three Register Mode Timing Chart Page 91 9. 16-Bit Timer (CTC) 9.2 Control TMP88CS42NG Detail operation at start that varies depending on how CTC1CR2<CTC1FF0> and CTC1CR1<PPGFF0> are set during PPG output. Table 9-4 Varying PPG Output Timing Depending on Settings CTC1FF0 setting (write to CTC1CR1 Register) Command start or trigger start Internal clock CTC1FF0 = 0 PPGFF0 = 0 0 Counter 1 2 3 n n+1 n+2 n+3 2 3 n n+1 n+2 n+3 2 3 n n+1 n+2 n+3 2 3 n n+1 n+2 n+3 PPG output CTC1FF0 setting (write to CTC1CR1 Register) Command start or trigger start Internal clock CTC1FF0 = 1 PPGFF0 = 0 0 Counter 1 PPG output CTC1FF0 setting (write to CTC1CR1 Register) Command start or trigger start Internal clock CTC1FF0 = 0 PPGFF0 = 1 0 Counter 1 PPG output CTC1FF0 setting (write to CTC1CR1 Register) Command start or trigger start Internal clock CTC1FF0 = 1 PPGFF0 = 1 Counter 0 1 PPG output By changing the port-shared output for PPG output before the counter starts counting after setting CTC1CR2<CTC1FF0>, it is possible to determine the initial value of PPG output. Page 92 TMP88CS42NG 10. 8-Bit TimerCounter 3 (TC3) 10.1 Configuration Falling INTTC3 interrupt TC3S Edge detector Rising Port (Note) Clear H A Y B C D E F G S fc/213, fc/2 14 fc/212, fc/2 13 fc/211 , fc/2 12 fc/210, fc/2 11 fc/2 9 , fc/210 fc/2 8 , fc/2 9 fc/2 7 , fc/2 8 Source clock Overflow detect TC3S A Y Match detect B S TC3DRB Capture TC3DRA 8-bit timer register Capture ACAP TC3M TC3CK 8-bit up-counter CMP 3 TC3S TC3 pin TC3CR TC3 contorol register Note: Function input may not operate depending on I/O port setting. For more details, see the chapter "I/O Port". Figure 10-1 TimerCounter 3 (TC3) Page 93 10. 8-Bit TimerCounter 3 (TC3) 10.1 Configuration TMP88CS42NG 10.2 TimerCounter Control The TimerCounter 3 is controlled by the TimerCounter 3 control register (TC3CR) and two 8-bit timer registers (TC3DRA and TC3DRB). Timer Register and Control Register TC3DRA (001CH) 7 6 5 4 3 2 1 0 Read/Write (Initial value: 1111 1111) TC3DRB (001DH) TC3CR (001EH) Read only (Initial value: 1111 1111) 7 6 5 ACAP 4 3 2 TC3S 1 TC3CK 0 TC3M (Initial value: *0*0 0000) ACAP Auto capture control 0: – 1: Auto capture R/W TC3S TC3 start control 0: Stop and counter clear 1: Start R/W NORMAL, IDLE mode DV1CK=0 TC3CK TC3 source clock select [Hz] fc/2 13 fc/214 001 fc/212 fc/213 010 fc/211 fc/212 011 fc/210 fc/211 100 fc/29 fc/210 101 fc/28 fc/29 110 fc/27 fc/28 111 TC3M TC3 operating mode select DV1CK=1 000 R/W External clock (TC3pin input) 0: Timer/event counter mode 1: Capture mode R/W Note 1: fc: High-frequency clock [Hz], *: Don’t care Note 2: Set the operating mode and source clock when TimerCounter stops (TC3CR<TC3S> = 0). Note 3: To set the timer registers, the following relationship must be satisfied. TC3DRA > 1 (Timer/event counter mode) Note 4: Auto-capture (TC3CR<ACAP>) can be used only in the timer and event counter modes. Note 5: When the read instruction is executed to TC3CR, the bit 5 and 7 are read as a don’t care. Note 6: Do not program TC3DRA when the timer is running (TC3CR<TC3S> = 1). Note 7: When the STOP mode is entered, the start control (TC3CR<TC3S>) is cleared to 0 automatically, and the timer stops. After the STOP mode is exited, TC3CR<TC3S> must be set again to use the timer counter. Page 94 TMP88CS42NG 10.3 Function TimerCounter 3 has three types of operating modes: timer, event counter and capture modes. 10.3.1 Timer mode In the timer mode, the up-counter counts up using the internal clock. When a match between the up-counter and the timer register 3A (TC3DRA) value is detected, an INTTC3 interrupt is generated and the up-counter is cleared. After being cleared, the up-counter restarts counting. Setting TC3CR<ACAP> to 1 captures the upcounter value into the timer register 3B (TC3DRB) with the auto-capture function. The count value during timer operation can be checked by executing the read instruction to TC3DRB. Note:00H which is stored in the up-counter immediately after detection of a match is not captured into TC3DRB. (Figure 10-2) Clock TC3DRA Match detect C8 Up-counter C7 C6 TC3DRB C6 C8 00 01 C8 C7 01 Note: In the case that TC3DRB is C8H Figure 10-2 Auto-Capture Function Table 10-1 Source Clock for TimerCounter 3 (Example: fc = 20 MHz) TC3CK NORMAL, IDLE mode DV1CK = 0 DV1CK = 1 Resolution [µs] Maximum Time Setting [ms] Resolution [µs] Maximum Time Setting [ms] 000 409.6 104.45 819.2 208.90 001 204.8 52.22 409.6 104.45 010 102.4 26.11 204.8 52.22 011 51.2 13.06 102.4 26.11 100 25.6 6.53 51.2 13.06 101 12.8 3.06 25.6 6.53 110 6.4 1.63 12.8 3.06 Page 95 10. 8-Bit TimerCounter 3 (TC3) 10.1 Configuration TMP88CS42NG Timer start Source clock Counter 0 TC3DRA ? 1 2 3 n 0 4 1 2 3 4 5 6 7 n Match detect Counter clear INTTC3 interrupt (a) Timer mode Source clock Counter m m+1 m+2 n n+1 Capture TC3DRB ? m Capture m+1 m+2 TC3CR<ACAP> (b) Auto capture Figure 10-3 Timer Mode Timing Chart Page 96 n n+1 TMP88CS42NG 10.3.2 Event Counter Mode In the event counter mode, the up-counter counts up at the rising edge of the input pulse to the TC3 pin. When a match between the up-counter and TC3DRA value is detected, an INTTC3 interrupt is generated and up-counter is cleared. After being cleared, the up-counter restarts counting at each rising edge of the input pulse to the TC3 pin. Since a match is detected at the falling edge of the input pulse to TC3 pin, an INTTC3 interrupt request is generated at the falling edge immediately after the up-counter reaches the value set in TC3DRA. The maximum applied frequencies are shown in Table 10-2. The pulse width larger than one machine cycle is required for high-going and low-going pulses. Setting TC3CR<ACAP> to 1 captures the up-counter value into TC3DRB with the auto-capture function. The count value during a timer operation can be checked by the read instruction to TC3DRB. Note:00H which is stored in the up-counter immediately after detection of a match is not captured into TC3DRB. (Figure 10-2) Example :Inputting 50 Hz pulse to TC3, and generating interrupts every 0.5 s LD (TC3CR), 00001110B : Sets the clock mode LD (TC3DRA), 19H : 0.5 s ÷ 1/50 = 25 = 19H LD (TC3CR), 00011110B : Starts TC3. Table 10-2 Maximum Frequencies Applied to TC3 Minimum Pulse Width NORMAL, IDLE mode High-going 22/fc Low-going 22/fc Timer start TC3 pin input Counter 0 1 2 3 n Match detect TC3DRA 0 1 Counter clear n INTTC3 interrupt Figure 10-4 Event Counter Mode Timing Chart Page 97 2 3 10. 8-Bit TimerCounter 3 (TC3) 10.1 Configuration TMP88CS42NG 10.3.3 Capture Mode In the capture mode, the pulse width, frequency and duty cycle of the pulse input to the TC3 pin are measured with the internal clock. The capture mode is used to decode remote control signals, and identify AC50/60 Hz. When the falling edge of the TC3 input is detected after the timer starts, the up-counter value is captured into TC3DRB. Hereafter, whenever the rising edge is detected, the up-counter value is captured into TC3DRA and the INTTC3 interrupt request is generated. The up-counter is cleared at this time. Generally, read TC3DRB and TC3DRA during INTTC3 interrupt processing. After the up-counter is cleared, counting is continued and the next up-counter value is captured into TC3DRB. When the rising edge is detected immediately after the timer starts, the up-counter value is captured into TC3DRA only, but not into TC3DRB. The INTTC3 interrupt request is generated. When the read instruction is executed to TC3DRB at this time, the value at the completion of the last capture (FF immediately after a reset) is read. The minimum input pulse width must be larger than one cycle width of the source clock programmed in TC3CR<TC3CK>. The INTTC3 interrupt request is generated if the up-counter overflow (FFH) occurs during capture operation before the edge is detected. TC3DRA is set to FFH and the up-counter is cleared. Counting is continued by the up-counter, but capture operation and overflow detection are stopped until TC3DRA is read. Generally, read TC3DRB first because capture operation and overflow detection resume by reading TC3DRA. Timer start TC3CR<TC3S> Source clock Counter 0 1 i-1 i i+1 k-1 k 0 1 m-1 m m+1 n-1 n 0 1 2 3 FE FF 0 1 2 3 TC3 pin input Internal waveform Capture TC3DRB Capture n k TC3DRA Capture i Capture m FF (Overflow) Capture FE Overflow INTTC3 interrupt request Read of TC3DRA Figure 10-5 Capture Mode Timing Chart Page 98 TMP88CS42NG 11. 8-Bit TimerCounter 4 (TC4) 11.1 Configuration TC4S fc/211, fc212 fc/27, fc28 fc/25, fc26 fc/23, fc24 fc/22, fc23 fc/2, fc22 fc, fc/2 㪧㫆㫋㪼 (Note) A B Source C Clock Clear D E Y 8-bit up-counter Y F G Overflow detect 1 S H S TC4 pin Y 0 CMP 3 Match detect Timer F/F TC4CK Toggle TC4S 0 TC4M Clear S Y 2 TC4CR 1 PWM output mode TC4DR INTTC4 interrupt TC4S PDO mode Note: Function I/O may not operate depending on I/O port setting. For more details, see the chapter "I/O Port". Figure 11-1 TimerCounter 4 (TC4) Page 99 Port (Note) PWM4/ PDO4/ pin 11. 8-Bit TimerCounter 4 (TC4) 11.1 Configuration TMP88CS42NG 11.2 TimerCounter Control The TimerCounter 4 is controlled by the TimerCounter 4 control register (TC4CR) and timer registers 4 (TC4DR). Timer Register and Control Register TC4DR (001BH) 7 TC4CR (001AH) 7 6 5 4 3 2 1 0 Read/Write (Initial value: 1111 1111) 6 5 4 3 TC4S TC4S 2 1 TC4CK 0 TC4M Read/Write (Initial value: **00 0000) 0: Stop and counter clear 1: Start TC4 start control R/W NORMAL, IDLE mode DV1CK = 0 TC4CK TC4 source clock select [Hz] 000 fc/2 fc/212 001 fc/27 fc/28 010 fc/25 fc/26 011 fc/23 fc/24 100 fc/22 fc/23 101 fc/2 fc/22 110 (fc)Note8 (fc/2)Note8 111 TC4M DV1CK = 1 11 R/W External clock (TC4 pin input) 00: Timer/event counter mode 01: Reserved 10: Programmable divider output (PDO) mode 11: Pulse width modulation (PWM) output mode TC4 operating mode select R/W Note 1: fc: High-frequency clock [Hz], *: Don’t care Note 2: To set the timer registers, the following relationship must be satisfied. 1 ≤ TC4DR ≤ 255 Note 3: To start timer operation (TC4CR<TC4S> = 0 → 1) or disable timer operation (TC4CR<TC4S> = 1→ 0), do not change the TC4CR<TC4M, TC4CK> setting. During timer operation (TC4CR<TC4S> = 1→ 1), do not change it, either. If the setting is programmed during timer operation, counting is not performed correctly. Note 4: The event counter and PWM output modes are used only in the NOMAL and IDLE modes. Note 5: When the STOP mode is entered, the start control (TC4S) is cleared to “0” automatically. Note 6: The bit 6 and 7 of TC4CR are read as a don’t care when these bits are read. Note 7: In the timer, event counter and PDO modes, do not change the TC4DR setting when the timer is running. Note 8: When the high-frequency clock fc exceeds 10 MHz, do not select the source clock of TC4CR< TC4CK> = 110. Note 9: For available source clocks depending on the operation mode, refer to the following table. TC4CK Timer Mode Event Counter Mode PDO Mode PWM Mode 000 O − O − 001 O − O − 010 O − O − 011 O − − O 100 − − − O 101 − − − O 110 − − − O 111 − O − × Note: O : Available source clock Page 100 TMP88CS42NG 11.3 Function TimerCounter 4 has four types of operating modes: timer, event counter, programmable divider output (PDO), and pulse width modulation (PWM) output modes. 11.3.1 Timer Mode In the timer mode, the up-counter counts up using the internal clock. When a match between the up-counter and the TC4DR value is detected, an INTTC4 interrupt is generated and the up-counter is cleared. After being cleared, the up-counter restarts counting. Table 11-1 Internal Source Clock for TimerCounter 4 (Example: fc = 20 MHz) TC4CK NORMAL, IDLE Mode DV1CK = 0 DV1CK = 1 Resolution [µs] Maximum Time Setting [ms] Resolution [µs] Maximum Time Setting [ms] 000 102.4 26.11 204.8 52.22 001 6.4 1.63 12.8 3.28 010 1.6 0.41 3.2 0.82 011 0.4 0.10 0.8 0.20 11.3.2 Event Counter Mode In the event counter mode, the up-counter counts up at the rising edge of the input pulse to the TC4 pin. When a match between the up-counter and the TC4DR value is detected, an INTTC4 interrupt is generated and the up-counter is cleared. After being cleared, the up-counter restarts counting at rising edge of the TC4 pin. Since a match is detected at the falling edge of the input pulse to the TC4 pin, the INTTC4 interrupt request is generated at the falling edge immediately after the up-counter reaches the value set in TC4DR. The minimum pulse width applied to the TC4 pin are shown in Table 11-2. The pulse width larger than two machine cycles is required for high- and low-going pulses. Note:The event counter mode can used in the NORMAL and IDLE modes only. Table 11-2 External Source Clock for TimerCounter 4 Minimum Pulse Width NORMAL, IDLE mode High-going 23/fc Low-going 23/fc 11.3.3 Programmable Divider Output (PDO) Mode The programmable divider output (PDO) mode is used to generated a pulse with a 50% duty cycle by counting with the internal clock. When a match between the up-counter and the TC4DR value is detected, the logic level output from the PDO4 pin is switched to the opposite state and INTTC4 interrupt request is generated. The up-counter is cleared at this time and then counting is continued. When a match between the up-counter and the TC4DR value is detected, the logic level output from the PDO4 pin is switched to the opposite state again and INTTC4 interrupt request is generated. The up-counter is cleared at this time, and then counting and PDO are continued. When the timer is stopped, the PDO4 pin is high. Therefore, if the timer is stopped when the PDO4 pin is low, the duty pulse may be shorter than the programmed value. Page 101 11. 8-Bit TimerCounter 4 (TC4) 11.1 Configuration TMP88CS42NG Example :Generating 1024 Hz pulse (fc = 20.0 Mhz and CGCR<DV1CK> = 0) LD (TC4CR), 00000110B : Sets the PDO mode. (TC4M = 10, TC4CK = 001) SET (P2DR), 2 : Sets the P22 output latch to 1. LD (TC4DR), 4CH : 1/1024 ÷ 27/fc ÷ 2 (half cycle period) = 4CH LD (TC4CR), 00100110B : Start TC4 Internal clock Counter TC4DR 0 1 2 n 0 1 2 n 0 1 2 n 0 1 2 n 0 1 n Match detect Timer F/F PDO4 pin INTTC4 interrupt request Figure 11-2 PDO Mode Timing Chart 11.3.4 Pulse Width Modulation (PWM) Output Mode The pulse width modulation (PWM) output mode is used to generate the PWM pulse with up to 8 bits of resolution by an internal clock. When a match between the up-counter and the TC4DR value is detected, the logic level output from the PWM4 pin becomes low. The up-counter continues counting. When the up-counter overflow occurs, the PWM4 pin becomes high. The INTTC4 interrupt request is generated at this time. When the timer is stopped, the PWM4 pin is high. Therefore, if the timer is stopped when the PWM4 pin is low, one PMW cycle may be shorter than the programmed value. TC4DR is serially connected to the shift register. If TC4DR is programmed during PWM output, the data set to TC4DR is not shifted until one PWM cycle is completed. Therefore, a pulse can be modulated periodically. For the first time, the data written to TC4DR is shifted when the timer is started by setting TC4CR<TC4S> to 1. Note 1: The PWM output mode can be used only in the NORMAL and IDEL modes. Note 2: In the PWM output mode, program TC4DR immediately after the INTTC4 interrupt request is generated (typically in the INTTC4 interrupt service routine.) When the programming of TC4DR and the INTTC4 interrupt occur at the same time, an unstable value is shifted, that may result in generation of pulse different from the programmed value until the next INTTC4 interrupt request is issued. Page 102 TMP88CS42NG TC4CR<TC4S> Internal clock Counter 0 n 1 n+1 FF 0 1 n ? ? 0 1 m Rewrite m n p Data shift Data shift Shift register FF Rewrite Rewrite TC4DR n+1 Data shift m n Match detect Match detect Match detect Timer F/F PWM4 pin n n m INTTC4 interrupt request PWM cycle Figure 11-3 PWM output Mode Timing Chart (TC4) Table 11-3 PWM Mode (Example: fc = 20 MHz) TC4CK NORMAL, IDLE Mode DV1CK = 0 DV1CK = 1 Resolution [ns] Cycle [µs] Resolution [ns] Cycle [µs] 000 – – – – 001 – – – – 010 – – – – 011 400 102.4 800 204.8 100 200 51.2 400 102.4 101 100 25.6 200 51.2 110 – – – – Page 103 11. 8-Bit TimerCounter 4 (TC4) 11.1 Configuration TMP88CS42NG Page 104 TMP88CS42NG 12. 8-Bit TimerCounter 5,6(TC5, 6) 12.1 Configuration PWM mode Overflow fc/211, fc/212 7 8 fc/2 , fc/2 5 6 fc/2 , fc/2 fc/23, fc/24 TC6 pin A B C D E F G H Y A B INTTC6 interrupt request Clear Y 8-bit up-counter TC6S S PDO, PPG mode A B S 16-bit mode S TC6M TC6S TFF6 Toggle Q Y 16-bit mode S TC6CK Set Clear Timer, Event Counter mode PDO6/PWM6/ PPG6 pin Timer F/F6 A Y B TC6CR TTREG6 PWM, PPG mode PWREG6 DecodeEN PDO, PWM, PPG mode TFF6 16-bit mode TC5S PWM mode fc/211, fc/212 7 8 fc/2 , fc/2 fc/25, fc/26 3 4 fc/2 , fc/2 TC5 pin Y 8-bit up-counter Overflow 16-bit mode PDO mode 16-bit mode Timer, Event Couter mode S TC5M TC5S TFF5 INTTC5 interrupt request Clear A B C D E F G H Toggle Q Set Clear PDO5/PWM5/ pin Timer F/F5 TC5CK TC5CR PWM mode TTREG5 DecodeEN PWREG5 TFF5 Figure 12-1 8-Bit TimerCouter 5, 6 Page 105 PDO, PWM mode 16-bit mode 12. 8-Bit TimerCounter 5,6(TC5, 6) 12.1 Configuration TMP88CS42NG 12.2 TimerCounter Control The TimerCounter 5 is controlled by the TimerCounter 5 control register (TC5CR) and two 8-bit timer registers (TTREG5, PWREG5). TimerCounter 5 Timer Register TTREG5 (0022H) R/W 7 PWREG5 (0024H) R/W 7 6 5 4 3 2 1 0 (Initial value: 1111 1111) 6 5 4 3 2 1 0 (Initial value: 1111 1111) Note 1: Do not change the timer register (TTREG5) setting while the timer is running. Note 2: Do not change the timer register (PWREG5) setting in the operating mode except the 8-bit and 16-bit PWM modes while the timer is running. TimerCounter 5 Control Register TC5CR (0020H) 7 TFF5 TFF5 6 5 4 TC5CK Time F/F5 control 3 2 TC5S 1 0 TC5M 0: 1: (Initial value: 0000 0000) Clear Set R/W NORMAL, IDLE mode TC5CK DV1CK = 0 DV1CK = 1 000 fc/211 fc/212 001 fc/27 fc/28 010 fc/25 fc/26 011 fc/23 fc/24 100 - - 101 - - 110 - - Operating clock selection [Hz] 111 TC5S TC5 start control 0: 1: 000: 001: TC5M TC5M operating mode select 010: 011: 1**: R/W TC5I pin input Operation stop and counter clear Operation start R/W 8-bit timer/event counter mode 8-bit programmable divider output (PDO) mode 8-bit pulse width modulation (PWM) output mode 16-bit mode (Each mode is selectable with TC6M.) Reserved R/W Note 1: fc: High-frequency clock [Hz] Note 2: Do not change the TC5M, TC5CK and TFF5 settings while the timer is running. Note 3: To stop the timer operation (TC5S= 1 → 0), do not change the TC5M, TC5CK and TFF5 settings. To start the timer operation (TC5S= 0 → 1), TC5M, TC5CK and TFF5 can be programmed. Note 4: To use the TimerCounter in the 16-bit mode, set the operating mode by programming TC6CR<TC6M>, where TC5M must be fixed to 011. Note 5: To use the TimerCounter in the 16-bit mode, select the source clock by programming TC5CK. Set the timer start control and timer F/F control by programming TC6CR<TC6S> and TC6CR<TFF6>, respectively. Note 6: The operating clock settings are limited depending on the timer operating mode. For the detailed descriptions, see Table 12-1. Page 106 TMP88CS42NG Note 7: The timer register settings are limited depending on the timer operating mode. For the detailed descriptions, see Table 122. Page 107 12. 8-Bit TimerCounter 5,6(TC5, 6) 12.1 Configuration TMP88CS42NG The TimerCounter 6 is controlled by the TimerCounter 6 control register (TC6CR) and two 8-bit timer registers (TTREG6 and PWREG6). TimerCounter 6 Timer Register TTREG6 (0023H) R/W 7 PWREG6 (0025H) R/ W 7 6 5 4 3 2 1 0 (Initial value: 1111 1111) 6 5 4 3 2 1 0 (Initial value: 1111 1111) Note 1: Do not change the timer register (TTREG6) setting while the timer is running. Note 2: Do not change the timer register (PWREG6) setting in the operating mode except the 8-bit and 16-bit PWM modes while the timer is running. TimerCounter 6 Control Register TC6CR (0021H) 7 TFF6 TFF6 6 5 4 TC6CK Timer F/F6 control 3 2 TC6S 1 0 TC6M 0: 1: (Initial value: 0000 0000) Clear Set R/W NORMAL, IDLE mode TC6CK DV1CK = 0 DV1CK = 1 000 fc/211 fc/212 001 fc/27 fc/28 010 fc/25 fc/25 011 fc/23 fc/23 100 - - 101 - - 110 - - Operating clock selection [Hz] 111 TC6S TC6 start control 0: 1: 000: 001: 010: TC6M TC6M operating mode select 011: 100: 101: 110: 111: R/W TC6I pin input Operation stop and counter clear Operation start R/W 8-bit timer/event counter mode 8-bit programmable divider output (PDO) mode 8-bit pulse width modulation (PWM) output mode Reserved 16-bit timer/event counter mode Warm-up counter mode 16-bit pulse width modulation (PWM) output mode 16-bit PPG mode R/W Note 1: fc: High-frequency clock [Hz] Note 2: Do not change the TC6M, TC6CK and TFF6 settings while the timer is running. Note 3: To stop the timer operation (TC6S= 1 → 0), do not change the TC6M, TC6CK and TFF6 settings. To start the timer operation (TC6S= 0 → 1), TC6M, TC6CK and TFF6 can be programmed. Note 4: When TC6M= 1** (upper byte in the 16-bit mode), the source clock becomes the TC6 overflow signal regardless of the TC5CK setting. Note 5: To use the TimerCounter in the 16-bit mode, select the operating mode by programming TC6M, where TC5CR<TC5 M> must be set to 011. Note 6: To the TimerCounter in the 16-bit mode, select the source clock by programming TC5CR<TC5CK>. Set the timer start control and timer F/F control by programming TC6S and TFF6, respectively. Page 108 TMP88CS42NG Note 7: The operating clock settings are limited depending on the timer operating mode. For the detailed descriptions, see Table 12-1. Note 8: The timer register settings are limited depending on the timer operating mode. For the detailed descriptions, see Table 122. Table 12-1 Operating Mode and Selectable Source Clock (NORMAL and IDLE Modes) fc/211 fc/27 fc/25 fc/23 TC5 pin input TC6 pin input 8-bit timer Ο Ο Ο Ο – – 8-bit event counter – – – – Ο Ο 8-bit PDO Ο Ο Ο Ο – – 8-bit PWM Ο Ο Ο Ο – – 16-bit timer Ο Ο Ο Ο – – 16-bit event counter – – – – Ο – 16-bit PWM Ο Ο Ο Ο Ο – 16-bit PPG Ο Ο Ο Ο Ο – Operating mode Note 1: For 16-bit operations (16-bit timer/event counter, warm-up counter, 16-bit PWM and 16-bit PPG), set its source clock on lower bit (TC5CK). Note 2: Ο : Available source clock Table 12-2 Constraints on Register Values Being Compared Operating mode Register Value 8-bit timer/event counter 1≤ (TTREGn) ≤255 8-bit PDO 1≤ (TTREGn) ≤255 8-bit PWM 2≤ (PWREGn) ≤254 16-bit timer/event counter 1≤ (TTREG6, 5) ≤65535 16-bit PWM 2≤ (PWREG6, 5) ≤65534 16-bit PPG and (PWREG6, 5) + 1 < (TTREG6, 5) 1≤ (PWREG6, 5) < (TTREG6, 5) ≤65535 Note: n = 5 to 6 Page 109 12. 