Microchip DSPIC33FJ256MC510 High-performance, 16-bit digital signal controller Datasheet

dsPIC33FJXXXMCX06/X08/X10
Motor Control Family
Data Sheet
High-Performance, 16-Bit
Digital Signal Controllers
© 2007 Microchip Technology Inc.
DS70287A
Note the following details of the code protection feature on Microchip devices:
•
Microchip products meet the specification contained in their particular Microchip Data Sheet.
•
Microchip believes that its family of products is one of the most secure families of its kind on the market today, when used in the
intended manner and under normal conditions.
•
There are dishonest and possibly illegal methods used to breach the code protection feature. All of these methods, to our
knowledge, require using the Microchip products in a manner outside the operating specifications contained in Microchip’s Data
Sheets. Most likely, the person doing so is engaged in theft of intellectual property.
•
Microchip is willing to work with the customer who is concerned about the integrity of their code.
•
Neither Microchip nor any other semiconductor manufacturer can guarantee the security of their code. Code protection does not
mean that we are guaranteeing the product as “unbreakable.”
Code protection is constantly evolving. We at Microchip are committed to continuously improving the code protection features of our
products. Attempts to break Microchip’s code protection feature may be a violation of the Digital Millennium Copyright Act. If such acts
allow unauthorized access to your software or other copyrighted work, you may have a right to sue for relief under that Act.
Information contained in this publication regarding device
applications and the like is provided only for your convenience
and may be superseded by updates. It is your responsibility to
ensure that your application meets with your specifications.
MICROCHIP MAKES NO REPRESENTATIONS OR
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Trademarks
The Microchip name and logo, the Microchip logo, Accuron,
dsPIC, KEELOQ, KEELOQ logo, microID, MPLAB, PIC,
PICmicro, PICSTART, PRO MATE, rfPIC and SmartShunt are
registered trademarks of Microchip Technology Incorporated
in the U.S.A. and other countries.
AmpLab, FilterLab, Linear Active Thermistor, Migratable
Memory, MXDEV, MXLAB, SEEVAL, SmartSensor and The
Embedded Control Solutions Company are registered
trademarks of Microchip Technology Incorporated in the
U.S.A.
Analog-for-the-Digital Age, Application Maestro, CodeGuard,
dsPICDEM, dsPICDEM.net, dsPICworks, ECAN,
ECONOMONITOR, FanSense, FlexROM, fuzzyLAB,
In-Circuit Serial Programming, ICSP, ICEPIC, Mindi, MiWi,
MPASM, MPLAB Certified logo, MPLIB, MPLINK, PICkit,
PICDEM, PICDEM.net, PICLAB, PICtail, PowerCal,
PowerInfo, PowerMate, PowerTool, REAL ICE, rfLAB, Select
Mode, Smart Serial, SmartTel, Total Endurance, UNI/O,
WiperLock and ZENA are trademarks of Microchip
Technology Incorporated in the U.S.A. and other countries.
SQTP is a service mark of Microchip Technology Incorporated
in the U.S.A.
All other trademarks mentioned herein are property of their
respective companies.
© 2007, Microchip Technology Incorporated, Printed in the
U.S.A., All Rights Reserved.
Printed on recycled paper.
Microchip received ISO/TS-16949:2002 certification for its worldwide
headquarters, design and wafer fabrication facilities in Chandler and
Tempe, Arizona; Gresham, Oregon and design centers in California
and India. The Company’s quality system processes and procedures
are for its PIC® MCUs and dsPIC® DSCs, KEELOQ® code hopping
devices, Serial EEPROMs, microperipherals, nonvolatile memory and
analog products. In addition, Microchip’s quality system for the design
and manufacture of development systems is ISO 9001:2000 certified.
DS70287A-page ii
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10
MOTOR CONTROL FAMILY
High-Performance, 16-bit Digital Signal Controllers
Operating Range:
Digital I/O:
• DC – 40 MIPS (40 MIPS @ 3.0-3.6V,
-40°C to +85°C)
• Industrial temperature range (-40°C to +85°C)
•
•
•
•
•
High-Performance DSC CPU:
•
•
•
•
•
•
•
•
•
•
•
•
•
•
Modified Harvard architecture
C compiler optimized instruction set
16-bit wide data path
24-bit wide instructions
Linear program memory addressing up to 4M
instruction words
Linear data memory addressing up to 64 Kbytes
83 base instructions: mostly 1 word/1 cycle
Two 40-bit accumulators:
- With rounding and saturation options
Flexible and powerful addressing modes:
- Indirect, Modulo and Bit-Reversed
Software stack
16 x 16 fractional/integer multiply operations
32/16 and 16/16 divide operations
Single-cycle multiply and accumulate:
- Accumulator write back for DSP operations
- Dual data fetch
Up to ±16-bit shifts for up to 40-bit data
Direct Memory Access (DMA):
• 8-channel hardware DMA
• 2 Kbytes dual ported DMA buffer area
(DMA RAM) to store data transferred via DMA:
- Allows data transfer between RAM and a
peripheral while CPU is executing code
(no cycle stealing)
• Most peripherals support DMA
Interrupt Controller:
•
•
•
•
•
•
5-cycle latency
118 interrupt vectors
Up to 67 available interrupt sources
Up to 5 external interrupts
7 programmable priority levels
5 processor exceptions
© 2007 Microchip Technology Inc.
Up to 85 programmable digital I/O pins
Wake-up/Interrupt-on-Change on up to 24 pins
Output pins can drive from 3.0V to 3.6V
All digital input pins are 5V tolerant
4 mA sink on all I/O pins
On-Chip Flash and SRAM:
• Flash program memory, up to 256 Kbytes
• Data SRAM, up to 30 Kbytes (includes 2 Kbytes
of DMA RAM)
System Management:
• Flexible clock options:
- External, crystal, resonator, internal RC
- Fully integrated PLL
- Extremely low jitter PLL
• Power-up Timer
• Oscillator Start-up Timer/Stabilizer
• Watchdog Timer with its own RC oscillator
• Fail-Safe Clock Monitor
• Reset by multiple sources
Power Management:
• On-chip 2.5V voltage regulator
• Switch between clock sources in real time
• Idle, Sleep and Doze modes with fast wake-up
Timers/Capture/Compare/PWM:
• Timer/Counters, up to nine 16-bit timers:
- Can pair up to make four 32-bit timers
- 1 timer runs as Real-Time Clock with external
32.768 kHz oscillator
- Programmable prescaler
• Input Capture (up to 8 channels):
- Capture on up, down or both edges
- 16-bit capture input functions
- 4-deep FIFO on each capture
• Output Compare (up to 8 channels):
- Single or Dual 16-Bit Compare mode
- 16-bit Glitchless PWM mode
DS70287A-page 1
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
Communication Modules:
Motor Control Peripherals:
• 3-wire SPI (up to 2 modules):
- Framing supports I/O interface to simple
codecs
- Supports 8-bit and 16-bit data
- Supports all serial clock formats and
sampling modes
• I2C™ (up to 2 modules):
- Full Multi-Master Slave mode support
- 7-bit and 10-bit addressing
- Bus collision detection and arbitration
- Integrated signal conditioning
- Slave address masking
• UART (up to 2 modules):
- Interrupt on address bit detect
- Interrupt on UART error
- Wake-up on Start bit from Sleep mode
- 4-character TX and RX FIFO buffers
- LIN bus support
- IrDA® encoding and decoding in hardware
- High-Speed Baud mode
- Hardware Flow Control with CTS and RTS
• Enhanced CAN (ECAN™ module) 2.0B active
(up to 2 modules):
- Up to 8 transmit and up to 32 receive buffers
- 16 receive filters and 3 masks
- Loopback, Listen Only and Listen All
Messages modes for diagnostics and bus
monitoring
- Wake-up on CAN message
- Automatic processing of Remote
Transmission Requests
- FIFO mode using DMA
- DeviceNet™ addressing support
• Motor Control PWM (up to 8 channels):
- 4 duty cycle generators
- Independent or Complementary mode
- Programmable dead time and output polarity
- Edge or center-aligned
- Manual output override control
- Up to 2 Fault inputs
- Trigger for ADC conversions
- PWM frequency for 16-bit resolution
(@ 40 MIPS) = 1220 Hz for Edge-Aligned
mode, 610 Hz for Center-Aligned mode
- PWM frequency for 11-bit resolution
(@ 40 MIPS) = 39.1 kHz for Edge-Aligned
mode, 19.55 kHz for Center-Aligned mode
• Quadrature Encoder Interface module:
- Phase A, Phase B and index pulse input
- 16-bit up/down position counter
- Count direction status
- Position Measurement (x2 and x4) mode
- Programmable digital noise filters on inputs
- Alternate 16-bit Timer/Counter mode
- Interrupt on position counter rollover/underflow
Analog-to-Digital Converters (ADCs):
• Up to two ADC modules in a device
• 10-bit, 1.1 Msps or 12-bit, 500 Ksps conversion:
- 2, 4 or 8 simultaneous samples
- Up to 32 input channels with auto-scanning
- Conversion start can be manual or
synchronized with 1 of 4 trigger sources
- Conversion possible in Sleep mode
- ±1 LSb max integral nonlinearity
- ±1 LSb max differential nonlinearity
CMOS Flash Technology:
•
•
•
•
•
Low-power, high-speed Flash technology
Fully static design
3.3V (±10%) operating voltage
Industrial temperature
Low-power consumption
Packaging:
• 100-pin TQFP (14x14x1 mm and 12x12x1 mm)
• 80-pin TQFP (12x12x1 mm)
• 64-pin TQFP (10x10x1 mm)
Note:
DS70287A-page 2
See the device variant tables for exact
peripheral features per device.
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
dsPIC33F PRODUCT FAMILIES
supplies, power factor correction and also for controlling the power management module in servers, telecommunication equipment and other industrial
equipment.
The dsPIC33F Motor Control Family supports a variety
of motor control applications, such as brushless DC
motors, single and 3-phase induction motors and
switched reluctance motors. The dsPIC33F Motor Control products are also well-suited for Uninterrupted
Power Supply (UPS), inverters, switched mode power
The device names, pin counts, memory sizes and
peripheral availability of each device are listed below.
The following pages show their pinout diagrams.
Input Capture
Output Compare
Std. PWM
Motor Control PWM
Quadrature Encoder
Interface
Codec Interface
ADC
UART
SPI
I C™
Enhanced CAN
I/O Pins (Max)(2)
Packages
dsPIC33FJ64MC506
64
64
8
9
8
8
8 ch
1
0
1 ADC,
16 ch
2
2
2
1
53
PT
dsPIC33FJ64MC508
80
64
8
9
8
8
8 ch
1
0
1 ADC,
18 ch
2
2
2
1
69
PT
dsPIC33FJ64MC510
100
64
8
9
8
8
8 ch
1
0
1 ADC,
24 ch
2
2
2
1
85
PF, PT
dsPIC33FJ64MC706
64
64
16
9
8
8
8 ch
1
0
2 ADC,
16 ch
2
2
2
1
53
PT
dsPIC33FJ64MC710
100
64
16
9
8
8
8 ch
1
0
2 ADC,
24 ch
2
2
2
2
85
PF, PT
dsPIC33FJ128MC506
64
128
8
9
8
8
8 ch
1
0
1 ADC,
16 ch
2
2
2
1
53
PT
dsPIC33FJ128MC510
100
128
8
9
8
8
8 ch
1
0
1 ADC,
24 ch
2
2
2
1
85
PF, PT
dsPIC33FJ128MC706
64
128
16
9
8
8
8 ch
1
0
2 ADC,
16 ch
2
2
2
1
53
PT
dsPIC33FJ128MC708
80
128
16
9
8
8
8 ch
1
0
2 ADC,
18 ch
2
2
2
2
69
PT
dsPIC33FJ128MC710
100
128
16
9
8
8
8 ch
1
0
2 ADC,
24 ch
2
2
2
2
85
PF, PT
dsPIC33FJ256MC510
100
256
16
9
8
8
8 ch
1
0
1 ADC,
24 ch
2
2
2
1
85
PF, PT
dsPIC33FJ256MC710
100
256
30
9
8
8
8 ch
1
0
2 ADC,
24 ch
2
2
2
2
85
PF, PT
Device
Note 1:
2:
Program
Flash
RAM
Pins
Memory (Kbyte)(1)
(Kbyte)
2
Timer 16-bit
dsPIC33F Motor Control Family Variants
RAM size is inclusive of 2 Kbytes DMA RAM.
Maximum I/O pin count includes pins shared by the peripheral functions.
© 2007 Microchip Technology Inc.
DS70287A-page 3
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
Pin Diagrams
64
63
62
61
60
59
58
57
56
55
54
53
52
51
50
49
PWM3L/RE4
PWM2H/RE3
PWM2L/RE2
PWM1H/RE1
PWM1L/RE0
C1TX/RF1
C1RX/RF0
VDD
VDDCORE
OC8/UPDN/CN16/RD7
OC7/CN15/RD6
OC6/IC6/CN14/RD5
OC5/IC5/CN13/RD4
OC4/RD3
OC3/RD2
OC2/RD1
64-Pin TQFP
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
dsPIC33FJ128MC506
dsPIC33FJ64MC506
dsPIC33FJ128MC706
dsPIC33FJ64MC706
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
PGC2/EMUC2/SOSCO/T1CK/CN0/RC14
PGD2/EMUD2/SOSCI/T4CK/CN1/RC13
OC1/RD0
IC4/INT4/RD11
IC3/INT3/RD10
IC2/U1CTS/FLTB/INT2/RD9
IC1/FLTA/INT1/RD8
VSS
OSC2/CLKO/RC15
OSC1/CLKIN/RC12
VDD
SCL1/RG2
SDA1/RG3
U1RTS/SCK1/INT0/RF6
U1RX/SDI1/RF2
U1TX/SDO1/RF3
PGC1/EMUC1/AN6/OCFA/RB6
PGD1/EMUD1/AN7/RB7
AVDD
AVSS
U2CTS/AN8/RB8
AN9/RB9
TMS/AN10/RB10
TDO/AN11/RB11
VSS
VDD
TCK/AN12/RB12
TDI/AN13/RB13
U2RTS/AN14/RB14
AN15/OCFB/CN12/RB15
U2RX/SDA2/CN17/RF4
U2TX/SCL2/CN18/RF5
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
PWM3H/RE5
PWM4L/RE6
PWM4H/RE7
SCK2/CN8/RG6
SDI2/CN9/RG7
SDO2/CN10/RG8
MCLR
SS2/CN11/RG9
VSS
VDD
AN5/QEB/IC8/CN7/RB5
AN4/QEA/IC7/CN6/RB4
AN3/INDX/CN5/RB3
AN2/SS1/CN4/RB2
PGC3/EMUC3/AN1/VREF-/CN3/RB1
PGD3/EMUD3/AN0/VREF+/CN2/RB0
DS70287A-page 4
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
Pin Diagrams (Continued)
IC5/RD12
OC4/RD3
OC3/RD2
OC2/RD1
63
62
61
OC6/CN14/RD5
OC5/CN13/RD4
IC6/CN19/RD13
OC7/CN15/RD6
C1TX/RF1
C1RX/RF0
VDD
VDDCORE
OC8/CN16/UPDN/RD7
75
74
73
72
71
70
69
68
67
66
65
64
PWM2L/RE2
PWM1H/RE1
PWM1L/RE0
RG0
RG1
80
79
78
77
76
PWM3L/RE4
PWM2H/RE3
80-Pin TQFP
PWM3H/RE5
1
60
PGC2/EMUC2/SOSCO/T1CK/CN0/RC14
PWM4L/RE6
2
59
PGD2/EMUD2/SOSCI/CN1/RC13
OC1/RD0
PWM4H/RE7
3
58
AN16/T2CK/T7CK/RC1
4
57
IC4/RD11
AN17/T3CK/T6CK/RC2
5
56
IC3/RD10
SCK2/CN8/RG6
6
55
IC2/RD9
SDI2/CN9/RG7
7
54
IC1/RD8
SDO2/CN10/RG8
8
53
SDA2/INT4/RA3
MCLR
9
52
SS2/CN11/RG9
VSS
10
51
SCL2/INT3/RA2
VSS
50
OSC2/CLKO/RC15
VDD
12
49
OSC1/CLKIN/RC12
TMS/FLTA/INT1/RE8
13
14
48
VDD
47
SCL1/RG2
AN5/QEB/CN7/RB5
AN4/QEA/CN6/RB4
15
46
SDA1/RG3
16
45
SCK1/INT0/RF6
AN3/INDX/CN5/RB3
17
44
SDI1/RF7
AN2/SS1/CN4/RB2
18
43
SDO1/RF8
PGC3/EMUC3/AN1/CN3/RB1
19
42
U1RX/RF2
PGD3/EMUD3/AN0/CN2/RB0
20
41
U1TX/RF3
30
31
32
33
34
35
36
37
38
39
40
VDD
TCK/AN12/RB12
TDI/AN13/RB13
U2RTS/AN14/RB14
AN15/OCFB/CN12/RB15
IC7/U1CTS/CN20/RD14
IC8/U1RTS/CN21/RD15
U2RX/CN17/RF4
U2TX/CN18/RF5
27
U2CTS/AN8/RB8
VSS
26
AVSS
AN11/RB11
25
AVDD
29
24
28
23
VREF-/RA9
VREF+/RA10
AN9/RB9
22
PGD1/EMUD1/AN7/RB7
© 2007 Microchip Technology Inc.
AN10/RB10
21
PGC1/EMUC1/AN6/OCFA/RB6
TDO/FLTB/INT2/RE9
dsPIC33FJ64MC508
11
DS70287A-page 5
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
Pin Diagrams (Continued)
OC2/RD1
IC5/RD12
OC4/RD3
OC3/RD2
OC8/CN16/UPDN/RD7
OC7/CN15/RD6
OC6/CN14/RD5
OC5/CN13/RD4
IC6/CN19/RD13
CRX2/RG0
C2TX/RG1
C1TX/RF1
C1RX/RF0
VDD
VDDCORE
PWM2L/RE2
PWM1H/RE1
PWM1L/RE0
80
79
78
77
76
75
74
73
72
71
70
69
68
67
66
65
64
63
62
61
PWM3L/RE4
PWM2H/RE3
80-Pin TQFP
PWM3H/RE5
1
60
PGC2/EMUC2/SOSCO/T1CK/CN0/RC14
PWM4L/RE6
2
59
PGD2/EMUD2/SOSCI/CN1/RC13
OC1/RD0
PWM4H/RE7
3
58
AN16/T2CK/T7CK/RC1
4
57
AN17/T3CK/T6CK/RC2
SCK2/CN8/RG6
5
56
IC4/RD11
IC3/RD10
6
55
IC2/RD9
SDI2/CN9/RG7
SDO2/CN10/RG8
7
54
IC1/RD8
8
53
SDA2/INT4/RA3
MCLR
9
52
SCL2/INT3/RA2
SS2/CN11/RG9
10
51
VSS
VSS
11
50
OSC2/CLKO/RC15
VDD
12
49
OSC1/CLKIN/RC12
TMS/FLTA/INT1/RE8
48
VDD
TDO/FLTB/INT2/RE9
13
14
47
SCL1/RG2
AN5/QEB/CN7/RB5
15
46
SDA1/RG3
AN4/QEA/CN6/RB4
16
45
SCK1/INT0/RF6
AN3/INDX/CN5/RB3
17
44
SDI1/RF7
AN2/SS1/CN4/RB2
PGC3/EMUC3/AN1/CN3/RB1
18
43
SDO1/RF8
19
42
U1RX/RF2
PGD3/EMUD3/AN0/CN2/RB0
20
41
U1TX/RF3
DS70287A-page 6
30
31
32
33
34
35
36
37
38
39
40
VDD
TCK/AN12/RB12
TDI/AN13/RB13
U2RTS/AN14/RB14
AN15/OCFB/CN12/RB15
IC7/U1CTS/CN20/RD14
IC8/U1RTS/CN21/RD15
U2RX/CN17/RF4
U2TX/CN18/RF5
27
U2CTS/AN8/RB8
VSS
26
AVSS
29
25
AVDD
AN11/RB11
24
28
23
VREF-/RA9
VREF+/RA10
AN9/RB9
22
PGD1/EMUD1/AN7/RB7
AN10/RB10
21
PGC1/EMUC1/AN6/OCFA/RB6
dsPIC33FJ128MC708
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
Pin Diagrams (Continued)
RG15
VDD
PWM3H/RE5
PWM4L/RE6
PWM4H/RE7
AN16/T2CK/T7CK/RC1
AN17/T3CK/T6CK/RC2
AN18/T4CK/T9CK/RC3
AN19/T5CK/T8CK/RC4
SCK2/CN8/RG6
SDI2/CN9/RG7
SDO2/CN10/RG8
MCLR
SS2/CN11/RG9
VSS
100
99
98
97
96
95
94
93
92
91
90
89
88
87
86
85
84
83
82
81
80
79
78
77
76
PWM3L/RE4
PWM2H/RE3
PWM2L/RE2
RG13
RG12
RG14
PWM1H/RE1
PWM1L/RE0
AN23/CN23/RA7
AN22/CN22/RA6
RG0
RG1
C1TX/RF1
C1RX/RF0
VDD
VDDCORE
OC8/UPDN//CN16/RD7
OC7/CN15/RD6
OC6/CN14/RD5
OC5/CN13/RD4
IC6/CN19/RD13
IC5/RD12
OC4/RD3
OC3/RD2
OC2/RD1
100-Pin TQFP
1
2
3
4
5
6
7
8
9
10
11
12
PGC3/EMUC3/AN1/CN3/RB1
13
14
15
16
17
18
19
20
21
22
23
24
PGD3/EMUD3/AN0/CN2/RB0
25
VDD
TMS/RA0
AN20/FLTA/INT1/RE8
AN21/FLTB/INT2/RE9
VSS
74
73
PGC2/EMUC2/SOSCO/T1CK/CN0/RC14
72
OC1/RD0
IC4/RD11
71
70
69
68
67
66
65
64
dsPIC33FJ64MC510
PGD2/EMUD2/SOSCI/CN1/RC13
IC3/RD10
IC2/RD9
IC1/RD8
INT4/RA15
INT3/RA14
VSS
OSC2/CLKO/RC15
63
62
61
OSC1/CLKIN/RC12
60
59
58
57
56
TDI/RA4
RA3
RA2
55
54
53
52
51
VDD
TDO/RA5
SCL1/RG2
SDA1/RG3
SCK1/INT0/RF6
SDI1/RF7
SDO1/RF8
U1RX/RF2
U1TX/RF3
PGC1/EMUC1/AN6/OCFA/RB6
PGD1/EMUD1/AN7/RB7
VREF-/RA9
VREF+/RA10
AVDD
AVSS
AN8/RB8
AN9/RB9
AN10/RB10
AN11/RB11
VSS
VDD
TCK/RA1
U2RTS/RF13
U2CTS/RF12
AN12/RB12
AN13/RB13
AN14/RB14
AN15/OCFB/CN12/RB15
VSS
VDD
IC7/U1CTS/CN20/RD14
IC8/U1RTS/CN21/RD15
U2RX/CN17/RF4
U2TX/CN18/RF5
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
AN5/QEB/CN7/RB5
AN4/QEA/CN6/RB4
AN3/INDX/CN5/RB3
AN2/SS1/CN4/RB2
75
© 2007 Microchip Technology Inc.
DS70287A-page 7
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
Pin Diagrams (Continued)
RG15
VDD
PWM3H/RE5
PWM4L/RE6
PWM4H/RE7
AN16/T2CK/T7CK/RC1
AN17/T3CK/T6CK/RC2
AN18/T4CK/T9CK/RC3
AN19/T5CK/T8CK/RC4
SCK2/CN8/RG6
SDI2/CN9/RG7
SDO2/CN10/RG8
MCLR
SS2/CN11/RG9
VSS
VDD
TMS/RA0
AN20/FLTA/INT1/RE8
AN21/FLTB/INT2/RE9
AN5/QEB/CN7/RB5
AN4/QEA/CN6/RB4
AN3/INDX/CN5/RB3
AN2/SS1/CN4/RB2
PGC3/EMUC3/AN1/CN3/RB1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
75
VSS
74
73
PGC2/EMUC2/SOSCO/T1CK/CN0/RC14
72
71
70
69
68
67
66
65
64
dsPIC33FJ128MC510
dsPIC33FJ256MC510
63
62
61
60
59
58
57
56
55
54
53
52
51
PGD2/EMUD2/SOSCI/CN1/RC13
OC1/RD0
IC4/RD11
IC3/RD10
IC2/RD9
IC1/RD8
INT4/RA15
INT3/RA14
VSS
OSC2/CLKO/RC15
OSC1/CLKIN/RC12
VDD
TDO/RA5
TDI/RA4
SDA2/RA3
SCL2/RA2
SCL1/RG2
SDA1/RG3
SCK1/INT0/RF6
SDI1/RF7
SDO1/RF8
U1RX/RF2
U1TX/RF3
PGC1/EMUC1/AN6/OCFA/RB6
PGD1/EMUD1/AN7/RB7
VREF-/RA9
VREF+/RA10
AVDD
AVSS
AN8/RB8
AN9/RB9
AN10/RB10
AN11/RB11
VSS
VDD
TCK/RA1
U2RTS/RF13
U2CTS/RF12
AN12/RB12
AN13/RB13
AN14/RB14
AN15/OCFB/CN12/RB15
VSS
VDD
IC7/U1CTS/CN20/RD14
IC8/U1RTS/CN21/RD15
U2RX/CN17/RF4
U2TX/CN18/RF5
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
PGD3/EMUD3/AN0/CN2/RB0
100
99
98
97
96
95
94
93
92
91
90
89
88
87
86
85
84
83
82
81
80
79
78
77
76
PWM3L/RE4
PWM2H/RE3
PWM2L/RE2
RG13
RG12
RG14
PWM1H/RE1
PWM1L/RE0
AN23/CN23/RA7
AN22/CN22/RA6
RG0
RG1
C1TX/RF1
C1RX/RF0
VDD
VDDCORE
OC8/UPDN//CN16/RD7
OC7/CN15/RD6
OC6/CN14/RD5
OC5/CN13/RD4
IC6/CN19/RD13
IC5/RD12
OC4/RD3
OC3/RD2
OC2/RD1
100-Pin TQFP
DS70287A-page 8
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
Pin Diagrams (Continued)
100
99
98
97
96
95
94
93
92
91
90
89
88
87
86
85
84
83
82
81
80
79
78
77
76
PWM3L/RE4
PWM2H/RE3
PWM2L/RE2
RG13
RG12
RG14
PWM1H/RE1
PWM1L/RE0
AN23/CN23/RA7
AN22/CN22/RA6
C2RX/RG0
C2TX/RG1
C1TX/RF1
C1RX/RF0
VDD
VDDCORE
OC8/UPDN//CN16/RD7
OC7/CN15/RD6
OC6/CN14/RD5
OC5/CN13/RD4
IC6/CN19/RD13
IC5/RD12
OC4/RD3
OC3/RD2
OC2/RD1
100-Pin TQFP
RG15
VDD
PWM3H/RE5
PWM4L/RE6
PWM4H/RE7
AN16/T2CK/T7CK/RC1
AN17/T3CK/T6CK/RC2
AN18/T4CK/T9CK/RC3
AN19/T5CK/T8CK/RC4
SCK2/CN8/RG6
SDI2/CN9/RG7
SDO2/CN10/RG8
MCLR
SS2/CN11/RG9
VSS
VDD
TMS/RA0
AN20/FLTA/INT1/RE8
AN21/FLTB/INT2/RE9
AN5/QEB/CN7/RB5
AN4/QEA/CN6/RB4
AN3/INDX/CN5/RB3
AN2/SS1/CN4/RB2
PGC3/EMUC3/AN1/CN3/RB1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
75
74
VSS
PGC2/EMUC2/SOSCO/T1CK/CN0/RC14
73
72
71
PGD2/EMUD2/SOSCI/CN1/RC13
OC1/RD0
IC4/RD11
IC3/RD10
IC2/RD9
70
69
68
67
66
dsPIC33FJ64MC710
dsPIC33FJ128MC710
dsPIC33FJ256MC710
65
64
63
62
61
60
59
58
57
56
55
54
53
52
51
IC1/RD8
INT4/RA15
INT3/RA14
VSS
OSC2/CLKO/RC15
OSC1/CLKIN/RC12
VDD
TDO/RA5
TDI/RA4
SDA2/RA3
SCL2/RA2
SCL1/RG2
SDA1/RG3
SCK1/INT0/RF6
SDI1/RF7
SDO1/RF8
U1RX/RF2
U1TX/RF3
PGC1/EMUC1/AN6/OCFA/RB6
PGD1/EMUD1/AN7/RB7
VREF-/RA9
VREF+/RA10
AVDD
AVSS
AN8/RB8
AN9/RB9
AN10/RB10
AN11/RB11
VSS
VDD
TCK/RA1
U2RTS/RF13
U2CTS/RF12
AN12/RB12
AN13/RB13
AN14/RB14
AN15/OCFB/CN12/RB15
VSS
VDD
IC7/U1CTS/CN20/RD14
IC8/U1RTS/CN21/RD15
U2RX/CN17/RF4
U2TX/CN18/RF5
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
PGD3/EMUD3/AN0/CN2/RB0
1
© 2007 Microchip Technology Inc.
DS70287A-page 9
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
Table of Contents
dsPIC33F Product Families ................................................................................................................................................................... 3
1.0 Device Overview ........................................................................................................................................................................ 13
2.0 CPU ............................................................................................................................................................................................ 17
3.0 Memory Organization ................................................................................................................................................................. 29
4.0 Flash Program Memory .............................................................................................................................................................. 67
5.0 Resets ....................................................................................................................................................................................... 73
6.0 Interrupt Controller ..................................................................................................................................................................... 79
7.0 Direct Memory Access (DMA) .................................................................................................................................................. 127
8.0 Oscillator Configuration ............................................................................................................................................................ 137
9.0 Power-Saving Features ............................................................................................................................................................ 145
10.0 I/O Ports ................................................................................................................................................................................... 147
11.0 Timer1 ...................................................................................................................................................................................... 149
12.0 Timer2/3, Timer4/5, Timer6/7 and Timer8/9 ............................................................................................................................ 151
13.0 Input Capture............................................................................................................................................................................ 157
14.0 Output Compare ....................................................................................................................................................................... 159
15.0 Motor Control PWM Module ..................................................................................................................................................... 163
16.0 Quadrature Encoder Interface (QEI) Module ........................................................................................................................... 185
17.0 Serial Peripheral Interface (SPI)............................................................................................................................................... 193
18.0 Inter-Integrated Circuit (I2C) ..................................................................................................................................................... 201
19.0 Universal Asynchronous Receiver Transmitter (UART) ........................................................................................................... 211
20.0 Enhanced CAN Module ............................................................................................................................................................ 219
21.0 10-bit/12-bit Analog-to-Digital Converter (ADC) ....................................................................................................................... 249
22.0 Special Features ...................................................................................................................................................................... 263
23.0 Instruction Set Summary .......................................................................................................................................................... 271
24.0 Development Support............................................................................................................................................................... 279
25.0 Electrical Characteristics .......................................................................................................................................................... 283
26.0 Packaging Information.............................................................................................................................................................. 323
Appendix A: Differences Between “PS” (Prototype Sample) Devices and Final Production Devices................................................ 329
Appendix B: Revision History............................................................................................................................................................. 330
Index ................................................................................................................................................................................................. 331
The Microchip Web Site ..................................................................................................................................................................... 337
Customer Change Notification Service .............................................................................................................................................. 337
Customer Support .............................................................................................................................................................................. 337
Reader Response .............................................................................................................................................................................. 338
Product Identification System............................................................................................................................................................. 339
DS70287A-page 10
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TO OUR VALUED CUSTOMERS
It is our intention to provide our valued customers with the best documentation possible to ensure successful use of your Microchip
products. To this end, we will continue to improve our publications to better suit your needs. Our publications will be refined and
enhanced as new volumes and updates are introduced.
If you have any questions or comments regarding this publication, please contact the Marketing Communications Department via
E-mail at [email protected] or fax the Reader Response Form in the back of this data sheet to (480) 792-4150. We
welcome your feedback.
Most Current Data Sheet
To obtain the most up-to-date version of this data sheet, please register at our Worldwide Web site at:
http://www.microchip.com
You can determine the version of a data sheet by examining its literature number found on the bottom outside corner of any page.
The last character of the literature number is the version number, (e.g., DS30000A is version A of document DS30000).
Errata
An errata sheet, describing minor operational differences from the data sheet and recommended workarounds, may exist for current
devices. As device/documentation issues become known to us, we will publish an errata sheet. The errata will specify the revision
of silicon and revision of document to which it applies.
To determine if an errata sheet exists for a particular device, please check with one of the following:
• Microchip’s Worldwide Web site; http://www.microchip.com
• Your local Microchip sales office (see last page)
When contacting a sales office, please specify which device, revision of silicon and data sheet (include literature number) you are
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Customer Notification System
Register on our web site at www.microchip.com to receive the most current information on all of our products.
© 2007 Microchip Technology Inc.
DS70287A-page 11
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 12
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
1.0
Note:
DEVICE OVERVIEW
This data sheet summarizes the features
of
this
group
of dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family devices. It is not intended
to be a comprehensive reference source.
To complement the information in this data
sheet, refer to the “dsPIC33F Family Reference Manual”. Refer to the Microchip
web site (www.microchip.com) for the latest dsPIC33F family reference manual
chapters.
This document contains device specific information for
the following devices:
•
•
•
•
•
•
•
•
•
•
•
•
dsPIC33FJ64MC506
dsPIC33FJ64MC508
dsPIC33FJ64MC510
dsPIC33FJ64MC706
dsPIC33FJ64MC710
dsPIC33FJ128MC506
dsPIC33FJ128MC510
dsPIC33FJ128MC706
dsPIC33FJ128MC708
dsPIC33FJ128MC710
dsPIC33FJ256MC510
dsPIC33FJ256MC710
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family includes devices with a wide range of pin counts
(64, 80 and 100), different program memory sizes (64
Kbytes, 128 Kbytes and 256 Kbytes) and different RAM
sizes (8 Kbytes, 16 Kbytes and 30 Kbytes).
© 2007 Microchip Technology Inc.
These features make this family suitable for a wide variety of high-performance digital signal control applications. The devices are pin compatible with the PIC24H
family of devices, and also share a very high degree of
compatibility with the dsPIC30F family devices. This
allows easy migration between device families as may be
necessitated by the specific functionality, computational
resource and system cost requirements of the
application.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family of devices
employ a powerful 16-bit
architecture that seamlessly integrates the control
features of a Microcontroller (MCU) with the
computational capabilities of a Digital Signal Processor
(DSP). The resulting functionality is ideal for
applications that rely on high-speed, repetitive
computations, as well as control.
The DSP engine, dual 40-bit accumulators, hardware
support for division operations, barrel shifter, 17 x 17
multiplier, a large array of 16-bit working registers and
a wide variety of data addressing modes, together,
provide the dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family Central Processing Unit (CPU) with
extensive mathematical processing capability. Flexible
and deterministic interrupt handling, coupled with a
powerful array of peripherals, renders the
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
devices suitable for control applications. Further, Direct
Memory Access (DMA) enables overhead-free transfer
of data between several peripherals and a dedicated
DMA RAM. Reliable, field programmable Flash
program memory ensures scalability of applications
that use dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family devices.
DS70287A-page 13
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 1-1:
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
GENERAL BLOCK DIAGRAM
PSV & Table
Data Access
Control Block
Y Data Bus
X Data Bus
Interrupt
Controller
16
8
PORTA
16
16
16
Data Latch
Data Latch
X RAM
Y RAM
Address
Latch
Address
Latch
DMA
RAM
23
PCU PCH PCL
Program Counter
Loop
Stack
Control
Control
Logic
Logic
23
23
PORTB
DMA
16
Controller
16
PORTC
Address Generator Units
Address Latch
16
Program Memory
EA MUX
Address Bus
Data Latch
24
Instruction Reg
Control Signals
to Various Blocks
Timing
Generation
FRC/LPRC
Oscillators
Precision
Band Gap
Reference
Voltage
Regulator
VDDCORE/VCAP
Note:
16
PORTE
16
DSP Engine
Power-up
Timer
Divide Support
16 x 16
W Register Array
16
Oscillator
Start-up Timer
Power-on
Reset
16
Brown-out
Reset
VDD, VSS
OC/
PWM1-8
PORTF
16-bit ALU
Watchdog
Timer
PWM
IC1-8
Literal Data
16
Instruction
Decode &
Control
OSC2/CLKO
OSC1/CLKI
PORTD
ROM Latch
PORTG
MCLR
QEI
Timers
1-9
ADC1,2
ECAN1,2
CN1-23
SPI1,2
I2C1,2
UART1,2
Not all pins or features are implemented on all device pinout configurations. See pinout diagrams for the specific pins
and features present on each device.
DS70287A-page 14
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 1-1:
PINOUT I/O DESCRIPTIONS
Pin
Type
Buffer
Type
AN0-AN31
I
Analog
Pin Name
Description
Analog input channels.
AVDD
P
P
Positive supply for analog modules.
AVSS
P
P
Ground reference for analog modules.
CLKI
CLKO
I
O
CN0-CN23
I
ST
Input change notification inputs.
Can be software programmed for internal weak pull-ups on all inputs.
C1RX
C1TX
C2RX
C2TX
I
O
I
O
ST
—
ST
—
ECAN1 bus receive pin.
ECAN1 bus transmit pin.
ECAN2 bus receive pin.
ECAN2 bus transmit pin.
PGD1/EMUD1
PGC1/EMUC1
PGD2/EMUD2
PGC2/EMUC2
PGD3/EMUD3
PGC3/EMUC3
I/O
I
I/O
I
I/O
I
ST
ST
ST
ST
ST
ST
Data I/O pin for programming/debugging communication channel 1.
Clock input pin for programming/debugging communication channel 1.
Data I/O pin for programming/debugging communication channel 2.
Clock input pin for programming/debugging communication channel 2.
Data I/O pin for programming/debugging communication channel 3.
Clock input pin for programming/debugging communication channel 3.
IC1-IC8
I
ST
Capture inputs 1 through 8.
INDX
QEA
I
I
ST
ST
QEB
I
ST
UPDN
O
CMOS
Quadrature Encoder Index Pulse input.
Quadrature Encoder Phase A input in QEI mode.
Auxiliary Timer External Clock/Gate input in Timer mode.
Quadrature Encoder Phase A input in QEI mode.
Auxiliary Timer External Clock/Gate input in Timer mode.
Position Up/Down Counter Direction State.
INT0
INT1
INT2
INT3
INT4
I
I
I
I
I
ST
ST
ST
ST
ST
External interrupt 0.
External interrupt 1.
External interrupt 2.
External interrupt 3.
External interrupt 4.
FLTA
FLTB
PWM1L
PWM1H
PWM2L
PWM2H
PWM3L
PWM3H
PWM4L
PWM4H
I
I
O
O
O
O
O
O
O
O
ST
ST
—
—
—
—
—
—
—
—
PWM Fault A input.
PWM Fault B input.
PWM 1 low output.
PWM 1 high output.
PWM 2 low output.
PWM 2 high output.
PWM 3 low output.
PWM 3 high output.
PWM 4 low output.
PWM 4 high output.
ST/CMOS External clock source input. Always associated with OSC1 pin function.
—
Oscillator crystal output. Connects to crystal or resonator in Crystal Oscillator mode.
Optionally functions as CLKO in RC and EC modes. Always associated with OSC2
pin function.
MCLR
I/P
ST
Master Clear (Reset) input. This pin is an active-low Reset to the device.
OCFA
OCFB
OC1-OC8
I
I
O
ST
ST
—
Compare Fault A input (for Compare Channels 1, 2, 3 and 4).
Compare Fault B input (for Compare Channels 5, 6, 7 and 8).
Compare outputs 1 through 8.
OSC1
OSC2
I
I/O
RA0-RA7
RA9-RA10
RA12-RA15
I/O
I/O
I/O
ST
ST
ST
PORTA is a bidirectional I/O port.
RB0-RB15
I/O
ST
PORTB is a bidirectional I/O port.
Legend:
ST/CMOS Oscillator crystal input. ST buffer when configured in RC mode; CMOS otherwise.
—
Oscillator crystal output. Connects to crystal or resonator in Crystal Oscillator mode.
Optionally functions as CLKO in RC and EC modes.
CMOS = CMOS compatible input or output; Analog = Analog input
ST = Schmitt Trigger input with CMOS levels; O = Output; I = Input; P = Power
© 2007 Microchip Technology Inc.
DS70287A-page 15
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 1-1:
PINOUT I/O DESCRIPTIONS (CONTINUED)
Pin
Type
Buffer
Type
RC1-RC4
RC12-RC15
I/O
I/O
ST
ST
PORTC is a bidirectional I/O port.
RD0-RD15
I/O
ST
PORTD is a bidirectional I/O port.
RE0-RE9
I/O
ST
PORTE is a bidirectional I/O port.
RF0-RF8
RF12-RF13
I/O
ST
PORTF is a bidirectional I/O port.
RG0-RG3
RG6-RG9
RG12-RG15
I/O
I/O
I/O
ST
ST
ST
PORTG is a bidirectional I/O port.
SCK1
SDI1
SDO1
SS1
SCK2
SDI2
SDO2
SS2
I/O
I
O
I/O
I/O
I
O
I/O
ST
ST
—
ST
ST
ST
—
ST
Synchronous serial clock input/output for SPI1.
SPI1 data in.
SPI1 data out.
SPI1 slave synchronization or frame pulse I/O.
Synchronous serial clock input/output for SPI2.
SPI2 data in.
SPI2 data out.
SPI2 slave synchronization or frame pulse I/O.
SCL1
SDA1
SCL2
SDA2
I/O
I/O
I/O
I/O
ST
ST
ST
ST
Synchronous serial clock input/output for I2C1.
Synchronous serial data input/output for I2C1.
Synchronous serial clock input/output for I2C2.
Synchronous serial data input/output for I2C2.
SOSCI
SOSCO
I
O
TMS
TCK
TDI
TDO
I
I
I
O
ST
ST
ST
—
JTAG Test mode select pin.
JTAG test clock input pin.
JTAG test data input pin.
JTAG test data output pin.
T1CK
T2CK
T3CK
T4CK
T5CK
T6CK
T7CK
T8CK
T9CK
I
I
I
I
I
I
I
I
I
ST
ST
ST
ST
ST
ST
ST
ST
ST
Timer1 external clock input.
Timer2 external clock input.
Timer3 external clock input.
Timer4 external clock input.
Timer5 external clock input.
Timer6 external clock input.
Timer7 external clock input.
Timer8 external clock input.
Timer9 external clock input.
U1CTS
U1RTS
U1RX
U1TX
U2CTS
U2RTS
U2RX
U2TX
I
O
I
O
I
O
I
O
ST
—
ST
—
ST
—
ST
—
UART1 clear to send.
UART1 ready to send.
UART1 receive.
UART1 transmit.
UART2 clear to send.
UART2 ready to send.
UART2 receive.
UART2 transmit.
Pin Name
Description
ST/CMOS 32.768 kHz low-power oscillator crystal input; CMOS otherwise.
—
32.768 kHz low-power oscillator crystal output.
VDD
P
—
Positive supply for peripheral logic and I/O pins.
VDDCORE
P
—
CPU logic filter capacitor connection.
VSS
P
—
VREF+
I
Analog
Analog voltage reference (high) input.
VREF-
I
Analog
Analog voltage reference (low) input.
Legend:
Ground reference for logic and I/O pins.
CMOS = CMOS compatible input or output; Analog = Analog input
ST = Schmitt Trigger input with CMOS levels; O = Output; I = Input; P = Power
DS70287A-page 16
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
2.0
Note:
CPU
This data sheet summarizes the features
of
this
group
of dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family devices. It is not intended
to be a comprehensive reference source.
To complement the information in this data
sheet, refer to the “dsPIC33F Family
Reference Manual”. Refer to the
Microchip web site (www.microchip.com)
for the latest dsPIC33F family reference
manual chapters.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family CPU module has a 16-bit (data) modified Harvard architecture with an enhanced instruction set,
including significant support for DSP. The CPU has a
24-bit instruction word with a variable length opcode
field. The Program Counter (PC) is 23 bits wide and
addresses up to 4M x 24 bits of user program memory
space. The actual amount of program memory implemented varies by device. A single-cycle instruction
prefetch mechanism is used to help maintain throughput and provides predictable execution. All instructions
execute in a single cycle, with the exception of instructions that change the program flow, the double word
move (MOV.D) instruction and the table instructions.
Overhead-free program loop constructs are supported
using the DO and REPEAT instructions, both of which
are interruptible at any point.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family devices have sixteen 16-bit working registers in
the programmer’s model. Each of the working registers
can serve as a data, address or address offset register.
The 16th working register (W15) operates as a software Stack Pointer (SP) for interrupts and calls.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family instruction set has two classes of instructions:
MCU and DSP. These two instruction classes are
seamlessly integrated into a single CPU. The instruction set includes many addressing modes and is
designed for optimum C compiler efficiency. For most
instructions, the dsPIC33FJXXXMCX06/X08/X10
Motor Control Family is capable of executing a data (or
program data) memory read, a working register (data)
read, a data memory write and a program (instruction)
memory read per instruction cycle. As a result, three
parameter instructions can be supported, allowing A +
B = C operations to be executed in a single cycle.
A block diagram of the CPU is shown in Figure 2-1, and
the
programmer’s
model
for
the
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
is shown in Figure 2-2.
© 2007 Microchip Technology Inc.
2.1
Data Addressing Overview
The data space can be addressed as 32K words or
64 Kbytes and is split into two blocks referred to as X
and Y data memory. Each memory block has its own
independent Address Generation Unit (AGU). The
MCU class of instructions operates solely through the
X memory AGU, which accesses the entire memory
map as one linear data space. Certain DSP instructions
operate through the X and Y AGUs to support dual
operand reads, which splits the data address space
into two parts. The X and Y data space boundary is
device-specific.
Overhead-free circular buffers (Modulo Addressing
mode) are supported in both X and Y address spaces.
The Modulo Addressing removes the software boundary checking overhead for DSP algorithms. Furthermore, the X AGU circular addressing can be used with
any of the MCU class of instructions. The X AGU also
supports Bit-Reversed Addressing to greatly simplify
input or output data reordering for radix-2 FFT algorithms.
The upper 32 Kbytes of the data space memory map
can optionally be mapped into program space at any
16K program word boundary defined by the 8-bit Program Space Visibility Page (PSVPAG) register. The
program to data space mapping feature lets any
instruction access program space as if it were data
space.
The data space also includes 2 Kbytes of DMA RAM,
which is primarily used for DMA data transfers but may
be used as general purpose RAM.
2.2
DSP Engine Overview
The DSP engine features a high-speed, 17-bit by 17-bit
multiplier, a 40-bit ALU, two 40-bit saturating accumulators and a 40-bit bidirectional barrel shifter. The barrel
shifter is capable of shifting a 40-bit value up to 16 bits
right or left in a single cycle. The DSP instructions operate seamlessly with all other instructions and have
been designed for optimal real-time performance. The
MAC instruction and other associated instructions can
concurrently fetch two data operands from memory
while multiplying two W registers and accumulating and
optionally saturating the result in the same cycle. This
instruction functionality requires that the RAM memory
data space be split for these instructions and linear for
all others. Data space partitioning is achieved in a
transparent and flexible manner through dedicating
certain working registers to each address space.
DS70287A-page 17
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
2.3
Special MCU Features
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family supports 16/16 and 32/16 divide operations,
both fractional and integer. All divide instructions are
iterative operations. They must be executed within a
REPEAT loop, resulting in a total execution time of 19
instruction cycles. The divide operation can be
interrupted during any of those 19 cycles without a loss
of data.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family features a 17-bit by 17-bit, single-cycle multiplier that is shared by both the MCU ALU and DSP
engine. The multiplier can perform signed, unsigned
and mixed-sign multiplication. Using a 17-bit by 17-bit
multiplier for 16-bit by 16-bit multiplication not only
allows you to perform mixed-sign multiplication, it also
achieves accurate results for special operations, such
as (-1.0) x (-1.0).
FIGURE 2-1:
A 40-bit barrel shifter is used to perform up to a 16-bit
left or right shift in a single cycle. The barrel shifter can
be used by both MCU and DSP instructions.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY CPU CORE BLOCK
DIAGRAM
PSV & Table
Data Access
Control Block
Y Data Bus
X Data Bus
Interrupt
Controller
8
16
23
23
PCU PCH PCL
Program Counter
Loop
Stack
Control
Control
Logic
Logic
16
16
16
Data Latch
Data Latch
X RAM
Y RAM
Address
Latch
Address
Latch
23
16
DMA
RAM
16
DMA
Controller
Address Generator Units
Address Latch
16
Program Memory
EA MUX
Address Bus
Data Latch
ROM Latch
24
Control Signals
to Various Blocks
Instruction Reg
Literal Data
Instruction
Decode &
Control
16
16
16
DSP Engine
Divide Support
16 x 16
W Register Array
16
16-bit ALU
16
To Peripheral Modules
DS70287A-page 18
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 2-2:
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
PROGRAMMER’S MODEL
D15
D0
W0/WREG
PUSH.S Shadow
W1
DO Shadow
W2
W3
Legend
W4
DSP Operand
Registers
W5
W6
W7
Working Registers
W8
W9
DSP Address
Registers
W10
W11
W12/DSP Offset
W13/DSP Write Back
W14/Frame Pointer
W15/Stack Pointer
Stack Pointer Limit Register
SPLIM
AD39
DSP
Accumulators
AD15
AD31
AD0
AccA
AccB
PC22
PC0
Program Counter
0
0
7
TBLPAG
Data Table Page Address
7
0
PSVPAG
Program Space Visibility Page Address
15
0
RCOUNT
REPEAT Loop Counter
15
0
DCOUNT
DO Loop Counter
22
0
DOSTART
DO Loop Start Address
DOEND
DO Loop End Address
22
15
0
Core Configuration Register
CORCON
OA
OB
SA
SB OAB SAB DA
SRH
© 2007 Microchip Technology Inc.
DC
IPL2 IPL1 IPL0 RA
N
OV
Z
C
STATUS Register
SRL
DS70287A-page 19
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
2.4
CPU Control Registers
REGISTER 2-1:
R-0
OA
SR: CPU STATUS REGISTER
R-0
R/C-0
R/C-0
OB
SA(1)
(1)
SB
R-0
R/C-0
R -0
R/W-0
OAB
SAB
DA
DC
bit 15
bit 8
R/W-0(2)
R/W-0(3)
R/W-0(3)
(2)
IPL<2:0>
R-0
R/W-0
R/W-0
R/W-0
R/W-0
RA
N
OV
Z
C
bit 7
bit 0
Legend:
C = Clear only bit
R = Readable bit
U = Unimplemented bit, read as ‘0’
S = Set only bit
W = Writable bit
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
OA: Accumulator A Overflow Status bit
1 = Accumulator A overflowed
0 = Accumulator A has not overflowed
bit 14
OB: Accumulator B Overflow Status bit
1 = Accumulator B overflowed
0 = Accumulator B has not overflowed
bit 13
SA: Accumulator A Saturation ‘Sticky’ Status bit(1)
1 = Accumulator A is saturated or has been saturated at some time
0 = Accumulator A is not saturated
bit 12
SB: Accumulator B Saturation ‘Sticky’ Status bit(1)
1 = Accumulator B is saturated or has been saturated at some time
0 = Accumulator B is not saturated
bit 11
OAB: OA || OB Combined Accumulator Overflow Status bit
1 = Accumulators A or B have overflowed
0 = Neither Accumulators A or B have overflowed
bit 10
SAB: SA || SB Combined Accumulator ‘Sticky’ Status bit
1 = Accumulators A or B are saturated or have been saturated at some time in the past
0 = Neither Accumulator A or B are saturated
bit 9
DA: DO Loop Active bit
1 = DO loop in progress
0 = DO loop not in progress
bit 8
DC: MCU ALU Half Carry/Borrow bit
1 = A carry-out from the 4th low-order bit (for byte sized data) or 8th low-order bit (for word sized data)
of the result occurred
0 = No carry-out from the 4th low-order bit (for byte sized data) or 8th low-order bit (for word sized
data) of the result occurred
Note:
Note 1:
2:
3:
This bit may be read or cleared (not set). Clearing this bit will clear SA and SB.
This bit may be read or cleared (not set).
The IPL<2:0> bits are concatenated with the IPL<3> bit (CORCON<3>) to form the CPU Interrupt Priority
Level. The value in parentheses indicates the IPL if IPL<3> = 1. User interrupts are disabled when
IPL<3> = 1.
The IPL<2:0> Status bits are read only when NSTDIS = 1 (INTCON1<15>).
DS70287A-page 20
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 2-1:
SR: CPU STATUS REGISTER (CONTINUED)
bit 7-5
IPL<2:0>: CPU Interrupt Priority Level Status bits(2)
111 = CPU Interrupt Priority Level is 7 (15), user interrupts disabled
110 = CPU Interrupt Priority Level is 6 (14)
101 = CPU Interrupt Priority Level is 5 (13)
100 = CPU Interrupt Priority Level is 4 (12)
011 = CPU Interrupt Priority Level is 3 (11)
010 = CPU Interrupt Priority Level is 2 (10)
001 = CPU Interrupt Priority Level is 1 (9)
000 = CPU Interrupt Priority Level is 0 (8)
bit 4
RA: REPEAT Loop Active bit
1 = REPEAT loop in progress
0 = REPEAT loop not in progress
bit 3
N: MCU ALU Negative bit
1 = Result was negative
0 = Result was non-negative (zero or positive)
bit 2
OV: MCU ALU Overflow bit
This bit is used for signed arithmetic (2’s complement). It indicates an overflow of the magnitude that
causes the sign bit to change state.
1 = Overflow occurred for signed arithmetic (in this arithmetic operation)
0 = No overflow occurred
bit 1
Z: MCU ALU Zero bit
1 = An operation which affects the Z bit has set it at some time in the past
0 = The most recent operation which affects the Z bit has cleared it (i.e., a non-zero result)
bit 0
C: MCU ALU Carry/Borrow bit
1 = A carry-out from the Most Significant bit of the result occurred
0 = No carry-out from the Most Significant bit of the result occurred
Note 1:
2:
3:
This bit may be read or cleared (not set).
The IPL<2:0> bits are concatenated with the IPL<3> bit (CORCON<3>) to form the CPU Interrupt Priority
Level. The value in parentheses indicates the IPL if IPL<3> = 1. User interrupts are disabled when
IPL<3> = 1.
The IPL<2:0> Status bits are read only when NSTDIS = 1 (INTCON1<15>).
© 2007 Microchip Technology Inc.
DS70287A-page 21
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 2-2:
CORCON: CORE CONTROL REGISTER
U-0
—
bit 15
U-0
—
R/W-0
SATA
bit 7
R/W-0
SATB
bit 11
bit 10-8
R/W-0
US
R/W-0
EDT(1)
R-0
R-0
DL<2:0>
R-0
bit 8
Legend:
R = Readable bit
0’ = Bit is cleared
bit 15-13
bit 12
U-0
—
R/W-1
SATDW
R/W-0
ACCSAT
C = Clear only bit
W = Writable bit
‘x = Bit is unknown
R/C-0
IPL3(2)
R/W-0
PSV
R/W-0
RND
R/W-0
IF
bit 0
-n = Value at POR
‘1’ = Bit is set
U = Unimplemented bit, read as ‘0’
Unimplemented: Read as ‘0’
US: DSP Multiply Unsigned/Signed Control bit
1 = DSP engine multiplies are unsigned
0 = DSP engine multiplies are signed
EDT: Early DO Loop Termination Control bit(1)
1 = Terminate executing DO loop at end of current loop iteration
0 = No effect
DL<2:0>: DO Loop Nesting Level Status bits
111 = 7 DO loops active
•
•
•
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Note 1:
2:
001 = 1 DO loop active
000 = 0 DO loops active
SATA: AccA Saturation Enable bit
1 = Accumulator A saturation enabled
0 = Accumulator A saturation disabled
SATB: AccB Saturation Enable bit
1 = Accumulator B saturation enabled
0 = Accumulator B saturation disabled
SATDW: Data Space Write from DSP Engine Saturation Enable bit
1 = Data space write saturation enabled
0 = Data space write saturation disabled
ACCSAT: Accumulator Saturation Mode Select bit
1 = 9.31 saturation (super saturation)
0 = 1.31 saturation (normal saturation)
IPL3: CPU Interrupt Priority Level Status bit 3(2)
1 = CPU interrupt priority level is greater than 7
0 = CPU interrupt priority level is 7 or less
PSV: Program Space Visibility in Data Space Enable bit
1 = Program space visible in data space
0 = Program space not visible in data space
RND: Rounding Mode Select bit
1 = Biased (conventional) rounding enabled
0 = Unbiased (convergent) rounding enabled
IF: Integer or Fractional Multiplier Mode Select bit
1 = Integer mode enabled for DSP multiply ops
0 = Fractional mode enabled for DSP multiply ops
This bit will always read as ‘0’.
The IPL3 bit is concatenated with the IPL<2:0> bits (SR<7:5>) to form the CPU interrupt priority level.
DS70287A-page 22
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
2.5
Arithmetic Logic Unit (ALU)
2.6
DSP Engine
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family ALU is 16 bits wide and is capable of addition,
subtraction, bit shifts and logic operations. Unless otherwise mentioned, arithmetic operations are 2’s complement in nature. Depending on the operation, the
ALU may affect the values of the Carry (C), Zero (Z),
Negative (N), Overflow (OV) and Digit Carry (DC) Status bits in the SR register. The C and DC Status bits
operate as Borrow and Digit Borrow bits, respectively,
for subtraction operations.
The DSP engine consists of a high-speed, 17-bit x
17-bit multiplier, a barrel shifter and a 40-bit
adder/subtracter (with two target accumulators, round
and saturation logic).
The ALU can perform 8-bit or 16-bit operations,
depending on the mode of the instruction that is used.
Data for the ALU operation can come from the W register array or data memory, depending on the addressing mode of the instruction. Likewise, output data from
the ALU can be written to the W register array or a data
memory location.
The DSP engine also has the capability to perform
inherent accumulator-to-accumulator operations which
require no additional data. These instructions are ADD,
SUB and NEG.
Refer to the “dsPIC30F/33F Programmer’s Reference
Manual” (DS70157) for information on the SR bits
affected by each instruction.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family CPU incorporates hardware support for both
multiplication and division. This includes a dedicated
hardware multiplier and support hardware for
16-bit-divisor division.
2.5.1
MULTIPLIER
Using the high-speed 17-bit x 17-bit multiplier of the
DSP engine, the ALU supports unsigned, signed or
mixed-sign operation in several MCU multiplication
modes:
1.
2.
3.
4.
5.
6.
7.
16-bit x 16-bit signed
16-bit x 16-bit unsigned
16-bit signed x 5-bit (literal) unsigned
16-bit unsigned x 16-bit unsigned
16-bit unsigned x 5-bit (literal) unsigned
16-bit unsigned x 16-bit signed
8-bit unsigned x 8-bit unsigned
2.5.2
DIVIDER
The divide block supports 32-bit/16-bit and 16-bit/16-bit
signed and unsigned integer divide operations with the
following data sizes:
1.
2.
3.
4.
32-bit signed/16-bit signed divide
32-bit unsigned/16-bit unsigned divide
16-bit signed/16-bit signed divide
16-bit unsigned/16-bit unsigned divide
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family is a single-cycle, instruction flow architecture;
therefore, concurrent operation of the DSP engine with
MCU instruction flow is not possible. However, some
MCU ALU and DSP engine resources may be used
concurrently by the same instruction (e.g., ED, EDAC).
The DSP engine has various options selected through
various bits in the CPU Core Control register
(CORCON), as listed below:
1.
2.
3.
4.
5.
6.
7.
Fractional or integer DSP multiply (IF)
Signed or unsigned DSP multiply (US)
Conventional or convergent rounding (RND)
Automatic saturation on/off for AccA (SATA)
Automatic saturation on/off for AccB (SATB)
Automatic saturation on/off for writes to data
memory (SATDW)
Accumulator Saturation mode selection (ACCSAT)
Table 2-1 provides a summary of DSP instructions. A
block diagram of the DSP engine is shown in
Figure 2-3.
TABLE 2-1:
Instruction
CLR
ED
EDAC
MAC
MAC
MOVSAC
MPY
MPY
MPY.N
MSC
DSP INSTRUCTIONS
SUMMARY
Algebraic
Operation
A=0
A = (x – y)2
A = A + (x – y)2
A = A + (x * y)
A = A + x2
No change in A
A=x*y
A=x2
A=–x*y
A=A–x*y
ACC Write
Back
Yes
No
No
Yes
No
Yes
No
No
No
Yes
The quotient for all divide instructions ends up in W0
and the remainder in W1. 16-bit signed and unsigned
DIV instructions can specify any W register for both the
16-bit divisor (Wn) and any W register (aligned) pair
(W(m + 1):Wm) for the 32-bit dividend. The divide algorithm takes one cycle per bit of divisor, so both
32-bit/16-bit and 16-bit/16-bit instructions take the
same number of cycles to execute.
© 2007 Microchip Technology Inc.
DS70287A-page 23
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 2-3:
DSP ENGINE BLOCK DIAGRAM
40
S
a
40 Round t 16
u
Logic r
a
t
e
40-bit Accumulator A
40-bit Accumulator B
Carry/Borrow Out
Carry/Borrow In
Saturate
Adder
Negate
40
40
40
16
X Data Bus
Barrel
Shifter
40
Y Data Bus
Sign-Extend
32
Zero Backfill
16
32
33
17-bit
Multiplier/Scaler
16
16
To/From W Array
DS70287A-page 24
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
2.6.1
MULTIPLIER
The 17-bit x 17-bit multiplier is capable of signed or
unsigned operation and can multiplex its output using a
scaler to support either 1.31 fractional (Q31) or 32-bit
integer results. Unsigned operands are zero-extended
into the 17th bit of the multiplier input value. Signed
operands are sign-extended into the 17th bit of the
multiplier input value. The output of the 17-bit x 17-bit
multiplier/scaler is a 33-bit value which is
sign-extended to 40 bits. Integer data is inherently represented as a signed two’s complement value, where
the MSb is defined as a sign bit. Generally speaking,
the range of an N-bit two’s complement integer is -2N-1
to 2N-1 – 1. For a 16-bit integer, the data range is
-32768 (0x8000) to 32767 (0x7FFF) including 0. For a
32-bit integer, the data range is -2,147,483,648
(0x8000 0000) to 2,147,483,647 (0x7FFF FFFF).
When the multiplier is configured for fractional multiplication, the data is represented as a two’s complement
fraction, where the MSb is defined as a sign bit and the
radix point is implied to lie just after the sign bit (QX
format). The range of an N-bit two’s complement
fraction with this implied radix point is -1.0 to (1 – 21-N).
For a 16-bit fraction, the Q15 data range is -1.0
(0x8000) to 0.999969482 (0x7FFF) including 0 and has
a precision of 3.01518x10-5. In Fractional mode, the 16
x 16 multiply operation generates a 1.31 product which
has a precision of 4.65661 x 10-10.
The same multiplier is used to support the MCU multiply instructions which include integer 16-bit signed,
unsigned and mixed sign multiplies.
2.6.2.1
The adder/subtracter is a 40-bit adder with an optional
zero input into one side, and either true, or complement
data into the other input. In the case of addition, the
Carry/Borrow input is active-high and the other input is
true data (not complemented), whereas in the case of
subtraction, the Carry/Borrow input is active-low and
the other input is complemented. The adder/subtracter
generates Overflow Status bits, SA/SB and OA/OB,
which are latched and reflected in the STATUS
register:
• Overflow from bit 39: this is a catastrophic
overflow in which the sign of the accumulator is
destroyed.
• Overflow into guard bits 32 through 39: this is a
recoverable overflow. This bit is set whenever all
the guard bits are not identical to each other.
The adder has an additional saturation block which
controls accumulator data saturation, if selected. It
uses the result of the adder, the Overflow Status bits
described above and the SAT<A:B> (CORCON<7:6>)
and ACCSAT (CORCON<4>) mode control bits to
determine when and to what value to saturate.
Six STATUS register bits have been provided to
support saturation and overflow; they are:
1.
2.
The MUL instruction may be directed to use byte or
word sized operands. Byte operands will direct a 16-bit
result, and word operands will direct a 32-bit result to
the specified register(s) in the W array.
3.
2.6.2
4.
DATA ACCUMULATORS AND
ADDER/SUBTRACTER
The data accumulator consists of a 40-bit
adder/subtracter with automatic sign extension logic. It
can select one of two accumulators (A or B) as its
pre-accumulation source and post-accumulation destination. For the ADD and LAC instructions, the data to be
accumulated or loaded can be optionally scaled via the
barrel shifter prior to accumulation.
Adder/Subtracter, Overflow and
Saturation
5.
6.
OA:
AccA overflowed into guard bits
OB:
AccB overflowed into guard bits
SA:
AccA saturated (bit 31 overflow and saturation)
or
AccA overflowed into guard bits and saturated
(bit 39 overflow and saturation)
SB:
AccB saturated (bit 31 overflow and saturation)
or
AccB overflowed into guard bits and saturated
(bit 39 overflow and saturation)
OAB:
Logical OR of OA and OB
SAB:
Logical OR of SA and SB
The OA and OB bits are modified each time data
passes through the adder/subtracter. When set, they
indicate that the most recent operation has overflowed
into the accumulator guard bits (bits 32 through 39).
The OA and OB bits can also optionally generate an
arithmetic warning trap when they and the corresponding Overflow Trap Flag Enable bits (OVATE, OVBTE) in
the INTCON1 register (refer to Section 6.0 “Interrupt
Controller”) are set. This allows the user to take
immediate action, for example, to correct system gain.
© 2007 Microchip Technology Inc.
DS70287A-page 25
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
The SA and SB bits are modified each time data
passes through the adder/subtracter, but can only be
cleared by the user. When set, they indicate that the
accumulator has overflowed its maximum range (bit 31
for 32-bit saturation or bit 39 for 40-bit saturation) and
will be saturated (if saturation is enabled). When
saturation is not enabled, SA and SB default to bit 39
overflow and, thus, indicate that a catastrophic overflow has occurred. If the COVTE bit in the INTCON1
register is set, SA and SB bits will generate an
arithmetic warning trap when saturation is disabled.
The Overflow and Saturation Status bits can optionally
be viewed in the STATUS Register (SR) as the logical
OR of OA and OB (in bit OAB) and the logical OR of SA
and SB (in bit SAB). This allows programmers to check
one bit in the STATUS register to determine if either
accumulator has overflowed or one bit to determine if
either accumulator has saturated. This would be useful
for complex number arithmetic, which typically uses
both the accumulators.
The device supports three Saturation and Overflow
modes:
1.
2.
3.
Bit 39 Overflow and Saturation:
When bit 39 overflow and saturation occurs, the
saturation logic loads the maximally positive 9.31
(0x7FFFFFFFFF) or maximally negative 9.31
value (0x8000000000) into the target accumulator. The SA or SB bit is set and remains set until
cleared by the user. This is referred to as ‘super
saturation’ and provides protection against erroneous data or unexpected algorithm problems
(e.g., gain calculations).
Bit 31 Overflow and Saturation:
When bit 31 overflow and saturation occurs, the
saturation logic then loads the maximally positive 1.31 value (0x007FFFFFFF) or maximally
negative 1.31 value (0x0080000000) into the
target accumulator. The SA or SB bit is set and
remains set until cleared by the user. When this
Saturation mode is in effect, the guard bits are
not used (so the OA, OB or OAB bits are never
set).
Bit 39 Catastrophic Overflow:
The bit 39 Overflow Status bit from the adder is
used to set the SA or SB bit, which remains set
until cleared by the user. No saturation operation
is performed and the accumulator is allowed to
overflow (destroying its sign). If the COVTE bit in
the INTCON1 register is set, a catastrophic
overflow can initiate a trap exception.
DS70287A-page 26
2.6.2.2
Accumulator ‘Write Back’
The MAC class of instructions (with the exception of
MPY, MPY.N, ED and EDAC) can optionally write a
rounded version of the high word (bits 31 through 16)
of the accumulator that is not targeted by the instruction
into data space memory. The write is performed across
the X bus into combined X and Y address space. The
following addressing modes are supported:
1.
2.
W13, Register Direct:
The rounded contents of the non-target
accumulator are written into W13 as a
1.15 fraction.
[W13]+ = 2, Register Indirect with Post-Increment:
The rounded contents of the non-target accumulator are written into the address pointed to by
W13 as a 1.15 fraction. W13 is then
incremented by 2 (for a word write).
2.6.2.3
Round Logic
The round logic is a combinational block which
performs a conventional (biased) or convergent
(unbiased) round function during an accumulator write
(store). The Round mode is determined by the state of
the RND bit in the CORCON register. It generates a
16-bit, 1.15 data value which is passed to the data
space write saturation logic. If rounding is not indicated
by the instruction, a truncated 1.15 data value is stored
and the least significant word is simply discarded.
Conventional rounding zero-extends bit 15 of the accumulator and adds it to the ACCxH word (bits 16 through
31 of the accumulator). If the ACCxL word (bits 0
through 15 of the accumulator) is between 0x8000 and
0xFFFF (0x8000 included), ACCxH is incremented. If
ACCxL is between 0x0000 and 0x7FFF, ACCxH is left
unchanged. A consequence of this algorithm is that
over a succession of random rounding operations, the
value tends to be biased slightly positive.
Convergent (or unbiased) rounding operates in the
same manner as conventional rounding, except when
ACCxL equals 0x8000. In this case, the Least Significant bit (bit 16 of the accumulator) of ACCxH is
examined. If it is ‘1’, ACCxH is incremented. If it is ‘0’,
ACCxH is not modified. Assuming that bit 16 is
effectively random in nature, this scheme removes any
rounding bias that may accumulate.
The SAC and SAC.R instructions store either a
truncated (SAC), or rounded (SAC.R) version of the
contents of the target accumulator to data memory via
the X bus, subject to data saturation (see
Section 2.6.2.4 “Data Space Write Saturation”). For
the MAC class of instructions, the accumulator
write-back operation will function in the same manner,
addressing combined MCU (X and Y) data space
though the X bus. For this class of instructions, the data
is always subject to rounding.
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
2.6.2.4
Data Space Write Saturation
2.6.3
BARREL SHIFTER
In addition to adder/subtracter saturation, writes to data
space can also be saturated – but without affecting the
contents of the source accumulator. The data space
write saturation logic block accepts a 16-bit, 1.15 fractional value from the round logic block as its input,
together with overflow status from the original source
(accumulator) and the 16-bit round adder. These inputs
are combined and used to select the appropriate 1.15
fractional value as output to write to data space
memory.
The barrel shifter is capable of performing up to 16-bit
arithmetic or logic right shifts, or up to 16-bit left shifts
in a single cycle. The source can be either of the two
DSP accumulators or the X bus (to support multi-bit
shifts of register or memory data).
If the SATDW bit in the CORCON register is set, data
(after rounding or truncation) is tested for overflow and
adjusted accordingly. For input data greater than
0x007FFF, data written to memory is forced to the maximum positive 1.15 value, 0x7FFF. For input data less
than 0xFF8000, data written to memory is forced to the
maximum negative 1.15 value, 0x8000. The Most
Significant bit of the source (bit 39) is used to determine
the sign of the operand being tested.
The barrel shifter is 40 bits wide, thereby obtaining a
40-bit result for DSP shift operations and a 16-bit result
for MCU shift operations. Data from the X bus is presented to the barrel shifter between bit positions 16 to
31 for right shifts and between bit positions 0 to 16 for
left shifts.
The shifter requires a signed binary value to determine
both the magnitude (number of bits) and direction of the
shift operation. A positive value shifts the operand right.
A negative value shifts the operand left. A value of ‘0’
does not modify the operand.
If the SATDW bit in the CORCON register is not set, the
input data is always passed through unmodified under
all conditions.
© 2007 Microchip Technology Inc.
DS70287A-page 27
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 28
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
3.0
Note:
MEMORY ORGANIZATION
This data sheet summarizes the features
of
this
group
of dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family devices. It is not intended
to be a comprehensive reference source.
To complement the information in this data
sheet, refer to the “dsPIC33F Family
Reference Manual”. Refer to the
Microchip web site (www.microchip.com)
for the latest dsPIC33F family reference
manual chapters.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family architecture features separate program and
data memory spaces and buses. This architecture also
allows the direct access of program memory from the
data space during code execution.
© 2007 Microchip Technology Inc.
3.1
Program Address Space
The program address memory space of the
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
devices is 4M instructions. The space is addressable
by a 24-bit value derived from either the 23-bit Program
Counter (PC) during program execution, or from table
operation or data space remapping as described in
Section 3.6 “Interfacing Program and Data Memory
Spaces”.
User access to the program memory space is restricted
to the lower half of the address range (0x000000 to
0x7FFFFF). The exception is the use of TBLRD/TBLWT
operations, which use TBLPAG<7> to permit access to
the Configuration bits and Device ID sections of the
configuration memory space. Memory usage for the
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
family of devices is shown in Figure 3-1.
DS70287A-page 29
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 3-1:
PROGRAM MEMORY MAP FOR dsPIC33FJXXXMCX06/X08/X10 MOTOR
CONTROL FAMILY DEVICES
dsPIC33FJ64MCXXX
GOTO Instruction
Reset Address
Interrupt Vector Table
Reserved
Alternate Vector Table
User Memory Space
User Program
Flash Memory
(22K instructions)
dsPIC33FJ128MCXXX
GOTO Instruction
Reset Address
Interrupt Vector Table
Reserved
Alternate Vector Table
dsPIC33FJ256MCXXX
GOTO Instruction
Reset Address
Interrupt Vector Table
Reserved
Alternate Vector Table
User Program
Flash Memory
(44K instructions)
User Program
Flash Memory
(88K instructions)
0x000000
0x000002
0x000004
0x0000FE
0x000100
0x000104
0x0001FE
0x000200
0x00ABFE
0x00AC00
0x0157FE
0x015800
Unimplemented
(Read ‘0’s)
Unimplemented
0x02ABFE
0x02AC00
(Read ‘0’s)
Unimplemented
(Read ‘0’s)
Configuration Memory Space
0x7FFFFE
0x800000
Reserved
Reserved
Reserved
Device Configuration
Registers
Device Configuration
Registers
Device Configuration
Registers
Reserved
Reserved
Reserved
DEVID (2)
DEVID (2)
DEVID (2)
DS70287A-page 30
0xF7FFFE
0xF80000
0xF80017
0xF80010
0xFEFFFE
0xFF0000
0xFFFFFE
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
3.1.1
PROGRAM MEMORY
ORGANIZATION
3.1.2
All dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family devices reserve the addresses between
0x00000 and 0x000200 for hard-coded program execution vectors. A hardware Reset vector is provided to
redirect code execution from the default value of the
PC on device Reset to the actual start of code. A GOTO
instruction is programmed by the user at 0x000000,
with the actual address for the start of code at
0x000002.
The program memory space is organized in
word-addressable blocks. Although it is treated as
24 bits wide, it is more appropriate to think of each
address of the program memory as a lower and upper
word, with the upper byte of the upper word being
unimplemented. The lower word always has an even
address, while the upper word has an odd address
(Figure 3-2).
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
devices also have two interrupt vector tables located
from 0x000004 to 0x0000FF and 0x000100 to
0x0001FF. These vector tables allow each of the many
device interrupt sources to be handled by separate
Interrupt Service Routines (ISRs). A more detailed discussion of the interrupt vector tables is provided in
Section 6.1 “Interrupt Vector Table”.
Program memory addresses are always word-aligned
on the lower word, and addresses are incremented or
decremented by two during code execution. This
arrangement also provides compatibility with data
memory space addressing and makes it possible to
access data in the program memory space.
FIGURE 3-2:
msw
Address
PROGRAM MEMORY ORGANIZATION
least significant word
most significant word
23
0x000001
0x000003
0x000005
0x000007
INTERRUPT AND TRAP VECTORS
16
8
© 2007 Microchip Technology Inc.
0
0x000000
0x000002
0x000004
0x000006
00000000
00000000
00000000
00000000
Program Memory
‘Phantom’ Byte
(read as ‘0’)
PC Address
(lsw Address)
Instruction Width
DS70287A-page 31
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
3.2
Data Address Space
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family CPU has a separate 16-bit wide data memory
space. The data space is accessed using separate
Address Generation Units (AGUs) for read and write
operations. Data memory maps of devices with different RAM sizes are shown in Figure 3-3 through
Figure 3-5.
All Effective Addresses (EAs) in the data memory space
are 16 bits wide and point to bytes within the data space.
This arrangement gives a data space address range of
64 Kbytes or 32K words. The lower half of the data
memory space (that is, when EA<15> = 0) is used for
implemented memory addresses, while the upper half
(EA<15> = 1) is reserved for the Program Space
Visibility area (see Section 3.6.3 “Reading Data From
Program Memory Using Program Space Visibility”).
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
devices implement a total of up to 30 Kbytes of data
memory. Should an EA point to a location outside of
this area, an all-zero word or byte will be returned.
3.2.1
DATA SPACE WIDTH
The data memory space is organized in byte
addressable, 16-bit wide blocks. Data is aligned in data
memory and registers as 16-bit words, but all data
space EAs resolve to bytes. The Least Significant
Bytes of each word have even addresses, while the
Most Significant Bytes have odd addresses.
3.2.2
DATA MEMORY ORGANIZATION
AND ALIGNMENT
To maintain backward compatibility with PIC® microcontrollers and improve data space memory usage
efficiency, the dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family instruction set supports both word and
byte operations. As a consequence of byte accessibility, all effective address calculations are internally
scaled to step through word-aligned memory. For
example, the core recognizes that Post-Modified
Register Indirect Addressing mode [Ws++] will result in
a value of Ws + 1 for byte operations and Ws + 2 for
word operations.
Data byte reads will read the complete word that
contains the byte, using the LSb of any EA to determine
which byte to select. The selected byte is placed onto
the LSb of the data path. That is, data memory and registers are organized as two parallel byte-wide entities
with shared (word) address decode but separate write
lines. Data byte writes only write to the corresponding
side of the array or register which matches the byte
address.
DS70287A-page 32
All word accesses must be aligned to an even address.
Misaligned word data fetches are not supported, so
care must be taken when mixing byte and word
operations or translating from 8-bit MCU code. If a
misaligned read or write is attempted, an address error
trap is generated. If the error occurred on a read, the
instruction underway is completed; if it occurred on a
write, the instruction will be executed but the write does
not occur. In either case, a trap is then executed,
allowing the system and/or user to examine the
machine state prior to execution of the address Fault.
All byte loads into any W register are loaded into the
Least Significant Byte. The Most Significant Byte is not
modified.
A sign-extend instruction (SE) is provided to allow
users to translate 8-bit signed data to 16-bit signed
values. Alternatively, for 16-bit unsigned data, users
can clear the MSb of any W register by executing a
zero-extend (ZE) instruction on the appropriate
address.
3.2.3
SFR SPACE
The first 2 Kbytes of the Near Data Space, from 0x0000
to 0x07FF, is primarily occupied by Special Function
Registers (SFRs). These are used by the
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
core and peripheral modules for controlling the
operation of the device.
SFRs are distributed among the modules that they
control and are generally grouped together by module.
Much of the SFR space contains unused addresses;
these are read as ‘0’.
Note:
3.2.4
The actual set of peripheral features and
interrupts varies by the device. Please
refer to the corresponding device tables
and pinout diagrams for device-specific
information.
NEAR DATA SPACE
The 8-Kbyte area between 0x0000 and 0x1FFF is
referred to as the Near Data Space. Locations in this
space are directly addressable via a 13-bit absolute
address field within all memory direct instructions.
Additionally, the whole data space is addressable using
MOV instructions, which support Memory Direct
Addressing mode with a 16-bit address field, or by
using Indirect Addressing mode using a working
register as an Address Pointer.
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 3-3:
DATA MEMORY MAP FOR dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL
FAMILY DEVICES WITH 8 KB RAM
MSb
Address
MSb
2 Kbyte
SFR Space
LSb
Address
16 bits
LSb
0x0000
0x0001
SFR Space
0x07FE
0x0800
0x07FF
0x0801
8 Kbyte
Near
Data
Space
X Data RAM (X)
8 Kbyte
SRAM Space
0x17FF
0x1801
0x1FFF
0x2001
0x27FF
0x2801
0x17FE
0x1800
Y Data RAM (Y)
0x1FFE
0x2000
DMA RAM
0x8001
0x8000
X Data
Unimplemented (X)
Optionally
Mapped
into Program
Memory
0xFFFF
© 2007 Microchip Technology Inc.
0x27FE
0x2800
0xFFFE
DS70287A-page 33
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 3-4:
DATA MEMORY MAP FOR dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL
FAMILY DEVICES WITH 16 KB RAM
MSb
Address
16 bits
MSb
2 Kbyte
SFR Space
LSb
0x0000
0x0001
SFR Space
0x07FF
0x0801
0x1FFF
16 Kbyte
SRAM Space
LSb
Address
X Data RAM (X)
0x27FF
0x2801
0x3FFF
0x4001
0x47FF
0x4801
0x07FE
0x0800
8 Kbyte
Near
Data
Space
0x1FFE
0x27FE
0x2800
Y Data RAM (Y)
0x3FFE
0x4000
DMA RAM
0x8001
0x47FE
0x4800
0x8000
X Data
Unimplemented (X)
Optionally
Mapped
into Program
Memory
0xFFFF
DS70287A-page 34
0xFFFE
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 3-5:
DATA MEMORY MAP FOR dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL
FAMILY DEVICES WITH 30 KB RAM
MSb
Address
MSb
2 Kbyte
SFR Space
0x0001
LSb
Address
16 bits
LSb
0x0000
SFR Space
0x07FE
0x0800
0x07FF
0x0801
8 Kbyte
Near
Data
Space
X Data RAM (X)
30 Kbyte
SRAM Space
0x47FF
0x4801
0x47FE
0x4800
Y Data RAM (Y)
0x77FF
0x7800
0x7FFF
0x8001
Optionally
Mapped
into Program
Memory
X Data
Unimplemented (X)
0xFFFF
© 2007 Microchip Technology Inc.
DMA RAM
0x77FE
0x7800
0x7FFE
0x8000
0xFFFE
DS70287A-page 35
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
3.2.5
X AND Y DATA SPACES
The core has two data spaces, X and Y. These data
spaces can be considered either separate (for some
DSP instructions) or as one unified linear address
range (for MCU instructions). The data spaces are
accessed using two Address Generation Units (AGUs)
and separate data paths. This feature allows certain
instructions to concurrently fetch two words from RAM,
thereby enabling efficient execution of DSP algorithms
such as Finite Impulse Response (FIR) filtering and
Fast Fourier Transform (FFT).
The X data space is used by all instructions and
supports all addressing modes. There are separate
read and write data buses for X data space. The X read
data bus is the read data path for all instructions that
view data space as combined X and Y address space.
It is also the X data prefetch path for the dual operand
DSP instructions (MAC class).
3.2.6
DMA RAM
Every dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family device contains 2 Kbytes of dual ported DMA
RAM located at the end of Y data space. Memory
locations is part of Y data RAM and is in the DMA RAM
space are accessible simultaneously by the CPU and
the DMA controller module. DMA RAM is utilized by the
DMA controller to store data to be transferred to various
peripherals using DMA, as well as data transferred from
various peripherals using DMA. The DMA RAM can be
accessed by the DMA controller without having to steal
cycles from the CPU.
When the CPU and the DMA controller attempt to
concurrently write to the same DMA RAM location, the
hardware ensures that the CPU is given precedence in
accessing the DMA RAM location. Therefore, the DMA
RAM provides a reliable means of transferring DMA
data without ever having to stall the CPU.
The Y data space is used in concert with the X data
space by the MAC class of instructions (CLR, ED,
EDAC, MAC, MOVSAC, MPY, MPY.N and MSC) to
provide two concurrent data read paths.
Both the X and Y data spaces support Modulo
Addressing mode for all instructions, subject to
addressing mode restrictions. Bit-Reversed Addressing
mode is only supported for writes to X data space.
All data memory writes, including in DSP instructions,
view data space as combined X and Y address space.
The boundary between the X and Y data spaces is
device-dependent and is not user-programmable.
All effective addresses are 16 bits wide and point to
bytes within the data space. Therefore, the data space
address range is 64 Kbytes, or 32K words, though the
implemented memory locations vary by device.
DS70287A-page 36
© 2007 Microchip Technology Inc.
CPU CORE REGISTERS MAP
SFR Name
SFR
Addr
WREG0
0000
Working Register 0
0000
WREG1
0002
Working Register 1
0000
WREG2
0004
Working Register 2
0000
WREG3
0006
Working Register 3
0000
WREG4
0008
Working Register 4
0000
WREG5
000A
Working Register 5
0000
WREG6
000C
Working Register 6
0000
WREG7
000E
Working Register 7
0000
WREG8
0010
Working Register 8
0000
WREG9
0012
Working Register 9
0000
WREG10
0014
Working Register 10
0000
WREG11
0016
Working Register 11
0000
WREG12
0018
Working Register 12
0000
WREG13
001A
Working Register 13
0000
WREG14
001C
Working Register 14
0000
WREG15
001E
Working Register 15
0800
SPLIM
0020
Stack Pointer Limit Register
xxxx
PCL
002E
Program Counter Low Word Register
PCH
0030
—
—
—
—
—
—
—
—
Program Counter High Byte Register
0000
TBLPAG
0032
—
—
—
—
—
—
—
—
Table Page Address Pointer Register
0000
PSVPAG
0034
—
—
—
—
—
—
—
—
Program Memory Visibility Page Address Pointer Register
0000
RCOUNT
0036
Repeat Loop Counter Register
xxxx
DCOUNT
0038
DCOUNT<15:0>
xxxx
DOSTARTL
003A
DOSTARTH
003C
DOENDL
003E
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
—
—
—
—
—
—
—
—
—
0
xxxx
0
xxxx
DOSTARTH<5:0>
00xx
DOENDL<15:1>
DOENDH
0040
—
—
—
—
—
—
—
—
—
—
SR
0042
OA
OB
SA
SB
OAB
SAB
DA
DC
IPL2
IPL1
IPL0
RA
N
OV
Z
C
CORCON
0044
—
—
—
US
EDT
SATA
SATB
SATDW
ACCSAT
IPL3
PSV
RND
IF
MODCON
0046
XMODEN
YMODEN
—
—
DL<2:0>
BWM<3:0>
All
Resets
0000
DOSTARTL<15:1>
—
Bit 0
DOENDH
YWM<3:0>
00xx
XWM<3:0>
0000
0000
0000
DS70287A-page 37
XMODSRT
0048
XS<15:1>
0
xxxx
XMODEND
004A
XE<15:1>
1
xxxx
YMODSRT
004C
YS<15:1>
0
xxxx
YMODEND
004E
YE<15:1>
1
xxxx
XBREV
0050
BREN
DISICNT
0052
—
—
BSRAM
0750
—
—
—
—
—
—
—
—
—
—
—
—
—
IW_BSR
IR_BSR
RL_BSR
0000
SSRAM
0752
—
—
—
—
—
—
—
—
—
—
—
—
—
IW_SSR
IR_SSR
RL_SSR
0000
Legend:
XB<14:0>
xxxx
Disable Interrupts Counter Register
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
xxxx
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
© 2007 Microchip Technology Inc.
TABLE 3-1:
CHANGE NOTIFICATION REGISTER MAP
SFR
Name
SFR
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
CNEN1
0060
CN15IE
CN14IE
CN13IE
CN12IE
CN11IE
CN10IE
CN9IE
CN8IE
CN7IE
CN6IE
CN5IE
CN4IE
CN3IE
CN2IE
CNEN2
0062
—
—
—
—
—
—
—
—
CN23IE
CN22IE
CN21IE
CN20IE
CN19IE
CN18IE
CNPU1
0068
CN8PUE
CN7PUE
CN6PUE
CN5PUE
CN4PUE
CN3PUE
CN2PUE
CN1PUE
CNPU2
006A
Legend:
CN15PUE CN14PUE CN13PUE CN12PUE CN11PUE CN10PUE CN9PUE
—
—
—
—
—
—
—
—
Bit 0
All
Resets
CN1IE
CN0IE
0000
CN17IE
CN16IE
0000
CN0PUE
0000
CN23PUE CN22PUE CN21PUE CN20PUE CN19PUE CN18PUE CN17PUE CN16PUE
0000
Bit 7
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
DS70287A-page 38
TABLE 3-2:
SFR
Name
SFR
Addr
INTERRUPT CONTROLLER REGISTER MAP
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
INTCON1
0080
NSTDIS OVAERR OVBERR COVAERR COVBERR OVATE
INTCON2
0082
ALTIVT
DISI
—
—
—
IFS0
0084
—
DMA1IF
AD1IF
U1TXIF
U1RXIF
IFS1
0086
U2TXIF
U2RXIF
INT2IF
T5IF
T4IF
OC4IF
Bit 5
Bit 4
Bit 3
OSCFAIL
—
0000
INT1EP
INT0EP
0000
OC1IF
IC1IF
INT0IF
0000
—
MI2C1IF
SI2C1IF
0000
0000
OVBTE
COVTE
—
—
—
—
—
INT4EP
INT3EP
INT2EP
T3IF
T2IF
OC2IF
IC2IF
DMA0IF
T1IF
OC3IF
DMA2IF
IC8IF
IC7IF
AD2IF
INT1IF
CNIF
SPI1IF SPI1EIF
Bit 6
All
Resets
Bit 8
—
Bit 7
Bit 0
Bit 9
Bit 2
Bit 1
SFTACERR DIV0ERR DMACERR MATHERR ADDRERR STKERR
IFS2
0088
T6IF
DMA4IF
—
OC8IF
OC7IF
OC6IF
OC5IF
IC6IF
IC5IF
IC4IF
IC3IF
DMA3IF
C1IF
C1RXIF
SPI2IF
SPI2EIF
IFS3
008A
FLTAIF
—
DMA5IF
DCIIF
DCIEIF
QEIIF
PWMIF
C2IF
C2RXIF
INT4IF
INT3IF
T9IF
T8IF
MI2C2IF
SI2C2IF
T7IF
0000
IFS4
008C
—
—
—
—
—
—
—
—
C2TXIF
C1TXIF
DMA7IF
DMA6IF
—
U2EIF
U1EIF
FLTBIF
0000
IEC0
0094
—
DMA1IE
AD1IE
U1TXIE
U1RXIE
IC1IE
INT0IE
IEC1
0096
U2TXIE
U2RXIE
INT2IE
T5IE
T4IE
OC4IE
SPI1IE SPI1EIE
T3IE
T2IE
OC2IE
IC2IE
DMA0IE
T1IE
OC1IE
OC3IE
DMA2IE
IC8IE
IC7IE
AD2IE
INT1IE
CNIE
—
MI2C1IE SI2C1IE
0000
0000
DS70287A-page 39
IEC2
0098
T6IE
DMA4IE
—
OC8IE
OC7IE
OC6IE
OC5IE
IC6IE
IC5IE
IC4IE
IC3IE
DMA3IE
C1IE
C1RXIE
SPI2IE
SPI2EIE
IEC3
009A
FLTAIE
—
DMA5IE
DCIIE
DCIEIE
QEIIE
PWMIE
C2IE
C2RXIE
INT4IE
INT3IE
T9IE
T8IE
MI2C2IE
SI2C2IE
T7IE
0000
IEC4
009C
—
—
—
—
—
—
—
—
C2TXIE
C1TXIE
DMA7IE
DMA6IE
—
U2EIE
U1EIE
FLTBIE
0000
IPC0
00A4
—
T1IP<2:0>
—
OC1IP<2:0>
—
IC1IP<2:0>
—
INT0IP<2:0>
4444
IPC1
00A6
—
T2IP<2:0>
—
OC2IP<2:0>
—
IC2IP<2:0>
—
DMA0IP<2:0>
4444
IPC2
00A8
—
U1RXIP<2:0>
—
SPI1IP<2:0>
—
SPI1EIP<2:0>
—
T3IP<2:0>
4444
IPC3
00AA
—
—
DMA1IP<2:0>
—
AD1IP<2:0>
—
U1TXIP<2:0>
4444
IPC4
00AC
—
CNIP<2:0>
—
—
MI2C1IP<2:0>
—
SI2C1IP<2:0>
4444
IPC5
00AE
—
IC8IP<2:0>
—
IC7IP<2:0>
—
AD2IP<2:0>
—
INT1IP<2:0>
4444
IPC6
00B0
—
T4IP<2:0>
—
OC4IP<2:0>
—
OC3IP<2:0>
—
DMA2IP<2:0>
4444
IPC7
00B2
—
U2TXIP<2:0>
—
U2RXIP<2:0>
—
INT2IP<2:0>
—
T5IP<2:0>
4444
IPC8
00B4
—
C1IP<2:0>
—
C1RXIP<2:0>
—
SPI2IP<2:0>
—
SPI2EIP<2:0>
4444
IPC9
00B6
—
IC5IP<2:0>
—
IC4IP<2:0>
—
IC3IP<2:0>
—
DMA3IP<2:0>
4444
IPC10
00B8
—
OC7IP<2:0>
—
OC6IP<2:0>
—
OC5IP<2:0>
—
IC6IP<2:0>
4444
IPC11
00BA
—
T6IP<2:0>
—
DMA4IP<2:0>
—
—
OC8IP<2:0>
4444
IPC12
00BC
—
T8IP<2:0>
—
MI2C2IP<2:0>
—
SI2C2IP<2:0>
—
T7IP<2:0>
4444
IPC13
00BE
—
—
INT4IP<2:0>
—
INT3IP<2:0>
—
T9IP<2:0>
4444
IPC14
00C0
—
—
QEIIP<2:0>
—
PWMIP<2:0>
—
C2IP<2:0>
IPC15
00C2
—
—
DMA5IP<2:0>
—
IPC16
00C4
—
U2EIP<2:0>
—
U1EIP<2:0>
—
FLTBIP<2:0>
4444
IPC17
00C6
—
C1TXIP<2:0>
—
DMA7IP<2:0>
—
DMA6IP<2:0>
4444
INTTREG
00E0
—
Legend:
—
—
—
C2RXIP<2:0>
—
—
—
FLTAIP<2:0>
—
—
—
—
C2TXIP<2:0>
—
—
—
—
—
—
—
—
—
ILR<3:0>
—
—
—
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
—
—
—
VECNUM<6:0>
—
—
0000
4444
—
4444
0000
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
© 2007 Microchip Technology Inc.
TABLE 3-3:
SFR
Name
SFR
Addr
TIMER REGISTER MAP
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
TMR1
0100
Timer1 Register
PR1
0102
Period Register 1
T1CON
0104
TMR2
0106
TON
—
TSIDL
—
—
—
TMR3HLD 0108
—
—
—
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
xxxx
FFFF
TGATE
TCKPS<1:0>
—
TSYNC
TCS
—
0000
Timer2 Register
xxxx
Timer3 Holding Register (for 32-bit timer operations only)
xxxx
TMR3
010A
Timer3 Register
xxxx
PR2
010C
Period Register 2
FFFF
PR3
010E
Period Register 3
T2CON
0110
TON
—
TSIDL
—
—
—
—
—
—
TGATE
TCKPS<1:0>
T32
—
TCS
—
0000
T3CON
0112
TON
—
TSIDL
—
—
—
—
—
—
TGATE
TCKPS<1:0>
—
—
TCS
—
0000
TMR4
0114
TMR5HLD 0116
FFFF
Timer4 Register
xxxx
Timer5 Holding Register (for 32-bit operations only)
xxxx
TMR5
0118
Timer5 Register
xxxx
PR4
011A
Period Register 4
FFFF
PR5
011C
Period Register 5
T4CON
011E
TON
—
TSIDL
—
—
—
—
—
—
TGATE
TCKPS<1:0>
T32
—
TCS
—
0000
T5CON
0120
TON
—
TSIDL
—
—
—
—
—
—
TGATE
TCKPS<1:0>
—
—
TCS
—
0000
TMR6
0122
TMR7HLD 0124
FFFF
Timer6 Register
xxxx
Timer7 Holding Register (for 32-bit operations only)
xxxx
TMR7
0126
Timer7 Register
xxxx
PR6
0128
Period Register 6
FFFF
PR7
012A
Period Register 7
T6CON
012C
TON
—
TSIDL
—
—
—
—
—
—
TGATE
TCKPS<1:0>
T32
—
TCS
—
0000
T7CON
012E
TON
—
TSIDL
—
—
—
—
—
—
TGATE
TCKPS<1:0>
—
—
TCS
—
0000
TMR8
0130
TMR9HLD 0132
FFFF
© 2007 Microchip Technology Inc.
Timer8 Register
xxxx
Timer9 Holding Register (for 32-bit operations only)
xxxx
TMR9
0134
Timer9 Register
xxxx
PR8
0136
Period Register 8
FFFF
PR9
0138
Period Register 9
T8CON
013A
TON
—
TSIDL
—
—
—
—
—
—
TGATE
TCKPS<1:0>
T32
—
TCS
—
0000
T9CON
013C
TON
—
TSIDL
—
—
—
—
—
—
TGATE
TCKPS<1:0>
—
—
TCS
—
0000
Legend:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
FFFF
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
DS70287A-page 40
TABLE 3-4:
SFR Name
SFR
Addr
IC1BUF
0140
IC1CON
0142
IC2BUF
0144
IC2CON
0146
IC3BUF
0148
IC3CON
014A
IC4BUF
014C
IC4CON
014E
IC5BUF
0150
IC5CON
0152
IC6BUF
0154
IC6CON
0156
IC7BUF
0158
IC7CON
015A
IC8BUF
015C
IC8CON
015E
Legend:
INPUT CAPTURE REGISTER MAP
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
—
—
ICSIDL
—
—
—
—
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
ICI<1:0>
ICOV
ICBNE
ICM<2:0>
ICI<1:0>
ICOV
ICBNE
ICM<2:0>
ICI<1:0>
ICOV
ICBNE
ICM<2:0>
ICI<1:0>
ICOV
ICBNE
ICM<2:0>
ICI<1:0>
ICOV
ICBNE
ICM<2:0>
ICI<1:0>
ICOV
ICBNE
ICM<2:0>
ICI<1:0>
ICOV
ICBNE
ICM<2:0>
ICI<1:0>
ICOV
ICBNE
ICM<2:0>
Input 1 Capture Register
—
ICTMR
—
ICSIDL
—
—
—
—
—
ICTMR
—
ICSIDL
—
—
—
—
—
ICTMR
—
ICSIDL
—
—
—
—
—
ICTMR
—
ICSIDL
—
—
—
—
—
ICTMR
—
ICSIDL
—
—
—
—
—
ICTMR
—
ICSIDL
—
—
—
—
—
ICTMR
—
ICSIDL
—
—
—
—
—
ICTMR
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
0000
xxxx
Input 8 Capture Register
—
0000
xxxx
Input 7 Capture Register
—
0000
xxxx
Input 6 Capture Register
—
0000
xxxx
Input 5 Capture Register
—
0000
xxxx
Input 4 Capture Register
—
0000
xxxx
Input 3 Capture Register
—
All
Resets
xxxx
Input 2 Capture Register
—
Bit 0
0000
xxxx
0000
DS70287A-page 41
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
© 2007 Microchip Technology Inc.
TABLE 3-5:
SFR Name
OUTPUT COMPARE REGISTER MAP
SFR
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
OC1RS
0180
Output Compare 1 Secondary Register
OC1R
0182
Output Compare 1 Register
OC1CON
0184
OC2RS
0186
Output Compare 2 Secondary Register
OC2R
0188
Output Compare 2 Register
OC2CON
018A
OC3RS
018C
Output Compare 3 Secondary Register
OC3R
018E
Output Compare 3 Register
OC3CON
0190
OC4RS
0192
Output Compare 4 Secondary Register
OC4R
0194
Output Compare 4 Register
OC4CON
0196
OC5RS
0198
Output Compare 5 Secondary Register
OC5R
019A
Output Compare 5 Register
OC5CON
019C
OC6RS
019E
Output Compare 6 Secondary Register
OC6R
01A0
Output Compare 6 Register
OC6CON
01A2
OC7RS
01A4
Output Compare 7 Secondary Register
OC7R
01A6
Output Compare 7 Register
OC7CON
01A8
OC8RS
01AA
Output Compare 8 Secondary Register
OC8R
01AC
Output Compare 8 Register
OC8CON
01AE
Legend:
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
OCSIDL
OCSIDL
OCSIDL
OCSIDL
OCSIDL
OCSIDL
OCSIDL
OCSIDL
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
—
—
—
—
—
—
—
—
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
xxxx
xxxx
—
OCFLT
OCTSEL
OCM<2:0>
0000
xxxx
xxxx
—
OCFLT
OCTSEL
OCM<2:0>
0000
xxxx
xxxx
—
OCFLT
OCTSEL
OCM<2:0>
0000
xxxx
xxxx
—
OCFLT
OCTSEL
OCM<2:0>
0000
xxxx
xxxx
—
OCFLT
OCTSEL
OCM<2:0>
0000
xxxx
xxxx
—
OCFLT
OCTSEL
OCM<2:0>
0000
xxxx
xxxx
—
OCFLT
OCTSEL
OCM<2:0>
0000
xxxx
xxxx
—
OCFLT
OCTSEL
OCM<2:0>
0000
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
DS70287A-page 42
TABLE 3-6:
SFR Name Addr.
8-OUTPUT PWM REGISTER MAP
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
—
PTSIDL
—
—
—
—
Bit 8
Bit 7
Bit 6
—
Bit 5
Bit 4
PTOPS<3:0>
Bit 3
Bit 2
PTCKPS<1:0>
Bit 1
Bit 0
PTMOD<1:0>
Reset State
PTCON
01C0
PTEN
PTMR
01C2
PTDIR
PWM Timer Count Value Register
0000 0000 0000 0000
PTPER
01C4
—
PWM Time Base Period Register
0000 0000 0000 0000
SEVTCMP
01C6 SEVTDIR
PWM Special Event Compare Register
PWMCON1 01C8
—
—
—
—
PWMCON2 01CA
—
—
—
—
DTCON1
01CC
DTBPS<1:0>
DTCON2
01CE
—
FLTACON
PMOD3
PMOD2
PMOD1
SEVOPS<3:0>
DTB<5:0>
—
—
—
PEN3H
PEN2H
PEN1H
PEN4L
PEN3L
PEN2L
PEN1L
0000 0000 1111 1111
—
—
—
—
—
IUE
OSYNC
UDIS
0000 0000 0000 0000
DTAPS<1:0>
—
—
DTA<5:0>
0000 0000 0000 0000
DTS4I
DTS3A
DTS3I
DTS2A
DTS2I
DTS1A
DTS1I
0000 0000 0000 0000
01D0 FAOV4H FAOV4L FAOV3H FAOV3L FAOV2H FAOV2L FAOV1H FAOV1L
FLTAM
—
—
—
FAEN4
FAEN3
FAEN2
FAEN1
0000 0000 0000 0000
FLTBCON
01D2 FBOV4H FBOV4L FBOV3H FBOV3L FBOV2H FBOV2L FBOV1H FBOV1L
FLTBM
—
—
—
FBEN4
FBEN3
FBEN2
FBEN1
0000 0000 0000 0000
OVDCON
01D4 POVD4H POVD4L POVD3H POVD3L POVD2H POVD2L POVD1H POVD1L POUT4H POUT4L POUT3H POUT3L POUT2H POUT2L POUT1H POUT1L
1111 1111 0000 0000
PDC1
01D6
PWM Duty Cycle #1 Register
0000 0000 0000 0000
PDC2
01D8
PWM Duty Cycle #2 Register
0000 0000 0000 0000
PDC3
01DA
PWM Duty Cycle #3 Register
0000 0000 0000 0000
PDC4
01DC
PWM Duty Cycle #4 Register
0000 0000 0000 0000
u = uninitialized bit, — = unimplemented, read as ‘0’
—
0000 0000 0000 0000
PEN4H
DTS4A
Legend:
—
PMOD4
0000 0000 0000 0000
DS70287A-page 43
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
© 2007 Microchip Technology Inc.
TABLE 3-7:
SFR
Name
Addr
.
QEI REGISTER MAP
Bit 15
Bit 14
Bit 13
Bit 12 Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
SWPAB
PCDOUT
CEID
QEOUT
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Reset State
QEICON
01E0 CNTERR
—
QEISIDL
INDX
UPDN
DFLTCON
01E2
—
—
—
—
POSCNT
01E4
Position Counter<15:0>
0000 0000 0000 0000
MAXCNT
01E6
Maximum Count<15:0>
1111 1111 1111 1111
Legend:
—
QEIM<2:0>
IMV<1:0>
TQGATE
TQCKPS<1:0>
QECK<2:0>
POSRES TQCS UPDN_SRC
—
—
—
—
0000 0000 0000 0000
0000 0000 0000 0000
u = uninitialized bit, — = unimplemented, read as ‘0’
TABLE 3-9:
I2C1 REGISTER MAP
SFR
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
I2C1RCV
0200
—
—
—
—
—
—
—
—
Receive Register
0000
I2C1TRN
0202
—
—
—
—
—
—
—
—
Transmit Register
00FF
I2C1BRG
0204
—
—
—
—
—
—
—
I2C1CON
0206
I2CEN
—
I2CSIDL
SCLREL
IPMIEN
A10M
DISSLW
SMEN
GCEN
STREN
ACKDT
ACKEN
RCEN
PEN
RSEN
SEN
1000
I2C1STAT
0208
ACKSTAT
TRSTAT
—
—
—
BCL
GCSTAT
ADD10
IWCOL
I2COV
D_A
P
S
R_W
RBF
TBF
0000
I2C1ADD
020A
—
—
—
—
—
—
Address Register
0000
I2C1MSK
020C
—
—
—
—
—
—
Address Mask Register
0000
SFR Name
Legend:
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Baud Rate Generator Register
All
Resets
0000
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
TABLE 3-10:
I2C2 REGISTER MAP
All
Resets
SFR
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
I2C2RCV
0210
—
—
—
—
—
—
—
—
Receive Register
0000
I2C2TRN
0212
—
—
—
—
—
—
—
—
Transmit Register
00FF
I2C2BRG
0214
—
—
—
—
—
—
—
I2C2CON
0216
I2CEN
—
I2CSIDL
SCLREL
IPMIEN
A10M
DISSLW
SMEN
GCEN
STREN
ACKDT
ACKEN
RCEN
PEN
RSEN
SEN
1000
I2C2STAT
0218
ACKSTAT
TRSTAT
—
—
—
BCL
GCSTAT
ADD10
IWCOL
I2COV
D_A
P
S
R_W
RBF
TBF
0000
I2C2ADD
021A
—
—
—
—
—
—
Address Register
0000
I2C2MSK
021C
—
—
—
—
—
—
Address Mask Register
0000
SFR Name
© 2007 Microchip Technology Inc.
Legend:
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Baud Rate Generator Register
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
0000
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
DS70287A-page 44
TABLE 3-8:
UART1 REGISTER MAP
SFR Name
SFR
Addr
U1MODE
0220
UARTEN
U1STA
0222
UTXISEL1
U1TXREG
0224
—
—
U1RXREG
0226
—
—
U1BRG
0228
Legend:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
TABLE 3-12:
SFR
Name
SFR
Addr
Bit 15
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
UEN1
UEN0
WAKE
LPBACK
UTXBF
TRMT
Bit 4
Bit 3
ABAUD
URXINV
BRGH
ADDEN
RIDLE
PERR
Bit 2
Bit 1
STSEL
0000
URXDA
0110
Bit 12
—
USIDL
IREN
RTSMD
—
—
UTXBRK
UTXEN
—
—
—
—
—
UART Transmit Register
xxxx
—
—
—
—
—
UART Receive Register
0000
URXISEL<1:0>
Bit 5
All
Resets
Bit 13
UTXINV UTXISEL0
Bit 11
Bit 0
Bit 14
PDSEL<1:0>
FERR
OERR
Baud Rate Generator Prescaler
0000
UART2 REGISTER MAP
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
WAKE
LPBACK
Bit 5
Bit 4
Bit 3
ABAUD
URXINV
BRGH
ADDEN
RIDLE
PERR
Bit 2
Bit 1
All
Resets
STSEL
0000
URXDA
0110
U2MODE
0230
UARTEN
—
USIDL
IREN
RTSMD
—
UEN1
UEN0
U2STA
0232
UTXISEL1
UTXINV
UTXISEL0
—
UTXBRK
UTXEN
UTXBF
TRMT
U2TXREG
0234
—
—
—
—
—
—
—
UART Transmit Register
xxxx
U2RXREG
0236
—
—
—
—
—
—
—
UART Receive Register
0000
U2BRG
0238
Legend:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
TABLE 3-13:
SFR
Name
URXISEL<1:0>
OERR
0000
SPI1 REGISTER MAP
Bit 15
Bit 14
Bit 13
SPI1STAT
0240
SPIEN
—
SPISIDL
—
—
—
—
SPI1CON1
0242
—
—
—
DISSCK
DISSDO
MODE16
SMP
SPI1CON2
0244
FRMEN
SPIFSD
FRMPOL
—
—
—
—
—
SPI1BUF
0248
Legend:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
—
—
CKE
SSEN
—
Bit 5
Bit 4
SPIROV
—
—
CKP
MSTEN
—
—
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
—
—
SPITBF
SPIRBF
0000
SPRE<2:0>
—
—
PPRE<1:0>
—
FRMDLY
—
SPI1 Transmit and Receive Buffer Register
0000
0000
0000
SPI2 REGISTER MAP
SFR
Addr
Bit 15
Bit 14
Bit 13
SPI2STAT
0260
SPIEN
—
SPISIDL
—
—
—
—
SPI2CON1
0262
—
—
—
DISSCK
DISSDO
MODE16
SMP
SPI2CON2
0264
FRMEN
SPIFSD
FRMPOL
—
—
—
—
—
SPI2BUF
0268
Legend:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
SFR Name
FERR
Baud Rate Generator Prescaler
SFR
Addr
TABLE 3-14:
PDSEL<1:0>
Bit 0
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
DS70287A-page 45
Bit 7
Bit 6
Bit 5
Bit 4
—
—
CKE
SSEN
SPIROV
—
—
CKP
MSTEN
—
—
—
SPI2 Transmit and Receive Buffer Register
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
—
—
SPITBF
SPIRBF
0000
SPRE<2:0>
—
—
PPRE<1:0>
—
FRMDLY
—
0000
0000
0000
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
© 2007 Microchip Technology Inc.
TABLE 3-11:
File Name
Addr
ADC1BUF0
0300
AD1CON1
0320
AD1CON2
0322
AD1CON3
0324
AD1CHS123 0326
AD1CHS0
0328
ADC1 REGISTER MAP
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
ADON
—
ADSIDL
ADDMABM
—
AD12B
FORM<1:0>
—
—
CSCNA
CHPS<1:0>
Bit 7
Bit 6
Bit 5
Bit 3
Bit 2
Bit 1
Bit 0
—
SIMSAM
ASAM
SAMP
DONE
0000
BUFM
ALTS
0000
ADC Data Buffer 0
VCFG<2:0>
ADRC
—
—
—
—
—
CH0NB
—
—
SAMC<4:0>
—
—
CH123NB<1:0>
CH123SB
CH0SB<4:0>
All
Resets
Bit 4
xxxx
SSRC<2:0>
BUFS
—
SMPI<3:0>
—
—
—
—
—
CH0NA
—
—
ADCS<5:0>
—
—
0000
CH123NA<1:0>
CH123SA
CH0SA<4:0>
0000
0000
AD1PCFGH
032A PCFG31 PCFG30 PCFG29
PCFG28
PCFG27 PCFG26 PCFG25
PCFG24
PCFG23
PCFG22
PCFG21
PCFG20
PCFG19 PCFG18 PCFG17
PCFG16
0000
AD1PCFGL
032C PCFG15 PCFG14 PCFG13
PCFG12
PCFG11 PCFG10
PCFG9
PCFG8
PCFG7
PCFG6
PCFG5
PCFG4
PCFG3
PCFG2
PCFG1
PCFG0
0000
AD1CSSH
032E
CSS31
CSS30
CSS29
CSS28
CSS27
CSS26
CSS25
CSS24
CSS23
CSS22
CSS21
CSS20
CSS19
CSS18
CSS17
CSS16
0000
AD1CSSL
0330
CSS15
CSS14
CSS13
CSS12
CSS11
CSS10
CSS9
CSS8
CSS7
CSS6
CSS5
CSS4
CSS3
CSS2
CSS1
CSS0
AD1CON4
0332
—
—
—
—
—
—
—
—
—
—
—
—
—
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
—
SIMSAM
ASAM
SAMP
DONE
0000
BUFM
ALTS
0000
Legend:
Addr
ADC2BUF0
0340
AD2CON1
0360
AD2CON2
0362
AD2CON3
0364
AD2CHS123 0366
ADC2 REGISTER MAP
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
ADON
—
ADSIDL
ADDMABM
—
AD12B
FORM<1:0>
Bit 9
Bit 8
—
—
CSCNA
CHPS<1:0>
—
Bit 7
Bit 6
ADC Data Buffer 0
VCFG<2:0>
ADRC
—
—
—
—
—
—
SAMC<4:0>
CH123NB<1:0>
© 2007 Microchip Technology Inc.
AD2CHS0
0368
CH0NB
—
—
—
Reserved
036A
—
—
—
—
AD2PCFGL
036C PCFG15
PCFG14
PCFG13
PCFG12
Reserved
036E
—
—
—
—
—
—
AD2CSSL
0370
CSS15
CSS14
CSS13
CSS12
CSS11
AD2CON4
0372
—
—
—
—
—
Legend:
0000
0000
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
TABLE 3-16:
File Name
DMABL<2:0>
CH123SB
CH0SB<3:0>
—
—
All
Resets
xxxx
SSRC<2:0>
BUFS
—
SMPI<3:0>
—
—
—
—
—
—
CH0NA
—
—
—
ADCS<5:0>
—
0000
CH123NA<1:0>
CH123SA
0000
0000
CH0SA<3:0>
0000
—
—
—
—
—
—
—
—
—
—
PCFG9
PCFG8
PCFG7
PCFG6
PCFG5
PCFG4
PCFG3
PCFG2
PCFG1
PCFG0
0000
—
—
—
—
—
—
—
—
—
—
0000
CSS10
CSS9
CSS8
CSS7
CSS6
CSS5
CSS4
CSS3
CSS2
CSS1
CSS0
0000
—
—
—
—
—
—
—
—
PCFG11 PCFG10
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
DMABL<2:0>
0000
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
DS70287A-page 46
TABLE 3-15:
File Name Addr
DMA REGISTER MAP
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
DMA0CON 0380
CHEN
SIZE
DIR
HALF
NULLW
—
—
—
—
—
DMA0REQ 0382
FORCE
—
—
—
—
—
—
—
—
Bit 5
Bit 4
AMODE<1:0>
Bit 3
Bit 2
—
—
Bit 1
Bit 0
MODE<1:0>
IRQSEL<6:0>
All
Resets
0000
0000
DMA0STA
0384
STA<15:0>
0000
DMA0STB
0386
STB<15:0>
0000
DMA0PAD
0388
PAD<15:0>
DMA0CNT
038A
—
—
—
—
—
—
DMA1CON 038C
CHEN
SIZE
DIR
HALF
NULLW
—
—
—
—
DMA1REQ 038E
FORCE
—
—
—
—
—
—
—
—
0000
CNT<9:0>
—
AMODE<1:0>
0000
—
—
MODE<1:0>
IRQSEL<6:0>
0000
0000
DMA1STA
0390
STA<15:0>
0000
DMA1STB
0392
STB<15:0>
0000
DMA1PAD
0394
PAD<15:0>
DMA1CNT
0396
—
—
—
—
—
—
DMA2CON 0398
CHEN
SIZE
DIR
HALF
NULLW
—
—
—
—
DMA2REQ 039A
FORCE
—
—
—
—
—
—
—
—
0000
CNT<9:0>
—
AMODE<1:0>
0000
—
—
MODE<1:0>
IRQSEL<6:0>
0000
0000
DMA2STA
039C
STA<15:0>
0000
DMA2STB
039E
STB<15:0>
0000
DMA2PAD
03A0
PAD<15:0>
DMA2CNT
03A2
—
—
—
—
—
—
DMA3CON 03A4
CHEN
SIZE
DIR
HALF
NULLW
—
—
—
—
DMA3REQ 03A6
FORCE
—
—
—
—
—
—
—
—
0000
CNT<9:0>
—
AMODE<1:0>
0000
—
—
MODE<1:0>
IRQSEL<6:0>
0000
0000
DMA3STA
03A8
STA<15:0>
0000
DMA3STB
03AA
STB<15:0>
0000
DMA3PAD 03AC
PAD<15:0>
DMA3CNT 03AE
—
—
—
—
—
—
DMA4CON 03B0
CHEN
SIZE
DIR
HALF
NULLW
—
—
—
—
DMA4REQ 03B2
FORCE
—
—
—
—
—
—
—
—
0000
CNT<9:0>
—
AMODE<1:0>
0000
—
—
MODE<1:0>
IRQSEL<6:0>
0000
0000
DMA4STA
03B4
STA<15:0>
0000
DMA4STB
03B6
STB<15:0>
0000
DMA4PAD
03B8
PAD<15:0>
DS70287A-page 47
DMA4CNT 03BA
—
—
—
—
—
—
DMA5CON 03BC
CHEN
SIZE
DIR
HALF
NULLW
—
—
—
—
DMA5REQ 03BE
FORCE
—
—
—
—
—
—
—
—
0000
CNT<9:0>
—
AMODE<1:0>
0000
—
IRQSEL<6:0>
—
MODE<1:0>
0000
0000
DMA5STA
03C0
STA<15:0>
0000
DMA5STB
03C2
STB<15:0>
0000
Legend:
— = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
© 2007 Microchip Technology Inc.
TABLE 3-17:
File Name Addr
DMA REGISTER MAP (CONTINUED)
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
DMA5CNT 03C6
—
—
—
—
—
—
DMA6CON 03C8
CHEN
SIZE
DIR
HALF
NULLW
—
—
—
—
—
—
—
—
—
—
—
—
DMA5PAD
Bit 9
Bit 8
03C4
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
PAD<15:0>
DMA6REQ 03CA FORCE
All
Resets
0000
CNT<9:0>
—
AMODE<1:0>
0000
—
—
MODE<1:0>
IRQSEL<6:0>
0000
0000
DMA6STA
03CC
STA<15:0>
0000
DMA6STB
03CE
STB<15:0>
0000
DMA6PAD
03D0
PAD<15:0>
DMA6CNT 03D2
—
—
—
—
—
—
DMA7CON 03D4
CHEN
SIZE
DIR
HALF
NULLW
—
—
—
—
DMA7REQ 03D6
FORCE
—
—
—
—
—
—
—
—
0000
CNT<9:0>
—
AMODE<1:0>
0000
—
—
MODE<1:0>
IRQSEL<6:0>
0000
0000
DMA7STA
03D8
STA<15:0>
0000
DMA7STB
03DA
STB<15:0>
0000
DMA7PAD 03DC
PAD<15:0>
DMA7CNT 03DE
—
—
—
—
—
CNT<9:0>
DMACS0
03E0 PWCOL7 PWCOL6 PWCOL5 PWCOL4 PWCOL3 PWCOL2 PWCOL1 PWCOL0
DMACS1
03E2
DSADR
03E4
Legend:
—
—
—
—
0000
—
LSTCH<3:0>
— = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
XWCOL7
PPST7
DSADR<15:0>
XWCOL6 XWCOL5
PPST6
PPST5
0000
XWCOL4
XWCOL3
XWCOL2
PPST4
PPST3
PPST2
XWCOL1 XWCOL0
PPST1
PPST0
0000
0000
0000
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
DS70287A-page 48
TABLE 3-17:
File Name
ECAN1 REGISTER MAP WHEN C1CTRL1.WIN = 0 OR 1
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
C1CTRL1
0400
—
—
CSIDL
ABAT
CANCKS
C1CTRL2
0402
—
—
—
—
—
C1VEC
0404
—
—
—
C1FCTRL
0406
C1FIFO
0408
—
—
Bit 9
Bit 8
Bit 7
—
—
REQOP<2:0>
—
—
—
—
—
—
C1INTF
040A
—
—
TXBO
TXBP
RXBP
TXWAR
040C
—
—
—
—
—
—
C1EC
040E
C1CFG1
0410
—
—
—
—
Bit 3
—
CANCAP
—
—
RXWAR EWARN
—
—
Bit 2
Bit 1
Bit 0
All
Resets
—
—
WIN
0480
DNCNT<4:0>
0000
ICODE<6:0>
—
—
—
—
—
0000
0000
FSA<4:0>
FNRB<5:0>
0000
IVRIF
WAKIF
ERRIF
—
FIFOIF
RBOVIF
RBIF
TBIF
0000
IVRIE
WAKIE
ERRIE
—
FIFOIE
RBOVIE
RBIE
TBIE
0000
TERRCNT<7:0>
—
Bit 4
—
FBP<5:0>
C1INTE
Bit 5
OPMODE<2:0>
FILHIT<4:0>
DMABS<2:0>
Bit 6
RERRCNT<7:0>
—
—
—
—
SJW<1:0>
0000
BRP<5:0>
0000
C1CFG2
0412
—
WAKFIL
—
—
—
C1FEN1
0414
FLTEN15
FLTEN14
FLTEN13
FLTEN12
FLTEN11
C1FMSKSEL1
0418
F7MSK<1:0>
F6MSK<1:0>
F5MSK<1:0>
F4MSK<1:0>
F3MSK<1:0>
F2MSK<1:0>
F1MSK<1:0>
F0MSK<1:0>
0000
C1FMSKSEL2
041A
F15MSK<1:0>
F14MSK<1:0>
F13MSK<1:0>
F12MSK<1:0>
F11MSK<1:0>
F10MSK<1:0>
F9MSK<1:0>
F8MSK<1:0>
0000
Legend:
FLTEN9 FLTEN8
SEG2PHTS
SAM
FLTEN7
FLTEN6
SEG1PH<2:0>
FLTEN5
FLTEN4
PRSEG<2:0>
FLTEN3
FLTEN2
FLTEN1
0000
FLTEN0
0000
— = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
TABLE 3-19:
File Name
SEG2PH<2:0>
FLTEN10
Addr
ECAN1 REGISTER MAP WHEN C1CTRL1.WIN = 0
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
0400041E
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
RXFUL5
RXFUL4
RXFUL3
RXFUL2
RXFUL1
See definition when WIN = x
C1RXFUL1
0420 RXFUL15 RXFUL14 RXFUL13 RXFUL12 RXFUL11 RXFUL10 RXFUL9
RXFUL0
0000
C1RXFUL2
0422 RXFUL31 RXFUL30 RXFUL29 RXFUL28 RXFUL27 RXFUL26 RXFUL25 RXFUL24 RXFUL23 RXFUL22 RXFUL21 RXFUL20 RXFUL19 RXFUL18 RXFUL17 RXFUL16
RXFUL8
0000
C1RXOVF1
0428 RXOVF15 RXOVF14 RXOVF13 RXOVF12 RXOVF11 RXOVF10 RXOVF9
RXOVF0
0000
C1RXOVF2
042A RXOVF31 RXOVF30 RXOVF29 RXOVF28 RXOVF27 RXOVF26 RXOVF25 RXOVF24 RXOVF23 RXOVF22 RXOVF21 RXOVF20 RXOVF19 RXOVF18 RXOVF17 RXOVF16
0000
RXOVF8
RXFUL7
RXOVF7
RXFUL6
RXOVF6
RXOVF5
RXOVF4
RXOVF3
RXOVF2
RXOVF1
C1TR01CON 0430
TXEN1
TXABT1
TXLARB1
TXERR1
TXREQ1
RTREN1
TX1PRI<1:0>
TXEN0
TXABAT0 TXLARB0
TXERR0
TXREQ0
RTREN0
TX0PRI<1:0>
0000
C1TR23CON 0432
TXEN3
TXABT3
TXLARB3
TXERR3
TXREQ3
RTREN3
TX3PRI<1:0>
TXEN2
TXABAT2 TXLARB2
TXERR2
TXREQ2
RTREN2
TX2PRI<1:0>
0000
C1TR45CON 0434
TXEN5
TXABT5
TXLARB5
TXERR5
TXREQ5
RTREN5
TX5PRI<1:0>
TXEN4
TXABAT4 TXLARB4
TXERR4
TXREQ4
RTREN4
TX4PRI<1:0>
0000
C1TR67CON 0436
TXEN7
TXABT7
TXLARB7
TXERR7
TXREQ7
RTREN7
TX7PRI<1:0>
TXEN6
TXABAT6 TXLARB6
TXERR6
TXREQ6
RTREN6
TX6PRI<1:0>
C1RXD
C1TXD
DS70287A-page 49
Legend:
xxxx
0440
Received Data Word
xxxx
0442
Transmit Data Word
xxxx
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
© 2007 Microchip Technology Inc.
TABLE 3-18:
File Name
ECAN1 REGISTER MAP WHEN C1CTRL1.WIN = 1
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
0400041E
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
See definition when WIN = x
© 2007 Microchip Technology Inc.
C1BUFPNT1
0420
F3BP<3:0>
F2BP<3:0>
F1BP<3:0>
F0BP<3:0>
0000
C1BUFPNT2
0422
F7BP<3:0>
F6BP<3:0>
F5BP<3:0>
F4BP<3:0>
0000
C1BUFPNT3
0424
F11BP<3:0>
F10BP<3:0>
F9BP<3:0>
F8BP<3:0>
0000
C1BUFPNT4
0426
F15BP<3:0>
F14BP<3:0>
F13BP<3:0>
F12BP<3:0>
0000
C1RXM0SID
0430
SID<10:3>
—
EID<17:16>
xxxx
C1RXM0EID
0432
EID<15:8>
C1RXM1SID
0434
SID<10:3>
—
EID<17:16>
C1RXM1EID
0436
EID<15:8>
C1RXM2SID
0438
SID<10:3>
—
EID<17:16>
C1RXM2EID
043A
EID<15:8>
C1RXF0SID
0440
SID<10:3>
—
EID<17:16>
C1RXF0EID
0442
EID<15:8>
C1RXF1SID
0444
SID<10:3>
—
EID<17:16>
C1RXF1EID
0446
EID<15:8>
C1RXF2SID
0448
SID<10:3>
—
EID<17:16>
C1RXF2EID
044A
EID<15:8>
C1RXF3SID
044C
SID<10:3>
—
EID<17:16>
C1RXF3EID
044E
EID<15:8>
C1RXF4SID
0450
SID<10:3>
—
EID<17:16>
C1RXF4EID
0452
EID<15:8>
C1RXF5SID
0454
SID<10:3>
—
EID<17:16>
C1RXF5EID
0456
EID<15:8>
C1RXF6SID
0458
SID<10:3>
—
EID<17:16>
C1RXF6EID
045A
EID<15:8>
C1RXF7SID
045C
SID<10:3>
—
EID<17:16>
C1RXF7EID
045E
EID<15:8>
C1RXF8SID
0460
SID<10:3>
—
EID<17:16>
C1RXF8EID
0462
EID<15:8>
C1RXF9SID
0464
SID<10:3>
—
EID<17:16>
C1RXF9EID
0466
EID<15:8>
C1RXF10SID
0468
SID<10:3>
—
EID<17:16>
C1RXF10EID
046A
EID<15:8>
Legend:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
SID<2:0>
—
MIDE
EID<7:0>
SID<2:0>
—
MIDE
xxxx
EID<7:0>
SID<2:0>
—
MIDE
xxxx
EID<7:0>
SID<2:0>
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
EID<7:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
xxxx
xxxx
xxxx
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
DS70287A-page 50
TABLE 3-20:
File Name
ECAN1 REGISTER MAP WHEN C1CTRL1.WIN = 1 (CONTINUED)
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
C1RXF11SID
046C
SID<10:3>
C1RXF11EID
046E
EID<15:8>
C1RXF12SID
0470
SID<10:3>
C1RXF12EID
0472
EID<15:8>
C1RXF13SID
0474
SID<10:3>
C1RXF13EID
0476
EID<15:8>
C1RXF14SID
0478
SID<10:3>
C1RXF14EID
047A
EID<15:8>
C1RXF15SID
047C
SID<10:3>
C1RXF15EID
047E
EID<15:8>
Legend:
Bit 10
Bit 9
Bit 8
Bit 7
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
Bit 6
SID<2:0>
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
—
EXIDE
—
EID<17:16>
—
EID<17:16>
—
EID<17:16>
—
EID<17:16>
—
EID<17:16>
EID<7:0>
SID<2:0>
—
EXIDE
—
EXIDE
—
EXIDE
—
EXIDE
EID<7:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
All
Resets
xxxx
xxxx
xxxx
xxxx
DS70287A-page 51
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
© 2007 Microchip Technology Inc.
TABLE 3-20:
File Name
ECAN2 REGISTER MAP WHEN C2CTRL1.WIN = 0 OR 1
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
C2CTRL1
0500
—
—
CSIDL
ABAT
CANCKS
C2CTRL2
0502
—
—
—
—
—
C2VEC
0504
—
—
—
C2FCTRL
0506
Bit 9
Bit 8
Bit 7
—
—
REQOP<2:0>
—
—
—
—
—
C2FIFO
0508
—
—
050A
—
—
TXBO
TXBP
RXBP
TXWAR
C2INTE
050C
—
—
—
—
—
—
C2EC
050E
—
Bit 4
Bit 3
—
CANCAP
—
—
RXWAR EWARN
—
—
Bit 1
Bit 0
All
Resets
—
—
WIN
0480
0000
ICODE<6:0>
—
FBP<5:0>
Bit 2
DNCNT<4:0>
—
—
C2INTF
Bit 5
OPMODE<2:0>
FILHIT<4:0>
DMABS<2:0>
Bit 6
—
—
0000
0000
FSA<4:0>
—
—
IVRIF
WAKIF
ERRIF
—
FIFOIF
FNRB<5:0>
RBOVIF
RBIF
TBIF
IVRIE
WAKIE
ERRIE
—
FIFOIE
RBOVIE
RBIE
TBIE
TERRCNT<7:0>
0000
RERRCNT<7:0>
0000
0000
0000
C2CFG1
0510
—
—
—
—
—
C2CFG2
0512
—
WAKFIL
—
—
—
SEG2PH<2:0>
SEG2PHTS
C2FEN1
0514
FLTEN15
FLTEN14
FLTEN13
FLTEN12
FLTEN11
FLTEN10 FLTEN9 FLTEN8
FLTEN7
C2FMSKSEL1
0518
F7MSK<1:0>
F6MSK<1:0>
F5MSK<1:0>
F4MSK<1:0>
F3MSK<1:0>
F2MSK<1:0>
F1MSK<1:0>
F0MSK<1:0>
0000
C2FMSKSEL2
051A
F15MSK<1:0>
F14MSK<1:0>
F13MSK<1:0>
F12MSK<1:0>
F11MSK<1:0>
F10MSK<1:0>
F9MSK<1:0>
F8MSK<1:0>
0000
Legend:
—
—
SJW<1:0>
BRP<5:0>
SAM
SEG1PH<2:0>
0000
PRSEG<2:0>
FLTEN6 FLTEN5 FLTEN4 FLTEN3
FLTEN2 FLTEN1
0000
FLTEN0
0000
— = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
TABLE 3-22:
File Name
—
Addr
ECAN2 REGISTER MAP WHEN C2CTRL1.WIN = 0
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
0500051E
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
RXFUL5
RXFUL4
RXFUL3
RXFUL2
RXFUL1
See definition when WIN = x
C2RXFUL1
0520 RXFUL15 RXFUL14 RXFUL13 RXFUL12 RXFUL11 RXFUL10
RXFUL0
0000
C2RXFUL2
0522 RXFUL31 RXFUL30 RXFUL29 RXFUL28 RXFUL27 RXFUL26 RXFUL25 RXFUL24 RXFUL23 RXFUL22 RXFUL21 RXFUL20 RXFUL19 RXFUL18 RXFUL17 RXFUL16
RXFUL9
RXFUL8
RXFUL7
RXFUL6
0000
C2RXOVF1
0528 RXOVF15 RXOVF14 RXOVF13 RXOVF12 RXOVF11 RXOVF10 RXOVF09 RXOVF08 RXOVF7
0000
C2RXOVF2
052A RXOVF31 RXOVF30 RXOVF29 RXOVF28 RXOVF27 RXOVF26 RXOVF25 RXOVF24 RXOVF23 RXOVF22 RXOVF21 RXOVF20 RXOVF19 RXOVF18 RXOVF17 RXOVF16
RXOVF6
RXOVF5
RXOVF4
RXOVF3
RXOVF2
RXOVF1
RXOVF0
0000
© 2007 Microchip Technology Inc.
C2TR01CON 0530
TXEN1
TX
ABAT1
TX
LARB1
TX
ERR1
TX
REQ1
RTREN1
TX1PRI<1:0>
TXEN0
TX
ABAT0
TX
LARB0
TX
ERR0
TX
REQ0
RTREN0
TX0PRI<1:0>
0000
C2TR23CON 0532
TXEN3
TX
ABAT3
TX
LARB3
TX
ERR3
TX
REQ3
RTREN3
TX3PRI<1:0>
TXEN2
TX
ABAT2
TX
LARB2
TX
ERR2
TX
REQ2
RTREN2
TX2PRI<1:0>
0000
C2TR45CON 0534
TXEN5
TX
ABAT5
TX
LARB5
TX
ERR5
TX
REQ5
RTREN5
TX5PRI<1:0>
TXEN4
TX
ABAT4
TX
LARB4
TX
ERR4
TX
REQ4
RTREN4
TX4PRI<1:0>
0000
C2TR67CON 0536
TXEN7
TX
ABAT7
TX
LARB7
TX
ERR7
TX
REQ7
RTREN7
TX7PRI<1:0>
TXEN6
TX
ABAT6
TX
LARB6
TX
ERR6
TX
REQ6
RTREN6
TX6PRI<1:0>
xxxx
C2RXD
0540
Recieved Data Word
xxxx
C2TXD
0542
Transmit Data Word
xxxx
Legend:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
DS70287A-page 52
TABLE 3-21:
File Name
Addr
ECAN2 REGISTER MAP WHEN C2CTRL1.WIN = 1
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
0500051E
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
See definition when WIN = x
C2BUFPNT1
0520
F3BP<3:0>
F2BP<3:0>
F1BP<3:0>
F0BP<3:0>
0000
C2BUFPNT2
0522
F7BP<3:0>
F6BP<3:0>
F5BP<3:0>
F4BP<3:0>
0000
C2BUFPNT3
0524
F11BP<3:0>
F10BP<3:0>
F9BP<3:0>
F8BP<3:0>
0000
C2BUFPNT4
0526
F15BP<3:0>
F14BP<3:0>
F13BP<3:0>
F12BP<3:0>
0000
C2RXM0SID
0530
SID<10:3>
C2RXM0EID
0532
EID<15:8>
C2RXM1SID
0534
SID<10:3>
C2RXM1EID
0536
EID<15:8>
C2RXM2SID
0538
SID<10:3>
C2RXM2EID
053A
EID<15:8>
C2RXF0SID
0540
SID<10:3>
C2RXF0EID
0542
EID<15:8>
C2RXF1SID
0544
SID<10:3>
C2RXF1EID
0546
EID<15:8>
C2RXF2SID
0548
SID<10:3>
C2RXF2EID
054A
EID<15:8>
C2RXF3SID
054C
SID<10:3>
C2RXF3EID
054E
EID<15:8>
C2RXF4SID
0550
SID<10:3>
C2RXF4EID
0552
EID<15:8>
C2RXF5SID
0554
SID<10:3>
C2RXF5EID
0556
EID<15:8>
C2RXF6SID
0558
SID<10:3>
C2RXF6EID
055A
EID<15:8>
C2RXF7SID
055C
SID<10:3
C2RXF7EID
055E
EID<15:8>
C2RXF8SID
0560
SID<10:3
C2RXF8EID
0562
EID<15:8>
DS70287A-page 53
C2RXF9SID
0564
SID<10:3
C2RXF9EID
0566
EID<15:8>
C2RXF10SID
0568
SID<10:3
C2RXF10EID 056A
EID<15:8>
Legend:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
SID<2:0>
—
MIDE
—
EID<17:16>
EID<7:0>
SID<2:0>
—
MIDE
—
EID<17:16>
EID<7:0>
SID<2:0>
—
MIDE
—
EXIDE
—
EID<17:16>
—
EXIDE
—
EID<17:16>
—
EXIDE
—
EID<17:16>
—
EXIDE
—
EID<17:16>
—
EXIDE
—
EID<17:16>
—
EXIDE
—
EID<17:16>
—
EXIDE
—
EID<17:16>
—
EXIDE
—
EID<17:16>
—
EXIDE
—
EID<17:16>
—
EXIDE
—
EID<17:16>
—
EXIDE
EID<7:0>
xxxx
xxxx
—
EID<17:16>
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
xxxx
xxxx
—
EID<17:16>
xxxx
xxxx
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
© 2007 Microchip Technology Inc.
TABLE 3-23:
ECAN2 REGISTER MAP WHEN C2CTRL1.WIN = 1 (CONTINUED)
File Name
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
C2RXF11SID
056C
SID<10:3
C2RXF11EID
056E
EID<15:8>
C2RXF12SID
0570
SID<10:3
C2RXF12EID
0572
EID<15:8>
C2RXF13SID
0574
SID<10:3
C2RXF13EID
0576
EID<15:8>
C2RXF14SID
0578
SID<10:3
C2RXF14EID 057A
EID<15:8>
C2RXF15SID 057C
SID<10:3
C2RXF15EID 057E
EID<15:8>
Legend:
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
SID<2:0>
Bit 4
Bit 3
Bit 2
—
EXIDE
—
Bit 1
Bit 0
EID<17:16>
EID<7:0>
SID<2:0>
—
EXIDE
—
EXIDE
—
EID<17:16>
—
SID<2:0>
—
EXIDE
—
EID<17:16>
xxxx
xxxx
—
EID<17:16>
—
EID<17:16>
xxxx
xxxx
EID<7:0>
EXIDE
xxxx
xxxx
EID<7:0>
SID<2:0>
xxxx
xxxx
EID<7:0>
SID<2:0>
All
Resets
EID<7:0>
xxxx
xxxx
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
TABLE 3-24:
File Name
Bit 10
PORTA REGISTER MAP(1)
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
TRISA9
—
TRISA7
TRISA6
TRISA5
TRISA4
TRISA3
TRISA2
TRISA1
TRISA0
D6C0
RA9
—
RA7
RA6
RA5
RA4
RA3
RA2
RA1
RA0
xxxx
LATA10
LATA9
—
LATA7
LATA6
LATA5
LATA4
LATA3
LATA2
LATA1
LATA0
xxxx
—
—
—
—
—
ODCA5
ODCA4
ODCA3
ODCA2
ODCA1
ODCA0
xxxx
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
TRISA
02C0
TRISA15
TRISA14
TRISA13
TRISA12
—
TRISA10
PORTA
02C2
RA15
RA14
RA13
RA12
—
RA10
LATA
02C4
LATA15
LATA14
LATA13
LATA12
—
ODCA(2)
06C0
ODCA15
ODCA14
ODCA13
ODCA12
—
Legend:
Note 1:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal for PinHigh devices.
The actual set of I/O port pins varies from one device to another. Please refer to the corresponding pinout diagrams.
TABLE 3-25:
PORTB REGISTER MAP(1)
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
TRISB
02C6
TRISB15
TRISB14
TRISB13
TRISB12
TRISB11
TRISB10
TRISB9
TRISB8
TRISB7
TRISB6
TRISB5
TRISB4
TRISB3
TRISB2
TRISB1
TRISB0
FFFF
PORTB
02C8
RB15
RB14
RB13
RB12
RB11
RB10
RB9
RB8
RB7
RB6
RB5
RB4
RB3
RB2
RB1
RB0
xxxx
LATB
02CA
LATB15
LATB14
LATB13
LATB12
LATB11
LATB10
LATB9
LATB8
LATB7
LATB6
LATB5
LATB4
LATB3
LATB2
LATB1
LATB0
xxxx
Legend:
Note 1:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal for PinHigh devices.
The actual set of I/O port pins varies from one device to another. Please refer to the corresponding pinout diagrams.
File Name
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
DS70287A-page 54
TABLE 3-23:
PORTC REGISTER MAP(1)
Bit 14
Bit 13
Bit 12
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
—
—
—
—
—
—
—
TRISC4
TRISC3
TRISC2
TRISC1
—
F01E
—
—
—
—
—
—
—
RC4
RC3
RC2
RC1
—
xxxx
—
—
—
—
—
—
—
LATC4
LATC3
LATC2
LATC1
—
xxxx
Addr
TRISC
02CC
PORTC
02CE
RC15
RC14
RC13
RC12
LATC
02D0
LATC15
LATC14
LATC13
LATC12
Legend:
Note 1:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal for PinHigh devices.
The actual set of I/O port pins varies from one device to another. Please refer to the corresponding pinout diagrams.
TABLE 3-27:
Bit 15
Bit 11
File Name
TRISC15 TRISC14 TRISC13 TRISC12
PORTD REGISTER MAP(1)
File Name
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
TRISD
02D2
TRISD15
TRISD14
TRISD13
TRISD12
TRISD11
TRISD10
TRISD9
TRISD8
TRISD7
TRISD6
TRISD5
TRISD4
TRISD3
TRISD2
TRISD1
TRISD0
FFFF
PORTD
02D4
RD15
RD14
RD13
RD12
RD11
RD10
RD9
RD8
RD7
RD6
RD5
RD4
RD3
RD2
RD1
RD0
xxxx
LATD
02D6
LATD15
LATD14
LATD13
LATD12
LATD11
LATD10
LATD9
LATD8
LATD7
LATD6
LATD5
LATD4
LATD3
LATD2
LATD1
LATD0
xxxx
ODCD
06D2
ODCD15
ODCD14
ODCD13
ODCD12
ODCD11
ODCD10
ODCD9
ODCD8
ODCD7
ODCD6
ODCD5
ODCD4
ODCD3
ODCD2
ODCD1
ODCD0
xxxx
Legend:
Note 1:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal for PinHigh devices.
The actual set of I/O port pins varies from one device to another. Please refer to the corresponding pinout diagrams.
TABLE 3-28:
PORTE REGISTER MAP(1)
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
TRISE
02D8
—
—
—
—
—
—
TRISE9
TRISE8
TRISE7
TRISE6
TRISE5
TRISE4
TRISE3
TRISE2
TRISE1
TRISE0
03FF
PORTE
02DA
—
—
—
—
—
—
RE9
RE8
RE7
RE6
RE5
RE4
RE3
RE2
RE1
RE0
xxxx
LATE
02DC
—
—
—
—
—
—
LATE9
LATE8
LATE7
LATE6
LATE5
LATE4
LATE3
LATE2
LATE1
LATE0
xxxx
Legend:
Note 1:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal for PinHigh devices.
The actual set of I/O port pins varies from one device to another. Please refer to the corresponding pinout diagrams.
File Name
TABLE 3-29:
PORTF REGISTER MAP(1)
DS70287A-page 55
File Name
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
All Resets
TRISF
02DE
—
—
TRISF13
TRISF12
—
—
—
TRISF8
TRISF7
TRISF6
TRISF5
TRISF4
TRISF3
TRISF2
TRISF1
TRISF0
31FF
PORTF
02E0
—
—
RF13
RF12
—
—
—
RF8
RF7
RF6
RF5
RF4
RF3
RF2
RF1
RF0
xxxx
LATF
02E2
—
—
LATF13
LATF12
—
—
—
LATF8
LATF7
LATF6
LATF5
LATF4
LATF3
LATF2
LATF1
LATF0
xxxx
ODCF
06DE
—
—
ODCF13
ODCF12
—
—
—
ODCF8
ODCF7
ODCF6
ODCF5
ODCF4
ODCF3
ODCF2
ODCF1
ODCF0
xxxx
Legend:
Note 1:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal for PinHigh devices.
The actual set of I/O port pins varies from one device to another. Please refer to the corresponding pinout diagrams.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
© 2007 Microchip Technology Inc.
TABLE 3-26:
PORTG REGISTER MAP(1)
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
TRISG
02E4
TRISG15
TRISG14
TRISG13
TRISG12
—
—
TRISG9
TRISG8
TRISG7
TRISG6
—
—
TRISG3
TRISG2
TRISG1
TRISG0
F3CF
PORTG
02E6
RG15
RG14
RG13
RG12
—
—
RG9
RG8
RG7
RG6
—
—
RG3
RG2
RG1
RG0
xxxx
LATG
02E8
LATG15
LATG14
LATG13
LATG12
—
—
LATG9
LATG8
LATG7
LATG6
—
—
LATG3
LATG2
LATG1
LATG0
xxxx
ODCG
06E4
ODCG15
ODCG14
ODCG13
ODCG12
—
—
ODCG9
ODCG8
ODCG7
ODCG6
—
—
ODCG3
ODCG2
ODCG1
ODCG0
xxxx
Legend:
Note 1:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal for PinHigh devices.
The actual set of I/O port pins varies from one device to another. Please refer to the corresponding pinout diagrams.
File Name
TABLE 3-31:
SYSTEM CONTROL REGISTER MAP
File Name
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
All
Resets
RCON
0740
TRAPR
IOPUWR
—
—
—
—
—
VREGS
EXTR
SWR
SWDTEN
WDTO
SLEEP
IDLE
BOR
POR
xxxx(1)
OSCCON
0742
—
CLKLOCK
—
LOCK
—
CF
—
LPOSCEN
OSWEN
0300(2)
COSC<2:0>
—
CLKDIV
0744
ROI
PLLFBD
0746
—
—
—
—
—
—
—
OSCTUN
0748
—
—
—
—
—
—
—
Legend:
Note 1:
2:
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
RCON register Reset values dependent on type of Reset.
OSCCON register Reset values dependent on the FOSC Configuration bits and type of Reset.
TABLE 3-32:
DOZE<2:0>
NOSC<2:0>
DOZEN
FRCDIV<2:0>
PLLPOST<1:0>
—
PLLPRE<4::0>
—
—
TUN<5:0>
0000
NVM REGISTER MAP
Addr
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
Bit 4
NVMCON
0760
WR
WREN
WRERR
—
—
—
—
—
—
ERASE
—
—
0766
—
—
—
—
—
—
—
—
Legend:
Note 1:
0030
—
File Name
NVMKEY
0040
PLLDIV<8:0>
Bit 3
NVMKEY<7:0>
x = unknown value on Reset, — = unimplemented, read as ‘0’. Reset values are shown in hexadecimal.
Reset value shown is for POR only. Value on other Reset states is dependent on the state of memory write or erase operations at the time of Reset.
Bit 2
Bit 1
NVMOP<3:0>
Bit 0
All
Resets
0000(1)
0000
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
DS70287A-page 56
TABLE 3-30:
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
3.2.7
SOFTWARE STACK
3.2.8
In addition to its use as a working register, the W15
register in the dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family devices is also used as a software Stack
Pointer. The Stack Pointer always points to the first
available free word and grows from lower to higher
addresses. It pre-decrements for stack pops and
post-increments for stack pushes, as shown in
Figure 3-6. For a PC push during any CALL instruction,
the MSb of the PC is zero-extended before the push,
ensuring that the MSb is always clear.
Note:
A PC push during exception processing
concatenates the SRL register to the MSb
of the PC prior to the push.
The Stack Pointer Limit register (SPLIM) associated
with the Stack Pointer sets an upper address boundary
for the stack. SPLIM is uninitialized at Reset. As is the
case for the Stack Pointer, SPLIM<0> is forced to ‘0’
because all stack operations must be word-aligned.
Whenever an EA is generated using W15 as a source
or destination pointer, the resulting address is
compared with the value in SPLIM. If the contents of
the Stack Pointer (W15) and the SPLIM register are
equal and a push operation is performed, a stack error
trap will not occur. The stack error trap will occur on a
subsequent push operation. Thus, for example, if it is
desirable to cause a stack error trap when the stack
grows beyond address 0x2000 in RAM, initialize the
SPLIM with the value 0x1FFE.
Similarly, a Stack Pointer underflow (stack error) trap is
generated when the Stack Pointer address is found to
be less than 0x0800. This prevents the stack from
interfering with the Special Function Register (SFR)
space.
A write to the SPLIM register should not be immediately
followed by an indirect read operation using W15.