8-Bit TimerCounter 5,6(TC5, 6) 12.1 Configuration TMP88CS42NG 12.3 Function The TimerCounter 5 and 6 have the 8-bit timer, 8-bit event counter, 8-bit programmable divider output (PDO), 8bit pulse width modulation (PWM) output modes. The TimerCounter 5 and 6 (TC5, 6) are cascadable to form a 16bit timer. The 16-bit timer has the operating modes such as the 16-bit timer, 16-bit event counter, 16-bit pulse width modulation (PWM) output and 16-bit programmable pulse generation (PPG) modes. 12.3.1 8-Bit Timer Mode (TC5 and 6) In the timer mode, the up-counter counts up using the internal clock. When a match between the up-counter and the timer register j (TTREGj) value is detected, an INTTCj interrupt is generated and the up-counter is cleared. After being cleared, the up-counter restarts counting. Note 1: In the timer mode, fix TCjCR<TFFj> to 0. If not fixed, the PDOj, PWMj and PPGj pins may output pulses. Note 2: In the timer mode, do not change the TTREGj setting while the timer is running. Since TTREGj is not in the shift register configuration in the timer mode, the new value programmed in TTREGj is in effect immediately after the programming. Therefore, if TTREGi is changed while the timer is running, an expected operation may not be obtained. Note 3: j = 5, 6 Table 12-3 Source Clock for TimerCounter 5, 6 (Internal Clock) Source Clock Resolution Repeated Cycle NORMAL, IDLE mode DV1CK = 0 DV1CK = 1 DV1CK = 0 fc = 20 MHz DV1CK = 0 fc = 20 MHz fc/211 [Hz] fc/212 [Hz] 128 µs 32.6 ms fc/27 fc/28 8 µs 2.0 ms fc/25 fc/26 2 µs 510 µs fc/23 fc/24 500 ns 127.5 µs Example :Setting the timer mode with source clock fc/27 Hz and generating an interrupt 64 µs later (TimerCounter6, fc = 20.0 MHz) (TTREG6), 0AH : Sets the timer register (80 µs÷27/fc = 0AH). (EIRC). EF37 : Enables INTTC6 interrupt. LD (TC6CR), 00010000B : Sets the operating cock to fc/27, and 8-bit timer mode. LD (TC6CR), 00011000B : Starts TC6. LD DI SET EI TC6CR<TC6S> Internal Source Clock 1 Counter TTREG6 ? 2 3 n-1 n 0 1 2 n-1 n 0 1 2 n Match detect INTTC6 interrupt request Counter clear Match detect Figure 12-2 8-Bit Timer Mode Timing Chart (TC6) Page 110 Counter clear 0 TMP88CS42NG 12.3.2 8-Bit Event Counter Mode (TC5, 6) In the 8-bit event counter mode, the up-counter counts up at the falling edge of the input pulse to the TCj pin. When a match between the up-counter and the TTREGj value is detected, an INTTCj interrupt is generated and the up-counter is cleared. After being cleared, the up-counter restarts counting at the falling edge of the input pulse to the TCj pin. Two machine cycles are required for the low- or high-level pulse input to the TCj pin. Therefore, a maximum frequency to be supplied is fc/24 Hz in the NORMAL or IDLE mode. Note 1: In the event counter mode, fix TCjCR<TFFj> to 0. If not fixed, the PDOj, PWMj and PPGj pins may output pulses. Note 2: In the event counter mode, do not change the TTREGj setting while the timer is running. Since TTREGj is not in the shift register configuration in the event counter mode, the new value programmed in TTREGj is in effect immediately after the programming. Therefore, if TTREGi is changed while the timer is running, an expected operation may not be obtained. Note 3: j = 5, 6 TC6CR<TC6S> TC6 pin input 0 Counter TTREG6 ? 1 2 n-1 n 0 1 2 n-1 n 0 1 2 0 n Match detect INTTC6 interrupt request Counter clear Match detect Counter clear Figure 12-3 8-Bit Event Counter Mode Timing Chart (TC6) 12.3.3 8-Bit Programmable Divider Output (PDO) Mode (TC5, 6) This mode is used to generate a pulse with a 50% duty cycle from the PDOj pin. In the PDO mode, the up-counter counts up using the internal clock. When a match between the up-counter and the TTREGj value is detected, the logic level output from the PDOj pin is switched to the opposite state and the up-counter is cleared. The INTTCj interrupt request is generated at the time. The logic state opposite to the timer F/Fj logic level is output from the PDOj pin. An arbitrary value can be set to the timer F/Fj by TCjCR<TFFj>. Upon reset, the timer F/Fj value is initialized to 0. To use the programmable divider output, set the output latch of the I/O port to 1. Example :Generating 1024 Hz pulse using TC6 (fc = 20.0 MHz) Setting port LD (TTREG6), 3DH : 1/1024÷27/fc÷2 = 3DH LD (TC6CR), 00010001B : Sets the operating clock to fc/27, and 8-bit PDO mode. LD (TC6CR), 00011001B : Starts TC6. Note 1: In the programmable divider output mode, do not change the TTREGj setting while the timer is running. Since TTREGj is not in the shift register configuration in the programmable divider output mode, the new value programmed in TTREGj is in effect immediately after programming. Therefore, if TTREGi is changed while the timer is running, an expected operation may not be obtained. Note 2: When the timer is stopped during PDO output, the PDOj pin holds the output status when the timer is stopped. To change the output status, program TCjCR<TFFj> after the timer is stopped. Do not change the TCjCR<TFFj> setting upon stopping of the timer. Example: Fixing the PDOj pin to the high level when the TimerCounter is stopped CLR (TCjCR).3: Stops the timer. CLR (TCjCR).7: Sets the PDOj pin to the high level. Note 3: j = 5, 6 Page 111 Page 112 ? INTTC6 interrupt request PDO6 pin Timer F/F6 TTREG6 Counter Internal source clock TC6CR<TFF6> TC6CR<TC6S> 0 n 1 Match detect 2 n 0 1 Match detect 2 n 0 1 Match detect 2 n 0 1 Match detect 2 n 0 1 2 3 Set F/F Held at the level when the timer is stopped 0 Write of "1" 12.1 Configuration 12. 8-Bit TimerCounter 5,6(TC5, 6) TMP88CS42NG Figure 12-4 8-Bit PDO Mode Timing Chart (TC6) TMP88CS42NG 12.3.4 8-Bit Pulse Width Modulation (PWM) Output Mode (TC5, 6) This mode is used to generate a pulse-width modulated (PWM) signals with up to 8 bits of resolution. The up-counter counts up using the internal clock. When a match between the up-counter and the PWREGj value is detected, the logic level output from the timer F/Fj is switched to the opposite state. The counter continues counting. The logic level output from the timer F/Fj is switched to the opposite state again by the up-counter overflow, and the counter is cleared. The INTTCj interrupt request is generated at this time. Since the initial value can be set to the timer F/Fj by TCjCR<TFFj>, positive and negative pulses can be generated. Upon reset, the timer F/Fj is cleared to 0. (The logic level output from the PWMj pin is the opposite to the timer F/Fj logic level.) Since PWREGj in the PWM mode is serially connected to the shift register, the value set to PWREGj can be changed while the timer is running. The value set to PWREGj during a run of the timer is shifted by the INTTCj interrupt request and loaded into PWREGj. While the timer is stopped, the value is shifted immediately after the programming of PWREGj. If executing the read instruction to PWREGj during PWM output, the value in the shift register is read, but not the value set in PWREGj. Therefore, after writing to PWREGj, the reading data of PWREGj is previous value until INTTCj is generated. For the pin used for PWM output, the output latch of the I/O port must be set to 1. Note 1: In the PWM mode, program the timer register PWREGj immediately after the INTTCj interrupt request is generated (normally in the INTTCj interrupt service routine.) If the programming of PWREGj and the interrupt request occur at the same time, an unstable value is shifted, that may result in generation of the pulse different from the programmed value until the next INTTCj interrupt request is generated. Note 2: When the timer is stopped during PWM output, the PWMj pin holds the output status when the timer is stopped. To change the output status, program TCjCR<TFFj> after the timer is stopped. Do not change the TCjCR<TFFj> upon stopping of the timer. Example: Fixing the PWMj pin to the high level when the TimerCounter is stopped CLR (TCjCR).3: Stops the timer. CLR (TCjCR).7: Sets the PWMj pin to the high level. Note 3: To enter the STOP mode during PWM output, stop the timer and then enter the STOP mode. If the STOP mode is entered without stopping the timer when fc or fc/2 is selected as the source clock, a pulse is output from the PWMj pin during the warm-up period time after exiting the STOP mode. Note 4: j = 5, 6 Table 12-4 PWM Output Mode Source Clock Resolution NORMAL, IDLE mode Repeated Cycle DV1CK = 0 DV1CK = 1 DV1CK = 0 fc = 20 MHz DV1CK = 1 fc = 20 MHz DV1CK = 0 fc = 20 MHz DV1CK = 1 fc = 20 MHz fc/211 [Hz] fc/212 [Hz] 102.4 µs 204.8 µs 26.21 ms 52.43 ms fc/27 fc/28 6.4 µs 12.8 µs 1.64 ms 3.28 ms fc/25 fc/26 1.6 µs 3.2 µs 410 µs 819 µs fc/23 fc/24 0.4 µs 0.8 µs 102 µs 205 µs Page 113 Page 114 ? ? 0 Shift INTTC6 interrupt request PWM6 pin Timer F/F6 Shift registar PWREG6 Counter Internal source clock TC6CR<TFF6> TC6CR<TC6S> n n n Match detect 1 n n+1 Shift FF 0 n n n+1 m One cycle period Write to PWREG6 Match detect 1 Shift FF 0 m m m+1 Write to PWREG6 p Match detect m 1 Shift FF 0 p p Match detect 1 p 12.1 Configuration 12. 8-Bit TimerCounter 5,6(TC5, 6) TMP88CS42NG Figure 12-5 8-Bit PWM Mode Timing Chart (TC6) TMP88CS42NG 12.3.5 16-Bit Timer Mode (TC5 and 6) In the timer mode, the up-counter counts up using the internal clock. The TimerCounter 5 and 6 are cascadable to form a 16-bit timer. When a match between the up-counter and the timer register (TTREG5, TTREG6) value is detected after the timer is started by setting TC6CR<TC6S> to 1, an INTTC6 interrupt is generated and the up-counter is cleared. After being cleared, the up-counter continues counting. Program the lower byte and upper byte in this order in the timer register. (Programming only the upper or lower byte should not be attempted.) Note 1: In the timer mode, fix TCjCR<TFFj> to 0. If not fixed, the PDOj, PWMj, and PPGj pins may output a pulse. Note 2: In the timer mode, do not change the TTREGj setting while the timer is running. Since TTREGj is not in the shift register configuration in the timer mode, the new value programmed in TTREGj is in effect immediately after programming of TTREGj. Therefore, if TTREGj is changed while the timer is running, an expected operation may not be obtained. Note 3: j = 5, 6 Table 12-5 Source Clock for 16-Bit Timer Mode Source Clock Resolution NORMAL, IDLE mode Maximum Time Setting DV1CK = 0 DV1CK = 1 DV1CK = 0 fc = 20 MHz DV1CK = 1 fc = 20 MHz DV1CK = 0 fc = 20 MHz DV1CK = 1 fc = 20 MHz fc/211 fc/212 102.4 µs 204.8 µs 6.7 s 13.4 s 7 8 6.4 µs 12.8 µs 419.4 ms 838.8 ms fc/25 fc/26 1.6 µs 3.2 µs 104.9 µs 209.7 ms 3 4 0.4 µs 0.8 µs 26.2 µs 52.4 ms fc/2 fc/2 fc/2 fc/2 Example :Setting the timer mode with source clock fc/27 [Hz], and generating an interrupt 240 ms later (fc = 20.0 MHz) (TTREG5), 927CH : Sets the timer register (300 ms÷27/fc = 927CH). (EIRD). EF28 : Enables INTTC6 interrupt. LD (TC5CR), 13H :Sets the operating cock to fc/27, and 16-bit timer mode (lower byte). LD (TC6CR), 04H : Sets the 16-bit timer mode (upper byte). LD (TC6CR), 0CH : Starts the timer. LDW DI SET EI TC6CR<TC6S> Internal source clock 0 Counter TTREG5 (Lower byte) TTREG6 (Upper byte) ? ? INTTC6 interrupt request 1 2 3 mn-1 mn 0 1 2 mn-1 mn 0 1 n m Match detect Counter clear Match detect Counter clear Figure 12-6 16-Bit Timer Mode Timing Chart (TC5 and TC6) Page 115 2 0 12. 8-Bit TimerCounter 5,6(TC5, 6) 12.1 Configuration TMP88CS42NG 12.3.6 16-Bit Event Counter Mode (TC5 and 6) In the event counter mode, the up-counter counts up at the falling edge to the TC5 pin. The TimerCounter 5 and 6 are cascadable to form a 16-bit event counter. When a match between the up-counter and the timer register (TTREG5, TTREG6) value is detected after the timer is started by setting TC6CR<TC6S> to 1, an INTTC6 interrupt is generated and the up-counter is cleared. After being cleared, the up-counter restarts counting at the falling edge of the input pulse to the TC5 pin. Two machine cycles are required for the low- or high-level pulse input to the TC5 pin. Therefore, a maximum frequency to be supplied is fc/24 Hz in the NORMAL or IDLE mode. Program the lower byte (TTREG5), and upper byte (TTREG6) in this order in the timer register. (Programming only the upper or lower byte should not be attempted.) Note 1: In the event counter mode, fix TCjCR<TFFj> to 0. If not fixed, the PDOj, PWMj and PPGj pins may output pulses. Note 2: In the event counter mode, do not change the TTREGj setting while the timer is running. Since TTREGj is not in the shift register configuration in the event counter mode, the new value programmed in TTREGj is in effect immediately after the programming. Therefore, if TTREGj is changed while the timer is running, an expected operation may not be obtained. Note 3: j = 5, 6 12.3.7 16-Bit Pulse Width Modulation (PWM) Output Mode (TC5 and 6) This mode is used to generate a pulse-width modulated (PWM) signals with up to 16 bits of resolution. The TimerCounter 5 and 6 are cascadable to form the 16-bit PWM signal generator. The counter counts up using the internal clock or external clock. When a match between the up-counter and the timer register (PWREG5, PWREG6) value is detected, the logic level output from the timer F/F6 is switched to the opposite state. The counter continues counting. The logic level output from the timer F/F6 is switched to the opposite state again by the counter overflow, and the counter is cleared. The INTTC6 interrupt is generated at this time. Two machine cycles are required for the high- or low-level pulse input to the TC5 pin. Therefore, a maximum frequency to be supplied is fc/24 Hz in the NORMAL1 or IDLE1 mode. Since the initial value can be set to the timer F/F6 by TC6CR<TFF6>, positive and negative pulses can be generated. Upon reset, the timer F/F6 is cleared to 0. (The logic level output from the PWM6 pin is the opposite to the timer F/F6 logic level.) Since PWREG6 and 5 in the PWM mode are serially connected to the shift register, the values set to PWREG6 and 5 can be changed while the timer is running. The values set to PWREG6 and 5 during a run of the timer are shifted by the INTTCj interrupt request and loaded into PWREG6 and 5. While the timer is stopped, the values are shifted immediately after the programming of PWREG6 and 5. Set the lower byte (PWREG5) and upper byte (PWREG5) in this order to program PWREG6 and 5. (Programming only the lower or upper byte of the register should not be attempted.) If executing the read instruction to PWREG6 and 5 during PWM output, the values set in the shift register is read, but not the values set in PWREG6 and 5. Therefore, after writing to the PWREG6 and 5, reading data of PWREG6 and 5 is previous value until INTTC6 is generated. For the pin used for PWM output, the output latch of the I/O port must be set to 1. Note 1: In the PWM mode, program the timer register PWREG6 and 5 immediately after the INTTC6 interrupt request is generated (normally in the INTTC6 interrupt service routine.) If the programming of PWREGj and the interrupt request occur at the same time, an unstable value is shifted, that may result in generation of pulse different from the programmed value until the next INTTC6 interrupt request is generated. Note 2: When the timer is stopped during PWM output, the PWM6 pin holds the output status when the timer is stopped. To change the output status, program TC6CR<TFF6> after the timer is stopped. Do not program TC6CR<TFF6> upon stopping of the timer. Example: Fixing thePWM6 pin to the high level when the TimerCounter is stopped CLR (TC6CR).3: Stops the timer. CLR (TC6CR).7 : Sets the PWM6 pin to the high level. Page 116 TMP88CS42NG Note 3: To enter the STOP mode, stop the timer and then enter the STOP mode. If the STOP mode is entered without stopping of the timer when fc or fc/2 is selected as the source clock, a pulse is output from the PWM6 pin during the warm-up period time after exiting the STOP mode. Table 12-6 16-Bit PWM Output Mode Source Clock Resolution NORMAL, IDLE mode Repeated Cycle DV1CK = 0 DV1CK = 1 DV1CK = 0 fc = 20MHz DV1CK = 1 fc = 20MHz DV1CK = 0 fc = 20 MHz DV1CK = 1 fc = 20 MHz fc/211[Hz] fc/212 [Hz] 102.4 µs 204.8 µs 6.7 s 13.4 s fc/27 fc/28 6.4 µs 12.8 µs 419.4 ms 838.8 ms fc/25 fc/26 1.6 µs 3.2 µs 104.9 ms 209.7 ms fc/23 fc/24 0.4 µs 0.8 µs 26.2 ms 52.4 ms Example :Generating a pulse with 1-ms high-level width and a period of 32.768 ms (fc = 20.0 MHz) Setting ports LDW (PWREG5), 07D0H : Sets the pulse width. LD (TC5CR), 33H : Sets the operating clock to fc/23, and 16-bit PWM output mode (lower byte). LD (TC6CR), 056H : Sets TFF6 to the initial value 0, and 16-bit PWM signal generation mode (upper byte). LD (TC6CR), 05EH : Starts the timer. Page 117 Page 118 ? ? PWREG6 (Upper byte) 16-bit shift register 0 a Shift INTTC6 interrupt request PWM6 pin Timer F/F6 ? PWREG5 (Lower byte) Counter Internal source clock TC6CR<TFF6> TC6CR<TC6S> an n an Match detect 1 an an+1 Shift FFFF 0 an an an+1 b One cycle period Write to PWREG6 m Write to PWREG5 Match detect 1 Shift FFFF 0 bm bm bm+1 c Write to PWREG6 p Write to PWREG5 Match detect bm 1 Shift FFFF 0 cp Match detect cp 1 cp 12.1 Configuration 12. 8-Bit TimerCounter 5,6(TC5, 6) TMP88CS42NG Figure 12-7 16-Bit PWM Mode Timing Chart (TC5 and TC6) TMP88CS42NG 12.3.8 16-Bit Programmable Pulse Generate (PPG) Output Mode (TC5 and 6) This mode is used to generate pulses with up to 16-bits of resolution. The timer counter 5 and 6 are cascadable to enter the 16-bit PPG mode. The counter counts up using the internal clock or external clock. When a match between the up-counter and the timer register (PWREG5, PWREG6) value is detected, the logic level output from the timer F/F6 is switched to the opposite state. The counter continues counting. The logic level output from the timer F/F6 is switched to the opposite state again when a match between the up-counter and the timer register (TTREG5, TTREG6) value is detected, and the counter is cleared. The INTTC6 interrupt is generated at this time. Since the initial value can be set to the timer F/F6 by TC6CR<TFF6>, positive and negative pulses can be generated. Upon reset, the timer F/F6 is cleared to 0. (The logic level output from the PPG6 pin is the opposite to the timer F/F6.) Set the lower byte and upper byte in this order to program the timer register. (TTREG5 → TTREG6, PWREG5 → PWREG6) (Programming only the upper or lower byte should not be attempted.) For PPG output, set the output latch of the I/O port to 1. Example :Generating a pulse with 1-ms high-level width and a period of 16.385 ms (fc = 20.0 MHz) Setting ports LDW (PWREG5), 07D0H : Sets the pulse width. LDW (TTREG5), 8002H : Sets the cycle period. LD (TC5CR), 33H : Sets the operating clock to fc/23, and16-bit PPG mode (lower byte). LD (TC6CR), 057H : Sets TFF6 to the initial value 0, and 16-bit PPG mode (upper byte). LD (TC6CR), 05FH : Starts the timer. Note 1: In the PPG mode, do not change the PWREGi and TTREGi settings while the timer is running. Since PWREGi and TTREGi are not in the shift register configuration in the PPG mode, the new values programmed in PWREGi and TTREGi are in effect immediately after programming PWREGi and TTREGi. Therefore, if PWREGi and TTREGi are changed while the timer is running, an expected operation may not be obtained. Note 2: When the timer is stopped during PPG output, the PPG6 pin holds the output status when the timer is stopped. To change the output status, program TC6CR<TFF6> after the timer is stopped. Do not change TC6CR<TFF6> upon stopping of the timer. Example: Fixing the PPG6 pin to the high level when the TimerCounter is stopped CLR (TC6CR).3: Stops the timer CLR (TC6CR).7: Sets the PPG6 pin to the high level Note 3: i = 5, 6 Page 119 Page 120 ? TTREG6 (Upper byte) INTTC6 interrupt request PPG6 pin Timer F/F6 ? ? TTREG5 (Lower byte) PWREG6 (Upper byte) n PWREG5 (Lower byte) ? 0 Counter Internal source clock TC6CR<TFF6> TC6CR<TC6S> m r q mn Match detect 1 mn mn+1 Match detect qr-1 qr 0 mn Match detect 1 mn mn+1 Match detect qr-1 qr 0 mn Match detect 1 F/F clear 0 Held at the level when the timer stops mn mn+1 Write of "0" 12.1 Configuration 12. 8-Bit TimerCounter 5,6(TC5, 6) TMP88CS42NG Figure 12-8 16-Bit PPG Mode Timing Chart (TC5 and TC60) TMP88CS42NG 13. Motor Control Circuit (PMD: Programmable motor driver) The TMP88CS42NG contains two channels of motor control circuits used for sinusoidal waveform output. This motor control circuit can control brushless DC motors or AC motors with or without sensors. With its primary functions like those listed below incorporated in hardware, it helps to accomplish sine wave motor control easily, with the software load significantly reduced. 