FIGURE 3-6:
Stack Grows Towards
Higher Address
0x0000
CALL STACK FRAME
15
0
PC<15:0>
000000000 PC<22:16>
<Free Word>
W15 (before CALL)
W15 (after CALL)
POP : [--W15]
PUSH : [W15++]
© 2007 Microchip Technology Inc.
DATA RAM PROTECTION FEATURE
The dsPIC33F product family supports Data RAM
protection features which enable segments of RAM to
be protected when used in conjunction with Boot and
Secure Code Segment Security. BSRAM (Secure RAM
segment for BS) is accessible only from the Boot
Segment Flash code when enabled. SSRAM (Secure
RAM segment for RAM) is accessible only from the
Secure Segment Flash code when enabled. See
Table 3-1 for an overview of the BSRAM and SSRAM
SFRs.
3.3
Instruction Addressing Modes
The addressing modes in Table 3-33 form the basis of
the addressing modes optimized to support the specific
features of individual instructions. The addressing
modes provided in the MAC class of instructions are
somewhat different from those in the other instruction
types.
3.3.1
FILE REGISTER INSTRUCTIONS
Most file register instructions use a 13-bit address field
(f) to directly address data present in the first 8192
bytes of data memory (Near Data Space). Most file
register instructions employ a working register, W0,
which is denoted as WREG in these instructions. The
destination is typically either the same file register or
WREG (with the exception of the MUL instruction),
which writes the result to a register or register pair. The
MOV instruction allows additional flexibility and can
access the entire data space.
3.3.2
MCU INSTRUCTIONS
The 3-operand MCU instructions are of the following
form:
Operand 3 = Operand 1 <function> Operand 2
where Operand 1 is always a working register (i.e., the
addressing mode can only be register direct) which is
referred to as Wb. Operand 2 can be a W register
fetched from data memory or a 5-bit literal. The result
location can be either a W register or a data memory
location. The following addressing modes are
supported by MCU instructions:
•
•
•
•
•
Register Direct
Register Indirect
Register Indirect Post-Modified
Register Indirect Pre-Modified
5-bit or 10-bit Literal
Note:
Not all instructions support all the
addressing modes given above. Individual
instructions may support different subsets
of these addressing modes.
DS70287A-page 57
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 3-33:
FUNDAMENTAL ADDRESSING MODES SUPPORTED
Addressing Mode
Description
File Register Direct
The address of the file register is specified explicitly.
Register Direct
The contents of a register are accessed directly.
Register Indirect
The contents of Wn forms the EA.
Register Indirect Post-Modified
The contents of Wn forms the EA. Wn is post-modified (incremented or
decremented) by a constant value.
Register Indirect Pre-Modified
Wn is pre-modified (incremented or decremented) by a signed constant value
to form the EA.
Register Indirect with Register Offset The sum of Wn and Wb forms the EA.
Register Indirect with Literal Offset
3.3.3
The sum of Wn and a literal forms the EA.
MOVE AND ACCUMULATOR
INSTRUCTIONS
Move instructions and the DSP accumulator class of
instructions provide a greater degree of addressing
flexibility than other instructions. In addition to the
Addressing modes supported by most MCU
instructions, move and accumulator instructions also
support Register Indirect with Register Offset
Addressing mode, also referred to as Register Indexed
mode.
Note:
For the MOV instructions, the Addressing
mode specified in the instruction can differ
for the source and destination EA.
However, the 4-bit Wb (Register Offset)
field is shared between both source and
destination (but typically only used by
one).
In summary, the following Addressing modes are
supported by move and accumulator instructions:
•
•
•
•
•
•
•
•
Register Direct
Register Indirect
Register Indirect Post-modified
Register Indirect Pre-modified
Register Indirect with Register Offset (Indexed)
Register Indirect with Literal Offset
8-bit Literal
16-bit Literal
Note:
3.3.4
Not all instructions support all the
Addressing modes given above. Individual
instructions may support different subsets
of these Addressing modes.
MAC INSTRUCTIONS
The dual source operand DSP instructions (CLR, ED,
EDAC, MAC, MPY, MPY.N, MOVSAC and MSC), also referred
to as MAC instructions, utilize a simplified set of
addressing modes to allow the user to effectively
manipulate the data pointers through register indirect
tables.
DS70287A-page 58
The 2-source operand prefetch registers must be
members of the set {W8, W9, W10, W11}. For data
reads, W8 and W9 are always directed to the X RAGU
and W10 and W11 will always be directed to the Y
AGU. The effective addresses generated (before and
after modification) must, therefore, be valid addresses
within X data space for W8 and W9 and Y data space
for W10 and W11.
Note:
Register Indirect with Register Offset
Addressing mode is only available for W9
(in X space) and W11 (in Y space).
In summary, the following addressing modes are
supported by the MAC class of instructions:
•
•
•
•
•
Register Indirect
Register Indirect Post-Modified by 2
Register Indirect Post-Modified by 4
Register Indirect Post-Modified by 6
Register Indirect with Register Offset (Indexed)
3.3.5
OTHER INSTRUCTIONS
Besides the various addressing modes outlined above,
some instructions use literal constants of various sizes.
For example, BRA (branch) instructions use 16-bit signed
literals to specify the branch destination directly, whereas
the DISI instruction uses a 14-bit unsigned literal field. In
some instructions, such as ADD Acc, the source of an
operand or result is implied by the opcode itself. Certain
operations, such as NOP, do not have any operands.
3.4
Modulo Addressing
Modulo Addressing mode is a method of providing an
automated means to support circular data buffers using
hardware. The objective is to remove the need for
software to perform data address boundary checks
when executing tightly looped code, as is typical in
many DSP algorithms.
Modulo Addressing can operate in either data or program
space (since the data pointer mechanism is essentially
the same for both). One circular buffer can be supported
in each of the X (which also provides the pointers into
program space) and Y data spaces. Modulo Addressing
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
can operate on any W register pointer. However, it is not
advisable to use W14 or W15 for Modulo Addressing,
since these two registers are used as the Stack Frame
Pointer and Stack Pointer, respectively.
In general, any particular circular buffer can only be
configured to operate in one direction, as there are
certain restrictions on the buffer start address (for incrementing buffers) or end address (for decrementing
buffers), based upon the direction of the buffer.
The only exception to the usage restrictions is for
buffers which have a power-of-2 length. As these
buffers satisfy the start and end address criteria, they
may operate in a bidirectional mode (i.e., address
boundary checks will be performed on both the lower
and upper address boundaries).
3.4.1
START AND END ADDRESS
The Modulo Addressing scheme requires that a starting
and ending address be specified and loaded into the
16-bit Modulo Buffer Address registers: XMODSRT,
XMODEND, YMODSRT and YMODEND (see
Table 3-1).
Note:
Y space Modulo Addressing EA calculations assume word sized data (LSb of
every EA is always clear).
FIGURE 3-7:
The length of a circular buffer is not directly specified. It
is determined by the difference between the
corresponding start and end addresses. The maximum
possible length of the circular buffer is 32K words
(64 Kbytes).
3.4.2
W ADDRESS REGISTER
SELECTION
The Modulo and Bit-Reversed Addressing Control
register, MODCON<15:0>, contains enable flags as well
as a W register field to specify the W Address registers.
The XWM and YWM fields select which registers will
operate with Modulo Addressing. If XWM = 15, X RAGU
and X WAGU Modulo Addressing is disabled. Similarly, if
YWM = 15, Y AGU Modulo Addressing is disabled.
The X Address Space Pointer W register (XWM) to
which Modulo Addressing is to be applied is stored in
MODCON<3:0> (see Table 3-1). Modulo Addressing is
enabled for X data space when XWM is set to any value
other than ‘15’ and the XMODEN bit is set at
MODCON<15>.
The Y Address Space Pointer W register (YWM) to
which Modulo Addressing is to be applied is stored in
MODCON<7:4>. Modulo Addressing is enabled for Y
data space when YWM is set to any value other than
‘15’ and the YMODEN bit is set at MODCON<14>.
MODULO ADDRESSING OPERATION EXAMPLE
Byte
Address
0x1100
MOV
MOV
MOV
MOV
MOV
MOV
#0x1100, W0
W0, XMODSRT
#0x1163, W0
W0, MODEND
#0x8001, W0
W0, MODCON
MOV
#0x0000, W0
;W0 holds buffer fill value
MOV
#0x1110, W1
;point W1 to buffer
DO
AGAIN, #0x31
MOV
W0, [W1++]
AGAIN: INC W0, W0
;set modulo start address
;set modulo end address
;enable W1, X AGU for modulo
;fill the 50 buffer locations
;fill the next location
;increment the fill value
0x1163
Start Addr = 0x1100
End Addr = 0x1163
Length = 0x0032 words
© 2007 Microchip Technology Inc.
DS70287A-page 59
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
3.4.3
MODULO ADDRESSING
APPLICABILITY
Modulo Addressing can be applied to the Effective
Address (EA) calculation associated with any W
register. It is important to realize that the address
boundaries check for addresses less than or greater
than the upper (for incrementing buffers) and lower (for
decrementing buffers) boundary addresses (not just
equal to). Address changes may, therefore, jump
beyond boundaries and still be adjusted correctly.
Note:
3.5
The modulo corrected effective address is
written back to the register only when
Pre-Modify or Post-Modify Addressing
mode is used to compute the effective
address. When an address offset (e.g.,
[W7+W2]) is used, Modulo Address correction is performed but the contents of
the register remain unchanged.
Bit-Reversed Addressing
Bit-Reversed Addressing mode is intended to simplify
data reordering for radix-2 FFT algorithms. It is
supported by the X AGU for data writes only.
The modifier, which may be a constant value or register
contents, is regarded as having its bit order reversed. The
address source and destination are kept in normal order.
Thus, the only operand requiring reversal is the modifier.
3.5.1
BIT-REVERSED ADDRESSING
IMPLEMENTATION
Bit-Reversed Addressing mode is enabled when the
following conditions exist:
1.
2.
3.
The BWM bits (W register selection) in the
MODCON register are any value other than ‘15’
(the stack cannot be accessed using
Bit-Reversed Addressing).
The BREN bit is set in the XBREV register.
The addressing mode used is Register Indirect
with Pre-Increment or Post-Increment.
DS70287A-page 60
If the length of a bit-reversed buffer is M = 2N bytes,
the last ‘N’ bits of the data buffer start address must
be zeros.
XB<14:0> is the Bit-Reversed Address modifier, or
‘pivot point,’ which is typically a constant. In the case of
an FFT computation, its value is equal to half of the FFT
data buffer size.
Note:
All bit-reversed EA calculations assume
word sized data (LSb of every EA is
always clear). The XB value is scaled
accordingly to generate compatible (byte)
addresses.
When enabled, Bit-Reversed Addressing is only executed for Register Indirect with Pre-Increment or
Post-Increment Addressing and word sized data writes.
It will not function for any other addressing mode or for
byte sized data; normal addresses are generated
instead. When Bit-Reversed Addressing is active, the
W Address Pointer is always added to the address
modifier (XB) and the offset associated with the Register Indirect Addressing mode is ignored. In addition, as
word sized data is a requirement, the LSb of the EA is
ignored (and always clear).
Note:
Modulo Addressing and Bit-Reversed
Addressing should not be enabled
together. In the event that the user attempts
to do so, Bit-Reversed Addressing will
assume priority for the X WAGU, and X
WAGU Modulo Addressing will be disabled. However, Modulo Addressing will
continue to function in the X RAGU.
If Bit-Reversed Addressing has already been enabled
by setting the BREN (XBREV<15>) bit, then a write to
the XBREV register should not be immediately followed
by an indirect read operation using the W register that
has been designated as the bit-reversed pointer.
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 3-8:
BIT-REVERSED ADDRESS EXAMPLE
Sequential Address
b15 b14 b13 b12 b11 b10 b9 b8
b7 b6 b5 b4
b3 b2
b1
0
Bit Locations Swapped Left-to-Right
Around Center of Binary Value
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b1 b2 b3 b4
0
Bit-Reversed Address
Pivot Point
XB = 0x0008 for a 16-Word Bit-Reversed Buffer
TABLE 3-34:
BIT-REVERSED ADDRESS SEQUENCE (16-ENTRY)
Normal Address
Bit-Reversed Address
A3
A2
A1
A0
Decimal
A3
A2
A1
A0
Decimal
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
1
0
0
0
8
0
0
1
0
2
0
1
0
0
4
0
0
1
1
3
1
1
0
0
12
0
1
0
0
4
0
0
1
0
2
0
1
0
1
5
1
0
1
0
10
0
1
1
0
6
0
1
1
0
6
0
1
1
1
7
1
1
1
0
14
1
0
0
0
8
0
0
0
1
1
1
0
0
1
9
1
0
0
1
9
1
0
1
0
10
0
1
0
1
5
1
0
1
1
11
1
1
0
1
13
1
1
0
0
12
0
0
1
1
3
1
1
0
1
13
1
0
1
1
11
1
1
1
0
14
0
1
1
1
7
1
1
1
1
15
1
1
1
1
15
© 2007 Microchip Technology Inc.
DS70287A-page 61
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
3.6
Interfacing Program and Data
Memory Spaces
3.6.1
Since the address ranges for the data and program
spaces are 16 and 24 bits, respectively, a method is
needed to create a 23-bit or 24-bit program address
from 16-bit data registers. The solution depends on the
interface method to be used.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family architecture uses a 24-bit wide program space
and a 16-bit wide data space. The architecture is also
a modified Harvard scheme, meaning that data can
also be present in the program space. To use this data
successfully, it must be accessed in a way that preserves the alignment of information in both spaces.
For table operations, the 8-bit Table Page register
(TBLPAG) is used to define a 32K word region within
the program space. This is concatenated with a 16-bit
EA to arrive at a full 24-bit program space address. In
this format, the Most Significant bit of TBLPAG is used
to determine if the operation occurs in the user memory
(TBLPAG<7> = 0) or the configuration memory
(TBLPAG<7> = 1).
Aside
from
normal
execution,
the
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
architecture provides two methods by which program
space can be accessed during operation:
• Using table instructions to access individual bytes
or words anywhere in the program space
• Remapping a portion of the program space into
the data space (Program Space Visibility)
For remapping operations, the 8-bit Program Space
Visibility register (PSVPAG) is used to define a
16K word page in the program space. When the Most
Significant bit of the EA is ‘1’, PSVPAG is concatenated
with the lower 15 bits of the EA to form a 23-bit program
space address. Unlike table operations, this limits
remapping operations strictly to the user memory area.
Table instructions allow an application to read or write
to small areas of the program memory. This capability
makes the method ideal for accessing data tables that
need to be updated from time to time. It also allows
access to all bytes of the program word. The
remapping method allows an application to access a
large block of data on a read-only basis, which is ideal
for look ups from a large table of static data. It can only
access the least significant word of the program word.
TABLE 3-35:
Table 3-35 and Figure 3-9 show how the program EA is
created for table operations and remapping accesses
from the data EA. Here, P<23:0> refers to a program
space word, whereas D<15:0> refers to a data space
word.
PROGRAM SPACE ADDRESS CONSTRUCTION
Access
Space
Access Type
Instruction Access
(Code Execution)
User
TBLRD/TBLWT
(Byte/Word Read/Write)
User
Program Space Address
<23>
Program Space Visibility
(Block Remap/Read)
<22:16>
0xx
xxxx
xxxx
TBLPAG<7:0>
0xxx xxxx
User
<15>
<14:1>
PC<22:1>
0
Configuration
Note 1:
ADDRESSING PROGRAM SPACE
<0>
0
xxxx
xxxx xxx0
Data EA<15:0>
xxxx xxxx xxxx xxxx
TBLPAG<7:0>
Data EA<15:0>
1xxx xxxx
xxxx xxxx xxxx xxxx
0
PSVPAG<7:0>
0
xxxx xxxx
Data EA<14:0>(1)
xxx xxxx xxxx xxxx
Data EA<15> is always ‘1’ in this case, but is not used in calculating the program space address. Bit 15 of
the address is PSVPAG<0>.
DS70287A-page 62
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 3-9:
DATA ACCESS FROM PROGRAM SPACE ADDRESS GENERATION
Program Counter(1)
Program Counter
0
0
23 bits
EA
Table Operations(2)
1/0
1/0
TBLPAG
8 bits
16 bits
24 bits
Select
Program Space Visibility(1)
(Remapping)
0
1
EA
0
PSVPAG
8 bits
15 bits
23 bits
User/Configuration
Space Select
Byte Select
Note 1: The LSb of program space addresses is always fixed as ‘0’ in order to maintain word
alignment of data in the program and data spaces.
2: Table operations are not required to be word-aligned. Table read operations are permitted
in the configuration memory space.
© 2007 Microchip Technology Inc.
DS70287A-page 63
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
3.6.2
DATA ACCESS FROM PROGRAM
MEMORY USING TABLE
INSTRUCTIONS
2.
The TBLRDL and TBLWTL instructions offer a direct
method of reading or writing the lower word of any
address within the program space without going
through data space. The TBLRDH and TBLWTH
instructions are the only method to read or write the
upper 8 bits of a program space word as data.
The PC is incremented by two for each successive
24-bit program word. This allows program memory
addresses to directly map to data space addresses.
Program memory can thus be regarded as two 16-bit
word wide address spaces residing side by side, each
with the same address range. TBLRDL and TBLWTL
access the space which contains the least significant
data word, and TBLRDH and TBLWTH access the space
which contains the upper data byte.
Two table instructions are provided to move byte or
word sized (16-bit) data to and from program space.
Both function as either byte or word operations.
1.
TBLRDL (Table Read Low): In Word mode, it
maps the lower word of the program space
location (P<15:0>) to a data address (D<15:0>).
TBLRDH (Table Read High): In Word mode, it
maps the entire upper word of a program address
(P<23:16>) to a data address. Note that
D<15:8>, the ‘phantom’ byte, will always be ‘0’.
In Byte mode, it maps the upper or lower byte of
the program word to D<7:0> of the data
address, as above. Note that the data will
always be ‘0’ when the upper ‘phantom’ byte is
selected (Byte Select = 1).
In a similar fashion, two table instructions, TBLWTH
and TBLWTL, are used to write individual bytes or
words to a program space address. The details of
their operation are explained in Section 4.0 “Flash
Program Memory”.
For all table operations, the area of program memory
space to be accessed is determined by the Table Page
register (TBLPAG). TBLPAG covers the entire program
memory space of the device, including user and
configuration spaces. When TBLPAG<7> = 0, the table
page is located in the user memory space. When
TBLPAG<7> = 1, the page is located in configuration
space.
In Byte mode, either the upper or lower byte of
the lower program word is mapped to the lower
byte of a data address. The upper byte is
selected when Byte Select is ‘1’; the lower byte
is selected when it is ‘0’.
FIGURE 3-10:
ACCESSING PROGRAM MEMORY WITH TABLE INSTRUCTIONS
Program Space
TBLPAG
02
23
15
0
0x000000
23
16
8
0
00000000
0x020000
0x030000
00000000
00000000
00000000
‘Phantom’ Byte
TBLRDH.B (Wn<0> = 0)
TBLRDL.B (Wn<0> = 1)
TBLRDL.B (Wn<0> = 0)
TBLRDL.W
0x800000
DS70287A-page 64
The address for the table operation is determined by the data EA
within the page defined by the TBLPAG register.
Only read operations are shown; write operations are also valid in
the user memory area.
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
3.6.3
READING DATA FROM PROGRAM
MEMORY USING PROGRAM SPACE
VISIBILITY
The upper 32 Kbytes of data space may optionally be
mapped into any 16K word page of the program space.
This option provides transparent access of stored
constant data from the data space without the need to
use special instructions (i.e., TBLRDL/H).
Program space access through the data space occurs
if the Most Significant bit of the data space EA is ‘1’ and
program space visibility is enabled by setting the PSV
bit in the Core Control register (CORCON<2>). The
location of the program memory space to be mapped
into the data space is determined by the Program
Space Visibility Page register (PSVPAG). This 8-bit
register defines any one of 256 possible pages of
16K words in program space. In effect, PSVPAG
functions as the upper 8 bits of the program memory
address, with the 15 bits of the EA functioning as the
lower bits. Note that by incrementing the PC by 2 for
each program memory word, the lower 15 bits of data
space addresses directly map to the lower 15 bits in the
corresponding program space addresses.
Data reads to this area add an additional cycle to the
instruction being executed, since two program memory
fetches are required.
Although each data space address, 8000h and higher,
maps directly into a corresponding program memory
address (see Figure 3-11), only the lower 16 bits of the
FIGURE 3-11:
24-bit program word are used to contain the data. The
upper 8 bits of any program space location used as
data should be programmed with ‘1111 1111’ or
‘0000 0000’ to force a NOP. This prevents possible
issues should the area of code ever be accidentally
executed.
Note:
PSV access is temporarily disabled during
table reads/writes.
For operations that use PSV and are executed outside
a REPEAT loop, the MOV and MOV.D instructions
require one instruction cycle in addition to the specified
execution time. All other instructions require two
instruction cycles in addition to the specified execution
time.
For operations that use PSV and are executed inside a
REPEAT loop, there will be some instances that require
two instruction cycles in addition to the specified execution time of the instruction:
• Execution in the first iteration
• Execution in the last iteration
• Execution prior to exiting the loop due to an
interrupt
• Execution upon re-entering the loop after an
interrupt is serviced
Any other iteration of the REPEAT loop will allow the
instruction accessing data using PSV to execute in a
single cycle.
PROGRAM SPACE VISIBILITY OPERATION
When CORCON<2> = 1 and EA<15> = 1:
Program Space
PSVPAG
02
23
15
Data Space
0
0x000000
0x0000
Data EA<14:0>
0x010000
0x018000
The data in the page
designated by
PSVPAG is mapped
into the upper half of
the data memory
space...
0x8000
PSV Area
0x800000
© 2007 Microchip Technology Inc.
...while the lower 15 bits
of the EA specify an
exact address within
0xFFFF the PSV area. This
corresponds exactly to
the same lower 15 bits
of the actual program
space address.
DS70287A-page 65
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 66
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
4.0
FLASH PROGRAM MEMORY
Note:
ital signal controller just before shipping the product.
This also allows the most recent firmware or a custom
firmware to be programmed.
This data sheet summarizes the features
of this group of dsPIC33FJXXXMCX06/
X08/X10 Motor Control Family devices. It
is not intended to be a comprehensive
reference source. To complement the
information in this data sheet, refer to the
“dsPIC33F Family Reference Manual”.
Refer to the Microchip web site
(www.microchip.com) for the latest
dsPIC33F family reference manual
chapters.
RTSP is accomplished using TBLRD (table read) and
TBLWT (table write) instructions. With RTSP, the user
can write program memory data by blocks (or ‘rows’) of
64 instructions (192 bytes) at a time or by single program memory word; and the user can erase program
memory in blocks or ‘pages’ of 512 instructions (1536
bytes) at a time.
4.1
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family devices contain internal Flash program memory
for storing and executing application code. The memory is readable, writable and erasable during normal
operation over the entire VDD range.
Flash memory can be programmed in two ways:
1.
2.
In-Circuit Serial Programming™ (ICSP™)
programming capability
Run-Time Self-Programming (RTSP)
ICSP allows a dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family device to be serially programmed while
in the end application circuit. This is simply done with
two lines for programming clock and programming data
(one of the alternate programming pin pairs: PGC1/
PGD1, PGC2/PGD2 or PGC3/PGD3), and three other
lines for power (VDD), ground (VSS) and Master Clear
(MCLR). This allows customers to manufacture boards
with unprogrammed devices and then program the dig-
FIGURE 4-1:
Table Instructions and Flash
Programming
Regardless of the method used, all programming of
Flash memory is done with the table read and table
write instructions. These allow direct read and write
access to the program memory space from the data
memory while the device is in normal operating mode.
The 24-bit target address in the program memory is
formed using bits <7:0> of the TBLPAG register and the
Effective Address (EA) from a W register specified in
the table instruction, as shown in Figure 4-1.
The TBLRDL and TBLWTL instructions are used to read
or write to bits <15:0> of program memory. TBLRDL and
TBLWTL can access program memory in both Word
and Byte modes.
The TBLRDH and TBLWTH instructions are used to read
or write to bits <23:16> of program memory. TBLRDH
and TBLWTH can also access program memory in Word
or Byte mode.
ADDRESSING FOR TABLE REGISTERS
24 bits
Using
Program Counter
Program Counter
0
0
Working Reg EA
Using
Table Instruction
1/0
TBLPAG Reg
8 bits
User/Configuration
Space Select
© 2007 Microchip Technology Inc.
16 bits
24-bit EA
Byte
Select
DS70287A-page 67
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
4.2
RTSP Operation
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family Flash program memory array is organized into
rows of 64 instructions or 192 bytes. RTSP allows the
user to erase a page of memory at a time, which consists of eight rows (512 instructions), and to program
one row or one word at a time. Table 25-12 shows typical erase and programming times. The 8-row erase
pages and single-row write rows are edge-aligned,
from the beginning of program memory, on boundaries
of 1536 bytes and 192 bytes, respectively.
The program memory implements holding buffers that
can contain 64 instructions of programming data. Prior
to the actual programming operation, the write data
must be loaded into the buffers in sequential order. The
instruction words loaded must always be from a group
of 64 boundary.
The basic sequence for RTSP programming is to set up
a Table Pointer, then do a series of TBLWT instructions
to load the buffers. Programming is performed by
setting the control bits in the NVMCON register. A total
of 64 TBLWTL and TBLWTH instructions are required
to load the instructions.
4.3
Control Registers
There are two SFRs used to read and write the
program Flash memory: NVMCON and NVMKEY.
The NVMCON register (Register 4-1) controls which
blocks are to be erased, which memory type is to be
programmed and the start of the programming cycle.
NVMKEY is a write-only register that is used for write
protection. To start a programming or erase sequence,
the user must consecutively write 55h and AAh to the
NVMKEY register. Refer to Section 4.4 for further
details.
4.4
Programming Operations
A complete programming sequence is necessary for
programming or erasing the internal Flash in RTSP
mode. A programming operation is nominally 4 ms in
duration, and the processor stalls (waits) until the
operation is finished. Setting the WR bit
(NVMCON<15>) starts the operation; the WR bit is
automatically cleared when the operation is finished.
All of the table write operations are single-word writes
(two instruction cycles), because only the buffers are
written. A programming cycle is required for
programming each row.
DS70287A-page 68
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 4-1:
NVMCON: FLASH MEMORY CONTROL REGISTER
R/SO-0(1)
R/W-0(1)
R/W-0(1)
U-0
U-0
U-0
U-0
U-0
WR
WREN
WRERR
—
—
—
—
—
bit 15
bit 8
U-0
R/W-0(1)
U-0
U-0
—
ERASE
—
—
R/W-0(1)
R/W-0(1)
R/W-0(1)
R/W-0(1)
NVMOP<3:0>(2)
bit 7
bit 0
Legend:
SO = Settable only bit
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
WR: Write Control bit
1 = Initiates a Flash memory program or erase operation. The operation is self-timed and the bit is
cleared by hardware once operation is complete.
0 = Program or erase operation is complete and inactive
bit 14
WREN: Write Enable bit
1 = Enable Flash program/erase operations
0 = Inhibit Flash program/erase operations
bit 13
WRERR: Write Sequence Error Flag bit
1 = An improper program or erase sequence attempt or termination has occurred (bit is set
automatically on any set attempt of the WR bit)
0 = The program or erase operation completed normally
bit 12-7
Unimplemented: Read as ‘0’
bit 6
ERASE: Erase/Program Enable bit
1 = Perform the erase operation specified by NVMOP<3:0> on the next WR command
0 = Perform the program operation specified by NVMOP<3:0> on the next WR command
bit 5-4
Unimplemented: Read as ‘0’
bit 3-0
NVMOP<3:0>: NVM Operation Select bits(2)
If ERASE = 1:
1111 = Memory bulk erase operation
1110 = Reserved
1101 = Erase General Segment
1100 = Erase Secure Segment
1011 = Reserved
0011 = No operation
0010 = Memory page erase operation
0001 = No operation
0000 = Erase a single Configuration register byte
If ERASE = 0:
1111 = No operation
1110 = Reserved
1101 = No operation
1100 = No operation
1011 = Reserved
0011 = Memory word program operation
0010 = No operation
0001 = Memory row program operation
0000 = Program a single Configuration register byte
Note 1:
2:
These bits can only be reset on POR.
All other combinations of NVMOP<3:0> are unimplemented.
© 2007 Microchip Technology Inc.
DS70287A-page 69
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
4.4.1
PROGRAMMING ALGORITHM FOR
FLASH PROGRAM MEMORY
4.
5.
The user can program one row of program Flash
memory at a time. To do this, it is necessary to erase
the 8-row erase page that contains the desired row.
The general process is as follows:
1.
2.
3.
Read eight rows of program memory
(512 instructions) and store it in data RAM.
Update the program data in RAM with the
desired new data.
Erase the block (see Example 4-1):
a) Set the NVMOP bits (NVMCON<3:0>) to
‘0010’ to configure for block erase. Set the
ERASE (NVMCON<6>) and WREN (NVMCON<14>) bits.
b) Write the starting address of the page to be
erased into the TBLPAG and W registers.
c) Write 55h to NVMKEY.
d) Write AAh to NVMKEY.
e) Set the WR bit (NVMCON<15>). The erase
cycle begins and the CPU stalls for the duration of the erase cycle. When the erase is
done, the WR bit is cleared automatically.
EXAMPLE 4-1:
DS70287A-page 70
For protection against accidental operations, the write
initiate sequence for NVMKEY must be used to allow
any erase or program operation to proceed. After the
programming command has been executed, the user
must wait for the programming time until programming
is complete. The two instructions following the start of
the programming sequence should be NOPs, as shown
in Example 4-3.
ERASING A PROGRAM MEMORY PAGE
; Set up NVMCON for block erase operation
MOV
#0x4042, W0
MOV
W0, NVMCON
; Init pointer to row to be ERASED
MOV
#tblpage(PROG_ADDR), W0
MOV
W0, TBLPAG
MOV
#tbloffset(PROG_ADDR), W0
TBLWTL W0, [W0]
DISI
#5
MOV
MOV
MOV
MOV
BSET
NOP
NOP
6.
Write the first 64 instructions from data RAM into
the program memory buffers (see Example 4-2).
Write the program block to Flash memory:
a) Set the NVMOP bits to ‘0001’ to configure
for row programming. Clear the ERASE bit
and set the WREN bit.
b) Write #0x55 to NVMKEY.
c) Write 0xAA to NVMKEY.
d) Set the WR bit. The programming cycle
begins and the CPU stalls for the duration of
the write cycle. When the write to Flash memory is done, the WR bit is cleared
automatically.
Repeat steps 4 and 5 using the next available 64
instructions from the block in data RAM by incrementing the value in TBLPAG until all
512 instructions are written back to Flash memory.
#0x55, W0
W0, NVMKEY
#0xAA, W1
W1, NVMKEY
NVMCON, #WR
;
; Initialize NVMCON
;
;
;
;
;
;
;
;
;
;
;
;
Initialize PM Page Boundary SFR
Initialize in-page EA[15:0] pointer
Set base address of erase block
Block all interrupts with priority <7
for next 5 instructions
Write the 55 key
Write the AA key
Start the erase sequence
Insert two NOPs after the erase
command is asserted
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
EXAMPLE 4-2:
LOADING THE WRITE BUFFERS
; Set up NVMCON for row programming operations
MOV
#0x4001, W0
;
MOV
W0, NVMCON
; Initialize NVMCON
; Set up a pointer to the first program memory location to be written
; program memory selected, and writes enabled
MOV
#0x0000, W0
;
MOV
W0, TBLPAG
; Initialize PM Page Boundary SFR
MOV
#0x6000, W0
; An example program memory address
; Perform the TBLWT instructions to write the latches
; 0th_program_word
MOV
#LOW_WORD_0, W2
;
MOV
#HIGH_BYTE_0, W3
;
TBLWTL W2, [W0]
; Write PM low word into program latch
TBLWTH W3, [W0++]
; Write PM high byte into program latch
; 1st_program_word
MOV
#LOW_WORD_1, W2
;
MOV
#HIGH_BYTE_1, W3
;
TBLWTL W2, [W0]
; Write PM low word into program latch
TBLWTH W3, [W0++]
; Write PM high byte into program latch
; 2nd_program_word
MOV
#LOW_WORD_2, W2
;
MOV
#HIGH_BYTE_2, W3
;
TBLWTL W2, [W0]
; Write PM low word into program latch
TBLWTH W3, [W0++]
; Write PM high byte into program latch
•
•
•
; 63rd_program_word
MOV
#LOW_WORD_31, W2
;
MOV
#HIGH_BYTE_31, W3
;
TBLWTL W2, [W0]
; Write PM low word into program latch
TBLWTH W3, [W0++]
; Write PM high byte into program latch
EXAMPLE 4-3:
INITIATING A PROGRAMMING SEQUENCE
DISI
#5
MOV
MOV
MOV
MOV
BSET
NOP
NOP
#0x55, W0
W0, NVMKEY
#0xAA, W1
W1, NVMKEY
NVMCON, #WR
© 2007 Microchip Technology Inc.
; Block all interrupts with priority <7
; for next 5 instructions
;
;
;
;
;
;
Write the 55 key
Write the AA key
Start the erase sequence
Insert two NOPs after the
erase command is asserted
DS70287A-page 71
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 72
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
5.0
Note:
RESETS
Note:
This data sheet summarizes the features
of
this
group
of dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family devices. It is not intended
to be a comprehensive reference source.
To complement the information in this data
sheet, refer to the “dsPIC33F Family
Reference Manual”. Refer to the
Microchip web site (www.microchip.com)
for the latest dsPIC33F family reference
manual chapters.
The Reset module combines all Reset sources and
controls the device Master Reset Signal, SYSRST. The
following is a list of device Reset sources:
•
•
•
•
•
•
•
Refer to the specific peripheral or CPU
section of this manual for register Reset
states.
All types of device Reset will set a corresponding status
bit in the RCON register to indicate the type of Reset
(see Register 5-1). A POR will clear all bits except for
the POR bit (RCON<0>), which is set. The user can set
or clear any bit at any time during code execution. The
RCON bits only serve as status bits. Setting a particular
Reset status bit in software does not cause a device
Reset to occur.
The RCON register also has other bits associated with
the Watchdog Timer and device power-saving states.
The function of these bits is discussed in other sections
of this manual.
Note:
POR: Power-on Reset
BOR: Brown-out Reset
MCLR: Master Clear Pin Reset
SWR: RESET Instruction
WDT: Watchdog Timer Reset
TRAPR: Trap Conflict Reset
IOPUWR: Illegal Opcode and Uninitialized W
Register Reset
The status bits in the RCON register
should be cleared after they are read so
that the next RCON register value after a
device Reset will be meaningful.
A simplified block diagram of the Reset module is
shown in Figure 5-1.
Any active source of Reset will make the SYSRST
signal active. Many registers associated with the CPU
and peripherals are forced to a known Reset state.
Most registers are unaffected by a Reset; their status is
unknown on POR and unchanged by all other Resets.
FIGURE 5-1:
RESET SYSTEM BLOCK DIAGRAM
RESET Instruction
Glitch Filter
MCLR
WDT
Module
Sleep or Idle
VDD
BOR
Internal
Regulator
SYSRST
VDD Rise
Detect
POR
Trap Conflict
Illegal Opcode
Uninitialized W Register
© 2007 Microchip Technology Inc.
DS70287A-page 73
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
RCON: RESET CONTROL REGISTER(1)
REGISTER 5-1:
R/W-0
R/W-0
U-0
U-0
U-0
U-0
U-0
R/W-0
TRAPR
IOPUWR
—
—
—
—
—
VREGS
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-1
R/W-1
EXTR
SWR
SWDTEN(2)
WDTO
SLEEP
IDLE
BOR
POR
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
TRAPR: Trap Reset Flag bit
1 = A Trap Conflict Reset has occurred
0 = A Trap Conflict Reset has not occurred
bit 14
IOPUWR: Illegal Opcode or Uninitialized W Access Reset Flag bit
1 = An illegal opcode detection, an illegal address mode or uninitialized W register used as an
Address Pointer caused a Reset
0 = An illegal opcode or uninitialized W Reset has not occurred
bit 13-9
Unimplemented: Read as ‘0’
bit 8
VREGS: Voltage Regulator Standby During Sleep bit
1 = Voltage regulator is active during Sleep
0 = Voltage regulator goes into Standby mode during Sleep
bit 7
EXTR: External Reset (MCLR) Pin bit
1 = A Master Clear (pin) Reset has occurred
0 = A Master Clear (pin) Reset has not occurred
bit 6
SWR: Software Reset (Instruction) Flag bit
1 = A RESET instruction has been executed
0 = A RESET instruction has not been executed
bit 5
SWDTEN: Software Enable/Disable of WDT bit(2)
1 = WDT is enabled
0 = WDT is disabled
bit 4
WDTO: Watchdog Timer Time-out Flag bit
1 = WDT time-out has occurred
0 = WDT time-out has not occurred
bit 3
SLEEP: Wake-up from Sleep Flag bit
1 = Device has been in Sleep mode
0 = Device has not been in Sleep mode
bit 2
IDLE: Wake-up from Idle Flag bit
1 = Device was in Idle mode
0 = Device was not in Idle mode
Note 1:
2:
All of the Reset status bits may be set or cleared in software. Setting one of these bits in software does not
cause a device Reset.
If the FWDTEN Configuration bit is ‘1’ (unprogrammed), the WDT is always enabled, regardless of the
SWDTEN bit setting.
DS70287A-page 74
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 5-1:
RCON: RESET CONTROL REGISTER(1) (CONTINUED)
bit 1
BOR: Brown-out Reset Flag bit
1 = A Brown-out Reset has occurred
0 = A Brown-out Reset has not occurred
bit 0
POR: Power-on Reset Flag bit
1 = A Power-up Reset has occurred
0 = A Power-up Reset has not occurred
Note 1:
2:
All of the Reset status bits may be set or cleared in software. Setting one of these bits in software does not
cause a device Reset.
If the FWDTEN Configuration bit is ‘1’ (unprogrammed), the WDT is always enabled, regardless of the
SWDTEN bit setting.
© 2007 Microchip Technology Inc.
DS70287A-page 75
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 5-1:
RESET FLAG BIT OPERATION
Flag Bit
Setting Event
Clearing Event
TRAPR (RCON<15>)
Trap conflict event
POR
IOPUWR (RCON<14>)
Illegal opcode or uninitialized
W register access
POR
EXTR (RCON<7>)
MCLR Reset
POR
SWR (RCON<6>)
RESET instruction
POR
WDTO (RCON<4>)
WDT time-out
PWRSAV instruction, POR
SLEEP (RCON<3>)
PWRSAV #SLEEP instruction
POR
IDLE (RCON<2>)
PWRSAV #IDLE instruction
POR
BOR (RCON<1>
BOR
—
POR (RCON<0>)
POR
—
Note:
5.1
All Reset flag bits may be set or cleared by the user software.
Clock Source Selection at Reset
If clock switching is enabled, the system clock source at
device Reset is chosen, as shown in Table 5-2. If clock
switching is disabled, the system clock source is always
selected according to the oscillator Configuration bits.
Refer to Section 8.0 for further details.
TABLE 5-2:
OSCILLATOR SELECTION vs.
TYPE OF RESET (CLOCK
SWITCHING ENABLED)
Reset Type
POR
BOR
MCLR
WDTR
Clock Source Determinant
Oscillator Configuration bits
(FNOSC<2:0>)
5.2
Device Reset Times
The Reset times for various types of device Reset are
summarized in Table 5-3. The system Reset signal,
SYSRST, is released after the POR and PWRT delay
times expire.
The time at which the device actually begins to execute
code also depends on the system oscillator delays,
which include the Oscillator Start-up Timer (OST) and
the PLL lock time. The OST and PLL lock times occur
in parallel with the applicable SYSRST delay times.
The FSCM delay determines the time at which the
FSCM begins to monitor the system clock source after
the SYSRST signal is released.
COSC Control bits
(OSCCON<14:12>)
SWR
DS70287A-page 76
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 5-3:
Reset Type
POR
BOR
RESET DELAY TIMES FOR VARIOUS DEVICE RESETS
SYSRST Delay
System Clock
Delay
FSCM
Delay
EC, FRC, LPRC
TPOR + TSTARTUP + TRST
—
—
Clock Source
Notes
1, 2, 3
ECPLL, FRCPLL
TPOR + TSTARTUP + TRST
TLOCK
TFSCM
1, 2, 3, 5, 6
XT, HS, SOSC
TPOR + TSTARTUP + TRST
TOST
TFSCM
1, 2, 3, 4, 6
XTPLL, HSPLL
TPOR + TSTARTUP + TRST
TOST + TLOCK
TFSCM
1, 2, 3, 4, 5, 6
EC, FRC, LPRC
TSTARTUP + TRST
—
—
ECPLL, FRCPLL
TSTARTUP + TRST
TLOCK
TFSCM
3, 5, 6
3
XT, HS, SOSC
TSTARTUP + TRST
TOST
TFSCM
3, 4, 6
XTPLL, HSPLL
TSTARTUP + TRST
TOST + TLOCK
TFSCM
3, 4, 5, 6
MCLR
Any Clock
TRST
—
—
3
WDT
Any Clock
TRST
—
—
3
Software
Any Clock
TRST
—
—
3
Illegal Opcode
Any Clock
TRST
—
—
3
Uninitialized W
Any Clock
TRST
—
—
3
Trap Conflict
Any Clock
TRST
—
—
3
Note 1:
2:
3:
4:
5:
6:
5.2.1
TPOR = Power-on Reset delay (10 μs nominal).
TSTARTUP = Conditional POR delay of 20 μs nominal (if on-chip regulator is enabled) or 64 ms nominal
Power-up Timer delay (if regulator is disabled). TSTARTUP is also applied to all returns from powered-down
states, including waking from Sleep mode, if the regulator is enabled.
TRST = Internal state Reset time (20 μs nominal).
TOST = Oscillator Start-up Timer. A 10-bit counter counts 1024 oscillator periods before releasing the
oscillator clock to the system.
TLOCK = PLL lock time (20 μs nominal).
TFSCM = Fail-Safe Clock Monitor delay (100 μs nominal).
POR AND LONG OSCILLATOR
START-UP TIMES
The oscillator start-up circuitry and its associated delay
timers are not linked to the device Reset delays that
occur at power-up. Some crystal circuits (especially
low-frequency crystals) have a relatively long start-up
time. Therefore, one or more of the following conditions
is possible after SYSRST is released:
• The oscillator circuit has not begun to oscillate.
• The Oscillator Start-up Timer has not expired (if a
crystal oscillator is used).
• The PLL has not achieved a lock (if PLL is used).
The device will not begin to execute code until a valid
clock source has been released to the system.
Therefore, the oscillator and PLL start-up delays must
be considered when the Reset delay time must be
known.
© 2007 Microchip Technology Inc.
5.2.2
FAIL-SAFE CLOCK MONITOR
(FSCM) AND DEVICE RESETS
If the FSCM is enabled, it begins to monitor the system
clock source when SYSRST is released. If a valid clock
source is not available at this time, the device
automatically switches to the FRC oscillator and the
user can switch to the desired crystal oscillator in the
Trap Service Routine.
5.2.2.1
FSCM Delay for Crystal and PLL
Clock Sources
When the system clock source is provided by a crystal
oscillator and/or the PLL, a small delay, TFSCM, is
automatically inserted after the POR and PWRT delay
times. The FSCM does not begin to monitor the system
clock source until this delay expires. The FSCM delay
time is nominally 500 μs and provides additional time
for the oscillator and/or PLL to stabilize. In most cases,
the FSCM delay prevents an oscillator failure trap at a
device Reset when the PWRT is disabled.
DS70287A-page 77
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
5.3
Special Function Register Reset
States
Most of the Special Function Registers (SFRs)
associated with the CPU and peripherals are reset to a
particular value at a device Reset. The SFRs are
grouped by their peripheral or CPU function, and their
Reset values are specified in each section of this manual.
The Reset value for each SFR does not depend on the
type of Reset, with the exception of two registers. The
Reset value for the Reset Control register, RCON,
depends on the type of device Reset. The Reset value
for the Oscillator Control register, OSCCON, depends
on the type of Reset and the programmed values of the
oscillator Configuration bits in the FOSC Configuration
register.
DS70287A-page 78
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
6.0
Note:
INTERRUPT CONTROLLER
This data sheet summarizes the features
of this group of dsPIC33FJXXXMCX06/
X08/X10 Motor Control Family devices. It
is not intended to be a comprehensive
reference source. To complement the
information in this data sheet, refer to the
“dsPIC33F Family Reference Manual”.
Refer to the Microchip web site
(www.microchip.com) for the latest
dsPIC33F family reference manual
chapters.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family interrupt controller reduces the numerous
peripheral interrupt request signals to a single interrupt
request signal to the dsPIC33FJXXXMCX06/X08/X10
Motor Control Family CPU. It has the following features:
•
•
•
•
Up to 8 processor exceptions and software traps
7 user-selectable priority levels
Interrupt Vector Table (IVT) with up to 118 vectors
A unique vector for each interrupt or exception
source
• Fixed priority within a specified user priority level
• Alternate Interrupt Vector Table (AIVT) for debug
support
• Fixed interrupt entry and return latencies
6.1
Interrupt Vector Table
The Interrupt Vector Table (IVT) is shown in Figure 6-1.
The IVT resides in program memory, starting at location
000004h. The IVT contains 126 vectors consisting of
8 nonmaskable trap vectors plus up to 118 sources of
interrupt. In general, each interrupt source has its own
vector. Each interrupt vector contains a 24-bit wide
address. The value programmed into each interrupt
vector location is the starting address of the associated
Interrupt Service Routine (ISR).
6.1.1
ALTERNATE INTERRUPT VECTOR
TABLE
The Alternate Interrupt Vector Table (AIVT) is located
after the IVT, as shown in Figure 6-1. Access to the
AIVT is provided by the ALTIVT control bit
(INTCON2<15>). If the ALTIVT bit is set, all interrupt
and exception processes use the alternate vectors
instead of the default vectors. The alternate vectors are
organized in the same manner as the default vectors.
The AIVT supports debugging by providing a means to
switch between an application and a support
environment without requiring the interrupt vectors to
be reprogrammed. This feature also enables switching
between applications for evaluation of different
software algorithms at run time. If the AIVT is not
needed, the AIVT should be programmed with the
same addresses used in the IVT.
6.2
Reset Sequence
A device Reset is not a true exception because the
interrupt controller is not involved in the Reset process.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family device clears its registers in response to a
Reset, which forces the PC to zero. The digital signal
controller then begins program execution at location
0x000000. The user programs a GOTO instruction at the
Reset address, which redirects program execution to
the appropriate start-up routine.
Note:
Any unimplemented or unused vector
locations in the IVT and AIVT should be
programmed with the address of a default
interrupt handler routine that contains a
RESET instruction.
Interrupt vectors are prioritized in terms of their natural
priority; this priority is linked to their position in the
vector table. All other things being equal, lower
addresses have a higher natural priority. For example,
the interrupt associated with vector 0 will take priority
over interrupts at any other vector address.
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
devices implement up to 67 unique interrupts and 5
nonmaskable traps. These are summarized in Table 61 and Table 6-2.
© 2007 Microchip Technology Inc.
DS70287A-page 79
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
Decreasing Natural Order Priority
FIGURE 6-1:
Note 1:
DS70287A-page 80
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY INTERRUPT
VECTOR TABLE
Reset – GOTO Instruction
Reset – GOTO Address
Reserved
Oscillator Fail Trap Vector
Address Error Trap Vector
Stack Error Trap Vector
Math Error Trap Vector
DMA Error Trap Vector
Reserved
Reserved
Interrupt Vector 0
Interrupt Vector 1
~
~
~
Interrupt Vector 52
Interrupt Vector 53
Interrupt Vector 54
~
~
~
Interrupt Vector 116
Interrupt Vector 117
Reserved
Reserved
Reserved
Oscillator Fail Trap Vector
Address Error Trap Vector
Stack Error Trap Vector
Math Error Trap Vector
DMA Error Trap Vector
Reserved
Reserved
Interrupt Vector 0
Interrupt Vector 1
~
~
~
Interrupt Vector 52
Interrupt Vector 53
Interrupt Vector 54
~
~
~
Interrupt Vector 116
Interrupt Vector 117
Start of Code
0x000000
0x000002
0x000004
0x000014
0x00007C
0x00007E
0x000080
Interrupt Vector Table (IVT)(1)
0x0000FC
0x0000FE
0x000100
0x000102
0x000114
Alternate Interrupt Vector Table (AIVT)(1)
0x00017C
0x00017E
0x000180
0x0001FE
0x000200
See Table 6-1 for the list of implemented interrupt vectors.
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 6-1:
INTERRUPT VECTORS
Vector
Number
Interrupt
Request (IRQ)
Number
IVT Address
AIVT Address
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
0x000014
0x000016
0x000018
0x00001A
0x00001C
0x00001E
0x000020
0x000022
0x000024
0x000026
0x000028
0x00002A
0x00002C
0x00002E
0x000030
0x000032
0x000034
0x000036
0x000038
0x00003A
0x00003C
0x00003E
0x000040
0x000042
0x000044
0x000046
0x000048
0x00004A
0x00004C
0x00004E
0x000050
0x000052
0x000054
0x000056
0x000058
0x00005A
0x00005C
0x00005E
0x000060
0x000062
0x000064
0x000066
0x000068
0x00006A
0x00006C
0x00006E
0x000114
0x000116
0x000118
0x00011A
0x00011C
0x00011E
0x000120
0x000122
0x000124
0x000126
0x000128
0x00012A
0x00012C
0x00012E
0x000130
0x000132
0x000134
0x000136
0x000138
0x00013A
0x00013C
0x00013E
0x000140
0x000142
0x000144
0x000146
0x000148
0x00014A
0x00014C
0x00014E
0x000150
0x000152
0x000154
0x000156
0x000158
0x00015A
0x00015C
0x00015E
0x000160
0x000162
0x000164
0x000166
0x000168
0x00016A
0x00016C
0x00016E
© 2007 Microchip Technology Inc.
Interrupt Source
INT0 – External Interrupt 0
IC1 – Input Compare 1
OC1 – Output Compare 1
T1 – Timer1
DMA0 – DMA Channel 0
IC2 – Input Capture 2
OC2 – Output Compare 2
T2 – Timer2
T3 – Timer3
SPI1E – SPI1 Error
SPI1 – SPI1 Transfer Done
U1RX – UART1 Receiver
U1TX – UART1 Transmitter
ADC1 – ADC 1
DMA1 – DMA Channel 1
Reserved
SI2C1 – I2C1 Slave Events
MI2C1 – I2C1 Master Events
Reserved
Change Notification Interrupt
INT1 – External Interrupt 1
ADC2 – ADC 2
IC7 – Input Capture 7
IC8 – Input Capture 8
DMA2 – DMA Channel 2
OC3 – Output Compare 3
OC4 – Output Compare 4
T4 – Timer4
T5 – Timer5
INT2 – External Interrupt 2
U2RX – UART2 Receiver
U2TX – UART2 Transmitter
SPI2E – SPI2 Error
SPI1 – SPI1 Transfer Done
C1RX – ECAN1 Receive Data Ready
C1 – ECAN1 Event
DMA3 – DMA Channel 3
IC3 – Input Capture 3
IC4 – Input Capture 4
IC5 – Input Capture 5
IC6 – Input Capture 6
OC5 – Output Compare 5
OC6 – Output Compare 6
OC7 – Output Compare 7
OC8 – Output Compare 8
Reserved
DS70287A-page 81
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 6-1:
INTERRUPT VECTORS (CONTINUED)
Vector
Number
Interrupt
Request (IRQ)
Number
IVT Address
AIVT Address
54
55
56
57
58
59
60
61
62
63
64
65
66
69
70
46
47
48
49
50
51
52
53
54
55
56
57
58
61
62
0x000070
0x000072
0x000074
0x000076
0x000078
0x00007A
0x00007C
0x00007E
0x000080
0x000082
0x000084
0x000086
0x000088
0x00008E
0x000090
0x000170
0x000172
0x000174
0x000176
0x000178
0x00017A
0x00017C
0x00017E
0x000180
0x000182
0x000184
0x000186
0x000188
0x00018E
0x000190
Interrupt Source
DMA4 – DMA Channel 4
T6 – Timer6
T7 – Timer7
SI2C2 – I2C2 Slave Events
MI2C2 – I2C2 Master Events
T8 – Timer8
T9 – Timer9
INT3 – External Interrupt 3
INT4 – External Interrupt 4
C2RX – ECAN2 Receive Data Ready
C2 – ECAN2 Event
PWM – PWM Period Match
QEI – Position Counter Compare
DMA5 – DMA Channel 5
Reserved
71
63
0x000092
0x000192
FLTA – MCPWM Fault A
72
73
74
75
76
77
78
79
80-125
64
65
66
67
68
69
70
71
72-117
0x000094
0x000096
0x000098
0x00009A
0x00009C
0x00009E
0x0000A0
0x0000A2
0x0000A40x0000FE
0x000194
0x000196
0x000198
0x00019A
0x00019C
0x00019E
0x0001A0
0x0001A2
0x0001A40x0001FE
FLTB – MCPWM Fault B
U1E – UART1 Error
U2E – UART2 Error
Reserved
DMA6 – DMA Channel 6
DMA7 – DMA Channel 7
C1TX – ECAN1 Transmit Data Request
C2TX – ECAN2 Transmit Data Request
Reserved
TABLE 6-2:
TRAP VECTORS
Vector Number
IVT Address
AIVT Address
Trap Source
0
0x000004
0x000104
Reserved
1
0x000006
0x000106
Oscillator Failure
2
0x000008
0x000108
Address Error
3
0x00000A
0x00010A
Stack Error
4
0x00000C
0x00010C
Math Error
5
0x00000E
0x00010E
DMA Error Trap
6
0x000010
0x000110
Reserved
7
0x000012
0x000112
Reserved
DS70287A-page 82
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
6.3
Interrupt Control and Status
Registers
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
devices implement a total of 30 registers for the interrupt controller:
•
•
•
•
•
•
INTCON1
INTCON2
IFS0 through IFS4
IEC0 through IEC4
IPC0 through IPC17
INTTREG
Global interrupt control functions are controlled from
INTCON1 and INTCON2. INTCON1 contains the
Interrupt Nesting Disable (NSTDIS) bit as well as the
control and status flags for the processor trap sources.
The INTCON2 register controls the external interrupt
request signal behavior and the use of the Alternate
Interrupt Vector Table.
The IFS registers maintain all of the interrupt request
flags. Each source of interrupt has a Status bit, which is
set by the respective peripherals or external signal and
is cleared via software.
The IEC registers maintain all of the interrupt enable
bits. These control bits are used to individually enable
interrupts from the peripherals or external signals.
The IPC registers are used to set the interrupt priority
level for each source of interrupt. Each user interrupt
source can be assigned to one of eight priority levels.
The INTTREG register contains the associated
interrupt vector number and the new CPU interrupt
priority level, which are latched into vector number
(VECNUM<6:0>) and Interrupt level (ILR<3:0>) bit
fields in the INTTREG register. The new interrupt priority level is the priority of the pending interrupt.
The interrupt sources are assigned to the IFSx, IECx
and IPCx registers in the same sequence that they are
listed in Table 6-1. For example, the INT0 (External
Interrupt 0) is shown as having vector number 8 and a
natural order priority of 0. Thus, the INT0IF bit is found
in IFS0<0>, the INT0IE bit in IEC0<0> and the INT0IP
bits in the first position of IPC0 (IPC0<2:0>).
Although they are not specifically part of the interrupt
control hardware, two of the CPU Control registers
contain bits that control interrupt functionality. The CPU
STATUS register, SR, contains the IPL<2:0> bits
(SR<7:5>). These bits indicate the current CPU
interrupt priority level. The user can change the current
CPU priority level by writing to the IPL bits.
The CORCON register contains the IPL3 bit which,
together with IPL<2:0>, also indicates the current CPU
priority level. IPL3 is a read-only bit so that trap events
cannot be masked by the user software.
All Interrupt registers are described in Register 6-1
through Register 6-32 in the following pages.
© 2007 Microchip Technology Inc.
DS70287A-page 83
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-1:
SR: CPU STATUS REGISTER(1)
R-0
R-0
R/C-0
R/C-0
R-0
R/C-0
R -0
R/W-0
OA
OB
SA
SB
OAB
SAB
DA
DC
bit 15
bit 8
R/W-0(3)
R/W-0(3)
IPL2(2)
IPL1
(2)
R/W-0(3)
R-0
R/W-0
R/W-0
R/W-0
R/W-0
IPL0(2)
RA
N
OV
Z
C
bit 7
bit 0
Legend:
C = Clear only bit
R = Readable bit
U = Unimplemented bit, read as ‘0’
S = Set only bit
W = Writable bit
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
IPL<2:0>: CPU Interrupt Priority Level Status bits(1)
111 = CPU Interrupt Priority Level is 7 (15), user interrupts disabled
110 = CPU Interrupt Priority Level is 6 (14)
101 = CPU Interrupt Priority Level is 5 (13)
100 = CPU Interrupt Priority Level is 4 (12)
011 = CPU Interrupt Priority Level is 3 (11)
010 = CPU Interrupt Priority Level is 2 (10)
001 = CPU Interrupt Priority Level is 1 (9)
000 = CPU Interrupt Priority Level is 0 (8)
bit 7-5
Note 1:
2:
3:
For complete register details, see Register 2-1: “SR: CPU STATUS Register”.
The IPL<2:0> bits are concatenated with the IPL<3> bit (CORCON<3>) to form the CPU Interrupt Priority
Level. The value in parentheses indicates the IPL if IPL<3> = 1. User interrupts are disabled when
IPL<3> = 1.
The IPL<2:0> Status bits are read-only when NSTDIS (INTCON1<15>) = 1.
REGISTER 6-2:
CORCON: CORE CONTROL REGISTER(1)
U-0
—
bit 15
U-0
—
R/W-0
SATA
bit 7
R/W-0
SATB
Note 1:
2:
R/W-0
US
R/W-0
EDT
R-0
R-0
DL<2:0>
R-0
bit 8
Legend:
R = Readable bit
0’ = Bit is cleared
bit 3
U-0
—
R/W-1
SATDW
R/W-0
ACCSAT
C = Clear only bit
W = Writable bit
‘x = Bit is unknown
R/C-0
IPL3(2)
R/W-0
PSV
R/W-0
RND
R/W-0
IF
bit 0
-n = Value at POR
‘1’ = Bit is set
U = Unimplemented bit, read as ‘0’
IPL3: CPU Interrupt Priority Level Status bit 3(2)
1 = CPU interrupt priority level is greater than 7
0 = CPU interrupt priority level is 7 or less
For complete register details, see Register 2-2: “CORCON: CORE Control Register”.
The IPL3 bit is concatenated with the IPL<2:0> bits (SR<7:5>) to form the CPU Interrupt Priority Level.
DS70287A-page 84
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-3:
INTCON1: INTERRUPT CONTROL REGISTER 1
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
NSTDIS
OVAERR
OVBERR
COVAERR
COVBERR
OVATE
OVBTE
COVTE
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
U-0
SFTACERR
DIV0ERR
DMACERR
MATHERR
ADDRERR
STKERR
OSCFAIL
—
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
NSTDIS: Interrupt Nesting Disable bit
1 = Interrupt nesting is disabled
0 = Interrupt nesting is enabled
bit 14
OVAERR: Accumulator A Overflow Trap Flag bit
1 = Trap was caused by overflow of Accumulator A
0 = Trap was not caused by overflow of Accumulator A
bit 13
OVBERR: Accumulator B Overflow Trap Flag bit
1 = Trap was caused by overflow of Accumulator B
0 = Trap was not caused by overflow of Accumulator B
bit 12
COVAERR: Accumulator A Catastrophic Overflow Trap Enable bit
1 = Trap was caused by catastrophic overflow of Accumulator A
0 = Trap was not caused by catastrophic overflow of Accumulator A
bit 11
COVBERR: Accumulator B Catastrophic Overflow Trap Enable bit
1 = Trap was caused by catastrophic overflow of Accumulator B
0 = Trap was not caused by catastrophic overflow of Accumulator B
bit 10
OVATE: Accumulator A Overflow Trap Enable bit
1 = Trap overflow of Accumulator A
0 = Trap disabled
bit 9
OVBTE: Accumulator B Overflow Trap Enable bit
1 = Trap overflow of Accumulator B
0 = Trap disabled
bit 8
COVTE: Catastrophic Overflow Trap Enable bit
1 = Trap on catastrophic overflow of Accumulator A or B enabled
0 = Trap disabled
bit 7
SFTACERR: Shift Accumulator Error Status bit
1 = Math error trap was caused by an invalid accumulator shift
0 = Math error trap was not caused by an invalid accumulator shift
bit 6
DIV0ERR: Arithmetic Error Status bit
1 = Math error trap was caused by a divide by zero
0 = Math error trap was not caused by a divide by zero
bit 5
DMACERR: DMA Controller Error Status bit
1 = DMA controller error trap has occurred
0 = DMA controller error trap has not occurred
bit 4
MATHERR: Arithmetic Error Status bit
1 = Math error trap has occurred
0 = Math error trap has not occurred
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 85
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-3:
INTCON1: INTERRUPT CONTROL REGISTER 1 (CONTINUED)
bit 3
ADDRERR: Address Error Trap Status bit
1 = Address error trap has occurred
0 = Address error trap has not occurred
bit 2
STKERR: Stack Error Trap Status bit
1 = Stack error trap has occurred
0 = Stack error trap has not occurred
bit 1
OSCFAIL: Oscillator Failure Trap Status bit
1 = Oscillator failure trap has occurred
0 = Oscillator failure trap has not occurred
bit 0
Unimplemented: Read as ‘0’
DS70287A-page 86
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-4:
INTCON2: INTERRUPT CONTROL REGISTER 2
R/W-0
R-0
U-0
U-0
U-0
U-0
U-0
U-0
ALTIVT
DISI
—
—
—
—
—
—
bit 15
bit 8
U-0
U-0
U-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
—
—
—
INT4EP
INT3EP
INT2EP
INT1EP
INT0EP
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
ALTIVT: Enable Alternate Interrupt Vector Table bit
1 = Use alternate vector table
0 = Use standard (default) vector table
bit 14
DISI: DISI Instruction Status bit
1 = DISI instruction is active
0 = DISI instruction is not active
bit 13-5
Unimplemented: Read as ‘0’
bit 4
INT4EP: External Interrupt 4 Edge Detect Polarity Select bit
1 = Interrupt on negative edge
0 = Interrupt on positive edge
bit 3
INT3EP: External Interrupt 3 Edge Detect Polarity Select bit
1 = Interrupt on negative edge
0 = Interrupt on positive edge
bit 2
INT2EP: External Interrupt 2 Edge Detect Polarity Select bit
1 = Interrupt on negative edge
0 = Interrupt on positive edge
bit 1
INT1EP: External Interrupt 1 Edge Detect Polarity Select bit
1 = Interrupt on negative edge
0 = Interrupt on positive edge
bit 0
INT0EP: External Interrupt 0 Edge Detect Polarity Select bit
1 = Interrupt on negative edge
0 = Interrupt on positive edge
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 87
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-5:
IFS0: INTERRUPT FLAG STATUS REGISTER 0
U-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
—
DMA1IF
AD1IF
U1TXIF
U1RXIF
SPI1IF
SPI1EIF
T3IF
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
T2IF
OC2IF
IC2IF
DMA01IF
T1IF
OC1IF
IC1IF
INT0IF
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
Unimplemented: Read as ‘0’
bit 14
DMA1IF: DMA Channel 1 Data Transfer Complete Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 13
AD1IF: ADC1 Conversion Complete Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 12
U1TXIF: UART1 Transmitter Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 11
U1RXIF: UART1 Receiver Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 10
SPI1IF: SPI1 Event Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 9
SPI1EIF: SPI1 Fault Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 8
T3IF: Timer3 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 7
T2IF: Timer2 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 6
OC2IF: Output Compare Channel 2 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 5
IC2IF: Input Capture Channel 2 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 4
DMA0IF: DMA Channel 0 Data Transfer Complete Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 3
T1IF: Timer1 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
DS70287A-page 88
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-5:
IFS0: INTERRUPT FLAG STATUS REGISTER 0 (CONTINUED)
bit 2
OC1IF: Output Compare Channel 1 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 1
IC1IF: Input Capture Channel 1 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 0
INT0IF: External Interrupt 0 Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
© 2007 Microchip Technology Inc.
DS70287A-page 89
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-6:
IFS1: INTERRUPT FLAG STATUS REGISTER 1
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
U2TXIF
U2RXIF
INT2IF
T5IF
T4IF
OC4IF
OC3IF
DMA21IF
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
IC8IF
IC7IF
AD2IF
INT1IF
CNIF
—
MI2C1IF
SI2C1IF
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
U2TXIF: UART2 Transmitter Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 14
U2RXIF: UART2 Receiver Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 13
INT2IF: External Interrupt 2 Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 12
T5IF: Timer5 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 11
T4IF: Timer4 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 10
OC4IF: Output Compare Channel 4 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 9
OC3IF: Output Compare Channel 3 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 8
DMA2IF: DMA Channel 2 Data Transfer Complete Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 7
IC8IF: Input Capture Channel 8 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 6
IC7IF: Input Capture Channel 7 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 5
AD2IF: ADC2 Conversion Complete Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 4
INT1IF: External Interrupt 1 Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
DS70287A-page 90
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-6:
IFS1: INTERRUPT FLAG STATUS REGISTER 1 (CONTINUED)
bit 3
CNIF: Input Change Notification Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 2
Unimplemented: Read as ‘0’
bit 1
MI2C1IF: I2C1 Master Events Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 0
SI2C1IF: I2C1 Slave Events Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
© 2007 Microchip Technology Inc.
DS70287A-page 91
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-7:
IFS2: INTERRUPT FLAG STATUS REGISTER 2
R/W-0
R/W-0
U-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
T6IF
DMA4IF
—
OC8IF
OC7IF
OC6IF
OC5IF
IC6IF
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
IC5IF
IC4IF
IC3IF
DMA3IF
C1IF
C1RXIF
SPI2IF
SPI2EIF
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
T6IF: Timer6 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 14
DMA4IF: DMA Channel 4 Data Transfer Complete Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 13
Unimplemented: Read as ‘0’
bit 12
OC8IF: Output Compare Channel 8 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 11
OC7IF: Output Compare Channel 7 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 10
OC6IF: Output Compare Channel 6 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 9
OC5IF: Output Compare Channel 5 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 8
IC6IF: Input Capture Channel 6 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 7
IC5IF: Input Capture Channel 5 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 6
IC4IF: Input Capture Channel 4 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 5
IC3IF: Input Capture Channel 3 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 4
DMA3IF: DMA Channel 3 Data Transfer Complete Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 3
C1IF: ECAN1 Event Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
DS70287A-page 92
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-7:
IFS2: INTERRUPT FLAG STATUS REGISTER 2 (CONTINUED)
bit 2
C1RXIF: ECAN1 Receive Data Ready Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 1
SPI2IF: SPI2 Event Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 0
SPI2EIF: SPI2 Error Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
© 2007 Microchip Technology Inc.
DS70287A-page 93
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-8:
IFS3: INTERRUPT FLAG STATUS REGISTER 3
R/W-0
U-0
R/W-0
U-0
U-0
R/W-0
R/W-0
R/W-0
FLTAIF
—
DMA5IF
—
—
QEIIF
PWMIF
C2IF
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
C2RXIF
INT4IF
INT3IF
T9IF
T8IF
MI2C2IF
SI2C2IF
T7IF
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
FLTAIF: PWM Fault A Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 14
Unimplemented: Read as ‘0’
bit 13
DMA5IF: DMA Channel 5 Data Transfer Complete Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 12-11
Unimplemented: Read as ‘0’
bit 10
QEIIF: QEI Event Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 9
PWMIF: PWM Error Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 8
C2IF: ECAN2 Event Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 7
C2RXIF: ECAN2 Receive Data Ready Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 6
INT4IF: External Interrupt 4 Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 5
INT3IF: External Interrupt 3 Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 4
T9IF: Timer9 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 3
T8IF: Timer8 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 2
MI2C2IF: I2C2 Master Events Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
DS70287A-page 94
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-8:
IFS3: INTERRUPT FLAG STATUS REGISTER 3 (CONTINUED)
bit 1
SI2C2IF: I2C2 Slave Events Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 0
T7IF: Timer7 Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
© 2007 Microchip Technology Inc.
DS70287A-page 95
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-9:
IFS4: INTERRUPT FLAG STATUS REGISTER 4
U-0
U-0
U-0
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
—
—
—
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
U-0
R/W-0
R/W-0
R/W-0
C2TXIF
C1TXIF
DMA7IF
DMA6IF
—
U2EIF
U1EIF
FLTBIF
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-8
Unimplemented: Read as ‘0’
bit 7
C2TXIF: ECAN2 Transmit Data Request Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 6
C1TXIF: ECAN1 Transmit Data Request Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 5
DMA7IF: DMA Channel 7 Data Transfer Complete Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 4
DMA6IF: DMA Channel 6 Data Transfer Complete Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 3
Unimplemented: Read as ‘0’
bit 2
U2EIF: UART2 Error Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 1
U1EIF: UART1 Error Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
bit 0
FLTBIF: PWM Fault B Interrupt Flag Status bit
1 = Interrupt request has occurred
0 = Interrupt request has not occurred
DS70287A-page 96
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-10:
IEC0: INTERRUPT ENABLE CONTROL REGISTER 0
U-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
—
DMA1IE
AD1IE
U1TXIE
U1RXIE
SPI1IE
SPI1EIE
T3IE
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
T2IE
OC2IE
IC2IE
DMA0IE
T1IE
OC1IE
IC1IE
INT0IE
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
Unimplemented: Read as ‘0’
bit 14
DMA1IE: DMA Channel 1 Data Transfer Complete Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 13
AD1IE: ADC1 Conversion Complete Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 12
U1TXIE: UART1 Transmitter Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 11
U1RXIE: UART1 Receiver Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 10
SPI1IE: SPI1 Event Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 9
SPI1EIE: SPI1 Error Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 8
T3IE: Timer3 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 7
T2IE: Timer2 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 6
OC2IE: Output Compare Channel 2 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 5
IC2IE: Input Capture Channel 2 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 4
DMA0IE: DMA Channel 0 Data Transfer Complete Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 3
T1IE: Timer1 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 97
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-10:
IEC0: INTERRUPT ENABLE CONTROL REGISTER 0 (CONTINUED)
bit 2
OC1IE: Output Compare Channel 1 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 1
IC1IE: Input Capture Channel 1 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 0
INT0IE: External Interrupt 0 Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
DS70287A-page 98
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-11:
IEC1: INTERRUPT ENABLE CONTROL REGISTER 1
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
U2TXIE
U2RXIE
INT2IE
T5IE
T4IE
OC4IE
OC3IE
DMA2IE
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
IC8IE
IC7IE
AD2IE
INT1IE
CNIE
—
MI2C1IE
SI2C1IE
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
U2TXIE: UART2 Transmitter Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 14
U2RXIE: UART2 Receiver Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 13
INT2IE: External Interrupt 2 Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 12
T5IE: Timer5 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 11
T4IE: Timer4 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 10
OC4IE: Output Compare Channel 4 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 9
OC3IE: Output Compare Channel 3 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 8
DMA2IE: DMA Channel 2 Data Transfer Complete Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 7
IC8IE: Input Capture Channel 8 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 6
IC7IE: Input Capture Channel 7 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 5
AD2IE: ADC2 Conversion Complete Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 4
INT1IE: External Interrupt 1 Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 99
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-11:
IEC1: INTERRUPT ENABLE CONTROL REGISTER 1 (CONTINUED)
bit 3
CNIE: Input Change Notification Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 2
Unimplemented: Read as ‘0’
bit 1
MI2C1IE: I2C1 Master Events Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 0
SI2C1IE: I2C1 Slave Events Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
DS70287A-page 100
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-12:
IEC2: INTERRUPT ENABLE CONTROL REGISTER 2
R/W-0
R/W-0
U-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
T6IE
DMA4IE
—
OC8IE
OC7IE
OC6IE
OC5IE
IC6IE
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
IC5IE
IC4IE
IC3IE
DMA3IE
C1IE
C1RXIE
SPI2IE
SPI2EIE
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
T6IE: Timer6 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 14
DMA4IE: DMA Channel 4 Data Transfer Complete Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 13
Unimplemented: Read as ‘0’
bit 12
OC8IE: Output Compare Channel 8 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 11
OC7IE: Output Compare Channel 7 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 10
OC6IE: Output Compare Channel 6 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 9
OC5IE: Output Compare Channel 5 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 8
IC6IE: Input Capture Channel 6 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 7
IC5IE: Input Capture Channel 5 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 6
IC4IE: Input Capture Channel 4 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 5
IC3IE: Input Capture Channel 3 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 4
DMA3IE: DMA Channel 3 Data Transfer Complete Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 3
C1IE: ECAN1 Event Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 101
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-12:
IEC2: INTERRUPT ENABLE CONTROL REGISTER 2 (CONTINUED)
bit 2
C1RXIE: ECAN1 Receive Data Ready Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 1
SPI2IE: SPI2 Event Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 0
SPI2EIE: SPI2 Error Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
DS70287A-page 102
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-13:
IEC3: INTERRUPT ENABLE CONTROL REGISTER 3
R/W-0
U-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
FLTAIE
—
DMA5IE
DCIIE
DCIEIE
QEIIE
PWMIE
C2IE
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
C2RXIE
INT4IE
INT3IE
T9IE
T8IE
MI2C2IE
SI2C2IE
T7IE
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
FLTAIE: PWM Fault A Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 14
Unimplemented: Read as ‘0’
bit 13
DMA5IE: DMA Channel 5 Data Transfer Complete Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 12
DCIIE: DCI Event Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 11
DCIEIE: DCI Error Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 10
QEIIE: QEI Event Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 9
PWMIE: PWM Error Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 8
C2IE: ECAN2 Event Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 7
C2RXIE: ECAN2 Receive Data Ready Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 6
INT4IE: External Interrupt 4 Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 5
INT3IE: External Interrupt 3 Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 4
T9IE: Timer9 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 3
T8IE: Timer8 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 103
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-13:
IEC3: INTERRUPT ENABLE CONTROL REGISTER 3 (CONTINUED)
bit 2
MI2C2IE: I2C2 Master Events Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 1
SI2C2IE: I2C2 Slave Events Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 0
T7IE: Timer7 Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
DS70287A-page 104
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-14:
IEC4: INTERRUPT ENABLE CONTROL REGISTER 4
U-0
U-0
U-0
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
—
—
—
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
U-0
R/W-0
R/W-0
R/W-0
C2TXIE
C1TXIE
DMA7IE
DMA6IE
—
U2EIE
U1EIE
FLTBIE
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-8
Unimplemented: Read as ‘0’
bit 7
C2TXIE: ECAN2 Transmit Data Request Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 6
C1TXIE: ECAN1 Transmit Data Request Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 5
DMA7IE: DMA Channel 7 Data Transfer Complete Enable Status bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 4
DMA6IE: DMA Channel 6 Data Transfer Complete Enable Status bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 3
Unimplemented: Read as ‘0’
bit 2
U2EIE: UART2 Error Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 1
U1EIE: UART1 Error Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
bit 0
FLTBIE: PWM Fault B Interrupt Enable bit
1 = Interrupt request enabled
0 = Interrupt request not enabled
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 105
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-15:
U-0
IPC0: INTERRUPT PRIORITY CONTROL REGISTER 0
R/W-1
—
R/W-0
R/W-0
T1IP<2:0>
U-0
R/W-1
—
R/W-0
R/W-0
OC1IP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
IC1IP<2:0>
R/W-0
U-0
R/W-1
—
R/W-0
R/W-0
INT0IP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
Unimplemented: Read as ‘0’
bit 14-12
T1IP<2:0>: Timer1 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11
Unimplemented: Read as ‘0’
bit 10-8
OC1IP<2:0>: Output Compare Channel 1 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
IC1IP<2:0>: Input Capture Channel 1 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
INT0IP<2:0>: External Interrupt 0 Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
DS70287A-page 106
x = Bit is unknown
© 2007 Microchip Technology Inc.