1. Rotor position detect function • Can detect the rotor position, with or without sensors • Can be set to determine the rotor position when detection matched a number of times, to prevent erroneous detection • Can set a position detection inhibit period immediately after PWM-on 2. Independent timer and timer capture functions for motor control • Contains one-channel magnitude comparison timer and two-channel coincidence comparison timers that operate synchronously for position detection 3. PWM waveform generating function • Generates 12-bit PWM with 100 ns resolution • Can set a frequency of PWM interrupt occurrence • Can set the dead time at PWM-on 4. Protective function • Provides overload protective function based on protection signal input 5. Emergency stop function in case of failure • Can be made to stop in an emergency by EMG input or timer overflow interrupt • Not easily cleared by software runaway 6. Auto commutation/Auto position detection start function • Comprised of dual-buffers, can activate auto commutation synchronously with position detection or timer • Can set a position detection period using the timer function and start auto position detection at the set time 7. Electrical angle timer function • Can count 360 degrees of electrical angle with a set period in the range of 0 to 383 • Can output the counted electrical angle to the waveform arithmetic circuit 8. Waveform arithmetic circuit • Calculate the output duty cycle from the sine wave data and voltage data which are read from the RAM based on the electrical angle timer • Output the calculation result to the waveform synthesis circuit Page 121 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG 13.1 Outline of Motor Control The following explains the method for controlling a brushless DC motor with sine wave drive. In a brushless DC motor, the rotor windings to which to apply electric current are determined from the rotor’s magnetic pole position, and the current-applied windings are changed as the rotor turns. The rotor’s magnetic pole position is determined using a sensor such as a hall IC or by detecting polarity change (zero-cross) points of the induced voltage that develops in the motor windings (sensorless control). For the sensorless case, the induced voltage is detected by applying electric current to two phases and not applying electric current to the remaining other phase. In this two-phase current on case, there are six current application patterns as shown in Table 13-1, which are changed synchronously with the phases of the rotor. In this two-phase current on case, the current on time in each phase is 120 degrees relative to 180 degrees of the induced voltage. Table 13-1 Current Application Patterns Upper Transistor Lower Transistor Current Application Pattern u v w x y z Mode 0 ON OFF OFF OFF ON OFF U→V Mode 1 ON OFF OFF OFF OFF ON U→W Mode 2 OFF ON OFF OFF OFF ON V→W Mode 3 OFF ON OFF ON OFF OFF V→U Mode 4 OFF OFF ON ON OFF OFF W→U Mode 5 OFF OFF ON OFF ON OFF W→V Current on Winding Note: One of the upper or lower transistors is PWM controlled. For brushless DC motors, the number of revolutions is controlled by an applied voltage, and the voltage application is controlled by PWM. At this time, the current on windings need to be changed in synchronism with the phases of the voltage induced by revolutions. Control timing in cases where the current on windings are changed by means of sensorless control is illustrated in Figure 13-4. For three-phase motors, zero-crossing occurs six times during one cycle of the induced voltage (electrical angle 360 degrees), so that the electrical angle from one zero-cross point to the next is 60 degrees. Assuming that this period comprises one mode, the rotor position can be divided into six modes by zero-cross points. The six current application patterns shown above correspond one for one to these six modes. The timing at which the current application patterns are changed (commutation) is out of phase by 30 degrees of electrical angle, with respect to the position detection by an induced voltage. Mode time is obtained by detecting a zero-cross point at some timing and finding an elapsed time from the preceding zero-cross point. Because mode time corresponds to 60 degrees of electrical angle, the following applies for the case illustrated in Figure 13-4. 1. Current on windings changeover (commutation) timing 30 degrees of electrical angle = mode time/2 2. Position detection start timing 3. Failure determination timing 45 degrees of electrical angle = mode time × 3/4 120 degrees of electrical angle = mode time × 2 Timings are calculated in this way. The position detection start timing in 2 is needed to prevent erroneous detection of the induced voltage for reasons that even after current application is turned off, the current continues flowing due to the motor reactance. Control is exercised by calculating the above timings successively for each of the zero-cross points detected six times during 360 degrees of electrical angle and activating commutation, position detection start, and other operations according to that timing. In this way, operations can be synchronized to the phases of the induced voltage of the motor. The timing needed for motor control as in this example can be set freely as desired by using the internal timers of the microcontroller’s PMD unit. Also, sine wave control requires controlling the PWM duty cycle for each pulse. Control of PWM duty cycles is accomplished by counting degrees of electrical angle and calculating the sine wave data and voltage data at the counted degree of electrical angle. Page 122 TMP88CS42NG DC current MCU PMD circuit Three-phase PWM Protective control Position detection Electrical angle timer Waveform calculation Speed control Error handling, etc. U, V, W, X, Y, Z CL, EMG Power drive Upper phase: u, v, w Lower phase: x, y, z PDU, PDV, PDW DC motor Figure 13-1 Conceptual Diagram of DC Motor Control $ # % & ' ( ! " )$ &$ '( #%$ Figure 13-2 Example of Sensorless DC Motor Control Timing Chart Page 123 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG 13.2 Configuration of the Motor Control Circuit The motor control circuit consists of various units. These include a position detection unit to detect the zero-cross points of the induced voltage or position sensor signal, a timer unit to generate events at three instances of electrical angle timing, and a three-phase PWM output unit to produce three-phase output PWM waveforms. Also included are an electrical angle timer unit to count degrees of electrical angle and a waveform arithmetic unit to calculate sinusoidal waveform output duty cycles. The input/output units are configured as shown in the diagram below. When using ports for the PMD function, set the Port input/output control register (P3CRi and P5CRi) to 0 for the input ports, and for the output ports, set the data output latch (P3i and P5i) to 1 and then the port input/output control register to 1. Other input/output ports can be set in the same way for use of the PMD function. ! Figure 13-3 Block Diagram of the Motor Control Circuit Note 1: Always use the LDW instruction to set data in the 9, 12 and 16-bit data registers. Note 2: The EMG circuit initially is enabled. For PMD output, fix the EMG input port (P36 and P51) "H" high level or disable the EMG circuit before using for PMD output. Note 3: The EMG circuit initially is enabled. When using Port P3 and P5 as input/output IO ports, disable EMG. Note 4: When going to STOP mode, be sure to turn all of the PMD functions off before entering STOP mode. Page 124 TMP88CS42NG 13.3 Position Detection Unit The Position Detection Unit identifies the motor's rotor position from input patterns on the position signal input port. Applied to this position signal input port is the voltage status of the motor windings for the case of sensorless DC motors or a Hall element signal for the case of DC motors with sensors included. The expected patterns corresponding to specific rotor positions are set in the PMD Output Register (MDOUT) beforehand, and when the input position signal and the expected value match as the rotation, a position detection interrupt (INTPDC) is generated. Also, unmatch detection mode is used to detect the direction of motor rotation, where when the status of the position detection input port changes from the status in which it was at start of sampling, a position detection interrupt is generated. For three-phase brushless DC motors, there are six patterns of position signals, one for each mode, as summarized in Table 13-2 from the timing chart in Figure 13-2. Once a predicted position signal pattern is set in the MDOUT register, a position detection interrupt is generated the moment the position signal input port goes to mode indicated by this expected value. The position signals at each phase in the diagram are internal signals which cannot be observed from the outside. Table 13-2 Position Signal Input Patterns Position Detection Mode U Phase (PDU) V Phase (PDV) W Phase (PDW) Mode 0 H L H Mode 1 H L L Mode 2 H H L Mode 3 L H L Mode 4 L H H Mode 5 L L H Page 125 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG 13.3.1 Configuration of the position detection unit !# - '++ - - - - )& ( ! ! " !# & & ' & ( & $# # $## % -+ ,+ -+ + %+ + .+ / 1+ , -+ %+ + .+ / 1+ ,+ -+ % . / 0 2 & '* & Figure 13-4 Configuration of the Position Detection Circuit • The position detection unit is controlled by the Position Detection Control Register (PDCRA, PDCRB). After the position detection function is enabled, the unit starts sampling the position detection port with Timer 2 or in software. For the case of ordinary mode, when the status of the position detection input port matches the expected value of the PMD Output Register, the unit generates a position detection interrupt and finishes sampling, waiting for start of the next sampling. • When unmatch detection mode is selected for position detection, the unit stores the sampled status of the position detection port in memory at the time it started sampling. When the port input status changes from the status in which it was at start of sampling, an interrupt is generated. • In unmatch detection mode, the port status at start of sampling can be read (PDCRC<PDTCT>). • When starting and stopping position detection synchronously with the timer, position detection is started by Timer 2 and position detection is stopped by Timer 3. • Sampling mode can be selected from three modes available: mode where sampling is performed only while PWM is on, mode where sensors such as Hall elements are sampled regularly, and mode where sampling is performed while the lower side is conducting current (when performing sampling only while PWM is on, DUTY must be set for all three phases in common). • When sampling mode is selected for detecting position while the lower phases are conducting current, sampling is performed for a period from when the set sampling delay time has elapsed after the lower side started conducting current till when the current application is turned off. Sampling is performed independently at each phase, and the sampling result is retained while sampling is idle. If while sampling at some phase is idle, the input and the expected value at other phase being sampled match, position is detected and an interrupt is generated. Page 126 TMP88CS42NG • A sampling delay is provided for use in modes where sampling is made while PWM is on or the lower phases are conducting current. It helps to prevent erroneous detection due to noise that occurs immediately after the transistor turns on, by starting sampling a set time after the PWM signal turned on. • When detecting position while PWM is on or the lower phases are conducting current, a method can be selected whether to recount occurrences of matched position detection after being compared for each PWM signal on (logical sum of three-phase PWM signals) (e.g., starting from 0 in each PWM cycle) or counting occurrences of matching continuously ( PDCRB<SPLMD> is used to enable/disable recounting occurrences of matching while PWM is on). 13.3.2 Position Detection Circuit Register Functions PDCRC 5, 4 EMEM Hold result of position detection at PWM edge (Detect position detected position) These bits hold the comparison result of position detection at falling or rising edge of PWM pulse. Bits 5 and 4 are set to 1 when position is detected at the falling or the rising edge, respectively. They show whether position is detected in the current PWM pulse, during PWM off, or in the immediately preceding PWM pulse. 3 SMON Monitor sampling status When read, this bit shows the sampling status. PDTCT Hold position signal input status This bit holds the status of the position signal input at the time position detection started in unmatch mode. 7, 6 SPLCK Sampling period Select fc/22, fc/23, fc/24, or fc/25 for the position detection sampling period. 5, 4 SPLMD Sampling mode Select one of three modes: sampling only when PWM signal is active (when PWM is on), sampling regularly, or sampling when the lower side (X, Y, Z) phases are conducting current. Sampling count In ordinary mode, when the port status and the set expected value match and continuously match as many times as the sampling counts set, a position detection signal is output and an interrupt is generated. In unmatch detection mode, when the said status and value do not match and continuously unmatch as many times as the sampling counts set, a position detection signal is output and an interrupt is generated. 2 to 0 PDCRB 3 to 0 PDCMP PDCRA 7 SWSTP Stop sampling in software Sampling can be stopped in software by setting this bit to 1 (e.g., by writing to this register). Sampling is performed before stopping and when position detection results match, a position detection interrupt is generated, with sampling thereby stopped. 6 SWSTT Start sampling in software Sampling can be started by setting this bit to 1 (e.g., by writing to this register). 5 SPTM3 Stop sampling using Timer 3 Sampling can be stopped by a trigger from Timer 3 by setting this bit to 1. Sampling is performed before stopping and when position detection results match, a position detection interrupt is generated, with sampling thereby stopped. 4 STTM2 Start sampling using Timer 2 Sampling can be started by a trigger from Timer 3 by setting this bit to 1. 3 PDNUM Number of position signal input pins Select whether to use three pins (PDU/PDV/PDW) or one pin (PDU only) for position signal input. When one pin is selected, the expected values of PDV and PDW are ignored. When performing position detection with two pins or a pin other than PDU, position signal input can be masked as 0 by setting unused pin(s) for output. 2 RCEN Recount occurrences of matching when PWM is on When performing sampling while PWM is on, occurrences of matching are recounted each time PWM signal turns on by setting this bit to 1 (when recounting occurrences of matching, the count is reset each time PWM turns off). When this bit is set to 0, occurrences of matching are counted continuously regardless PWM interval. Position detection mode Setting this bit to 0 selects ordinary mode where position is detected when the expected value set in the register and the port input unmatch and then match. Setting this bit to 1 selects unmatch detection mode where position is detected at the time the port status changes to another one from the status in which it was when sampling started. Position detection function The position detection function is activated by setting this bit to 1. 1 DTMD 0 PDCEN Page 127 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG SDREG 6 to 0 SDREG Set a time for which to stop sampling in order to prevent erroneous detection due to noise that occurs immediately after PWM output turns on (immediately after the transistor turns on). (Figure 13-5) Sampling delay !"# $ $#% &"# &"# "' &"# Figure 13-5 Position Detection Sampling Timing with the PWMON Period Selected ! "# % & " '( '** & " ) )) ) + , $ # ) ) ) ) )) ) ) $ Figure 13-6 Detection Timing of the Position Detection Position Page 128 TMP88CS42NG Position Detection Circuit Registers [Addresses (PMD1 and PMD2)] PDCRC (01FA2H) (01FD2H) 7 6 – – 5 4 EMEM 3 2 1 SMON 0 PDTCT (Initial value: **00 0000) 00: Detected in the current pulse 01: Detected while PWM off 10: Detected in the current pulse 11: Detected in the preceding pulse 5, 4 EMEM Hold result of position detection at PWM edge (Detect position detected position) 3 SMON Monitor sampling status 0: Sampling idle 1: Sampling in progress 2 to 0 PDTCT Hold position signal input status Holds the status of the position signal input during unmatch detection mode. Bits 2 to 0 correspond to W, V, and U phases. 7 PDCRB (01FA1H) (01FD1H) 6 5 SPLCK 4 3 2 SPLMD 1 R 0 PDCMP (Initial value: 0000 0000) 00: fc/22 [Hz] (200 ns at 20 MHz) 7, 6 SPLCK 01: fc/23 Select sampling input clock (400 ns at 20 MHz) 10: fc/24 (800 ns at 20 MHz) 11: fc/25 (1.6 µs at 20 MHz) 5, 4 SPLMD Sampling mode 00: Sample when PWM is on 01: Sample regularly 10: Sample when lower phases conducting current 11: Reserved 3 to 0 PDCMP Position detection matched counts 1 to 15 times (Counts 0 and 1 are assumed to be one time.) R/W Note: When changing setting, keep the PDCEN bit reset to “0” (disable position detection function). PDCRA (01FA0H) (01FD0H) 7 6 5 4 3 2 1 0 SWSTP SWSTT SPTM3 STTM2 PDNUM RCEN DTMD PDCEN (Initial value: 0000 0000) 7 SWSTP Stop sampling in software 0: No operation 1: Stop sampling 6 SWSTT Start sampling in software 0: No operation 1: Start sampling 5 SPTM3 Stop sampling using Timer 3 0: Disable 1: Enable 4 STTM2 Start sampling using Timer 2 0: Disable 1: Enable 3 PDNUM Number of position signal input pins 0: Compare three pins (PDU/PDV/PDW) 1: Compare one pin (PDU) only 2 RCEN Recount occurrences of matching when PWM is on 0: Continue counting from previously PWM on 1: Recount each time PWM turns on 1 DTMD Position detection mode 0: Ordinary mode 1: Unmatch detection mode 0 PDCEN Enable/Disable position detection function 0: Disable 1: Enable (Sampling starts) W R/W Note: Read-modify-write instructions, such as a bit manipulation instruction, cannot access the PDCRA because it contains a write only bit. Page 129 13. Motor Control Circuit (PMD: Programmable motor driver) SDREG (01FA3H) (01FD3H) TMP88CS42NG 7 6 5 4 3 2 1 0 – D6 D5 D4 D3 D2 D1 D0 6 to 0 SDREG (Initial value: *000 0000) 23/fc × n bits (n = 0 to 6, maximum 50.8 µs, resolution of 400 ns at 20 MHz) Sampling delay Note: When changing setting, keep the PDCEN bit reset to “0” (disable position detection function). 13.3.3 Outline Processing in the Position Detection Unit Software Hardware Set mode pattern Write expected value MDOUT (E, D, C) INTTMR2 Start position detection Sample position signal input Match with expected value? Yes No Increment matching counts Specified count reached? Interrupt handling Increment mode counts INTPDC Yes Generate INTPDC interrupt End of position detection Page 130 No Timer unit R/W TMP88CS42NG 13.4 Timer Unit , () *) + ) ) ) ' ( !"# %& - + - ) ) "# !" " $ % , . ' . ' . ' . ' / / !"# Figure 13-7 Timer Circuit Configuration The timer unit has an up counter (mode timer) which is cleared by a position detection interrupt (INTPDC). Using this counter, it can generate three types of timer interrupts (INTTMR1 to 3). These timer interrupts may be used to produce a commutation trigger, position detection start trigger, etc. Also, the mode timer has a capture function which automatically captures register data in synchronism with position detection or overload protection. This capture function allows motor revolutions to be calculated by measuring position detection intervals. Page 131 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG 13.4.1 Configuration of the Timer Unit The timer unit consists mainly of a mode timer, three timer comparator, and mode capture register, and is controlled by timer control registers and timer compare registers. • The mode timer can be reset by a signal from the position detection circuit, Timer 3, or overload protective circuit. If the mode timer overflows without being reset, it stops at FFFFH and sets an overflow flag in the control register. • The value of the mode timer during counting can be read by capturing the count in software and reading the capture register. • Timer 1 and Timers 2 and 3 generate an interrupt signal by magnitude comparison and matching comparison, respectively. Therefore, Timer 1 can generate an interrupt signal even when it could not write to the compare register in time and the counter value at the time of writing happens to exceed the register’s set value. • When any one of Timers 1 to 3 interrupts occurs, the next interrupts can be enabled by writing a new value to the respective compare registers (CMP1, CMP2, CMP3). • When capturing by position detection is enabled, the capture register has the timer value captured in it each time position is detected. In this way, the capture register always holds the latest value. Page 132 TMP88CS42NG 13.4.1.1 Timer Circuit Register Functions MTCRB Debug output Debug output can be produced by setting this bit to 1. Because interrupt signals to the interrupt control circuit are used for each interrupt, hardware debugging without software delays are possible. See the debug output diagram (Figure 13-8). Output ports: P67 for PMD1, P77 for PMD2. TMOF Mode timer overflow This bit shows that the timer has overflowed. 3 CLCP Capture mode timer by overload protection When this bit is set to 1, the timer value can be captured using the overload protection signal (CL) as a trigger. 2 SWCP Capture mode timer in software When this bit is set to 1, the timer value can be captured in software (e.g., by writing to this register). 1 PDCCP Capture mode timer by position detection When this bit is set to 1, the timer value can be captured using the position detection signal as a trigger. TMCK Select clock Select the timer clock. 4 RBTM3 Reset mode timer from Timer 3 When this bit is set to 1, the mode timer is reset by a trigger from Timer 3. 3 RBCL Reset mode timer by overload protection When this bit is set to 1, the mode timer is reset by the overload protection signal (CL) as a trigger. 2 SWRES Reset mode timer in software When this bit is set to 1, the mode timer is reset in software (e.g., by writing to this register) 1 RBPDC Reset mode timer by position detection When this bit is set to 1, the mode timer is reset by the position detection signal as a trigger. 0 TMEN Enable/disable mode timer The mode timer is started by setting this bit to 1. Therefore, Timers 1 to 3 must be set with CMP before setting this bit. If this bit is set to 0 after setting CMP, CMP settings become ineffective. 7 DBOUT 5 MTCRA 7, 6, 5 MCAP Mode capture Position detection interval can be read out. CMP1 Timer 1 (commutation) CMP2 Timer 2 (position detection start) CMP3 Timer 3 (overflow) Timers 1 to 3 are enabled while the mode timer is operating. An interrupt can be generated once by setting the corresponding bit in this register. The interrupt is disable when an interrupt is generated or the timer is reset. To use the timer again, set the register back again even if data is same. Figure 13-8 DBOUT Debug Output Diagram Page 133 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG Timer Circuit Registers [Addresses (PMD1 and PMD2)] MTCRB (01FA5H) (01FD5H) 7 6 5 4 3 2 1 0 DBOUT – TMOF – CLCP SWCP PDCCP – (Initial value: 0*0*0 000*) 7 DBOUT Debug output 0: Disable 1: Enable (P67 for PMD1, P77 for PMD2) 5 TMOF Mode timer overflow 0: No overflow 1: Overflowed 3 CLCP Capture mode timer by overload protection 0: Disable 1: Enable 2 SWCP Capture mode timer in software 0: No operation 1: Capture 1 PDCCP Capture mode timer by position detection 0: Disable 1: Enable R/W R R/W W R/W Note: Read-modify-write instructions, such as a bit manipulation instruction, cannot access the MTCRB because it contains a write-only bit. 7 MTCRA (01FA4H) (01FD4H) 6 5 TMCK 4 3 2 1 0 RBTM3 RBCL SWRES RBPDC TMEN (Initial value: 0000 0000) 000: fc/23 (400 ns at 20 MHz) 010: fc/24 (800 ns at 20 MHz) 100: fc/25 (1.6 µs at 20 MHz) 7, 6, 5 TMCK 110: fc/26 (3.2 µs at 20 MHz) Select clock 001: fc/27 (6.4 µs at 20 MHz) 011: Reserved 101: Reserved 111: Reserved 4 RBTM3 Reset mode timer from Timer 3 0: Disable 1: Enable 3 RBCL Reset mode timer by overload protection 0: Disable 1: Enable 2 SWRES Reset mode timer in software 0: No operation 1: Reset 1 RBPDC Reset mode timer by position detection 0: Disable 1: Enable 0 TMEN Enable/disable mode timer 0: Disable 1: Enable timer start R/W W R/W Note 1: When changing MTCRA<TMCK> setting, keep the MTCRA<TMEN> bit reset to “0” (disable mode timer). Note 2: Read-modify-write instructions, such as a bit manipulation instruction, cannot access the MTCRA because it contains a write-only bit. MCAP (01FA7H, 01FA6H) (01FD7H, 01FD6H) F E D C B A 9 8 7 6 5 4 3 2 1 0 DF DE DD DC DB DA D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 MCAP CMP1 (01FA9H, 01FA8H) (01FD9H, 01FD8H) CMP2 (01FABH, 01FAAH) (01FDBH, 01FDAH) Mode capture Position detection interval R F E D C B A 9 8 7 6 5 4 3 2 1 0 DF DE DD DC DB DA D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 F E D C B A 9 8 7 6 5 4 3 2 1 0 DF DE DD DC DB DA D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 Page 134 (Initial value: 0000 0000 0000 0000) (Initial value: 0000 0000 0000 0000) (Initial value: 0000 0000 0000 0000) TMP88CS42NG CMP3 (01FADH, 01FACH) (01FDDH, 01FDCH) F E D C B A 9 8 7 6 5 4 3 2 1 0 DF DE DD DC DB DA D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 CMP1 Timer 1 Magnitude comparison compare register CMP2 Timer 2 Matching comparison compare register CMP3 Timer 3 Matching comparison compare register (Initial value: 0000 0000 0000 0000) R/W Note: Read-modify-write instructions, such as a bit manipulation instruction, cannot access the MTCRB or MTCRA register because these registers contain write-only bits. 13.4.1.2 Outline Processing in the Timer Unit $ % $ ! ) & ´ ' ´ '( ´ ) * ) ) ¯ # # + ) * " " " $ $ Page 135 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG 13.5 Three-phase PWM Output Unit The Three-phase PWM Output Unit has the function to generate three-phase PWM waves with any desired pulse width and the commutation function capable of brushless DC motor control. In addition, it has the protective functions such as overload protection and emergency stop functions necessary to protect the power drive unit, and the dead time adding function which helps to prevent the in-phase upper/lower transistors from getting shorted by simultaneous turn-on when switched over. For the PWM output pin (U,V,W,X,Y,Z), set the port register PxDR and PxCR (x = 3,5) to 1. The PWM output initially is set to be active low, so that if the output needs to be used active high, set up the MDCRA Register accordingly. 13.5.1 Configuration of the three-phase PWM output unit The three-phase PWM output unit consists of a pulse width modulation circuit, commutation control circuit, protective circuit (emergency stop and overload), and a dead time control circuit. 13.5.1.1 Pulse width modulation circuit (PWM waveform generating unit) This circuit produces three-phase independent PWM waveforms with an equal PWM frequency. For PWM waveform mode, triangular wave modulation or sawtooth wave modulation can be selected by using the PMD Control Register (MDCRA) bit 1. The PWM frequency is set by using the PMD Period Register (MDPRD). The following shows the relationship between the value of this register and the PWM counter clock set by the MDCRB Register, PWMCK. 1 Sawtooth wave PWM: MDPRD Register set value = ------------------------------------------------------------------------------------PWM frequency [ Hz ] × PWMCK 1 Triangular wave PWM: MDPRD Register set value = --------------------------------------------------------------------------------------------PWM frequency [ Hz ] × 2 × P WMCK The PMD Period Register (MDPRD) is comprised of dual-buffers, so that CMPU, V, W Register is updated with PWM period. When the waveform arithmetic circuit is operating, the PWM waveform output unit receives calculation results from the waveform arithmetic circuit and by using the results as CMPU, V, W Register set value, it outputs independent three-phase PWM waveforms. When the waveform calculation function is enabled by the waveform arithmetic circuit and transfer of calculation results into the CMPU to W Registers is enabled (with EDCRA Register bit 2), the CMPU to W Registers are disabled against writing. When the waveform calculation function is enabled (with EDCRA Register bit 1) and transfer of calculation results into the CMPU, V, W Registers is disabled (with EDCRA Register bit 4), the calculation results are transferred to the buffers of CMPU, V, W Registers, but not output to the port. Read-accessing the CMPU, V, and W registers can read the calculation results of the waveform arithmetic circuit that have been input to a buffer. After changing the read calculation result data by software, writing the changed data to the CMPU, V, and W registers enables an arbitrary waveform other than a sinusoidal wave to be output. When the registers are read after writing, the values written to the registers are read out if accessed before the calculation results are transferred after calculation is finished. Page 136 TMP88CS42NG Figure 13-9 PWM Waveforms The values of the PWM Compare Registers (CMPU/V/W) and the carrier wave generated by the PWM Counter (MDCNT) are compared for the relative magnitude by the comparator to produce PWM waveforms. The PWM Counter is a 12-bit up/down counter with a 100 ns (at fc = 20 MHz) resolution. For three-phase output control, two methods of generating three-phase PWM waveforms can be set. 1. Three-phase independent mode: Values are set independently in the three-phase PMD Compare Registers to produce three-phase independent PWM waveforms. This method may be used to produce sinusoidal or any other desired drive waveforms. 2. Three-phase common mode: A value is set in only the U-phase PMD Compare Register to produce three in-phase PWM waveforms using the U phase set value. This method may be used for DC motor square wave drive. The three-phase PMD Compare Registers each have a comparison register to comprise a dual-buffer structure. The values of the PMD Compare Registers are loaded into their respective comparison registers synchronously with PWM period. Page 137 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG 13.5.1.2 Commutation control circuit Output ports are controlled depending on the contents set in the PMD Output Register (MDOUT). The contents set in this register are divided into two, one for selecting the synchronizing signal for port output, and one for setting up port output. The synchronizing signal can be selected from Timers 1 or 2, position detection signal, or without sync. Port output can be synchronized to this synchronizing signal before being further synchronized to the PWM signal sync. The MDOUT Register's synchronizing signal select bit becomes effective immediately after writing. Other bits are dual-buffered, and are updated by the selected synchronizing signal. Example: Commutation timing for one timer period with PWM synchronization specified INTTMR PWM Commutation Output on six ports can be set to be active high or active low independently of each other by using the MDCRA Register bits 5 and 4. Furthermore, the U, V, and W phases can individually be selected between PWM output and H/L output by using the MDOUT Register bits A to 8 and 5 to 0. When PWM output is selected, PWM waveforms are output; when H/L output is selected, a waveform which is fixed high or low is output. The MDOUT Register bits E to C set the expected position signal value for the position detection circuit. PWM control register MDCRA 7 6 − − 3, 2, 1 0 3 PWM interrupt INTPWM PWM control PWM synchronizing clock fc/2 Up/Down MDCRB 1 to 0 Clock selector PWM counter MDCNT B to 0 Stop MDCNT Selector/ Latch PMD period register MDPRD B to 0 Selector/ Latch PMD compare register CMPU B to 0 PWMU Buffer U Three-phase common/ Three-phase CMPV B to 0 Buffer V CMPW B to 0 Buffer W PWMV PWMW Figure 13-10 Pulse Width Modulation Circuit Page 138 TMP88CS42NG PMD output register MDOUT − −, −, − B A, 9, 8 7, 6 5, 4, 3, 2, 1, 0 3 2 6 S Selector PWM synchronizing clock fc/4 S Position detection interrupt INTPDC Timer 1 interrupt INTTMR1 Timer 2 interrupt INTTMR2 Selector Gate control Latch Set Reset MDOUT sync u PWMU x v PWMV y w PWMW z Figure 13-11 Commutation Control Circuit Dead time register DTR -, -, 5, 4, 3, 2, 1, 0 fc/8 PMD control register MDCRA - - 5 4 - - - - ON delay circuit U X u' x' ON delay circuit V Y v' y' ON delay circuit W Z w' z' Figure 13-12 Dead Time Circuit Page 139 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG 13.5.2 Register Functions of the Waveform Synthesis Circuit MDCRB PWMCK Select PWM counter clock Select PWM counter clock. MDCRA 7 HLFINT Select half-period interrupt When this bit is set to 1, INTPWM is generated every half period (at triangular wave peak and valley) in the case of center PWM output and PINT = 00. In other cases, this setting has no meaning. 6 DTYMD DUTY mode Select whether to set the duty cycle independently for three phases using the CMPU to W Registers or in common for all three phases by setting the CMPU Register only. 5 POLH Upper-phase port polarity Select the upper-phase output port polarity. Make sure the waveform synthesis function (MDCRA Register bit 0) is idle before selecting this port polarity. 4 POLL Lower-phase port polarity Select the lower-phase output port polarity. Make sure the waveform synthesis function (MDCRA Register bit 0) is idle before selecting this port polarity. 3, 2 PINT PWM interrupt frequency Select the frequency at which to generate a PWM interrupt from four choices available: every PWM period or once every 2, 4, or 8 PWM periods. When setting of this bit is altered while operating, an interrupt may be generated at the time the bit is altered. 1 PWMMD PWM mode Select PWM mode. PWM mode 0 is an edge PWM (sawtooth wave), and PWM mode 1 is a center PWM (triangular wave). 0 PWMEN Enable/Disable waveform generation circuit When enabling this circuit (for waveform output), be sure to set the output port polarity and other bits of this register (other than MDCRA bit 0) beforehand. DTR DTR Dead time Set the dead time between the upper-phase and lower-phase outputs. MDOUT F E, D, C UPDWN PDEXP PWM counter flag This bit indicates whether the PWM counter is counting up or down. When edge PWM (sawtooth wave) is selected, it is always set to 0. Mode compare register Set the data to be compared with the position detection input port. The comparison data is adopted as the expected value simultaneously when port output sync settings made with MDOUT are reflected in the ports. (This is the expected position detection input value for the output set with MDOUT next time.) B PSYNC Select PWM synchronization Select whether or not to synchronize port output to PWM period after being synchronized to the synchronizing signal selected with SYNCS. If selected to be synchronized to PWM, output is kept waiting for the next PWM after being synchronized with SYNCS. Waveform settings are overwritten if new settings are written to the register during this time, and output is generated with those settings. A 9 8 WPWM VPWM UPWM Control UVW-phase PWM outputs Set U, V, and W-phase port outputs. (See the Table 13-3) Select port output sync signal Select the synchronizing signal with which to output UVW-phase settings to ports. The synchronizing signal can be selected from Timers 1 or 2, position detection, or asynchronous. Select asynchronous when the initial setting, otherwise the above setting isn’t reflected immediately. Control UVW-phase outputs Set U, V, and W-phase port outputs. (See the Table 13-3) 7, 6 SYNCS 5, 4 3, 2 1, 0 WOC VOC UOC MDCNT MDPRD PWM counter This is a 12-bit read-only register used to count PWM periods. Set PWM period This register determines PWM period, and is dual-buffered, allowing PWM period to be altered even while the PWM counter is operating. The buffers are loaded every PWM period. When 100 ns is selected for the PWM counter clock, make sure the least significant bit is set to 0. Page 140 TMP88CS42NG CMPU CMPV CMPW This comparison register determines the pulse widths output in the respective UVW phases. This register is dual-buffered, and the pulse widths are determined by comparing the buffer and PWM counter. Set PWM pulse width Waveform Synthesis Circuit Registers [Addresses (PMD1 and PMD2)] MDCRB (01FAFH) (01FDFH) 7 6 5 4 3 2 – – – – – – 1 0 PWMCK (Initial value: **** **00) 00: fc/2 [Hz] (100 ns at 20 MHz) 1, 0 PWMCK PWM counterSelect clock 01: fc/22 (200 ns at 20 MHz) 10: fc/23 (400 ns at 20 MHz) 11: fc/24 (800 ns at 20 MHz) R/W Note: When changing setting, keep the PWMEN bit reset to “0” (disable wave form synthesis function). MDCRA (01FAEH) (01FDEH) 7 6 5 4 HLFINT DTYMD POLH POLL 2 PINT 1 0 PWMMD PWMEN (Initial value: 0000 0000) 7 HLFINT Select half-period interrupt 0: Interrupt as specified in PINT 1: Interrupt every half period when PINT = 00 6 DTYMD DUTY mode 0: U phase in common 1: Three phases independent 5 POLH Upper-phase port polarity 0: Active low 1: Active high 4 POLL Lower-phase port polarity 0: Active low 1: Active high PINT Select PWM interrupt (trigger) 00: Interrupt every period 01: Interrupt once every 2 periods 10: Interrupt once every 4 periods 11: Interrupt once every 8 periods 1 PWMMD PWM mode 0: PWM mode0 (Edge: Sawtooth wave) 1: PWM mode1 (Center: Triangular wave) 0 PWMEN Enable/disable waveform synthesis function 0: Disable 1: Enable (Waveform output) 3, 2 DTR (01FBEH) (01FEEH) 3 R/W 7 6 5 4 3 2 1 0 – – D5 D4 D3 D2 D1 D0 5 to 0 DTR Dead time (Initial value: **00 0000) 23/fc × 6 bit (maximum 25.2 µs at 20 MHz) Note: When changing setting, keep the MDCRA<PWMEN> bit reset to "0" (disable wave form synthesis function). Page 141 R/W 13. Motor Control Circuit (PMD: Programmable motor driver) MDOUT (01FB3H, 01FB2H) (01FE3H, 01FE2H) F E UPDWN D TMP88CS42NG C PDEXP 7 6 5 B A 9 8 PSYNC WPWM VPWM UPWM 3 2 1 0 4 SYNCS WOC VOC UOC (Initial value: 00000000 00000000) F UPDWN PWM counter flag 0: Counting up 1: Counting down E, D, C PDEXP Comparison register for position detection bit E: W-phase expected value bit D: V-phase expected value bit C: U-phase expected value B PSYNC Select PWM synchronization 0: Asynchronous 1: Synchronized A WPWM W-phase PWM output 0: H/L level output 1: PWM waveform output 9 VPWM V-phase PWM output 0: H/L level output 1: PWM waveform output 8 UPWM U-phase PWM output 0: H/L level output 1: PWM waveform output 7, 6 SYNCS Select port output synchronizing signal 00: Asynchronous 01: Synchronized to position detection 10: Synchronized to Timer 1 11: Synchronized to Timer 2 5, 4 WOC Control W-phase output 3, 2 VOC Control V-phase output 1, 0 UOC Control U-phase output R R/W See the table 1-3 13.5.3 Port output as set with UOC/VOC/WOC bits and UPWM/VPWM/WPWM bits Table 13-3 Example of Pin Output Settings U-phase output polarity: Active high (POLH,POLL = 1) U-phase output polarity: Active low (POLH,POLL = 0) UPWM UOC 1: PWM output UPWM 0: H/L level output U phase X phase U phase X phase 0 0 PWM PWM L L 0 1 L PWM L 1 0 PWM L 1 1 PWM PWM UOC 1: PWM output 0: H/L level output U phase X phase U phase X phase 0 0 PWM PWM H H H 0 1 H PWM H L H L 1 0 PWM H L H H H 1 1 PWM PWM L L Page 142 TMP88CS42NG MDCNT (01FB5H, 01FB4H) (01FE5H, 01FE4H) F E D C B A 9 8 7 6 5 4 3 2 1 0 – – – – DB DA D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 B to 0 MDPRD (01FB7H, 01FB6H) (01FE7H, 01FE6H) PWM counter CMPU (01FB9H, 01FB8H) (01FE9H, 01FE8H) CMPV (01FBBH, 01FBAH) (01FEBH, 01FEAH) CMPW (01FBDH, 01FBCH) (01FEDH, 01FECH) B to 0 PWM period counter value R F E D C B A 9 8 7 6 5 4 3 2 1 0 – – – – DB DA D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 B to 0 (Initial value: ****000000000000) (Initial value: ****000000000000) PWM period MDPRD ≥ 010H PWM period R/W F E D C B A 9 8 7 6 5 4 3 2 1 0 – – – – DB DA D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 F E D C B A 9 8 7 6 5 4 3 2 1 0 – – – – DB DA D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 F E D C B A 9 8 7 6 5 4 3 2 1 0 – – – – DB DA D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 CMPU PWM compare U register Set U-phase duty cycle CMPV PWM compare V register Set V-phase duty cycle CMPW PWM compare W register Set W-phase duty cycle Page 143 (Initial value: ****000000000000) (Initial value: ****000000000000) (Initial value: ****000000000000) R/W 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG 13.5.4 Protective Circuit This circuit consists of an EMG protective circuit and overload protective circuit. These circuits are activated by driving their respective port inputs active. EMG control register EMGCRB 7 6, 5 4 3, 2, 1, 0 2 PWM synchronizing clock PWM sync Overload protective interrupt INTCLM Stop MDCNT 4 CL detection Overload protective input CL Timer 1 interrupt INTTMR1 EMGCRA 7, 6, 5, 4 − 2 1 0 Reset control Overload protective control 4 2 Under protection EMG disable code register EMGREL MDOUT A to 0 7, 6, 5, 4, 3, 2, 1, 0 8 EMG protective control Set "0" EMG EMG input INTEMG EMG interrupt u u' x x' v v' y y' w w' z z' Figure 13-13 Configuration of the Protective Circuit a. EMG protective circuit This protective circuit is used for emergency stop, when the EMG protective circuit is enabled. When the signal on EMG input port goes active (negative edge triggered), the six ports are immediately disabled high-impedance against output and an EMG interrupt (INTEMG) is generated. The EMG Control Register (EMGCRA) is used to set EMG protection. If the EMGCRA<EMGST> shows the value “1” when read, it means that the EMG protective circuit is operating. To return from the EMG protective state, reset the MDOUT Register bits A to 0 and set the EMGCRA<RTE> to 1. Returning from the EMG protective state is effective when the EMG protective input has been released back high. To disable the EMG function, set data “5AH“ and “A5H“sequentially in the EMG disable Register (EMGREL) and reset the EMGCRA<EMGEN> to 0. When the EMG function is disabled, EMG interrupts (INTEMG) are not generated. The EMG protective circuit is initially enabled. Before disabling it, fully study on adequacy. b. Overload protective circuit The overload protective circuit is set by using the EMG Control Registers (EMGCRA/B). To activate overload protection, set the EMGCRB<CLEN> to 1 to enable the overload protective circuit. The circuit starts operating when the overload protective input is pulled low. To return from overload state, there are three methods to use: return by a timer (EMGCRB<RTTM1>), return by PWM sync (EMGCRB<RTPWM>), or return manually (EMGCRB<RTCL>). These methods are usable when the overload protective input has been released back high. Page 144 TMP88CS42NG The number of times the overload protective input is sampled can be set by using the EMGCRA<CLCNT>. The sampling times can be set in the range of 1 to 15 times at 200 ns period (when fc = 20 MHz). If a low level is detected as many times as the specified number, overload protection is assumed. The output disabled phases during overload protection are set by using the EMGCRB<CLMD>. This facility allows selecting to disable no phases, all phases, PWM phases, or all upper phases/all lower phases. When selected to disable all upper phases/all lower phases, port output is determined by their turn-on status immediately before being disabled. When two or more upper phases are active, all upper phases are turned on and all lower phases are turned off; when two or more lower phases are active, all upper phases are turned off and all lower phases are turned on. When output phase are cut off, output is inactive (low in the case of high active). When the overload protective circuit is disabled, overload protective interrupts (INTCLM) are not generated. I (Current) EMG setting current Overload protection setting current t (time) Input EMG pin Input CL pin PWM output ("H" active) Overload protection (Output cut off) EMG protection (High-Z output) Figure 13-14 Example of Protection Circuit Operation Page 145 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG 13.5.5 Functions of Protective Circuit Registers EMGREL EMG disable The EMG protective circuit is disable from the disabled state by writing “5AH“ and “A5H“ to this register in that order. After that, the EMGCRA Register needs to be set. EMGCRB Return from overload protective state When this bit is set to 1, the motor control circuit is returned from overload protective state in software (e.g., by writing to this register). Also, the current state can be known by reading this bit. MDOUT outputs at return from the overload protective state remain as set before the overload protective input was driven active. 