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REGISTER 6-16:
U-0
IPC1: INTERRUPT PRIORITY CONTROL REGISTER 1
R/W-1
—
R/W-0
R/W-0
T2IP<2:0>
U-0
R/W-1
—
R/W-0
R/W-0
OC2IP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
IC2IP<2:0>
R/W-0
U-0
R/W-1
—
R/W-0
R/W-0
DMA0IP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
Unimplemented: Read as ‘0’
bit 14-12
T2IP<2:0>: Timer2 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11
Unimplemented: Read as ‘0’
bit 10-8
OC2IP<2:0>: Output Compare Channel 2 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
IC2IP<2:0>: Input Capture Channel 2 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
DMA0IP<2:0>: DMA Channel 0 Data Transfer Complete Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
© 2007 Microchip Technology Inc.
DS70287A-page 107
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REGISTER 6-17:
U-0
IPC2: INTERRUPT PRIORITY CONTROL REGISTER 2
R/W-1
—
R/W-0
R/W-0
U1RXIP<2:0>
U-0
R/W-1
—
R/W-0
R/W-0
SPI1IP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
SPI1EIP<2:0>
R/W-0
U-0
—
R/W-1
R/W-0
R/W-0
T3IP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
Unimplemented: Read as ‘0’
bit 14-12
U1RXIP<2:0>: UART1 Receiver Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11
Unimplemented: Read as ‘0’
bit 10-8
SPI1IP<2:0>: SPI1 Event Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
SPI1EIP<2:0>: SPI1 Error Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
T3IP<2:0>: Timer3 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
DS70287A-page 108
x = Bit is unknown
© 2007 Microchip Technology Inc.
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REGISTER 6-18:
IPC3: INTERRUPT PRIORITY CONTROL REGISTER 3
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
R/W-1
R/W-0
R/W-0
DMA1IP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
AD1IP<2:0>
R/W-0
U-0
R/W-1
—
R/W-0
R/W-0
U1TXIP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-11
Unimplemented: Read as ‘0’
bit 10-8
DMA1IP<2:0>: DMA Channel 1 Data Transfer Complete Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
AD1IP<2:0>: ADC1 Conversion Complete Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
U1TXIP<2:0>: UART1 Transmitter Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
© 2007 Microchip Technology Inc.
DS70287A-page 109
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REGISTER 6-19:
U-0
IPC4: INTERRUPT PRIORITY CONTROL REGISTER 4
R/W-1
—
R/W-0
R/W-0
CNIP<2:0>
U-0
U-0
U-0
U-0
—
—
—
—
bit 15
bit 8
U-0
R/W-1
—
R/W-0
MI2C1IP<2:0>
R/W-0
U-0
—
R/W-1
R/W-0
R/W-0
SI2C1IP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
Unimplemented: Read as ‘0’
bit 14-12
CNIP<2:0>: Change Notification Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11-7
Unimplemented: Read as ‘0’
bit 6-4
MI2C1IP<2:0>: I2C1 Master Events Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
SI2C1IP<2:0>: I2C1 Slave Events Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
DS70287A-page 110
x = Bit is unknown
© 2007 Microchip Technology Inc.
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REGISTER 6-20:
U-0
IPC5: INTERRUPT PRIORITY CONTROL REGISTER 5
R/W-1
—
R/W-0
R/W-0
IC8IP<2:0>
U-0
R/W-1
—
R/W-0
R/W-0
IC7IP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
AD2IP<2:0>
R/W-0
U-0
R/W-1
—
R/W-0
R/W-0
INT1IP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
Unimplemented: Read as ‘0’
bit 14-12
IC8IP<2:0>: Input Capture Channel 8 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11
Unimplemented: Read as ‘0’
bit 10-8
IC7IP<2:0>: Input Capture Channel 7 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
AD2IP<2:0>: ADC2 Conversion Complete Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
INT1IP<2:0>: External Interrupt 1 Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 111
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REGISTER 6-21:
U-0
IPC6: INTERRUPT PRIORITY CONTROL REGISTER 6
R/W-1
—
R/W-0
R/W-0
T4IP<2:0>
U-0
R/W-1
—
R/W-0
R/W-0
OC4IP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
OC3IP<2:0>
R/W-0
U-0
R/W-1
—
R/W-0
R/W-0
DMA2IP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
Unimplemented: Read as ‘0’
bit 14-12
T4IP<2:0>: Timer4 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11
Unimplemented: Read as ‘0’
bit 10-8
OC4IP<2:0>: Output Compare Channel 4 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
OC3IP<2:0>: Output Compare Channel 3 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
DMA2IP<2:0>: DMA Channel 2 Data Transfer Complete Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
DS70287A-page 112
© 2007 Microchip Technology Inc.
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REGISTER 6-22:
U-0
IPC7: INTERRUPT PRIORITY CONTROL REGISTER 7
R/W-1
—
R/W-0
R/W-0
U2TXIP<2:0>
U-0
R/W-1
—
R/W-0
R/W-0
U2RXIP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
INT2IP<2:0>
R/W-0
U-0
—
R/W-1
R/W-0
R/W-0
T5IP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
Unimplemented: Read as ‘0’
bit 14-12
U2TXIP<2:0>: UART2 Transmitter Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11
Unimplemented: Read as ‘0’
bit 10-8
U2RXIP<2:0>: UART2 Receiver Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
INT2IP<2:0>: External Interrupt 2 Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
T5IP<2:0>: Timer5 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 113
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REGISTER 6-23:
U-0
IPC8: INTERRUPT PRIORITY CONTROL REGISTER 8
R/W-1
—
R/W-0
R/W-0
C1IP<2:0>
U-0
R/W-1
—
R/W-0
R/W-0
C1RXIP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
SPI2IP<2:0>
R/W-0
U-0
R/W-1
—
R/W-0
R/W-0
SPI2EIP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
Unimplemented: Read as ‘0’
bit 14-12
C1IP<2:0>: ECAN1 Event Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11
Unimplemented: Read as ‘0’
bit 10-8
C1RXIP<2:0>: ECAN1 Receive Data Ready Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
SPI2IP<2:0>: SPI2 Event Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
SPI2EIP<2:0>: SPI2 Error Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
DS70287A-page 114
x = Bit is unknown
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-24:
U-0
IPC9: INTERRUPT PRIORITY CONTROL REGISTER 9
R/W-1
—
R/W-0
R/W-0
IC5IP<2:0>
U-0
R/W-1
—
R/W-0
R/W-0
IC4IP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
IC3IP<2:0>
R/W-0
U-0
—
R/W-1
R/W-0
R/W-0
DMA3IP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
Unimplemented: Read as ‘0’
bit 14-12
IC5IP<2:0>: Input Capture Channel 5 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11
Unimplemented: Read as ‘0’
bit 10-8
IC4IP<2:0>: Input Capture Channel 4 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
IC3IP<2:0>: Input Capture Channel 3 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
DMA3IP<2:0>: DMA Channel 3 Data Transfer Complete Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
© 2007 Microchip Technology Inc.
DS70287A-page 115
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REGISTER 6-25:
U-0
IPC10: INTERRUPT PRIORITY CONTROL REGISTER 10
R/W-1
—
R/W-0
R/W-0
OC7IP<2:0>
U-0
R/W-1
—
R/W-0
R/W-0
OC6IP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
OC5IP<2:0>
R/W-0
U-0
R/W-1
—
R/W-0
R/W-0
IC6IP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
Unimplemented: Read as ‘0’
bit 14-12
OC7IP<2:0>: Output Compare Channel 7 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11
Unimplemented: Read as ‘0’
bit 10-8
OC6IP<2:0>: Output Compare Channel 6 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
OC5IP<2:0>: Output Compare Channel 5 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
IC6IP<2:0>: Input Capture Channel 6 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
DS70287A-page 116
x = Bit is unknown
© 2007 Microchip Technology Inc.
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REGISTER 6-26:
U-0
IPC11: INTERRUPT PRIORITY CONTROL REGISTER 11
R/W-1
—
R/W-0
R/W-0
T6IP<2:0>
U-0
R/W-1
—
R/W-0
R/W-0
DMA4IP<2:0>
bit 15
bit 8
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
R/W-1
R/W-0
R/W-0
OC8IP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
Unimplemented: Read as ‘0’
bit 14-12
T6IP<2:0>: Timer6 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11
Unimplemented: Read as ‘0’
bit 10-8
DMA4IP<2:0>: DMA Channel 4 Data Transfer Complete Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7-3
Unimplemented: Read as ‘0’
bit 2-0
OC8IP<2:0>: Output Compare Channel 8 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
© 2007 Microchip Technology Inc.
DS70287A-page 117
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REGISTER 6-27:
U-0
IPC12: INTERRUPT PRIORITY CONTROL REGISTER 12
R/W-1
—
R/W-0
R/W-0
T8IP<2:0>
U-0
R/W-1
—
R/W-0
R/W-0
MI2C2IP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
SI2C2IP<2:0>
R/W-0
U-0
—
R/W-1
R/W-0
R/W-0
T7IP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
Unimplemented: Read as ‘0’
bit 14-12
T8IP<2:0>: Timer8 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11
Unimplemented: Read as ‘0’
bit 10-8
MI2C2IP<2:0>: I2C2 Master Events Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
SI2C2IP<2:0>: I2C2 Slave Events Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
T7IP<2:0>: Timer7 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
DS70287A-page 118
x = Bit is unknown
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-28:
U-0
IPC13: INTERRUPT PRIORITY CONTROL REGISTER 13
R/W-1
—
R/W-0
R/W-0
C2RXIP<2:0>
U-0
R/W-1
—
R/W-0
R/W-0
INT4IP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
INT3IP<2:0>
R/W-0
U-0
R/W-1
—
R/W-0
R/W-0
T9IP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
Unimplemented: Read as ‘0’
bit 14-12
C2RXIP<2:0>: ECAN2 Receive Data Ready Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11
Unimplemented: Read as ‘0’
bit 10-8
INT4IP<2:0>: External Interrupt 4 Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
INT3IP<2:0>: External Interrupt 3 Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
T9IP<2:0>: Timer9 Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 119
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-29:
IPC14: INTERRUPT PRIORITY CONTROL REGISTER 14
U-0
R/W-1
R/W-0
R/W-0
U-0
—
—
—
—
—
R/W-1
R/W-0
R/W-0
QEIIP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
PWMIP<2:0>
R/W-0
U-0
—
R/W-1
R/W-0
R/W-0
C2IP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-11
Unimplemented: Read as ‘0’
bit 10-8
QEIIP<2:0>: QEI Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
PWMIP<2:0>: PWM Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
C2IP<2:0>: ECAN2 Event Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
DS70287A-page 120
x = Bit is unknown
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-30:
U-0
IPC15: INTERRUPT PRIORITY CONTROL REGISTER 15
R/W-1
R/W-0
—
R/W-0
FLTAIP<2:0>
U-0
U-0
U-0
U-0
—
—
—
—
bit 15
bit 8
U-0
R/W-1
—
R/W-0
DMA5IP<2:0>
R/W-0
U-0
R/W-1
R/W-0
R/W-0
—
—
—
—
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
Unimplemented: Read as ‘0’
bit 14-12
FLTAIP<2:0>: PWM Fault A Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11-7
Unimplemented: Read as ‘0’
bit 6-4
DMA5IP<2:0>: DMA Channel 5 Data Transfer Complete Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3-0
Unimplemented: Read as ‘0’
© 2007 Microchip Technology Inc.
DS70287A-page 121
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-31:
IPC16: INTERRUPT PRIORITY CONTROL REGISTER 16
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
R/W-1
R/W-0
R/W-0
U2EIP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
U1EIP<2:0>
R/W-0
U-0
—
R/W-1
R/W-0
R/W-0
FLTBIP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-11
Unimplemented: Read as ‘0’
bit 10-8
U2EIP<2:0>: UART2 Error Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
U1EIP<2:0>: UART1 Error Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
FLTBIP<2:0>: PWM Fault B Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
DS70287A-page 122
x = Bit is unknown
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-32:
U-0
IPC17: INTERRUPT PRIORITY CONTROL REGISTER 17
R/W-1
—
R/W-0
R/W-0
C2TXIP<2:0>
U-0
R/W-1
—
R/W-0
R/W-0
C1TXIP<2:0>
bit 15
bit 8
U-0
R/W-1
—
R/W-0
DMA7IP<2:0>
R/W-0
U-0
R/W-1
—
R/W-0
R/W-0
DMA6IP<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
Unimplemented: Read as ‘0’
bit 14-12
C2TXIP<2:0>: ECAN2 Transmit Data Request Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 11
Unimplemented: Read as ‘0’
bit 10-8
C1TXIP<2:0>: ECAN1 Transmit Data Request Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 7
Unimplemented: Read as ‘0’
bit 6-4
DMA7IP<2:0>: DMA Channel 7 Data Transfer Complete Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
bit 3
Unimplemented: Read as ‘0’
bit 2-0
DMA6IP<2:0>: DMA Channel 6 Data Transfer Complete Interrupt Priority bits
111 = Interrupt is priority 7 (highest priority interrupt)
•
•
•
001 = Interrupt is priority 1
000 = Interrupt source is disabled
© 2007 Microchip Technology Inc.
DS70287A-page 123
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 6-33:
INTTREG: INTERRUPT CONTROL AND STATUS REGISTER
R-0
R/W-0
U-0
U-0
—
—
—
—
R-0
R-0
R-0
R-0
ILR<3:0>
bit 15
bit 8
U-0
R-0
R-0
R-0
—
R-0
R-0
R-0
R-0
VECNUM<6:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-12
Unimplemented: Read as ‘0’
bit 11-8
ILR: New CPU Interrupt Priority Level bits
1111 = CPU Interrupt Priority Level is 15
•
•
•
0001 = CPU Interrupt Priority Level is 1
0000 = CPU Interrupt Priority Level is 0
bit 7
Unimplemented: Read as ‘0’
bit 6-0
VECNUM: Vector Number of Pending Interrupt bits
0111111 = Interrupt Vector pending is number 135
•
•
•
0000001 = Interrupt Vector pending is number 9
0000000 = Interrupt Vector pending is number 8
DS70287A-page 124
x = Bit is unknown
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
6.4
Interrupt Setup Procedures
6.4.1
INITIALIZATION
To configure an interrupt source, do the following:
1.
2.
Set the NSTDIS bit (INTCON1<15>) if nested
interrupts are not desired.
Select the user-assigned priority level for the
interrupt source by writing the control bits in the
appropriate IPCx register. The priority level will
depend on the specific application and type of
interrupt source. If multiple priority levels are not
desired, the IPCx register control bits for all
enabled interrupt sources may be programmed
to the same non-zero value.
Note:
3.
4.
At a device Reset, the IPCx registers are
initialized such that all user interrupt
sources are assigned to priority level 4.
Clear the interrupt flag status bit associated with
the peripheral in the associated IFSx register.
Enable the interrupt source by setting the interrupt enable control bit associated with the
source in the appropriate IECx register.
6.4.2
6.4.3
TRAP SERVICE ROUTINE
A Trap Service Routine (TSR) is coded like an ISR,
except that the appropriate trap status flag in the
INTCON1 register must be cleared to avoid re-entry
into the TSR.
6.4.4
INTERRUPT DISABLE
All user interrupts can be disabled using the following
procedure:
1.
2.
Push the current SR value onto the software
stack using the PUSH instruction.
Force the CPU to priority level 7 by inclusive
ORing the value OEh with SRL.
To enable user interrupts, the POP instruction may be
used to restore the previous SR value.
Note that only user interrupts with a priority level of 7 or
less can be disabled. Trap sources (level 8-level 15)
cannot be disabled.
The DISI instruction provides a convenient way to disable interrupts of priority levels 1-6 for a fixed period of
time. Level 7 interrupt sources are not disabled by the
DISI instruction.
INTERRUPT SERVICE ROUTINE
The method that is used to declare an ISR and initialize
the IVT with the correct vector address will depend on
the programming language (i.e., C or assembler) and
the language development tool suite that is used to
develop the application. In general, the user must clear
the interrupt flag in the appropriate IFSx register for the
source of interrupt that the ISR handles. Otherwise, the
ISR will be re-entered immediately after exiting the
routine. If the ISR is coded in assembly language, it
must be terminated using a RETFIE instruction to
unstack the saved PC value, SRL value and old CPU
priority level.
© 2007 Microchip Technology Inc.
DS70287A-page 125
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 126
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
7.0
Note:
DIRECT MEMORY ACCESS
(DMA)
This data sheet summarizes the features
of
this
group
of dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family devices. It is not intended
to be a comprehensive reference source.
To complement the information in this data
sheet, refer to the “dsPIC33F Family
Reference Manual”. Refer to the
Microchip web site (www.microchip.com)
for the latest dsPIC33F family reference
manual chapters.
Direct Memory Access (DMA) is a very efficient
mechanism of copying data between peripheral SFRs
(e.g., the UART Receive register and Input Capture 1
buffer) and buffers or variables stored in RAM, with
minimal CPU intervention. The DMA controller can
automatically copy entire blocks of data without
requiring the user software to read or write the
peripheral Special Function Registers (SFRs) every
time a peripheral interrupt occurs. The DMA controller
uses a dedicated bus for data transfers and, therefore,
does not steal cycles from the code execution flow of
the CPU. To exploit the DMA capability, the
corresponding user buffers or variables must be
located in DMA RAM.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family peripherals that can utilize DMA are listed in
Table 7-1 along with their associated Interrupt Request
(IRQ) numbers.
TABLE 7-1:
PERIPHERALS WITH DMA
SUPPORT
Peripheral
IRQ Number
INT0
0
Input Capture 1
1
Input Capture 2
5
Output Compare 1
2
Output Compare 2
6
Timer2
7
Timer3
8
SPI1
10
SPI2
33
UART1 Reception
11
UART1 Transmission
12
UART2 Reception
30
UART2 Transmission
31
ADC1
13
ADC2
21
ECAN1 Reception
34
ECAN1 Transmission
70
© 2007 Microchip Technology Inc.
Peripheral
IRQ Number
ECAN2 Reception
55
ECAN2 Transmission
71
The DMA controller features eight identical data
transfer channels. Each channel has its own set of
control and status registers. Each DMA channel can be
configured to copy data either from buffers stored in
dual port DMA RAM to peripheral SFRs or from
peripheral SFRs to buffers in DMA RAM.
The DMA controller supports the following features:
• Word or byte sized data transfers.
• Transfers from peripheral to DMA RAM or DMA
RAM to peripheral.
• Indirect Addressing of DMA RAM locations with or
without automatic post-increment.
• Peripheral Indirect Addressing – In some
peripherals, the DMA RAM read/write addresses
may be partially derived from the peripheral.
• One-Shot Block Transfers – Terminating DMA
transfer after one block transfer.
• Continuous Block Transfers – Reloading DMA
RAM buffer start address after every block
transfer is complete.
• Ping-Pong Mode – Switching between two DMA
RAM start addresses between successive block
transfers, thereby filling two buffers alternately.
• Automatic or manual initiation of block transfers.
• Each channel can select from 20 possible
sources of data sources or destinations.
For each DMA channel, a DMA interrupt request is
generated when a block transfer is complete.
Alternatively, an interrupt can be generated when half of
the block has been filled.
DS70287A-page 127
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 7-1:
TOP LEVEL SYSTEM ARCHITECTURE USING A DEDICATED TRANSACTION BUS
Peripheral Indirect Address
DMA
Control
DMA Controller
DMA RAM
SRAM
PORT 1 PORT 2
SRAM X-Bus
DMA
Ready
Peripheral 3
DMA
Channels
CPU
DMA
DMA DS Bus
CPU Peripheral DS Bus
CPU
Non-DMA
Ready
Peripheral
CPU
DMA
DMA
Ready
Peripheral 1
CPU
DMA
DMA
Ready
Peripheral 2
Note: For clarity, CPU and DMA address buses are not shown.
7.1
DMAC Registers
Each DMAC Channel x (x = 0, 1, 2, 3, 4, 5, 6 or 7)
contains the following registers:
• A 16-bit DMA Channel Control register
(DMAxCON)
• A 16-bit DMA Channel IRQ Select register
(DMAxREQ)
• A 16-bit DMA RAM Primary Start Address Offset
register (DMAxSTA)
• A 16-bit DMA RAM Secondary Start Address
Offset register (DMAxSTB)
• A 16-bit DMA Peripheral Address register
(DMAxPAD)
• A 10-bit DMA Transfer Count register (DMAxCNT)
An additional pair of status registers, DMACS0 and
DMACS1, are common to all DMAC channels.
DS70287A-page 128
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 7-1:
DMAxCON: DMA CHANNEL x CONTROL REGISTER
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
U-0
U-0
U-0
CHEN
SIZE
DIR
HALF
NULLW
—
—
—
bit 15
bit 8
U-0
U-0
—
—
R/W-0
R/W-0
AMODE<1:0>
U-0
U-0
—
—
R/W-0
R/W-0
MODE<1:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
CHEN: Channel Enable bit
1 = Channel enabled
0 = Channel disabled
bit 14
SIZE: Data Transfer Size bit
1 = Byte
0 = Word
bit 13
DIR: Transfer Direction bit (source/destination bus select)
1 = Read from DMA RAM address; write to peripheral address
0 = Read from peripheral address; write to DMA RAM address
bit 12
HALF: Early Block Transfer Complete Interrupt Select bit
1 = Initiate block transfer complete interrupt when half of the data has been moved
0 = Initiate block transfer complete interrupt when all of the data has been moved
bit 11
NULLW: Null Data Peripheral Write Mode Select bit
1 = Null data write to peripheral in addition to DMA RAM write (DIR bit must also be clear)
0 = Normal operation
bit 10-6
Unimplemented: Read as ‘0’
bit 5-4
AMODE<1:0>: DMA Channel Operating Mode Select bits
11 = Reserved
10 = Peripheral Indirect Addressing mode
01 = Register Indirect without Post-Increment mode
00 = Register Indirect with Post-Increment mode
bit 3-2
Unimplemented: Read as ‘0’
bit 1-0
MODE<1:0>: DMA Channel Operating Mode Select bits
11 = One-Shot, Ping-Pong modes enabled (one block transfer from/to each DMA RAM buffer)
10 = Continuous, Ping-Pong modes enabled
01 = One-Shot, Ping-Pong modes disabled
00 = Continuous, Ping-Pong modes disabled
© 2007 Microchip Technology Inc.
DS70287A-page 129
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 7-2:
DMAxREQ: DMA CHANNEL x IRQ SELECT REGISTER
R/W-0
U-0
U-0
U-0
U-0
U-0
U-0
U-0
FORCE(1)
—
—
—
—
—
—
—
bit 15
bit 8
U-0
R/W-0
R/W-0
—
IRQSEL6(2)
IRQSEL5(2)
R/W-0
U-0
IRQSEL4(2) IRQSEL3(2)
U-0
R/W-0
R/W-0
IRQSEL2(2)
IRQSEL1(2)
IRQSEL0(2)
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
FORCE: Force DMA Transfer bit(1)
1 = Force a single DMA transfer (Manual mode)
0 = Automatic DMA transfer initiation by DMA request
bit 14-7
Unimplemented: Read as ‘0’
bit 6-0
IRQSEL<6:0>: DMA Peripheral IRQ Number Select bits(2)
0000000-1111111 = DMAIRQ0-DMAIRQ127 selected to be Channel DMAREQ
Note 1:
2:
The FORCE bit cannot be cleared by the user. The FORCE bit is cleared by hardware when the forced
DMA transfer is complete.
Please see Table 6-1 for a complete listing of IRQ numbers for all interrupt sources.
DS70287A-page 130
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 7-3:
R/W-0
DMAxSTA: DMA CHANNEL x RAM START ADDRESS OFFSET REGISTER A
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
STA<15:8>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
STA<7:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
x = Bit is unknown
STA<15:0>: Primary DMA RAM Start Address bits (source or destination)
REGISTER 7-4:
R/W-0
DMAxSTB: DMA CHANNEL x RAM START ADDRESS OFFSET REGISTER B
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
STB<15:8>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
STB<7:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
x = Bit is unknown
STB<15:0>: Secondary DMA RAM Start Address bits (source or destination)
© 2007 Microchip Technology Inc.
DS70287A-page 131
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 7-5:
R/W-0
DMAxPAD: DMA CHANNEL x PERIPHERAL ADDRESS REGISTER(1)
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PAD<15:8>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PAD<7:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
Note 1:
x = Bit is unknown
PAD<15:0>: Peripheral Address Register bits
If the channel is enabled (i.e., active), writes to this register may result in unpredictable behavior of the
DMA channel and should be avoided.
REGISTER 7-6:
U-0
DMAxCNT: DMA CHANNEL x TRANSFER COUNT REGISTER(1)
U-0
—
—
U-0
—
U-0
U-0
—
—
U-0
R/W-0
R/W-0
CNT<9:8>(2)
—
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
CNT<7:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-10
Unimplemented: Read as ‘0’
bit 9-0
CNT<9:0>: DMA Transfer Count Register bits(2)
Note 1:
2:
x = Bit is unknown
If the channel is enabled (i.e., active), writes to this register may result in unpredictable behavior of the
DMA channel and should be avoided.
Number of DMA transfers = CNT<9:0> + 1.
DS70287A-page 132
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 7-7:
DMACS0: DMA CONTROLLER STATUS REGISTER 0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
PWCOL7
PWCOL6
PWCOL5
PWCOL4
PWCOL3
PWCOL2
PWCOL1
PWCOL0
bit 15
bit 8
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
XWCOL7
XWCOL6
XWCOL5
XWCOL4
XWCOL3
XWCOL2
XWCOL1
XWCOL0
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
PWCOL7: Channel 7 Peripheral Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
bit 14
PWCOL6: Channel 6 Peripheral Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
bit 13
PWCOL5: Channel 5 Peripheral Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
bit 12
PWCOL4: Channel 4 Peripheral Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
bit 11
PWCOL3: Channel 3 Peripheral Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
bit 10
PWCOL2: Channel 2 Peripheral Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
bit 9
PWCOL1: Channel 1 Peripheral Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
bit 8
PWCOL0: Channel 0 Peripheral Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
bit 7
XWCOL7: Channel 7 DMA RAM Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
bit 6
XWCOL6: Channel 6 DMA RAM Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
bit 5
XWCOL5: Channel 5 DMA RAM Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
bit 4
XWCOL4: Channel 4 DMA RAM Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 133
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 7-7:
DMACS0: DMA CONTROLLER STATUS REGISTER 0 (CONTINUED)
bit 3
XWCOL3: Channel 3 DMA RAM Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
bit 2
XWCOL2: Channel 2 DMA RAM Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
bit 1
XWCOL1: Channel 1 DMA RAM Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
bit 0
XWCOL0: Channel 0 DMA RAM Write Collision Flag bit
1 = Write collision detected
0 = No write collision detected
DS70287A-page 134
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 7-8:
DMACS1: DMA CONTROLLER STATUS REGISTER 1
U-0
U-0
U-0
U-0
—
—
—
—
R-1
R-1
R-1
R-1
LSTCH<3:0>
bit 15
bit 8
R-0
R-0
R-0
R-0
R-0
R-0
R-0
R-0
PPST7
PPST6
PPST5
PPST4
PPST3
PPST2
PPST1
PPST0
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-12
Unimplemented: Read as ‘0’
bit 11-8
LSTCH<3:0>: Last DMA Channel Active bits
1111 = No DMA transfer has occurred since system Reset
1110-1000 = Reserved
0111 = Last data transfer was by DMA Channel 7
0110 = Last data transfer was by DMA Channel 6
0101 = Last data transfer was by DMA Channel 5
0100 = Last data transfer was by DMA Channel 4
0011 = Last data transfer was by DMA Channel 3
0010 = Last data transfer was by DMA Channel 2
0001 = Last data transfer was by DMA Channel 1
0000 = Last data transfer was by DMA Channel 0
bit 7
PPST7: Channel 7 Ping-Pong Mode Status Flag bit
1 = DMA7STB register selected
0 = DMA7STA register selected
bit 6
PPST6: Channel 6 Ping-Pong Mode Status Flag bit
1 = DMA6STB register selected
0 = DMA6STA register selected
bit 5
PPST5: Channel 5 Ping-Pong Mode Status Flag bit
1 = DMA5STB register selected
0 = DMA5STA register selected
bit 4
PPST4: Channel 4 Ping-Pong Mode Status Flag bit
1 = DMA4STB register selected
0 = DMA4STA register selected
bit 3
PPST3: Channel 3 Ping-Pong Mode Status Flag bit
1 = DMA3STB register selected
0 = DMA3STA register selected
bit 2
PPST2: Channel 2 Ping-Pong Mode Status Flag bit
1 = DMA2STB register selected
0 = DMA2STA register selected
bit 1
PPST1: Channel 1 Ping-Pong Mode Status Flag bit
1 = DMA1STB register selected
0 = DMA1STA register selected
bit 0
PPST0: Channel 0 Ping-Pong Mode Status Flag bit
1 = DMA0STB register selected
0 = DMA0STA register selected
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 135
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 7-9:
R-0
DSADR: MOST RECENT DMA RAM ADDRESS
R-0
R-0
R-0
R-0
R-0
R-0
R-0
DSADR<15:8>
bit 15
bit 8
R-0
R-0
R-0
R-0
R-0
R-0
R-0
R-0
DSADR<7:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
x = Bit is unknown
DSADR<15:0>: Most Recent DMA RAM Address Accessed by DMA Controller bits
DS70287A-page 136
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
8.0
OSCILLATOR
CONFIGURATION
Note:
•
This data sheet summarizes the features
of this group of dsPIC33FJXXXMCX06/
X08/X10 Motor Control Family devices. It
is not intended to be a comprehensive
reference source. To complement the
information in this data sheet, refer to the
“dsPIC33F Family Reference Manual”.
Refer to the Microchip web site
(www.microchip.com) for the latest
dsPIC33F family reference manual
chapters.
•
•
•
•
•
•
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family oscillator system provides the following:
• Various external and internal oscillator options as
FIGURE 8-1:
clock sources
An on-chip PLL to scale the internal operating
frequency to the required system clock frequency
The internal FRC oscillator can also be used with
the PLL, thereby allowing full-speed operation
without any external clock generation hardware
Clock switching between various clock sources
Programmable clock postscaler for system power
savings
A Fail-Safe Clock Monitor (FSCM) that detects
clock failure and takes fail-safe measures
A Clock Control register (OSCCON)
Nonvolatile Configuration bits for main oscillator
selection
A simplified diagram of the oscillator system is shown
in Figure 8-1.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY OSCILLATOR
SYSTEM DIAGRAM
dsPIC33F
Primary Oscillator
S3
OSC1
(1)
PLL
S1
XTPLL, HSPLL,
ECPLL, FRCPLL
DOZE<2:0>
S2
DOZE
XT, HS, EC
OSC2
S1/S3
FCY
÷ 2
FRCDIV
FOSC
FRC
Oscillator
FRCDIVN
S7
FRCDIV<2:0>
TUN<5:0>
÷ 16
FRCDIV16
S6
FRC
S0
LPRC
LPRC
Oscillator
Secondary Oscillator
SOSC
SOSCO
S5
S4
LPOSCEN
SOSCI
Clock Fail
S7
Clock Switch
Reset
NOSC<2:0> FNOSC<2:0>
WDT, PWRT,
FSCM
Timer 1
Note 1:
See Figure 8-2 for PLL details
© 2007 Microchip Technology Inc.
DS70287A-page 137
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
8.1
CPU Clocking System
There are seven system clock options provided by the
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family:
•
•
•
•
•
•
•
FRC Oscillator
FRC Oscillator with PLL
Primary (XT, HS or EC) Oscillator
Primary Oscillator with PLL
Secondary (LP) Oscillator
LPRC Oscillator
FRC Oscillator with postscaler
8.1.1
SYSTEM CLOCK SOURCES
The FRC (Fast RC) internal oscillator runs at a nominal
frequency of 7.37 MHz. The user software can tune the
FRC frequency. User software can optionally specify a
factor (ranging from 1:2 to 1:256) by which the FRC
clock frequency is divided. This factor is selected using
the FRCDIV<2:0> (CLKDIV<10:8>) bits.
The primary oscillator can use one of the following as
its clock source:
1.
2.
3.
XT (Crystal): Crystals and ceramic resonators in
the range of 3 MHz to 10 MHz. The crystal is
connected to the OSC1 and OSC2 pins.
HS (High-Speed Crystal): Crystals in the range
of 10 MHz to 40 MHz. The crystal is connected
to the OSC1 and OSC2 pins.
EC (External Clock): External clock signal in the
range of 0.8 MHz to 64 MHz. The external clock
signal is directly applied to the OSC1 pin.
The secondary (LP) oscillator is designed for low power
and uses a 32.768 kHz crystal or ceramic resonator.
The LP oscillator uses the SOSCI and SOSCO pins.
The LPRC (Low-Power RC) internal oscIllator runs at a
nominal frequency of 32.768 kHz. It is also used as a
reference clock by the Watchdog Timer (WDT) and
Fail-Safe Clock Monitor (FSCM).
The clock signals generated by the FRC and primary
oscillators can be optionally applied to an on-chip
Phase Locked Loop (PLL) to provide a wide range of
output frequencies for device operation. PLL
configuration is described in Section 8.1.3 “PLL
Configuration”.
8.1.2
SYSTEM CLOCK SELECTION
The oscillator source that is used at a device Power-on
Reset event is selected using Configuration bit settings.
The oscillator Configuration bit settings are located in the
Configuration registers in the program memory. (Refer to
Section 22.1 “Configuration Bits” for further details.)
The Initial Oscillator Selection Configuration bits,
FNOSC<2:0> (FOSCSEL<2:0>), and the Primary
Oscillator
Mode
Select
Configuration
bits,
POSCMD<1:0> (FOSC<1:0>), select the oscillator
source that is used at a Power-on Reset. The FRC primary oscillator is the default (unprogrammed) selection.
DS70287A-page 138
The Configuration bits allow users to choose between
twelve different clock modes, shown in Table 8-1.
The output of the oscillator (or the output of the PLL if
a PLL mode has been selected), FOSC, is divided by 2
to generate the device instruction clock (FCY). FCY
defines the operating speed of the device, and speeds
up to
40
MHz
are
supported by
the
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
architecture.
Instruction execution speed or device operating
frequency, FCY, is given by the following equation:
EQUATION 8-1:
DEVICE OPERATING
FREQUENCY
FCY = FOSC/2
8.1.3
PLL CONFIGURATION
The primary oscillator and internal FRC oscillator can
optionally use an on-chip PLL to obtain higher speeds
of operation. The PLL provides a significant amount of
flexibility in selecting the device operating speed. A
block diagram of the PLL is shown in Figure 8-2.
The output of the primary oscillator or FRC, denoted as
‘FIN’, is divided down by a prescale factor (N1) of 2, 3,
... or 33 before being provided to the PLL’s Voltage
Controlled Oscillator (VCO). The input to the VCO must
be selected to be in the range of 0.8 MHz to 8 MHz.
Since the minimum prescale factor is 2, this implies that
FIN must be chosen to be in the range of 1.6 MHz to 16
MHz. The prescale factor, ‘N1’, is selected using the
PLLPRE<4:0> bits (CLKDIV<4:0>).
The PLL Feedback Divisor, selected using the
PLLDIV<8:0> bits (PLLFBD<8:0>), provides a factor, ‘M’,
by which the input to the VCO is multiplied. This factor
must be selected such that the resulting VCO output
frequency is in the range of 100 MHz to 200 MHz.
The VCO output is further divided by a postscale factor,
‘N2’. This factor is selected using the PLLPOST<1:0>
bits (CLKDIV<7:6>). ‘N2’ can be either 2, 4 or 8, and
must be selected such that the PLL output frequency
(FOSC) is in the range of 12.5 MHz to 80 MHz, which
generates device operating speeds of 6.25-40 MIPS.
For a primary oscillator or FRC oscillator output, ‘FIN’,
the PLL output, ‘FOSC’, is given by the following
equation:
EQUATION 8-2:
FOSC CALCULATION
FOSC = FIN *
( N1M* N2)
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
EQUATION 8-3:
For example, suppose a 10 MHz crystal is being used
with “XT with PLL” as the selected oscillator mode. If
PLLPRE<4:0> = 0, then N1 = 2. This yields a VCO
input of 10/2 = 5 MHz, which is within the acceptable
range of 0.8-8 MHz. If PLLDIV<8:0> = 0x1E, then
M = 32. This yields a VCO output of 5 * 32 = 160 MHz,
which is within the 100-200 MHz ranged needed.
FCY =
FOSC
2
=
XT WITH PLL MODE
EXAMPLE
10000000 * 32
(
) = 40 MIPS
2
2*2
1
If PLLPOST<1:0> = 0, then N2 = 2. This provides a
Fosc of 160/2 = 80 MHz. The resultant device operating
speed is 80/2 = 40 MIPS.
FIGURE 8-2:
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
PLL BLOCK DIAGRAM
0.8-8.0 MHz
Here
Source (Crystal, External Clock
or Internal RC)
PLLPRE
X
100-200 MHz
Here
VCO
12.5-80 MHz
Here
FOSC
PLLPOST
PLLDIV
1.6-16.0 MHz
Here
Divide by
2-33
Divide by
2-513
TABLE 8-1:
Divide by
2, 4, 8
CONFIGURATION BIT VALUES FOR CLOCK SELECTION
Oscillator Mode
Oscillator Source
POSCMD<1:0>
FNOSC<2:0>
Note
Fast RC Oscillator with Divide-by-N
(FRCDIVN)
Internal
xx
111
1, 2
Fast RC Oscillator with Divide-by-16
(FRCDIV16)
Internal
xx
110
1
Low-Power RC Oscillator (LPRC)
Internal
xx
101
1
1
Secondary (Timer1) Oscillator (SOSC)
Secondary
xx
100
Primary Oscillator (HS) with PLL
(HSPLL)
Primary
10
011
Primary Oscillator (XT) with PLL
(XTPLL)
Primary
01
011
Primary Oscillator (EC) with PLL
(ECPLL)
Primary
00
011
Primary Oscillator (HS)
Primary
10
010
Primary Oscillator (XT)
Primary
01
010
Primary Oscillator (EC)
Primary
00
010
1
Fast RC Oscillator with PLL (FRCPLL)
Internal
xx
001
1
Fast RC Oscillator (FRC)
Internal
xx
000
1
Note 1:
2:
1
OSC2 pin function is determined by the OSCIOFNC Configuration bit.
This is the default oscillator mode for an unprogrammed (erased) device.
© 2007 Microchip Technology Inc.
DS70287A-page 139
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 8-1:
U-0
OSCCON: OSCILLATOR CONTROL REGISTER
R-0
—
R-0
R-0
COSC<2:0>
U-0
R/W-y
R/W-y
—
R/W-y
NOSC<2:0>
bit 15
bit 8
R/W-0
U-0
R-0
U-0
R/C-0
U-0
R/W-0
R/W-0
CLKLOCK
—
LOCK
—
CF
—
LPOSCEN
OSWEN
bit 7
bit 0
Legend:
y = Value set from Configuration bits on POR
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
Unimplemented: Read as ‘0’
bit 14-12
COSC<2:0>: Current Oscillator Selection bits (read-only)
000 = Fast RC oscillator (FRC)
001 = Fast RC oscillator (FRC) with PLL
010 = Primary oscillator (XT, HS, EC)
011 = Primary oscillator (XT, HS, EC) with PLL
100 = Secondary oscillator (SOSC)
101 = Low-Power RC oscillator (LPRC)
110 = Fast RC oscillator (FRC) with Divide-by-16
111 = Fast RC oscillator (FRC) with Divide-by-n
bit 11
Unimplemented: Read as ‘0’
bit 10-8
NOSC<2:0>: New Oscillator Selection bits
000 = Fast RC oscillator (FRC)
001 = Fast RC oscillator (FRC) with PLL
010 = Primary oscillator (XT, HS, EC)
011 = Primary oscillator (XT, HS, EC) with PLL
100 = Secondary oscillator (SOSC)
101 = Low-Power RC oscillator (LPRC)
110 = Fast RC oscillator (FRC) with Divide-by-16
111 = Fast RC oscillator (FRC) with Divide-by-n
bit 7
CLKLOCK: Clock Lock Enable bit
1 = If (FCKSM0 = 1), then clock and PLL configurations are locked
If (FCKSM0 = 0), then clock and PLL configurations may be modified
0 = Clock and PLL selections are not locked; configurations may be modified
bit 6
Unimplemented: Read as ‘0’
bit 5
LOCK: PLL Lock Status bit (read-only)
1 = Indicates that PLL is in lock or PLL start-up timer is satisfied
0 = Indicates that PLL is out of lock, start-up timer is in progress or PLL is disabled
bit 4
Unimplemented: Read as ‘0’
bit 3
CF: Clock Fail Detect bit (read/clear by application)
1 = FSCM has detected clock failure
0 = FSCM has not detected clock failure
bit 2
Unimplemented: Read as ‘0’
bit 1
LPOSCEN: Secondary (LP) Oscillator Enable bit
1 = Enable secondary oscillator
0 = Disable secondary oscillator
bit 0
OSWEN: Oscillator Switch Enable bit
1 = Request oscillator switch to selection specified by NOSC<2:0> bits
0 = Oscillator switch is complete
DS70287A-page 140
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 8-2:
R/W-0
CLKDIV: CLOCK DIVISOR REGISTER
R/W-0
ROI
R/W-0
R/W-0
R/W-0
R/W-1
DOZEN(1)
DOZE<2:0>
R/W-0
R/W-0
FRCDIV<2:0>
bit 15
bit 8
R/W-0
R/W-1
PLLPOST<1:0>
U-0
R/W-0
R/W-0
—
R/W-0
R/W-0
R/W-0
PLLPRE<4:0>
bit 7
bit 0
Legend:
y = Value set from Configuration bits on POR
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
ROI: Recover on Interrupt bit
1 = Interrupts will clear the DOZEN bit and the processor clock/peripheral clock ratio is set to 1:1
0 = Interrupts have no effect on the DOZEN bit
bit 14-12
DOZE<2:0>: Processor Clock Reduction Select bits
000 = FCY/1
001 = FCY/2
010 = FCY/4
011 = FCY/8 (default)
100 = FCY/16
101 = FCY/32
110 = FCY/64
111 = FCY/128
bit 11
DOZEN: DOZE Mode Enable bit(1)
1 = DOZE<2:0> field specifies the ratio between the peripheral clocks and the processor clocks
0 = Processor clock/peripheral clock ratio forced to 1:1
bit 10-8
FRCDIV<2:0>: Internal Fast RC Oscillator Postscaler bits
000 = FRC divide by 1 (default)
001 = FRC divide by 2
010 = FRC divide by 4
011 = FRC divide by 8
100 = FRC divide by 16
101 = FRC divide by 32
110 = FRC divide by 64
111 = FRC divide by 256
bit 7-6
PLLPOST<1:0>: PLL VCO Output Divider Select bits (also denoted as ‘N2’, PLL postscaler)
00 = Output/2
01 = Output/4 (default)
10 = Reserved
11 = Output/8
bit 5
Unimplemented: Read as ‘0’
bit 4-0
PLLPRE<4:0>: PLL Phase Detector Input Divider bits (also denoted as ‘N1’, PLL prescaler)
00000 = Input/2 (default)
00001 = Input/3
•••
11111 = Input/33
Note 1:
This bit is cleared when the ROI bit is set and an interrupt occurs.
© 2007 Microchip Technology Inc.
DS70287A-page 141
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 8-3:
PLLFBD: PLL FEEDBACK DIVISOR REGISTER
U-0
U-0
U-0
U-0
U-0
U-0
U-0
R/W-0(1)
—
—
—
—
—
—
—
PLLDIV<8>
bit 15
bit 8
R/W-0
R/W-0
R/W-1
R/W-1
R/W-0
R/W-0
R/W-0
R/W-0
PLLDIV<7:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-9
Unimplemented: Read as ‘0’
bit 8-0
PLLDIV<8:0>: PLL Feedback Divisor bits (also denoted as ‘M’, PLL multiplier)
000000000 = 2
000000001 = 3
000000010 = 4
•
•
•
000110000 = 50 (default)
•
•
•
111111111 = 513
DS70287A-page 142
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 8-4:
OSCTUN: FRC OSCILLATOR TUNING REGISTER
U-0
U-0
U-0
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
—
—
—
bit 15
bit 8
U-0
U-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
—
—
TUN5
TUN4
TUN3
TUN2
TUN1
TUN0
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-6
Unimplemented: Read as ‘0’
bit 5-0
TUN<5:0>: FRC Oscillator Tuning bits
011111 = Center frequency + 11.625%
011110 = Center frequency + 11.25% (8.23 MHz)
•
•
•
000001 = Center frequency + 0.375% (7.40 MHz)
000000 = Center frequency (7.37 MHz nominal)
111111 = Center frequency – 0.375% (7.345 MHz)
•
•
•
100001 = Center frequency – 11.625% (6.52 MHz)
100000 = Center frequency – 12% (6.49 MHz)
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 143
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
8.2
Clock Switching Operation
Applications are free to switch between any of the four
clock sources (Primary, LP, FRC and LPRC) under
software control at any time. To limit the possible side
effects that could result from this flexibility,
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
devices have a safeguard lock built into the switch
process.
Note:
8.2.1
Primary Oscillator mode has three different
submodes (XT, HS and EC) which are
determined by the POSCMD<1:0> Configuration bits. While an application can
switch to and from Primary Oscillator
mode in software, it cannot switch
between the different primary submodes
without reprogramming the device.
ENABLING CLOCK SWITCHING
To enable clock switching, the FCKSM1 Configuration
bit in the Configuration register must be programmed to
‘0’. (Refer to Section 22.1 “Configuration Bits” for
further details.) If the FCKSM1 Configuration bit is
unprogrammed (‘1’), the clock switching function and
Fail-Safe Clock Monitor function are disabled. This is
the default setting.
The NOSC control bits (OSCCON<10:8>) do not
control the clock selection when clock switching is
disabled. However, the COSC bits (OSCCON<14:12>)
reflect the clock source selected by the FNOSC
Configuration bits.
Once the basic sequence is completed, the system
clock hardware responds automatically as follows:
1.
The clock switching hardware compares the
COSC status bits with the new value of the
NOSC control bits. If they are the same, then the
clock switch is a redundant operation. In this
case, the OSWEN bit is cleared automatically
and the clock switch is aborted.
If a valid clock switch has been initiated, the
LOCK
(OSCCON<5>)
and
the
CF
(OSCCON<3>) status bits are cleared.
The new oscillator is turned on by the hardware
if it is not currently running. If a crystal oscillator
must be turned on, the hardware waits until the
Oscillator Start-up Timer (OST) expires. If the
new source is using the PLL, the hardware waits
until a PLL lock is detected (LOCK = 1).
The hardware waits for 10 clock cycles from the
new clock source and then performs the clock
switch.
The hardware clears the OSWEN bit to indicate a
successful clock transition. In addition, the NOSC
bit values are transferred to the COSC status bits.
The old clock source is turned off at this time,
with the exception of LPRC (if WDT or FSCM
are enabled) or LP (if LPOSCEN remains set).
2.
3.
4.
5.
6.
Note 1: The processor continues to execute code
throughout the clock switching sequence.
Timing sensitive code should not be
executed during this time.
2: Direct clock switches between any primary
oscillator mode with PLL and FRCPLL
mode are not permitted. This applies to
clock switches in either direction. In these
instances, the application must switch to
FRC mode as a transition clock source
between the two PLL modes.
The OSWEN control bit (OSCCON<0>) has no effect
when clock switching is disabled. It is held at ‘0’ at all
times.
8.2.2
OSCILLATOR SWITCHING
SEQUENCE
At a minimum, performing a clock switch requires the
following basic sequence:
1.
2.
3.
4.
5.
If
desired,
read
the
COSC
bits
(OSCCON<14:12>) to determine the current
oscillator source.
Perform the unlock sequence to allow a write to
the OSCCON register high byte.
Write the appropriate value to the NOSC control
bits (OSCCON<10:8>) for the new oscillator
source.
Perform the unlock sequence to allow a write to
the OSCCON register low byte.
Set the OSWEN bit to initiate the oscillator
switch.
8.3
Fail-Safe Clock Monitor (FSCM)
The Fail-Safe Clock Monitor (FSCM) allows the device
to continue to operate even in the event of an oscillator
failure. The FSCM function is enabled by programming.
If the FSCM function is enabled, the LPRC internal
oscillator runs at all times (except during Sleep mode)
and is not subject to control by the Watchdog Timer.
In the event of an oscillator failure, the FSCM
generates a clock failure trap event and switches the
system clock over to the FRC oscillator. Then the
application program can either attempt to restart the
oscillator or execute a controlled shutdown. The trap
can be treated as a warm Reset by simply loading the
Reset address into the oscillator fail trap vector.
If the PLL multiplier is used to scale the system clock,
the internal FRC is also multiplied by the same factor
on clock failure. Essentially, the device switches to
FRC with PLL on a clock failure.
DS70287A-page 144
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
9.0
Note:
POWER-SAVING FEATURES
This data sheet summarizes the features
of
this
group
of dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family devices. It is not intended
to be a comprehensive reference source.
To complement the information in this data
sheet, refer to the “dsPIC33F Family
Reference Manual”. Refer to the
Microchip web site (www.microchip.com)
for the latest dsPIC33F family reference
manual chapters.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family devices provide the ability to manage power
consumption by selectively managing clocking to the
CPU and the peripherals. In general, a lower clock frequency and a reduction in the number of circuits being
clocked constitutes lower consumed power.
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
devices can manage power consumption in four different ways:
•
•
•
•
Clock frequency
Instruction-based Sleep and Idle modes
Software-controlled Doze mode
Selective peripheral control in software
Combinations of these methods can be used to selectively tailor an application’s power consumption while
still maintaining critical application features, such as
timing-sensitive communications.
9.1
Clock Frequency and Clock
Switching
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
devices allow a wide range of clock frequencies to be
selected under application control. If the system clock
configuration is not locked, users can choose
low-power or high-precision oscillators by simply
changing the NOSC bits (OSCCON<10:8>). The process of changing a system clock during operation, as
well as limitations to the process, are discussed in
more detail in Section 8.0 “Oscillator Configuration”.
9.2
Instruction-Based Power-Saving
Modes
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
devices have two special power-saving modes that are
entered through the execution of a special PWRSAV
instruction. Sleep mode stops clock operation and halts
all code execution. Idle mode halts the CPU and code
execution, but allows peripheral modules to continue
operation. The assembly syntax of the PWRSAV instruction is shown in Example 9-1.
Note:
SLEEP_MODE and IDLE_MODE are
constants defined in the assembler
include file for the selected device.
Sleep and Idle modes can be exited as a result of an
enabled interrupt, WDT time-out or a device Reset. When
the device exits these modes, it is said to “wake-up”.
9.2.1
SLEEP MODE
Sleep mode has the following features:
• The system clock source is shut down. If an
on-chip oscillator is used, it is turned off.
• The device current consumption is reduced to a
minimum, provided that no I/O pin is sourcing
current.
• The Fail-Safe Clock Monitor does not operate
during Sleep mode since the system clock source
is disabled.
• The LPRC clock continues to run in Sleep mode if
the WDT is enabled.
• The WDT, if enabled, is automatically cleared
prior to entering Sleep mode.
• Some device features or peripherals may continue
to operate in Sleep mode. This includes items such
as the input change notification on the I/O ports
and peripherals that use an external clock input.
Any peripheral that requires the system clock
source for its operation is disabled in Sleep mode.
The device will wake-up from Sleep mode on any of the
the following events:
• Any interrupt source that is individually enabled
• Any form of device Reset
• A WDT time-out
On wake-up from Sleep, the processor restarts with the
same clock source that was active when Sleep mode
was entered.
EXAMPLE 9-1:
PWRSAV INSTRUCTION SYNTAX
PWRSAV #SLEEP_MODE
PWRSAV #IDLE_MODE
; Put the device into SLEEP mode
; Put the device into IDLE mode
© 2007 Microchip Technology Inc.
DS70287A-page 145
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
9.2.2
IDLE MODE
Idle mode has the following features:
• The CPU stops executing instructions.
• The WDT is automatically cleared.
• The system clock source remains active. By
default, all peripheral modules continue to operate
normally from the system clock source, but can
also be selectively disabled (see Section 9.4
“Peripheral Module Disable”).
• If the WDT or FSCM is enabled, the LPRC also
remains active.
The device will wake from Idle mode on any of the following events:
• Any interrupt that is individually enabled
• Any device Reset
• A WDT time-out
On wake-up from Idle, the clock is reapplied to the CPU
and instruction execution begins immediately, starting
with the instruction following the PWRSAV instruction or
the first instruction in the ISR.
9.2.3
INTERRUPTS COINCIDENT WITH
POWER SAVE INSTRUCTIONS
Any interrupt that coincides with the execution of a
PWRSAV instruction is held off until entry into Sleep or
Idle mode has completed. The device then wakes up
from Sleep or Idle mode.
9.3
Doze Mode
Generally, changing clock speed and invoking one of the
power-saving modes are the preferred strategies for
reducing power consumption. There may be circumstances, however, where this is not practical. For
example, it may be necessary for an application to maintain uninterrupted synchronous communication, even
while it is doing nothing else. Reducing system clock
speed may introduce communication errors, while using
a power-saving mode may stop communications
completely.
Doze mode is a simple and effective alternative method
to reduce power consumption while the device is still
executing code. In this mode, the system clock continues to operate from the same source and at the same
speed. Peripheral modules continue to be clocked at
the same speed, while the CPU clock speed is
reduced. Synchronization between the two clock
domains is maintained, allowing the peripherals to
access the SFRs while the CPU executes code at a
slower rate.
DS70287A-page 146
Doze mode is enabled by setting the DOZEN bit
(CLKDIV<11>). The ratio between peripheral and core
clock speed is determined by the DOZE<2:0> bits
(CLKDIV<14:12>). There are eight possible
configurations, from 1:1 to 1:128, with 1:1 being the
default setting.
It is also possible to use Doze mode to selectively
reduce power consumption in event-driven applications. This allows clock-sensitive functions, such as
synchronous communications, to continue without
interruption while the CPU idles, waiting for something
to invoke an interrupt routine. Enabling the automatic
return to full-speed CPU operation on interrupts is
enabled by setting the ROI bit (CLKDIV<15>). By
default, interrupt events have no effect on Doze mode
operation.
For example, suppose the device is operating at
20 MIPS and the CAN module has been configured for
500 kbps based on this device operating speed. If the
device is now placed in Doze mode with a clock
frequency ratio of 1:4, the CAN module continues to
communicate at the required bit rate of 500 kbps, but
the CPU now starts executing instructions at a
frequency of 5 MIPS.
9.4
Peripheral Module Disable
The Peripheral Module Disable (PMD) registers
provide a method to disable a peripheral module by
stopping all clock sources supplied to that module.
When a peripheral is disabled via the appropriate PMD
control bit, the peripheral is in a minimum power
consumption state. The control and status registers
associated with the peripheral are also disabled, so
writes to those registers will have no effect and read
values will be invalid.
A peripheral module is only enabled if both the associated bit in the PMD register is cleared and the peripheral
is supported by the specific dsPIC® DSC variant. If the
peripheral is present in the device, it is enabled in the
PMD register by default.
Note:
If a PMD bit is set, the corresponding module is disabled after a delay of 1 instruction
cycle. Similarly, if a PMD bit is cleared, the
corresponding module is enabled after a
delay of 1 instruction cycle (assuming the
module control registers are already
configured to enable module operation).
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
10.0
Note:
I/O PORTS
This data sheet summarizes the features
of
this
group
of dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family devices. It is not intended
to be a comprehensive reference source.
To complement the information in this data
sheet, refer to the “dsPIC33F Family
Reference Manual”. Refer to the
Microchip web site (www.microchip.com)
for the latest dsPIC33F family reference
manual chapters.
All of the device pins (except VDD, VSS, MCLR and
OSC1/CLKIN) are shared between the peripherals and
the parallel I/O ports. All I/O input ports feature Schmitt
Trigger inputs for improved noise immunity.
10.1
Parallel I/O (PIO) Ports
A parallel I/O port that shares a pin with a peripheral is,
in general, subservient to the peripheral. The peripheral’s output buffer data and control signals are
provided to a pair of multiplexers. The multiplexers
select whether the peripheral or the associated port
has ownership of the output data and control signals of
the I/O pin. The logic also prevents “loop through,” in
which a port’s digital output can drive the input of a
peripheral that shares the same pin. Figure 10-1 shows
how ports are shared with other peripherals and the
associated I/O pin to which they are connected.
When a peripheral is enabled and actively driving an
associated pin, the use of the pin as a general purpose
output pin is disabled. The I/O pin may be read, but the
output driver for the parallel port bit will be disabled. If
a peripheral is enabled but the peripheral is not actively
driving a pin, that pin may be driven by a port.
All port pins have three registers directly associated
with their operation as digital I/O. The data direction
register (TRISx) determines whether the pin is an input
or an output. If the data direction bit is a ‘1’, then the pin
is an input. All port pins are defined as inputs after a
Reset. Reads from the latch (LATx), read the latch.
Writes to the latch, write the latch. Reads from the port
(PORTx), read the port pins, while writes to the port
pins, write the latch.
Any bit and its associated data and control registers
that are not valid for a particular device will be disabled.
That means the corresponding LATx and TRISx
registers and the port pins will read as zeros.
When a pin is shared with another peripheral or function that is defined as an input only, it is nevertheless
regarded as a dedicated port because there is no
other competing source of outputs. An example is the
INT4 pin.
Note:
FIGURE 10-1:
The voltage on a digital input pin can be
between -0.3V to 5.6V.
BLOCK DIAGRAM OF A TYPICAL SHARED PORT STRUCTURE
Peripheral Module
Output Multiplexers
Peripheral Input Data
Peripheral Module Enable
Peripheral Output Enable
Peripheral Output Data
PIO Module
WR TRIS
Output Enable
0
1
Output Data
0
Read TRIS
Data Bus
I/O
1
D
Q
I/O Pin
CK
TRIS Latch
D
WR LAT +
WR PORT
Q
CK
Data Latch
Read LAT
Input Data
Read Port
© 2007 Microchip Technology Inc.
DS70287A-page 147
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
10.2
Open-Drain Configuration
10.4
In addition to the PORT, LAT and TRIS registers for
data control, each port pin can also be individually
configured for either digital or open-drain output. This is
controlled by the Open-Drain Control register, ODCx,
associated with each port. Setting any of the bits configures the corresponding pin to act as an open-drain
output.
The open-drain feature allows the generation of
outputs higher than VDD (e.g., 5V) on any desired
digital-only pins by using external pull-up resistors.
(The open-drain I/O feature is not supported on pins
which have analog functionality multiplexed on the pin.)
The maximum open-drain voltage allowed is the same
as the maximum VIH specification. The open-drain
output feature is supported for both port pin and
peripheral configurations.
10.3
Configuring Analog Port Pins
The ADxPCFGH, ADxPCFGL and TRIS registers control the operation of the ADC port pins. The port pins
that are desired as analog inputs must have their corresponding TRIS bit set (input). If the TRIS bit is
cleared (output), the digital output level (VOH or VOL) is
converted.
Clearing any bit in the ADxPCFGH or ADxPCFGL register configures the corresponding bit to be an analog
pin. This is also the Reset state of any I/O pin that has
an analog (ANx) function associated with it.
Note:
In devices with two ADC modules, if the
corresponding PCFG bit in either
AD1PCFGH(L) and AD2PCFGH(L) is
cleared, the pin is configured as an analog
input.
I/O Port Write/Read Timing
One instruction cycle is required between a port
direction change or port write operation and a read
operation of the same port. Typically, this instruction
would be a NOP.
10.5
Input Change Notification
The input change notification function of the I/O ports
allows the dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family devices to generate interrupt requests
to the processor in response to a change-of-state on
selected input pins. This feature is capable of detecting
input change-of-states even in Sleep mode, when the
clocks are disabled. Depending on the device pin
count, there are up to 24 external signals (CN0 through
CN23) that can be selected (enabled) for generating an
interrupt request on a change-of-state.
There are four control registers associated with the CN
module. The CNEN1 and CNEN2 registers contain the
CN interrupt enable (CNxIE) control bits for each of the
CN input pins. Setting any of these bits enables a CN
interrupt for the corresponding pins.
Each CN pin also has a weak pull-up connected to it.
The pull-ups act as a current source that is connected
to the pin and eliminate the need for external resistors
when push button or keypad devices are connected.
The pull-ups are enabled separately using the CNPU1
and CNPU2 registers, which contain the weak pull-up
enable (CNxPUE) bits for each of the CN pins. Setting
any of the control bits enables the weak pull-ups for the
corresponding pins.
Note:
Pull-ups on change notification pins
should always be disabled whenever the
port pin is configured as a digital output.
When reading the PORT register, all pins configured as
analog input channels will read as cleared (a low level).
Pins configured as digital inputs will not convert an
analog input. Analog levels on any pin that is defined as
a digital input (including the ANx pins) can cause the
input buffer to consume current that exceeds the
device specifications.
Note:
The voltage on an analog input pin can be
between -0.3V to (VDD + 0.3 V).
EXAMPLE 10-1:
MOV
MOV
NOP
btss
PORT WRITE/READ EXAMPLE
0xFF00, W0
W0, TRISBB
PORTB, #13
DS70287A-page 148
;
;
;
;
Configure PORTB<15:8> as inputs
and PORTB<7:0> as outputs
Delay 1 cycle
Next Instruction
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
11.0
Note:
TIMER1
• Interrupt on 16-bit Period register match or falling
edge of external gate signal
This data sheet summarizes the features
of this group of dsPIC33FJXXXMCX06/
X08/X10 Motor Control Family devices. It
is not intended to be a comprehensive
reference source. To complement the
information in this data sheet, refer to the
“dsPIC33F Family Reference Manual”.
Refer to the Microchip web site
(www.microchip.com) for the latest
dsPIC33F family reference manual
chapters.
Figure 11-1 presents a block diagram of the 16-bit timer
module.
To configure Timer1 for operation, do the following:
1.
2.
3.
4.
The Timer1 module is a 16-bit timer, which can serve
as the time counter for the real-time clock or operate as
a free-running interval timer/counter. Timer1 can operate in three modes:
5.
6.
• 16-bit Timer
• 16-bit Synchronous Counter
• 16-bit Asynchronous Counter
Set the TON bit (= 1) in the T1CON register.
Select the timer prescaler ratio using the
TCKPS<1:0> bits in the T1CON register.
Set the Clock and Gating modes using the TCS
and TGATE bits in the T1CON register.
Set or clear the TSYNC bit in T1CON to select
synchronous or asynchronous operation.
Load the timer period value into the PR1
register.
If interrupts are required, set the interrupt enable
bit, T1IE. Use the priority bits, T1IP<2:0>, to set
the interrupt priority.
Timer1 also supports the following features:
• Timer gate operation
• Selectable prescaler settings
• Timer operation during CPU Idle and Sleep
modes
FIGURE 11-1:
16-BIT TIMER1 MODULE BLOCK DIAGRAM
TCKPS<1:0>
SOSCO/
T1CK
1x
SOSCEN
SOSCI
Gate
Sync
01
TCY
00
Prescaler
1, 8, 64, 256
TGATE
TCS
TGATE
Set T1IF
2
TON
1
Q
D
0
Q
CK
Reset
0
TMR1
1
Equal
Comparator
Sync
TSYNC
PR1
© 2007 Microchip Technology Inc.
DS70287A-page 149
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 11-1:
T1CON: TIMER1 CONTROL REGISTER
R/W-0
U-0
R/W-0
U-0
U-0
U-0
U-0
U-0
TON
—
TSIDL
—
—
—
—
—
bit 15
bit 8
U-0
R/W-0
—
TGATE
R/W-0
R/W-0
TCKPS<1:0>
U-0
R/W-0
R/W-0
U-0
—
TSYNC
TCS
—
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
TON: Timer1 On bit
1 = Starts 16-bit Timer1
0 = Stops 16-bit Timer1
bit 14
Unimplemented: Read as ‘0’
bit 13
TSIDL: Stop in Idle Mode bit
1 = Discontinue module operation when device enters Idle mode
0 = Continue module operation in Idle mode
bit 12-7
Unimplemented: Read as ‘0’
bit 6
TGATE: Timer1 Gated Time Accumulation Enable bit
When T1CS = 1:
This bit is ignored.
When T1CS = 0:
1 = Gated time accumulation enabled
0 = Gated time accumulation disabled
bit 5-4
TCKPS<1:0> Timer1 Input Clock Prescale Select bits
11 = 1:256
10 = 1:64
01 = 1:8
00 = 1:1
bit 3
Unimplemented: Read as ‘0’
bit 2
TSYNC: Timer1 External Clock Input Synchronization Select bit
When TCS = 1:
1 = Synchronize external clock input
0 = Do not synchronize external clock input
When TCS = 0:
This bit is ignored.
bit 1
TCS: Timer1 Clock Source Select bit
1 = External clock from pin T1CK (on the rising edge)
0 = Internal clock (FCY)
bit 0
Unimplemented: Read as ‘0’
DS70287A-page 150
x = Bit is unknown
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
12.0
Note:
TIMER2/3, TIMER4/5, TIMER6/7
AND TIMER8/9
This data sheet summarizes the features
of this group of dsPIC33FJXXXMCX06/
X08/X10 Motor Control Family devices. It
is not intended to be a comprehensive
reference source. To complement the
information in this data sheet, refer to the
“dsPIC33F Family Reference Manual”.
Refer to the Microchip web site
(www.microchip.com) for the latest
dsPIC33F family reference manual
chapters.
The Timer2/3, Timer4/5, Timer6/7 and Timer8/9
modules are 32-bit timers which can also be configured
as four independent 16-bit timers with selectable operating modes.
As a 32-bit timer, Timer2/3, Timer4/5, Timer6/7 and
Timer8/9 operate in three modes:
• Two Independent 16-bit Timers (e.g., Timer2 and
Timer3) with all 16-bit operating modes (except
Asynchronous Counter mode)
• Single 32-bit Timer
• Single 32-bit Synchronous Counter
Note:
To configure Timer2/3, Timer4/5, Timer6/7 or Timer8/9
for 32-bit operation, do the following:
1.
2.
3.
4.
5.
They also support the following features:
•
•
•
•
•
Timer Gate Operation
Selectable Prescaler Settings
Timer Operation during Idle and Sleep modes
Interrupt on a 32-bit Period Register Match
Time Base for Input Capture and Output Compare
Modules (Timer2 and Timer3 only)
• ADC1 Event Trigger (Timer2/3 only)
• ADC2 Event Trigger (Timer4/5 only)
Individually, all eight of the 16-bit timers can function as
synchronous timers or counters. They also offer the
features listed above, except for the event trigger; this
is implemented only with Timer2/3. The operating
modes and enabled features are determined by setting
the appropriate bit(s) in the T2CON, T3CON, T4CON,
T5CON, T6CON, T7CON, T8CON and T9CON registers. T2CON, T4CON, T6CON and T8CON are shown
in generic form in Register 12-1. T3CON, T5CON,
T7CON and T9CON are shown in Register 12-2.
For 32-bit timer/counter operation, Timer2, Timer4,
Timer6 or Timer8 is the least significant word; Timer3,
Timer5, Timer7 or Timer9 is the most significant word
of the 32-bit timers.
For 32-bit operation, T3CON, T5CON,
T7CON and T9CON control bits are
ignored. Only T2CON, T4CON, T6CON
and T8CON control bits are used for setup
and control. Timer2, Timer4, Timer6 and
Timer8 clock and gate inputs are utilized
for the 32-bit timer modules, but an interrupt is generated with the Timer3, Timer5,
Ttimer7 and Timer9 interrupt flags.
6.
Set the corresponding T32 control bit.
Select the prescaler ratio for Timer2, Timer4,
Timer6 or Timer8 using the TCKPS<1:0> bits.
Set the Clock and Gating modes using the
corresponding TCS and TGATE bits.
Load the timer period value. PR3, PR5, PR7 or
PR9 contains the most significant word of the
value, while PR2, PR4, PR6 or PR8 contains the
least significant word.
If interrupts are required, set the interrupt enable
bit, T3IE, T5IE, T7IE or T9IE. Use the priority
bits, T3IP<2:0>, T5IP<2:0>, T7IP<2:0> or
T9IP<2:0>, to set the interrupt priority. While
Timer2, Timer4, Timer6 or Timer8 control the
timer, the interrupt appears as a Timer3, Timer5,
Timer7 or Timer9 interrupt.
Set the corresponding TON bit.
The timer value at any point is stored in the register
pair, TMR3:TMR2, TMR5:TMR4, TMR7:TMR6 or
TMR9:TMR8. TMR3, TMR5, TMR7 or TMR9 always
contain the most significant word of the count, while
TMR2, TMR4, TMR6 or TMR8 contain the least
significant word.
To configure any of the timers for individual 16-bit
operation, do the following:
1.
2.
3.
4.
5.
6.
Clear the T32 bit corresponding to that timer.
Select the timer prescaler ratio using the
TCKPS<1:0> bits.
Set the Clock and Gating modes using the TCS
and TGATE bits.
Load the timer period value into the PRx
register.
If interrupts are required, set the interrupt enable
bit, TxIE. Use the priority bits, TxIP<2:0>, to set
the interrupt priority.
Set the TON bit.
A block diagram for a 32-bit timer pair (Timer4/5)
example is shown in Figure 12-1, and a timer (Timer4)
operating in 16-bit mode example is shown in
Figure 12-2.
Note:
© 2007 Microchip Technology Inc.
Only Timer2 and Timer3 can trigger a
DMA data transfer.
DS70287A-page 151
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TIMER2/3 (32-BIT) BLOCK DIAGRAM(1)
FIGURE 12-1:
1x
T2CK
Gate
Sync
01
TCY
00
Prescaler
1, 8, 64, 256
TGATE
TCS
TGATE
Q
1
Set T3IF
Q
0
PR3
ADC Event Trigger(2)
TCKPS<1:0>
2
TON
Equal
D
CK
PR2
Comparator
MSb
LSb
TMR3
Reset
TMR2
Sync
16
Read TMR2
Write TMR2
16
TMR3HLD
16
16
Data Bus<15:0>
Note 1:
2:
The 32-bit timer control bit, T32, must be set for 32-bit timer/counter operation. All control bits are respective
to the T2CON register.
The ADC event trigger is available only on Timer2/3.
DS70287A-page 152
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 12-2:
TIMER2 (16-BIT) BLOCK DIAGRAM
T2CK
1x
Gate
Sync
TON
TCKPS<1:0>
2
Prescaler
1, 8, 64, 256
01
00
TGATE
TCS
TCY
1
Set T2IF
0
Reset
Equal
Q
D
Q
CK
TMR2
TGATE
Sync
Comparator
PR2
© 2007 Microchip Technology Inc.
DS70287A-page 153
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 12-1:
TxCON (T2CON, T4CON, T6CON OR T8CON) CONTROL REGISTER
R/W-0
U-0
R/W-0
U-0
U-0
U-0
U-0
U-0
TON
—
TSIDL
—
—
—
—
—
bit 15
bit 8
U-0
R/W-0
—
TGATE
R/W-0
R/W-0
TCKPS<1:0>
R/W-0
U-0
R/W-0
U-0
T32(1)
—
TCS
—
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
TON: Timerx On bit
When T32 = 1:
1 = Starts 32-bit Timerx/y
0 = Stops 32-bit Timerx/y
When T32 = 0:
1 = Starts 16-bit Timerx
0 = Stops 16-bit Timerx
bit 14
Unimplemented: Read as ‘0’
bit 13
TSIDL: Stop in Idle Mode bit
1 = Discontinue module operation when device enters Idle mode
0 = Continue module operation in Idle mode
bit 12-7
Unimplemented: Read as ‘0’
bit 6
TGATE: Timerx Gated Time Accumulation Enable bit
When TCS = 1:
This bit is ignored
When TCS = 0:
1 = Gated time accumulation enabled
0 = Gated time accumulation disabled
bit 5-4
TCKPS<1:0>: Timerx Input Clock Prescale Select bits
11 = 1:256
10 = 1:64
01 = 1:8
00 = 1:1
bit 3
T32: 32-bit Timer Mode Select bit(1)
1 = Timerx and Timery form a single 32-bit timer
0 = Timerx and Timery act as two 16-bit timers
bit 2
Unimplemented: Read as ‘0’
bit 1
TCS: Timerx Clock Source Select bit
1 = External clock from pin TxCK (on the rising edge)
0 = Internal clock (FCY)
bit 0
Unimplemented: Read as ‘0’
Note 1:
x = Bit is unknown
In 32-bit mode, T3CON control bits do not affect 32-bit timer operation.
DS70287A-page 154
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 12-2:
TyCON (T3CON, T5CON, T7CON OR T9CON) CONTROL REGISTER
R/W-0
U-0
R/W-0
U-0
U-0
U-0
U-0
U-0
TON(1)
—
TSIDL(1)
—
—
—
—
—
bit 15
bit 8
U-0
R/W-0
—
TGATE(1)
R/W-0
R/W-0
TCKPS<1:0>(1)
U-0
U-0
R/W-0
U-0
—
—
TCS(1)
—
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
TON: Timery On bit(1)
1 = Starts 16-bit Timery
0 = Stops 16-bit Timery
bit 14
Unimplemented: Read as ‘0’
bit 13
TSIDL: Stop in Idle Mode bit(1)
1 = Discontinue module operation when device enters Idle mode
0 = Continue module operation in Idle mode
bit 12-7
Unimplemented: Read as ‘0’
bit 6
TGATE: Timery Gated Time Accumulation Enable bit(1)
When TCS = 1:
This bit is ignored
When TCS = 0:
1 = Gated time accumulation enabled
0 = Gated time accumulation disabled
bit 5-4
TCKPS<1:0>: Timer3 Input Clock Prescale Select bits(1)
11 = 1:256
10 = 1:64
01 = 1:8
00 = 1:1
bit 3-2
Unimplemented: Read as ‘0’
bit 1
TCS: Timery Clock Source Select bit(1)
1 = External clock from pin TyCK (on the rising edge)
0 = Internal clock (FCY)
bit 0
Unimplemented: Read as ‘0’
Note 1:
x = Bit is unknown
When 32-bit operation is enabled (T2CON<3> = 1), these bits have no effect on Timery operation; all timer
functions are set through T2CON.
© 2007 Microchip Technology Inc.
DS70287A-page 155
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 156
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
13.0
INPUT CAPTURE
Note:
This data sheet summarizes the features
of this group of dsPIC33FJXXXMCX06/
X08/X10 Motor Control Family devices. It
is not intended to be a comprehensive
reference source. To complement the
information in this data sheet, refer to the
“dsPIC33F Family Reference Manual”.
Refer to the Microchip web site
(www.microchip.com) for the latest
dsPIC33F family reference manual
chapters.
The input capture module is useful in applications
requiring frequency (period) and pulse measurement.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family devices support up to eight input capture
channels.
The input capture module captures the 16-bit value of
the selected Time Base register when an event occurs
at the ICx pin. The events that cause a capture event
are listed below in three categories:
1.
Simple Capture Event modes
-Capture timer value on every falling edge of
input at ICx pin
-Capture timer value on every rising edge of
FIGURE 13-1:
2.
3.
input at ICx pin
Capture timer value on every edge (rising and
falling) of input at ICx pin
Prescaler Capture Event modes
-Capture timer value on every 4th rising edge
of input at ICx pin
-Capture timer value on every 16th rising
edge of input at ICx pin
Each input capture channel can select between one of
two 16-bit timers (Timer2 or Timer3) for the time base.
The selected timer can use either an internal or
external clock.
Other operational features include the following:
• Device wake-up from capture pin during CPU
Sleep and Idle modes
• Interrupt on input capture event
• 4-word FIFO buffer for capture values
- Interrupt optionally generated after 1, 2, 3 or
4 buffer locations are filled
• Input capture can also be used to provide
additional sources of external interrupts
Note:
Only IC1 and IC2 can trigger a DMA data
transfer. If DMA data transfers are
required, the FIFO buffer size must be set
to 1 (ICI<1:0> = 00).
INPUT CAPTURE BLOCK DIAGRAM
From 16-bit Timers
TMRy TMRz
16
16
1
Edge Detection Logic
and
Clock Synchronizer
Prescaler
Counter
(1, 4, 16)
ICx Pin
ICM<2:0> (ICxCON<2:0>)
Mode Select
ICTMR
(ICxCON<7>)
FIFO
3
0
FIFO
R/W
Logic
ICOV, ICBNE (ICxCON<4:3>)
ICxBUF
ICxI<1:0>
ICxCON
System Bus
Interrupt
Logic
Set Flag ICxIF
(in IFSn Register)
Note: An ‘x’ in a signal, register or bit name denotes the number of the capture channel.
© 2007 Microchip Technology Inc.
DS70287A-page 157
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
13.1
Input Capture Registers
REGISTER 13-1:
ICxCON: INPUT CAPTURE x CONTROL REGISTER
U-0
U-0
R/W-0
U-0
U-0
U-0
U-0
U-0
—
—
ICSIDL
—
—
—
—
—
bit 15
bit 8
R/W-0
R/W-0
ICTMR(1)
R/W-0
ICI<1:0>
R-0, HC
R-0, HC
ICOV
ICBNE
R/W-0
R/W-0
R/W-0
ICM<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-14
Unimplemented: Read as ‘0’
bit 13
ICSIDL: Input Capture Module Stop in Idle Control bit
1 = Input capture module will halt in CPU Idle mode
0 = Input capture module will continue to operate in CPU Idle mode
bit 12-8
Unimplemented: Read as ‘0’
bit 7
ICTMR: Input Capture Timer Select bits(1)
1 = TMR2 contents are captured on capture event
0 = TMR3 contents are captured on capture event
bit 6-5
ICI<1:0>: Select Number of Captures per Interrupt bits
11 = Interrupt on every fourth capture event
10 = Interrupt on every third capture event
01 = Interrupt on every second capture event
00 = Interrupt on every capture event
bit 4
ICOV: Input Capture Overflow Status Flag bit (read-only)
1 = Input capture overflow occurred
0 = No input capture overflow occurred
bit 3
ICBNE: Input Capture Buffer Empty Status bit (read-only)
1 = Input capture buffer is not empty; at least one more capture value can be read
0 = Input capture buffer is empty
bit 2-0
ICM<2:0>: Input Capture Mode Select bits
111 =Input capture functions as interrupt pin only when device is in Sleep or Idle mode
(Rising edge detect only, all other control bits are not applicable.)
110 =Unused (module disabled)
101 =Capture mode, every 16th rising edge
100 =Capture mode, every 4th rising edge
011 =Capture mode, every rising edge
010 =Capture mode, every falling edge
001 =Capture mode, every edge (rising and falling)
(ICI<1:0> bits do not control interrupt generation for this mode.)
000 =Input capture module turned off
Note 1:
Timer selections may vary. Refer to the device data sheet for details.
DS70287A-page 158
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
14.0
Note:
14.1
OUTPUT COMPARE
This data sheet summarizes the features
of this group of dsPIC33FJXXXMCX06/
X08/X10 Motor Control Family devices. It
is not intended to be a comprehensive
reference source. To complement the
information in this data sheet, refer to the
“dsPIC33F Family Reference Manual”.
Refer to the Microchip web site
(www.microchip.com) for the latest
dsPIC33F family reference manual
chapters.
Setup for Single Output Pulse
Generation
When the OCM control bits (OCxCON<2:0>) are set to
‘100’, the selected output compare channel initializes
the OCx pin to the low state and generates a single
output pulse.
To generate a single output pulse, the following steps
are required (these steps assume the timer source is
initially turned off, but this is not a requirement for the
module operation):
1.
Determine the instruction clock cycle time. Take
into account the frequency of the external clock
to the timer source (if one is used) and the timer
prescaler settings.
2. Calculate time to the rising edge of the output
pulse relative to the TMRy start value (0000h).
3. Calculate the time to the falling edge of the pulse,
based on the desired pulse width and the time to
the rising edge of the pulse.
4. Write the values computed in steps 2 and 3 above
into the Output Compare register, OCxR, and the
Output Compare Secondary register, OCxRS,
respectively.
5. Set the Timer Period register, PRy, to a value
equal to or greater than the value in OCxRS, the
Output Compare Secondary register.
6. Set the OCM bits to ‘100’ and the OCTSEL
(OCxCON<3>) bit to the desired timer source. The
OCx pin state will now be driven low.
7. Set the TON (TyCON<15>) bit to ‘1’, which
enables the compare time base to count.
8. Upon the first match between TMRy and OCxR,
the OCx pin will be driven high.
9. When the incrementing timer, TMRy, matches the
Output Compare Secondary register, OCxRS, the
second and trailing edge (high-to-low) of the pulse
is driven onto the OCx pin. No additional pulses
are driven onto the OCx pin and it remains at low.
As a result of the second compare match event,
the OCxIF interrupt flag bit is set, which will result
in an interrupt if the interrupt enable bit, OCxIE, is
set. For further information on peripheral
interrupts, refer to Section 6.0 “Interrupt Controller”.
10. To initiate another single pulse output, change the
Timer and Compare register settings, if needed,
© 2007 Microchip Technology Inc.
and then issue a write to set the OCM bits to ‘100’.
Disabling and re-enabling the timer, and clearing
the TMRy register, are not required but may be
advantageous for defining a pulse from a known
event time boundary.
The output compare module does not have to be disabled after the falling edge of the output pulse. Another
pulse can be initiated by rewriting the value of the
OCxCON register.
14.2
Setup for Continuous Output
Pulse Generation
When the OCM control bits (OCxCON<2:0>) are set to
‘101’, the selected output compare channel initializes
the OCx pin to the low state and generates output
pulses on each and every compare match event.
For the user to configure the module for the generation
of a continuous stream of output pulses, the following
steps are required (these steps assume the timer
source is initially turned off, but this is not a requirement
for the module operation):
1.
Determine the instruction clock cycle time. Take
into account the frequency of the external clock
to the timer source (if one is used) and the timer
prescaler settings.
2. Calculate time to the rising edge of the output
pulse relative to the TMRy start value (0000h).
3. Calculate the time to the falling edge of the pulse,
based on the desired pulse width and the time to
the rising edge of the pulse.
4. Write the values computed in step 2 and 3 above
into the Output Compare register, OCxR, and the
Output Compare Secondary register, OCxRS,
respectively.
5. Set the Timer Period register, PRy, to a value
equal to or greater than the value in OCxRS, the
Output Compare Secondary register.
6. Set the OCM bits to ‘101’ and the OCTSEL bit to
the desired timer source. The OCx pin state will
now be driven low.
7. Enable the compare time base by setting the TON
(TyCON<15>) bit to ‘1’.
8. Upon the first match between TMRy and OCxR,
the OCx pin will be driven high.
9. When the compare time base, TMRy, matches
the Output Compare Secondary register, OCxRS,
the second and trailing edge (high-to-low) of the
pulse is driven onto the OCx pin.
10. As a result of the second compare match event,
the OCxIF interrupt flag bit is set.
11. When the compare time base and the value in its
respective Timer Period register match, the TMRy
register resets to 0x0000 and resumes counting.
12. Steps 8 through 11 are repeated and a continuous
stream of pulses is generated, indefinitely. The
OCxIF flag is set on each OCxRS-TMRy compare
match event.
DS70287A-page 159
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
14.3
Pulse-Width Modulation Mode
EQUATION 14-1:
The following steps should be taken when configuring
the output compare module for PWM operation:
1.
Set the PWM period by writing to the selected
Timer Period register (PRy).
Set the PWM duty cycle by writing to the OCxRS
register.
Write the OCxR register with the initial duty cycle.
Enable interrupts, if required, for the timer and
output compare modules. The output compare
interrupt is required for PWM Fault pin utilization.
Configure the output compare module for one of
two PWM operation modes by writing to the Output
Compare
Mode
bits,
OCM<2:0>
(OCxCON<2:0>).
Set the TMRy prescale value and enable the
time base by setting TON = 1 (TxCON<15>).
2.
3.
4.
5.
6.
Note:
14.3.1
The OCxR register should be initialized
before the output compare module is first
enabled. The OCxR register becomes a
read-only duty cycle register when the
module is operated in the PWM modes.
The value held in OCxR will become the
PWM duty cycle for the first PWM period.
The contents of the Output Compare
Secondary register, OCxRS, will not be
transferred into OCxR until a time base
period match occurs.
PWM PERIOD
The PWM period is specified by writing to PRy, the
Timer Period register. The PWM period can be
calculated using Equation 14-1:
EQUATION 14-2:
PWM Period = [(PRy) + 1] • TCY • (Timer Prescale Value)
where:
PWM Frequency = 1/[PWM Period]
Note:
14.3.2
2.
PWM DUTY CYCLE
Some important boundary parameters of the PWM duty
cycle include the following:
• If the Output Compare register, OCxR, is loaded
with 0000h, the OCx pin will remain low (0% duty
cycle).
• If OCxR is greater than PRy (Timer Period register),
the pin will remain high (100% duty cycle).
• If OCxR is equal to PRy, the OCx pin will be low
for one time base count value and high for all
other count values.
See Example 14-1 for PWM mode timing details.
Table 14-1 shows example PWM frequencies and
resolutions for a device operating at 10 MIPS.
CALCULATION FOR MAXIMUM PWM RESOLUTION
Maximum PWM Resolution (bits) =
1.
A PRy value of N will produce a PWM
period of N + 1 time base count cycles. For
example, a value of 7 written into the PRy
register will yield a period consisting of
eight time base cycles.
The PWM duty cycle is specified by writing to the OCxRS
register. The OCxRS register can be written to at any time,
but the duty cycle value is not latched into OCxR until a
match between PRy and TMRy occurs (i.e., the period is
complete). This provides a double buffer for the PWM duty
cycle and is essential for glitchless PWM operation. In the
PWM mode, OCxR is a read-only register.
log10
EXAMPLE 14-1:
CALCULATING THE PWM
PERIOD
( FF )
CY
PWM
log10(2)
bits
PWM PERIOD AND DUTY CYCLE CALCULATIONS
Find the Timer Period register value for a desired PWM frequency that is 52.08 kHz, where FCY = 16 MHz and the Timer2
prescaler setting is 1:1.
TCY
= 62.5 ns
PWM Period = 1/PWM Frequency = 1/52.08 kHz = 19.2 μs
PWM Period = (PR2 + 1) • TCY • (Timer2 Prescale Value)
19.2 μs
= (PR2 + 1) • 62.5 ns • 1
PR2
= 306
Find the maximum resolution of the duty cycle that can be used with a 52.08 kHz frequency and a 32 MHz device clock rate:
PWM Resolution = log10 (FCY/FPWM)/log102) bits
= (log10 (16 MHz/52.08 kHz)/log102) bits
= 8.3 bits
DS70287A-page 160
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 14-1:
EXAMPLE PWM FREQUENCIES AND RESOLUTIONS AT 4 MIPS (FCY = 4 MHz)
PWM Frequency
7.6 Hz
61 Hz
122 Hz
977 Hz
3.9 kHz
31.3 kHz
125 kHz
Timer Prescaler Ratio
8
1
1
1
1
1
1
Period Register Value
FFFFh
FFFFh
7FFFh
0FFFh
03FFh
007Fh
001Fh
16
16
15
12
10
7
5
Resolution (bits)
TABLE 14-2:
EXAMPLE PWM FREQUENCIES AND RESOLUTIONS AT 16 MIPS (FCY = 16 MHz)
PWM Frequency
30.5 Hz
244 Hz
488 Hz
3.9 kHz
15.6 kHz
125 kHz
500 kHz
Timer Prescaler Ratio
8
1
1
1
1
1
1
Period Register Value
FFFFh
FFFFh
7FFFh
0FFFh
03FFh
007Fh
001Fh
16
16
15
12
10
7
5
Resolution (bits)
TABLE 14-3:
EXAMPLE PWM FREQUENCIES AND RESOLUTIONS AT 40 MIPS (FCY = 40 MHz)
PWM Frequency
76 Hz
610 Hz
1.22 Hz
9.77 kHz
39 kHz
313 kHz
1.25 MHz
Timer Prescaler Ratio
8
1
1
1
1
1
1
Period Register Value
FFFFh
FFFFh
7FFFh
0FFFh
03FFh
007Fh
001Fh
16
16
15
12
10
7
5
Resolution (bits)
FIGURE 14-1:
OUTPUT COMPARE MODULE BLOCK DIAGRAM
Set Flag bit
OCxIF(1)
OCxRS(1)
Output
Logic
OCxR(1)
3
OCM2:OCM0
Mode Select
Comparator
0
16
OCTSEL
1
OCx(1)
Output Enable
OCFA or OCFB(2)
1
16
TMR register inputs
from time bases(3)
Note 1:
0
S Q
R
Period match signals
from time bases(3)
Where ‘x’ is shown, reference is made to the registers associated with the respective output compare channels
1 through 8.
2: OCFA pin controls OC1-OC4 channels. OCFB pin controls OC5-OC8 channels.
3: Each output compare channel can use one of two selectable time bases. Refer to the device data sheet for the
time bases associated with the module.
Note:
Only OC1 and OC2 can trigger a DMA
data transfer.
The corresponding TRISx bits must be cleared to
configure the associated I/O pins as OC outputs.
© 2007 Microchip Technology Inc.
DS70287A-page 161
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
14.4
Output Compare Register
REGISTER 14-1:
OCxCON: OUTPUT COMPARE x CONTROL REGISTER
U-0
U-0
R/W-0
U-0
U-0
U-0
U-0
U-0
—
—
OCSIDL
—
—
—
—
—
bit 15
bit 8
U-0
U-0
U-0
R-0 HC
R/W-0
—
—
—
OCFLT
OCTSEL(1)
R/W-0
R/W-0
R/W-0
OCM<2:0>
bit 7
bit 0
Legend:
HC = Cleared in Hardware
HS = Set in Hardware
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-14
Unimplemented: Read as ‘0’
bit 13
OCSIDL: Stop Output Compare in Idle Mode Control bit
1 = Output Compare x will halt in CPU Idle mode
0 = Output Compare x will continue to operate in CPU Idle mode
bit 12-5
Unimplemented: Read as ‘0’
bit 4
OCFLT: PWM Fault Condition Status bit
1 = PWM Fault condition has occurred (cleared in HW only)
0 = No PWM Fault condition has occurred
(This bit is only used when OCM<2:0> = 111.)
bit 3
OCTSEL: Output Compare Timer Select bit(1)
1 = Timer3 is the clock source for Output Compare x
0 = Timer2 is the clock source for Output Compare x
bit 2-0
OCM<2:0>: Output Compare Mode Select bits
111 = PWM mode on OCx; Fault pin enabled
110 = PWM mode on OCx; Fault pin disabled
101 = Initialize OCx pin low; generate continuous output pulses on OCx pin
100 = Initialize OCx pin low; generate single output pulse on OCx pin
011 = Compare event toggles OCx pin
010 = Initialize OCx pin high; compare event forces OCx pin low
001 = Initialize OCx pin low; compare event forces OCx pin high
000 = Output compare channel is disabled
Note 1:
Refer to the device data sheet for specific time bases available to the output compare module.
DS70287A-page 162
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
15.0
Note:
MOTOR CONTROL PWM
MODULE
This data sheet summarizes the features
of this group of dsPIC33FJXXXMCX06/
X08/X10 Motor Control Family devices. It
is not intended to be a comprehensive
reference source. To complement the
information in this data sheet, refer to the
“dsPIC33F
Family
Reference
Manual”.Refer to the Microchip web site
(www.microchip.com) for the latest
dsPIC33F family reference manual
chapters.
This module contains 4 duty cycle generators,
numbered 1 through 4. The module has eight PWM
output pins, numbered PWM1H/PWM1L through
PWM4H/PWM4L. The eight I/O pins are grouped into
high/low numbered pairs, denoted by the suffix H or L,
respectively. For complementary loads, the low PWM
pins are always the complement of the corresponding
high I/O pin.
The PWM module allows several modes of operation
which are beneficial for specific power control
applications.
This module simplifies the task of generating multiple,
synchronized Pulse-Width Modulated (PWM) outputs.
In particular, the following power and motion control
applications are supported by the PWM module:
•
•
•
•
3-Phase AC Induction Motor
Switched Reluctance (SR) Motor
Brushless DC (BLDC) Motor
Uninterruptible Power Supply (UPS)
The PWM module has the following features:
•
•
•
•
•
•
•
•
•
•
8 PWM I/O pins with 4 duty cycle generators
Up to 16-bit resolution
‘On-the-fly’ PWM frequency changes
Edge and Center-Aligned Output modes
Single Pulse Generation mode
Interrupt support for asymmetrical updates in
Center-Aligned mode
Output override control for Electrically
Commutative Motor (ECM) operation
‘Special Event’ comparator for scheduling other
peripheral events
Fault pins to optionally drive each of the PWM
output pins to a defined state
Duty cycle updates are configurable to be
immediate or synchronized to the PWM time base
© 2007 Microchip Technology Inc.
DS70287A-page 163
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 15-1:
PWM MODULE BLOCK DIAGRAM
PWMCON1
PWM Enable and Mode SFRs
PWMCON2
DTCON1
Dead-Time Control SFRs
DTCON2
FLTACON
Fault Pin Control SFRs
FLTBCON
OVDCON
PWM Manual
Control SFR
PWM Generator #4
16-bit Data Bus
PDC4 Buffer
PDC4
Comparator
PWM Generator
#3
PTMR
Channel 4 Dead-Time
Generator and
Override Logic
PWM4H
Channel 3 Dead-Time
Generator and
Override Logic
PWM3H
PWM4L
Output
PWM3L
Driver
Comparator
PWM Generator
#2
Channel 2 Dead-Time
Generator and
Override Logic
PTPER
PWM Generator
#1
Block
Channel 1 Dead-Time
Generator and
Override Logic
PTPER Buffer
PWM2H
PWM2L
PWM1H
PWM1L
FLTA
PTCON
FLTB
Comparator
SEVTDIR
SEVTCMP
Special Event
Postscaler
Special Event Trigger
PTDIR
PWM Time Base
Note:
For clarity, details of PWM Generator #1, #2 and #3 are not shown.
DS70287A-page 164
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
15.1
PWM Time Base
The PWM time base is provided by a 15-bit timer with
a prescaler and postscaler. The time base is accessible
via the PTMR SFR. PTMR<15> is a read-only status
bit, PTDIR, that indicates the present count direction of
the PWM time base. If PTDIR is cleared, PTMR is
counting upwards. If PTDIR is set, PTMR is counting
downwards. The PWM time base is configured via the
PTCON SFR. The time base is enabled/disabled by
setting/clearing the PTEN bit in the PTCON SFR.
PTMR is not cleared when the PTEN bit is cleared in
software.
The PTPER SFR sets the counting period for PTMR.
The user must write a 15-bit value to PTPER<14:0>.
When the value in PTMR<14:0> matches the value in
PTPER<14:0>, the time base will either reset to ‘0’ or
reverse the count direction on the next occurring clock
cycle. The action taken depends on the operating
mode of the time base.
Note:
If the PWM Period register is set to
0x0000, the timer will stop counting and
the interrupt and Special Event Trigger will
not be generated, even if the special event
value is also 0x0000. The module will not
update the PWM Period register if it is
already at 0x0000; therefore, the user
must disable the module in order to update
the PWM Period register.
The PWM time base can be configured for four different
modes of operation:
•
•
•
•
Free-Running mode
Single-Shot mode
Continuous Up/Down Count mode
Continuous Up/Down Count mode with interrupts
for double updates
These four modes are selected by the PTMOD<1:0>
bits in the PTCON SFR. The Up/Down Count modes
support center-aligned PWM generation. The SingleShot mode allows the PWM module to support pulse
control of certain Electronically Commutative Motors
(ECMs).
The interrupt signals generated by the PWM time base
depend on the mode selection bits (PTMOD<1:0>) and
the postscaler bits (PTOPS<3:0>) in the PTCON SFR.
© 2007 Microchip Technology Inc.
15.1.1
FREE-RUNNING MODE
In Free-Running mode, the PWM time base counts
upwards until the value in the PWM Time Base Period
register (PTPER) is matched. The PTMR register is
reset on the following input clock edge, and the time
base will continue to count upwards as long as the
PTEN bit remains set.
When the PWM time base is in the Free-Running mode
(PTMOD<1:0> = 00), an interrupt event is generated
each time a match with the PTPER register occurs and
the PTMR register is reset to zero. The postscaler
selection bits may be used in this mode of the timer to
reduce the frequency of the interrupt events.
15.1.2
SINGLE-SHOT MODE
In Single-Shot mode, the PWM time base begins
counting upwards when the PTEN bit is set. When the
value in the PTMR register matches the PTPER register, the PTMR register will be reset on the following
input clock edge, and the PTEN bit will be cleared by
the hardware to halt the time base.
When the PWM time base is in the Single-Shot mode
(PTMOD<1:0> = 01), an interrupt event is generated
when a match with the PTPER register occurs. The
PTMR register is reset to zero on the following input
clock edge and the PTEN bit is cleared. The postscaler
selection bits have no effect in this mode of the timer.
15.1.3
CONTINUOUS UP/DOWN COUNT
MODES
In the Continuous Up/Down Count modes, the PWM
time base counts upwards until the value in the PTPER
register is matched. The timer will begin counting
downwards on the following input clock edge. The
PTDIR bit in the PTMR SFR is read-only and indicates
the counting direction. The PTDIR bit is set when the
timer counts downwards.
In the Up/Down Count mode (PTMOD<1:0> = 10), an
interrupt event is generated each time the value of the
PTMR register becomes zero and the PWM time base
begins to count upwards. The postscaler selection bits
may be used in this mode of the timer to reduce the
frequency of the interrupt events.
DS70287A-page 165
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
15.1.4
DOUBLE UPDATE MODE
The PWM period
Equation 15-1:
can
be
determined
using
In the Double Update mode (PTMOD<1:0> = 11), an
interrupt event is generated each time the PTMR register is equal to zero, as well as each time a period match
occurs. The postscaler selection bits have no effect in
this mode of the timer.
EQUATION 15-1:
The Double Update mode provides two additional
functions to the user. First, the control loop bandwidth is
doubled, because the PWM duty cycles can be updated
twice per period. Second, asymmetrical center-aligned
PWM waveforms can be generated, which are useful for
minimizing output waveform distortion in certain motor
control applications.
If the PWM time base is configured for one of the Up/
Down Count modes, the PWM period will be twice the
value provided by Equation 15-1.
Note:
15.1.5
Programming a value of 0x0001 in the
PWM Period register could generate a
continuous interrupt pulse and hence,
must be avoided.
• A write to the PTMR register
• A write to the PTCON register
• Any device Reset
The PTMR register is not cleared when PTCON is
written.
PWM TIME BASE POSTSCALER
The match output of PTMR can optionally be postscaled through a 4-bit postscaler (which gives a 1:1 to
1:16 scaling).
The postscaler counter is cleared when any of the
following occurs:
• A write to the PTMR register
• A write to the PTCON register
• Any device Reset
TCY • (PTPER + 1)
(PTMR Prescale Value)
The maximum resolution (in bits) for a given device
oscillator and PWM frequency can be determined using
Equation 15-2:
EQUATION 15-2:
PWM RESOLUTION
Resolution =
PWM TIME BASE PRESCALER
The input clock to PTMR (FOSC/4) has prescaler
options of 1:1, 1:4, 1:16 or 1:64, selected by control
bits, PTCKPS<1:0>, in the PTCON SFR. The prescaler
counter is cleared when any of the following occurs:
15.1.6
TPWM =
PWM PERIOD
15.3
Edge-Aligned PWM
Edge-aligned PWM signals are produced by the module
when the PWM time base is in Free-Running or SingleShot mode. For edge-aligned PWM outputs, the output
has a period specified by the value in PTPER and a duty
cycle specified by the appropriate Duty Cycle register
(see Figure 15-2). The PWM output is driven active at
the beginning of the period (PTMR = 0) and is driven
inactive when the value in the Duty Cycle register
matches PTMR.
If the value in a particular Duty Cycle register is zero,
then the output on the corresponding PWM pin will be
inactive for the entire PWM period. In addition, the output on the PWM pin will be active for the entire PWM
period if the value in the Duty Cycle register is greater
than the value held in the PTPER register.
FIGURE 15-2:
EDGE-ALIGNED PWM
New Duty Cycle Latched
The PTMR register is not cleared when PTCON is written.
15.2
PWM Period
PTPER
PTMR
Value
PTPER is a 15-bit register and is used to set the counting
period for the PWM time base. PTPER is a doublebuffered register. The PTPER buffer contents are loaded
into the PTPER register at the following instants:
• Free-Running and Single-Shot modes: When the
PTMR register is reset to zero after a match with
the PTPER register.
• Up/Down Count modes: When the PTMR register
is zero.
log (2 • TPWM/TCY)
log (2)
0
Duty Cycle
Period
The value held in the PTPER buffer is automatically
loaded into the PTPER register when the PWM time
base is disabled (PTEN = 0).
DS70287A-page 166
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
15.4
Center-Aligned PWM
15.5.1
Center-aligned PWM signals are produced by the
module when the PWM time base is configured in an
Up/Down Count mode (see Figure 15-3).
The PWM compare output is driven to the active state
when the value of the Duty Cycle register matches the
value of PTMR and the PWM time base is counting
downwards (PTDIR = 1). The PWM compare output is
driven to the inactive state when the PWM time base is
counting upwards (PTDIR = 0) and the value in the
PTMR register matches the duty cycle value.
If the value in a particular Duty Cycle register is zero,
then the output on the corresponding PWM pin will be
inactive for the entire PWM period. In addition, the output on the PWM pin will be active for the entire PWM
period if the value in the Duty Cycle register is equal to
the value held in the PTPER register.
FIGURE 15-3:
CENTER-ALIGNED PWM
Period/2
PTPER
PTMR
Value
Duty
Cycle
0
The four PWM Duty Cycle registers are doublebuffered to allow glitchless updates of the PWM
outputs. For each duty cycle, there is a Duty Cycle
register that is accessible by the user and a second
Duty Cycle register that holds the actual compare value
used in the present PWM period.
For edge-aligned PWM output, a new duty cycle value
will be updated whenever a match with the PTPER
register occurs and PTMR is reset. The contents of the
duty cycle buffers are automatically loaded into the
Duty Cycle registers when the PWM time base is
disabled (PTEN = 0) and the UDIS bit is cleared in
PWMCON2.
When the PWM time base is in the Up/Down Count
mode, new duty cycle values are updated when the
value of the PTMR register is zero, and the PWM time
base begins to count upwards. The contents of the duty
cycle buffers are automatically loaded into the Duty
Cycle registers when the PWM time base is disabled
(PTEN = 0).
When the PWM time base is in the Up/Down Count
mode with double updates, new duty cycle values are
updated when the value of the PTMR register is zero,
and when the value of the PTMR register matches the
value in the PTPER register. The contents of the duty
cycle buffers are automatically loaded into the Duty
Cycle registers when the PWM time base is disabled
(PTEN = 0).
15.5.2
Period
15.5
PWM Duty Cycle Comparison
Units
There are four 16-bit Special Function Registers
(PDC1, PDC2, PDC3 and PDC4) used to specify duty
cycle values for the PWM module.
The value in each Duty Cycle register determines the
amount of time that the PWM output is in the active
state. The Duty Cycle registers are 16 bits wide. The
LSb of a Duty Cycle register determines whether the
PWM edge occurs in the beginning. Thus, the PWM
resolution is effectively doubled.
DUTY CYCLE REGISTER BUFFERS
DUTY CYCLE IMMEDIATE UPDATES
When the Immediate Update Enable bit is set (IUE = 1),
any write to the Duty Cycle registers will update the
new duty cycle value immediately. This feature gives
the user the option to allow immediate updates of the
active PWM Duty Cycle registers instead of waiting for
the end of the current time base period. System stability is improved in closed-loop servo applications by
reducing the delay between system observation and
the issuance of system corrective commands when
immediate updates are enabled (IUE = 1).
If the PWM output is active at the time the new duty
cycle is written and the new duty cycle is less than the
current time base value, the PWM pulse width will be
shortened. If the PWM output is active at the time the
new duty cycle is written and the new duty cycle is
greater than the current time base value, the PWM
pulse width will be lengthened.
If the PWM output is inactive at the time the new duty
cycle is written and the new duty cycle is greater than
the current time base value, the PWM output will
become active immediately and will remain active for
the newly written duty cycle value.
© 2007 Microchip Technology Inc.
DS70287A-page 167
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
15.6
Complementary PWM Operation
In the Complementary mode of operation, each pair of
PWM outputs is obtained by a complementary PWM
signal. A dead time may be optionally inserted during
device switching, when both outputs are inactive for a
short period (refer to Section 15.7 “Dead-Time
Generators”).
In Complementary mode, the duty cycle comparison
units are assigned to the PWM outputs as follows:
•
•
•
•
PDC1 register controls PWM1H/PWM1L outputs
PDC2 register controls PWM2H/PWM2L outputs
PDC3 register controls PWM3H/PWM3L outputs
PDC4 register controls PWM4H/PWM4L outputs
The Complementary mode is selected for each PWM
I/O pin pair by clearing the appropriate PMODx bit in the
PWMCON1 SFR. The PWM I/O pins are set to
Complementary mode by default upon a device Reset.
The PWM module allows two different dead times to be
programmed. These two dead times may be used in
one of two methods, described below, to increase user
flexibility:
• The PWM output signals can be optimized for
different turn-off times in the high side and low
side transistors in a complementary pair of transistors. The first dead time is inserted between
the turn-off event of the lower transistor of the
complementary pair and the turn-on event of the
upper transistor. The second dead time is inserted
between the turn-off event of the upper transistor
and the turn-on event of the lower transistor.
• The two dead times can be assigned to individual
PWM I/O pin pairs. This operating mode allows
the PWM module to drive different transistor/load
combinations with each complementary PWM I/O
pin pair.
15.7.1
15.7
Dead-Time Generators
Dead-time generation may be provided when any of the
PWM I/O pin pairs are operating in the Complementary
Output mode. The PWM outputs use push-pull drive circuits. Due to the inability of the power output devices to
switch instantaneously, some amount of time must be
provided between the turn-off event of one PWM output
in a complementary pair and the turn-on event of the
other transistor.
FIGURE 15-4:
DEAD-TIME GENERATORS
Each complementary output pair for the PWM module
has a 6-bit down counter that is used to produce the
dead-time insertion. As shown in Figure 15-4, each
dead-time unit has a rising and falling edge detector
connected to the duty cycle comparison output.
DEAD-TIME TIMING DIAGRAM
Duty Cycle Generator
PWMxH
PWMxL
Time Selected by DTSxA bit (A or B)
DS70287A-page 168
Time Selected by DTSxI bit (A or B)
© 2007 Microchip Technology Inc.
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15.7.2
DEAD-TIME ASSIGNMENT
The DTCON2 SFR contains control bits that allow the
dead times to be assigned to each of the complementary outputs. Table 15-1 summarizes the function of
each dead-time selection control bit.
TABLE 15-1:
Bit
DEAD-TIME SELECTION BITS
Function
DTS1A
Selects PWM1L/PWM1H active edge dead time.
DTS1I
Selects PWM1L/PWM1H inactive edge
dead time.
DTS2A
Selects PWM2L/PWM2H active edge dead time.
DTS2I
Selects PWM2L/PWM2H inactive edge
dead time.
DTS3A
Selects PWM3L/PWM3H active edge dead time.
DTS3I
Selects PWM3L/PWM3H inactive edge
dead time.
DTS4A
Selects PWM4L/PWM4H active edge dead time.
DTS4I
Selects PWM4L/PWM4H inactive edge
dead time.
15.7.3
DEAD-TIME RANGES
The amount of dead time provided by each dead-time
unit is selected by specifying the input clock prescaler
value and a 6-bit unsigned value. The amount of dead
time provided by each unit may be set independently.
Four input clock prescaler selections have been provided to allow a suitable range of dead times, based on
the device operating frequency. The clock prescaler
option may be selected independently for each of the
two dead-time values. The dead-time clock prescaler
values are selected using the DTAPS<1:0> and
DTBPS<1:0> control bits in the DTCON1 SFR. One of
four clock prescaler options (TCY, 2 TCY, 4 TCY or 8 TCY)
may be selected for each of the dead-time values.
After the prescaler values are selected, the dead time
for each unit is adjusted by loading two 6-bit unsigned
values into the DTCON1 SFR.
The dead-time unit prescalers are cleared on the
following events:
• On a load of the down timer due to a duty cycle
comparison edge event.
• On a write to the DTCON1 or DTCON2 registers.
• On any device Reset.
Note:
The user should not modify the DTCON1
or DTCON2 values while the PWM module is operating (PTEN = 1). Unexpected
results may occur.
© 2007 Microchip Technology Inc.
15.8
Independent PWM Output
An Independent PWM Output mode is required for
driving certain types of loads. A particular PWM output
pair is in the Independent Output mode when the corresponding PMODx bit in the PWMCON1 register is
set. No dead-time control is implemented between
adjacent PWM I/O pins when the module is operating
in the Independent PWM Output mode and both I/O
pins are allowed to be active simultaneously.
In the Independent PWM Output mode, each duty cycle
generator is connected to both of the PWM I/O pins in
an output pair. By using the associated Duty Cycle register and the appropriate bits in the OVDCON register,
the user may select the following signal output options
for each PWM I/O pin operating in this mode:
• I/O pin outputs PWM signal
• I/O pin inactive
• I/O pin active
15.9
Single Pulse PWM Operation
The PWM module produces single pulse outputs when
the PTCON control bits PTMOD<1:0> = 10. Only edgealigned outputs may be produced in the Single Pulse
mode. In Single Pulse mode, the PWM I/O pin(s) are
driven to the active state when the PTEN bit is set.
When a match with a Duty Cycle register occurs, the
PWM I/O pin is driven to the inactive state. When a
match with the PTPER register occurs, the PTMR
register is cleared, all active PWM I/O pins are driven
to the inactive state, the PTEN bit is cleared and an
interrupt is generated.
15.10 PWM Output Override
The PWM output override bits allow the user to manually drive the PWM I/O pins to specified logic states,
independent of the duty cycle comparison units.
All control bits associated with the PWM output override function are contained in the OVDCON register.
The upper half of the OVDCON register contains eight
bits, POVDxH<4:1> and POVDxL<4:1>, that determine
which PWM I/O pins will be overridden. The lower half
of the OVDCON register contains eight bits,
POUTxH<4:1> and POUTxL<4:1>, that determine the
state of the PWM I/O pins when a particular output is
overridden via the POVD bits.
15.10.1
COMPLEMENTARY OUTPUT MODE
When a PWMxL pin is driven active via the OVDCON
register, the output signal is forced to be the complement of the corresponding PWMxH pin in the pair.
Dead-time insertion is still performed when PWM
channels are overridden manually.
DS70287A-page 169
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
15.10.2
OVERRIDE SYNCHRONIZATION
If the OSYNC bit in the PWMCON2 register is set, all
output overrides performed via the OVDCON register
are synchronized to the PWM time base. Synchronous
output overrides occur at the following times:
• Edge-Aligned mode – when PTMR is zero
• Center-Aligned modes – when PTMR is zero and
the value of PTMR matches PTPER
15.11 PWM Output and Polarity Control
There are three device Configuration bits associated
with the PWM module that provide PWM output pin
control:
15.12.1
The FLTACON and FLTBCON SFRs each have four
control bits that determine whether a particular pair of
PWM I/O pins is to be controlled by the Fault input pin.
To enable a specific PWM I/O pin pair for Fault
overrides, the corresponding bit should be set in the
FLTACON or FLTBCON register.
If all enable bits are cleared in the FLTACON or
FLTBCON register, then the corresponding Fault input
pin has no effect on the PWM module and the pin may
be used as a general purpose interrupt or I/O pin.
Note:
• HPOL Configuration bit
• LPOL Configuration bit
• PWMPIN Configuration bit
These three bits in the FPOR Configuration register
(see Section 22.0 “Special Features”) work in conjunction with the eight PWM Enable bits (PENxH<4:1>,
PENxL<4:1>) located in the PWMCON1 SFR. The
Configuration bits and PWM Enable bits ensure that
the PWM pins are in the correct states after a device
Reset occurs. The PWMPIN configuration fuse allows
the PWM module outputs to be optionally enabled on a
device Reset. If PWMPIN = 0, the PWM outputs will be
driven to their inactive states at Reset. If PWMPIN = 1
(default), the PWM outputs will be tri-stated. The HPOL
bit specifies the polarity for the PWMxH outputs,
whereas the LPOL bit specifies the polarity for the
PWMxL outputs.
15.11.1
OUTPUT PIN CONTROL
The PENxH<4:1> and PENxL<4:1> control bits in the
PWMCON1 SFR enable each high PWM output pin
and each low PWM output pin, respectively. If a particular PWM output pin is not enabled, it is treated as a
general purpose I/O pin.
15.12 PWM Fault Pins
There are two Fault pins (FLTA and FLTB) associated
with the PWM module. When asserted, these pins can
optionally drive each of the PWM I/O pins to a defined
state.
DS70287A-page 170
FAULT PIN ENABLE BITS
15.12.2
The Fault pin logic can operate independent of the PWM logic. If all the enable bits
in the FLTACON/FLTBCON registers are
cleared, then the Fault pin(s) could be
used as general purpose interrupt pin(s).
Each Fault pin has an interrupt vector,
interrupt flag bit and interrupt priority bits
associated with it.
FAULT STATES
The FLTACON and FLTBCON Special Function
Registers have eight bits each that determine the state
of each PWM I/O pin when it is overridden by a Fault
input. When these bits are cleared, the PWM I/O pin is
driven to the inactive state. If the bit is set, the PWM
I/O pin will be driven to the active state. The active
and inactive states are referenced to the polarity
defined for each PWM I/O pin (HPOL and LPOL
polarity control bits).
A special case exists when a PWM module I/O pair is
in the Complementary mode and both pins are programmed to be active on a Fault condition. The
PWMxH pin always has priority in the Complementary
mode so that both I/O pins cannot be driven active
simultaneously.
15.12.3
FAULT PIN PRIORITY
If both Fault input pins have been assigned to control a
particular PWM I/O pin, the Fault state programmed for
the Fault A input pin will take priority over the Fault B
input pin.
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
15.12.4
FAULT INPUT MODES
Each of the Fault input pins have two modes of
operation:
• Latched Mode: When the Fault pin is driven low,
the PWM outputs will go to the states defined in
the FLTACON/FLTBCON registers. The PWM
outputs will remain in this state until the Fault pin
is driven high and the corresponding interrupt flag
has been cleared in software. When both of these
actions have occurred, the PWM outputs will
return to normal operation at the beginning of the
next PWM cycle or half-cycle boundary. If the
interrupt flag is cleared before the Fault condition
ends, the PWM module will wait until the Fault pin
is no longer asserted to restore the outputs.
• Cycle-by-Cycle Mode: When the Fault input pin
is driven low, the PWM outputs remain in the
defined Fault states for as long as the Fault pin is
held low. After the Fault pin is driven high, the
PWM outputs return to normal operation at the
beginning of the following PWM cycle or
half-cycle boundary.
The operating mode for each Fault input pin is selected
using the FLTAM and FLTBM control bits in the
FLTACON and FLTBCON Special Function Registers.
Each of the Fault pins can be controlled manually in
software.
15.13 PWM Update Lockout
For a complex PWM application, the user may need to
write up to four Duty Cycle registers and the PWM Time
Base Period register, PTPER, at a given time. In some
applications, it is important that all buffer registers be
written before the new duty cycle and period values are
loaded for use by the module.
The PWM update lockout feature is enabled by setting
the UDIS control bit in the PWMCON2 SFR. The UDIS
bit affects all Duty Cycle Buffer registers and the PWM
Time Base Period register, PTPER. No duty cycle
changes or period value changes will have effect while
UDIS = 1.
If the IUE bit is set, any change to the Duty Cycle
registers will be immediately updated regardless of the
UDIS bit state. The PWM Period register (PTPER)
updates are not affected by the IUE control bit.
15.14 PWM Special Event Trigger
The PWM module has a Special Event Trigger that
allows ADC conversions to be synchronized to the
PWM time base. The ADC sampling and conversion
time may be programmed to occur at any point within
the PWM period. The Special Event Trigger allows the
user to minimize the delay between the time when ADC
conversion results are acquired and the time when the
duty cycle value is updated.
The PWM Special Event Trigger has an SFR, named
SEVTCMP, and five control bits to control its operation.
The PTMR value for which a Special Event Trigger
should occur is loaded into the SEVTCMP register.
When the PWM time base is in an Up/Down Count
mode, an additional control bit is required to specify the
counting phase for the Special Event Trigger. The
count phase is selected using the SEVTDIR control bit
in the SEVTCMP SFR. If the SEVTDIR bit is cleared,
the Special Event Trigger will occur on the upward
counting cycle of the PWM time base. If the SEVTDIR
bit is set, the Special Event Trigger will occur on the
downward count cycle of the PWM time base. The
SEVTDIR control bit has no effect unless the PWM time
base is configured for an Up/Down Count mode.
15.14.1
SPECIAL EVENT TRIGGER
POSTSCALER
The PWM Special Event Trigger has a postscaler that
allows a 1:1 to 1:16 postscale ratio. The postscaler is
configured by writing the SEVOPS<3:0> control bits in
the PWMCON2 SFR.
The special event output postscaler is cleared on the
following events:
• Any write to the SEVTCMP register
• Any device Reset
15.15 PWM Operation During CPU Sleep
Mode
The Fault A and Fault B input pins have the ability to
wake the CPU from Sleep mode. The PWM module
generates an interrupt if either of the Fault pins is
driven low while in Sleep.
15.16 PWM Operation During CPU Idle
Mode
The PTCON SFR contains a PTSIDL control bit. This
bit determines if the PWM module will continue to
operate or stop when the device enters Idle mode. If
PTSIDL = 0, the module will continue to operate. If
PTSIDL = 1, the module will stop operation as long as
the CPU remains in Idle mode.
© 2007 Microchip Technology Inc.
DS70287A-page 171
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 15-1:
PTCON: PWM TIME BASE CONTROL REGISTER
R/W-0
U-0
R/W-0
U-0
U-0
U-0
U-0
U-0
PTEN
—
PTSIDL
—
—
—
—
—
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PTOPS<3:0>
R/W-0
R/W-0
PTCKPS<1:0>
R/W-0
PTMOD<1:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
PTEN: PWM Time Base Timer Enable bit
1 = PWM time base is on
0 = PWM time base is off
bit 14
Unimplemented: Read as ‘0’
bit 13
PTSIDL: PWM Time Base Stop in Idle Mode bit
1 = PWM time base halts in CPU Idle mode
0 = PWM time base runs in CPU Idle mode
bit 12-8
Unimplemented: Read as ‘0’
bit 7-4
PTOPS<3:0>: PWM Time Base Output Postscale Select bits
1111 = 1:16 postscale
•
•
0001 = 1:2 postscale
0000 = 1:1 postscale
bit 3-2
PTCKPS<1:0>: PWM Time Base Input Clock Prescale Select bits
11 = PWM time base input clock period is 64 TCY (1:64 prescale)
10 = PWM time base input clock period is 16 TCY (1:16 prescale)
01 = PWM time base input clock period is 4 TCY (1:4 prescale)
00 = PWM time base input clock period is TCY (1:1 prescale)
bit 1-0
PTMOD<1:0>: PWM Time Base Mode Select bits
11 = PWM time base operates in a Continuous Up/Down Count mode with interrupts for double
PWM updates
10 = PWM time base operates in a Continuous Up/Down Count mode
01 = PWM time base operates in Single Pulse mode
00 = PWM time base operates in a Free-Running mode
DS70287A-page 172
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 15-2:
R-0
PTMR: PWM TIMER COUNT VALUE REGISTER
R/W-0
R/W-0
R/W-0
PTDIR
R/W-0
R/W-0
R/W-0
R/W-0
PTMR<14:8>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PTMR<7:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
PTDIR: PWM Time Base Count Direction Status bit (read-only)
1 = PWM time base is counting down
0 = PWM time base is counting up
bit 14-0
PTMR <14:0>: PWM Time Base Register Count Value bits
REGISTER 15-3:
U-0
PTPER: PWM TIME BASE PERIOD REGISTER
R/W-0
R/W-0
R/W-0
—
R/W-0
R/W-0
R/W-0
R/W-0
PTPER<14:8>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PTPER<7:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
Unimplemented: Read as ‘0’
bit 14-0
PTPER<14:0>: PWM Time Base Period Value bits
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 173
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 15-4:
R/W-0
SEVTCMP: SPECIAL EVENT COMPARE REGISTER
R/W-0
R/W-0
R/W-0
SEVTDIR(1)
R/W-0
R/W-0
R/W-0
R/W-0
SEVTCMP<14:8>(2)
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
SEVTCMP<7:0>(2)
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
SEVTDIR: Special Event Trigger Time Base Direction bit(1)
1 = A Special Event Trigger will occur when the PWM time base is counting downwards
0 = A Special Event Trigger will occur when the PWM time base is counting upwards
bit 14-0
SEVTCMP<14:0>: Special Event Compare Value bits(2)
Note 1:
2:
SEVTDIR is compared with PTDIR (PTMR<15>) to generate the Special Event Trigger.
SEVTCMP<14:0> is compared with PTMR<14:0> to generate the Special Event Trigger.
DS70287A-page 174
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 15-5:
PWMCON1: PWM CONTROL REGISTER 1
U-0
U-0
U-0
U-0
R/W-0
R/W-0
R/W-0
R/W-0
—
—
—
—
PMOD4
PMOD3
PMOD2
PMOD1
bit 15
bit 8
R/W-1
R/W-1
R/W-1
R/W-1
R/W-1
R/W-1
R/W-1
R/W-1
PEN4H(1)
PEN3H(1)
PEN2H(1)
PEN1H(1)
PEN4L(1)
PEN3L(1)
PEN2L(1)
PEN1L(1)
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-12
Unimplemented: Read as ‘0’
bit 11-8
PMOD<4:1>: PWM I/O Pair Mode bits
1 = PWM I/O pin pair is in the Independent PWM Output mode
0 = PWM I/O pin pair is in the Complementary Output mode
bit 7-4
PEN4H:PEN1H: PWMxH I/O Enable bits(1)
1 = PWMxH pin is enabled for PWM output
0 = PWMxH pin is disabled; I/O pin becomes general purpose I/O
bit 3-0
PEN4L:PEN1L: PWMxL I/O Enable bits(1)
1 = PWMxL pin is enabled for PWM output
0 = PWMxL pin is disabled; I/O pin becomes general purpose I/O
Note 1:
x = Bit is unknown
Reset condition of the PENxH and PENxL bits depends on the value of the PWMPIN Configuration bit in
the FPOR Configuration register.
© 2007 Microchip Technology Inc.
DS70287A-page 175
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 15-6:
PWMCON2: PWM CONTROL REGISTER 2
U-0
U-0
U-0
U-0
—
—
—
—
R/W-0
R/W-0
R/W-0
R/W-0
SEVOPS<3:0>
bit 15
bit 8
U-0
U-0
U-0
U-0
U-0
R/W-0
R/W-0
R/W-0
—
—
—
—
—
IUE
OSYNC
UDIS
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-12
Unimplemented: Read as ‘0’
bit 11-8
SEVOPS<3:0>: PWM Special Event Trigger Output Postscale Select bits
1111 = 1:16 postscale
•
•
0001 = 1:2 postscale
0000 = 1:1 postscale
bit 7-3
Unimplemented: Read as ‘0’
bit 2
IUE: Immediate Update Enable bit
1 = Updates to the active PDC registers are immediate
0 = Updates to the active PDC registers are synchronized to the PWM time base
bit 1
OSYNC: Output Override Synchronization bit
1 = Output overrides via the OVDCON register are synchronized to the PWM time base
0 = Output overrides via the OVDCON register occur on next TCY boundary
bit 0
UDIS: PWM Update Disable bit
1 = Updates from Duty Cycle and Period Buffer registers are disabled
0 = Updates from Duty Cycle and Period Buffer registers are enabled
DS70287A-page 176
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 15-7:
R/W-0
DTCON1: DEAD-TIME CONTROL REGISTER 1
R/W-0
R/W-0
R/W-0
DTBPS<1:0>
R/W-0
R/W-0
R/W-0
R/W-0
DTB<5:0>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
DTAPS<1:0>
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
DTA<5:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-14
DTBPS<1:0>: Dead-Time Unit B Prescale Select bits
11 = Clock period for Dead-Time Unit B is 8 TCY
10 = Clock period for Dead-Time Unit B is 4 TCY
01 = Clock period for Dead-Time Unit B is 2 TCY
00 = Clock period for Dead-Time Unit B is TCY
bit 13-8
DTB<5:0>: Unsigned 6-bit Dead-Time Value for Dead-Time Unit B bits
bit 7-6
DTAPS<1:0>: Dead-Time Unit A Prescale Select bits
11 = Clock period for Dead-Time Unit A is 8 TCY
10 = Clock period for Dead-Time Unit A is 4 TCY
01 = Clock period for Dead-Time Unit A is 2 TCY
00 = Clock period for Dead-Time Unit A is TCY
bit 5-0
DTA<5:0>: Unsigned 6-bit Dead-Time Value for Dead-Time Unit A bits
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 177
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 15-8:
DTCON2: DEAD-TIME CONTROL REGISTER 2
U-0
U-0
U-0
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
—
—
—
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
DTS4A
DTS4I
DTS3A
DTS3I
DTS2A
DTS2I
DTS1A
DTS1I
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-8
Unimplemented: Read as ‘0’
bit 7
DTS4A: Dead-Time Select for PWM4 Signal Going Active bit
1 = Dead time provided from Unit B
0 = Dead time provided from Unit A
bit 6
DTS4I: Dead-Time Select for PWM4 Signal Going Inactive bit
1 = Dead time provided from Unit B
0 = Dead time provided from Unit A
bit 5
DTS3A: Dead-Time Select for PWM3 Signal Going Active bit
1 = Dead time provided from Unit B
0 = Dead time provided from Unit A
bit 4
DTS3I: Dead-Time Select for PWM3 Signal Going Inactive bit
1 = Dead time provided from Unit B
0 = Dead time provided from Unit A
bit 3
DTS2A: Dead-Time Select for PWM2 Signal Going Active bit
1 = Dead time provided from Unit B
0 = Dead time provided from Unit A
bit 2
DTS2I: Dead-Time Select for PWM2 Signal Going Inactive bit
1 = Dead time provided from Unit B
0 = Dead time provided from Unit A
bit 1
DTS1A: Dead-Time Select for PWM1 Signal Going Active bit
1 = Dead time provided from Unit B
0 = Dead time provided from Unit A
bit 0
DTS1I: Dead-Time Select for PWM1 Signal Going Inactive bit
1 = Dead time provided from Unit B
0 = Dead time provided from Unit A
DS70287A-page 178
x = Bit is unknown
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 15-9:
FLTACON: FAULT A CONTROL REGISTER
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
FAOV4H
FAOV4L
FAOV3H
FAOV3L
FAOV2H
FAOV2L
FAOV1H
FAOV1L
bit 15
bit 8
R/W-0
U-0
U-0
U-0
R/W-0
R/W-0
R/W-0
R/W-0
FLTAM
—
—
—
FAEN4
FAEN3
FAEN2
FAEN1
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-8
FAOVxH<4:1>:FAOVxL<4:1>: Fault Input A PWM Override Value bits
1 = The PWM output pin is driven active on an external Fault input event
0 = The PWM output pin is driven inactive on an external Fault input event
bit 7
FLTAM: Fault A Mode bit
1 = The Fault A input pin functions in the Cycle-by-Cycle mode
0 = The Fault A input pin latches all control pins to the states programmed in FLTACON<15:8>
bit 6-4
Unimplemented: Read as ‘0’
bit 3
FAEN4: Fault Input A Enable bit
1 = PWM4H/PWM4L pin pair is controlled by Fault Input A
0 = PWM4H/PWM4L pin pair is not controlled by Fault Input A
bit 2
FAEN3: Fault Input A Enable bit
1 = PWM3H/PWM3L pin pair is controlled by Fault Input A
0 = PWM3H/PWM3L pin pair is not controlled by Fault Input A
bit 1
FAEN2: Fault Input A Enable bit
1 = PWM2H/PWM2L pin pair is controlled by Fault Input A
0 = PWM2H/PWM2L pin pair is not controlled by Fault Input A
bit 0
FAEN1: Fault Input A Enable bit
1 = PWM1H/PWM1L pin pair is controlled by Fault Input A
0 = PWM1H/PWM1L pin pair is not controlled by Fault Input A
© 2007 Microchip Technology Inc.
DS70287A-page 179
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 15-10: FLTBCON: FAULT B CONTROL REGISTER
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
FBOV4H
FBOV4L
FBOV3H
FBOV3L
FBOV2H
FBOV2L
FBOV1H
FBOV1L
bit 15
bit 8
R/W-0
U-0
U-0
U-0
R/W-0
R/W-0
R/W-0
R/W-0
FLTBM
—
—
—
FBEN4(1)
FBEN3(1)
FBEN2(1)
FBEN1(1)
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-8
FBOVxH<4:1>:FBOVxL<4:1>: Fault Input B PWM Override Value bits
1 = The PWM output pin is driven active on an external Fault input event
0 = The PWM output pin is driven inactive on an external Fault input event
bit 7
FLTBM: Fault B Mode bit
1 = The Fault B input pin functions in the Cycle-by-Cycle mode
0 = The Fault B input pin latches all control pins to the states programmed in FLTBCON<15:8>
bit 6-4
Unimplemented: Read as ‘0’
bit 3
FBEN4: Fault Input B Enable bit(1)
1 = PWM4H/PWM4L pin pair is controlled by Fault Input B
0 = PWM4H/PWM4L pin pair is not controlled by Fault Input B
bit 2
FBEN3: Fault Input B Enable bit(1)
1 = PWM3H/PWM3L pin pair is controlled by Fault Input B
0 = PWM3H/PWM3L pin pair is not controlled by Fault Input B
bit 1
FBEN2: Fault Input B Enable bit(1)
1 = PWM2H/PWM2L pin pair is controlled by Fault Input B
0 = PWM2H/PWM2L pin pair is not controlled by Fault Input B
bit 0
FBEN1: Fault Input B Enable bit(1)
1 = PWM1H/PWM1L pin pair is controlled by Fault Input B
0 = PWM1H/PWM1L pin pair is not controlled by Fault Input B
Note 1:
Fault A pin has priority over Fault B pin, if enabled.
DS70287A-page 180
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 15-11: OVDCON: OVERRIDE CONTROL REGISTER
R/W-1
R/W-1
R/W-1
R/W-1
R/W-1
R/W-1
R/W-1
R/W-1
POVD4H
POVD4L
POVD3H
POVD3L
POVD2H
POVD2L
POVD1H
POVD1L
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
POUT4H
POUT4L
POUT3H
POUT3L
POUT2H
POUT2L
POUT1H
POUT1L
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-8
POVDxH<4:1>:POVDxL<4:1>: PWM Output Override bits
1 = Output on PWMx I/O pin is controlled by the PWM generator
0 = Output on PWMx I/O pin is controlled by the value in the corresponding POUTxH:POUTxL bit
bit 7-0
POUTxH<4:1>:POUTxL<4:1>: PWM Manual Output bits
1 = PWMx I/O pin is driven active when the corresponding POVDxH:POVDxL bit is cleared
0 = PWMx I/O pin is driven inactive when the corresponding POVDxH:POVDxL bit is cleared
© 2007 Microchip Technology Inc.
DS70287A-page 181
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 15-12: PDC1: PWM DUTY CYCLE REGISTER 1
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PDC1<15:8>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PDC1<7:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
x = Bit is unknown
PDC1<15:0>: PWM Duty Cycle #1 Value bits
REGISTER 15-13: PDC2: PWM DUTY CYCLE REGISTER 2
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PDC2<15:8>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PDC2<7:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
x = Bit is unknown
PDC2<15:0>: PWM Duty Cycle #2 Value bits
DS70287A-page 182
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 15-14: PDC3: PWM DUTY CYCLE REGISTER 3
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PDC3<15:8>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PDC3<7:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
x = Bit is unknown
PDC3<15:0>: PWM Duty Cycle #3 Value bits
REGISTER 15-15: PDC4: PWM DUTY CYCLE REGISTER 4
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PDC4<15:8>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PDC4<7:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
x = Bit is unknown
PDC4<15:0>: PWM Duty Cycle #4 Value bits
© 2007 Microchip Technology Inc.
DS70287A-page 183
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 184
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
16.0
QUADRATURE ENCODER
INTERFACE (QEI) MODULE
Note:
This section describes the Quadrature Encoder Interface (QEI) module and associated operational modes.
The QEI module provides the interface to incremental
encoders for obtaining mechanical position data.
This data sheet summarizes the features
of this group of dsPIC33FJXXXMCX06/
X08/X10 Motor Control Family devices. It
is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the
“dsPIC33F Family Reference Manual”.
Refer to the Microchip web site
(www.microchip.com) for the latest
dsPIC33F family reference manual
chapters.
FIGURE 16-1:
The operational features of the QEI include the following:
• Three input channels for two phase signals and
an index pulse
• 16-bit up/down position counter
• Count direction status
• Position Measurement (x2 and x4) mode
• Programmable digital noise filters on inputs
QUADRATURE ENCODER INTERFACE BLOCK DIAGRAM
TQCKPS<1:0>
Sleep Input
TQCS
TCY
2
0
Synchronize
Det
Prescaler
1, 8, 64, 256
1
1
QEIM<2:0>
0
D
TQGATE
CK
QEA
Programmable
Digital Filter
UPDN_SRC
0
QEICON<11>
2
Quadrature
Encoder
Interface Logic
QEB
Programmable
Digital Filter
INDX
Programmable
Digital Filter
Q
16-bit Up/Down Counter
(POSCNT)
Reset
Comparator/
Zero Detect
Equal
3
QEIM<2:0>
Mode Select
1
QEIIF
Event
Flag
Q
Max Count Register
(MAXCNT)
3
PCDOUT
0
UPDN
1
Existing Pin Logic
Up/Down
© 2007 Microchip Technology Inc.
DS70287A-page 185
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
16.1
Quadrature Encoder Interface
Logic
A typical incremental (a.k.a. optical) encoder has three
outputs: Phase A, Phase B and an index pulse. These
signals are useful and often required in position and
speed control of ACIM and SR motors.
The two channels, Phase A (QEA) and Phase B (QEB),
have a unique relationship. If Phase A leads Phase B,
then the direction (of the motor) is deemed positive or
forward. If Phase A lags Phase B, then the direction (of
the motor) is deemed negative or reverse.
A third channel, identified as the index pulse, occurs
once per revolution and is used as a reference to establish an absolute position. The index pulse coincides
with Phase A and Phase B, both low.
16.2
16-bit Up/Down Position
Counter Mode
The 16-bit up/down counter counts up or down on
every count pulse, which is generated by the difference
of the Phase A and Phase B input signals. The counter
acts as an integrator whose count value is proportional
to position. The direction of the count is determined by
the UPDN signal, which is generated by the
Quadrature Encoder Interface logic.
16.2.1
POSITION COUNTER ERROR
CHECKING
Position counter error checking in the QEI is provided
for and indicated by the CNTERR bit (QEICON<15>).
The error checking only applies when the position
counter is configured for Reset on the Index Pulse
modes (QEIM<2:0> = 110 or 100). In these modes, the
contents of the POSCNT register are compared with
the values 0xFFFF or MAXCNT + 1 (depending on
direction). If these values are detected, an error condition is generated by setting the CNTERR bit, and a QEI
counter error interrupt is generated. The QEI counter
error interrupt can be disabled by setting the CEID bit
(DFLTCON<8>). The position counter continues to
count encoder edges after an error has been detected.
The POSCNT register continues to count up/down until
a natural rollover/underflow. No interrupt is generated
for the natural rollover/underflow event. The CNTERR
bit is a read/write bit and is reset in software by the
user.
16.2.2
POSITION COUNTER RESET
The Position Counter Reset Enable bit, POSRES
(QEI<2>), controls whether the position counter is reset
when the index pulse is detected. This bit is only
applicable when QEIM<2:0> = 100 or 110.
DS70287A-page 186
If the POSRES bit is set to ‘1’, then the position counter
is reset when the index pulse is detected. If the
POSRES bit is set to ‘0’, then the position counter is not
reset when the index pulse is detected. The position
counter will continue counting up or down, and will be
reset on the rollover or underflow condition.
The interrupt is still generated on the detection of the
index pulse and not on the position counter overflow/
underflow.
16.2.3
COUNT DIRECTION STATUS
As mentioned in the previous section, the QEI logic
generates a UPDN signal, based upon the relationship
between Phase A and Phase B. In addition to the output pin, the state of this internal UPDN signal is
supplied to an SFR bit, UPDN (QEICON<11>), as a
read-only bit. To place the state of this signal on an I/O
pin, the SFR bit, PCDOUT (QEICON<6>), must be set
to ‘1’.
16.3
Position Measurement Mode
There are two supported measurement modes, called
x2 and x4. These modes are selected by the
QEIM<2:0> mode select bits located in SFR
QEICON<10:8>.
When control bits QEIM<2:0> = 100 or 101, the x2
Measurement mode is selected and the QEI logic only
looks at the Phase A input for the position counter
increment rate. Every rising and falling edge of the
Phase A signal causes the position counter to be incremented or decremented. The Phase B signal is still
utilized for the determination of the counter direction,
just as in the x4 Measurement mode.
In the x2 Measurement mode, there are two ways the
position counter is reset:
1.
2.
Position counter is reset by detection of the
index pulse, QEIM<2:0> = 100.
Position counter is reset by a match with the
MAXCNT, QEIM<2:0> = 101.
When control bits QEIM<2:0> = 110 or 111, the x4
Measurement mode is selected and the QEI logic looks
at both edges of the Phase A and Phase B input signals. Every edge of both signals causes the position
counter to increment or decrement.
In the x4 Measurement mode, there are two ways the
position counter is reset:
1.
2.
Position counter is reset by detection of the
index pulse, QEIM<2:0> = 110.
Position counter is reset by a match with the
MAXCNT, QEIM<2:0> = 111.
The x4 Measurement mode provides for finer resolution data (more position counts) for determining motor
position.
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
16.4
Programmable Digital Noise
Filters
The digital noise filter section is responsible for
rejecting noise on the incoming capture or quadrature
signals. Schmitt Trigger inputs and a 3-clock cycle
delay filter combine to reject low-level noise and large,
short duration noise spikes that typically occur in noise
prone applications, such as a motor system.
In addition, control bit UPDN_SRC (QEICON<0>)
determines whether the timer count direction state is
based on the logic state written into the UPDN control/
status bit (QEICON<11>) or the QEB pin state. When
UPDN_SRC = 1, the timer count direction is controlled
from the QEB pin. Conversely, when UPDN_SRC = 0,
the timer count direction is controlled by the UPDN bit.
Note:
The filter ensures that the filtered output signal is not
permitted to change until a stable value has been
registered for three consecutive clock cycles.
For the QEA, QEB and INDX pins, the clock divide
frequency for the digital filter is programmed by bits,
QECK<2:0> (DFLTCON<6:4>), and is derived from the
base instruction cycle, TCY.
To enable the filter output for channels QEA, QEB and
INDX, the QEOUT bit must be ‘1’. The filter network for
all channels is disabled on POR.
16.5
Alternate 16-bit Timer/Counter
When the QEI module is not configured for the QEI
mode, QEIM<2:0> = 001, the module can be configured as a simple 16-bit timer/counter. The setup and
control of the auxiliary timer is accomplished through
the QEICON SFR register. This timer functions identically to Timer1. The QEA pin is used as the timer clock
input.
When configured as a timer, the POSCNT register
serves as the Timer Count register and the MAXCNT
register serves as the Period register. When a Timer/
Period register match occurs, the QEI interrupt flag will
be asserted.
The only exception between the general purpose
timers and this timer is the added feature of external
up/down input selection. When the UPDN pin is
asserted high, the timer will increment. When the
UPDN pin is asserted low, the timer will be decremented.
Note:
16.6
16.6.1
This timer does not support the External
Asynchronous Counter mode of operation.
If using an external clock source, the clock
will automatically be synchronized to the
internal instruction cycle.
QEI Module Operation During CPU
Sleep Mode
QEI OPERATION DURING CPU
SLEEP MODE
The QEI module will be halted during the CPU Sleep
mode.
16.6.2
TIMER OPERATION DURING CPU
SLEEP MODE
During CPU Sleep mode, the timer will not operate
because the internal clocks are disabled.
16.7
QEI Module Operation During CPU
Idle Mode
Since the QEI module can function as a Quadrature
Encoder Interface or 16-bit timer, the following section
describes operation of the module in both modes.
16.7.1
QEI OPERATION DURING CPU
IDLE MODE
When the CPU is placed in the Idle mode, the QEI
module will operate if QEISIDL (QEICON<13>) = 0.
This bit defaults to a logic ‘0’ upon executing POR. To
halt the QEI module during the CPU Idle mode,
QEISIDL should be set to ‘1’.
Changing the operational mode (i.e., from
QEI to timer or vice versa) will not affect the
Timer/Position Count register contents.
The UPDN control/status bit (QEICON<11>) can be
used to select the count direction state of the Timer
register. When UPDN = 1, the timer will count up. When
UPDN = 0, the timer will count down.
© 2007 Microchip Technology Inc.
DS70287A-page 187
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
16.7.2
TIMER OPERATION DURING CPU
IDLE MODE
When the CPU is placed in the Idle mode and the QEI
module is configured in the 16-bit Timer mode, the
16-bit timer will operate if QEISIDL (QEICON<13>) = 0.
This bit defaults to a logic ‘0’ upon executing POR. To
halt the timer module during the CPU Idle mode,
QEISIDL should be set to ‘1’.
If the QEISIDL bit is cleared, the timer will function
normally – as if the CPU Idle mode had not been
entered.
16.8
Quadrature Encoder Interface
Interrupts
The Quadrature Encoder Interface has the ability to
generate an interrupt on the occurrence of the following
events:
• Interrupt on 16-bit up/down position counter
rollover/underflow
• Detection of qualified index pulse or if CNTERR
bit is set
• Timer period match event (overflow/underflow)
• Gate accumulation event
16.9
Control and Status Registers
The QEI module has four user-accessible registers.
The registers are accessible in either Byte or Word
mode. These registers are as follows:
• Control/Status Register (QEICON) – This register
allows control of the QEI operation and status
flags indicating the module’s state.
• Digital Filter Control Register (DFLTCON) – This
register allows control of the digital input filter
operation.
• Position Count Register (POSCNT) – This register allows reading and writing of the 16-bit position
counter.
• Maximum Count Register (MAXCNT) – The
MAXCNT register holds a value that is compared
to the POSCNT counter in some operations.
Note:
The POSCNT register allows byte
accesses; however, reading the register in
byte mode may result in partially updated
values in subsequent reads. Either use
Word mode reads/writes or ensure that
the counter is not counting during byte
operations.
The QEI Interrupt Flag bit, QEIIF, is asserted upon
occurrence of any of the above events. The QEIIF bit
must be cleared in software. QEIIF is located in the
IFS3 register.
Enabling an interrupt is accomplished via the respective enable bit, QEIIE. The QEIIE bit is located in the
IEC3 register.
DS70287A-page 188
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 16-1:
QEICON: QEI CONTROL REGISTER
R/W-0
U-0
R/W-0
R-0
R/W-0
CNTERR
—
QEISIDL
INDEX
UPDN
R/W-0
R/W-0
R/W-0
QEIM<2:0>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
SWPAB
PCDOUT
TQGATE
R/W-0
R/W-0
TQCKPS<1:0>
R/W-0
R/W-0
R/W-0
POSRES
TQCS
UPDN_SRC
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
CNTERR: Count Error Status Flag bit
1 = Position count error has occurred
0 = No position count error has occurred
(CNTERR flag only applies when QEIM<2:0> = ‘110’ or ‘100’)
bit 14
Unimplemented: Read as ‘0’
bit 13
QEISIDL: Stop in Idle Mode bit
1 = Discontinue module operation when device enters Idle mode
0 = Continue module operation in Idle mode
bit 12
INDEX: Index Pin State Status bit (Read-Only)
1 = Index pin is High
0 = Index pin is Low
bit 11
UPDN: Position Counter Direction Status bit
1 = Position Counter direction is positive (+)
0 = Position Counter direction is negative (-)
(Read-only bit when QEIM<2:0> = ‘1XX’)
(Read/Write bit when QEIM<2:0> = ‘001’)
bit 10-8
QEIM<2:0>: Quadrature Encoder Interface Mode Select bits
111 = Quadrature Encoder Interface enabled (x4 mode) with position counter reset by match (MAXCNT)
110 = Quadrature Encoder Interface enabled (x4 mode) with Index Pulse reset of position counter
101 = Quadrature Encoder Interface enabled (x2 mode) with position counter reset by match (MAXCNT)
100 = Quadrature Encoder Interface enabled (x2 mode) with Index Pulse reset of position counter
011 = Unused (Module disabled)
010 = Unused (Module disabled)
001 = Starts 16-bit Timer
000 = Quadrature Encoder Interface/Timer off
bit 7
SWPAB: Phase A and Phase B Input Swap Select bit
1 = Phase A and Phase B inputs swapped
0 = Phase A and Phase B inputs not swapped
bit 6
PCDOUT: Position Counter Direction State Output Enable bit
1 = Position Counter direction status output enable (QEI logic controls state of I/O pin)
0 = Position Counter direction status output disabled (normal I/O pin operation)
bit 5
TQGATE: Timer Gated Time Accumulation Enable bit
1 = Timer gated time accumulation enabled
0 = Timer gated time accumulation disabled
© 2007 Microchip Technology Inc.
DS70287A-page 189
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 16-1:
QEICON: QEI CONTROL REGISTER (CONTINUED)
bit 4-3
TQCKPS<1:0>: Timer Input Clock Prescale Select bits
11 = 1:256 prescale value
10 = 1:64 prescale value
01 = 1:8 prescale value
00 = 1:1 prescale value
(Prescaler utilized for 16-bit timer mode only)
bit 2
POSRES: Position Counter Reset Enable bit
1 = Index Pulse resets Position Counter
0 = Index Pulse does not reset Position Counter
(Bit only applies when QEIM<2:0> = 100 or 110)
bit 1
TQCS: Timer Clock Source Select bit
1 = External clock from pin QEA (on the rising edge)
0 = Internal clock (TCY)
bit 0
UPDN_SRC: Position Counter Direction Selection Control bit
1 = QEB pin state defines Position Counter direction
0 = Control/status bit UPDN (QEICON<11>) defines Position Counter (POSCNT) direction
Note:
DS70287A-page 190
When configured for QEI mode, control bit is a ‘don’t care’.
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 16-2:
DFLTCON: DIGITAL FILTER CONTROL REGISTER
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
R/W-0
R/W-0
R/W-0
IMV<2:0>
CEID
bit 15
bit 8
R/W-0
R/W-0
U-0
U-0
U-0
U-0
QEOUT
QECK<2:0>
—
—
—
—
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-11
Unimplemented: Read as ‘0’
bit 10-9
IMV<1:0>: Index Match Value bits – These bits allow the user to specify the state of the QEA and QEB
input pins during an index pulse when the POSCNT register is to be reset.