7 RTCL 6 RTPWM Return by PWM sync When this bit is set to 1, the motor control circuit is returned from overload protective state by PWM sync. If RTCL is set to 1, RTCL has priority. 5 RTTM1 Return by timer sync When this bit is set to 1, the motor control circuit is returned from overload protective state by Timer 1 sync. If RTCL is set to 1, RTCL has priority. 4 CLST Overload protective state The status of overload protection can be known by reading this bit. 3, 2 CLMD Select output disabled phases during overload protection Select the phases to be disabled against output during overload protection. This facility allows selecting to disable no phases, all phases, PWM phases, or all upper phases/all lower phases. 1 CNTST Stop counter during overload protection Can stop the PWM counter during overload protection. 0 CLEN Enable/Disable overload protection Enable or disable the overload protective function. 7 to 4 CLCNT Overload protection sampling time Set the length of time the overload protective input port is sampled. 2 EMGST EMG protective state The status of EMG protection can be known by reading this bit. 1 RTE Return from EMG protective state The motor control circuit is returned from EMG protective state by setting this bit to “1” . When returning, set the MDOUT Register A to 0 bits to “0” . Then set the EMGCRA Register bit 1 to “1” and set MDOUT waveform output. Then set up the MDCRA Register. EMGEN Enable/Disable EMG protective circuit The EMG protective circuit is activated by setting this bit to 1. This circuit initially is enabled. (To disable this circuit, make sure key code 5AH and A5H are written to the EMGREL1 Register beforehand.) EMGCRA 0 Page 146 TMP88CS42NG Protective Circuit Registers [Addresses (PMD1 and PMD2)] EMGREL (01FBFH) (01FEFH) 7 6 5 4 3 2 1 0 D7 D6 D5 D4 D3 D2 D1 D0 7 to 0 EMGREL EMG disable (Initial value: 0000 0000) Can disable by writing 5AH and then A5H. W Note: Read-modify-write instructions, such as a bit manipulation instruction, cannot access the EMGREL register because this register is write only. EMGCRB (01FB1H) (01FE1H) 7 6 5 4 RTCL RTPWM RTTM1 CLST 3 2 CLMD 1 0 CNTST CLEN (Initial value: 0000 0000) 7 RTCL Return from overload protective state 0: No operation 1: Return from protective state 6 RTPWM Enable/Disable return from overload protective state by PWM sync 0: Disable 1: Enable 5 RTTM1 Enable/Disable return from overload protective state by timer 1 0: Disable 1: Enable 4 CLST Overload protective state 0: No operation 1: Under protection 3, 2 CLMD Select output disabled phases during overload protection 00: No phases disabled against output 01: All phases disabled against output 10: PWM phases disabled against output 11: All upper/All lower phases disabled against output (Note) 1 CNTST Stop PWM counter during overload protection 0: Do not stop 1: Stop the counter 0 CLEN Enable/Disable overload protective circuit 0: Disable 1: Enable W R/W R R/W Note: If during overload protection the port output state in two or more upper phases is on, all lower phases are disabled and all upper phases are enabled for output; when two or more lower phases are on, all upper phases are disabled and all lower phases are enabled for output. 7 EMGCRA (01FB0H) (01FE0H) 6 5 4 3 CLCNT 2 1 0 EMGST RTE EMGEN (Initial value: 0000 *001) 7 to 4 CLCNT Overload protection sampling number of times. 22/fc × n ( n = 1 to 15, 0 and 1 are set as 1 at 20 MHz ) 2 EMGST EMG protective state 0: No operation 1: Under protection R 1 RTE Return from EMG state 0: No operation 1: Return from protective state (Note 1) W 0 EMGEN Enable/Disable EMG protective circuit 0: Disable 1: Enable R/W R/W Note 1: An instruction specifying a return from the EMG state is invalid if the EMG input is “L”. Note 2: Read-modify-write instructions, such as a bit manipulation instruction, cannot access the EMGCRB or EMGCRA register because these registers contain write-only bits. Page 147 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG 13.6 Electrical Angle Timer and Waveform Arithmetic Circuit Electrical Angle Timer $% ! #! &! "! ! '! ! ! ( # - "! -! -! -! - + . - - , ( )* - Figure 13-15 Electrical Angle Timer Circuit Waveform Arithmetic Circuit $%& ' $ ! " # . ( 0122 ! " # 4$% ´ "! 5 /3%4 !"# % ( "# 4' )*")( + , - -)( .)( /)( %&- %&. %&/ Figure 13-16 Waveform Arithmetic Circuit Page 148 - - " # 4$ TMP88CS42NG 13.6.1 Electrical Angle Timer and Waveform Arithmetic Circuit The Electrical Angle Timer finishes counting upon reaching the value set by the Period Set Register (EDSET). The Electrical Angle Timer counts 360 degrees of electrical angle in the range of 0 to 383 (17FH) and is cleared to 0 upon reaching 383. In this way, it is possible to obtain the electrical angle of the frequency proportional to the value set by the Period Set Register. The period with which to count up can be corrected by using the Period Correction Register, allowing for fine adjustment of the frequency. The electrical angles counted by the Electrical Angle Timer are presented to the Waveform Arithmetic Circuit. An electrical angle timer interrupt signal is generated each time the Electrical Angle Timer finishes counting. The Waveform Arithmetic Circuit has a sine wave data table, which is used to extract sine wave data based on the electrical angle data received from the Electrical Angle Timer. This sine wave data is multiplied by the value of the Voltage Amplitude Register. For 2-phase modulation, the product obtained by this multiplication is presented to the waveform synthesis circuit. For 3-phase modulation, waveform data is further calculated based on the product of multiplication and the electrical angle data and the value of the PWM Period Register. The calculation is performed each time the Electrical Angle Timer finishes counting or when a value is set in the Electrical Angle Register, and the calculation results consisting of the U phase, the V phase (+120 degrees), and the W phase (+240 degrees) are sequentially presented to the PWM waveform output circuit. The sine wave data table is stored in the RAM and requires initialization. • To correct the period, set the number of times ‘n’ to be corrected in the Period Correction Register (EDSET Register F to C bits). The period is corrected by adding 1 to electrical angle counts 16 for ‘n’ times. For example, when a value 3 is set in the Period Correction Register, the period for 13 times out of electrical angle counts 16 is the value “mH” set in the Period Set Register, and that for 3 times is “m + 1H”. (Correction is made almost at equal intervals.) • Because the electrical angle counter (ELDEG) can be accessed even while the Electrical Angle Timer is operating, the electrical angles can be corrected during operation. • The Electrical Angle Capture EDCAP captures the electrical angle value from the Electrical Angle Counter at the time the position is detected. • When the waveform calculation function is enabled, waveform calculation is performed each time the electrical angle counter (ELDEG) are accessed for write or the Electrical Angle Timer finishes counting. • The calculation is performed in 35 machine cycle of execution time, or 7 µs (at 20 MHz). • When transfer of calculation result to the CMP Registers is enabled (EDCRA<RWREN>), the calculation results are transferred to the CMPU to W Registers. (This applies only when the waveform calculation function is enabled with the EDCRA<CALCEN>.) The CMPU to W Registers are disabled against write while the transfer remains enabled. The calculation results can be read from the CMPU to W Registers while the waveform calculation function remains enabled. • The calculated results can be modified and the modified data can be set in the CMPU to W Registers in software. This makes it possible to output any desired waveform other than sine waves. If a transfer (EDCRA register bit 2) of the calculated results to the CMP register is disabled, readaccessing the CMPU to W registers can read the calculated results. (Before read-accessing these registers, make sure that the calculation is completed.) • To initialize the entire RAM data of the sine wave data table, set the addresses at which to set, sequentially from 000H to 17FH, in the ELDEG Register, and write waveform data to the WFMDR Register each time. Make sure the Waveform Arithmetic Circuit is disabled when writing this data. Note 1: The value set in the Period Set Register (EDSET Register EDT bits) must be equal to or greater than 010H. Any value smaller than this is assumed to be 010H. Note 2: The sine wave data that is read consists of the U phase, the V phase whose electrical angle is +120 degrees relative to the U phase, and the W phase whose electrical angle is +240 degrees relative to the U phase. Note 3: If a period corresponding to an electrical angle of one degree is shorter than the required calculation time, the previously calculated results are used. Page 149 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG 13.6.1.1 Functions of the Electrical Angle Timer and Waveform Arithmetic Circuit Registers EDCRB Start calculation by software Forcefully start calculation. When this bit is written while the waveform arithmetic circuit is calculating, the calculation is terminated and then newly started. CALCBSY Calculation flag By reading this bit, the operation status of the waveform arithmetic circuit can be obtained. 1 EDCALEN Enable/disable calculation start synchronized with electrical angle Select whether to start calculation when the electrical angle timer finishes counting or when a value is set in the electrical angle register. When disabled, calculation is only started when CALCST is set to 1. 0 EDISEL Electrical angle interrupt Set the electrical angle interrupt signal request timing to either when the electrical angle timer finishes counting or upon end of calculation. 7 EDCNT Electrical angle count up/ down Set whether the electrical angle timer counts up or down. 6 EDRV 3 CALCST 2 EDCRA 5, 4 EDCK Select V-, W-phase Select phase direction of V-phase and W-phase in relation to U-phase. Select clock Select the clock for the electrical angle timer. This setting can be altered even while the electrical angle timer is operating. Select the modulation method with which to perform waveform calculation. Two-phase modulation DATA = ramdata (ELDEG) × AMP 3 C2PEN Switch between 2-phase and 3-phase modulations MOPRD ramdata ( ELDEG ) × AMP Three-phase modulation: DATA = ----------------------- ± --------------------------------------------------------------------2 2 Note: The ± sign during 3-phase modulation changes depending on the electrical angle. + for electrical angles 0 to 179 degrees (191) − for electrical angles 180 (192) to 360 (383) degrees RWREN Auto transfer calculation results to CPM registers Enable/disable transfer of calculation results by the waveform arithmetic circuit. When the waveform calculation function is enabled while at the same time transfer is enabled, calculation results are set as U, V, and W-phase duty cycles of the PWM generation circuit and are reflected in the ports. 1 CALCEN Enable/disable waveform calculation function Enable/disable the waveform calculation function. Calculations are performed by the waveform arithmetic circuit by enabling the waveform calculation function. When the waveform calculation function is enabled, the calculated results can be read from the U, V, and W-phase compare registers (CMPU, V, W) of the PWM generation circuit. 0 EDTEN Electrical angle timer Enable/disable the electrical angle timer. When enabled, the electrical angle timer starts counting; when disabled, the electrical angle timer stops counting and is cleared to 0. 2 EDSET F to C EDTH Correct electrical angle period Correct the period by adding 1 to electrical angle counts 16 for “n” times. The timer counts the electrical angle period set value “m”’for (16 − n) times and counts (m + 1) for “n” times B to 0 EDT Electrical angle period Set the electrical angle period. ELDEG AMP EDCAP WFMDR Electrical angle Read the electrical angle. This register can also be set to initialize or correct the angle while counting. Any value greater than 17FH cannot be set. Set voltage amplitude Set the voltage amplitude. The waveform arithmetic circuit multiplies the data set here by the sine wave data read out from the sine wave RAM. The amplitude has its upper limit determined by the set value of the MDPRD register when performing this multiplication. Capture electrical angle Capture the value from the electrical angle timer when the position is detected. Set sine wave data To initialize the entire RAM data of the sine wave table, set the addresses at which to set, sequentially from 000H to 17FH, in the ELDEG register, and write waveform data to the WFMDR register each time. Make sure the waveform arithmetic circuit is disabled when writing this data. Page 150 TMP88CS42NG Typical Settings of Sine Wave Data ! !! "# "$ ! ! " %% ' ! !! "# "$ ! ! " %% ' Note: During 3-phase modulation, the sign changes at 180 degrees of electrical angle. Figure 13-17 Typical Settings of Sine Wave Data Page 151 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG List of the Electrical Angle Timer and Waveform Arithmetic Circuit Registers [Addresses (PMD1 and PMD2)] EDCRB (01FC1H) (01FF1H) 7 6 5 4 3 2 1 0 – – – – CALCST CALCBSY EDCALEN EDISEL (Initial value: **** 0000) 3 CALCST Start calculation by software 0: No operation 1: Start calculation W 2 CALCBSY Calculation flag 0: Waveform Arithmetic Circuit stopped 1: Waveform Arithmetic Circuit calculating R 1 EDCALEN Enable/disable calculation start synchronized with electrical angle 0: Start calculation insync with electrical angle 1: Do notcalculation insync with electrical angle Electrical angle interrupt 0: Interrupt when the Electrical Angle Timer finishes counting 1: Interrupt upon end of calculation 0 EDISEL R/W Note: Read-modify-write instructions, such as a bit manipulation instruction, cannot access the EDCRB register because this register is write only. EDCRA (01FC0H) (01FF0H) 7 6 EDCNT EDRV 5 4 EDCK 3 2 1 0 C2PEN RWREN CALCEN EDTEN 7 EDCNT Electrical angle count up/down 0: Count up 1: Count down 6 EDRV Select V-, W-phase 0: V = U + 120°, W = U + 240° 1: V = U − 120°, W = U − 240° (Initial value: 0000 0000) 00: fc/23 (400 ns at 20 MHz) 5, 4 EDCK 01: fc/24 (800 ns at 20 MHz) Select clock 10: fc/25 (1.6 µs at 20 MHz) 11: fc/26 (3.2 µs at 20 MHz) 3 C2PEN Switch between 2-/3-phase modulations 0: 2-phase modulation 1: 3-phase modulation 2 RWREN Transfer calculation result to CMP registers 0: Disable 1: Enable 1 CALC Enable/disable waveform calculation function 0: Disable 1: Enable 0 EDTEN Electrical angleEnable/disable mode timer 0: Disable 1: Enable Note: When changing the EDCRA<EDCK> setting, keep the EDCRA<EDTEN> bit reset “0” (Disable electrical angle timer). Page 152 R/W TMP88CS42NG F E EDSET (01FC3H, 01FC2H) (01FF3H, 01FF2H) D C B A 9 8 7 6 EDTH 5 4 3 2 1 0 (Initial value: 00000000 00010000) EDT F to C EDTH Correct period (n) 0 to 15 times B to 0 EDT Set period (m) ≥ 010H R/W One period of the Electrical Angle Timer, T, is expressed by the equation below. n- T = m + ----× 384 × set clock [ s ] where m = set period, n = period correction 16 ELDEG (01FC5H, 01FC4H) (01FF5H, 01FF4H) F E D C B A 9 8 7 6 5 4 3 2 1 0 – – – – – – – D8 D7 D6 D5 D4 D3 D2 D1 D0 8 to 0 AMP (01FC7H, 01FC6H) (01FF7H, 01FF6H) ELDEG 8 to 0 WFMDR (01FCAH) (01FFAH) Set the Initially and the count values of electrical angle. F E D C B A 9 8 7 6 5 4 3 2 1 0 – – – – DB DA D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 B to 0 EDCAP (01FC9H, 01FC8H) (01FF9H, 01FF8H) Electrical angle AMP Set voltage E D C B A 9 8 7 6 5 4 3 2 1 0 – – – – – – – D8 D7 D6 D5 D4 D3 D2 D1 D0 Captured value of electrical angle 7 6 5 4 3 2 1 0 D6 D5 D4 D3 D2 D1 D0 7 to 0 WFMDR Sine wave data R/W (Initial value: ******0 00000000) Electrical angle timer value when position is detected. D7 R/W (Initial value: ****0000 00000000) Set the voltage to be used during waveform calculation. F EDCAP (Initial value: *******0 00000000) R (Initial value: ********) Write sine wave data to RAM of sine wave W Note: Read-modify-write instructions, such as a bit manipulation instruction, cannot access the WFMDR register because this register is write only. Page 153 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG 13.6.1.2 List of PMD Related Control Registers (1) Input/output Pins and Input/output Control Registers PMD1 Input/Output Pins (P3, P4) and Port Input/Output Control Registers (P3CR, P4CR) Name Address Bit R or W Description 7 R/W Overload protection (CL1) P3DR 00003H 6 R/W EMG input (EMG1) 5 to 0 R/W U1/V1/W1/X1/Y1/Z1 outputs. P4DR 00004H 2 to 0 R/W Position signal inputs (PDU1, PDV1, PDW1). P3CR 01F89H 7 to 0 R/W P3 port input/output control (can be set bitwise). 0: Input mode 1: Output mode P4CR 01F8AH 2, 1, 0 R/W P0 port input/output control (can be set bitwise). 0: Input mode 1: Output mode PMD2 Input/Output Pins (P5, P1) and Port Input/Output Control Registers (P5CR, P1CR) Name P5DR Address Bit R or W 0 R/W 00005H Description Overload protection (CL2) 1 R/W EMG input (EMG2) 2 to 7 R/W U2/V2/W2/X2/Y2/Z2 outputs. P1DR 00001H 5 to 7 R/W Position signal inputs (PDU2, PDV2, PDW2). P5CR 01F8BH 7 to 0 R/W P3 port input/output control (can be set bitwise). 0: Input mode 1: Output mode P1CR 0000BH 5, 6, 7 R/W P0 port input/output control (can be set bitwise). 0: Input mode 1: Output mode Note: When using these pins as PMD function or input port, set the Output Latch (P*DR) to 1. Example of the PMD Pin Port Setting Input/Output P3DR P3CR P4DR P4CR CL1 Input * 0 – – EMG1 Input * 0 – – U1 Output 1 1 – – PDU1 Input – – * 0 Input/Output P5DR P5CR P1DR P1CR Input * 0 – – CL2 EMG2 Input * 0 – – U2 Output 1 1 – – PDU2 Input – – * 0 Page 154 TMP88CS42NG (2) Motor Control Circuit Control Registers [Address Upper Stage: PMD1, Lower Stage: PMD2] Position Detection Control Register (PDCR) and Sampling Delay Register (SDREG) Name PDCRC Address 01FA2H 01FD2H Bit R or W Description 5, 4 R Detect the position-detected position. 00: Within the current pulse 01: When PWM is off 10: Within the current pulse 11: Within the preceding pulse 3 R Monitor the sampling status. 0: Sampling idle 1: Sampling in progress 2 to 0 R Holds the status of the position signal input during unmatch detection mode. Bits 2, 1, and 0: W, V, and U phases 7, 6 R/W Select the sampling input clock [Hz]. 00: fc/22 01: fc/23 4 11: fc/25 10: fc/2 PDCRB PDCRA SDREG 01FA1H 01FD1H 01FA0H 01FD0H 01FA3H 01FD3H 5, 4 R/W 3 to 0 R/W Sampling mode. 00: When PWM is on 01: Regularly 10: When lower phases are turned on Detection position match counts 1 to 15. 7 W 0: No operation 1: Stop sampling in software 6 W 0: No operation 1: Start sampling in software 5 R/W Stop sampling using Timer 3. 0: Disable 1: Enable 4 R/W Start sampling using Timer 2. 0: Disable 1: Enable 3 R/W Number of position signal input pins. 0: Compare three pins (PDU/PDV/PDW) 1: Compare one pin (PDU) only 2 R/W Count occurrences of matching when PWM is on. 0: Subsequent to matching counts when PWM previously was on 1: Eecount occurrences of matching each time PWM is on 1 R/W Position detection mode. 0: Ordinary mode 1: Unmatch detection mode 0 R/W Enable/Disable position detection function. 0: Disable 1: Enable (Sampling starts) 6 to 0 R/W Sampling delay. 23/fc × n bits (n = 0 to 6, maximum 50.8 µs at 20 MHz). Page 155 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG Mode Timer Control Register (MTCR), Mode Capture Register (MCAP), and Compare Registers (CMP1, CMP2, CMP3) Name MTCRB Address 01FA5H 01FD5H Bit R or W 7 R/W 5 R 3 R/W 2 W 1 R/W Description Debug output. 0: Disable 1: Enable (P67 for PMD1, P77 for PMD2) Mode timer overflow. 0: No overflow 1: Overflowed occurred Capture mode timer by overload protection. 0: Disable 1: Enable Capture mode timer by software. 0: No operation 1: Capture Capture mode timer by position detection. 0: Disable 1: Enable Select clock for mode timer [Hz]. 000: fc/23 (400 ns at 20 MHz) 010: fc/24 (800 ns at 20 MHz) 100: fc/25 (1.6 µs at 20 MHz) 7, 6, 5 R/W 110: fc/26 (3.2 µs at 20 MHz) 001: fc/27 (6.4 µs at 20 MHz) 011: Reserved 101: Reserved 111: Reserved MTCRA 4 R/W Reset timer by Timer 3. 