In 4X Quadrature Count Mode:
IMV1= Required state of Phase B input signal for match on index pulse
IMV0= Required state of Phase A input signal for match on index pulse
In 2X Quadrature Count Mode:
IMV1= Selects phase input signal for index state match (0 = Phase A, 1 = Phase B)
IMV0= Required state of the selected Phase input signal for match on index pulse
bit 8
CEID: Count Error Interrupt Disable bit
1 = Interrupts due to count errors are disabled
0 = Interrupts due to count errors are enabled
bit 7
QEOUT: QEA/QEB/INDX Pin Digital Filter Output Enable bit
1 = Digital filter outputs enabled
0 = Digital filter outputs disabled (normal pin operation)
bit 6-4
QECK<2:0>: QEA/QEB/INDX Digital Filter Clock Divide Select Bits
111 = 1:256 Clock Divide
110 = 1:128 Clock Divide
101 = 1:64 Clock Divide
100 = 1:32 Clock Divide
011 = 1:16 Clock Divide
010 = 1:4 Clock Divide
001 = 1:2 Clock Divide
000 = 1:1 Clock Divide
bit 3-0
Unimplemented: Read as ‘0’
© 2007 Microchip Technology Inc.
DS70287A-page 191
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 192
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
17.0
Note:
SERIAL PERIPHERAL
INTERFACE (SPI)
This data sheet summarizes the features
of this group of dsPIC33FJXXXMCX06/
X08/X10 Motor Control Family devices. It
is not intended to be a comprehensive
reference source. To complement the
information in this data sheet, refer to the
“dsPIC33F Family Reference Manual”.
Refer to the Microchip web site
(www.microchip.com) for the latest
dsPIC33F family reference manual
chapters.
The Serial Peripheral Interface (SPI) module is a synchronous serial interface useful for communicating with
other peripheral or microcontroller devices. These
peripheral devices may be serial EEPROMs, shift registers, display drivers, ADC, etc. The SPI module is
compatible with SPI and SIOP from Motorola®.
Note:
In this section, the SPI modules are
referred to together as SPIx, or separately
as SPI1 and SPI2. Special Function Registers will follow a similar notation. For
example, SPIxCON refers to the control
register for the SPI1 or SPI2 module.
Each SPI module consists of a 16-bit shift register,
SPIxSR (where x = 1 or 2), used for shifting data in and
out, and a buffer register, SPIxBUF. A control register,
SPIxCON, configures the module. Additionally, a status
register, SPIxSTAT, indicates various status conditions.
Transmit writes are also double-buffered. The user writes
to SPIxBUF. When the master or slave transfer is completed, the contents of the shift register (SPIxSR) are
moved to the receive buffer. If any transmit data has been
written to the buffer register, the contents of the transmit
buffer are moved to SPIxSR. The received data is thus
placed in SPIxBUF and the transmit data in SPIxSR is
ready for the next transfer.
Note:
Both the transmit buffer (SPIxTXB) and
the receive buffer (SPIxRXB) are mapped
to the same register address, SPIxBUF.
Do not perform read-modify-write operations (such as bit-oriented instructions) on
the SPIxBUF register.
To set up the SPI module for the Master mode of
operation, do the following:
1.
2.
3.
4.
5.
If using interrupts:
a) Clear the SPIxIF bit in the respective IFSn
register.
b) Set the SPIxIE bit in the respective IECn
register.
c) Write the SPIxIP bits in the respective IPCn
register to set the interrupt priority.
Write the desired settings to the SPIxCON
register with MSTEN (SPIxCON1<5>) = 1.
Clear the SPIROV bit (SPIxSTAT<6>).
Enable SPI operation by setting the SPIEN bit
(SPIxSTAT<15>).
Write the data to be transmitted to the SPIxBUF
register. Transmission (and reception) will start as
soon as data is written to the SPIxBUF register.
The serial interface consists of 4 pins: SDIx (serial data
input), SDOx (serial data output), SCKx (shift clock input
or output) and SSx (active low slave select).
To set up the SPI module for the Slave mode of operation,
do the following:
In Master mode operation, SCK is a clock output, but in
Slave mode, it is a clock input.
1.
2.
A series of eight (8) or sixteen (16) clock pulses shift out
bits from the SPIxSR to the SDOx pin and simultaneously
shift in data from the SDIx pin. An interrupt is generated
when the transfer is complete and the corresponding
interrupt flag bit (SPI1IF or SPI2IF) is set. This interrupt
can be disabled through an interrupt enable bit (SPI1IE
or SPI2IE).
3.
The receive operation is double-buffered. When a complete byte is received, it is transferred from SPIxSR to
SPIxBUF.
If the receive buffer is full when new data is being transferred from SPIxSR to SPIxBUF, the module will set the
SPIROV bit, indicating an overflow condition. The transfer of the data from SPIxSR to SPIxBUF will not be completed and the new data will be lost. The module will not
respond to SCL transitions while SPIROV is ‘1’, effectively disabling the module until SPIxBUF is read by user
software.
© 2007 Microchip Technology Inc.
4.
5.
6.
7.
Clear the SPIxBUF register.
If using interrupts:
a) Clear the SPIxIF bit in the respective IFSn
register.
b) Set the SPIxIE bit in the respective IECn
register.
c) Write the SPIxIP bits in the respective IPCn
register to set the interrupt priority.
Write the desired settings to the SPIxCON1 and
SPIxCON2
registers
with
MSTEN
(SPIxCON1<5>) = 0.
Clear the SMP bit.
If the CKE bit is set, then the SSEN bit
(SPIxCON1<7>) must be set to enable the SSx
pin.
Clear the SPIROV bit (SPIxSTAT<6>).
Enable SPI operation by setting the SPIEN bit
(SPIxSTAT<15>).
DS70287A-page 193
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
The SPI module generates an interrupt indicating completion of a byte or word transfer, as well as a separate
interrupt for all SPI error conditions.
Note:
Both SPI1 and SPI2 can trigger a DMA
data transfer. If SPI1 or SPI2 is selected
as the DMA IRQ source, a DMA transfer
occurs when the SPI1IF or SPI2IF bit gets
set as a result of an SPI1 or SPI2 byte or
word transfer.
FIGURE 17-1:
SPI MODULE BLOCK DIAGRAM
SCKx
SSx
1:1 to 1:8
Secondary
Prescaler
Sync
Control
1:1/4/16/64
Primary
Prescaler
Select
Edge
Control
Clock
SPIxCON1<1:0>
Shift Control
SPIxCON1<4:2>
SDOx
Enable
Master Clock
bit 0
SDIx
FCY
SPIxSR
Transfer
Transfer
SPIxRXB
SPIxTXB
SPIxBUF
Read SPIxBUF
Write SPIxBUF
16
Internal Data Bus
DS70287A-page 194
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 17-2:
SPI MASTER/SLAVE CONNECTION
PROCESSOR 1 (SPI Master)
PROCESSOR 2 (SPI Slave)
SDOx
SDIx
Serial Receive Buffer
(SPIxRXB)
Serial Receive Buffer
(SPIxRXB)
SDIx
Shift Register
(SPIxSR)
SDOx
LSb
MSb
MSb
LSb
Serial Transmit Buffer
(SPIxTXB)
Serial Transmit Buffer
(SPIxTXB)
SPI Buffer
(SPIxBUF)(2)
Shift Register
(SPIxSR)
SCKx
Serial Clock
SCKx
SPI Buffer
(SPIxBUF)(2)
SSx(1)
MSTEN (SPIxCON1<5>) = 1
Note
SSEN (SPIxCON1<7>) = 1, and MSTEN (SPIxCON1<5>) = 0
1:
Using the SSx pin in Slave mode of operation is optional.
2:
User must write transmit data to/read received data from SPIxBUF. The SPIxTXB and SPIxRXB registers are memory
mapped to SPIxBUF.
FIGURE 17-3:
SPI MASTER, FRAME MASTER CONNECTION DIAGRAM
PROCESSOR 2
dsPIC33F
SDOx
SDIx
SDIx
SDOx
SCKx
SSx
FIGURE 17-4:
Serial Clock
Frame Sync
Pulse
SCKx
SSx
SPI MASTER, FRAME SLAVE CONNECTION DIAGRAM
PROCESSOR 2
dsPIC33F
SDIx
SDOx
SDOx
SDIx
SCKx
SSx
© 2007 Microchip Technology Inc.
Serial Clock
Frame Sync
Pulse
SCKx
SSx
DS70287A-page 195
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 17-5:
SPI SLAVE, FRAME MASTER CONNECTION DIAGRAM
PROCESSOR 2
dsPIC33F
SDIx
SDOx
SDOx
SDIx
Serial Clock
SCKx
SSx
FIGURE 17-6:
SCKx
SSx
Frame Sync
Pulse
SPI SLAVE, FRAME SLAVE CONNECTION DIAGRAM
PROCESSOR 2
dsPIC33F
SDIx
SDOx
SDOx
SDIx
Serial Clock
SCKx
SSx
EQUATION 17-1:
SSx
Frame Sync
Pulse
RELATIONSHIP BETWEEN DEVICE AND SPI CLOCK SPEED
FSCK =
TABLE 17-1:
SCKx
FCY
Primary Prescaler * Secondary Prescaler
SAMPLE SCKx FREQUENCIES
Secondary Prescaler Settings
FCY = 40 MHz
Primary Prescaler Settings
1:1
2:1
4:1
6:1
8:1
1:1
Invalid
Invalid
10000
6666.67
5000
4:1
10000
5000
2500
1666.67
1250
16:1
2500
1250
625
416.67
312.50
64:1
625
312.5
156.25
104.17
78.125
1:1
5000
2500
1250
833
625
FCY = 5 MHz
Primary Prescaler Settings
Note:
4:1
1250
625
313
208
156
16:1
313
156
78
52
39
64:1
78
39
20
13
10
SCKx frequencies shown in kHz.
DS70287A-page 196
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 17-1:
SPIxSTAT: SPIx STATUS AND CONTROL REGISTER
R/W-0
U-0
R/W-0
U-0
U-0
U-0
U-0
U-0
SPIEN
—
SPISIDL
—
—
—
—
—
bit 15
bit 8
U-0
R/C-0
U-0
U-0
U-0
U-0
R-0
R-0
—
SPIROV
—
—
—
—
SPITBF
SPIRBF
bit 7
bit 0
Legend:
C = Clearable bit
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
SPIEN: SPIx Enable bit
1 = Enables module and configures SCKx, SDOx, SDIx and SSx as serial port pins
0 = Disables module
bit 14
Unimplemented: Read as ‘0’
bit 13
SPISIDL: Stop in Idle Mode bit
1 = Discontinue module operation when device enters Idle mode
0 = Continue module operation in Idle mode
bit 12-7
Unimplemented: Read as ‘0’
bit 6
SPIROV: Receive Overflow Flag bit
1 = A new byte/word is completely received and discarded. The user software has not read the
previous data in the SPIxBUF register.
0 = No overflow has occurred
bit 5-2
Unimplemented: Read as ‘0’
bit 1
SPITBF: SPIx Transmit Buffer Full Status bit
1 = Transmit not yet started; SPIxTXB is full
0 = Transmit started; SPIxTXB is empty
Automatically set in hardware when CPU writes SPIxBUF location, loading SPIxTXB.
Automatically cleared in hardware when SPIx module transfers data from SPIxTXB to SPIxSR.
bit 0
SPIRBF: SPIx Receive Buffer Full Status bit
1 = Receive complete; SPIxRXB is full
0 = Receive is not complete; SPIxRXB is empty
Automatically set in hardware when SPIx transfers data from SPIxSR to SPIxRXB.
Automatically cleared in hardware when core reads SPIxBUF location, reading SPIxRXB.
© 2007 Microchip Technology Inc.
DS70287A-page 197
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 17-2:
SPIXCON1: SPIx CONTROL REGISTER 1
U-0
U-0
U-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
—
—
—
DISSCK
DISSDO
MODE16
SMP
CKE(1)
bit 15
bit 8
R/W-0
R/W-0
R/W-0
SSEN
CKP
MSTEN
R/W-0
R/W-0
R/W-0
R/W-0
SPRE<2:0>
R/W-0
PPRE<1:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-13
Unimplemented: Read as ‘0’
bit 12
DISSCK: Disable SCKx pin bit (SPI Master modes only)
1 = Internal SPI clock is disabled; pin functions as I/O
0 = Internal SPI clock is enabled
bit 11
DISSDO: Disable SDOx pin bit
1 = SDOx pin is not used by module; pin functions as I/O
0 = SDOx pin is controlled by the module
bit 10
MODE16: Word/Byte Communication Select bit
1 = Communication is word-wide (16 bits)
0 = Communication is byte-wide (8 bits)
bit 9
SMP: SPIx Data Input Sample Phase bit
Master mode:
1 = Input data sampled at end of data output time
0 = Input data sampled at middle of data output time
Slave mode:
SMP must be cleared when SPIx is used in Slave mode
bit 8
CKE: SPIx Clock Edge Select bit(1)
1 = Serial output data changes on transition from active clock state to Idle clock state (see bit 6)
0 = Serial output data changes on transition from Idle clock state to active clock state (see bit 6)
bit 7
SSEN: Slave Select Enable bit (Slave mode)
1 = SSx pin used for Slave mode
0 = SSx pin not used by module. Pin controlled by port function.
bit 6
CKP: Clock Polarity Select bit
1 = Idle state for clock is a high level; active state is a low level
0 = Idle state for clock is a low level; active state is a high level
bit 5
MSTEN: Master Mode Enable bit
1 = Master mode
0 = Slave mode
bit 4-2
SPRE<2:0>: Secondary Prescale bits (Master mode)
111 = Secondary prescale 1:1
110 = Secondary prescale 2:1
...
000 = Secondary prescale 8:1
Note 1:
The CKE bit is not used in the Framed SPI modes. The user should program this bit to ‘0’ for the Framed
SPI modes (FRMEN = 1).
DS70287A-page 198
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 17-2:
bit 1-0
Note 1:
SPIXCON1: SPIx CONTROL REGISTER 1 (CONTINUED)
PPRE<1:0>: Primary Prescale bits (Master mode)
11 = Primary prescale 1:1
10 = Primary prescale 4:1
01 = Primary prescale 16:1
00 = Primary prescale 64:1
The CKE bit is not used in the Framed SPI modes. The user should program this bit to ‘0’ for the Framed
SPI modes (FRMEN = 1).
© 2007 Microchip Technology Inc.
DS70287A-page 199
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 17-3:
SPIxCON2: SPIx CONTROL REGISTER 2
R/W-0
R/W-0
R/W-0
U-0
U-0
U-0
U-0
U-0
FRMEN
SPIFSD
FRMPOL
—
—
—
—
—
bit 15
bit 8
U-0
U-0
U-0
U-0
U-0
U-0
R/W-0
U-0
—
—
—
—
—
—
FRMDLY
—
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
FRMEN: Framed SPIx Support bit
1 = Framed SPIx support enabled (SSx pin used as frame sync pulse input/output)
0 = Framed SPIx support disabled
bit 14
SPIFSD: Frame Sync Pulse Direction Control bit
1 = Frame sync pulse input (slave)
0 = Frame sync pulse output (master)
bit 13
FRMPOL: Frame Sync Pulse Polarity bit
1 = Frame sync pulse is active-high
0 = Frame sync pulse is active-low
bit 12-2
Unimplemented: Read as ‘0’
bit 1
FRMDLY: Frame Sync Pulse Edge Select bit
1 = Frame sync pulse coincides with first bit clock
0 = Frame sync pulse precedes first bit clock
bit 0
Unimplemented: This bit must not be set to ‘1’ by the user application.
DS70287A-page 200
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
18.0
Note:
INTER-INTEGRATED CIRCUIT
(I2C)
This data sheet summarizes the features
of this group of dsPIC33FJXXXMCX06/
X08/X10 Motor Control Family devices. It
is not intended to be a comprehensive
reference source. To complement the
information in this data sheet, refer to the
“dsPIC33F Family Reference Manual”.
Refer to the Microchip web site
(www.microchip.com) for the latest
dsPIC33F family reference manual
chapters.
2
The Inter-Integrated Circuit (I C) module, with its 16-bit
interface, provides complete hardware support for both
Slave and Multi-Master modes of the I2C serial communication standard.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family devices have up to two I2C interface modules,
denoted as I2C1 and I2C2. Each I2C module has a 2pin interface: the SCLx pin is clock and the SDAx pin is
data.
Each I2C module ‘x’ (x = 1 or 2) offers the following key
features:
• I2C interface supports both master and slave
operation.
• I2C Slave mode supports 7- and 10-bit addresses.
• I2C Master mode supports 7- and 10-bit
addresses.
• I2C port allows bidirectional transfers between
master and slaves.
• Serial clock synchronization for the I2C port can
be used as a handshake mechanism to suspend
and resume serial transfer (SCLREL control).
• I2C supports multi-master operation; it detects
bus collision and will arbitrate accordingly.
18.1
Operating Modes
The hardware fully implements all the master and slave
functions of the I2C Standard and Fast mode
specifications, as well as 7 and 10-bit addressing.
2C
18.2
I2C Registers
I2CxCON and I2CxSTAT are control and status
registers, respectively. The I2CxCON register is
readable and writable. The lower six bits of I2CxSTAT
are read-only. The remaining bits of the I2CSTAT are
read/write.
I2CxRSR is the shift register used for shifting data,
whereas I2CxRCV is the buffer register to which data
bytes are written, or from which data bytes are read.
I2CxRCV is the receive buffer. I2CxTRN is the transmit
register to which bytes are written during a transmit
operation.
The I2CxADD register holds the slave address. A
status bit, ADD10, indicates 10-bit Address mode. The
I2CxBRG acts as the Baud Rate Generator (BRG)
reload value.
In receive operations, I2CxRSR and I2CxRCV together
form a double-buffered receiver. When I2CxRSR
receives a complete byte, it is transferred to I2CxRCV
and an interrupt pulse is generated.
18.3
I2C Interrupts
The I2C module generates two interrupt flags, MI2CxIF
(I2C Master Events Interrupt Flag) and SI2CxIF (I2C
Slave Events Interrupt Flag). A separate interrupt is
generated for each I2C error condition.
18.4
Baud Rate Generator
In I2C Master mode, the reload value for the BRG is
located in the I2CxBRG register. When the BRG is
loaded with this value, the BRG counts down to ‘0’ and
stops until another reload has taken place. If clock arbitration is taking place, for instance, the BRG is reloaded
when the SCLx pin is sampled high.
As per the I2C standard, FSCL may be 100 kHz or
400 kHz. However, the user can specify any baud rate
up to 1 MHz. I2CxBRG values of ‘0’ or ‘1’ are illegal.
EQUATION 18-1:
I2CxBRG =
SERIAL CLOCK RATE
CY
( FFSCL
)
FCY
–1
–
10,000,000
module can operate either as a slave or a
The I
master on an I2C bus.
The following types of I2C operation are supported:
•
•
•
I2C slave operation with 7-bit address
I2C slave operation with 10-bit address
I2C master operation with 7- or 10-bit address
For details about the communication sequence in each
of these modes, please refer to the “dsPIC30F Family
Reference Manual”.
© 2007 Microchip Technology Inc.
DS70287A-page 201
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 18-1:
I2C™ BLOCK DIAGRAM (X = 1 OR 2)
Internal
Data Bus
I2CxRCV
SCLx
Read
Shift
Clock
I2CxRSR
LSb
SDAx
Address Match
Match Detect
Write
I2CxMSK
Write
Read
I2CxADD
Read
Start and Stop
Bit Detect
Write
Start and Stop
Bit Generation
Control Logic
I2CxSTAT
Collision
Detect
Read
Write
I2CxCON
Acknowledge
Generation
Read
Clock
Stretching
Write
I2CxTRN
LSb
Read
Shift Clock
Reload
Control
BRG Down Counter
Write
I2CxBRG
Read
TCY/2
DS70287A-page 202
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
18.5
I2C Module Addresses
The I2CxADD register contains the Slave mode
addresses. The register is a 10-bit register.
If the A10M bit (I2CxCON<10>) is ‘0’, the address is
interpreted by the module as a 7-bit address. When an
address is received, it is compared to the 7 Least
Significant bits of the I2CxADD register.
If the A10M bit is ‘1’, the address is assumed to be a
10-bit address. When an address is received, it will be
compared with the binary value, ‘11110 A9 A8’
(where A9 and A8 are the two Most Significant bits of
I2CxADD). If that value matches, the next address will
be compared with the Least Significant 8 bits of
I2CxADD, as specified in the 10-bit addressing
protocol.
TABLE 18-1:
7-BIT I2C™ SLAVE
ADDRESSES SUPPORTED BY
dsPIC33FJXXXMCX06/X08/
X10 MOTOR CONTROL
FAMILY
0x00
General call address or Start byte
0x01-0x03
Reserved
0x04-0x07
Hs mode Master codes
0x08-0x77
Valid 7-bit addresses
0x78-0x7b
Valid 10-bit addresses
(lower 7 bits)
0x7c-0x7f
Reserved
18.6
Slave Address Masking
The I2CxMSK register (Register 18-3) designates
address bit positions as “don’t care” for both 7-bit and
10-bit Address modes. Setting a particular bit location
to ‘1’ in the I2CxMSK register causes the slave module
to respond whether the corresponding address bit
value is a ‘0’ or ‘1’. For example, when I2CxMSK is set
to ‘00100000’, the slave module will detect both
addresses, ‘0000000’ and ‘00100000’.
To enable address masking, the IPMI (Intelligent
Peripheral Management Interface) must be disabled by
clearing the IPMIEN bit (I2CxCON<11>).
18.7
IPMI Support
The control bit IPMIEN enables the module to support
the Intelligent Peripheral Management Interface (IPMI).
When this bit is set, the module accepts and acts upon
all addresses.
18.8
General Call Address Support
The general call address can address all devices.
When this address is used, all devices should, in
theory, respond with an Acknowledgement.
The general call address is one of eight addresses
reserved for specific purposes by the I2C protocol. It
consists of all ‘0’s with R_W = 0.
The general call address is recognized when the General
Call Enable (GCEN) bit is set (I2CxCON<7> = 1). When
the interrupt is serviced, the source for the interrupt can
be checked by reading the contents of the I2CxRCV to
determine if the address was device-specific or a general
call address.
18.9
Automatic Clock Stretch
In Slave modes, the module can synchronize buffer
reads and writes to the master device by clock stretching.
18.9.1
TRANSMIT CLOCK STRETCHING
Both 10-bit and 7-bit Transmit modes implement clock
stretching by asserting the SCLREL bit after the falling
edge of the ninth clock if the TBF bit is cleared
(indicating the buffer is empty).
In Slave Transmit modes, clock stretching is always
performed, irrespective of the STREN bit. The user’s
ISR must set the SCLREL bit before transmission is
allowed to continue. By holding the SCLx line low, the
user has time to service the ISR and load the contents
of the I2CxTRN before the master device can initiate
another transmit sequence.
18.9.2
RECEIVE CLOCK STRETCHING
The STREN bit in the I2CxCON register can be used to
enable clock stretching in Slave Receive mode. When
the STREN bit is set, the SCLx pin will be held low at
the end of each data receive sequence.
The user’s ISR must set the SCLREL bit before reception is allowed to continue. By holding the SCLx line
low, the user has time to service the ISR and read the
contents of the I2CxRCV before the master device can
initiate another receive sequence. This will prevent
buffer overruns from occurring.
18.10 Software Controlled Clock
Stretching (STREN = 1)
When the STREN bit is ‘1’, the SCLREL bit may be
cleared by software to allow software to control the
clock stretching.
If the STREN bit is ‘0’, a software write to the SCLREL
bit will be disregarded and have no effect on the
SCLREL bit.
© 2007 Microchip Technology Inc.
DS70287A-page 203
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
18.11 Slope Control
The I2C standard requires slope control on the SDAx
and SCLx signals for Fast mode (400 kHz). The control
bit DISSLW enables the user to disable slew rate control if desired. It is necessary to disable the slew rate
control for 1 MHz mode.
18.12 Clock Arbitration
Clock arbitration occurs when the master deasserts the
SCLx pin (SCLx allowed to float high) during any
receive, transmit or Restart/Stop condition. When the
SCLx pin is allowed to float high, the Baud Rate Generator (BRG) is suspended from counting until the
SCLx pin is actually sampled high. When the SCLx pin
is sampled high, the Baud Rate Generator is reloaded
with the contents of I2CxBRG and begins counting.
This ensures that the SCLx high time will always be at
least one BRG rollover count in the event that the clock
is held low by an external device.
DS70287A-page 204
18.13 Multi-Master Communication, Bus
Collision and Bus Arbitration
Multi-Master mode support is achieved by bus
arbitration. When the master outputs address/data bits
onto the SDAx pin, arbitration takes place when the
master outputs a ‘1’ on SDAx by letting SDAx float high
while another master asserts a ‘0’. When the SCLx pin
floats high, data should be stable. If the expected data
on SDAx is a ‘1’ and the data sampled on the
SDAx pin = 0, then a bus collision has taken place. The
master will set the I2C master events interrupt flag and
reset the master portion of the I2C port to its Idle state.
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 18-1:
I2CxCON: I2Cx CONTROL REGISTER
R/W-0
U-0
R/W-0
R/W-1 HC
R/W-0
R/W-0
R/W-0
R/W-0
I2CEN
—
I2CSIDL
SCLREL
IPMIEN
A10M
DISSLW
SMEN
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0 HC
R/W-0 HC
R/W-0 HC
R/W-0 HC
R/W-0 HC
GCEN
STREN
ACKDT
ACKEN
RCEN
PEN
RSEN
SEN
bit 7
bit 0
Legend:
U = Unimplemented bit, read as ‘0’
R = Readable bit
W = Writable bit
HS = Set in hardware
HC = Cleared in hardware
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
I2CEN: I2Cx Enable bit
1 = Enables the I2Cx module and configures the SDAx and SCLx pins as serial port pins
0 = Disables the I2Cx module. All I2C pins are controlled by port functions.
bit 14
Unimplemented: Read as ‘0’
bit 13
I2CSIDL: Stop in Idle Mode bit
1 = Discontinue module operation when device enters an Idle mode
0 = Continue module operation in Idle mode
bit 12
SCLREL: SCLx Release Control bit (when operating as I2C slave)
1 = Release SCLx clock
0 = Hold SCLx clock low (clock stretch)
If STREN = 1:
Bit is R/W (i.e., software may write ‘0’ to initiate stretch and write ‘1’ to release clock). Hardware clear
at beginning of slave transmission. Hardware clear at end of slave reception.
If STREN = 0:
Bit is R/S (i.e., software may only write ‘1’ to release clock). Hardware clear at beginning of slave
transmission.
bit 11
IPMIEN: Intelligent Peripheral Management Interface (IPMI) Enable bit
1 = IPMI mode is enabled; all addresses Acknowledged
0 = IPMI mode disabled
bit 10
A10M: 10-bit Slave Address bit
1 = I2CxADD is a 10-bit slave address
0 = I2CxADD is a 7-bit slave address
bit 9
DISSLW: Disable Slew Rate Control bit
1 = Slew rate control disabled
0 = Slew rate control enabled
bit 8
SMEN: SMBus Input Levels bit
1 = Enable I/O pin thresholds compliant with SMBus specification
0 = Disable SMBus input thresholds
bit 7
GCEN: General Call Enable bit (when operating as I2C slave)
1 = Enable interrupt when a general call address is received in the I2CxRSR
(module is enabled for reception)
0 = General call address disabled
bit 6
STREN: SCLx Clock Stretch Enable bit (when operating as I2C slave)
Used in conjunction with SCLREL bit.
1 = Enable software or receive clock stretching
0 = Disable software or receive clock stretching
© 2007 Microchip Technology Inc.
DS70287A-page 205
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 18-1:
I2CxCON: I2Cx CONTROL REGISTER (CONTINUED)
bit 5
ACKDT: Acknowledge Data bit (when operating as I2C master, applicable during master receive)
Value that will be transmitted when the software initiates an Acknowledge sequence.
1 = Send NACK during Acknowledge
0 = Send ACK during Acknowledge
bit 4
ACKEN: Acknowledge Sequence Enable bit
(when operating as I2C master, applicable during master receive)
1 = Initiate Acknowledge sequence on SDAx and SCLx pins and transmit ACKDT data bit.
Hardware clear at end of master Acknowledge sequence.
0 = Acknowledge sequence not in progress
bit 3
RCEN: Receive Enable bit (when operating as I2C master)
1 = Enables Receive mode for I2C. Hardware clear at end of eighth bit of master receive data byte.
0 = Receive sequence not in progress
bit 2
PEN: Stop Condition Enable bit (when operating as I2C master)
1 = Initiate Stop condition on SDAx and SCLx pins. Hardware clear at end of master Stop sequence.
0 = Stop condition not in progress
bit 1
RSEN: Repeated Start Condition Enable bit (when operating as I2C master)
1 = Initiate Repeated Start condition on SDAx and SCLx pins. Hardware clear at end of
master Repeated Start sequence.
0 = Repeated Start condition not in progress
bit 0
SEN: Start Condition Enable bit (when operating as I2C master)
1 = Initiate Start condition on SDAx and SCLx pins. Hardware clear at end of master Start sequence.
0 = Start condition not in progress
DS70287A-page 206
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 18-2:
I2CxSTAT: I2Cx STATUS REGISTER
R-0 HSC
R-0 HSC
U-0
U-0
U-0
R/C-0 HS
R-0 HSC
R-0 HSC
ACKSTAT
TRSTAT
—
—
—
BCL
GCSTAT
ADD10
bit 15
bit 8
R/C-0 HS
R/C-0 HS
R-0 HSC
R/C-0 HSC
R/C-0 HSC
R-0 HSC
R-0 HSC
R-0 HSC
IWCOL
I2COV
D_A
P
S
R_W
RBF
TBF
bit 7
bit 0
Legend:
U = Unimplemented bit, read as ‘0’
R = Readable bit
W = Writable bit
HS = Set in hardware
HSC = Hardware set/cleared
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
ACKSTAT: Acknowledge Status bit
(when operating as I2C master, applicable to master transmit operation)
1 = NACK received from slave
0 = ACK received from slave
Hardware set or clear at end of slave Acknowledge.
bit 14
TRSTAT: Transmit Status bit (when operating as I2C master, applicable to master transmit operation)
1 = Master transmit is in progress (8 bits + ACK)
0 = Master transmit is not in progress
Hardware set at beginning of master transmission. Hardware clear at end of slave Acknowledge.
bit 13-11
Unimplemented: Read as ‘0’
bit 10
BCL: Master Bus Collision Detect bit
1 = A bus collision has been detected during a master operation
0 = No collision
Hardware set at detection of bus collision.
bit 9
GCSTAT: General Call Status bit
1 = General call address was received
0 = General call address was not received
Hardware set when address matches general call address. Hardware clear at Stop detection.
bit 8
ADD10: 10-bit Address Status bit
1 = 10-bit address was matched
0 = 10-bit address was not matched
Hardware set at match of 2nd byte of matched 10-bit address. Hardware clear at Stop detection.
bit 7
IWCOL: Write Collision Detect bit
1 = An attempt to write the I2CxTRN register failed because the I2C module is busy
0 = No collision
Hardware set at occurrence of write to I2CxTRN while busy (cleared by software).
bit 6
I2COV: Receive Overflow Flag bit
1 = A byte was received while the I2CxRCV register is still holding the previous byte
0 = No overflow
Hardware set at attempt to transfer I2CxRSR to I2CxRCV (cleared by software).
bit 5
D_A: Data/Address bit (when operating as I2C slave)
1 = Indicates that the last byte received was data
0 = Indicates that the last byte received was device address
Hardware clear at device address match. Hardware set by reception of slave byte.
bit 4
P: Stop bit
1 = Indicates that a Stop bit has been detected last
0 = Stop bit was not detected last
Hardware set or clear when Start, Repeated Start or Stop detected.
© 2007 Microchip Technology Inc.
DS70287A-page 207
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 18-2:
I2CxSTAT: I2Cx STATUS REGISTER (CONTINUED)
bit 3
S: Start bit
1 = Indicates that a Start (or Repeated Start) bit has been detected last
0 = Start bit was not detected last
Hardware set or clear when Start, Repeated Start or Stop detected.
bit 2
R_W: Read/Write Information bit (when operating as I2C slave)
1 = Read – indicates data transfer is output from slave
0 = Write – indicates data transfer is input to slave
Hardware set or clear after reception of I 2C device address byte.
bit 1
RBF: Receive Buffer Full Status bit
1 = Receive complete; I2CxRCV is full
0 = Receive not complete; I2CxRCV is empty
Hardware set when I2CxRCV is written with received byte. Hardware clear when software
reads I2CxRCV.
bit 0
TBF: Transmit Buffer Full Status bit
1 = Transmit in progress, I2CxTRN is full
0 = Transmit complete, I2CxTRN is empty
Hardware set when software writes I2CxTRN. Hardware clear at completion of data transmission.
DS70287A-page 208
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 18-3:
I2CxMSK: I2Cx SLAVE MODE ADDRESS MASK REGISTER
U-0
U-0
U-0
U-0
U-0
U-0
R/W-0
R/W-0
—
—
—
—
—
—
AMSK9
AMSK8
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
AMSK7
AMSK6
AMSK5
AMSK4
AMSK3
AMSK2
AMSK1
AMSK0
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-10
Unimplemented: Read as ‘0’
bit 9-0
AMSKx: Mask for Address bit x Select bit
1 = Enable masking for bit x of incoming message address; bit match not required in this position
0 = Disable masking for bit x; bit match required in this position
© 2007 Microchip Technology Inc.
DS70287A-page 209
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 210
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
19.0
Note:
UNIVERSAL ASYNCHRONOUS
RECEIVER TRANSMITTER
(UART)
This data sheet summarizes the features
of this group of dsPIC33FJXXXMCX06/
X08/X10 Motor Control Family devices. It
is not intended to be a comprehensive
reference source. To complement the
information in this data sheet, refer to the
“dsPIC33F Family Reference Manual”.
Refer to the Microchip web site
(www.microchip.com) for the latest
dsPIC33F family reference manual
chapters.
The Universal Asynchronous Receiver Transmitter
(UART) module is one of the serial I/O modules available in the dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family device family. The UART is a full-duplex
asynchronous system that can communicate with
peripheral devices, such as personal computers, LIN,
RS-232 and RS-485 interfaces. The module also supports a hardware flow control option with the UxCTS
and UxRTS pins and also includes an IrDA® encoder
and decoder.
The primary features of the UART module are:
• Full-Duplex, 8 or 9-bit Data Transmission through
the UxTX and UxRX pins
• Even, Odd or No Parity Options (for 8-bit data)
• One or Two Stop bits
FIGURE 19-1:
• Hardware Flow Control Option with UxCTS and
UxRTS pins
• Fully Integrated Baud Rate Generator with 16-bit
Prescaler
• Baud Rates Ranging from 1 Mbps to 15 bps at
16 MIPS
• 4-deep First-In-First-Out (FIFO) Transmit Data
Buffer
• 4-Deep FIFO Receive Data Buffer
• Parity, Framing and Buffer Overrun Error Detection
• Support for 9-bit mode with Address Detect
(9th bit = 1)
• Transmit and Receive Interrupts
• A Separate Interrupt for all UART Error Conditions
• Loopback mode for Diagnostic Support
• Support for Sync and Break Characters
• Supports Automatic Baud Rate Detection
• IrDA Encoder and Decoder Logic
• 16x Baud Clock Output for IrDA Support
A simplified block diagram of the UART is shown in
Figure 19-1. The UART module consists of the key
important hardware elements:
• Baud Rate Generator
• Asynchronous Transmitter
• Asynchronous Receiver
UART SIMPLIFIED BLOCK DIAGRAM
Baud Rate Generator
IrDA®
Hardware Flow Control
BCLK
UxRTS
UxCTS
UART Receiver
UxRX
UART Transmitter
UxTX
Note 1: Both UART1 and UART2 can trigger a DMA data transfer. If U1TX, U1RX, U2TX or U2RX is selected as
a DMA IRQ source, a DMA transfer occurs when the U1TXIF, U1RXIF, U2TXIF or U2RXIF bit gets set as
a result of a UART1 or UART2 transmission or reception.
2: If DMA transfers are required, the UART TX/RX FIFO buffer must be set to a size of 1 byte/word (i.e.,
UTXISEL<1:0> = 00 and URXISEL<1:0> = 00).
© 2007 Microchip Technology Inc.
DS70287A-page 211
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
19.1
UART Baud Rate Generator (BRG)
The UART module includes a dedicated 16-bit Baud
Rate Generator. The BRGx register controls the period
of a free-running 16-bit timer. Equation 19-1 shows the
formula for computation of the baud rate with
BRGH = 0.
EQUATION 19-1:
Equation 19-2 shows the formula for computation of
the baud rate with BRGH = 1.
EQUATION 19-2:
Baud Rate =
UART BAUD RATE WITH
BRGH = 0
BRGx =
FCY
Baud Rate =
16 • (BRGx + 1)
Note:
BRGx =
Note:
FCY
–1
16 • Baud Rate
FCY denotes the instruction cycle clock
frequency (FOSC/2).
Example 19-1 shows the calculation of the baud rate
error for the following conditions:
• FCY = 4 MHz
• Desired Baud Rate = 9600
UART BAUD RATE WITH
BRGH = 1
FCY
4 • (BRGx + 1)
FCY
–1
4 • Baud Rate
FCY denotes the instruction cycle clock
frequency (FOSC/2).
The maximum baud rate (BRGH = 1) possible is FCY/4
(for BRGx = 0), and the minimum baud rate possible is
FCY/(4 * 65536).
Writing a new value to the BRGx register causes the
BRG timer to be reset (cleared). This ensures the BRG
does not wait for a timer overflow before generating the
new baud rate.
The maximum baud rate (BRGH = 0) possible is
FCY/16 (for BRGx = 0), and the minimum baud rate
possible is FCY/(16 * 65536).
EXAMPLE 19-1:
BAUD RATE ERROR CALCULATION (BRGH = 0)
Desired Baud Rate
=
FCY/(16 (BRGx + 1))
=
=
=
((FCY/Desired Baud Rate)/16) – 1
((4000000/9600)/16) – 1
25
Calculated Baud Rate
=
=
4000000/(16 (25 + 1))
9615
Error
=
(Calculated Baud Rate – Desired Baud Rate)
Desired Baud Rate
(9615 – 9600)/9600
0.16%
Solving for BRGx Value:
BRGx
BRGx
BRGx
=
=
DS70287A-page 212
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
19.2
1.
2.
3.
4.
5.
6.
Set up the UART:
a) Write appropriate values for data, parity and
Stop bits.
b) Write appropriate baud rate value to the
BRGx register.
c) Set up transmit and receive interrupt enable
and priority bits.
Enable the UART.
Set the UTXEN bit (causes a transmit interrupt).
Write data byte to lower byte of UxTXREG word.
The value will be immediately transferred to the
Transmit Shift Register (TSR) and the serial bit
stream will start shifting out with the next rising
edge of the baud clock.
Alternately, the data byte may be transferred
while UTXEN = 0, and then the user may set
UTXEN. This will cause the serial bit stream to
begin immediately because the baud clock will
start from a cleared state.
A transmit interrupt will be generated as per
interrupt control bits, UTXISEL<1:0>.
19.3
1.
2.
3.
4.
5.
6.
Transmitting in 8-bit Data Mode
Transmitting in 9-bit Data Mode
Set up the UART (as described in Section 19.2
“Transmitting in 8-bit Data Mode”).
Enable the UART.
Set the UTXEN bit (causes a transmit interrupt).
Write UxTXREG as a 16-bit value only.
A word write to UxTXREG triggers the transfer
of the 9-bit data to the TSR. Serial bit stream will
start shifting out with the first rising edge of the
baud clock.
A transmit interrupt will be generated as per the
setting of control bits, UTXISEL<1:0>.
19.4
Break and Sync Transmit
Sequence
The following sequence will send a message frame
header made up of a Break, followed by an auto-baud
Sync byte.
1.
2.
3.
4.
5.
Configure the UART for the desired mode.
Set UTXEN and UTXBRK – sets up the Break
character.
Load the UxTXREG register with a dummy
character to initiate transmission (value is
ignored).
Write 0x55 to UxTXREG – loads Sync character
into the transmit FIFO.
After the Break has been sent, the UTXBRK bit
is reset by hardware. The Sync character now
transmits.
© 2007 Microchip Technology Inc.
19.5
1.
2.
3.
4.
5.
Receiving in 8-bit or 9-bit Data
Mode
Set up the UART (as described in Section 19.2
“Transmitting in 8-bit Data Mode”).
Enable the UART.
A receive interrupt will be generated when one
or more data characters have been received as
per interrupt control bits, URXISEL<1:0>.
Read the OERR bit to determine if an overrun
error has occurred. The OERR bit must be reset
in software.
Read UxRXREG.
The act of reading the UxRXREG character will move
the next character to the top of the receive FIFO,
including a new set of PERR and FERR values.
19.6
Flow Control Using UxCTS and
UxRTS Pins
UARTx Clear to Send (UxCTS) and Request to Send
(UxRTS) are the two hardware controlled active-low
pins that are associated with the UART module. These
two pins allow the UART to operate in Simplex and
Flow Control modes. They are implemented to control
the transmission and the reception between the Data
Terminal Equipment (DTE). The UEN<1:0> bits in the
UxMODE register configures these pins.
19.7
Infrared Support
The UART module provides two types of infrared UART
support:
• IrDA clock output to support external IrDA
encoder and decoder device (legacy module
support)
• Full implementation of the IrDA encoder and
decoder.
19.7.1
EXTERNAL IrDA SUPPORT – IrDA
CLOCK OUTPUT
To support external IrDA encoder and decoder devices,
the BCLK pin (same as the UxRTS pin) can be
configured to generate the 16x baud clock. With
UEN<1:0> = 11, the BCLK pin will output the 16x baud
clock if the UART module is enabled; it can be used to
support the IrDA codec chip.
19.7.2
BUILT-IN IrDA ENCODER AND
DECODER
The UART has full implementation of the IrDA encoder
and decoder as part of the UART module. The built-in
IrDA encoder and decoder functionality is enabled
using the IREN bit (UxMODE<12>). When enabled
(IREN = 1), the receive pin (UxRX) acts as the input
from the infrared receiver. The transmit pin (UxTX) acts
as the output to the infrared transmitter.
DS70287A-page 213
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 19-1:
R/W-0
UxMODE: UARTx MODE REGISTER
U-0
UARTEN
—
R/W-0
USIDL
R/W-0
IREN
(1)
R/W-0
U-0
RTSMD
—
R/W-0(2)
R/W-0(2)
UEN<1:0>
bit 15
bit 8
R/W-0 HC
R/W-0
R/W-0 HC
R/W-0
R/W-0
WAKE
LPBACK
ABAUD
URXINV
BRGH
R/W-0
R/W-0
PDSEL<1:0>
R/W-0
STSEL
bit 7
bit 0
Legend:
HC = Hardware cleared
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
UARTEN: UARTx Enable bit
1 = UARTx is enabled; all UARTx pins are controlled by UARTx as defined by UEN<1:0>
0 = UARTx is disabled; all UARTx pins are controlled by port latches; UARTx power consumption
minimal
bit 14
Unimplemented: Read as ‘0’
bit 13
USIDL: Stop in Idle Mode bit
1 = Discontinue module operation when device enters Idle mode.
0 = Continue module operation in Idle mode
bit 12
IREN: IrDA Encoder and Decoder Enable bit(1)
1 = IrDA encoder and decoder enabled
0 = IrDA encoder and decoder disabled
bit 11
RTSMD: Mode Selection for UxRTS Pin bit
1 = UxRTS pin in Simplex mode
0 = UxRTS pin in Flow Control mode
bit 10
Unimplemented: Read as ‘0’
bit 9-8
UEN<1:0>: UARTx Enable bits
11 =UxTX, UxRX and BCLK pins are enabled and used; UxCTS pin controlled by port latches
10 =UxTX, UxRX, UxCTS and UxRTS pins are enabled and used
01 =UxTX, UxRX and UxRTS pins are enabled and used; UxCTS pin controlled by port latches
00 =UxTX and UxRX pins are enabled and used; and UxRTS/BCLK pins controlled by
port latches
bit 7
WAKE: Wake-up on Start bit Detect During Sleep Mode Enable bit
1 = UARTx will continue to sample the UxRX pin; interrupt generated on falling edge; bit cleared
in hardware on following rising edge
0 = No wake-up enabled
bit 6
LPBACK: UARTx Loopback Mode Select bit
1 = Enable Loopback mode
0 = Loopback mode is disabled
bit 5
ABAUD: Auto-Baud Enable bit
1 = Enable baud rate measurement on the next character – requires reception of a Sync field (55h)
before other data; cleared in hardware upon completion
0 = Baud rate measurement disabled or completed
bit 4
URXINV: Receive Polarity Inversion bit
1 = UxRX Idle state is ‘0’
0 = UxRX Idle state is ‘1’
Note 1:
2:
This feature is only available for the 16x BRG mode (BRGH = 0).
Bit availability depends on pin availability.
DS70287A-page 214
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 19-1:
UxMODE: UARTx MODE REGISTER (CONTINUED)
bit 3
BRGH: High Baud Rate Enable bit
1 = BRG generates 4 clocks per bit period (4x baud clock, High-Speed mode)
0 = BRG generates 16 clocks per bit period (16x baud clock, Standard mode)
bit 2-1
PDSEL<1:0>: Parity and Data Selection bits
11 = 9-bit data, no parity
10 = 8-bit data, odd parity
01 = 8-bit data, even parity
00 = 8-bit data, no parity
bit 0
STSEL: Stop Bit Selection bit
1 = Two Stop bits
0 = One Stop bit
Note 1:
2:
This feature is only available for the 16x BRG mode (BRGH = 0).
Bit availability depends on pin availability.
© 2007 Microchip Technology Inc.
DS70287A-page 215
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 19-2:
UxSTA: UARTx STATUS AND CONTROL REGISTER
R/W-0
R/W-0
R/W-0
U-0
R/W-0 HC
R/W-0
R-0
R-1
UTXISEL1
UTXINV(1)
UTXISEL0
—
UTXBRK
UTXEN
UTXBF
TRMT
bit 15
bit 8
R/W-0
R/W-0
URXISEL<1:0>
R/W-0
R-1
R-0
R-0
R/C-0
R-0
ADDEN
RIDLE
PERR
FERR
OERR
URXDA
bit 7
bit 0
Legend:
HC = Hardware cleared
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15,13
UTXISEL<1:0>: Transmission Interrupt Mode Selection bits
11 =Reserved; do not use
10 =Interrupt when a character is transferred to the Transmit Shift Register, and as a result, the
transmit buffer becomes empty
01 =Interrupt when the last character is shifted out of the Transmit Shift Register; all transmit
operations are completed
00 =Interrupt when a character is transferred to the Transmit Shift Register (this implies there is
at least one character open in the transmit buffer)
bit 14
UTXINV: IrDA Encoder Transmit Polarity Inversion bit(1)
1 = IrDA encoded, UxTX Idle state is ‘1’
0 = IrDA encoded, UxTX Idle state is ‘0’
bit 12
Unimplemented: Read as ‘0’
bit 11
UTXBRK: Transmit Break bit
1 = Send Sync Break on next transmission – Start bit, followed by twelve ‘0’ bits, followed by Stop bit;
cleared by hardware upon completion
0 = Sync Break transmission disabled or completed
bit 10
UTXEN: Transmit Enable bit
1 = Transmit enabled, UxTX pin controlled by UARTx
0 = Transmit disabled, any pending transmission is aborted and buffer is reset. UxTX pin controlled
by port.
bit 9
UTXBF: Transmit Buffer Full Status bit (read-only)
1 = Transmit buffer is full
0 = Transmit buffer is not full, at least one more character can be written
bit 8
TRMT: Transmit Shift Register Empty bit (read-only)
1 = Transmit Shift Register is empty and transmit buffer is empty (the last transmission has completed)
0 = Transmit Shift Register is not empty, a transmission is in progress or queued
bit 7-6
URXISEL<1:0>: Receive Interrupt Mode Selection bits
11 =Interrupt is set on UxRSR transfer making the receive buffer full (i.e., has 4 data characters)
10 =Interrupt is set on UxRSR transfer making the receive buffer 3/4 full (i.e., has 3 data characters)
0x =Interrupt is set when any character is received and transferred from the UxRSR to the receive
buffer. Receive buffer has one or more characters.
bit 5
ADDEN: Address Character Detect bit (bit 8 of received data = 1)
1 = Address Detect mode enabled. If 9-bit mode is not selected, this does not take effect.
0 = Address Detect mode disabled
Note 1:
Value of bit only affects the transmit properties of the module when the IrDA encoder is enabled
(IREN = 1).
DS70287A-page 216
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 19-2:
UxSTA: UARTx STATUS AND CONTROL REGISTER (CONTINUED)
bit 4
RIDLE: Receiver Idle bit (read-only)
1 = Receiver is Idle
0 = Receiver is active
bit 3
PERR: Parity Error Status bit (read-only)
1 = Parity error has been detected for the current character (character at the top of the receive FIFO)
0 = Parity error has not been detected
bit 2
FERR: Framing Error Status bit (read-only)
1 = Framing error has been detected for the current character (character at the top of the receive
FIFO)
0 = Framing error has not been detected
bit 1
OERR: Receive Buffer Overrun Error Status bit (read/clear only)
1 = Receive buffer has overflowed
0 = Receive buffer has not overflowed. Clearing a previously set OERR bit (1 → 0 transition) will reset
the receiver buffer and the UxRSR to the empty state.
bit 0
URXDA: Receive Buffer Data Available bit (read-only)
1 = Receive buffer has data, at least one more character can be read
0 = Receive buffer is empty
Note 1:
Value of bit only affects the transmit properties of the module when the IrDA encoder is enabled
(IREN = 1).
© 2007 Microchip Technology Inc.
DS70287A-page 217
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 218
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
20.0
Note:
20.1
ENHANCED CAN MODULE
This data sheet summarizes the features
of this group of dsPIC33FJXXXMCX06/
X08/X10 Motor Control Family devices. It
is not intended to be a comprehensive
reference source. To complement the
information in this data sheet, refer to the
“dsPIC33F Family Reference Manual”.
Refer to the Microchip web site
(www.microchip.com) for the latest
dsPIC33F family reference manual
chapters.
Overview
The Enhanced Controller Area Network (ECAN™)
module is a serial interface, useful for communicating
with other CAN modules or microcontroller devices.
This interface/protocol was designed to allow communications
within
noisy
environments.
The
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
devices contain up to two ECAN modules.
The CAN module is a communication controller implementing the CAN 2.0 A/B protocol, as defined in the
BOSCH specification. The module will support CAN 1.2,
CAN 2.0A, CAN 2.0B Passive and CAN 2.0B Active
versions of the protocol. The module implementation is
a full CAN system. The CAN specification is not covered
within this data sheet. The reader may refer to the
BOSCH CAN specification for further details.
The module features are as follows:
• Implementation of the CAN protocol, CAN 1.2,
CAN 2.0A and CAN 2.0B
• Standard and extended data frames
• 0-8 bytes data length
• Programmable bit rate up to 1 Mbit/sec
• Automatic response to remote transmission
requests
• Up to 8 transmit buffers with application specified
prioritization and abort capability (each buffer may
contain up to 8 bytes of data)
• Up to 32 receive buffers (each buffer may contain
up to 8 bytes of data)
• Up to 16 full (standard/extended identifier)
acceptance filters
• 3 full acceptance filter masks
• DeviceNet™ addressing support
• Programmable wake-up functionality with
integrated low-pass filter
• Programmable Loopback mode supports self-test
operation
• Signaling via interrupt capabilities for all CAN
receiver and transmitter error states
• Programmable clock source
• Programmable link to input capture module (IC2
© 2007 Microchip Technology Inc.
for both CAN1 and CAN2) for time-stamping and
network synchronization
• Low-power Sleep and Idle mode
The CAN bus module consists of a protocol engine and
message buffering/control. The CAN protocol engine
handles all functions for receiving and transmitting
messages on the CAN bus. Messages are transmitted
by first loading the appropriate data registers. Status
and errors can be checked by reading the appropriate
registers. Any message detected on the CAN bus is
checked for errors and then matched against filters to
see if it should be received and stored in one of the
receive registers.
20.2
Frame Types
The CAN module transmits various types of frames
which include data messages, or remote transmission
requests initiated by the user, as other frames that are
automatically generated for control purposes. The
following frame types are supported:
• Standard Data Frame:
A standard data frame is generated by a node
when the node wishes to transmit data. It includes
an 11-bit Standard Identifier (SID), but not an
18-bit Extended Identifier (EID).
• Extended Data Frame:
An extended data frame is similar to a standard
data frame, but includes an extended identifier as
well.
• Remote Frame:
It is possible for a destination node to request the
data from the source. For this purpose, the
destination node sends a remote frame with an
identifier that matches the identifier of the required
data frame. The appropriate data source node will
then send a data frame as a response to this
remote request.
• Error Frame:
An error frame is generated by any node that
detects a bus error. An error frame consists of two
fields: an error flag field and an error delimiter
field.
• Overload Frame:
An overload frame can be generated by a node as
a result of two conditions. First, the node detects
a dominant bit during interframe space which is an
illegal condition. Second, due to internal conditions, the node is not yet able to start reception of
the next message. A node may generate a maximum of 2 sequential overload frames to delay the
start of the next message.
• Interframe Space:
Interframe space separates a proceeding frame
(of whatever type) from a following data or remote
frame.
DS70287A-page 219
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 20-1:
ECAN™ MODULE BLOCK DIAGRAM
RXF15 Filter
RXF14 Filter
RXF13 Filter
RXF12 Filter
DMA Controller
RXF11 Filter
RXF10 Filter
RXF9 Filter
RXF8 Filter
TRB7 TX/RX Buffer Control Register
RXF7 Filter
TRB6 TX/RX Buffer Control Register
RXF6 Filter
TRB5 TX/RX Buffer Control Register
RXF5 Filter
TRB4 TX/RX Buffer Control Register
RXF4 Filter
TRB3 TX/RX Buffer Control Register
RXF3 Filter
TRB2 TX/RX Buffer Control Register
RXF2 Filter
RXM2 Mask
TRB1 TX/RX Buffer Control Register
RXF1 Filter
RXM1 Mask
TRB0 TX/RX Buffer Control Register
RXF0 Filter
RXM0 Mask
Transmit Byte
Sequencer
Message Assembly
Buffer
CAN Protocol
Engine
Control
Configuration
Logic
CPU
Bus
Interrupts
CiTX(1)
CiRX(1)
Note 1: i = 1 or 2 refers to a particular ECAN module (ECAN1 or ECAN2).
DS70287A-page 220
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
20.3
Modes of Operation
Note:
The CAN module can operate in one of several operation
modes selected by the user. These modes include:
•
•
•
•
•
•
Initialization Mode
Disable Mode
Normal Operation Mode
Listen Only Mode
Listen All Messages Mode
Loopback Mode
Modes are requested by setting the REQOP<2:0> bits
(CiCTRL1<10:8>). Entry into a mode is Acknowledged
by
monitoring
the
OPMODE<2:0>
bits
(CiCTRL1<7:5>). The module will not change the mode
and the OPMODE bits until a change in mode is
acceptable, generally during bus Idle time, which is
defined as at least 11 consecutive recessive bits.
20.3.1
INITIALIZATION MODE
In the Initialization mode, the module will not transmit or
receive. The error counters are cleared and the interrupt flags remain unchanged. The programmer will
have access to Configuration registers that are access
restricted in other modes. The module will protect the
user from accidentally violating the CAN protocol
through programming errors. All registers which control
the configuration of the module can not be modified
while the module is on-line. The CAN module will not
be allowed to enter the Configuration mode while a
transmission is taking place. The Configuration mode
serves as a lock to protect the following registers:
•
•
•
•
•
All Module Control Registers
Baud Rate and Interrupt Configuration Registers
Bus Timing Registers
Identifier Acceptance Filter Registers
Identifier Acceptance Mask Registers
20.3.2
DISABLE MODE
In Disable mode, the module will not transmit or
receive. The module has the ability to set the WAKIF bit
due to bus activity, however, any pending interrupts will
remain and the error counters will retain their value.
If the REQOP<2:0> bits (CiCTRL1<10:8>) = 001, the
module will enter the Module Disable mode. If the module
is active, the module will wait for 11 recessive bits on the
CAN bus, detect that condition as an Idle bus, then
accept the module disable command. When the
OPMODE<2:0> bits (CiCTRL1<7:5>) = 001, that indicates whether the module successfully went into Module
Disable mode. The I/O pins will revert to normal I/O
function when the module is in the Module Disable mode.
The module can be programmed to apply a low-pass
filter function to the CiRX input line while the module or
the CPU is in Sleep mode. The WAKFIL bit
(CiCFG2<14>) enables or disables the filter.
© 2007 Microchip Technology Inc.
20.3.3
Typically, if the CAN module is allowed to
transmit in a particular mode of operation
and a transmission is requested immediately after the CAN module has been
placed in that mode of operation, the module waits for 11 consecutive recessive bits
on the bus before starting transmission. If
the user switches to Disable mode within
this 11-bit period, then this transmission is
aborted and the corresponding TXABT bit
is set and TXREQ bit is cleared.
NORMAL OPERATION MODE
Normal Operation mode is selected when
REQOP<2:0> = 000. In this mode, the module is
activated and the I/O pins will assume the CAN bus
functions. The module will transmit and receive CAN
bus messages via the CiTX and CiRX pins.
20.3.4
LISTEN ONLY MODE
If the Listen Only mode is activated, the module on the
CAN bus is passive. The transmitter buffers revert to
the port I/O function. The receive pins remain inputs.
For the receiver, no error flags or Acknowledge signals
are sent. The error counters are deactivated in this
state. The Listen Only mode can be used for detecting
the baud rate on the CAN bus. To use this, it is necessary that there are at least two further nodes that
communicate with each other.
20.3.5
LISTEN ALL MESSAGES MODE
The module can be set to ignore all errors and receive
any message. The Listen All Messages mode is activated by setting REQOP<2:0> = ‘111’. In this mode,
the data which is in the message assembly buffer, until
the time an error occurred, is copied in the receive
buffer and can be read via the CPU interface.
20.3.6
LOOPBACK MODE
If the Loopback mode is activated, the module will connect the internal transmit signal to the internal receive
signal at the module boundary. The transmit and
receive pins revert to their port I/O function.
20.4
20.4.1
Message Reception
RECEIVE BUFFERS
The CAN bus module has up to 32 receive buffers,
located in DMA RAM. The first 8 buffers need to be
configured as receive buffers by clearing the
corresponding TX/RX buffer selection (TXENn) bit in a
CiTRmnCON register. The overall size of the CAN
buffer area in DMA RAM is selectable by the user and
is
defined
by
the
DMABS<2:0>
bits
(CiFCTRL<15:13>). The first 16 buffers can be
assigned to receive filters, while the rest can be used
only as a FIFO buffer.
DS70287A-page 221
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
An additional buffer is always committed to monitoring
the bus for incoming messages. This buffer is called the
Message Assembly Buffer (MAB).
All messages are assembled by the MAB and are transferred to the buffers only if the acceptance filter criterion
are met. When a message is received, the RBIF flag
(CiINTF<1>) will be set. The user would then need to
inspect the CiVEC and/or CiRXFUL1 register to determine which filter and buffer caused the interrupt to get
generated. The RBIF bit can only be set by the module
when a message is received. The bit is cleared by the
user when it has completed processing the message in
the buffer. If the RBIE bit is set, an interrupt will be
generated when a message is received.
20.4.2
FIFO BUFFER MODE
The ECAN module provides FIFO buffer functionality if
the buffer pointer for a filter has a value of ‘1111’. In this
mode, the results of a hit on that buffer will write to the
next available buffer location within the FIFO.
The CiFCTRL register defines the size of the FIFO. The
FSA<4:0> bits in this register define the start of the
FIFO buffers. The end of the FIFO is defined by the
DMABS<2:0> bits if DMA is enabled. Thus, FIFO sizes
up to 32 buffers are supported.
20.4.3
MESSAGE ACCEPTANCE FILTERS
The message acceptance filters and masks are used to
determine if a message in the message assembly
buffer should be loaded into either of the receive buffers. Once a valid message has been received into the
Message Assembly Buffer (MAB), the identifier fields of
the message are compared to the filter values. If there
is a match, that message will be loaded into the
appropriate receive buffer. Each filter is associated with
a buffer pointer (FnBP<3:0>), which is used to link the
filter to one of 16 receive buffers.
20.4.5
RECEIVE ERRORS
The CAN module will detect the following receive
errors:
• Cyclic Redundancy Check (CRC) Error
• Bit Stuffing Error
• Invalid Message Receive Error
These receive errors do not generate an interrupt.
However, the receive error counter is incremented by
one in case one of these errors occur. The RXWAR bit
(CiINTF<9>) indicates that the receive error counter
has reached the CPU warning limit of 96 and an
interrupt is generated.
20.4.6
RECEIVE INTERRUPTS
Receive interrupts can be divided into 3 major groups,
each including various conditions that generate
interrupts:
• Receive Interrupt:
A message has been successfully received and
loaded into one of the receive buffers. This interrupt is activated immediately after receiving the
End-of-Frame (EOF) field. Reading the RXnIF flag
will indicate which receive buffer caused the
interrupt.
• Wake-up Interrupt:
The CAN module has woken up from Disable
mode or the device has woken up from Sleep
mode.
• Receive Error Interrupts:
A receive error interrupt will be indicated by the
ERRIF bit. This bit shows that an error condition
occurred. The source of the error can be determined by checking the bits in the CAN Interrupt
Flag register, CiINTF.
The acceptance filter looks at incoming messages for
the IDE bit (CiTRBnSID<0>) to determine how to compare the identifiers. If the IDE bit is clear, the message
is a standard frame and only filters with the EXIDE bit
(CiRXFnSID<3>) clear are compared. If the IDE bit is
set, the message is an extended frame, and only filters
with the EXIDE bit set are compared.
- Invalid Message Received:
If any type of error occurred during reception of
the last message, an error will be indicated by
the IVRIF bit.
20.4.4
- Receiver Warning:
The RXWAR bit indicates that the receive error
counter (RERRCNT<7:0>) has reached the
warning limit of 96.
MESSAGE ACCEPTANCE FILTER
MASKS
The mask bits essentially determine which bits to apply
the filter to. If any mask bit is set to a zero, then that bit
will automatically be accepted regardless of the filter
bit. There are three programmable acceptance filter
masks associated with the receive buffers. Any of
these three masks can be linked to each filter by selecting the desired mask in the FnMSK<1:0> bits in the
appropriate CiFMSKSELn register.
DS70287A-page 222
- Receiver Overrun:
The RBOVIF bit (CiINTF<2>) indicates that an
overrun condition occurred.
- Receiver Error Passive:
The RXEP bit indicates that the receive error
counter has exceeded the error passive limit of
127 and the module has gone into error passive
state.
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
20.5
20.5.1
Message Transmission
TRANSMIT BUFFERS
The CAN module has up to eight transmit buffers,
located in DMA RAM. These 8 buffers need to be configured as transmit buffers by setting the corresponding
TX/RX buffer selection (TXENn or TXENm) bit in a
CiTRmnCON register. The overall size of the CAN
buffer area in DMA RAM is selectable by the user and
is
defined
by
the
DMABS<2:0>
bits
(CiFCTRL<15:13>).
Each transmit buffer occupies 16 bytes of data. Eight of
the bytes are the maximum 8 bytes of the transmitted
message. Five bytes hold the standard and extended
identifiers and other message arbitration information.
The last byte is unused.
20.5.2
TRANSMIT MESSAGE PRIORITY
Transmit priority is a prioritization within each node of
the pending transmittable messages. There are four
levels of transmit priority. If the TXnPRI<1:0> bits (in
CiTRmnCON) for a particular message buffer are
set to ‘11’, that buffer has the highest priority. If the
TXnPRI<1:0> bits for a particular message buffer
are set to ‘10’ or ‘01’, that buffer has an intermediate
priority. If the TXnPRI<1:0> bits for a particular
message buffer are ‘00’, that buffer has the lowest priority. If two or more pending messages have the same
priority, the messages are transmitted in decreasing
order of buffer index.
20.5.3
20.5.4
TRANSMISSION SEQUENCE
To initiate transmission of the message, the TXREQn bit
(in CiTRmnCON) must be set. The CAN bus module
resolves any timing conflicts between the setting of the
TXREQn bit and the Start-of-Frame (SOF), ensuring that
if the priority was changed, it is resolved correctly before
the SOF occurs. When TXREQn is set, the TXABTn,
TXLARBn and TXERRn flag bits are automatically
cleared.
AUTOMATIC PROCESSING OF
REMOTE TRANSMISSION
REQUESTS
If the RTRENn bit (in the CiTRmnCON register) for a
particular transmit buffer is set, the hardware automatically transmits the data in that buffer in response to
remote transmission requests matching the filter that
points to that particular buffer. The user does not need
to manually initiate a transmission in this case.
20.5.5
ABORTING MESSAGE
TRANSMISSION
The system can also abort a message by clearing the
TXREQ bit associated with each message buffer. Setting the ABAT bit (CiCTRL1<12>) will request an abort
of all pending messages. If the message has not yet
started transmission, or if the message started but is
interrupted by loss of arbitration or an error, the abort
will be processed. The abort is indicated when the
module sets the TXABT bit and the TXnIF flag is not
automatically set.
20.5.6
TRANSMISSION ERRORS
The CAN module will detect the following transmission
errors:
• Acknowledge Error
• Form Error
• Bit Error
These transmission errors will not necessarily generate
an interrupt but are indicated by the transmission error
counter. However, each of these errors will cause the
transmission error counter to be incremented by one.
Once the value of the error counter exceeds the value
of 96, the ERRIF (CiINTF<5>) and the TXWAR bit
(CiINTF<10>) are set. Once the value of the error
counter exceeds the value of 96, an interrupt is
generated and the TXWAR bit in the Interrupt Flag
register is set.
Setting the TXREQn bit simply flags a message buffer
as enqueued for transmission. When the module
detects an available bus, it begins transmitting the
message which has been determined to have the
highest priority.
If the transmission completes successfully on the first
attempt, the TXREQn bit is cleared automatically and
an interrupt is generated if TXnIE was set.
If the message transmission fails, one of the error condition flags will be set and the TXREQn bit will remain
set, indicating that the message is still pending for
transmission. If the message encountered an error
condition during the transmission attempt, the TXERRn
bit will be set and the error condition may cause an
interrupt. If the message loses arbitration during the
transmission attempt, the TXLARBn bit is set. No
interrupt is generated to signal the loss of arbitration.
© 2007 Microchip Technology Inc.
DS70287A-page 223
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
20.5.7
20.6
TRANSMIT INTERRUPTS
Baud Rate Setting
Transmit interrupts can be divided into 2 major groups,
each including various conditions that generate
interrupts:
All nodes on any particular CAN bus must have the
same nominal bit rate. In order to set the baud rate, the
following parameters have to be initialized:
• Transmit Interrupt:
At least one of the three transmit buffers is empty
(not scheduled) and can be loaded to schedule a
message for transmission. Reading the TXnIF
flags will indicate which transmit buffer is available
and caused the interrupt.
•
•
•
•
•
•
• Transmit Error Interrupts:
A transmission error interrupt will be indicated by
the ERRIF flag. This flag shows that an error condition occurred. The source of the error can be
determined by checking the error flags in the CAN
Interrupt Flag register, CiINTF. The flags in this
register are related to receive and transmit errors.
- Transmitter Warning Interrupt:
The TXWAR bit indicates that the transmit error
counter has reached the CPU warning limit
of 96.
- Transmitter Error Passive:
The TXEP bit (CiINTF<12>) indicates that the
transmit error counter has exceeded the error
passive limit of 127 and the module has gone to
error passive state.
- Bus Off:
The TXBO bit (CiINTF<13>) indicates that the
transmit error counter has exceeded 255 and
the module has gone to the bus off state.
Note:
Both ECAN1 and ECAN2 can trigger a
DMA data transfer. If C1TX, C1RX, C2TX
or C2RX is selected as a DMA IRQ
source, a DMA transfer occurs when the
C1TXIF, C1RXIF, C2TXIF or C2RXIF bit
gets set as a result of an ECAN1 or
ECAN2 transmission or reception.
FIGURE 20-2:
Synchronization Jump Width
Baud Rate Prescaler
Phase Segments
Length Determination of Phase Segment 2
Sample Point
Propagation Segment bits
20.6.1
BIT TIMING
All controllers on the CAN bus must have the same
baud rate and bit length. However, different controllers
are not required to have the same master oscillator
clock. At different clock frequencies of the individual
controllers, the baud rate has to be adjusted by
adjusting the number of time quanta in each segment.
The nominal bit time can be thought of as being divided
into separate non-overlapping time segments. These
segments are shown in Figure 20-2.
•
•
•
•
Synchronization Segment (Sync Seg)
Propagation Time Segment (Prop Seg)
Phase Segment 1 (Phase1 Seg)
Phase Segment 2 (Phase2 Seg)
The time segments and also the nominal bit time are
made up of integer units of time called time quanta or
TQ. By definition, the nominal bit time has a minimum
of 8 TQ and a maximum of 25 TQ. Also, by definition,
the minimum nominal bit time is 1 μsec corresponding
to a maximum bit rate of 1 MHz.
ECAN™ MODULE BIT TIMING
Input Signal
Sync
Prop
Segment
Phase
Segment 1
Phase
Segment 2
Sync
Sample Point
TQ
DS70287A-page 224
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
20.6.2
PRESCALER SETTING
There is a programmable prescaler with integral values
ranging from 1 to 64, in addition to a fixed divide-by-2
for clock generation. The time quantum (TQ) is a fixed
unit of time derived from the oscillator period and is
given by Equation 20-1.
Note:
FCAN must not exceed 40 MHz. If
CANCKS = 0, then FCY must not exceed
20 MHz.
EQUATION 20-1:
TIME QUANTUM FOR
CLOCK GENERATION
TQ = 2 (BRP<5:0> + 1)/FCAN
20.6.3
PROPAGATION SEGMENT
This part of the bit time is used to compensate physical
delay times within the network. These delay times consist of the signal propagation time on the bus line and
the internal delay time of the nodes. The Prop Seg can
be programmed from 1 TQ to 8 TQ by setting the
PRSEG<2:0> bits (CiCFG2<2:0>).
20.6.4
PHASE SEGMENTS
The phase segments are used to optimally locate the
sampling of the received bit within the transmitted bit
time. The sampling point is between Phase1 Seg and
Phase2 Seg. These segments are lengthened or shortened by resynchronization. The end of the Phase1 Seg
determines the sampling point within a bit period. The
segment is programmable from 1 TQ to 8 TQ. Phase2
Seg provides delay to the next transmitted data transition. The segment is programmable from 1 TQ to 8 TQ,
or it may be defined to be equal to the greater of
Phase1 Seg or the information processing time (2 TQ).
The Phase1 Seg is initialized by setting bits
SEG1PH<2:0> (CiCFG2<5:3>) and Phase2 Seg is
initialized by setting SEG2PH<2:0> (CiCFG2<10:8>).
The following requirement must be fulfilled while setting
the lengths of the phase segments:
Prop Seg + Phase1 Seg ≥ Phase2 Seg
20.6.5
SAMPLE POINT
The sample point is the point of time at which the bus
level is read and interpreted as the value of that respective bit. The location is at the end of Phase1 Seg. If the
bit timing is slow and contains many TQ, it is possible to
specify multiple sampling of the bus line at the sample
point. The level determined by the CAN bus then corresponds to the result from the majority decision of three
values. The majority samples are taken at the sample
point and twice before with a distance of TQ/2. The
CAN module allows the user to choose between sampling three times at the same point or once at the same
point, by setting or clearing the SAM bit (CiCFG2<6>).
© 2007 Microchip Technology Inc.
Typically, the sampling of the bit should take place at
about 60-70% through the bit time, depending on the
system parameters.
20.6.6
SYNCHRONIZATION
To compensate for phase shifts between the oscillator
frequencies of the different bus stations, each CAN
controller must be able to synchronize to the relevant
signal edge of the incoming signal. When an edge in
the transmitted data is detected, the logic will compare
the location of the edge to the expected time (Synchronous Segment). The circuit will then adjust the values
of Phase1 Seg and Phase2 Seg. There are two
mechanisms used to synchronize.
20.6.6.1
Hard Synchronization
Hard synchronization is only done whenever there is a
‘recessive’ to ‘dominant’ edge during bus Idle, indicating the start of a message. After hard synchronization,
the bit time counters are restarted with the Sync Seg.
Hard synchronization forces the edge which has
caused the hard synchronization to lie within the
synchronization segment of the restarted bit time. If a
hard synchronization is done, there will not be a
resynchronization within that bit time.
20.6.6.2
Resynchronization
As a result of resynchronization, Phase1 Seg may be
lengthened or Phase2 Seg may be shortened. The
amount of lengthening or shortening of the phase
buffer segment has an upper boundary known as the
synchronization jump width, and is specified by the
SJW<1:0> bits (CiCFG1<7:6>). The value of the synchronization jump width will be added to Phase1 Seg or
subtracted from Phase2 Seg. The resynchronization
jump width is programmable between 1 TQ and 4 TQ.
The following requirement must be fulfilled while setting
the SJW<1:0> bits:
Phase2 Seg > Synchronization Jump Width
Note:
In the register descriptions that follow, ‘i’ in
the register identifier denotes the specific
ECAN module (ECAN1 or ECAN2).
‘n’ in the register identifier denotes the
buffer, filter or mask number.
‘m’ in the register identifier denotes the
word number within a particular CAN data
field.