0: Disable 1: Enable 3 R/W Reset timer by overload protection. 0: Disable 1: Enable 2 W 1 R/W Reset timer by position detection. 0: Disable 1: Enable 0 R/W Enable/Disable mode timer. 0: Disable 1: Enable (timer starts) 01FA4H 01FD4H Reset timer by software. 0: No operation 1: Reset MCAP 01FA7H, 01FA6H 01FD7H, 01FD6H F to 0 R CMP1 01FA9H, 01FA8H 01FD9H, 01FD8H F to 0 R/W Compare Register 1. CMP2 01FABH, 01FAAH 01FDBH, 01FDAH F to 0 R/W Compare Register 2. CMP3 01FADH, 01FACH 01FDDH, 01FDCH F to 0 R/W Compare Register 3. Mode capture register. Page 156 TMP88CS42NG PMD Control Register (MDCR), Dead Time Register (DTR), and PMD Output Register (MDOUT) Name Address Bit R or W Description Select clock for PWM counter. MDCRB 01FAFH 01FDFH 1, 0 R/W 00: fc/2 (100 ns at 20 MHz) 3 10: fc/2 (400 ns at 20 MHz) MDCRA DTR MDOUT 01FAEH 01FDEH 01FBEH 01FEEH 01FB3H, 01FB2H 01FE3H, 01FE2H 01: fc/22 (200 ns at 20 MHz) 11: fc/24 (800 ns at 20 MHz) 7 R/W Select half-period interrupt 0: Interrupt every period as specified in PINT. 1: Interrupt every half-period only PINT=00. 6 R/W DUTY mode. 0: U phase in common 1: Three phases independent 5 R/W Upper-phase port polarity. 0: Active low 1: Active high 4 R/W Lower-phase port polarity. 0: Active low 1: Active high 3, 2 R/W Select PWM interrupt (trigger). 00: Interrupt once every period 01: Interrupt once 2 periods 10: Interrupt once 4 periods 11: Interrupt once 8 periods 1 R/W PWM mode. 0: PWM mode0 (edge: sawtooth wave) 1: PWM mode1 (center: triangular wave) 0 R/W Enable/disable waveform synthesis function. 0: Disable 1: Enable (waveform output) 5 to 0 R/W F R E, D, C R/W Comparison register for position detection. 6: W 5: V 4: U B R/W Select PWM synchronization. 0: Asynchronous with PWM period 1: Synchronized A R/W W-phase PWM output. 0: H/L level output 1: PWM waveform output 9 R/W V-phase PWM output. 0: H/L level output 1: PWM waveform output 8 R/W U-phase PWM output. 0: H/L level output 1: PWM waveform output 7, 6 R/W Select port output synchronizing signal. 00: Asynchronous 01: Synchronized to position detection 10: Synchronized to Timer 1 11: Synchronized to Timer 2 5, 4 R/W Control W-phase output 3, 2 R/W Control V-phase output 1, 0 R/W Control U-phase output Set dead time. 23/fc × 6bit (maximum 25.2 µs at 20 MHz). 0: Count up 1: Count down Page 157 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG PWM Counter (MDCNT), PMD Period Register (MDPRD), and PMD Compare Registers (CMPU, CMPV, CMPW) Name Address Bit R or W MDCNT 01FB5H, 01FB4H 01FE5H, 01FE4H Description B to 0 R MDPRD 01FB7H, 01FB6H 01FE7H, 01FE6H B to 0 R/W PWM period MDPRD ≥ 010H. CMPU 01FB9H, 01FB8H 01FE9H, 01FE8H B to 0 R/W Set U-phase PWM duty cycle. CMPV 01FBBH, 01FBAH 01FEBH, 01FEAH B to 0 R/W Set V-phase PWM duty cycle. CMPW 01FBDH, 01FBCH 01FEDH, 01FECH B to 0 R/W Set W-phase PWM duty cycle. Read the PWM period counter value. EMG Disable Code Register (EMGREL) and EMG Control Register (EMGCR) Name Address Bit R or W EMGREL 01FBFH 01FEFH 7 to 0 W Code input for disable EMG protection circuit. Can be disable by writing 5AH and then A5H. 7 W Return from overload protective state. 0: No operation 1: Return from protective state EMGCRB EMGCRA 01FB1H 01FE1H 01FB0H 01FE0H Description 6 R/W Condition for returning from overload protective state: Synchronized to PWM. 0: Disable 1: Enable 5 R/W Enable/Disable return from overload protective state by timer 1. 0: Disable 1: Enable 4 R Overload protective state. 0: No operation 1: Under protection 3, 2 R/W Select output disabled phases during overload protection. 00: No phases disabled against output 01: All phases disabled against output 10: PWM phases disabled against output 11: All upper/All lower phases disabled against output 1 R/W Stop PWM counter (MDCNT) during overload protection. 0: Do not stop 1: Stop 0 R/W Enable/Disable overload protective circuit. 0: Disable 1: Enable 7 to 4 R/W 2 R EMG protective state. 0: No operation 1: Under protection 1 W Return from EMG protective state. 0: No operation 1: Return from protective state 0 R/W Overload protection sampling time. 22/fc × n (n = 1 to 15, at 20 MHz) Enable/Disable fanction of the EMG protective circuit. 0: Disable 1: Enable (This circuit initially is enabled (= 1). To disable this circuit, make sure key code 5AH and A5H are written to the EMGREL1 Register beforehand.) Page 158 TMP88CS42NG Electrical Angle Control Register (EDCR), Electrical Angle Period Register (EDSET), Electrical Angle Set Register (ELDEG), Voltage Set Register (AMP), and Electrical Angle Capture Register (EDCAP). Name EDCRB Address Bit R or W Description 3 W 0: No operation 1: Start calculation 2 R 0: Waveform Arithmetic Circuit stopped 1: Waveform Arithmetic Circuit calculatin 1 R/W 0: Start calculation insync with electrical angle 1: Do not calculation insync with electrical angle 0 R/W 0: Interrupt when the Electrical Angle Timer finishes counting 1: Interrupt upon end of calculation 7 R/W 0: Count up 1: Count down 6 R/W 0: V = U + 120°, W = U + 240° 1: V = U − 120°, W = U − 240° 5, 4 R/W 01FC1H 01FF1H Select clock. 00: fc/23 01: fc/24 5 11: fc/26 10: fc/2 EDCRA EDSET 01FC0H 01FF0H 01FC3H, 01FC2H 01FF3H, 01FF2H 3 R/W Switch between 2/3-phase modulations. 0: Two-phase modulation 1: Three-phase modulation 2 R/W Transfer calculation result to CMP registers. 0: Disable 1: Enable 1 R/W Enable/disable waveform calculation function. 0: Disable 1: Enable 0 R/W Electrical angle timer. 0: Disable 1: Enable F to C R/W Correct period (n) 0 to 15 times. B to 0 R/W Set period (1/m counter) ≥ 010H ELDEG 01FC5H, 01FC4H 01FF5H, 01FF4H 8 to 0 R/W Initially set and count values of electrical angle. AMP 01FC7H, 01FC6H 01FF7H, 01FF6H B to 0 R/W Set voltage used during waveform calculation. EDCAP 01FC9H, 01FC8H 01FF9H, 01FF8H 8 to 0 R Electrical angle timer value when position is detected. WFMDR 01FCAH 01FFAH 7 to 0 W Set sine wave data. Page 159 13. Motor Control Circuit (PMD: Programmable motor driver) TMP88CS42NG Page 160 TMP88CS42NG 14. Asynchronous Serial interface (UART) The TMP88CS42NG has a asynchronous serial interface (UART) . It can connect the peripheral circuits through TXD and RXD pin. TXD and RXD pin are also used as the general port. For TXD pin, the corresponding general port should be set output mode (Set its output control register to "1" after its output port latch to "1"). For RXD pin, should be set input mode. The asynchronous serial interface (UART) can select the connection pin with the peripheral circuits. RXD1 and TXD1 are correspond to P44 and P45 pins, RXD2 and TXD2 are to P00 and P01 pins. But the synchronous serial interface (SIO) also use P44 and P45 pins, therefore these P44 and P45 are not available for UART when SIO is on working. 14.1 Configuration UART control register 1 Transmit data buffer UARTCRA TDBUF 2 Receive control circuit INTTXD RDBUF 2 Transmit control circuit 3 Receive data buffer Shift register Shift register Parity bit Stop bit Noise rejection circuit IrDA control INTRXD M P X RXD1 M P X TXD1 Y INTTC4 fc/96 fc/26 7 fc/2 fc/28 A B C M P X S A B C D E F G H TXD2 IRDACR IrDA output control register Transmit/receive clock fc/13 fc/26 fc/52 fc/104 fc/208 fc/416 RXD2 S 2 Y 4 2 Counter UARTSR UARTCRB UARTSEL UART status register UART control register 2 UART pin select register Baud rate generator MPX: Multiplexer Figure 14-1 UART (Asynchronous Serial Interface) Page 161 14. Asynchronous Serial interface (UART) 14.2 Control TMP88CS42NG 14.2 Control UART is controlled by the UART Control Registers (UARTCRA, UARTCRB). The operating status can be monitored using the UART status register (UARTSR). TXD pin and RXD pin can be selected a port assignment by UART Pin Select Register (UARTSEL). UART Control Register1 UARTCRA (01F91H) 7 6 5 4 3 TXE RXE STBT EVEN PE 2 1 0 BRG (Initial value: 0000 0000) TXE Transfer operation 0: 1: Disable Enable RXE Receive operation 0: 1: Disable Enable STBT Transmit stop bit length 0: 1: 1 bit 2 bits EVEN Even-numbered parity 0: 1: Odd-numbered parity Even-numbered parity Parity addition 0: 1: No parity Parity PE BRG 000: 001: 010: 011: 100: 101: 110: 111: Transmit clock select Write only fc/13 [Hz] fc/26 fc/52 fc/104 fc/208 fc/416 Input INTTC4 fc/96 Note 1: When operations are disabled by setting UARTCRA<TXE and RXE> bits to “0”, the setting becomes valid when data transmit or receive complete. When the transmit data is stored in the transmit data buffer, the data are not transmitted. Even if data transmit is enabled, until new data are written to the transmit data buffer, the current data are not transmitted. Note 2: The transmit clock and the parity are common to transmit and receive. Note 3: UARTCRA<RXE> and UARTCRA<TXE> should be set to “0” before UARTCRA<BRG> is changed. Note 4: In case fc = 20MHz, the timer counter 4 (TC4) is available as a baud rate generator. UART Control Register2 UARTCRB (01F92H) 7 6 5 4 3 2 1 0 RXDNC RXDNC STOPBR Selection of RXD input noise rejectio time Receive stop bit length 00: 01: 10: 11: 0: 1: STOPBR (Initial value: **** *000) No noise rejection (Hysteresis input) Rejects pulses shorter than 31/fc [s] as noise Rejects pulses shorter than 63/fc [s] as noise Rejects pulses shorter than 127/fc [s] as noise Write only 1 bit 2 bits Note: When UARTCRB<RXDNC> = “01”, pulses longer than 96/fc [s] are always regarded as signals; when UARTCRB<RXDNC> = “10”, longer than 192/fc [s]; and when UARTCRB<RXDNC> = “11”, longer than 384/fc [s]. Page 162 TMP88CS42NG UART Status Register UARTSR (01F91H) 7 6 5 4 3 2 1 PERR FERR OERR RBFL TEND TBEP 0 (Initial value: 0000 11**) PERR Parity error flag 0: 1: No parity error Parity error FERR Framing error flag 0: 1: No framing error Framing error OERR Overrun error flag 0: 1: No overrun error Overrun error RBFL Receive data buffer full flag 0: 1: Receive data buffer empty Receive data buffer full TEND Transmit end flag 0: 1: On transmitting Transmit end TBEP Transmit data buffer empty flag 0: 1: Transmit data buffer full (Transmit data writing is finished) Transmit data buffer empty Read only Note: When an INTTXD is generated, TBEP flag is set to "1" automatically. UART Receive Data Buffer RDBUF (01F93H) 7 6 5 4 3 2 1 0 Read only (Initial value: 0000 0000) UART Transmit Data Buffer TDBUF (01F93H) 7 6 5 4 3 2 1 0 Write only (Initial value: 0000 0000) UART Pin Select Register 7 6 5 4 UARTSEL (01F90H) 3 2 1 0 TXD SEL RXD SEL RXDSEL RXD connect pin select 0: 1: RXD1 RXD2 TXDSEL TXD connect pin select 0: 1: TXD1 TXD2 (Initial value: **** **00) R/W Note 1: Do not change UARTSEL register during UART operation. Note 2: Set UARTSEL register before performing the setting terminal of a I/O port when changing a terminal. Page 163 14. Asynchronous Serial interface (UART) 14.3 Transfer Data Format TMP88CS42NG 14.3 Transfer Data Format In UART, an one-bit start bit (Low level), stop bit (Bit length selectable at high level, by UARTCRA<STBT>), and parity (Select parity in UARTCRA<PE>; even- or odd-numbered parity by UARTCRA<EVEN>) are added to the transfer data. The transfer data formats are shown as follows. PE STBT 0 Frame Length 8 1 2 3 9 10 0 Start Bit 0 Bit 1 0 1 Start Bit 0 1 0 Start 1 1 Start 11 Bit 6 Bit 7 Stop 1 Bit 1 Bit 6 Bit 7 Stop 1 Stop 2 Bit 0 Bit 1 Bit 6 Bit 7 Parity Stop 1 Bit 0 Bit 1 Bit 6 Bit 7 Parity Stop 1 12 Stop 2 Figure 14-2 Transfer Data Format Without parity / 1 STOP bit With parity / 1 STOP bit Without parity / 2 STOP bit With parity / 2 STOP bit Figure 14-3 Caution on Changing Transfer Data Format Note: In order to switch the transfer data format, perform transmit operations in the above Figure 14-3 sequence except for the initial setting. Page 164 TMP88CS42NG 14.4 Transfer Rate The baud rate of UART is set of UARTCRA<BRG>. The example of the baud rate are shown as follows. Table 14-1 Transfer Rate (Example) Source Clock BRG 16 MHz 8 MHz 000 76800 [baud] 38400 [baud] 001 38400 19200 010 19200 9600 011 9600 4800 100 4800 2400 101 2400 1200 When INTTC4 is used as the UART transfer rate (when UARTCRA<BRG> = “110”), the transfer clock and transfer rate are determined as follows: Transfer clock [Hz] = TC4 source clock [Hz] / TC4DR setting value Transfer Rate [baud] = Transfer clock [Hz] / 16 14.5 Data Sampling Method The UART receiver keeps sampling input using the clock selected by UARTCRA<BRG> until a start bit is detected in RXD pin input. RT clock starts detecting “L” level of the RXD pin. Once a start bit is detected, the start bit, data bits, stop bit(s), and parity bit are sampled at three times of RT7, RT8, and RT9 during one receiver clock interval (RT clock). (RT0 is the position where the bit supposedly starts.) Bit is determined according to majority rule (The data are the same twice or more out of three samplings). RXD pin Start bit Bit 0 RT0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 1 2 3 4 5 6 7 8 9 10 11 RT clock Internal receive data Start bit Bit 0 (a) Without noise rejection circuit RXD pin Start bit Bit 0 RT0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 1 2 3 4 5 6 7 8 9 10 11 RT clock Internal receive data Start bit Bit 0 (b) With noise rejection circuit Figure 14-4 Data Sampling Method Page 165 14. Asynchronous Serial interface (UART) 14.6 STOP Bit Length TMP88CS42NG 14.6 STOP Bit Length Select a transmit stop bit length (1 bit or 2 bits) by UARTCRA<STBT>. 14.7 Parity Set parity / no parity by UARTCRA<PE> and set parity type (Odd- or Even-numbered) by UARTCRA<EVEN>. 14.8 Transmit/Receive Operation 14.8.1 Data Transmit Operation Set UARTCRA<TXE> to “1”. Read UARTSR to check UARTSR<TBEP> = “1”, then write data in TDBUF (Transmit data buffer). Writing data in TDBUF zero-clears UARTSR<TBEP>, transfers the data to the transmit shift register and the data are sequentially output from the TXD pin. The data output include a one-bit start bit, stop bits whose number is specified in UARTCRA<STBT> and a parity bit if parity addition is specified. Select the data transfer baud rate using UARTCRA<BRG>. When data transmit starts, transmit buffer empty flag UARTSR<TBEP> is set to “1” and an INTTXD interrupt is generated. While UARTCRA<TXE> = “0” and from when “1” is written to UARTCRA<TXE> to when send data are written to TDBUF, the TXD pin is fixed at high level. When transmitting data, first read UARTSR, then write data in TDBUF. Otherwise, UARTSR<TBEP> is not zero-cleared and transmit does not start. 14.8.2 Data Receive Operation Set UARTCRA<RXE> to “1”. When data are received via the RXD pin, the receive data are transferred to RDBUF (Receive data buffer). At this time, the data transmitted includes a start bit and stop bit(s) and a parity bit if parity addition is specified. When stop bit(s) are received, data only are extracted and transferred to RDBUF (Receive data buffer). Then the receive buffer full flag UARTSR<RBFL> is set and an INTRXD interrupt is generated. Select the data transfer baud rate using UARTCRA<BRG>. If an overrun error (OERR) occurs when data are received, the data are not transferred to RDBUF (Receive data buffer) but discarded; data in the RDBUF are not affected. Note:When a receive operation is disabled by setting UARTCRA<RXE> bit to “0”, the setting becomes valid when data receive is completed. However, if a framing error occurs in data receive, the receive-disabling setting may not become valid. If a framing error occurs, be sure to perform a re-receive operation. Page 166 TMP88CS42NG 14.9 Status Flag 14.9.1 Parity Error When parity determined using the receive data bits differs from the received parity bit, the parity error flag UARTSR<PERR> is set to “1”. The UARTSR<PERR> is cleared to “0” when the RDBUF is read after reading the UARTSR. RXD pin Shift register Parity Stop pxxxx0* xxxx0** 1pxxxx0 UARTSR<PERR> After reading UARTSR then RDBUF clears PERR. INTRXD interrupt Figure 14-5 Generation of Parity Error 14.9.2 Framing Error When “0” is sampled as the stop bit in the receive data, framing error flag UARTSR<FERR> is set to “1”. The UARTSR<FERR> is cleared to “0” when the RDBUF is read after reading the UARTSR. Shift register Stop Final bit RXD pin xxxx0* xxx0** 0xxxx0 After reading UARTSR then RDBUF clears FERR. UARTSR<FERR> INTRXD interrupt Figure 14-6 Generation of Framing Error 14.9.3 Overrun Error When all bits in the next data are received while unread data are still in RDBUF, overrun error flag UARTSR<OERR> is set to “1”. In this case, the receive data is discarded; data in RDBUF are not affected. The UARTSR<OERR> is cleared to “0” when the RDBUF is read after reading the UARTSR. Page 167 14. Asynchronous Serial interface (UART) 14.9 Status Flag TMP88CS42NG UARTSR<RBFL> RXD pin Stop Final bit Shift register xxx0** RDBUF yyyy xxxx0* 1xxxx0 UARTSR<OERR> After reading UARTSR then RDBUF clears OERR. INTRXD interrupt Figure 14-7 Generation of Overrun Error Note:Receive operations are disabled until the overrun error flag UARTSR<OERR> is cleared. 14.9.4 Receive Data Buffer Full Loading the received data in RDBUF sets receive data buffer full flag UARTSR<RBFL> to "1". The UARTSR<RBFL> is cleared to “0” when the RDBUF is read after reading the UARTSR. Stop Final bit RXD pin Shift register xxx0** RDBUF yyyy xxxx0* 1xxxx0 xxxx After reading UARTSR then RDBUF clears RBFL. UARTSR<RBFL> INTRXD interrupt Figure 14-8 Generation of Receive Data Buffer Full Note:If the overrun error flag UARTSR<OERR> is set during the period between reading the UARTSR and reading the RDBUF, it cannot be cleared by only reading the RDBUF. Therefore, after reading the RDBUF, read the UARTSR again to check whether or not the overrun error flag which should have been cleared still remains set. 14.9.5 Transmit Data Buffer Empty When no data is in the transmit buffer TDBUF, that is, when data in TDBUF are transferred to the transmit shift register and data transmit starts, transmit data buffer empty flag UARTSR<TBEP> is set to “1”. The UARTSR<TBEP> is cleared to “0” when the TDBUF is written after reading the UARTSR. Page 168 TMP88CS42NG Data write xxxx TDBUF *****1 Shift register TXD pin Data write zzzz yyyy 1xxxx0 *1xxxx ****1x *****1 Start Bit 0 Final bit Stop 1yyyy0 UARTSR<TBEP> After reading UARTSR writing TDBUF clears TBEP. INTTXD interrupt Figure 14-9 Generation of Transmit Data Buffer Empty 14.9.6 Transmit End Flag When data are transmitted and no data is in TDBUF (UARTSR<TBEP> = “1”), transmit end flag UARTSR<TEND> is set to “1”. The UARTSR<TEND> is cleared to “0” when the data transmit is stated after writing the TDBUF. Shift register TXD pin ***1xx ****1x *****1 1yyyy0 Stop Start *1yyyy Bit 0 Data write for TDBUF UARTSR<TBEP> UARTSR<TEND> INTTXD interrupt Figure 14-10 Generation of Transmit End Flag and Transmit Data Buffer Empty Page 169 14. Asynchronous Serial interface (UART) 14.9 Status Flag TMP88CS42NG Page 170 TMP88CS42NG 15. Synchronous Serial Interface (SIO) The TMP88CS42NG has a clocked-synchronous 8-bit serial interface. Serial interface has an 8-byte transmit and receive data buffer that can automatically and continuously transfer up to 64 bits of data. Serial interface is connected to outside peripherl devices via SO, SI, SCK port. 15.1 Configuration SIO control / status register SIOSR SIOCR1 SIOCR2 CPU Transmit and receive data buffer (8 bytes in DBR) Buffer control circuit Control circuit Shift register Shift clock 7 6 5 4 3 2 1 0 SO Serial data output 8-bit transfer 4-bit transfer SI Serial data input INTSIO interrupt request Serial clock SCK Serial clock I/O Figure 15-1 Serial Interface Page 171 15. Synchronous Serial Interface (SIO) 15.2 Control TMP88CS42NG 15.2 Control The serial interface is controlled by SIO control registers (SIOCR1/SIOCR2). The serial interface status can be determined by reading SIO status register (SIOSR). The transmit and receive data buffer is controlled by the SIOCR2<BUF>. The data buffer is assigned to address 01F98H to 01F9FH for SIO in the DBR area, and can continuously transfer up to 8 words (bytes or nibbles) at one time. When the specified number of words has been transferred, a buffer empty (in the transmit mode) or a buffer full (in the receive mode or transmit/receive mode) interrupt (INTSIO) is generated. When the internal clock is used as the serial clock in the 8-bit receive mode and the 8-bit transmit/receive mode, a fixed interval wait can be applied to the serial clock for each word transferred. Four different wait times can be selected with SIOCR2<WAIT>. SIO Control Register 1 SIOCR1 7 6 (1F96H) SIOS SIOINH SIOS 5 4 3 2 1 SIOM 0 SCK 0: Stop 1: Start (Initial value: 0000 0000) Indicate transfer start / stop SIOINH 0: Continuously transfer 1: Abort transfer (Automatically cleared after abort) 000: 8-bit transmit mode 010: 4-bit transmit mode 100: 8-bit transmit / receive mode 101: 8-bit receive mode 110: 4-bit receive mode Continue / abort transfer SIOM Write only Transfer mode select Except the above: Reserved NORMAL, IDLE mode DV1CK = 0 SCK DV1CK = 0 000 fc/2 13 fc/214 001 fc/28 fc/29 010 fc/27 fc/28 011 fc/26 fc/27 100 fc/25 fc/26 101 fc/24 fc/25 Serial clock select 110 Reserved 111 External clock (Input from SCK pin) Note 1: fc; High-frequency clock [Hz] Note 2: Set SIOCR1<SIOS> to "0" and SIOCR1<SIOINH> to "1" when setting the transfer mode or serial clock. Note 3: SIOCR1 is write-only register, which cannot access any of in read-modify-write instruction such as bit operate, etc. SIO Control Register 2 SIOCR2 (1F97H) 7 6 5 4 3 WAIT Page 172 2 1 BUF 0 (Initial value: ***0 0000) Write only TMP88CS42NG Always sets "00" except 8-bit transmit / receive mode. WAIT Wait control Number of transfer words (Buffer address in use) BUF 00: Tf = TD(Non wait) 01: Tf = 2TD(Wait) 10: Tf = 4TD(Wait) 11: Tf = 8TD (Wait) 000: 1 word transfer 01F98H 001: 2 words transfer 01F98H ~ 01F99H 010: 3 words transfer 01F98H ~ 01F9AH 011: 4 words transfer 01F98H ~ 01F9BH 100: 5 words transfer 01F98H ~ 01F9CH 101: 6 words transfer 01F98H ~ 01F9DH 110: 7 words transfer 01F98H ~ 01F9EH 111: 8 words transfer 01F98H ~ 01F9FH Write only Note 1: The lower 4 bits of each buffer are used during 4-bit transfers. Zeros (0) are stored to the upper 4bits when receiving. Note 2: Transmitting starts at the lowest address. Received data are also stored starting from the lowest address to the highest address. ( The first buffer address transmitted is 01F98H ). Note 3: The value to be loaded to BUF is held after transfer is completed. Note 4: SIOCR2 must be set when the serial interface is stopped (SIOF = 0). Note 5: *: Don't care Note 6: SIOCR2 is write-only register, which cannot access any of in read-modify-write instruction such as bit operate, etc. Note 7: Tf; Frame time, TD; Data transfer time (output) SCK output TD Tf Figure 15-2 Frame time (Tf) and Data transfer time (TD) SIO Status Register SIOSR 7 6 (1F97H) SIOF SEF SIOF SEF 5 4 3 2 1 0 (Initial value: 00** ****) Serial transfer operating status monitor 0: 1: Transfer terminated Transfer in process Shift operating status monitor 0: 1: Shift operation terminated Shift operation in process Read only Note 1: After SIOCR1<SIOS> is cleared to "0", SIOSR<SIOF> is cleared to "0" at the termination of transfer or the setting of SIOCR1<SIOINH> to "1". 15.3 Serial clock 15.3.1 Clock source Internal clock or external clock for the source clock is selected by SIOCR1<SCK>. Page 173 15. Synchronous Serial Interface (SIO) 15.3 Serial clock TMP88CS42NG 15.3.1.1 Internal clock Any of six frequencies can be selected. The serial clock is output to the outside on the SCK pin. The SCK pin goes high when transfer starts. When data writing (in the transmit mode) or reading (in the receive mode or the transmit/receive mode) cannot keep up with the serial clock rate, there is a wait function that automatically stops the serial clock and holds the next shift operation until the read/write processing is completed. Table 15-1 Serial Clock Rate NORMAL, IDLE mode SCK Clock Baud Rate 000 fc/213 2.44 Kbps 001 fc/28 78.13 Kbps 010 fc/27 156.25 Kbps 011 fc/26 312.50 Kbps 100 fc/25 625.00 Kbps 101 fc/24 125.00 Kbps 110 - - 111 External External Note: 1 Kbit = 1024 bit (fc = 20 MHz) Automatically wait function SCK pin (output) SO a0 pin (output) Written transmit data a1 a2 a3 a b0 b b1 b2 b3 c0 c1 c Figure 15-3 Automatic Wait Function (at 4-bit transmit mode) 15.3.1.2 External clock An external clock connected to the SCK pin is used as the serial clock. In this case, the SCK (P43) port should be set to input mode. To ensure shifting, a pulse width of more than 24/fc is required. This pulse is needed for the shift operation to execute certainly. Actually, there is necessary processing time for interrupting, writing, and reading. The minimum pulse is determined by setting the mode and the program. SCK pin (Input) tSCKL tSCKH tSCKL, tSCKH > 24/fc Figure 15-4 External clock pulse width Page 174 TMP88CS42NG 15.3.2 Shift edge The leading edge is used to transmit, and the trailing edge is used to receive. 15.3.2.1 Leading edge Transmitted data are shifted on the leading edge of the serial clock (falling edge of the SCK pin input/ output). 15.3.2.2 Trailing edge Received data are shifted on the trailing edge of the serial clock (rising edge of the SCK pin input/output). SCK pin SO pin Bit 0 Bit 1 Bit 2 Bit 3 Shift register 3210 *321 **32 ***3 Bit 2 Bit 3 (a) Leading edge SCK pin Bit 0 SI pin Shift register Bit 1 0*** **** 10** 210* 3210 *; Don’t care (b) Trailing edge Figure 15-5 Shift edge 15.4 Number of bits to transfer Either 4-bit or 8-bit serial transfer can be selected. When 4-bit serial transfer is selected, only the lower 4 bits of the transmit/receive data buffer register are used. The upper 4 bits are cleared to “0” when receiving. The data is transferred in sequence starting at the least significant bit (LSB). 15.5 Number of words to transfer Up to 8 words consisting of 4 bits of data (4-bit serial transfer) or 8 bits (8-bit serial transfer) of data can be transferred continuously. The number of words to be transferred can be selected by SIOCR2<BUF>. An INTSIO interrupt is generated when the specified number of words has been transferred. If the number of words is to be changed during transfer, the serial interface must be stopped before making the change. The number of words can be changed during automatic-wait operation of an internal clock. In this case, the serial interface is not required to be stopped. Page 175 15. Synchronous Serial Interface (SIO) 15.6 Transfer Mode TMP88CS42NG SCK pin SO pin a0 a1 a2 a3 INTSIO interrupt (a) 1 word transmit SCK pin SO pin a0 a1 a2 a3 b0 b1 b2 b3 c0 c1 c2 c3 b3 c0 c1 c2 c3 INTSIO interrupt (b) 3 words transmit SCK pin SI pin a0 a1 a2 a3 b0 b1 b2 INTSIO interrupt (c) 3 words receive Figure 15-6 Number of words to transfer (Example: 1word = 4bit) 15.6 Transfer Mode SIOCR1<SIOM> is used to select the transmit, receive, or transmit/receive mode. 15.6.1 4-bit and 8-bit transfer modes In these modes, firstly set the SIO control register to the transmit mode, and then write first transmit data (number of transfer words to be transferred) to the data buffer registers (DBR). After the data are written, the transmission is started by setting SIOCR1<SIOS> to “1”. The data are then output sequentially to the SO pin in synchronous with the serial clock, starting with the least significant bit (LSB). As soon as the LSB has been output, the data are transferred from the data buffer register to the shift register. When the final data bit has been transferred and the data buffer register is empty, an INTSIO (Buffer empty) interrupt is generated to request the next transmitted data. When the internal clock is used, the serial clock will stop and an automatic-wait will be initiated if the next transmitted data are not loaded to the data buffer register by the time the number of data words specified with the SIOCR2<BUF> has been transmitted. Writing even one word of data cancels the automatic-wait; therefore, when transmitting two or more words, always write the next word before transmission of the previous word is completed. Note:Automatic waits are also canceled by writing to a DBR not being used as a transmit data buffer register; therefore, during SIO do not use such DBR for other applications. For example, when 3 words are transmitted, do not use the DBR of the remained 5 words. When an external clock is used, the data must be written to the data buffer register before shifting next data. Thus, the transfer speed is determined by the maximum delay time from the generation of the interrupt request to writing of the data to the data buffer register by the interrupt service program. The transmission is ended by clearing SIOCR1<SIOS> to “0” or setting SIOCR1<SIOINH> to “1” in buffer empty interrupt service program. Page 176 TMP88CS42NG SIOCR1<SIOS> is cleared, the operation will end after all bits of words are transmitted. That the transmission has ended can be determined from the status of SIOSR<SIOF> because SIOSR<SIOF> is cleared to “0” when a transfer is completed. When SIOCR1<SIOINH> is set, the transmission is immediately ended and SIOSR<SIOF> is cleared to “0”. When an external clock is used, it is also necessary to clear SIOCR1<SIOS> to “0” before shifting the next data; If SIOCR1<SIOS> is not cleared before shift out, dummy data will be transmitted and the operation will end. If it is necessary to change the number of words, SIOCR1<SIOS> should be cleared to “0”, then SIOCR2<BUF> must be rewritten after confirming that SIOSR<SIOF> has been cleared to “0”. Clear SIOS SIOCR1<SIOS> SIOSR<SIOF> SIOSR<SEF> SCK pin (Output) SO pin a0 a1 a2 a3 a4 a5 a6 a7 b0 b1 b2 b3 b4 b5 b6 b7 INTSIO interrupt a DBR b Write Write (a) (b) Figure 15-7 Transfer Mode (Example: 8bit, 1word transfer, Internal clock) Clear SIOS SIOCR1<SIOS> SIOSR<SIOF> SIOSR<SEF> SCK pin (Input) a0 SO pin a1 a2 a3 a4 a5 a6 a7 b0 b1 b2 b3 b4 b5 b6 b7 INTSIO interrupt DBR a b Write Write (a) (b) Figure 15-8 Transfer Mode (Example: 8bit, 1word transfer, External clock) Page 177 15. Synchronous Serial Interface (SIO) 15.6 Transfer Mode TMP88CS42NG SCK pin SIOSR<SIOF> MSB of last word SO pin tSODH = min 3.5/fc [s] (In the NORMAL, IDLE modes) Figure 15-9 Transmiiied Data Hold Time at End of Transfer 15.6.2 4-bit and 8-bit receive modes After setting the control registers to the receive mode, set SIOCR1<SIOS> to “1” to enable receiving. The data are then transferred to the shift register via the SI pin in synchronous with the serial clock. When one word of data has been received, it is transferred from the shift register to the data buffer register (DBR). When the number of words specified with the SIOCR2<BUF> has been received, an INTSIO (Buffer full) interrupt is generated to request that these data be read out. The data are then read from the data buffer registers by the interrupt service program. When the internal clock is used, and the previous data are not read from the data buffer register before the next data are received, the serial clock will stop and an automatic-wait will be initiated until the data are read. A wait will not be initiated if even one data word has been read. Note:Waits are also canceled by reading a DBR not being used as a received data buffer register is read; therefore, during SIO do not use such DBR for other applications. When an external clock is used, the shift operation is synchronized with the external clock; therefore, the previous data are read before the next data are transferred to the data buffer register. If the previous data have not been read, the next data will not be transferred to the data buffer register and the receiving of any more data will be canceled. When an external clock is used, the maximum transfer speed is determined by the delay between the time when the interrupt request is generated and when the data received have been read. The receiving is ended by clearing SIOCR1<SIOS> to “0” or setting SIOCR1<SIOINH> to “1” in buffer full interrupt service program. When SIOCR1<SIOS> is cleared, the current data are transferred to the buffer. After SIOCR1<SIOS> cleared, the receiving is ended at the time that the final bit of the data has been received. That the receiving has ended can be determined from the status of SIOSR<SIOF>. SIOSR<SIOF> is cleared to “0” when the receiving is ended. After confirmed the receiving termination, the final receiving data is read. When SIOCR1<SIOINH> is set, the receiving is immediately ended and SIOSR<SIOF> is cleared to “0”. (The received data is ignored, and it is not required to be read out.) If it is necessary to change the number of words in external clock operation, SIOCR1<SIOS> should be cleared to “0” then SIOCR2<BUF> must be rewritten after confirming that SIOSR<SIOF> has been cleared to “0”. If it is necessary to change the number of words in internal clock, during automatic-wait operation which occurs after completion of data receiving, SIOCR2<BUF> must be rewritten before the received data is read out. Note:The buffer contents are lost when the transfer mode is switched. If it should become necessary to switch the transfer mode, end receiving by clearing SIOCR1<SIOS> to “0”, read the last data and then switch the transfer mode. Page 178 TMP88CS42NG Clear SIOS SIOCR1<SIOS> SIOSR<SIOF> SIOSR<SEF> SCK pin (Output) a0 SI pin a1 a2 a3 a4 a5 a6 a7 b0 b1 b2 b3 b4 b5 b6 b7 INTSIO Interrupt DBR a b Read out Read out Figure 15-10 Receive Mode (Example: 8bit, 1word transfer, Internal clock) 15.6.3 8-bit transfer / receive mode After setting the SIO control register to the 8-bit transmit/receive mode, write the data to be transmitted first to the data buffer registers (DBR). After that, enable the transmit/receive by setting SIOCR1<SIOS> to “1”. When transmitting, the data are output from the SO pin at leading edges of the serial clock. When receiving, the data are input to the SI pin at the trailing edges of the serial clock. When the all receive is enabled, 8-bit data are transferred from the shift register to the data buffer register. An INTSIO interrupt is generated when the number of data words specified with the SIOCR2<BUF> has been transferred. Usually, read the receive data from the buffer register in the interrupt service. The data buffer register is used for both transmitting and receiving; therefore, always write the data to be transmitted after reading the all received data. When the internal clock is used, a wait is initiated until the received data are read and the next transfer data are written. A wait will not be initiated if even one transfer data word has been written. When an external clock is used, the shift operation is synchronized with the external clock; therefore, it is necessary to read the received data and write the data to be transmitted next before starting the next shift operation. When an external clock is used, the transfer speed is determined by the maximum delay between generation of an interrupt request and the received data are read and the data to be transmitted next are written. The transmit/receive operation is ended by clearing SIOCR1<SIOS> to “0” or setting SIOCR1<SIOINH> to “1” in INTSIO interrupt service program. When SIOCR1<SIOS> is cleared, the current data are transferred to the buffer. After SIOCR1<SIOS> cleared, the transmitting/receiving is ended at the time that the final bit of the data has been transmitted. That the transmitting/receiving has ended can be determined from the status of SIOSR<SIOF>. SIOSR<SIOF> is cleared to “0” when the transmitting/receiving is ended. When SIOCR1<SIOINH> is set, the transmit/receive operation is immediately ended and SIOSR<SIOF> is cleared to “0”. If it is necessary to change the number of words in external clock operation, SIOCR1<SIOS> should be cleared to “0”, then SIOCR2<BUF> must be rewritten after confirming that SIOSR<SIOF> has been cleared to “0”. If it is necessary to change the number of words in internal clock, during automatic-wait operation which occurs after completion of transmit/receive operation, SIOCR2<BUF> must be rewritten before reading and writing of the receive/transmit data. Page 179 15. Synchronous Serial Interface (SIO) 15.6 Transfer Mode TMP88CS42NG Note:The buffer contents are lost when the transfer mode is switched. If it should become necessary to switch the transfer mode, end receiving by clearing SIOCR1<SIOS> to “0”, read the last data and then switch the transfer mode. Clear SIOS SIOCR1<SIOS> SIOSR<SIOF> SIOSR<SEF> SCK pin (output) SO pin a0 a1 a2 a3 a4 a5 a6 a7 b0 b1 b2 b3 b4 b5 b6 b7 SI pin c0 c1 c2 c3 c4 c5 c6 c7 d0 d1 d2 d3 d4 d5 d6 d7 INTSIO interrupt c a DBR Write (a) Read out (c) b Write (b) d Read out (d) Figure 15-11 Transfer / Receive Mode (Example: 8bit, 1word transfer, Internal clock) SCK pin SIOSR<SIOF> SO pin Bit 6 Bit 7 of last word tSODH = min 4/fc [s] (In the NORMAL, IDLE modes) Figure 15-12 Transmitted Data Hold Time at End of Transfer / Receive Page 180 TMP88CS42NG 16. 10-bit AD Converter (ADC) The TMP88CS42NG have a 10-bit successive approximation type AD converter. 16.1 Configuration The circuit configuration of the 10-bit AD converter is shown in Figure 16-1. It consists of control register ADCCRA and ADCCRB, converted value register ADCDRH and ADCDRL, a DA converter, a sample-hold circuit, a comparator, and a successive comparison circuit. DA converter VAREF AVSS R/2 R R/2 AVDD Analog input multiplexer AIN0 A Sample hold circuit Reference voltage Y 10 Analog comparator n S EN Successive approximate circuit Shift clock AINDS ADRS SAIN INTADC Control circuit 4 ADCCRA 2 AMD IREFON AIN15 3 ACK ADCCRB AD converter control register 1, 2 8 ADCDRH 2 EOCF ADBF ADCDRL AD conversion result register 1, 2 Note: Before using AD converter, set appropriate value to I/O port register conbining a analog input port. For details, see the section on "I/O ports". Figure 16-1 10-bit AD Converter Page 181 16. 10-bit AD Converter (ADC) 16.2 Register configuration TMP88CS42NG 16.2 Register configuration The AD converter consists of the following four registers: 1. AD converter control register 1 (ADCCRA) This register selects the analog channels and operation mode (Software start or repeat) in which to perform AD conversion and controls the AD converter as it starts operating. 2. AD converter control register 2 (ADCCRB) This register selects the AD conversion time and controls the connection of the DA converter (Ladder resistor network). 3. AD converted value register 1 (ADCDRH) This register used to store the digital value after being converted by the AD converter. 4. AD converted value register 2 (ADCDRL) This register monitors the operating status of the AD converter. AD Converter Control Register 1 ADCCRA (0026H) 7 ADRS 6 5 AMD 4 3 2 AINDS 1 SAIN AD conversion start 0: 1: AD conversion start AMD AD operating mode 00: 01: 10: 11: AD operation disable Software start mode Reserved Repeat mode AINDS Analog input control 0: 1: Analog input enable Analog input disable Analog input channel select 0000: 0001: 0010: 0011: 0100: 0101: 0110: 0111: 1000: 1001: 1010: 1011: 1100: 1101: 1110: 1111: AIN0 AIN1 AIN2 AIN3 AIN4 AIN5 AIN6 AIN7 AIN8 AIN9 AIN10 AIN11 AIN12 AIN13 AIN14 AIN15 ADRS SAIN 0 (Initial value: 0001 0000) R/W Note 1: Select analog input channel during AD converter stops (ADCDRL<ADBF> = "0"). Note 2: When the analog input channel is all use disabling, the ADCCRA<AINDS> should be set to "1". Note 3: During conversion, Do not perform port output instruction to maintain a precision for all of the pins because analog input port use as general input port. And for port near to analog input, Do not input intense signaling of change. Note 4: The ADCCRA<ADRS> is automatically cleared to "0" after starting conversion. Note 5: Do not set ADCCRA<ADRS> newly again during AD conversion. Before setting ADCCRA<ADRS> newly again, check ADCDRL<EOCF> to see that the conversion is completed or wait until the interrupt signal (INTADC) is generated (e.g., interrupt handling routine). Note 6: After STOP mode is started, AD converter control register1 (ADCCRA) is all initialized and no data can be written in this register. Therfore, to use AD converter again, set the ADCCRA newly after returning to NORMAL mode. Note 7: After RESET, ADCCRA<SAIN> is initialized Reserved setting. Therfore, set the appropriate analog input channel to ADCCRA<SAIN> when use AD converter. Note 8: After ADCCRA is set to 00H, AD conversion can not be started for four cycles. Thus, four NOPs must be inserted before setting the ADCCRA<ADRS>. Page 182 TMP88CS42NG AD Converter Control Register 2 7 ADCCRB (0027H) IREFON ACK 6 5 4 3 IREFON "1" 2 1 ACK 0 "0" (Initial value: **0* 000*) DA converter (Ladder resistor) connection control 0: 1: Connected only during AD conversion Always connected AD conversion time select (Refer to the following table about the conversion time) 000: 001: 010: 011: 100: 101: 110: 111: 39/fc Reserved 78/fc 156/fc 312/fc 624/fc 1248/fc Reserved R/W Note 1: Always set bit0 in ADCCRB to "0" and set bit4 in ADCCRB to "1". Note 2: When a read instruction for ADCCRB, bit6 to 7 in ADCCRB read in as undefined data. Note 3: After STOP mode is started, AD converter control register2 (ADCCRB) is all initialized and no data can be written in this register. Therfore, to use AD converter again, set the ADCCRB newly after returning to NORMAL mode. Table 16-1 ACK setting and Conversion time (at CGCR<DV1CK>="0") Condition ACK 000 Conversion time 20 MHz 16 MHz 8 MHz 39/fc - - - 001 Reserved 010 78/fc - - - 011 156/fc - - 19.5 µs 100 312/fc 15.6 µs 19.5 µs 39.0 µs 101 624/fc 31.2 µs 39.0 µs 78.0 µs 110 1248/fc 62.4 µs 78.0 µs 156.0 µs 111 Reserved Table 16-2 ACK setting and Conversion time (at CGCR<DV1CK>="1") Condition ACK 000 Conversion time 20 MHz 16 MHz 8 MHz 39/fc - - - 001 Reserved 010 78/fc - - - 011 156/fc - - 19.5 µs 100 312/fc 15.6 µs 19.5 µs 39.0 µs 101 624/fc 31.2 µs 39.0 µs 78.0 µs 110 1248/fc 62.4 µs 78.0 µs 156.0 µs 111 Reserved Note 1: Setting for "−" in the above table are inhibited. fc: High Frequency oscillation clock [Hz] Note 2: Set conversion time setting should be kept more than the following time by Analog reference voltage (VAREF). - VAREF = 4.5 to 5.5 V 15.6 µs and more Page 183 16. 