DS70287A-page 225
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-1:
CiCTRL1: ECAN CONTROL REGISTER 1
U-0
U-0
R/W-0
R/W-0
R/W-0
—
—
CSIDL
ABAT
CANCKS
R/W-1
R/W-0
R/W-0
REQOP<2:0>
bit 15
bit 8
R-1
R-0
R-0
OPMODE<2:0>
U-0
R/W-0
U-0
U-0
R/W-0
—
CANCAP
—
—
WIN
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-14
Unimplemented: Read as ‘0’
bit 13
CSIDL: Stop in Idle Mode bit
1 = Discontinue module operation when device enters Idle mode
0 = Continue module operation in Idle mode
bit 12
ABAT: Abort All Pending Transmissions bit
Signal all transmit buffers to abort transmission. Module will clear this bit when all transmissions
are aborted
bit 11
CANCKS: CAN Master Clock Select bit
1 = CAN FCAN clock is FCY
0 = CAN FCAN clock is FOSC
bit 10-8
REQOP<2:0>: Request Operation Mode bits
000 = Set Normal Operation mode
001 = Set Disable mode
010 = Set Loopback mode
011 = Set Listen Only Mode
100 = Set Configuration mode
101 = Reserved – do not use
110 = Reserved – do not use
111 = Set Listen All Messages mode
bit 7-5
OPMODE<2:0>: Operation Mode bits
000 = Module is in Normal Operation mode
001 = Module is in Disable mode
010 = Module is in Loopback mode
011 = Module is in Listen Only mode
100 = Module is in Configuration mode
101 = Reserved
110 = Reserved
111 = Module is in Listen All Messages mode
bit 4
Unimplemented: Read as ‘0’
bit 3
CANCAP: CAN Message Receive Timer Capture Event Enable bit
1 = Enable input capture based on CAN message receive
0 = Disable CAN capture
bit 2-1
Unimplemented: Read as ‘0’
bit 0
WIN: SFR Map Window Select bit
1 = Use filter window
0 = Use buffer window
DS70287A-page 226
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-2:
CiCTRL2: ECAN CONTROL REGISTER 2
U-0
U-0
U-0
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
—
—
—
bit 15
bit 8
U-0
U-0
U-0
—
—
—
R-0
R-0
R-0
R-0
R-0
DNCNT<4:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-5
Unimplemented: Read as ‘0’
bit 4-0
DNCNT<4:0>: DeviceNet™ Filter Bit Number bits
10010-11111 = Invalid selection
10001 = Compare up to data byte 3, bit 6 with EID<17>
....
00001 = Compare up to data byte 1, bit 7 with EID<0>
00000 = Do not compare data bytes
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 227
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-3:
CiVEC: ECAN INTERRUPT CODE REGISTER
U-0
U-0
U-0
—
—
—
R-0
R-0
R-0
R-0
R-0
FILHIT<4:0>
bit 15
bit 8
U-0
R-1
R-0
R-0
—
R-0
R-0
R-0
R-0
ICODE<6:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-13
Unimplemented: Read as ‘0’
bit 12-8
FILHIT<4:0>: Filter Hit Number bits
10000-11111 = Reserved
01111 = Filter 15
....
00001 = Filter 1
00000 = Filter 0
bit 7
Unimplemented: Read as ‘0’
bit 6-0
ICODE<6:0>: Interrupt Flag Code bits
1000101-1111111 = Reserved
1000100 = FIFO almost full interrupt
1000011 = Receiver overflow interrupt
1000010 = Wake-up interrupt
1000001 = Error interrupt
1000000 = No interrupt
x = Bit is unknown
0010000-0111111 = Reserved
0001111 = RB15 buffer Interrupt
....
0001001 = RB9 buffer interrupt
0001000 = RB8 buffer interrupt
0000111 = TRB7 buffer interrupt
0000110 = TRB6 buffer interrupt
0000101 = TRB5 buffer interrupt
0000100 = TRB4 buffer interrupt
0000011 = TRB3 buffer interrupt
0000010 = TRB2 buffer interrupt
0000001 = TRB1 buffer interrupt
0000000 = TRB0 Buffer interrupt
DS70287A-page 228
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-4:
R/W-0
CiFCTRL: ECAN FIFO CONTROL REGISTER
R/W-0
R/W-0
DMABS<2:0>
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
bit 15
bit 8
U-0
U-0
U-0
—
—
—
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
FSA<4:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-13
DMABS<2:0>: DMA Buffer Size bits
111 = Reserved
110 = 32 buffers in DMA RAM
101 = 24 buffers in DMA RAM
100 = 16 buffers in DMA RAM
011 = 12 buffers in DMA RAM
010 = 8 buffers in DMA RAM
001 = 6 buffers in DMA RAM
000 = 4 buffers in DMA RAM
bit 12-5
Unimplemented: Read as ‘0’
bit 4-0
FSA<4:0>: FIFO Area Starts with Buffer bits
11111 = RB31 buffer
11110 = RB30 buffer
....
00001 = TRB1 buffer
00000 = TRB0 buffer
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 229
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-5:
CiFIFO: ECAN FIFO STATUS REGISTER
U-0
U-0
—
—
R-0
R-0
R-0
R-0
R-0
R-0
FBP<5:0>
bit 15
bit 8
U-0
U-0
—
—
R-0
R-0
R-0
R-0
R-0
R-0
FNRB<5:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-14
Unimplemented: Read as ‘0’
bit 13-8
FBP<5:0>: FIFO Write Buffer Pointer bits
011111 = RB31 buffer
011110 = RB30 buffer
....
000001 = TRB1 buffer
000000 = TRB0 buffer
bit 7-6
Unimplemented: Read as ‘0’
bit 5-0
FNRB<5:0>: FIFO Next Read Buffer Pointer bits
011111 = RB31 buffer
011110 = RB30 buffer
....
000001 = TRB1 buffer
000000 = TRB0 buffer
DS70287A-page 230
x = Bit is unknown
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-6:
CiINTF: ECAN INTERRUPT FLAG REGISTER
U-0
U-0
R-0
R-0
R-0
R-0
R-0
R-0
—
—
TXBO
TXBP
RXBP
TXWAR
RXWAR
EWARN
bit 15
bit 8
R/C-0
R/C-0
R/C-0
U-0
R/C-0
R/C-0
R/C-0
R/C-0
IVRIF
WAKIF
ERRIF
—
FIFOIF
RBOVIF
RBIF
TBIF
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-14
Unimplemented: Read as ‘0’
bit 13
TXBO: Transmitter in Error State Bus Off bit
bit 12
TXBP: Transmitter in Error State Bus Passive bit
bit 11
RXBP: Receiver in Error State Bus Passive bit
bit 10
TXWAR: Transmitter in Error State Warning bit
bit 9
RXWAR: Receiver in Error State Warning bit
bit 8
EWARN: Transmitter or Receiver in Error State Warning bit
bit 7
IVRIF: Invalid Message Received Interrupt Flag bit
bit 6
WAKIF: Bus Wake-up Activity Interrupt Flag bit
bit 5
ERRIF: Error Interrupt Flag bit (multiple sources in CiINTF<13:8> register)
bit 4
Unimplemented: Read as ‘0’
bit 3
FIFOIF: FIFO Almost Full Interrupt Flag bit
bit 2
RBOVIF: RX Buffer Overflow Interrupt Flag bit
bit 1
RBIF: RX Buffer Interrupt Flag bit
bit 0
TBIF: TX Buffer Interrupt Flag bit
© 2007 Microchip Technology Inc.
DS70287A-page 231
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-7:
CiINTE: ECAN INTERRUPT ENABLE REGISTER
U-0
U-0
U-0
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
—
—
—
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
IVRIE
WAKIE
ERRIE
—
FIFOIE
RBOVIE
RBIE
TBIE
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-8
Unimplemented: Read as ‘0’
bit 7
IVRIE: Invalid Message Received Interrupt Enable bit
bit 6
WAKIE: Bus Wake-up Activity Interrupt Flag bit
bit 5
ERRIE: Error Interrupt Enable bit
bit 4
Unimplemented: Read as ‘0’
bit 3
FIFOIE: FIFO Almost Full Interrupt Enable bit
bit 2
RBOVIE: RX Buffer Overflow Interrupt Enable bit
bit 1
RBIE: RX Buffer Interrupt Enable bit
bit 0
TBIE: TX Buffer Interrupt Enable bit
DS70287A-page 232
x = Bit is unknown
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-8:
R-0
CiEC: ECAN TRANSMIT/RECEIVE ERROR COUNT REGISTER
R-0
R-0
R-0
R-0
R-0
R-0
R-0
TERRCNT<7:0>
bit 15
bit 8
R-0
R-0
R-0
R-0
R-0
R-0
R-0
R-0
RERRCNT<7:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-8
TERRCNT<7:0>: Transmit Error Count bits
bit 7-0
RERRCNT<7:0>: Receive Error Count bits
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 233
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-9:
CiCFG1: ECAN BAUD RATE CONFIGURATION REGISTER 1
U-0
U-0
U-0
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
—
—
—
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
SJW<1:0>
R/W-0
R/W-0
R/W-0
BRP<5:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-8
Unimplemented: Read as ‘0’
bit 7-6
SJW<1:0>: Synchronization Jump Width bits
11 = Length is 4 x TQ
10 = Length is 3 x TQ
01 = Length is 2 x TQ
00 = Length is 1 x TQ
bit 5-0
BRP<5:0>: Baud Rate Prescaler bits
11 1111 = TQ = 2 x 64 x 1/FCAN
00 0010 = TA = 2 x 3 x 1/FCAN
00 0001 = TA = 2 x 2 x 1/FCAN
00 0000 = TQ = 2 x 1 x 1/FCAN
DS70287A-page 234
x = Bit is unknown
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-10: CiCFG2: ECAN BAUD RATE CONFIGURATION REGISTER 2
U-0
R/W-x
U-0
U-0
U-0
—
WAKFIL
—
—
—
R/W-x
R/W-x
R/W-x
SEG2PH<2:0>
bit 15
bit 8
R/W-x
R/W-x
SEG2PHTS
SAM
R/W-x
R/W-x
R/W-x
SEG1PH<2:0>
R/W-x
R/W-x
R/W-x
PRSEG<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
Unimplemented: Read as ‘0’
bit 14
WAKFIL: Select CAN bus Line Filter for Wake-up bit
1 = Use CAN bus line filter for wake-up
0 = CAN bus line filter is not used for wake-up
bit 13-11
Unimplemented: Read as ‘0’
bit 10-8
SEG2PH<2:0>: Phase Buffer Segment 2 bits
111 = Length is 8 x TQ
000 = Length is 1 x TQ
bit 7
SEG2PHTS: Phase Segment 2 Time Select bit
1 = Freely programmable
0 = Maximum of SEG1PH bits or Information Processing Time (IPT), whichever is greater
bit 6
SAM: Sample of the CAN bus Line bit
1 = Bus line is sampled three times at the sample point
0 = Bus line is sampled once at the sample point
bit 5-3
SEG1PH<2:0>: Phase Buffer Segment 1 bits
111 = Length is 8 x TQ
000 = Length is 1 x TQ
bit 2-0
PRSEG<2:0>: Propagation Time Segment bits
111 = Length is 8 x TQ
000 = Length is 1 x TQ
© 2007 Microchip Technology Inc.
DS70287A-page 235
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-11: CiFEN1: ECAN ACCEPTANCE FILTER ENABLE REGISTER
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
FLTEN15
FLTEN14
FLTEN13
FLTEN12
FLTEN11
FLTEN10
FLTEN9
FLTEN8
bit 15
bit 8
R/W-0
R/W-0
R/W-1
R/W-1
R/W-1
R/W-1
R/W-1
R/W-1
FLTEN7
FLTEN6
FLTEN5
FLTEN4
FLTEN3
FLTEN2
FLTEN1
FLTEN0
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
x = Bit is unknown
FLTENn: Enable Filter n to Accept Messages bits
1 = Enable Filter n
0 = Disable Filter n
REGISTER 20-12: CiBUFPNT1: ECAN FILTER 0-3 BUFFER POINTER REGISTER
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
F3BP<3:0>
R/W-0
R/W-0
R/W-0
F2BP<3:0>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
F1BP<3:0>
R/W-0
R/W-0
R/W-0
F0BP<3:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-12
F3BP<3:0>: RX Buffer Written when Filter 3 Hits bits
bit 11-8
F2BP<3:0>: RX Buffer Written when Filter 2 Hits bits
bit 7-4
F1BP<3:0>: RX Buffer Written when Filter 1 Hits bits
bit 3-0
F0BP<3:0>: RX Buffer Written when Filter 0 Hits bits
1111 = Filter hits received in RX FIFO buffer
1110 = Filter hits received in RX Buffer 14
....
0001 = Filter hits received in RX Buffer 1
0000 = Filter hits received in RX Buffer 0
DS70287A-page 236
x = Bit is unknown
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-13: CiBUFPNT2: ECAN FILTER 4-7 BUFFER POINTER REGISTER
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
F7BP<3:0>
R/W-0
R/W-0
R/W-0
F6BP<3:0>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
F5BP<3:0>
R/W-0
R/W-0
R/W-0
F4BP<3:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-12
F7BP<3:0>: RX Buffer Written when Filter 7 Hits bits
bit 11-8
F6BP<3:0>: RX Buffer Written when Filter 6 Hits bits
bit 7-4
F5BP<3:0>: RX Buffer Written when Filter 5 Hits bits
bit 3-0
F4BP<3:0>: RX Buffer Written when Filter 4 Hits bits
x = Bit is unknown
REGISTER 20-14: CiBUFPNT3: ECAN FILTER 8-11 BUFFER POINTER REGISTER
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
F11BP<3:0>
R/W-0
R/W-0
R/W-0
F10BP<3:0>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
F9BP<3:0>
R/W-0
R/W-0
R/W-0
F8BP<3:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-12
F11BP<3:0>: RX Buffer Written when Filter 11 Hits bits
bit 11-8
F10BP<3:0>: RX Buffer Written when Filter 10 Hits bits
bit 7-4
F9BP<3:0>: RX Buffer Written when Filter 9 Hits bits
bit 3-0
F8BP<3:0>: RX Buffer Written when Filter 8 Hits bits
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 237
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-15: CiBUFPNT4: ECAN FILTER 12-15 BUFFER POINTER REGISTER
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
F15BP<3:0>
R/W-0
R/W-0
R/W-0
F14BP<3:0>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
F13BP<3:0>
R/W-0
R/W-0
R/W-0
F12BP<3:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-12
F15BP<3:0>: RX Buffer Written when Filter 15 Hits bits
bit 11-8
F14BP<3:0>: RX Buffer Written when Filter 14 Hits bits
bit 7-4
F13BP<3:0>: RX Buffer Written when Filter 13 Hits bits
bit 3-0
F12BP<3:0>: RX Buffer Written when Filter 12 Hits bits
DS70287A-page 238
x = Bit is unknown
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-16:
CiRXFnSID: ECAN ACCEPTANCE FILTER n STANDARD IDENTIFIER (n = 0, 1, ..., 15)
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
SID10
SID9
SID8
SID7
SID6
SID5
SID4
SID3
bit 15
bit 8
R/W-x
R/W-x
R/W-x
U-0
R/W-x
U-0
R/W-x
R/W-x
SID2
SID1
SID0
—
EXIDE
—
EID17
EID16
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-5
SID<10:0>: Standard Identifier bits
1 = Message address bit SIDx must be ‘1’ to match filter
0 = Message address bit SIDx must be ‘0’ to match filter
bit 4
Unimplemented: Read as ‘0’
bit 3
EXIDE: Extended Identifier Enable bit
If MIDE = 1 then:
1 = Match only messages with extended identifier addresses
0 = Match only messages with standard identifier addresses
If MIDE = 0 then:
Ignore EXIDE bit.
bit 2
Unimplemented: Read as ‘0’
bit 1-0
EID<17:16>: Extended Identifier bits
1 = Message address bit EIDx must be ‘1’ to match filter
0 = Message address bit EIDx must be ‘0’ to match filter
REGISTER 20-17:
x = Bit is unknown
CiRXFnEID: ECAN ACCEPTANCE FILTER n EXTENDED IDENTIFIER (n = 0, 1, ..., 15)
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
EID15
EID14
EID13
EID12
EID11
EID10
EID9
EID8
bit 15
bit 8
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
EID7
EID6
EID5
EID4
EID3
EID2
EID1
EID0
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
x = Bit is unknown
EID<15:0>: Extended Identifier bits
1 = Message address bit EIDx must be ‘1’ to match filter
0 = Message address bit EIDx must be ‘0’ to match filter
© 2007 Microchip Technology Inc.
DS70287A-page 239
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-18: CiFMSKSEL1: ECAN FILTER 7-0 MASK SELECTION REGISTER
R/W-0
R/W-0
F7MSK<1:0>
R/W-0
R/W-0
R/W-0
F6MSK<1:0>
R/W-0
R/W-0
F5MSK<1:0>
R/W-0
F4MSK<1:0>
bit 15
bit 8
R/W-0
R/W-0
F3MSK<1:0>
R/W-0
R/W-0
R/W-0
F2MSK<1:0>
R/W-0
R/W-0
F1MSK<1:0>
R/W-0
F0MSK<1:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-14
F7MSK<1:0>: Mask Source for Filter 7 bit
bit 13-12
F6MSK<1:0>: Mask Source for Filter 6 bit
bit 11-10
F5MSK<1:0>: Mask Source for Filter 5 bit
bit 9-8
F4MSK<1:0>: Mask Source for Filter 4 bit
bit 7-6
F3MSK<1:0>: Mask Source for Filter 3 bit
bit 5-4
F2MSK<1:0>: Mask Source for Filter 2 bit
bit 3-2
F1MSK<1:0>: Mask Source for Filter 1 bit
bit 1-0
F0MSK<1:0>: Mask Source for Filter 0 bit
11 = No mask
10 = Acceptance Mask 2 registers contain mask
01 = Acceptance Mask 1 registers contain mask
00 = Acceptance Mask 0 registers contain mask
DS70287A-page 240
x = Bit is unknown
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-19: CiRXMnSID: ECAN ACCEPTANCE FILTER MASK n STANDARD IDENTIFIER
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
SID10
SID9
SID8
SID7
SID6
SID5
SID4
SID3
bit 15
bit 8
R/W-x
R/W-x
R/W-x
U-0
R/W-x
U-0
R/W-x
R/W-x
SID2
SID1
SID0
—
MIDE
—
EID17
EID16
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-5
SID<10:0>: Standard Identifier bits
1 = Include bit SIDx in filter comparison
0 = Bit SIDx is don’t care in filter comparison
bit 4
Unimplemented: Read as ‘0’
bit 3
MIDE: Identifier Receive Mode bit
1 = Match only message types (standard or extended address) that correspond to EXIDE bit in filter
0 = Match either standard or extended address message if filters match
(i.e., if (Filter SID) = (Message SID) or if (Filter SID/EID) = (Message SID/EID))
bit 2
Unimplemented: Read as ‘0’
bit 1-0
EID<17:16>: Extended Identifier bits
1 = Include bit EIDx in filter comparison
0 = Bit EIDx is don’t care in filter comparison
REGISTER 20-20: CiRXMnEID: ECAN ACCEPTANCE FILTER MASK n EXTENDED IDENTIFIER
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
EID15
EID14
EID13
EID12
EID11
EID10
EID9
EID8
bit 15
bit 8
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
EID7
EID6
EID5
EID4
EID3
EID2
EID1
EID0
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
x = Bit is unknown
EID<15:0>: Extended Identifier bits
1 = Include bit EIDx in filter comparison
0 = Bit EIDx is don’t care in filter comparison
© 2007 Microchip Technology Inc.
DS70287A-page 241
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-21: CiRXFUL1: ECAN RECEIVE BUFFER FULL REGISTER 1
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
RXFUL15
RXFUL14
RXFUL13
RXFUL12
RXFUL11
RXFUL10
RXFUL9
RXFUL8
bit 15
bit 8
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
RXFUL7
RXFUL6
RXFUL5
RXFUL4
RXFUL3
RXFUL2
RXFUL1
RXFUL0
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
x = Bit is unknown
RXFUL<15:0>: Receive Buffer n Full bits
1 = Buffer is full (set by module)
0 = Buffer is empty (clear by application software)
REGISTER 20-22: CiRXFUL2: ECAN RECEIVE BUFFER FULL REGISTER 2
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
RXFUL31
RXFUL30
RXFUL29
RXFUL28
RXFUL27
RXFUL26
RXFUL25
RXFUL24
bit 15
bit 8
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
RXFUL23
RXFUL22
RXFUL21
RXFUL20
RXFUL19
RXFUL18
RXFUL17
RXFUL16
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
x = Bit is unknown
RXFUL<31:16>: Receive Buffer n Full bits
1 = Buffer is full (set by module)
0 = Buffer is empty (clear by application software)
DS70287A-page 242
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-23: CiRXOVF1: ECAN RECEIVE BUFFER OVERFLOW REGISTER 1
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
RXOVF15
RXOVF14
RXOVF13
RXOVF12
RXOVF11
RXOVF10
RXOVF9
RXOVF8
bit 15
bit 8
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
RXOVF7
RXOVF6
RXOVF5
RXOVF4
RXOVF3
RXOVF2
RXOVF1
RXOVF0
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
x = Bit is unknown
RXOVF<15:0>: Receive Buffer n Overflow bits
1 = Module pointed a write to a full buffer (set by module)
0 = Overflow is cleared (clear by application software)
REGISTER 20-24: CiRXOVF2: ECAN RECEIVE BUFFER OVERFLOW REGISTER 2
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
RXOVF31
RXOVF30
RXOVF29
RXOVF28
RXOVF27
RXOVF26
RXOVF25
RXOVF24
bit 15
bit 8
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
R/C-0
RXOVF23
RXOVF22
RXOVF21
RXOVF20
RXOVF19
RXOVF18
RXOVF17
RXOVF16
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
x = Bit is unknown
RXOVF<31:16>: Receive Buffer n Overflow bits
1 = Module pointed a write to a full buffer (set by module)
0 = Overflow is cleared (clear by application software)
© 2007 Microchip Technology Inc.
DS70287A-page 243
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-25:
CiTRmnCON: ECAN TX/RX BUFFER m CONTROL REGISTER (m = 0,2,4,6; n = 1,3,5,7)
R/W-0
R-0
R-0
R-0
R/W-0
R/W-0
TXENn
TXABTn
TXLARBn
TXERRn
TXREQn
RTRENn
R/W-0
R/W-0
TXnPRI<1:0>
bit 15
bit 8
R/W-0
R-0
TXENm
TXABTm(1)
R-0
R-0
TXLARBm(1) TXERRm(1)
R/W-0
R/W-0
TXREQm
RTRENm
R/W-0
R/W-0
TXmPRI<1:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-8
See Definition for Bits 7-0, Controls Buffer n
bit 7
TXENm: TX/RX Buffer Selection bit
1 = Buffer TRBn is a transmit buffer
0 = Buffer TRBn is a receive buffer
bit 6
TXABTm: Message Aborted bit(1)
1 = Message was aborted
0 = Message completed transmission successfully
bit 5
TXLARBm: Message Lost Arbitration bit(1)
1 = Message lost arbitration while being sent
0 = Message did not lose arbitration while being sent
bit 4
TXERRm: Error Detected During Transmission bit(1)
1 = A bus error occurred while the message was being sent
0 = A bus error did not occur while the message was being sent
bit 3
TXREQm: Message Send Request bit
Setting this bit to ‘1’ requests sending a message. The bit will automatically clear when the message
is successfully sent. Clearing the bit to ‘0’ while set will request a message abort.
bit 2
RTRENm: Auto-Remote Transmit Enable bit
1 = When a remote transmit is received, TXREQ will be set
0 = When a remote transmit is received, TXREQ will be unaffected
bit 1-0
TXmPRI<1:0>: Message Transmission Priority bits
11 = Highest message priority
10 = High intermediate message priority
01 = Low intermediate message priority
00 = Lowest message priority
Note 1:
This bit is cleared when TXREQ is set.
DS70287A-page 244
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
Note:
The buffers, SID, EID, DLC, Data Field and Receive Status registers are located in DMA RAM.
REGISTER 20-26: CiTRBnSID: ECAN BUFFER n STANDARD IDENTIFIER (n = 0, 1, ..., 31)
U-0
U-0
U-0
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
—
—
—
SID10
SID9
SID8
SID7
SID6
bit 15
bit 8
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
SID5
SID4
SID3
SID2
SID1
SID0
SRR
IDE
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-13
Unimplemented: Read as ‘0’
bit 12-2
SID<10:0>: Standard Identifier bits
bit 1
SRR: Substitute Remote Request bit
1 = Message will request remote transmission
0 = Normal message
bit 0
IDE: Extended Identifier bit
1 = Message will transmit extended identifier
0 = Message will transmit standard identifier
x = Bit is unknown
REGISTER 20-27: CiTRBnEID: ECAN BUFFER n EXTENDED IDENTIFIER (n = 0, 1, ..., 31)
U-0
U-0
U-0
U-0
R/W-x
R/W-x
R/W-x
R/W-x
—
—
—
—
EID17
EID16
EID15
EID14
bit 15
bit 8
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
EID13
EID12
EID11
EID10
EID9
EID8
EID7
EID6
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-12
Unimplemented: Read as ‘0’
bit 11-0
EID<17:6>: Extended Identifier bits
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 245
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-28: CiTRBnDLC: ECAN BUFFER n DATA LENGTH CONTROL (n = 0, 1, ..., 31)
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
EID5
EID4
EID3
EID2
EID1
EID0
RTR
RB1
bit 15
bit 8
U-0
U-0
U-0
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
—
—
—
RB0
DLC3
DLC2
DLC1
DLC0
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-10
EID<5:0>: Extended Identifier bits
bit 9
RTR: Remote Transmission Request bit
1 = Message will request remote transmission
0 = Normal message
bit 8
RB1: Reserved Bit 1
User must set this bit to ‘0’ per CAN protocol.
bit 7-5
Unimplemented: Read as ‘0’
bit 4
RB0: Reserved Bit 0
User must set this bit to ‘0’ per CAN protocol.
bit 3-0
DLC<3:0>: Data Length Code bits
REGISTER 20-29:
x = Bit is unknown
CiTRBnDm: ECAN BUFFER n DATA FIELD BYTE m (n = 0, 1, ..., 31; m = 0, 1, ..., 7)(1)
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
TRBnDm7
TRBnDm6
TRBnDm5
TRBnDm4
TRBnDm3
TRBnDm2
TRBnDm1
TRBnDm0
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 7-0
Note 1:
x = Bit is unknown
TRnDm<7:0>: Data Field Buffer ‘n’ Byte ‘m’ bits
The Most Significant Byte contains byte (m + 1) of the buffer.
DS70287A-page 246
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 20-30: CiTRBnSTAT: ECAN RECEIVE BUFFER n STATUS (n = 0, 1, ..., 31)
U-0
U-0
U-0
R/W-x
R/W-x
R/W-x
R/W-x
R/W-x
—
—
—
FILHIT4
FILHIT3
FILHIT2
FILHIT1
FILHIT0
bit 15
bit 8
U-0
U-0
U-0
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
—
—
—
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-13
Unimplemented: Read as ‘0’
bit 12-8
FILHIT<4:0>: Filter Hit Code bits (only written by module for receive buffers, unused for transmit buffers)
Encodes number of filter that resulted in writing this buffer.
bit 7-0
Unimplemented: Read as ‘0’
© 2007 Microchip Technology Inc.
DS70287A-page 247
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 248
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
21.0
Note:
10-BIT/12-BIT
ANALOG-TO-DIGITAL
CONVERTER (ADC)
This data sheet summarizes the features
of
this
group
of dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family devices. It is not intended
to be a comprehensive reference source.
To complement the information in this data
sheet, refer to the “dsPIC33F Family
Reference Manual”. Refer to the
Microchip web site (www.microchip.com)
for the latest dsPIC33F family reference
manual chapters.
voltage reference inputs may be shared with other analog input pins. The actual number of analog input pins
and external voltage reference input configuration will
depend on the specific device. Refer to the device data
sheet for further details.
A block diagram of the ADC is shown in Figure 21-1.
21.2
The following configuration steps should be performed.
1.
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family devices have up to 32 ADC input channels.
These devices also have up to 2 ADC modules (ADCx,
where ‘x’ = 1 or 2), each with its own set of
Special Function Registers.
The AD12B bit (ADxCON1<10>) allows each of the
ADC modules to be configured by the user as either a
10-bit, 4-sample/hold ADC (default configuration) or a
12-bit, 1-sample/hold ADC.
Note:
21.1
The ADC module needs to be disabled
before modifying the AD12B bit.
Key Features
The 10-bit ADC configuration has the following key
features:
•
•
•
•
•
•
•
•
•
•
Successive Approximation (SAR) conversion
Conversion speeds of up to 1.1 Msps
Up to 32 analog input pins
External voltage reference input pins
Simultaneous sampling of up to four analog input
pins
Automatic Channel Scan mode
Selectable conversion trigger source
Selectable Buffer Fill modes
Four result alignment options (signed/unsigned,
fractional/integer)
Operation during CPU Sleep and Idle modes
The 12-bit ADC configuration supports all the above
features, except:
• In the 12-bit configuration, conversion speeds of
up to 500 Ksps are supported
• There is only 1 sample/hold amplifier in the 12-bit
configuration, so simultaneous sampling of
multiple channels is not supported.
Depending on the particular device pinout, the ADC
can have up to 32 analog input pins, designated AN0
through AN31. In addition, there are two analog input
pins for external voltage reference connections. These
© 2007 Microchip Technology Inc.
ADC Initialization
2.
Configure the ADC module:
a) Select port pins as analog inputs
(ADxPCFGH<15:0> or ADxPCFGL<15:0>)
b) Select voltage reference source to match
expected range on analog inputs
(ADxCON2<15:13>)
c) Select the analog conversion clock to
match desired data rate with processor
clock (ADxCON3<5:0>)
d) Determine how many S/H channels will be
used
(ADxCON2<9:8>
and
ADxPCFGH<15:0> or ADxPCFGL<15:0>)
e) Select the appropriate sample/conversion
sequence
(ADxCON1<7:5>
and
ADxCON3<12:8>)
f) Select how conversion results are
presented in the buffer (ADxCON1<9:8>)
g) Turn on ADC module (ADxCON1<15>)
Configure ADC interrupt (if required):
a) Clear the ADxIF bit
b) Select ADC interrupt priority
21.3
ADC and DMA
If more than one conversion result needs to be buffered
before triggering an interrupt, DMA data transfers can
be used. Both ADC1 and ADC2 can trigger a DMA data
transfer. If ADC1 or ADC2 is selected as the DMA IRQ
source, a DMA transfer occurs when the AD1IF or
AD2IF bit gets set as a result of an ADC1 or ADC2
sample conversion sequence.
The SMPI<3:0> bits (ADxCON2<5:2>) are used to
select how often the DMA RAM buffer pointer is
incremented.
The ADDMABM bit (ADxCON1<12>) determines how
the conversion results are filled in the DMA RAM buffer
area being used for ADC. If this bit is set, DMA buffers
are written in the order of conversion. The module will
provide an address to the DMA channel that is the
same as the address used for the non-DMA
stand-alone buffer. If the ADDMABM bit is cleared, then
DMA buffers are written in Scatter/Gather mode. The
module will provide a scatter/gather address to the
DMA channel, based on the index of the analog input
and the size of the DMA buffer.
DS70287A-page 249
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 21-1:
ADC1 MODULE BLOCK DIAGRAM
AVDD
VREF+(1)
AVSS
AN6
AN9
VREFAN1
AN4
AN1
AN7
AN10
VREFAN2
AN5
AN2
AN8
AN11
VREF-
AN3
00000
00001
00010
00011
AN4
00100
AN5
00101
AN6
00110
AN7
00111
AN8
01000
AN9
01001
AN10
01010
AN11
01011
AN30
11110
AN31
11111
VREFAN1
Note 1:
2:
+
-
S/H
+
-
CH1(2)
CH2(2)
ADC1
Conversion
Result
Conversion Logic
S/H
16-bit
ADC Output
Buffer
+
-
S/H
CH3(2)
CH1,CH2,
CH3,CH0
Sample
Input
Switches
+
-
Sample/Sequence
Control
Bus Interface
AN0
AN3
AN0
Data Format
VREF-(1)
Input MUX
Control
CH0
S/H
VREF+, VREF- inputs may be multiplexed with other analog inputs. See device data sheet for details.
Channels 1, 2 and 3 are not applicable for the 12-bit mode of operation.
DS70287A-page 250
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 21-2:
ADC2 MODULE BLOCK DIAGRAM(1)
AVDD
VREF+(2)
AVSS
AN6
AN9
VREFAN1
AN4
AN1
AN7
AN10
VREFAN2
AN5
AN2
AN8
AN11
VREF-
AN3
00000
00001
00010
00011
AN4
00100
AN5
00101
AN6
00110
AN7
00111
AN8
01000
AN9
01001
AN10
01010
AN11
01011
AN14
11110
AN15
11111
VREFAN1
Note 1:
2:
3:
+
-
S/H
+
-
CH1(3)
CH2(3)
ADC2
Conversion
Result
Conversion Logic
S/H
16-bit
ADC Output
Buffer
+
-
S/H
CH3(3)
CH1,CH2,
CH3,CH0
Sample
Input
Switches
+
-
Sample/Sequence
Control
Bus Interface
AN0
AN3
AN0
Data Format
VREF-(2)
Input MUX
Control
CH0
S/H
On devices with two ADC modules, AN0-AN15 can be read by either ADC1, ADC2 or both ADCs.
VREF+, VREF- inputs may be multiplexed with other analog inputs. See device data sheet for details.
Channels 1, 2 and 3 are not applicable for the 12-bit mode of operation.
© 2007 Microchip Technology Inc.
DS70287A-page 251
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
EQUATION 21-1:
ADC CONVERSION CLOCK PERIOD
TAD = TCY(ADCS + 1)
ADCS =
FIGURE 21-3:
TAD
–1
TCY
ADC TRANSFER FUNCTION (10-BIT EXAMPLE)
Output Code
11 1111 1111 (= 1023)
11 1111 1110 (= 1022)
10 0000 0011 (= 515)
10 0000 0010 (= 514)
10 0000 0001 (= 513)
10 0000 0000 (= 512)
01 1111 1111 (= 511)
01 1111 1110 (= 510)
01 1111 1101 (= 509)
00 0000 0001 (= 1)
00 0000 0000 (= 0)
VREFL
VREFL +
VREFH – VREFL
VREFL +
1024
512 * (VREFH – VREFL)
1024
VREFL +
1023 * (VREFH – VREFL)
VREFH
1024
(VINH – VINL)
FIGURE 21-4:
ADC CONVERSION CLOCK PERIOD BLOCK DIAGRAM
ADxCON3<15>
ADC Internal
RC Clock
0
TAD
ADxCON3<5:0>
1
6
TOSC(1)
X2
TCY
ADC Conversion
Clock Multiplier
1, 2, 3, 4, 5,..., 64
Note:
Refer to Figure 8-2 for the derivation of FOSC when the PLL is enabled. If the PLL is not used, FOSC is equal to
the clock source frequency. TOSC = 1/FOSC.
DS70287A-page 252
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 21-1:
ADxCON1: ADCx CONTROL REGISTER 1 (where x = 1 or 2)
R/W-0
U-0
R/W-0
R/W-0
U-0
R/W-0
ADON
—
ADSIDL
ADDMABM
—
AD12B
R/W-0
R/W-0
FORM<1:0>
bit 15
bit 8
R/W-0
R/W-0
R/W-0
SSRC<2:0>
U-0
R/W-0
R/W-0
R/W-0
HC,HS
R/C-0
HC, HS
—
SIMSAM
ASAM
SAMP
DONE
bit 7
bit 0
Legend:
HC = Cleared by hardware
HS = Set by hardware
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15
ADON: ADC Operating Mode bit
1 = ADC module is operating
0 = ADC is off
bit 14
Unimplemented: Read as ‘0’
bit 13
ADSIDL: Stop in Idle Mode bit
1 = Discontinue module operation when device enters Idle mode
0 = Continue module operation in Idle mode
bit 12
ADDMABM: DMA Buffer Build Mode bit
1 = DMA buffers are written in the order of conversion. The module will provide an address to the DMA
channel that is the same as the address used for the non-DMA stand-alone buffer.
0 = DMA buffers are written in Scatter/Gather mode. The module will provide a scatter/gather address
to the DMA channel, based on the index of the analog input and the size of the DMA buffer.
bit 11
Unimplemented: Read as ‘0’
bit 10
AD12B: 10-bit or 12-bit Operation Mode bit
1 = 12-bit, 1-channel ADC operation
0 = 10-bit, 4-channel ADC operation
bit 9-8
FORM<1:0>: Data Output Format bits
For 10-bit operation:
11 = Signed fractional (DOUT = sddd dddd dd00 0000, where s = .NOT.d<9>)
10 = Fractional (DOUT = dddd dddd dd00 0000)
01 = Signed integer (DOUT = ssss sssd dddd dddd, where s = .NOT.d<9>)
00 = Integer (DOUT = 0000 00dd dddd dddd)
For 12-bit operation:
11 = Signed fractional (DOUT = sddd dddd dddd 0000, where s = .NOT.d<11>)
10 = Fractional (DOUT = dddd dddd dddd 0000)
01 = Signed Integer (DOUT = ssss sddd dddd dddd, where s = .NOT.d<11>)
00 = Integer (DOUT = 0000 dddd dddd dddd)
bit 7-5
SSRC<2:0>: Sample Clock Source Select bits
111 = Internal counter ends sampling and starts conversion (auto-convert)
110 = Reserved
101 = Reserved
100 = Reserved
011 = MPWM interval ends sampling and starts conversion
010 = GP timer (Timer3 for ADC1, Timer5 for ADC2) compare ends sampling and starts conversion
001 = Active transition on INTx pin ends sampling and starts conversion
000 = Clearing sample bit ends sampling and starts conversion
bit 4
Unimplemented: Read as ‘0’
© 2007 Microchip Technology Inc.
DS70287A-page 253
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 21-1:
ADxCON1: ADCx CONTROL REGISTER 1 (CONTINUED)(where x = 1 or 2)
bit 3
SIMSAM: Simultaneous Sample Select bit (only applicable when CHPS<1:0> = 01 or 1x)
When AD12B = 1, SIMSAM is: U-0, Unimplemented, Read as ‘0’
1 = Samples CH0, CH1, CH2, CH3 simultaneously (when CHPS<1:0> = 1x); or
Samples CH0 and CH1 simultaneously (when CHPS<1:0> = 01)
0 = Samples multiple channels individually in sequence
bit 2
ASAM: ADC Sample Auto-Start bit
1 = Sampling begins immediately after last conversion. SAMP bit is auto-set.
0 = Sampling begins when SAMP bit is set
bit 1
SAMP: ADC Sample Enable bit
1 = ADC sample/hold amplifiers are sampling
0 = ADC sample/hold amplifiers are holding
If ASAM = 0, software may write ‘1’ to begin sampling. Automatically set by hardware if ASAM = 1.
If SSRC = 000, software may write ‘0’ to end sampling and start conversion. If SSRC ≠ 000,
automatically cleared by hardware to end sampling and start conversion.
bit 0
DONE: ADC Conversion Status bit
1 = ADC conversion cycle is completed.
0 = ADC conversion not started or in progress
Automatically set by hardware when ADC conversion is complete. Software may write ‘0’ to clear
DONE status (software not allowed to write ‘1’). Clearing this bit will NOT affect any operation in
progress. Automatically cleared by hardware at start of a new conversion.
DS70287A-page 254
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 21-2:
R/W-0
ADxCON2: ADCx CONTROL REGISTER 2 (where x = 1 or 2)
R/W-0
R/W-0
VCFG<2:0>
U-0
U-0
R/W-0
—
—
CSCNA
R/W-0
R/W-0
CHPS<1:0>
bit 15
bit 8
R-0
U-0
BUFS
—
R/W-0
R/W-0
R/W-0
R/W-0
SMPI<3:0>
R/W-0
R/W-0
BUFM
ALTS
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-13
x = Bit is unknown
VCFG<2:0>: Converter Voltage Reference Configuration bits
ADREF+
ADREF-
000
AVDD
Avss
001
External VREF+
Avss
010
AVDD
External VREF-
011
External VREF+
External VREF-
1xx
AVDD
Avss
bit 12-11
Unimplemented: Read as ‘0’
bit 10
CSCNA: Scan Input Selections for CH0+ during Sample A bit
1 = Scan inputs
0 = Do not scan inputs
bit 9-8
CHPS<1:0>: Selects Channels Utilized bits
When AD12B = 1, CHPS<1:0> is: U-0, Unimplemented, Read as ‘0’
1x = Converts CH0, CH1, CH2 and CH3
01 = Converts CH0 and CH1
00 = Converts CH0
bit 7
BUFS: Buffer Fill Status bit (only valid when BUFM = 1)
1 = ADC is currently filling second half of buffer, user should access data in the first half
0 = ADC is currently filling first half of buffer, user should access data in the second half
bit 6
Unimplemented: Read as ‘0’
bit 5-2
SMPI<3:0>: Selects Increment Rate for DMA Addresses bits or number of sample/conversion
operations per interrupt.
1111 = Increments the DMA address or generates interrupt after completion of every 16th
sample/conversion operation
1110 = Increments the DMA address or generates interrupt after completion of every 15th
sample/conversion operation
•
•
•
0001 = Increments the DMA address or generates interrupt after completion of every 2nd
sample/conversion operation
0000 = Increments the DMA address or generates interrupt after completion of every
sample/conversion operation
bit 1
BUFM: Buffer Fill Mode Select bit
1 = Starts filling first half of buffer on first interrupt and the second half of buffer on next interrupt
0 = Always starts filling buffer from the beginning
bit 0
ALTS: Alternate Input Sample Mode Select bit
1 = Uses channel input selects for Sample A on first sample and Sample B on next sample
0 = Always uses channel input selects for Sample A
© 2007 Microchip Technology Inc.
DS70287A-page 255
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 21-3:
ADxCON3: ADCx CONTROL REGISTER 3
R/W-0
U-0
U-0
ADRC
—
—
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
SAMC<4:0>
bit 15
bit 8
U-0
U-0
—
—
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
ADCS<5:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
ADRC: ADC Conversion Clock Source bit
1 = ADC internal RC clock
0 = Clock derived from system clock
bit 14-13
Unimplemented: Read as ‘0’
bit 12-8
SAMC<4:0>: Auto Sample Time bits
11111 = 31 TAD
•
•
•
00001 = 1 TAD
00000 = 0 TAD
bit 7-6
Unimplemented: Read as ‘0’
bit 5-0
ADCS<5:0>: ADC Conversion Clock Select bits
111111 = TCY · (ADCS<7:0> + 1) = 64 · TCY = TAD
•
•
•
000010 = TCY · (ADCS<7:0> + 1) = 3 · TCY = TAD
000001 = TCY · (ADCS<7:0> + 1) = 2 · TCY = TAD
000000 = TCY · (ADCS<7:0> + 1) = 1 · TCY = TAD
DS70287A-page 256
x = Bit is unknown
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 21-4:
ADxCON4: ADCx CONTROL REGISTER 4
U-0
U-0
U-0
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
—
—
—
bit 15
bit 8
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
R/W-0
R/W-0
R/W-0
DMABL<2:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-3
Unimplemented: Read as ‘0’
bit 2-0
DMABL<2:0>: Selects Number of DMA Buffer Locations per Analog Input bits
111 = Allocates 128 words of buffer to each analog input
110 = Allocates 64 words of buffer to each analog input
101 = Allocates 32 words of buffer to each analog input
100 = Allocates 16 words of buffer to each analog input
011 = Allocates 8 words of buffer to each analog input
010 = Allocates 4 words of buffer to each analog input
001 = Allocates 2 words of buffer to each analog input
000 = Allocates 1 word of buffer to each analog input
© 2007 Microchip Technology Inc.
DS70287A-page 257
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 21-5:
ADxCHS123: ADCx INPUT CHANNEL 1, 2, 3 SELECT REGISTER
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
R/W-0
R/W-0
CH123NB<1:0>
R/W-0
CH123SB
bit 15
bit 8
U-0
U-0
U-0
U-0
U-0
—
—
—
—
—
R/W-0
R/W-0
CH123NA<1:0>
R/W-0
CH123SA
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-11
Unimplemented: Read as ‘0’
bit 10-9
CH123NB<1:0>: Channel 1, 2, 3 Negative Input Select for Sample B bits
When AD12B = 1, CHxNB is: U-0, Unimplemented, Read as ‘0’
11 = CH1 negative input is AN9, CH2 negative input is AN10, CH3 negative input is AN11
10 = CH1 negative input is AN6, CH2 negative input is AN7, CH3 negative input is AN8
0x = CH1, CH2, CH3 negative input is VREF-
bit 8
CH123SB: Channel 1, 2, 3 Positive Input Select for Sample B bit
When AD12B = 1, CHxSA is: U-0, Unimplemented, Read as ‘0’
1 = CH1 positive input is AN3, CH2 positive input is AN4, CH3 positive input is AN5
0 = CH1 positive input is AN0, CH2 positive input is AN1, CH3 positive input is AN2
bit 7-3
Unimplemented: Read as ‘0’
bit 2-1
CH123NA<1:0>: Channel 1, 2, 3 Negative Input Select for Sample A bits
When AD12B = 1, CHxNA is: U-0, Unimplemented, Read as ‘0’
11 = CH1 negative input is AN9, CH2 negative input is AN10, CH3 negative input is AN11
10 = CH1 negative input is AN6, CH2 negative input is AN7, CH3 negative input is AN8
0x = CH1, CH2, CH3 negative input is VREF-
bit 0
CH123SA: Channel 1, 2, 3 Positive Input Select for Sample A bit
When AD12B = 1, CHxSA is: U-0, Unimplemented, Read as ‘0’
1 = CH1 positive input is AN3, CH2 positive input is AN4, CH3 positive input is AN5
0 = CH1 positive input is AN0, CH2 positive input is AN1, CH3 positive input is AN2
DS70287A-page 258
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 21-6:
ADxCHS0: ADCx INPUT CHANNEL 0 SELECT REGISTER
R/W-0
U-0
U-0
CH0NB
—
—
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
CH0SB<4:0>
bit 15
bit 8
R/W-0
U-0
U-0
CH0NA
—
—
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
CH0SA<4:0>
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15
CH0NB: Channel 0 Negative Input Select for Sample B bit
Same definition as bit 7.
bit 14-13
Unimplemented: Read as ‘0’
bit 12-8
CH0SB<4:0>: Channel 0 Positive Input Select for Sample B bits
Same definition as bit<4:0>.
bit 7
CH0NA: Channel 0 Negative Input Select for Sample A bit
1 = Channel 0 negative input is AN1
0 = Channel 0 negative input is VREF-
bit 6-5
Unimplemented: Read as ‘0’
bit 4-0
CH0SA<4:0>: Channel 0 Positive Input Select for Sample A bits
11111 = Channel 0 positive input is AN31
11110 = Channel 0 positive input is AN30
•
•
•
00010 = Channel 0 positive input is AN2
00001 = Channel 0 positive input is AN1
00000 = Channel 0 positive input is AN0
© 2007 Microchip Technology Inc.
x = Bit is unknown
DS70287A-page 259
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 21-7:
ADxCSSH: ADCx INPUT SCAN SELECT REGISTER HIGH(1)
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
CSS31
CSS30
CSS29
CSS28
CSS27
CSS26
CSS25
CSS24
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
CSS23
CSS22
CSS21
CSS20
CSS19
CSS18
CSS17
CSS16
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
Note 1:
x = Bit is unknown
CSS<31:16>: ADC Input Scan Selection bits
1 = Select ANx for input scan
0 = Skip ANx for input scan
On devices without 32 analog inputs, all ADxCSSL bits may be selected by user. However, inputs selected
for scan without a corresponding input on device will convert ADREF-.
REGISTER 21-8:
ADxCSSL: ADCx INPUT SCAN SELECT REGISTER LOW(1)
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
CSS15
CSS14
CSS13
CSS12
CSS11
CSS10
CSS9
CSS8
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
CSS7
CSS6
CSS5
CSS4
CSS3
CSS2
CSS1
CSS0
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
bit 15-0
Note 1:
x = Bit is unknown
CSS<15:0>: ADC Input Scan Selection bits
1 = Select ANx for input scan
0 = Skip ANx for input scan
On devices without 16 analog inputs, all ADxCSSL bits may be selected by user. However, inputs selected
for scan without a corresponding input on device will convert ADREF-.
DS70287A-page 260
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
REGISTER 21-9:
AD1PCFGH: ADC1 PORT CONFIGURATION REGISTER HIGH(1,2)
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PCFG31
PCFG30
PCFG29
PCFG28
PCFG27
PCFG26
PCFG25
PCFG24
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PCFG23
PCFG22
PCFG21
PCFG20
PCFG19
PCFG18
PCFG17
PCFG16
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-0
PCFG<31:16>: ADC Port Configuration Control bits
1 = Port pin in Digital mode, port read input enabled, ADC input multiplexor connected to AVSS
0 = Port pin in Analog mode, port read input disabled, ADC samples pin voltage
Note 1:
On devices without 32 analog inputs, all PCFG bits are R/W by user. However, PCFG bits are ignored on
ports without a corresponding input on device.
ADC2 only supports analog inputs AN0-AN15; therefore, no ADC2 port Configuration register exists.
2:
REGISTER 21-10: ADxPCFGL: ADCx PORT CONFIGURATION REGISTER LOW(1,2)
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PCFG15
PCFG14
PCFG13
PCFG12
PCFG11
PCFG10
PCFG9
PCFG8
bit 15
bit 8
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
R/W-0
PCFG7
PCFG6
PCFG5
PCFG4
PCFG3
PCFG2
PCFG1
PCFG0
bit 7
bit 0
Legend:
R = Readable bit
W = Writable bit
U = Unimplemented bit, read as ‘0’
-n = Value at POR
‘1’ = Bit is set
‘0’ = Bit is cleared
x = Bit is unknown
bit 15-0
PCFG<15:0>: ADC Port Configuration Control bits
1 = Port pin in Digital mode, port read input enabled, ADC input multiplexor connected to AVSS
0 = Port pin in Analog mode, port read input disabled, ADC samples pin voltage
Note 1:
On devices without 16 analog inputs, all PCFG bits are R/W by user. However, PCFG bits are ignored on
ports without a corresponding input on device.
On devices with two analog-to-digital modules, both AD1PCFGL and AD2PCFGL will affect the
configuration of port pins multiplexed with AN0-AN15.
2:
© 2007 Microchip Technology Inc.
DS70287A-page 261
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 262
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
22.0
SPECIAL FEATURES
Note:
22.1
The Configuration bits can be programmed (read as
‘0’), or left unprogrammed (read as ‘1’), to select various device configurations. These bits are mapped
starting at program memory location 0xF80000.
This data sheet summarizes the features
of
this
group
of dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family devices. It is not intended
to be a comprehensive reference source.
To complement the information in this data
sheet, refer to the “dsPIC33F Family
Reference Manual”. Refer to the
Microchip web site (www.microchip.com)
for the latest dsPIC33F family reference
manual chapters.
The device Configuration register map is shown in
Table 22-1.
The individual Configuration bit descriptions for the
FBS, FSS, FGS, FOSCSEL, FOSC, FWDT, FPOR and
FICD Configuration registers are shown in Table 22-2.
Note that address 0xF80000 is beyond the user program
memory space. In fact, it belongs to the configuration
memory space (0x800000-0xFFFFFF) which can only be
accessed using table reads and table writes.
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
devices include several features intended to maximize
application flexibility and reliability, and minimize cost
through elimination of external components. These are:
•
•
•
•
•
•
The upper byte of all device Configuration registers
should always be ‘1111 1111’. This makes them
appear to be NOP instructions in the remote event that
their locations are ever executed by accident. Since
Configuration bits are not implemented in the
corresponding locations, writing ‘1’s to these locations
has no effect on device operation.
Flexible Configuration
Watchdog Timer (WDT)
Code Protection and CodeGuard™ Security
JTAG Boundary Scan Interface
In-Circuit Serial Programming™ (ICSP™)
In-Circuit Emulation
TABLE 22-1:
Address
Configuration Bits
To prevent inadvertent configuration changes during
code execution, all programmable Configuration bits
are write-once. After a bit is initially programmed during
a power cycle, it cannot be written to again. Changing
a device configuration requires that power to the device
be cycled.
DEVICE CONFIGURATION REGISTER MAP
Name
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0xF80000 FBS
RBS<1:0>
—
—
BSS<2:0>
BWRP
0xF80002 FSS
RSS<1:0>
—
—
SSS<2:0>
SWRP
0xF80004 FGS
0xF80006 FOSCSEL
—
—
—
—
—
IESO
—
—
—
—
FNOSC<2:0>
FCKSM<1:0>
—
OSCIOFNC POSCMD<1:0>
—
—
0xF8000A FWDT
FWDTEN
WINDIS
—
WDTPRE
0xF8000C FPOR
PWMPIN
HPOL
LPOL
0xF80008 FOSC
0xF8000E RESERVED3
—
GSS0
GWRP
WDTPOST<3:0>
—
FPWRT<2:0>
Reserved(1)
0xF80010 FUID0
User Unit ID Byte 0
0xF80012 FUID1
User Unit ID Byte 1
0xF80014 FUID2
User Unit ID Byte 2
0xF80016 FUID3
User Unit ID Byte 3
Note 1:
2:
GSS1
These reserved bits read as ‘1’ and must be programmed as ‘1’.
Unimplemented bits are read as ‘0’.
© 2007 Microchip Technology Inc.
DS70287A-page 263
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 22-2:
DSPIC33F CONFIGURATION BITS DESCRIPTION
Bit Field
Register
Description
BWRP
FBS
Boot Segment Program Flash Write Protection
1 = Boot segment may be written
0 = Boot segment is write-protected
BSS<2:0>
FBS
Boot Segment Program Flash Code Protection Size
X11 = No Boot program Flash segment
Boot space is 1K IW less VS
110 = Standard security; boot program Flash segment starts at End of
VS, ends at 0007FEh
010 = High security; boot program Flash segment starts at End of VS,
ends at 0007FEh
Boot space is 4K IW less VS
101 = Standard security; boot program Flash segment starts at End of
VS, ends at 001FFEh
001 = High security; boot program Flash segment starts at End of VS,
ends at 001FFEh
Boot space is 8K IW less VS
100 = Standard security; boot program Flash segment starts at End of
VS, ends at 003FFEh
000 = High security; boot program Flash segment starts at End of VS,
ends at 003FFEh
RBS<1:0>
FBS
Boot Segment RAM Code Protection
10 = No Boot RAM defined
10 = Boot RAM is 128 Bytes
01 = Boot RAM is 256 Bytes
00 = Boot RAM is 1024 Bytes
SWRP
FSS
Secure Segment Program Flash Write Protection
1 = Secure segment may be written
0 = Secure segment is write-protected.
DS70287A-page 264
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 22-2:
DSPIC33F CONFIGURATION BITS DESCRIPTION (CONTINUED)
Bit Field
Register
SSS<2:0>
FSS
Description
Secure Segment Program Flash Code Protection Size
(FOR 128K and 256K DEVICES)
X11 = No Secure program Flash segment
Secure space is 8K IW less BS
110 = Standard security; secure program Flash segment starts at End
of BS, ends at 0x003FFE
010 = High security; secure program Flash segment starts at End of
BS, ends at 0x003FFE
Secure space is 16K IW less BS
101 = Standard security; secure program Flash segment starts at End
of BS, ends at 0x007FFE
001 = High security; secure program Flash segment starts at End of
BS, ends at 0x007FFE
Secure space is 32K IW less BS
100 = Standard security; secure program Flash segment starts at End
of BS, ends at 0x00FFFE
000 = High security; secure program Flash segment starts at End of
BS, ends at 0x00FFFE
(FOR 64K DEVICES)
X11 = No Secure program Flash segment
Secure space is 4K IW less BS
110 = Standard security; secure program Flash segment starts at End
of BS, ends at 0x001FFE
010 = High security; secure program Flash segment starts at End of
BS, ends at 0x001FFE
Secure space is 8K IW less BS
101 = Standard security; secure program Flash segment starts at End
of BS, ends at 0x003FFE
001 = High security; secure program Flash segment starts at End of
BS, ends at 0x003FFE
Secure space is 16K IW less BS
100 = Standard security; secure program Flash segment starts at End
of BS, ends at 007FFEh
000 = High security; secure program Flash segment starts at End of
BS, ends at 0x007FFE
RSS<1:0>
FSS
Secure Segment RAM Code Protection
10 = No Secure RAM defined
10 = Secure RAM is 256 Bytes less BS RAM
01 = Secure RAM is 2048 Bytes less BS RAM
00 = Secure RAM is 4096 Bytes less BS RAM
GSS<1:0>
FGS
General Segment Code-Protect bit
11 = User program memory is not code-protected
10 = Standard security; general program Flash segment starts at End
of SS, ends at EOM
0x = High security; general program Flash segment starts at End of SS,
ends at EOM
© 2007 Microchip Technology Inc.
DS70287A-page 265
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 22-2:
DSPIC33F CONFIGURATION BITS DESCRIPTION (CONTINUED)
Bit Field
Register
GWRP
FGS
IESO
FOSCSEL
Two-speed Oscillator Start-up Enable bit
1 = Start-up device with FRC, then automatically switch to the
user-selected oscillator source when ready
0 = Start-up device with user-selected oscillator source
FNOSC<2:0>
FOSCSEL
Initial Oscillator Source Selection bits
111 = Internal Fast RC (FRC) oscillator with postscaler
110 = Internal Fast RC (FRC) oscillator with divide-by-16
101 = LPRC oscillator
100 = Secondary (LP) oscillator
011 = Primary (XT, HS, EC) oscillator with PLL
010 = Primary (XT, HS, EC) oscillator
001 = Internal Fast RC (FRC) oscillator with PLL
000 = FRC oscillator
FCKSM<1:0>
FOSC
Clock Switching Mode bits
1x = Clock switching is disabled, Fail-Safe Clock Monitor is disabled
01 = Clock switching is enabled, Fail-Safe Clock Monitor is disabled
00 = Clock switching is enabled, Fail-Safe Clock Monitor is enabled
OSCIOFNC
FOSC
OSC2 Pin Function bit (except in XT and HS modes)
1 = OSC2 is clock output
0 = OSC2 is general purpose digital I/O pin
POSCMD<1:0>
FOSC
Primary Oscillator Mode Select bits
11 = Primary oscillator disabled
10 = HS Crystal Oscillator mode
01 = XT Crystal Oscillator mode
00 = EC (External Clock) mode
FWDTEN
FWDT
Watchdog Timer Enable bit
1 = Watchdog Timer always enabled (LPRC oscillator cannot be disabled.
Clearing the SWDTEN bit in the RCON register will have no effect.)
0 = Watchdog Timer enabled/disabled by user software (LPRC can be
disabled by clearing the SWDTEN bit in the RCON register)
WINDIS
FWDT
Watchdog Timer Window Enable bit
1 = Watchdog Timer in Non-Window mode
0 = Watchdog Timer in Window mode
WDTPRE
FWDT
Watchdog Timer Prescaler bit
1 = 1:128
0 = 1:32
WDTPOST
FWDT
Watchdog Timer Postscaler bits
1111 = 1:32,768
1110 = 1:16,384
.
.
.
0001 = 1:2
0000 = 1:1
PWMPIN
FPOR
Motor Control PWM Module Pin Mode bit
1 = PWM module pins controlled by PORT register at device Reset
(tri-stated)
0 = PWM module pins controlled by PWM module at device Reset
(configured as output pins)
DS70287A-page 266
Description
General Segment Write-Protect bit
1 = User program memory is not write-protected
0 = User program memory is write-protected
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 22-2:
Bit Field
Register
Description
HPOL
FPOR
Motor Control PWM High Side Polarity bit
1 = PWM module high side output pins have active-high output polarity
0 = PWM module high side output pins have active-low output polarity
LPOL
FPOR
Motor Control PWM Low Side Polarity bit
1 = PWM module low side output pins have active-high output polarity
0 = PWM module low side output pins have active-low output polarity
FPWRT<2:0>
FPOR
Power-on Reset Timer Value Select bits
111 = PWRT = 128 ms
110 = PWRT = 64 ms
101 = PWRT = 32 ms
100 = PWRT = 16 ms
011 = PWRT = 8 ms
010 = PWRT = 4 ms
001 = PWRT = 2 ms
000 = PWRT = Disabled
Reserved
RESERVED3,
FPOR
—
22.2
DSPIC33F CONFIGURATION BITS DESCRIPTION (CONTINUED)
Reserved (either read as ‘1’ and write as ‘1’, or read as ‘0’ and
write as ‘0’)
FGS, FOSCSEL, Unimplemented (read as ‘0’, write as ‘0’)
FOSC, FWDT,
FPOR
On-Chip Voltage Regulator
FIGURE 22-1:
All of the dsPIC33FJXXXMCX06/X08/X10 Motor Control Family devices power their core digital logic at a
nominal 2.5V. This may create an issue for designs that
are required to operate at a higher typical voltage, such
as 3.3V. To simplify system design, all devices in the
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
family incorporate an on-chip regulator that allows the
device to run its core logic from VDD.
The regulator provides power to the core from the other
VDD pins. The regulator requires that a low-ESR (less
than 5 ohms) capacitor (such as tantalum or ceramic)
be connected to the VDDCORE/VCAP pin (Figure 22-1).
This helps to maintain the stability of the regulator. The
recommended value for the filter capacitor is provided
in TABLE 25-13: “Internal Voltage Regulator Specifications” located in Section 25.1 “DC Characteristics”.
On a POR, it takes approximately 20 μs for the on-chip
voltage regulator to generate an output voltage. During
this time, designated as TSTARTUP, code execution is
disabled. TSTARTUP is applied every time the device
resumes operation after any power-down.
© 2007 Microchip Technology Inc.
CONNECTIONS FOR THE
ON-CHIP VOLTAGE
REGULATOR(1)
3.3V
dsPIC33F
VDD
VDDCORE/VCAP
CF
Note 1:
VSS
These are typical operating voltages. Refer
to TABLE 25-13: “Internal Voltage Regulator Specifications” located in
Section 25.1 “DC Characteristics” for the
full operating ranges of VDD and VDDCORE.
DS70287A-page 267
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
22.3
BOR: Brown-Out Reset
The WDT, prescaler and postscaler are reset:
The BOR (Brown-out Reset) module is based on an
internal voltage reference circuit that monitors the
regulated supply voltage VDDCORE. The main purpose
of the BOR module is to generate a device Reset when
a brown-out condition occurs. Brown-out conditions are
generally caused by glitches on the AC mains (i.e.,
missing portions of the AC cycle waveform due to bad
power transmission lines or voltage sags due to
excessive current draw when a large inductive load is
turned on).
• On any device Reset
• On the completion of a clock switch, whether
invoked by software (i.e., setting the OSWEN bit
after changing the NOSC bits) or by hardware
(i.e., Fail-Safe Clock Monitor)
• When a PWRSAV instruction is executed
(i.e., Sleep or Idle mode is entered)
• When the device exits Sleep or Idle mode to
resume normal operation
• By a CLRWDT instruction during normal execution
A BOR will generate a Reset pulse which will reset the
device. The BOR will select the clock source, based on
the device Configuration bit values (FNOSC<2:0> and
POSCMD<1:0>). Furthermore, if an oscillator mode is
selected, the BOR will activate the Oscillator Start-up
Timer (OST). The system clock is held until OST
expires. If the PLL is used, then the clock will be held
until the LOCK bit (OSCCON<5>) is ‘1’.
If the WDT is enabled, it will continue to run during Sleep
or Idle modes. When the WDT time-out occurs, the
device will wake the device and code execution will continue from where the PWRSAV instruction was executed.
The corresponding SLEEP or IDLE bits (RCON<3,2>) will
need to be cleared in software after the device wakes up.
Concurrently, the PWRT time-out (TPWRT) will be
applied before the internal Reset is released. If TPWRT
= 0 and a crystal oscillator is being used, then a
nominal delay of TFSCM = 100 is applied. The total
delay in this case is TFSCM.
The BOR Status bit (RCON<1>) will be set to indicate
that a BOR has occurred. The BOR circuit, if enabled,
continues to operate while in Sleep or Idle modes and
will reset the device should VDD fall below the BOR
threshold voltage.
22.4
Watchdog Timer (WDT)
For dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family devices, the WDT is driven by the LPRC oscillator. When the WDT is enabled, the clock source is
also enabled.
The nominal WDT clock source from LPRC is 32 kHz.
This feeds a prescaler than can be configured for either
5-bit (divide-by-32) or 7-bit (divide-by-128) operation.
The prescaler is set by the WDTPRE Configuration bit.
With a 32 kHz input, the prescaler yields a nominal
WDT time-out period (TWDT) of 1 ms in 5-bit mode, or
4 ms in 7-bit mode.
The WDT flag bit, WDTO (RCON<4>), is not automatically
cleared following a WDT time-out. To detect subsequent
WDT events, the flag must be cleared in software.
Note:
The CLRWDT and PWRSAV instructions
clear the prescaler and postscaler counts
when executed.
The WDT is enabled or disabled by the FWDTEN
Configuration bit in the FWDT Configuration register.
When the FWDTEN Configuration bit is set, the WDT is
always enabled.
The WDT can be optionally controlled in software when
the FWDTEN Configuration bit has been programmed
to ‘0’. The WDT is enabled in software by setting the
SWDTEN control bit (RCON<5>). The SWDTEN control bit is cleared on any device Reset. The software
WDT option allows the user to enable the WDT for critical code segments and disable the WDT during
non-critical segments for maximum power savings.
Note:
If the WINDIS bit (FWDT<6>) is cleared, the
CLRWDT instruction should be executed by
the application software only during the last
1/4 of the WDT period. This CLRWDT window can be determined by using a timer. If
a CLRWDT instruction is executed before
this window, a WDT Reset occurs.
A variable postscaler divides down the WDT prescaler
output and allows for a wide range of time-out periods.
The postscaler is controlled by the WDTPOST<3:0>
Configuration bits (FWDT<3:0>) which allow the selection of a total of 16 settings, from 1:1 to 1:32,768. Using
the prescaler and postscaler, time-out periods ranging
from 1 ms to 131 seconds can be achieved.
DS70287A-page 268
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 22-2:
WDT BLOCK DIAGRAM
All Device Resets
Transition to New Clock Source
Exit Sleep or Idle Mode
PWRSAV Instruction
CLRWDT Instruction
Watchdog Timer
Sleep/Idle
WDTPRE
SWDTEN
FWDTEN
WDTPOST<3:0>
RS
Prescaler
(divide by N1)
LPRC Clock
WDT
Wake-up
1
RS
Postscaler
(divide by N2)
WDT
Reset
0
WINDIS
WDT Window Select
CLRWDT Instruction
22.5
JTAG Interface
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
devices implement a JTAG interface, which supports
boundary scan device testing, as well as in-circuit programming. Detailed information on the interface will be
provided in future revisions of the document.
22.6
Code Protection and
CodeGuard™ Security
The dsPIC33F product families offer the advanced
implementation of CodeGuard™ Security. CodeGuard
Security enables multiple parties to securely share
resources (memory, interrupts and peripherals) on a
single chip. This feature helps protect individual
Intellectual Property in collaborative system designs.
When coupled with software encryption libraries, CodeGuard™ Security can be used to securely update Flash
even when multiple IP are resident on the single chip.
The code protection features vary depending on the
actual dsPIC33F implemented. The following sections
provide an overview of these features.
The code protection features are controlled by the
Configuration registers: FBS, FSS and FGS.
Note:
22.7
Refer to the CodeGuard Security
Reference Manual (DS70180) for further
information on usage, configuration and
operation of CodeGuard Security.
In-Circuit Serial Programming
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
family digital signal controllers can be serially programmed while in the end application circuit. This is
© 2007 Microchip Technology Inc.
simply done with two lines for clock and data and three
other lines for power, ground and the programming
sequence. This allows customers to manufacture
boards with unprogrammed devices and then program
the digital signal controller just before shipping the
product. This also allows the most recent firmware or a
custom firmware, to be programmed. Please refer to
the “dsPIC33F Flash Programming Specification”
(DS70152) document for details about ICSP.
Any 1 out of 3 pairs of programming clock/data pins
may be used:
• PGC1/EMUC1 and PGD1/EMUD1
• PGC2/EMUC2 and PGD2/EMUD2
• PGC3/EMUC3 and PGD3/EMUD3
22.8
In-Circuit Debugger
When MPLAB® ICD 2 is selected as a debugger, the
in-circuit debugging functionality is enabled. This function allows simple debugging functions when used with
MPLAB IDE. Debugging functionality is controlled
through the EMUCx (Emulation/Debug Clock) and
EMUDx (Emulation/Debug Data) pin functions.
Any 1 out of 3 pairs of debugging clock/data pins may
be used:
• PGC1/EMUC1 and PGD1/EMUD1
• PGC2/EMUC2 and PGD2/EMUD2
• PGC3/EMUC3 and PGD3/EMUD3
To use the in-circuit debugger function of the device,
the design must implement ICSP connections to
MCLR, VDD, VSS, PGC, PGD and the EMUDx/EMUCx
pin pair. In addition, when the feature is enabled, some
of the resources are not available for general use.
These resources include the first 80 bytes of data RAM
and two I/O pins.
DS70287A-page 269
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 270
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
23.0
Note:
INSTRUCTION SET SUMMARY
This data sheet summarizes the features
of this group of dsPIC33FJXXXMCX06/
X08/X10 Motor Control Family devices. It
is not intended to be a comprehensive
reference source. To complement the
information in this data sheet, refer to the
“dsPIC33F Family Reference Manual”.
Refer to the Microchip web site
(www.microchip.com) for the latest
dsPIC33F family reference manual
chapters.
The dsPIC33F instruction set is identical to that of the
dsPIC30F.
Most instructions are a single program memory word
(24 bits). Only three instructions require two program
memory locations.
Each single-word instruction is a 24-bit word, divided
into an 8-bit opcode, which specifies the instruction
type and one or more operands, which further specify
the operation of the instruction.
The instruction set is highly orthogonal and is grouped
into five basic categories:
•
•
•
•
•
Word or byte-oriented operations
Bit-oriented operations
Literal operations
DSP operations
Control operations
Table 23-1 shows the general symbols used in
describing the instructions.
The dsPIC33F instruction set summary in Table 23-2
lists all the instructions, along with the status flags
affected by each instruction.
Most word or byte-oriented W register instructions
(including barrel shift instructions) have three
operands:
• The first source operand which is typically a
register ‘Wb’ without any address modifier
• The second source operand which is typically a
register ‘Ws’ with or without an address modifier
• The destination of the result which is typically a
register ‘Wd’ with or without an address modifier
However, word or byte-oriented file register instructions
have two operands:
Most bit-oriented instructions (including simple rotate/
shift instructions) have two operands:
• The W register (with or without an address
modifier) or file register (specified by the value of
‘Ws’ or ‘f’)
• The bit in the W register or file register
(specified by a literal value or indirectly by the
contents of register ‘Wb’)
The literal instructions that involve data movement may
use some of the following operands:
• A literal value to be loaded into a W register or file
register (specified by the value of ‘k’)
• The W register or file register where the literal
value is to be loaded (specified by ‘Wb’ or ‘f’)
However, literal instructions that involve arithmetic or
logical operations use some of the following operands:
• The first source operand which is a register ‘Wb’
without any address modifier
• The second source operand which is a literal
value
• The destination of the result (only if not the same
as the first source operand) which is typically a
register ‘Wd’ with or without an address modifier
The MAC class of DSP instructions may use some of the
following operands:
• The accumulator (A or B) to be used (required
operand)
• The W registers to be used as the two operands
• The X and Y address space prefetch operations
• The X and Y address space prefetch destinations
• The accumulator write back destination
The other DSP instructions do not involve any
multiplication and may include:
• The accumulator to be used (required)
• The source or destination operand (designated as
Wso or Wdo, respectively) with or without an
address modifier
• The amount of shift specified by a W register ‘Wn’
or a literal value
The control instructions may use some of the following
operands:
• A program memory address
• The mode of the table read and table write
instructions
• The file register specified by the value ‘f’
• The destination, which could either be the file
register ‘f’ or the W0 register, which is denoted as
‘WREG’
© 2007 Microchip Technology Inc.
DS70287A-page 271
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
All instructions are a single word, except for certain
double-word instructions, which were made doubleword instructions so that all the required information is
available in these 48 bits. In the second word, the
8 MSbs are ‘0’s. If this second word is executed as an
instruction (by itself), it will execute as a NOP.
Most single-word instructions are executed in a single
instruction cycle, unless a conditional test is true, or the
program counter is changed as a result of the instruction. In these cases, the execution takes two instruction
cycles with the additional instruction cycle(s) executed
as a NOP. Notable exceptions are the BRA (unconditional/computed branch), indirect CALL/GOTO, all table
TABLE 23-1:
reads and writes and RETURN/RETFIE instructions,
which are single-word instructions but take two or three
cycles. Certain instructions that involve skipping over the
subsequent instruction require either two or three cycles
if the skip is performed, depending on whether the
instruction being skipped is a single-word or two-word
instruction. Moreover, double-word moves require two
cycles. The double-word instructions execute in two
instruction cycles.
Note:
For more details on the instruction set,
refer to the “dsPIC30F/33F Programmer’s
Reference Manual” (DS70157).