10-bit AD Converter (ADC) 16.2 Register configuration TMP88CS42NG AD Converted value Register 1 ADCDRH (0029H) 7 6 5 4 3 2 1 0 AD09 AD08 AD07 AD06 AD05 AD04 AD03 AD02 3 2 1 0 (Initial value: 0000 0000) AD Converted value Register 2 ADCDRL (0028H) 7 6 5 4 AD01 AD00 EOCF ADBF EOCF ADBF (Initial value: 0000 ****) AD conversion end flag 0: 1: Before or during conversion Conversion completed AD conversion BUSY flag 0: 1: During stop of AD conversion During AD conversion Read only Note 1: The ADCDRL<EOCF> is cleared to "0" when reading the ADCDRH. Therfore, the AD conversion result should be read to ADCDRL more first than ADCDRH. Note 2: The ADCDRL<ADBF> is set to "1" when AD conversion starts, and cleared to "0" when AD conversion finished. It also is cleared upon entering STOP mode. Note 3: If a read instruction is executed for ADCDRL, read data of bit3 to bit0 are unstable. Page 184 TMP88CS42NG 16.3 Function 16.3.1 Software Start Mode After setting ADCCRA<AMD> to “01” (software start mode), set ADCCRA<ADRS> to “1”. AD conversion of the voltage at the analog input pin specified by ADCCRA<SAIN> is thereby started. After completion of the AD conversion, the conversion result is stored in AD converted value registers (ADCDRH, ADCDRL) and at the same time ADCDRL<EOCF> is set to 1, the AD conversion finished interrupt (INTADC) is generated. ADRS is automatically cleared after AD conversion has started. Do not set ADCCRA<ADRS> newly again (Restart) during AD conversion. Before setting ADCCRA<ADRS> newly again, check ADCDRL<EOCF> to see that the conversion is completed or wait until the interrupt signal (INTADC) is generated (e.g., interrupt handling routine). AD conversion start AD conversion start ADCCRA<ADRS> ADCDRL<ADBF> ADCDRH status Indeterminate 1st conversion result 2nd conversion result EOCF cleared by reading conversion result ADCDRL<EOCF> INTADC interrupt request ADCDRH ADCDRL Conversion result read Conversion result read Conversion result read Conversion result read Figure 16-2 Software Start Mode 16.3.2 Repeat Mode AD conversion of the voltage at the analog input pin specified by ADCCRA<SAIN> is performed repeatedly. In this mode, AD conversion is started by setting ADCCRA<ADRS> to “1” after setting ADCCRA<AMD> to “11” (Repeat mode). After completion of the AD conversion, the conversion result is stored in AD converted value registers (ADCDRH, ADCDRL) and at the same time ADCDRL<EOCF> is set to 1, the AD conversion finished interrupt (INTADC) is generated. In repeat mode, each time one AD conversion is completed, the next AD conversion is started. To stop AD conversion, set ADCCRA<AMD> to “00” (Disable mode) by writing 0s. The AD convert operation is stopped immediately. The converted value at this time is not stored in the AD converted value register. Page 185 16. 10-bit AD Converter (ADC) 16.3 Function TMP88CS42NG ADCCRA<AMD> “11” “00” AD conversion start ADCCRA<ADRS> 1st conversion result Conversion operation Indeterminate ADCDRH,ADCDRL 2nd conversion result 3rd conversion result 1st conversion result 2nd conversion result AD convert operation suspended. Conversion result is not stored. 3rd conversion result ADCDRL<EOCF> EOCF cleared by reading conversion result INTADC interrupt request ADCDRH Conversion result read ADCDRL Conversion result read Conversion result read Conversion result read Conversion result read Conversion result read Figure 16-3 Repeat Mode 16.3.3 Register Setting 1. Set up the AD converter control register 1 (ADCCRA) as follows: • Choose the channel to AD convert using AD input channel select (SAIN). • Specify analog input enable for analog input control (AINDS). • Specify AMD for the AD converter control operation mode (software or repeat mode). 2. Set up the AD converter control register 2 (ADCCRB) as follows: • Set the AD conversion time using AD conversion time (ACK). For details on how to set the conversion time, refer to Figure 16-1, Figure 16-2 and AD converter control register 2. • Choose IREFON for DA converter control. 3. After setting up (1) and (2) above, set AD conversion start (ADRS) of AD converter control register 1 (ADCCRA) to “1”. If software start mode has been selected, AD conversion starts immediately. 4. After an elapse of the specified AD conversion time, the AD converted value is stored in AD converted value register 1 (ADCDRH) and the AD conversion finished flag (EOCF) of AD converted value register 2 (ADCDRL) is set to “1”, upon which time AD conversion interrupt INTADC is generated. 5. EOCF is cleared to “0” by a read of the conversion result. However, if reconverted before a register read, although EOCF is cleared the previous conversion result is retained until the next conversion is completed. Page 186 TMP88CS42NG Example :After selecting the conversion time 15.6 µs at 20 MHz and the analog input channel AIN4 pin, perform AD conversion once. After checking EOCF, read the converted value, store the lower 2 bits in address 0009EH and store the upper 8 bits in address 0009FH in RAM. The operation mode is software start mode. SLOOP : : (port setting) : ;Set port register approrriately before setting AD converter registers. : : (Refer to section I/O port in details) LD (ADCCRA) , 00100100B ; Select Software start mode, Analog input enable, and AIN4 LD (ADCCRB) , 00011000B ;Select conversion time(312/fc) and operation mode SET (ADCCRA) . 7 ; ADRS = 1(AD conversion start) TEST (ADCDRB) . 5 ; EOCF= 1 ? JRS T, SLOOP LD A , (ADCDRL) LD (9EH) , A LD A , (ADCDRH) LD (9FH), A ; Read result data ; Read result data 16.4 STOP mode during AD Conversion When standby mode (STOP mode) is entered forcibly during AD conversion, the AD convert operation is suspended and the AD converter is initialized (ADCCRA and ADCCRB are initialized to initial value). Also, the conversion result is indeterminate. (Conversion results up to the previous operation are cleared, so be sure to read the conversion results before entering standby mode (STOP mode).) When restored from standby mode (STOP mode), AD conversion is not automatically restarted, so it is necessary to restart AD conversion. Note that since the analog reference voltage is automatically disconnected, there is no possibility of current flowing into the analog reference voltage. Page 187 16. 10-bit AD Converter (ADC) 16.5 Analog Input Voltage and AD Conversion Result TMP88CS42NG 16.5 Analog Input Voltage and AD Conversion Result The analog input voltage is corresponded to the 10-bit digital value converted by the AD as shown in Figure 16-4. 3FFH 3FEH 3FDH AD conversion result 03H 02H 01H VAREF 0 1 2 3 1021 1022 1023 1024 Analog input voltage AVSS 1024 Figure 16-4 Analog Input Voltage and AD Conversion Result (Typ.) Page 188 TMP88CS42NG 16.6 Precautions about AD Converter 16.6.1 Analog input pin voltage range Make sure the analog input pins (AIN0 to AIN15) are used at voltages within VAREF to AVSS. If any voltage outside this range is applied to one of the analog input pins, the converted value on that pin becomes uncertain. The other analog input pins also are affected by that. 16.6.2 Analog input shared pins The analog input pins (AIN0 to AIN15) are shared with input/output ports. When using any of the analog inputs to execute AD conversion, do not execute input/output instructions for all other ports. This is necessary to prevent the accuracy of AD conversion from degrading. Not only these analog input shared pins, some other pins may also be affected by noise arising from input/output to and from adjacent pins. 16.6.3 Noise Countermeasure The internal equivalent circuit of the analog input pins is shown in Figure 16-5. The higher the output impedance of the analog input source, more easily they are susceptible to noise. Therefore, make sure the output impedance of the signal source in your design is 5 kΩ or less. Toshiba also recommends attaching a capacitor external to the chip. Internal resistance AINi Permissible signal source impedance 5 kΩ (typ) Analog comparator Internal capacitance C = 22 pF (typ.) 5 kΩ (max) DA converter Note) i = 15 to 0 Figure 16-5 Analog Input Equivalent Circuit and Example of Input Pin Processing Page 189 16. 10-bit AD Converter (ADC) 16.6 Precautions about AD Converter TMP88CS42NG Page 190 TMP88CS42NG 17. 8-Bit High-speed PWM (HPWM0 and HPWM1) The TMP88CS42NG contains two-channels of high-speed PWM. The high-speed PWM works in such a way that when data are written to the data registers for the respective channels, waveforms differing from each other can be output. The high-speed PWM is shared with ports, P02 (HPWM0) and P03 (HPWM1). When using these pins for highspeed PWM, set the port output latches for P02 and P03 to 1. 17.1 Configuration HPWM0 HPWM1 X1 fc 8-bit up counter HPE0 HPE1 PWMST Comparator Additional Pulse Generator circuit HPWM0 section HPE1 HPE0 HPWM1 section PWMMOD HPWMCR HPWMDR0 HPWMDR1 Hight-speed PWM control register Data register Data register Figure 17-1 High-speed PWM (HPWM0 and HPWM1) Page 191 17. 8-Bit High-speed PWM (HPWM0 and HPWM1) 17.2 Control TMP88CS42NG 17.2 Control Control Register HPWMCR (000CH) 7 6 HPE1 HPE0 5 4 3 2 1 PWMST 0 PWMMOD Select PWM mode 00: Mode 0 (8 bits) 01: Mode 1 (7 bits) 10: Mode 2 (6 bits) 11: Reserved Run/stop 8-bit up counter 0: STOP 1: RUN HPE0 Control HPWM0 output 0: Disable 1: Enable HPE1 Control HPWM1 output 0: Disable 1: Enable 7 6 5 4 3 2 1 0 DATA7 DATA6 DATA5 DATA4 DATA3 DATA2 DATA1 DATA0 7 6 5 4 3 2 1 0 DATA7 DATA6 DATA5 DATA4 DATA3 DATA2 DATA1 DATA0 PWMMOD PWMST R/W (Initial value: 00** 0*00) R/W Data Register HPWMDR0 (000DH) HPWMDR1 (000EH) R/W (Initial value: **** ****) R/W (Initial value: **** ****) Note 1: The PWM output pulse width varies with the clock duty cycle. Note 2: For the data registers, set data 10H to F0H. Note 3: When HPWMCR<PWMST> = 0, the internal counter is cleared and data “1” is output to the port. Note 4: Before selecting PWM mode, make sure HPWMCR<PWMST> = 0. Note 5: Before entering STOP mode, set HPWMCR<PWMST, HPE0, and HPE1> all to 0. Note 6: If HPWMCR<HPE0 or HPE1> is altered in the middle of PWM period, the waveform may be distorted. To avoid waveform distortion, make sure HPWMCR<PWMST> = 0 when enabling HPWM output. 17.3 Functional Description The high-speed PWM is controlled using the Control Register (HPWMCR) and Data Registers (HPWMDR0, 1). Before writing to these registers, set the HPWMCR<PWMST> = 1 to make them ready for setup. When the HPWMCR<PWMST> is set to 0, each control register is reset, so that the high-speed PWM can be reset in software. 17.3.1 Operation modes The high-speed PWM has the following three modes of operation: • 8-bit mode: (T = 28 × clock period, f ≈ 78 kHz) • 7-bit mode: (T = 27 × clock period, f ≈ 156 kHz) • 6-bit mode: (T = 26 × clock period, f ≈ 313 kHz) Note:These values apply to the case where the source clock (X1) is 20 MHz. Use the HPWMCR<PWMMOD> to select operation mode. Note that operation mode is common to both channels, and cannot be set separately for each channel. Page 192 TMP88CS42NG 17.3.1.1 8-bit mode In 8-bit mode, it is possible to generate a pulse with 12.8 µs period and approximately 78 kHz frequency (when X1 = 20 MHz). Data register value × 50 ns Data register value × 50 ns 12.8 µs 12.8 µs 7 0 Data register 8-bit data The minimum width of the pulse is 0.8 µs (data “10”), and the maximum width of the pulse is 12.0 µs (data “F0”). Pulse width = 8-bit data × 50 ns Figure 17-2 shows a typical waveform in 8-bit mode. (The values are for X1 = 20 MHz.) 12.8 µs Data 12.8 µs 800 ns 800 ns "10h" "11h" 850 ns 850 ns 12.0 µs 12.0 µs "F0h" Figure 17-2 8-Bit Mode 17.3.1.2 7-bit mode In 7-bit mode, it is possible to generate a pulse with 6.4 µs period and approximately 156 kHz frequency (when X1 = 20 MHz). Value of 7 high-order bits × 50 ns Value of 1 low-order bits × 25 ns Value of 7 high-order bits × 50 ns 6.4 µs 6.4 µs In 7-bit mode, the period is comprised of 7 bits (period = 27 × 50 ns) and one other bit provides a 25 ns resolution (half period of the source clock (X1)). Therefore, when the one low-order bit = 1, a plus-25 ns pulse is output. The minimum width of the pulse is 0.4 µs (data “10”), and the maximum width of the pulse is 6.0 µs (data “F0”: “78” + “0”). 7 0 Data register 7 hight-order bits 1 low-order bit Pulse width = (7 high-order Bits of data × 50 ns) + (1 low-order Bit of data × 25 ns) Figure 17-3 shows a typical waveform in 7-bit mode. (The values are for X1 = 20 MHz.) Page 193 17. 8-Bit High-speed PWM (HPWM0 and HPWM1) 17.3 Functional Description TMP88CS42NG 6.4 µs Data 6.4 µs 400 ns 400 ns "10h" "11h" 425 ns 425 ns 6.000 µs 6.000 µs "F0h" Figure 17-3 7-Bit Mode Note: The resolution of the LSB 1 bit (25 nsec) is a typical value and its precision is not guaranteed. 17.3.1.3 6-bit mode In 6-bit mode, it is possible to generate a pulse with 3.2 µs period and approximately 313 kHz frequency (when X1 = 20 MHz). Varies with value of 2 low-order bits 6 high-order bits × 50 ns 6 high-order bits × 50 ns 3.2 µs 3.2 µs In 6-bit mode, the period is comprised of 6 bits (period = 26 × 50 ns) and two other bits provide a 12.5 ns resolution. However, because the actually obtained resolution is 25 ns, said resolution is accomplished artificially. To obtain a 12.5 ns resolution, the first, second, and third pulses are output by adding 25 ns, 0 ns, and 25 ns, respectively. In this way, a 12.5 ns resolution is realized as being “equivalent to.” The minimum equivalent width of the pulse is 0.2 µs (data “10”), and the maximum equivalent width of the pulse is 3.0 µs (data “F0”: “3B” + “0”). 7 0 Data register 6 high-order bits 2 low-order bits Pulse width = (6 high-order bits of data × 50 ns) + (2 low-order bits of data *) * The equivalent plus times in 2 low-order bits of data are shown below. 2-bit data Equivalent plus time 0 0 0 ns 0 1 12.5 ns 1 0 25 ns 1 1 37.5 ns Figure 17-4 Shows a typical waveform in 6-bit mode. (The values are for X1 = 20 MHz.) Page 194 TMP88CS42NG 3.2 µs Data 3.2 µs 200ns 225 ns 3.2 µs 225 ns "11h" 225 ns 225 ns 225 ns "12h" "13h" "14h" 250 ns 250 ns 3.0 µs 225 ns 250 ns 3.0 µs 250 ns 250 ns 3.0 µs "F0h" Figure 17-4 6-Bit Mode Note: The resolution of the LSB 2 bit (12.5 nsec) is a typical value and its precision is not guaranteed. 17.3.2 Setting output data To set output data, write it to the Data Registers (HPWMDR0 and 1). Example: To output a 5.75 µs waveform in 7-bit mode using HPWM0 when the source clock (X1) = 20 MHz 5.75 µs 6.4 µs Because the resolution in 7-bit mode is 50 ns, to output a 5.75 µs pulse 5.75 µs ÷ 50 ns = 115 = 73H Because 73H is placed in the 7 high-order bits, the value is shifted one bit to become E6H. Therefore, set E6H in the Data Register (HPWMDR0). Page 195 17. 8-Bit High-speed PWM (HPWM0 and HPWM1) 17.3 Functional Description TMP88CS42NG Page 196 TMP88CS42NG 18. Input/Output Circuitry 18.1 Control pins The input/output circuitries of the TMP88CS42NG control pins are shown below. Control Pin I/O Input/Output Circuitry Remark Osc. enable fc VDD XIN XOUT Rf Input Output VDD RO High-frequency resonator connecting pins Rf = 1.2 MΩ (typ.) RO = 0.5 kΩ (typ.) XIN RIN RESET XOUT VDD Hysteresis input Pull-up resistor included RIN = 220 kΩ (typ.) Input VDD D1 TEST Input RIN Pull-down resistor included RIN = 70 kΩ (typ.) Fix the TEST pin at “L” level in MCU mode. Note: The TEST pin of TMP88PS42 does not have a pull-down resistor (RIN) and protect diode (D1). Fix the TEST pin at “L” level in MCU mode. Page 197 18. Input/Output Circuitry 18.2 Input/output ports TMP88CS42NG 18.2 Input/output ports Port Type Input/output Circuit Remark Initial "High-Z" Data output P0 P3 P4 P5 Tri-state output Programmable open-drain P3, P4, P5: Large-current port Hysteresis input Output control I/O Disable Pin input Initial "High-Z" Data output P6 P7 I/O Tri-state output Disable Pin input Initial "High-Z" Data output P1 Tri-state output Hysteresis input I/O Disable Pin input Initial "High-Z" P2 Open-drain output Hysteresis input I/O Data output Pin input Page 198 TMP88CS42NG 19. Electrical Characteristics 19.1 Absolute Maximum Ratings The Absolute Maximum Ratings stipulate the standards, any parameter of which cannot be exceeded even in an instant. If the device is used under conditions exceeding the Absolute Maximum Ratings, it may break down or degrade, causing injury due to rupture or burning. Therefore, always make sure the Absolute Maximum Ratings will not be exceeded when designing your application equipment. (VSS = 0 V) Parameter Symbol Pins Standard Power supply voltage VDD −0.3 to 6.5 Input voltage VIN −0.3 to VDD + 0.3 VOUT −0.3 to VDD + 0.3 Output voltage Output current IOH P0, P1, P3, P4, P5, P6, P7 −1.8 IOL1 P0, P1, P2, P6, P7 3.2 IOL2 P3, P4, P5 30 P0, P1, P2, P6, P7 60 Σ IOUT1 Unit Remark V mA Total of all ports except large-current ports Σ IOUT2 P3 60 Total of 8 pins of large-current ports P30 to 7 Σ IOUT3 P4 60 Total of 8 pins of large-current ports P40 to 7 Σ IOUT4 P5 60 Total of 8 pins of large-current ports P50 to 7 TMP88CS42NG 600 Mean output current Power dissipation PD Operating temperature Topr −40 to 85 Soldering temperature (time) Tsld 260 (10 s) Storage temperature Tstg −55 to 125 Page 199 mW °C SDIP 19. Electrical Characteristics 19.3 DC Characteristics TMP88CS42NG 19.2 Operating Conditions The Operating Conditions show the conditions under which the device be used in order for it to operate normally while maintaining its quality. If the device is used outside the range of Operating Conditions (power supply voltage, operating temperature range, or AC/DC rated values), it may operate erratically. Therefore, when designing your application equipment, always make sure its intended working conditions will not exceed the range of Operating Conditions. (VSS = 0 V, Topr = −40 to 85°C) Parameter Power supply voltage High level input voltage Symbol Condition fc = 20 MHz NORMAL/IDLE/STOP Min Max Unit 4.5 5.5 V VDD × 0.70 VIH1 Normal (P6, P7) VIH2 Hysteresis (P0, P1, P2, P3, P4, P5, RESET) VIL1 Normal (P6, P7) Hysteresis (P0, P1, P2, P3, P4, P5, RESET) VDD ≥ 4.5 V 0 VIL2 XIN, XOUT VDD = 4.5 V to 5.5 V 8 Low level input voltage Clock frequency Pins VDD fc VDD ≥ 4.5 V VDD × 0.75 VDD VDD × 0.30 V VDD × 0.25 20 MHz 19.3 DC Characteristics (VSS = 0 V, Topr = −40 to 85°C) Parameter Input current Symbol Pins Min Typ. Max Unit – – ±2 µA TEST - 70 - RESET 90 220 510 IIN1 TEST IIN2 Sink open drain, Tri-state IIN3 RESET , STOP RIN1 RIN2 Condition VDD = 5.5 V, VIN = 5.5 V/0 V kΩ Input Resistance Output leakage current ILO Sink open drain, Tri-state VDD = 5.5 V, VIN = 5.5 V/0 V – – ±2 µA High level output voltage VOH Tri-state port VDD = 4.5 V, IOH = −0.7 mA 4.1 – – V IOL1 P0, P1, P2, P6, P7 VDD = 4.5 V, VOL = 0.4 V 1.6 – – IOL2 P3, P4, P5 VDD = 4.5 V, VOL = 1.0 V – 20 – – 18 25 – 16 23 – 2 100 Low level output voltage NORMAL mode power supply current IDLE mode power supply current IDD VDD = 5.5 V, VIN = 5.3 V/0.2 V fc = 20 MHz STOP mode power supply current Note 1: Typical values show those at Topr = 25°C, VDD = 5V. Note 2: Input current (IIN1,IIN3); The current through pull-up or pull-down resistor is not included. Note 3: IDD does not include IREF current. Page 200 mA µA TMP88CS42NG 19.4 AD Conversion Characteristics (Topr = −40 to 85°C) Max Parameter Symbol Condition Min Typ. Unit 8 bit Analog reference voltage VAREF VSS = 0 V, VDD = AVDD 10 bit VDD −1.0 – VDD VASS – VAREF – 0.5 1.0 – – V Analog input voltage range VAIN Analog reference power supply current IREF VDD = AVDD = VAREF = 5.0 V VSS = AVSS = 0 V Nonlinearity error VDD = 5 V, VSS = 0 V Zero error Full scale error AVDD = VAREF = 5 V AVSS = 0 V Overall error ±1 mA ±2 – – ±1 ±2 – – ±1 ±2 – – ±2 ±4 LSB Note 1: The total error includes all errors except a quantization error, and is defined as a maximum deviation from the idea conversion line. Note 2: Conversion time is different in recommended value by power supply voltage. About conversion time, please refer to "Register Configuration" in the section of AD converter. Note 3: Please use input voltage to AIN input pin in limit of VAREF - VSS. When voltage or range outside is input, conversion value becomes unsettled and gives affect to other channel conversion value. Note 4: Analog reference voltage range; ∆VAREF = VAREF - VSS 19.5 AC Characteristics (VSS = 0 V, VDD = 4.5 to 5.5 V, Topr = −40 to 85°C) Parameter Symbol Condition Min Typ. Max Unit 0.2 – 0.5 µs – 25 – ns During NORMAL mode Machine cycle time tcy During IDLE mode High level clock pulse width tWCH Low level clock pulse width tWCL When operating with external clock (XIN input) fc = 20 MHz Page 201 19. Electrical Characteristics 19.7 Handling Precaution TMP88CS42NG 19.6 Recommended Oscillation Conditions Note 1: To ensure stable oscillation, the resonator position, load capacitance, etc. must be appropriate. Because these factors are greatly affected by board patterns, please be sure to evaluate operation on the board on which the device will actually be mounted. Note 2: For the resonators to be used with Toshiba microcontrollers, we recommend ceramic resonators manufactured by Murata Manufacturing Co., Ltd. For details, please visit the website of Murata at the following URL: http://www.murata.com 19.7 Handling Precaution - The solderability test conditions for lead-free products (indicated by the suffix G in product name) are shown below. 1. When using the Sn-37Pb solder bath Solder bath temperature = 230 °C Dipping time = 5 seconds Number of times = once R-type flux used 2. When using the Sn-3.0Ag-0.5Cu solder bath Solder bath temperature = 245 °C Dipping time = 5 seconds Number of times = once R-type flux used Note: The pass criteron of the above test is as follows: Solderability rate until forming ≥ 95 % - When using the device (oscillator) in places exposed to high electric fields such as cathode-ray tubes, we recommend electrically shielding the package in order to maintain normal operating condition. Page 202 TMP88CS42NG 20. Package Dimensions SDIP64-P-750-1.78 Rev 01 Unit: mm Page 203 20. Package Dimensions TMP88CS42NG Page 204 This is a technical document that describes the operating functions and electrical specifications of the 8-bit microcontroller series TLCS-870/X (LSI). Toshiba provides a variety of development tools and basic software to enable efficient software development. These development tools have specifications that support advances in microcomputer hardware (LSI) and can be used extensively. Both the hardware and software are supported continuously with version updates. The recent advances in CMOS LSI production technology have been phenomenal and microcomputer systems for LSI design are constantly being improved. The products described in this document may also be revised in the future. Be sure to check the latest specifications before using. Toshiba is developing highly integrated, high-performance microcomputers using advanced MOS production technology and especially well proven CMOS technology. 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