SYMBOLS USED IN OPCODE DESCRIPTIONS
Field
#text
Description
Means literal defined by “text”
(text)
Means “content of text”
[text]
Means “the location addressed by text”
{ }
Optional field or operation
<n:m>
Register bit field
.b
Byte mode selection
.d
Double-Word mode selection
.S
Shadow register select
.w
Word mode selection (default)
Acc
One of two accumulators {A, B}
AWB
Accumulator write back destination address register ∈ {W13, [W13]+ = 2}
bit4
4-bit bit selection field (used in word addressed instructions) ∈ {0...15}
C, DC, N, OV, Z
MCU Status bits: Carry, Digit Carry, Negative, Overflow, Sticky Zero
Expr
Absolute address, label or expression (resolved by the linker)
f
File register address ∈ {0x0000...0x1FFF}
lit1
1-bit unsigned literal ∈ {0,1}
lit4
4-bit unsigned literal ∈ {0...15}
lit5
5-bit unsigned literal ∈ {0...31}
lit8
8-bit unsigned literal ∈ {0...255}
lit10
10-bit unsigned literal ∈ {0...255} for Byte mode, {0:1023} for Word mode
lit14
14-bit unsigned literal ∈ {0...16384}
lit16
16-bit unsigned literal ∈ {0...65535}
lit23
23-bit unsigned literal ∈ {0...8388608}; LSb must be ‘0’
None
Field does not require an entry, may be blank
OA, OB, SA, SB
DSP Status bits: AccA Overflow, AccB Overflow, AccA Saturate, AccB Saturate
PC
Program Counter
Slit10
10-bit signed literal ∈ {-512...511}
Slit16
16-bit signed literal ∈ {-32768...32767}
Slit6
6-bit signed literal ∈ {-16...16}
Wb
Base W register ∈ {W0..W15}
Wd
Destination W register ∈ { Wd, [Wd], [Wd++], [Wd--], [++Wd], [--Wd] }
Wdo
Destination W register ∈
{ Wnd, [Wnd], [Wnd++], [Wnd--], [++Wnd], [--Wnd], [Wnd+Wb] }
Wm,Wn
Dividend, Divisor working register pair (direct addressing)
DS70287A-page 272
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
TABLE 23-1:
SYMBOLS USED IN OPCODE DESCRIPTIONS (CONTINUED)
Field
Description
Wm*Wm
Multiplicand and Multiplier working register pair for Square instructions ∈
{W4 * W4,W5 * W5,W6 * W6,W7 * W7}
Wm*Wn
Multiplicand and Multiplier working register pair for DSP instructions ∈
{W4 * W5,W4 * W6,W4 * W7,W5 * W6,W5 * W7,W6 * W7}
Wn
One of 16 working registers ∈ {W0..W15}
Wnd
One of 16 destination working registers ∈ {W0..W15}
Wns
One of 16 source working registers ∈ {W0..W15}
WREG
W0 (working register used in file register instructions)
Ws
Source W register ∈ { Ws, [Ws], [Ws++], [Ws--], [++Ws], [--Ws] }
Wso
Source W register ∈
{ Wns, [Wns], [Wns++], [Wns--], [++Wns], [--Wns], [Wns+Wb] }
Wx
X data space prefetch address register for DSP instructions
∈ {[W8]+ = 6, [W8]+ = 4, [W8]+ = 2, [W8], [W8]- = 6, [W8]- = 4, [W8]- = 2,
[W9]+ = 6, [W9]+ = 4, [W9]+ = 2, [W9], [W9]- = 6, [W9]- = 4, [W9]- = 2,
[W9 + W12], none}
Wxd
X data space prefetch destination register for DSP instructions ∈ {W4..W7}
Wy
Y data space prefetch address register for DSP instructions
∈ {[W10]+ = 6, [W10]+ = 4, [W10]+ = 2, [W10], [W10]- = 6, [W10]- = 4, [W10]- = 2,
[W11]+ = 6, [W11]+ = 4, [W11]+ = 2, [W11], [W11]- = 6, [W11]- = 4, [W11]- = 2,
[W11 + W12], none}
Wyd
Y data space prefetch destination register for DSP instructions ∈ {W4..W7}
© 2007 Microchip Technology Inc.
DS70287A-page 273
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
TABLE 23-2:
Base
Instr
#
1
2
3
4
5
6
7
8
9
INSTRUCTION SET OVERVIEW
Assembly
Mnemonic
ADD
ADDC
AND
ASR
BCLR
BRA
BSET
BSW
BTG
Assembly Syntax
Description
# of
# of
Words Cycles
Status Flags
Affected
ADD
Acc
Add Accumulators
1
1
ADD
f
f = f + WREG
1
1
OA,OB,SA,SB
C,DC,N,OV,Z
ADD
f,WREG
WREG = f + WREG
1
1
C,DC,N,OV,Z
ADD
#lit10,Wn
Wd = lit10 + Wd
1
1
C,DC,N,OV,Z
ADD
Wb,Ws,Wd
Wd = Wb + Ws
1
1
C,DC,N,OV,Z
ADD
Wb,#lit5,Wd
Wd = Wb + lit5
1
1
C,DC,N,OV,Z
OA,OB,SA,SB
ADD
Wso,#Slit4,Acc
16-bit Signed Add to Accumulator
1
1
ADDC
f
f = f + WREG + (C)
1
1
C,DC,N,OV,Z
ADDC
f,WREG
WREG = f + WREG + (C)
1
1
C,DC,N,OV,Z
ADDC
#lit10,Wn
Wd = lit10 + Wd + (C)
1
1
C,DC,N,OV,Z
ADDC
Wb,Ws,Wd
Wd = Wb + Ws + (C)
1
1
C,DC,N,OV,Z
C,DC,N,OV,Z
ADDC
Wb,#lit5,Wd
Wd = Wb + lit5 + (C)
1
1
AND
f
f = f .AND. WREG
1
1
N,Z
AND
f,WREG
WREG = f .AND. WREG
1
1
N,Z
AND
#lit10,Wn
Wd = lit10 .AND. Wd
1
1
N,Z
AND
Wb,Ws,Wd
Wd = Wb .AND. Ws
1
1
N,Z
AND
Wb,#lit5,Wd
Wd = Wb .AND. lit5
1
1
N,Z
ASR
f
f = Arithmetic Right Shift f
1
1
C,N,OV,Z
ASR
f,WREG
WREG = Arithmetic Right Shift f
1
1
C,N,OV,Z
ASR
Ws,Wd
Wd = Arithmetic Right Shift Ws
1
1
C,N,OV,Z
ASR
Wb,Wns,Wnd
Wnd = Arithmetic Right Shift Wb by Wns
1
1
N,Z
ASR
Wb,#lit5,Wnd
Wnd = Arithmetic Right Shift Wb by lit5
1
1
N,Z
BCLR
f,#bit4
Bit Clear f
1
1
None
BCLR
Ws,#bit4
Bit Clear Ws
1
1
None
BRA
C,Expr
Branch if Carry
1
1 (2)
None
BRA
GE,Expr
Branch if greater than or equal
1
1 (2)
None
BRA
GEU,Expr
Branch if unsigned greater than or equal
1
1 (2)
None
BRA
GT,Expr
Branch if greater than
1
1 (2)
None
BRA
GTU,Expr
Branch if unsigned greater than
1
1 (2)
None
BRA
LE,Expr
Branch if less than or equal
1
1 (2)
None
BRA
LEU,Expr
Branch if unsigned less than or equal
1
1 (2)
None
BRA
LT,Expr
Branch if less than
1
1 (2)
None
BRA
LTU,Expr
Branch if unsigned less than
1
1 (2)
None
BRA
N,Expr
Branch if Negative
1
1 (2)
None
BRA
NC,Expr
Branch if Not Carry
1
1 (2)
None
BRA
NN,Expr
Branch if Not Negative
1
1 (2)
None
BRA
NOV,Expr
Branch if Not Overflow
1
1 (2)
None
BRA
NZ,Expr
Branch if Not Zero
1
1 (2)
None
BRA
OA,Expr
Branch if Accumulator A overflow
1
1 (2)
None
BRA
OB,Expr
Branch if Accumulator B overflow
1
1 (2)
None
BRA
OV,Expr
Branch if Overflow
1
1 (2)
None
BRA
SA,Expr
Branch if Accumulator A saturated
1
1 (2)
None
BRA
SB,Expr
Branch if Accumulator B saturated
1
1 (2)
None
BRA
Expr
Branch Unconditionally
1
2
None
BRA
Z,Expr
Branch if Zero
1
1 (2)
None
BRA
Wn
Computed Branch
1
2
None
BSET
f,#bit4
Bit Set f
1
1
None
BSET
Ws,#bit4
Bit Set Ws
1
1
None
BSW.C
Ws,Wb
Write C bit to Ws<Wb>
1
1
None
BSW.Z
Ws,Wb
Write Z bit to Ws<Wb>
1
1
None
BTG
f,#bit4
Bit Toggle f
1
1
None
BTG
Ws,#bit4
Bit Toggle Ws
1
1
None
DS70287A-page 274
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
TABLE 23-2:
Base
Instr
#
10
11
12
13
INSTRUCTION SET OVERVIEW (CONTINUED)
Assembly
Mnemonic
BTSC
BTSS
BTST
BTSTS
Assembly Syntax
Description
# of
# of
Words Cycles
Status Flags
Affected
BTSC
f,#bit4
Bit Test f, Skip if Clear
1
1
(2 or 3)
None
BTSC
Ws,#bit4
Bit Test Ws, Skip if Clear
1
1
(2 or 3)
None
BTSS
f,#bit4
Bit Test f, Skip if Set
1
1
(2 or 3)
None
BTSS
Ws,#bit4
Bit Test Ws, Skip if Set
1
1
(2 or 3)
None
BTST
f,#bit4
Bit Test f
1
1
Z
BTST.C
Ws,#bit4
Bit Test Ws to C
1
1
C
BTST.Z
Ws,#bit4
Bit Test Ws to Z
1
1
Z
BTST.C
Ws,Wb
Bit Test Ws<Wb> to C
1
1
C
BTST.Z
Ws,Wb
Bit Test Ws<Wb> to Z
1
1
Z
BTSTS
f,#bit4
Bit Test then Set f
1
1
Z
BTSTS.C
Ws,#bit4
Bit Test Ws to C, then Set
1
1
C
BTSTS.Z
Ws,#bit4
Bit Test Ws to Z, then Set
1
1
Z
lit23
Call subroutine
2
2
None
14
CALL
CALL
CALL
Wn
Call indirect subroutine
1
2
None
15
CLR
CLR
f
f = 0x0000
1
1
None
CLR
WREG
WREG = 0x0000
1
1
None
CLR
Ws
Ws = 0x0000
1
1
None
CLR
Acc,Wx,Wxd,Wy,Wyd,AWB
Clear Accumulator
1
1
OA,OB,SA,SB
Clear Watchdog Timer
1
1
WDTO,Sleep
16
CLRWDT
CLRWDT
17
COM
COM
f
f=f
1
1
N,Z
COM
f,WREG
WREG = f
1
1
N,Z
COM
Ws,Wd
Wd = Ws
1
1
N,Z
CP
f
Compare f with WREG
1
1
C,DC,N,OV,Z
CP
Wb,#lit5
Compare Wb with lit5
1
1
C,DC,N,OV,Z
CP
Wb,Ws
Compare Wb with Ws (Wb – Ws)
1
1
C,DC,N,OV,Z
CP0
f
Compare f with 0x0000
1
1
C,DC,N,OV,Z
CP0
Ws
Compare Ws with 0x0000
1
1
C,DC,N,OV,Z
CPB
f
Compare f with WREG, with Borrow
1
1
C,DC,N,OV,Z
CPB
Wb,#lit5
Compare Wb with lit5, with Borrow
1
1
C,DC,N,OV,Z
CPB
Wb,Ws
Compare Wb with Ws, with Borrow
(Wb – Ws – C)
1
1
C,DC,N,OV,Z
18
19
20
CP
CP0
CPB
21
CPSEQ
CPSEQ
Wb, Wn
Compare Wb with Wn, skip if =
1
1
(2 or 3)
None
22
CPSGT
CPSGT
Wb, Wn
Compare Wb with Wn, skip if >
1
1
(2 or 3)
None
23
CPSLT
CPSLT
Wb, Wn
Compare Wb with Wn, skip if <
1
1
(2 or 3)
None
24
CPSNE
CPSNE
Wb, Wn
Compare Wb with Wn, skip if ≠
1
1
(2 or 3)
None
25
DAW
DAW
Wn
Wn = decimal adjust Wn
1
1
C
26
DEC
DEC
f
f=f–1
1
1
C,DC,N,OV,Z
DEC
f,WREG
WREG = f – 1
1
1
C,DC,N,OV,Z
DEC
Ws,Wd
Wd = Ws – 1
1
1
C,DC,N,OV,Z
DEC2
f
f=f–2
1
1
C,DC,N,OV,Z
DEC2
f,WREG
WREG = f – 2
1
1
C,DC,N,OV,Z
DEC2
Ws,Wd
Wd = Ws – 2
1
1
C,DC,N,OV,Z
DISI
#lit14
Disable Interrupts for k instruction cycles
1
1
None
27
28
DEC2
DISI
© 2007 Microchip Technology Inc.
DS70287A-page 275
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
TABLE 23-2:
Base
Instr
#
29
INSTRUCTION SET OVERVIEW (CONTINUED)
Assembly
Mnemonic
DIV
Assembly Syntax
# of
# of
Words Cycles
Description
Status Flags
Affected
DIV.S
Wm,Wn
Signed 16/16-bit Integer Divide
1
18
N,Z,C,OV
DIV.SD
Wm,Wn
Signed 32/16-bit Integer Divide
1
18
N,Z,C,OV
DIV.U
Wm,Wn
Unsigned 16/16-bit Integer Divide
1
18
N,Z,C,OV
DIV.UD
Wm,Wn
Unsigned 32/16-bit Integer Divide
1
18
N,Z,C,OV
Signed 16/16-bit Fractional Divide
1
18
N,Z,C,OV
None
30
DIVF
DIVF
31
DO
DO
#lit14,Expr
Do code to PC + Expr, lit14 + 1 times
2
2
DO
Wn,Expr
Do code to PC + Expr, (Wn) + 1 times
2
2
None
Wm,Wn
32
ED
ED
Wm*Wm,Acc,Wx,Wy,Wxd
Euclidean Distance (no accumulate)
1
1
OA,OB,OAB,
SA,SB,SAB
33
EDAC
EDAC
Wm*Wm,Acc,Wx,Wy,Wxd
Euclidean Distance
1
1
OA,OB,OAB,
SA,SB,SAB
34
EXCH
EXCH
Wns,Wnd
Swap Wns with Wnd
1
1
None
35
FBCL
FBCL
Ws,Wnd
Find Bit Change from Left (MSb) Side
1
1
C
36
FF1L
FF1L
Ws,Wnd
Find First One from Left (MSb) Side
1
1
C
37
FF1R
FF1R
Ws,Wnd
Find First One from Right (LSb) Side
1
1
C
38
GOTO
GOTO
Expr
Go to address
2
2
None
GOTO
Wn
Go to indirect
1
2
None
INC
f
f=f+1
1
1
C,DC,N,OV,Z
INC
f,WREG
WREG = f + 1
1
1
C,DC,N,OV,Z
INC
Ws,Wd
Wd = Ws + 1
1
1
C,DC,N,OV,Z
INC2
f
f=f+2
1
1
C,DC,N,OV,Z
INC2
f,WREG
WREG = f + 2
1
1
C,DC,N,OV,Z
39
40
41
INC
INC2
IOR
INC2
Ws,Wd
Wd = Ws + 2
1
1
C,DC,N,OV,Z
IOR
f
f = f .IOR. WREG
1
1
N,Z
IOR
f,WREG
WREG = f .IOR. WREG
1
1
N,Z
IOR
#lit10,Wn
Wd = lit10 .IOR. Wd
1
1
N,Z
IOR
Wb,Ws,Wd
Wd = Wb .IOR. Ws
1
1
N,Z
IOR
Wb,#lit5,Wd
Wd = Wb .IOR. lit5
1
1
N,Z
42
LAC
LAC
Wso,#Slit4,Acc
Load Accumulator
1
1
OA,OB,OAB,
SA,SB,SAB
43
LNK
LNK
#lit14
Link Frame Pointer
1
1
None
44
LSR
LSR
f
f = Logical Right Shift f
1
1
C,N,OV,Z
LSR
f,WREG
WREG = Logical Right Shift f
1
1
C,N,OV,Z
LSR
Ws,Wd
Wd = Logical Right Shift Ws
1
1
C,N,OV,Z
LSR
Wb,Wns,Wnd
Wnd = Logical Right Shift Wb by Wns
1
1
N,Z
LSR
Wb,#lit5,Wnd
Wnd = Logical Right Shift Wb by lit5
1
1
N,Z
MAC
Wm*Wn,Acc,Wx,Wxd,Wy,Wyd
,
AWB
Multiply and Accumulate
1
1
OA,OB,OAB,
SA,SB,SAB
MAC
Wm*Wm,Acc,Wx,Wxd,Wy,Wyd
Square and Accumulate
1
1
OA,OB,OAB,
SA,SB,SAB
MOV
f,Wn
Move f to Wn
1
1
None
MOV
f
Move f to f
1
1
N,Z
MOV
f,WREG
Move f to WREG
1
1
N,Z
MOV
#lit16,Wn
Move 16-bit literal to Wn
1
1
None
MOV.b
#lit8,Wn
Move 8-bit literal to Wn
1
1
None
MOV
Wn,f
Move Wn to f
1
1
None
MOV
Wso,Wdo
Move Ws to Wd
1
1
None
MOV
WREG,f
Move WREG to f
1
1
N,Z
Wns,Wd
Move Double from W(ns):W(ns + 1) to Wd
1
2
None
Ws,Wnd
Move Double from Ws to W(nd + 1):W(nd)
1
2
None
Prefetch and store accumulator
1
1
None
45
46
MAC
MOV
MOV.D
MOV.D
47
MOVSAC
MOVSAC
DS70287A-page 276
Acc,Wx,Wxd,Wy,Wyd,AWB
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
TABLE 23-2:
Base
Instr
#
48
INSTRUCTION SET OVERVIEW (CONTINUED)
Assembly
Mnemonic
MPY
Assembly Syntax
Description
# of
# of
Words Cycles
Status Flags
Affected
MPY
Wm*Wn,Acc,Wx,Wxd,Wy,Wyd
Multiply Wm by Wn to Accumulator
1
1
OA,OB,OAB,
SA,SB,SAB
MPY
Wm*Wm,Acc,Wx,Wxd,Wy,Wyd
Square Wm to Accumulator
1
1
OA,OB,OAB,
SA,SB,SAB
49
MPY.N
MPY.N
Wm*Wn,Acc,Wx,Wxd,Wy,Wyd
-(Multiply Wm by Wn) to Accumulator
1
1
None
50
MSC
MSC
Wm*Wm,Acc,Wx,Wxd,Wy,Wyd
,
AWB
Multiply and Subtract from Accumulator
1
1
OA,OB,OAB,
SA,SB,SAB
51
MUL
MUL.SS
Wb,Ws,Wnd
{Wnd + 1, Wnd} = signed(Wb) * signed(Ws)
1
1
None
MUL.SU
Wb,Ws,Wnd
{Wnd + 1, Wnd} = signed(Wb) * unsigned(Ws)
1
1
None
MUL.US
Wb,Ws,Wnd
{Wnd + 1, Wnd} = unsigned(Wb) * signed(Ws)
1
1
None
MUL.UU
Wb,Ws,Wnd
{Wnd + 1, Wnd} = unsigned(Wb) *
unsigned(Ws)
1
1
None
MUL.SU
Wb,#lit5,Wnd
{Wnd + 1, Wnd} = signed(Wb) * unsigned(lit5)
1
1
None
MUL.UU
Wb,#lit5,Wnd
{Wnd + 1, Wnd} = unsigned(Wb) *
unsigned(lit5)
1
1
None
MUL
f
W3:W2 = f * WREG
1
1
None
NEG
Acc
Negate Accumulator
1
1
OA,OB,OAB,
SA,SB,SAB
52
53
54
NEG
NOP
POP
NEG
f
f=f+1
1
1
C,DC,N,OV,Z
NEG
f,WREG
WREG = f + 1
1
1
C,DC,N,OV,Z
NEG
Ws,Wd
Wd = Ws + 1
1
1
C,DC,N,OV,Z
NOP
No Operation
1
1
None
NOPR
No Operation
1
1
None
None
POP
f
Pop f from Top-of-Stack (TOS)
1
1
POP
Wdo
Pop from Top-of-Stack (TOS) to Wdo
1
1
None
POP.D
Wnd
Pop from Top-of-Stack (TOS) to
W(nd):W(nd + 1)
1
2
None
Pop Shadow Registers
1
1
All
f
Push f to Top-of-Stack (TOS)
1
1
None
PUSH
Wso
Push Wso to Top-of-Stack (TOS)
1
1
None
PUSH.D
Wns
Push W(ns):W(ns + 1) to Top-of-Stack (TOS)
1
2
None
Push Shadow Registers
1
1
None
Go into Sleep or Idle mode
1
1
WDTO,Sleep
POP.S
55
PUSH
PUSH
PUSH.S
56
PWRSAV
PWRSAV
57
RCALL
RCALL
Expr
Relative Call
1
2
None
RCALL
Wn
Computed Call
1
2
None
REPEAT
#lit14
Repeat Next Instruction lit14 + 1 times
1
1
None
REPEAT
Wn
Repeat Next Instruction (Wn) + 1 times
1
1
None
None
58
REPEAT
#lit1
59
RESET
RESET
Software device Reset
1
1
60
RETFIE
RETFIE
Return from interrupt
1
3 (2)
None
61
RETLW
RETLW
Return with literal in Wn
1
3 (2)
None
62
RETURN
RETURN
Return from Subroutine
1
3 (2)
None
63
RLC
RLC
f
f = Rotate Left through Carry f
1
1
C,N,Z
RLC
f,WREG
WREG = Rotate Left through Carry f
1
1
C,N,Z
RLC
Ws,Wd
Wd = Rotate Left through Carry Ws
1
1
C,N,Z
RLNC
f
f = Rotate Left (No Carry) f
1
1
N,Z
RLNC
f,WREG
WREG = Rotate Left (No Carry) f
1
1
N,Z
64
65
RLNC
RRC
#lit10,Wn
RLNC
Ws,Wd
Wd = Rotate Left (No Carry) Ws
1
1
N,Z
RRC
f
f = Rotate Right through Carry f
1
1
C,N,Z
RRC
f,WREG
WREG = Rotate Right through Carry f
1
1
C,N,Z
RRC
Ws,Wd
Wd = Rotate Right through Carry Ws
1
1
C,N,Z
© 2007 Microchip Technology Inc.
DS70287A-page 277
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
TABLE 23-2:
Base
Instr
#
66
INSTRUCTION SET OVERVIEW (CONTINUED)
Assembly
Mnemonic
RRNC
Assembly Syntax
Description
# of
# of
Words Cycles
Status Flags
Affected
RRNC
f
f = Rotate Right (No Carry) f
1
1
N,Z
RRNC
f,WREG
WREG = Rotate Right (No Carry) f
1
1
N,Z
RRNC
Ws,Wd
Wd = Rotate Right (No Carry) Ws
1
1
N,Z
67
SAC
SAC
Acc,#Slit4,Wdo
Store Accumulator
1
1
None
SAC.R
Acc,#Slit4,Wdo
Store Rounded Accumulator
1
1
None
68
SE
SE
Ws,Wnd
Wnd = sign-extended Ws
1
1
C,N,Z
69
SETM
SETM
f
f = 0xFFFF
1
1
None
SETM
WREG
WREG = 0xFFFF
1
1
None
SETM
Ws
Ws = 0xFFFF
1
1
None
SFTAC
Acc,Wn
Arithmetic Shift Accumulator by (Wn)
1
1
OA,OB,OAB,
SA,SB,SAB
SFTAC
Acc,#Slit6
Arithmetic Shift Accumulator by Slit6
1
1
OA,OB,OAB,
SA,SB,SAB
SL
f
f = Left Shift f
1
1
C,N,OV,Z
SL
f,WREG
WREG = Left Shift f
1
1
C,N,OV,Z
SL
Ws,Wd
Wd = Left Shift Ws
1
1
C,N,OV,Z
SL
Wb,Wns,Wnd
Wnd = Left Shift Wb by Wns
1
1
N,Z
SL
Wb,#lit5,Wnd
Wnd = Left Shift Wb by lit5
1
1
N,Z
SUB
Acc
Subtract Accumulators
1
1
OA,OB,OAB,
SA,SB,SAB
SUB
f
f = f – WREG
1
1
C,DC,N,OV,Z
SUB
f,WREG
WREG = f – WREG
1
1
C,DC,N,OV,Z
SUB
#lit10,Wn
Wn = Wn – lit10
1
1
C,DC,N,OV,Z
SUB
Wb,Ws,Wd
Wd = Wb – Ws
1
1
C,DC,N,OV,Z
SUB
Wb,#lit5,Wd
Wd = Wb – lit5
1
1
C,DC,N,OV,Z
C,DC,N,OV,Z
70
71
72
73
74
75
76
SFTAC
SL
SUB
SUBB
SUBR
SUBBR
SWAP
SUBB
f
f = f – WREG – (C)
1
1
SUBB
f,WREG
WREG = f – WREG – (C)
1
1
C,DC,N,OV,Z
SUBB
#lit10,Wn
Wn = Wn – lit10 – (C)
1
1
C,DC,N,OV,Z
SUBB
Wb,Ws,Wd
Wd = Wb – Ws – (C)
1
1
C,DC,N,OV,Z
SUBB
Wb,#lit5,Wd
Wd = Wb – lit5 – (C)
1
1
SUBR
f
f = WREG – f
1
1
C,DC,N,OV,Z
C,DC,N,OV,Z
SUBR
f,WREG
WREG = WREG – f
1
1
C,DC,N,OV,Z
SUBR
Wb,Ws,Wd
Wd = Ws – Wb
1
1
C,DC,N,OV,Z
SUBR
Wb,#lit5,Wd
Wd = lit5 – Wb
1
1
C,DC,N,OV,Z
SUBBR
f
f = WREG – f – (C)
1
1
C,DC,N,OV,Z
SUBBR
f,WREG
WREG = WREG – f – (C)
1
1
C,DC,N,OV,Z
SUBBR
Wb,Ws,Wd
Wd = Ws – Wb – (C)
1
1
C,DC,N,OV,Z
C,DC,N,OV,Z
SUBBR
Wb,#lit5,Wd
Wd = lit5 – Wb – (C)
1
1
SWAP.b
Wn
Wn = nibble swap Wn
1
1
None
SWAP
Wn
Wn = byte swap Wn
1
1
None
None
77
TBLRDH
TBLRDH
Ws,Wd
Read Prog<23:16> to Wd<7:0>
1
2
78
TBLRDL
TBLRDL
Ws,Wd
Read Prog<15:0> to Wd
1
2
None
79
TBLWTH
TBLWTH
Ws,Wd
Write Ws<7:0> to Prog<23:16>
1
2
None
80
TBLWTL
TBLWTL
Ws,Wd
Write Ws to Prog<15:0>
1
2
None
81
ULNK
ULNK
Unlink Frame Pointer
1
1
None
82
XOR
XOR
f
f = f .XOR. WREG
1
1
N,Z
XOR
f,WREG
WREG = f .XOR. WREG
1
1
N,Z
XOR
#lit10,Wn
Wd = lit10 .XOR. Wd
1
1
N,Z
XOR
Wb,Ws,Wd
Wd = Wb .XOR. Ws
1
1
N,Z
XOR
Wb,#lit5,Wd
Wd = Wb .XOR. lit5
1
1
N,Z
ZE
Ws,Wnd
Wnd = Zero-extend Ws
1
1
C,Z,N
83
ZE
DS70287A-page 278
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
24.0
DEVELOPMENT SUPPORT
The PIC® microcontrollers are supported with a full
range of hardware and software development tools:
• Integrated Development Environment
- MPLAB® IDE Software
• Assemblers/Compilers/Linkers
- MPASMTM Assembler
- MPLAB C18 and MPLAB C30 C Compilers
- MPLINKTM Object Linker/
MPLIBTM Object Librarian
- MPLAB ASM30 Assembler/Linker/Library
• Simulators
- MPLAB SIM Software Simulator
• Emulators
- MPLAB ICE 2000 In-Circuit Emulator
- MPLAB REAL ICE™ In-Circuit Emulator
• In-Circuit Debugger
- MPLAB ICD 2
• Device Programmers
- PICSTART® Plus Development Programmer
- MPLAB PM3 Device Programmer
- PICkit™ 2 Development Programmer
• Low-Cost Demonstration and Development
Boards and Evaluation Kits
24.1
MPLAB Integrated Development
Environment Software
The MPLAB IDE software brings an ease of software
development previously unseen in the 8/16-bit microcontroller market. The MPLAB IDE is a Windows®
operating system-based application that contains:
• A single graphical interface to all debugging tools
- Simulator
- Programmer (sold separately)
- Emulator (sold separately)
- In-Circuit Debugger (sold separately)
• A full-featured editor with color-coded context
• A multiple project manager
• Customizable data windows with direct edit of
contents
• High-level source code debugging
• Visual device initializer for easy register
initialization
• Mouse over variable inspection
• Drag and drop variables from source to watch
windows
• Extensive on-line help
• Integration of select third party tools, such as
HI-TECH Software C Compilers and IAR
C Compilers
The MPLAB IDE allows you to:
• Edit your source files (either assembly or C)
• One touch assemble (or compile) and download
to PIC MCU emulator and simulator tools
(automatically updates all project information)
• Debug using:
- Source files (assembly or C)
- Mixed assembly and C
- Machine code
MPLAB IDE supports multiple debugging tools in a
single development paradigm, from the cost-effective
simulators, through low-cost in-circuit debuggers, to
full-featured emulators. This eliminates the learning
curve when upgrading to tools with increased flexibility
and power.
© 2007 Microchip Technology Inc.
DS70287A-page 279
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
24.2
MPASM Assembler
The MPASM Assembler is a full-featured, universal
macro assembler for all PIC MCUs.
The MPASM Assembler generates relocatable object
files for the MPLINK Object Linker, Intel® standard HEX
files, MAP files to detail memory usage and symbol
reference, absolute LST files that contain source lines
and generated machine code and COFF files for
debugging.
The MPASM Assembler features include:
• Integration into MPLAB IDE projects
• User-defined macros to streamline
assembly code
• Conditional assembly for multi-purpose
source files
• Directives that allow complete control over the
assembly process
24.3
MPLAB C18 and MPLAB C30
C Compilers
The MPLAB C18 and MPLAB C30 Code Development
Systems are complete ANSI C compilers for
Microchip’s PIC18 and PIC24 families of microcontrollers and the dsPIC30 and dsPIC33 family of digital signal controllers. These compilers provide powerful
integration capabilities, superior code optimization and
ease of use not found with other compilers.
For easy source level debugging, the compilers provide
symbol information that is optimized to the MPLAB IDE
debugger.
24.4
MPLINK Object Linker/
MPLIB Object Librarian
The MPLINK Object Linker combines relocatable
objects created by the MPASM Assembler and the
MPLAB C18 C Compiler. It can link relocatable objects
from precompiled libraries, using directives from a
linker script.
24.5
MPLAB ASM30 Assembler, Linker
and Librarian
MPLAB ASM30 Assembler produces relocatable
machine code from symbolic assembly language for
dsPIC30F devices. MPLAB C30 C Compiler uses the
assembler to produce its object file. The assembler
generates relocatable object files that can then be
archived or linked with other relocatable object files and
archives to create an executable file. Notable features
of the assembler include:
•
•
•
•
•
•
Support for the entire dsPIC30F instruction set
Support for fixed-point and floating-point data
Command line interface
Rich directive set
Flexible macro language
MPLAB IDE compatibility
24.6
MPLAB SIM Software Simulator
The MPLAB SIM Software Simulator allows code
development in a PC-hosted environment by simulating the PIC MCUs and dsPIC® DSCs on an instruction
level. On any given instruction, the data areas can be
examined or modified and stimuli can be applied from
a comprehensive stimulus controller. Registers can be
logged to files for further run-time analysis. The trace
buffer and logic analyzer display extend the power of
the simulator to record and track program execution,
actions on I/O, most peripherals and internal registers.
The MPLAB SIM Software Simulator fully supports
symbolic debugging using the MPLAB C18 and
MPLAB C30 C Compilers, and the MPASM and
MPLAB ASM30 Assemblers. The software simulator
offers the flexibility to develop and debug code outside
of the hardware laboratory environment, making it an
excellent, economical software development tool.
The MPLIB Object Librarian manages the creation and
modification of library files of precompiled code. When
a routine from a library is called from a source file, only
the modules that contain that routine will be linked in
with the application. This allows large libraries to be
used efficiently in many different applications.
The object linker/library features include:
• Efficient linking of single libraries instead of many
smaller files
• Enhanced code maintainability by grouping
related modules together
• Flexible creation of libraries with easy module
listing, replacement, deletion and extraction
DS70287A-page 280
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
24.7
MPLAB ICE 2000
High-Performance
In-Circuit Emulator
The MPLAB ICE 2000 In-Circuit Emulator is intended
to provide the product development engineer with a
complete microcontroller design tool set for PIC
microcontrollers. Software control of the MPLAB ICE
2000 In-Circuit Emulator is advanced by the MPLAB
Integrated Development Environment, which allows
editing, building, downloading and source debugging
from a single environment.
The MPLAB ICE 2000 is a full-featured emulator
system with enhanced trace, trigger and data monitoring features. Interchangeable processor modules allow
the system to be easily reconfigured for emulation of
different processors. The architecture of the MPLAB
ICE 2000 In-Circuit Emulator allows expansion to
support new PIC microcontrollers.
The MPLAB ICE 2000 In-Circuit Emulator system has
been designed as a real-time emulation system with
advanced features that are typically found on more
expensive development tools. The PC platform and
Microsoft® Windows® 32-bit operating system were
chosen to best make these features available in a
simple, unified application.
24.8
MPLAB REAL ICE In-Circuit
Emulator System
MPLAB REAL ICE In-Circuit Emulator System is
Microchip’s next generation high-speed emulator for
Microchip Flash DSC and MCU devices. It debugs and
programs PIC® Flash MCUs and dsPIC® Flash DSCs
with the easy-to-use, powerful graphical user interface of
the MPLAB Integrated Development Environment (IDE),
included with each kit.
The MPLAB REAL ICE probe is connected to the design
engineer’s PC using a high-speed USB 2.0 interface and
is connected to the target with either a connector
compatible with the popular MPLAB ICD 2 system
(RJ11) or with the new high-speed, noise tolerant, LowVoltage Differential Signal (LVDS) interconnection
(CAT5).
24.9
MPLAB ICD 2 In-Circuit Debugger
Microchip’s In-Circuit Debugger, MPLAB ICD 2, is a
powerful, low-cost, run-time development tool,
connecting to the host PC via an RS-232 or high-speed
USB interface. This tool is based on the Flash PIC
MCUs and can be used to develop for these and other
PIC MCUs and dsPIC DSCs. The MPLAB ICD 2 utilizes
the in-circuit debugging capability built into the Flash
devices. This feature, along with Microchip’s In-Circuit
Serial ProgrammingTM (ICSPTM) protocol, offers costeffective, in-circuit Flash debugging from the graphical
user interface of the MPLAB Integrated Development
Environment. This enables a designer to develop and
debug source code by setting breakpoints, single stepping and watching variables, and CPU status and
peripheral registers. Running at full speed enables
testing hardware and applications in real time. MPLAB
ICD 2 also serves as a development programmer for
selected PIC devices.
24.10 MPLAB PM3 Device Programmer
The MPLAB PM3 Device Programmer is a universal,
CE compliant device programmer with programmable
voltage verification at VDDMIN and VDDMAX for
maximum reliability. It features a large LCD display
(128 x 64) for menus and error messages and a modular, detachable socket assembly to support various
package types. The ICSP™ cable assembly is included
as a standard item. In Stand-Alone mode, the MPLAB
PM3 Device Programmer can read, verify and program
PIC devices without a PC connection. It can also set
code protection in this mode. The MPLAB PM3
connects to the host PC via an RS-232 or USB cable.
The MPLAB PM3 has high-speed communications and
optimized algorithms for quick programming of large
memory devices and incorporates an SD/MMC card for
file storage and secure data applications.
MPLAB REAL ICE is field upgradeable through future
firmware downloads in MPLAB IDE. In upcoming
releases of MPLAB IDE, new devices will be supported,
and new features will be added, such as software breakpoints and assembly code trace. MPLAB REAL ICE
offers significant advantages over competitive emulators
including low-cost, full-speed emulation, real-time
variable watches, trace analysis, complex breakpoints, a
ruggedized probe interface and long (up to three meters)
interconnection cables.
© 2007 Microchip Technology Inc.
DS70287A-page 281
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
24.11 PICSTART Plus Development
Programmer
24.13 Demonstration, Development and
Evaluation Boards
The PICSTART Plus Development Programmer is an
easy-to-use, low-cost, prototype programmer. It
connects to the PC via a COM (RS-232) port. MPLAB
Integrated Development Environment software makes
using the programmer simple and efficient. The
PICSTART Plus Development Programmer supports
most PIC devices in DIP packages up to 40 pins.
Larger pin count devices, such as the PIC16C92X and
PIC17C76X, may be supported with an adapter socket.
The PICSTART Plus Development Programmer is CE
compliant.
A wide variety of demonstration, development and
evaluation boards for various PIC MCUs and dsPIC
DSCs allows quick application development on fully functional systems. Most boards include prototyping areas for
adding custom circuitry and provide application firmware
and source code for examination and modification.
24.12 PICkit 2 Development Programmer
The PICkit™ 2 Development Programmer is a low-cost
programmer and selected Flash device debugger with
an easy-to-use interface for programming many of
Microchip’s baseline, mid-range and PIC18F families of
Flash memory microcontrollers. The PICkit 2 Starter Kit
includes a prototyping development board, twelve
sequential lessons, software and HI-TECH’s PICC™
Lite C compiler, and is designed to help get up to speed
quickly using PIC® microcontrollers. The kit provides
everything needed to program, evaluate and develop
applications using Microchip’s powerful, mid-range
Flash memory family of microcontrollers.
DS70287A-page 282
The boards support a variety of features, including LEDs,
temperature sensors, switches, speakers, RS-232
interfaces, LCD displays, potentiometers and additional
EEPROM memory.
The demonstration and development boards can be
used in teaching environments, for prototyping custom
circuits and for learning about various microcontroller
applications.
In addition to the PICDEM™ and dsPICDEM™ demonstration/development board series of circuits, Microchip
has a line of evaluation kits and demonstration software
for analog filter design, KEELOQ® security ICs, CAN,
IrDA®, PowerSmart battery management, SEEVAL®
evaluation system, Sigma-Delta ADC, flow rate
sensing, plus many more.
Check the Microchip web page (www.microchip.com)
for the complete list of demonstration, development
and evaluation kits.
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
25.0
ELECTRICAL CHARACTERISTICS
This section provides an overview of dsPIC33FJXXXMCX06/X08/X10 Motor Control Family electrical characteristics.
Additional information will be provided in future revisions of this document as it becomes available.
Absolute maximum ratings for the dsPIC33FJXXXMCX06/X08/X10 Motor Control Family family are listed below. Exposure to these maximum rating conditions for extended periods may affect device reliability. Functional operation of the
device at these or any other conditions above the parameters indicated in the operation listings of this specification is
not implied.
Absolute Maximum Ratings(1)
Ambient temperature under bias.............................................................................................................. .-40°C to +85°C
Storage temperature .............................................................................................................................. -65°C to +150°C
Voltage on VDD with respect to VSS ......................................................................................................... -0.3V to +4.0V
Voltage on any combined analog and digital pin and MCLR, with respect to VSS ......................... -0.3V to (VDD + 0.3V)
Voltage on any digital-only pin with respect to VSS .................................................................................. -0.3V to +5.6V
Voltage on VDDCORE with respect to VSS ................................................................................................ 2.25V to 2.75V
Maximum current out of VSS pin ...........................................................................................................................300 mA
Maximum current into VDD pin(2) ...........................................................................................................................250 mA
Maximum output current sunk by any I/O pin(3) ........................................................................................................4 mA
Maximum output current sourced by any I/O pin(3) ...................................................................................................4 mA
Maximum current sunk by all ports .......................................................................................................................200 mA
Maximum current sourced by all ports(2) ...............................................................................................................200 mA
Note 1: Stresses above those listed under “Absolute Maximum Ratings” may cause permanent damage to the
device. This is a stress rating only and functional operation of the device at those or any other conditions
above those indicated in the operation listings of this specification is not implied. Exposure to maximum
rating conditions for extended periods may affect device reliability.
2: Maximum allowable current is a function of device maximum power dissipation (see Table 25-2).
3: Exceptions are CLKOUT, which is able to sink/source 25 mA, and the VREF+, VREF-, SCLx, SDAx, PGCx
and PGDx pins, which are able to sink/source 12 mA.
© 2007 Microchip Technology Inc.
DS70287A-page 283
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
25.1
DC Characteristics
TABLE 25-1:
OPERATING MIPS VS. VOLTAGE
Characteristic
DC5
TABLE 25-2:
Max MIPS
VDD Range
(in Volts)
Temp Range
(in °C)
3.0-3.6V
-40°C to +85°C
dsPIC33FJXXXMCX06/X08/X10 Motor
Control Family
40
THERMAL OPERATING CONDITIONS
Rating
Symbol
Min
Typ
Max
Unit
Operating Junction Temperature Range
TJ
-40
—
+125
°C
Operating Ambient Temperature Range
TA
-40
—
+85
°C
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
Power Dissipation:
Internal chip power dissipation:
PINT = VDD x (IDD – Σ IOH)
PD
PINT + PI/O
W
PDMAX
(TJ – TA)/θJA
W
I/O Pin Power Dissipation:
I/O = Σ ({VDD – VOH} x IOH) + Σ (VOL x IOL)
Maximum Allowed Power Dissipation
TABLE 25-3:
THERMAL PACKAGING CHARACTERISTICS
Characteristic
Symbol
Typ
Max
Unit
Notes
θJA
θJA
θJA
θJA
48.4
—
°C/W
1
52.3
—
°C/W
1
38.7
—
°C/W
1
38.3
—
°C/W
1
Package Thermal Resistance, 100-pin TQFP (14x14x1 mm)
Package Thermal Resistance, 100-pin TQFP (12x12x1 mm)
Package Thermal Resistance, 80-pin TQFP (12x12x1 mm)
Package Thermal Resistance, 64-pin TQFP (10x10x1 mm)
Note 1:
Junction to ambient thermal resistance, Theta-JA (θJA) numbers are achieved by package simulations.
TABLE 25-4:
DC TEMPERATURE AND VOLTAGE SPECIFICATIONS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
DC CHARACTERISTICS
Param
Symbol
No.
Characteristic
Min
Typ(1)
Max
Units
3.0
—
3.6
V
Conditions
Operating Voltage
DC10
Supply Voltage
VDD
Voltage(2)
DC12
VDR
RAM Data Retention
1.1
1.3
1.8
V
DC16
VPOR
VDD Start Voltage(4)
to ensure internal
Power-on Reset signal
—
—
VSS
V
DC17
SVDD
VDD Rise Rate
to ensure internal
Power-on Reset signal
0.03
—
—
DC18
VCORE
VDD Core(3)
Internal regulator voltage
2.25
—
2.75
Note 1:
2:
3:
4:
V/ms 0-3.0V in 0.1s
V
Voltage is dependent on
load, temperature and VDD
Data in “Typ” column is at 3.3V, 25°C unless otherwise stated.
This is the limit to which VDD can be lowered without losing RAM data.
These parameters are characterized but not tested in manufacturing.
VDD Core voltage must remain at VSS for a minimum of 200 µs to ensure POR.
DS70287A-page 284
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-5:
DC CHARACTERISTICS: OPERATING CURRENT (IDD)
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
DC CHARACTERISTICS
Parameter
No.
Typical(1)
Max
Units
29
mA
Conditions
Operating Current (IDD)(2)
DC20d
24
-40°C
DC20
27
30
mA
+25°C
DC20a
27
31
mA
+85°C
DC21d
36
42
mA
-40°C
DC21
37
42
mA
+25°C
DC21a
38
43
mA
+85°C
DC22d
43
50
mA
-40°C
DC22
46
51
mA
+25°C
DC22a
46
52
mA
+85°C
DC23d
61
70
mA
-40°C
DC23
65
70
mA
+25°C
DC23a
65
71
mA
+85°C
DC24d
83
88
mA
-40°C
DC24
84
88
mA
+25°C
DC24a
84
89
mA
+85°C
Note 1:
2:
3.3V
10 MIPS
3.3V
16 MIPS
3.3V
20 MIPS
3.3V
30 MIPS
3.3V
40 MIPS
Data in “Typical” column is at 3.3V, 25°C unless otherwise stated.
The supply current is mainly a function of the operating voltage and frequency. Other factors, such as I/O
pin loading and switching rate, oscillator type, internal code execution pattern and temperature, also have
an impact on the current consumption. The test conditions for all IDD measurements are as follows: OSC1
driven with external square wave from rail to rail. All I/O pins are configured as inputs and pulled to VSS.
MCLR = VDD, WDT and FSCM are disabled. CPU, SRAM, program memory and data memory are
operational. No peripheral modules are operating; however, every peripheral is being clocked (PMD bits
are all zeroed).
© 2007 Microchip Technology Inc.
DS70287A-page 285
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-6:
DC CHARACTERISTICS: IDLE CURRENT (IIDLE)
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
DC CHARACTERISTICS
Parameter
No.
Typical(1)
Max
Units
Conditions
Idle Current (IIDLE): Core OFF Clock ON Base Current(2)
DC40d
3
7
mA
-40°C
DC40
3
7
mA
+25°C
DC40a
3
8
mA
+85°C
DC40d
5
10
mA
-40°C
DC41
5
10
mA
+25°C
DC41a
6
11
mA
+85°C
DC42d
9
12
mA
-40°C
DC42
9
15
mA
+25°C
DC42a
10
16
mA
+85°C
DC43d
15
17
mA
-40°C
DC43
15
21
mA
+25°C
DC43a
15
22
mA
+85°C
DC44d
16
21
mA
-40°C
DC44
16
23
mA
+25°C
DC44a
16
24
mA
+85°C
Note 1:
2:
3.3V
10 MIPS
3.3V
16 MIPS
3.3V
20 MIPS
3.3V
30 MIPS
3.3V
40 MIPS
Data in “Typical” column is at 3.3V, 25°C unless otherwise stated.
Base IIDLE current is measured with core off, clock on and all modules turned off. Peripheral Module
Disable SFR registers are zeroed. All I/O pins are configured as inputs and pulled to VSS.
TABLE 25-7:
DC CHARACTERISTICS: POWER-DOWN CURRENT (IPD)
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
DC CHARACTERISTICS
Parameter
No.
Typical(1)
Max
Units
Conditions
Power-Down Current (IPD)(2)
DC60d
290
963
μA
-40°C
DC60
293
988
μA
+25°C
DC60a
317
990
μA
+85°C
DC61d
8
13
μA
-40°C
DC61
10
15
μA
+25°C
12
20
μA
+85°C
DC61a
Note 1:
2:
3:
4:
3.0V
Base Power-Down Current(3,4)
3.0V
Watchdog Timer Current: ΔIWDT(3)
Data in the Typical column is at 3.3V, 25°C unless otherwise stated.
Base IPD is measured with all peripherals and clocks shut down. All I/Os are configured as inputs and
pulled to VSS. WDT, etc., are all switched off.
The Δ current is the additional current consumed when the module is enabled. This current should be
added to the base IPD current.
These currents are measured on the device containing the most memory in this family.
DS70287A-page 286
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-8:
DC CHARACTERISTICS: DOZE CURRENT (IDOZE)
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
DC CHARACTERISTICS
Typical(1)
Max
Doze
Ratio
DC73a
25
32
1:2
DC73f
23
27
1:64
DC73g
23
26
1:128
Parameter No.
DC70a
42
47
1:2
DC70f
26
27
1:64
DC70g
25
27
1:128
DC71a
41
48
1:2
DC71f
25
28
1:64
DC71g
24
28
1:128
Note 1:
Units
Conditions
mA
-40°C
mA
+25°C
3.3V
40 MIPS
mA
+85°C
Data in the Typical column is at 3.3V, 25°C unless otherwise stated.
© 2007 Microchip Technology Inc.
DS70287A-page 287
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-9:
DC CHARACTERISTICS: I/O PIN INPUT SPECIFICATIONS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
DC CHARACTERISTICS
Param
Symbol
No.
VIL
Characteristic
Min
Typ(1)
Max
Units
Conditions
Input Low Voltage
DI10
I/O pins
VSS
—
0.2 VDD
V
DI15
MCLR
VSS
—
0.2 VDD
V
DI16
OSC1 (XT mode)
VSS
—
0.2 VDD
V
DI17
OSC1 (HS mode)
VSS
—
0.2 VDD
V
DI18
SDAx, SCLx
VSS
—
0.3 VDD
V
SMBus disabled
DI19
SDAx, SCLx
VSS
—
0.2 VDD
V
SMBus enabled
I/O pins:
with analog functions
digital-only
0.8 VDD
0.8 VDD
—
—
VDD
5.5
V
V
DI25
MCLR
0.8 VDD
—
VDD
V
DI26
OSC1 (XT mode)
0.7 VDD
—
VDD
V
DI27
OSC1 (HS mode)
0.7 VDD
—
VDD
V
DI28
SDAx, SCLx
0.7 VDD
—
VDD
V
SMBus disabled
DI29
SDAx, SCLx
0.8 VDD
—
VDD
V
SMBus enabled
50
250
400
μA
VDD = 3.3V, VPIN = VSS
VIH
DI20
ICNPU
Input High Voltage
CNx Pull-up Current
DI30
IIL
Input Leakage
Current(2)(3)
DI50
I/O ports
—
—
±2
μA
VSS ≤ VPIN ≤ VDD,
Pin at high-impedance
DI51
Analog Input Pins
—
—
±1
μA
VSS ≤ VPIN ≤ VDD,
Pin at high-impedance
DI51A
Analog Input Pins
—
—
±2
μA
Analog pins shared with
external reference pins
DI55
MCLR
—
—
±2
μA
VSS ≤ VPIN ≤ VDD
DI56
OSC1
—
—
±2
μA
VSS ≤ VPIN ≤ VDD,
XT and HS modes
Note 1:
2:
3:
Data in “Typ” column is at 3.3V, 25°C unless otherwise stated.
The leakage current on the MCLR pin is strongly dependent on the applied voltage level. The specified
levels represent normal operating conditions. Higher leakage current may be measured at different input
voltages.
Negative current is defined as current sourced by the pin.
DS70287A-page 288
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-10: DC CHARACTERISTICS: I/O PIN OUTPUT SPECIFICATIONS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
DC CHARACTERISTICS
Param
Symbol
No.
VOL
DO10
DO16
VOH
Characteristic
Min
Typ
Max
Units
Conditions
I/O ports
—
—
0.4
V
IOL = 2 mA, VDD = 3.3V
OSC2/CLKO
—
—
0.4
V
IOL = 2 mA, VDD = 3.3V
Output Low Voltage
Output High Voltage
DO20
I/O ports
2.40
—
—
V
IOH = -2.3 mA, VDD = 3.3V
DO26
OSC2/CLKO
2.41
—
—
V
IOH = -1.3 mA, VDD = 3.3V
TABLE 25-11: ELECTRICAL CHARACTERISTICS: BOR
DC CHARACTERISTICS
Param
No.
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
Characteristic
Min(1)
Typ
Max(1)
Units
BOR Event on VDD transition
high-to-low
BOR event is tied to VDD core voltage
decrease
2.40
—
2.55
V
Symbol
BO10
VBOR
Note 1:
Parameters are for design guidance only and are not tested in manufacturing.
© 2007 Microchip Technology Inc.
Conditions
-40°C to +85°C
DS70287A-page 289
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-12: DC CHARACTERISTICS: PROGRAM MEMORY
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
DC CHARACTERISTICS
Param
Symbol
No.
Characteristic
Min
Typ(1)
Max
Units
Conditions
Program Flash Memory
D130
EP
Cell Endurance
100
1000
—
D131
VPR
VDD for Read
VMIN
—
3.6
V
VMIN = Minimum operating
voltage
D132B
VPEW
VDD for Self-Timed Write
VMIN
—
3.6
V
VMIN = Minimum operating
voltage
D134
TRETD
Characteristic Retention
20
—
—
Year Provided no other specifications
are violated
D135
IDDP
Supply Current during
Programming
—
10
—
mA
D136
TRW
Row Write Time
—
1.6
—
ms
D137
TPE
Page Erase Time
—
20
—
ms
D138
TWW
Word Write Cycle Time
20
—
40
μs
Note 1:
E/W -40°C to +85°C
Data in “Typ” column is at 3.3V, 25°C unless otherwise stated.
TABLE 25-13: INTERNAL VOLTAGE REGULATOR SPECIFICATIONS
Operating Conditions: -40°C < TA < +85°C (unless otherwise stated)
Param
No.
Symbol
CEFC
DS70287A-page 290
Characteristics
External Filter Capacitor
Value
Min
Typ
Max
Units
1
10
—
μF
Comments
Capacitor must be low
series resistance
(< 5 ohms)
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
25.2
AC Characteristics and Timing
Parameters
The information contained in this section defines
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
AC characteristics and timing parameters.
TABLE 25-14: TEMPERATURE AND VOLTAGE SPECIFICATIONS – AC
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
Operating voltage VDD range as described in Section 25.0 “Electrical
Characteristics”.
AC CHARACTERISTICS
FIGURE 25-1:
LOAD CONDITIONS FOR DEVICE TIMING SPECIFICATIONS
Load Condition 1 – for all pins except OSC2
Load Condition 2 – for OSC2
VDD/2
CL
Pin
RL
VSS
CL
Pin
RL = 464Ω
CL = 50 pF for all pins except OSC2
15 pF for OSC2 output
VSS
TABLE 25-15: CAPACITIVE LOADING REQUIREMENTS ON OUTPUT PINS
Param
Symbol
No.
Characteristic
Min
Typ
Max
Units
Conditions
15
pF
In XT and HS modes when
external clock is used to drive
OSC1
COSC2
OSC2/SOSC2 pin
—
—
DO56
CIO
All I/O pins and OSC2
—
—
50
pF
EC mode
DO58
CB
SCLx, SDAx
—
—
400
pF
In I2C™ mode
DO50
© 2007 Microchip Technology Inc.
DS70287A-page 291
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-2:
EXTERNAL CLOCK TIMING
Q1
Q2
Q3
Q4
Q1
Q2
Q3
Q4
OSC1
OS20
OS30
OS25
OS31
OS30
OS31
CLKO
OS41
OS40
TABLE 25-16: EXTERNAL CLOCK TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
AC CHARACTERISTICS
Param
No.
OS10
Symb
FIN
Min
Typ(1)
Max
Units
External CLKI Frequency
(External clocks allowed only
in EC and ECPLL modes)
DC
—
40
MHz
EC
Oscillator Crystal Frequency
3.5
10
—
—
—
—
10
40
33
MHz
MHz
kHz
XT
HS
SOSC
Characteristic
Conditions
OS20
TOSC
TOSC = 1/FOSC
12.5
—
DC
ns
OS25
TCY
Instruction Cycle Time(2)
25
—
DC
ns
OS30
TosL,
TosH
External Clock in (OSC1)
High or Low Time
0.375 x TOSC
—
0.625 x
TOSC
ns
EC
OS31
TosR,
TosF
External Clock in (OSC1)
Rise or Fall Time
—
—
20
ns
EC
OS40
TckR
CLKO Rise Time(3)
—
5.2
—
ns
—
5.2
—
ns
OS41
TckF
Note 1:
2:
3:
CLKO Fall
Time(3)
Data in “Typ” column is at 3.3V, 25°C unless otherwise stated.
Instruction cycle period (TCY) equals two times the input oscillator time-base period. All specified values
are based on characterization data for that particular oscillator type under standard operating conditions
with the device executing code. Exceeding these specified limits may result in an unstable oscillator
operation and/or higher than expected current consumption. All devices are tested to operate at “min.”
values with an external clock applied to the OSC1/CLKI pin. When an external clock input is used, the
“max.” cycle time limit is “DC” (no clock) for all devices.
Measurements are taken in EC mode. The CLKO signal is measured on the OSC2 pin.
DS70287A-page 292
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-17: PLL CLOCK TIMING SPECIFICATIONS (VDD = 3.0V TO 3.6V)
Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic
Min
Typ(1)
Max
Units
OS50
FPLLI
PLL Voltage Controlled
Oscillator (VCO) Input
Frequency Range(2)
0.8
—
8.0
MHz
OS51
FSYS
On-Chip VCO System
Frequency
100
—
200
MHz
OS52
TLOCK
PLL Start-up Time (Lock Time)
0.9
1.5
3.1
ms
OS53
DCLK
CLKO Stability (Jitter)
-3.0
0.5
3.0
%
Note 1:
Conditions
ECPLL, HSPLL, XTPLL
modes
Measured over 100 ms
period
Data in “Typ” column is at 3.3V, 25°C unless otherwise stated.
TABLE 25-18: AC CHARACTERISTICS: INTERNAL RC ACCURACY
AC CHARACTERISTICS
Param
No.
Characteristic
Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated)
Operating temperature
-40°C ≤ TA ≤ +85°C for industrial
Min
Typ
Max
Units
Conditions
Internal FRC Accuracy @ FRC Frequency = 7.37 MHz(1,2)
F20
FRC
Note 1:
2:
-2
—
+2
%
-40°C ≤ TA ≤ +85°C
VDD = 3.0-3.6V
Frequency calibrated at 25°C and 3.3V. TUN bits can be used to compensate for temperature drift.
FRC set to initial frequency of 7.37 MHz (+1-2%) at 25° C FRC.
TABLE 25-19: INTERNAL RC ACCURACY
AC CHARACTERISTICS
Param
No.
Characteristic
Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
Min
Typ
Max
Units
-20
±6
+20
%
Conditions
LPRC @ 32.768 kHz(1)
F21
Note 1:
-40°C ≤ TA ≤ +85°C
VDD = 3.0-3.6V
Change of LPRC frequency as VDD changes.
© 2007 Microchip Technology Inc.
DS70287A-page 293
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-3:
CLKO AND I/O TIMING CHARACTERISTICS
I/O Pin
(Input)
DI35
DI40
I/O Pin
(Output)
New Value
Old Value
DO31
DO32
Note: Refer to Figure 25-1 for load conditions.
TABLE 25-20: CLKO AND I/O TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic
Min
Typ(1)
Max
Units
Conditions
DO31
TIOR
Port Output Rise Time
—
10
25
ns
—
DO32
TIOF
Port Output Fall Time
—
10
25
ns
—
DI35
TINP
INTx Pin High or Low Time (output)
20
—
—
ns
—
DI40
TRBP
CNx High or Low Time (input)
2
—
—
TCY
—
Note 1:
Data in “Typ” column is at 3.3V, 25°C unless otherwise stated.
DS70287A-page 294
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-4:
VDD
RESET, WATCHDOG TIMER, OSCILLATOR START-UP TIMER AND POWER-UP
TIMER TIMING CHARACTERISTICS
SY12
MCLR
SY10
Internal
POR
PWRT
Time-out
OSC
Time-out
SY11
SY30
Internal
Reset
Watchdog
Timer
Reset
SY13
SY20
SY13
I/O Pins
SY35
FSCM
Delay
Note: Refer to Figure 25-1 for load conditions.
© 2007 Microchip Technology Inc.
DS70287A-page 295
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-21: RESET, WATCHDOG TIMER, OSCILLATOR START-UP TIMER, POWER-UP TIMER
TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
Symbol
No.
Characteristic(1)
Min
Typ(2)
Max
Units
Conditions
SY10
TMCL
MCLR Pulse Width (low)
2
—
—
μs
-40°C to +85°C
SY11
TPWRT
Power-up Timer Period
—
—
—
—
—
—
—
2
4
8
16
32
64
128
—
—
—
—
—
—
—
ms
-40°C to +85°C
User programmable
SY12
TPOR
Power-on Reset Delay
3
10
30
μs
-40°C to +85°C
SY13
TIOZ
I/O High-Impedance from MCLR
Low or Watchdog Timer Reset
0.68
0.72
1.2
μs
SY20
TWDT1
Watchdog Timer Time-out Period
(No Prescaler)
1.9
2.1
2.3
ms
VDD = 3V, -40°C to +85°C
SY30
TOST
Oscillator Start-up Timer Period
—
1024 TOSC
—
—
TOSC = OSC1 period
SY35
TFSCM
Fail-Safe Clock Monitor Delay
—
500
900
μs
-40°C to +85°C
Note 1:
2:
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 3.3V, 25°C unless otherwise stated.
DS70287A-page 296
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-5:
TIMER1, 2, 3, 4, 5, 6, 7, 8 AND 9 EXTERNAL CLOCK TIMING CHARACTERISTICS
TxCK
Tx11
Tx10
Tx15
OS60
Tx20
TMRx
Note: Refer to Figure 25-1 for load conditions.
TABLE 25-22: TIMER1 EXTERNAL CLOCK TIMING REQUIREMENTS(1)
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
TA10
TA11
Symbol
TTXH
TTXL
Characteristic
TxCK High Time
TxCK Low Time
Min
Typ
Max
Units
Conditions
Synchronous,
no prescaler
0.5 TCY + 20
—
—
ns
Must also meet
parameter TA15
Synchronous,
with prescaler
10
—
—
ns
Asynchronous
10
—
—
ns
Synchronous,
no prescaler
0.5 TCY + 20
—
—
ns
Synchronous,
with prescaler
10
—
—
ns
Asynchronous
TA15
TTXP
TxCK Input Period Synchronous,
no prescaler
Synchronous,
with prescaler
Asynchronous
OS60
Ft1
TA20
TCKEXTMRL Delay from External TxCK Clock
Edge to Timer Increment
Note 1:
SOSC1/T1CK Oscillator Input
frequency Range (oscillator enabled
by setting bit TCS (T1CON<1>))
10
—
—
ns
TCY + 40
—
—
ns
Greater of:
20 ns or
(TCY + 40)/N
—
—
—
20
—
—
ns
DC
—
50
kHz
1.5 TCY
—
0.5 TCY
Must also meet
parameter TA15
N = prescale
value
(1, 8, 64, 256)
Timer1 is a Type A.
© 2007 Microchip Technology Inc.
DS70287A-page 297
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-23: TIMER2, TIMER4, TIMER6 AND TIMER8 EXTERNAL CLOCK TIMING
REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
TB10
TB11
TB15
TB20
Symbol
TtxH
TtxL
TtxP
TCKEXTMRL
Characteristic
TxCK High Time
TxCK Low Time
TxCK Input
Period
Min
Typ
Max
Units
Conditions
Synchronous,
no prescaler
0.5 TCY + 20
—
—
ns
Must also meet
parameter TB15
Synchronous,
with prescaler
10
—
—
ns
Synchronous,
no prescaler
0.5 TCY + 20
—
—
ns
Synchronous,
with prescaler
10
—
—
ns
Synchronous,
no prescaler
TCY + 40
—
—
ns
Synchronous,
with prescaler
Greater of:
20 ns or
(TCY + 40)/N
—
1.5 TCY
—
Delay from External TxCK Clock
Edge to Timer Increment
0.5 TCY
Must also meet
parameter TB15
N = prescale
value
(1, 8, 64, 256)
TABLE 25-24: TIMER3, TIMER5, TIMER7 AND TIMER9 EXTERNAL CLOCK TIMING
REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic
Min
Typ
Max
Units
Conditions
TC10
TtxH
TxCK High Time
Synchronous
0.5 TCY + 20
—
—
ns
Must also meet
parameter TC15
TC11
TtxL
TxCK Low Time
Synchronous
0.5 TCY + 20
—
—
ns
Must also meet
parameter TC15
TC15
TtxP
TxCK Input Period Synchronous,
no prescaler
TCY + 40
—
—
ns
N = prescale
value
(1, 8, 64, 256)
—
1.5
TCY
—
Synchronous,
with prescaler
TC20
TCKEXTMRL Delay from External TxCK Clock
Edge to Timer Increment
DS70287A-page 298
Greater of:
20 ns or
(TCY + 40)/N
0.5 TCY
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-6:
TIMERQ (QEI MODULE) EXTERNAL CLOCK TIMING CHARACTERISTICS
QEB
TQ11
TQ10
TQ15
TQ20
POSCNT
TABLE 25-25: QEI MODULE EXTERNAL CLOCK TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
Characteristic(1)
Symbol
Min
Typ
Max
Units
Conditions
TQ10
TtQH
TQCK High Time
Synchronous,
with prescaler
TCY + 20
—
—
ns
Must also meet
parameter TQ15
TQ11
TtQL
TQCK Low Time
Synchronous,
with prescaler
TCY + 20
—
—
ns
Must also meet
parameter TQ15
TQ15
TtQP
TQCP Input
Period
Synchronous, 2 * TCY + 40
with prescaler
—
—
ns
—
TQ20
TCKEXTMRL Delay from External TxCK Clock
Edge to Timer Increment
—
1.5 TCY
—
—
Note 1:
0.5 TCY
These parameters are characterized but not tested in manufacturing.
© 2007 Microchip Technology Inc.
DS70287A-page 299
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-7:
INPUT CAPTURE (CAPx) TIMING CHARACTERISTICS
ICx
IC10
IC11
IC15
Note: Refer to Figure 25-1 for load conditions.
TABLE 25-26: INPUT CAPTURE TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
Symbol
IC10
TccL
Characteristic(1)
ICx Input Low Time
No Prescaler
Min
Max
Units
0.5 TCY + 20
—
ns
10
—
ns
0.5 TCY + 20
—
ns
10
—
ns
(TCY + 40)/N
—
ns
With Prescaler
IC11
TccH
ICx Input High Time
No Prescaler
With Prescaler
IC15
Note 1:
TccP
ICx Input Period
Conditions
N = prescale
value (1, 4, 16)
These parameters are characterized but not tested in manufacturing.
FIGURE 25-8:
OUTPUT COMPARE MODULE (OCx) TIMING CHARACTERISTICS
OCx
(Output Compare
or PWM Mode)
OC10
OC11
Note: Refer to Figure 25-1 for load conditions.
TABLE 25-27: OUTPUT COMPARE MODULE TIMING REQUIREMENTS
AC CHARACTERISTICS
Param
Symbol
No.
Characteristic(1)
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
Min
Typ
Max
Units
Conditions
OC10
TccF
OCx Output Fall Time
—
—
—
ns
See parameter D032
OC11
TccR
OCx Output Rise Time
—
—
—
ns
See parameter D031
Note 1:
These parameters are characterized but not tested in manufacturing.
DS70287A-page 300
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-9:
OC/PWM MODULE TIMING CHARACTERISTICS
OC20
OCFA/OCFB
OC15
OCx
TABLE 25-28: SIMPLE OC/PWM MODE TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic(1)
Min
Typ
Max
Units
Conditions
OC15
TFD
Fault Input to PWM I/O
Change
—
—
50
ns
—
OC20
TFLT
Fault Input Pulse Width
50
—
—
ns
—
Note 1:
These parameters are characterized but not tested in manufacturing.
© 2007 Microchip Technology Inc.
DS70287A-page 301
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-10:
MOTOR CONTROL PWM MODULE FAULT TIMING CHARACTERISTICS
MP30
FLTA/B
MP20
PWMx
FIGURE 25-11:
MOTOR CONTROL PWM MODULE TIMING CHARACTERISTICS
MP11 MP10
PWMx
Note: Refer to Figure 25-1 for load conditions.
TABLE 25-29: MOTOR CONTROL PWM MODULE TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic(1)
Min
Typ
Max
Units
Conditions
—
ns
See parameter D032
See parameter D031
MP10
TFPWM
PWM Output Fall Time
—
—
MP11
TRPWM
PWM Output Rise Time
—
—
—
ns
TFD
Fault Input ↓ to PWM
I/O Change
—
—
50
ns
—
TFH
Minimum Pulse Width
50
—
—
ns
—
MP20
MP30
Note 1:
These parameters are characterized but not tested in manufacturing.
DS70287A-page 302
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-12:
QEA/QEB INPUT CHARACTERISTICS
TQ36
QEA
(input)
TQ30
TQ31
TQ35
QEB
(input)
TQ41
TQ40
TQ30
TQ31
TQ35
QEB
Internal
TABLE 25-30: QUADRATURE DECODER TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
Characteristic(1)
Symbol
Typ(2)
Max
Units
Conditions
6 TCY
—
ns
—
TQ30
TQUL
Quadrature Input Low Time
TQ31
TQUH
Quadrature Input High Time
6 TCY
—
ns
—
TQ35
TQUIN
Quadrature Input Period
12 TCY
—
ns
—
TQ36
TQUP
Quadrature Phase Period
3 TCY
—
ns
—
TQ40
TQUFL
Filter Time to Recognize Low,
with Digital Filter
3 * N * TCY
—
ns
N = 1, 2, 4, 16, 32, 64,
128 and 256 (Note 3)
TQ41
TQUFH
Filter Time to Recognize High,
with Digital Filter
3 * N * TCY
—
ns
N = 1, 2, 4, 16, 32, 64,
128 and 256 (Note 3)
Note 1:
2:
3:
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 3.3V, 25°C unless otherwise stated.
N = Index Channel Digital Filter Clock Divide Select bits. Refer to Section 15. “Quadrature Encoder
Interface (QEI)” in the “dsPIC33F Family Reference Manual”.
© 2007 Microchip Technology Inc.
DS70287A-page 303
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-13:
QEI MODULE INDEX PULSE TIMING CHARACTERISTICS
QEA
(input)
QEB
(input)
Ungated
Index
TQ50
TQ51
Index Internal
TQ55
Position
Counter Reset
TABLE 25-31: QEI INDEX PULSE TIMING REQUIREMENTS
AC CHARACTERISTICS
Param
No.
Symbol
TQ50
TqIL
TQ51
TQ55
Note 1:
2:
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
Characteristic(1)
Min
Max
Units
Conditions
Filter Time to Recognize Low,
with Digital Filter
3 * N * TCY
—
ns
N = 1, 2, 4, 16, 32, 64,
128 and 256 (Note 2)
TqiH
Filter Time to Recognize High,
with Digital Filter
3 * N * TCY
—
ns
N = 1, 2, 4, 16, 32, 64,
128 and 256 (Note 2)
Tqidxr
Index Pulse Recognized to Position
Counter Reset (ungated index)
3 TCY
—
ns
—
These parameters are characterized but not tested in manufacturing.
Alignment of index pulses to QEA and QEB is shown for position counter Reset timing only. Shown for
forward direction only (QEA leads QEB). Same timing applies for reverse direction (QEA lags QEB) but
index pulse recognition occurs on falling edge.
DS70287A-page 304
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-14:
SPIx MODULE MASTER MODE (CKE = 0) TIMING CHARACTERISTICS
SCKx
(CKP = 0)
SP11
SP10
SP21
SP20
SP20
SP21
SCKx
(CKP = 1)
SP35
Bit 14 - - - - - -1
MSb
SDOx
SP31
SDIx
LSb
SP30
MSb In
LSb In
Bit 14 - - - -1
SP40 SP41
Note: Refer to Figure 25-1 for load conditions.
TABLE 25-32: SPIx MASTER MODE (CKE = 0) TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic(1)
Min
Typ(2)
Max
Units
Conditions
—
—
ns
—
TscL
SCKx Output Low Time(3)
TCY/2
SP11
TscH
SCKx Output High
Time(3)
TCY/2
—
—
ns
SP20
TscF
SCKx Output Fall Time(4)
—
—
—
ns
See parameter D032
SP21
TscR
SCKx Output Rise Time(4)
—
—
—
ns
See parameter D031
SP30
TdoF
SDOx Data Output Fall Time(4)
—
—
—
ns
See parameter D032
See parameter D031
SP10
(4)
—
SP31
TdoR
SDOx Data Output Rise Time
—
—
—
ns
SP35
TscH2doV,
TscL2doV
SDOx Data Output Valid after
SCKx Edge
—
6
20
ns
—
SP40
TdiV2scH,
TdiV2scL
Setup Time of SDIx Data Input
to SCKx Edge
23
—
—
ns
—
SP41
TscH2diL,
TscL2diL
Hold Time of SDIx Data Input
to SCKx Edge
30
—
—
ns
—
Note 1:
2:
3:
4:
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 3.3V, 25°C unless otherwise stated.
The minimum clock period for SCKx is 100 ns. Therefore, the clock generated in Master mode must not
violate this specification.
Assumes 50 pF load on all SPIx pins.
© 2007 Microchip Technology Inc.
DS70287A-page 305
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-15:
SPIx MODULE MASTER MODE (CKE = 1) TIMING CHARACTERISTICS
SP36
SCKX
(CKP = 0)
SP11
SCKX
(CKP = 1)
SP10
SP21
SP20
SP20
SP21
SP35
SP40
SDIX
LSb
Bit 14 - - - - - -1
MSb
SDOX
SP30,SP31
MSb In
Bit 14 - - - -1
LSb In
SP41
Note: Refer to Figure 25-1 for load conditions.
TABLE 25-33: SPIx MODULE MASTER MODE (CKE = 1) TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic(1)
Min
Typ(2)
Max
Units
Conditions
SP10
TscL
SCKx Output Low Time(3)
TCY/2
—
—
ns
—
SP11
TscH
SCKx Output High Time(3)
TCY/2
—
—
ns
—
(4)
SP20
TscF
SCKx Output Fall Time
—
—
—
ns
See parameter D032
SP21
TscR
SCKx Output Rise Time(4)
—
—
—
ns
See parameter D031
SP30
TdoF
SDOx Data Output Fall
Time(4)
—
—
—
ns
See parameter D032
SP31
TdoR
SDOx Data Output Rise
Time(4)
—
—
—
ns
See parameter D031
SP35
TscH2doV, SDOx Data Output Valid after
TscL2doV SCKx Edge
—
6
20
ns
—
SP36
TdoV2sc, SDOx Data Output Setup to
TdoV2scL First SCKx Edge
20
—
—
ns
—
SP40
TdiV2scH, Setup Time of SDIx Data
TdiV2scL Input to SCKx Edge
30
—
—
ns
—
SP41
TscH2diL,
TscL2diL
20
—
—
ns
—
Note 1:
2:
3:
4:
Hold Time of SDIx Data Input
to SCKx Edge
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 3.3V, 25°C unless otherwise stated.
The minimum clock period for SCKx is 100 ns. Therefore, the clock generated in Master mode must not
violate this specification.
Assumes 50 pF load on all SPIx pins.
DS70287A-page 306
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-16:
SPIx MODULE SLAVE MODE (CKE = 0) TIMING CHARACTERISTICS
SSX
SP52
SP50
SCKX
(CKP = 0)
SP71
SP70
SP73
SP72
SP72
SP73
SCKX
(CKP = 1)
SP35
MSb
SDOX
LSb
Bit 14 - - - - - -1
SP51
SP30,SP31
SDIX
MSb In
Bit 14 - - - -1
LSb In
SP41
SP40
Note: Refer to Figure 25-1 for load conditions.
TABLE 25-34: SPIx MODULE SLAVE MODE (CKE = 0) TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
SP70
Symbol
TscL
Characteristic(1)
Min
Typ
Max
Units
Conditions
SCKx Input Low Time
30
—
—
ns
—
SP71
TscH
SCKx Input High Time
30
—
—
ns
—
SP72
TscF
SCKx Input Fall Time(3)
—
10
25
ns
—
SP73
TscR
SCKx Input Rise Time(3)
—
10
25
ns
—
SP30
TdoF
SDOx Data Output Fall Time(3)
—
—
—
ns
See parameter D032
SP31
TdoR
SDOx Data Output Rise Time(3)
—
—
—
ns
See parameter D031
SP35
TscH2doV, SDOx Data Output Valid after
TscL2doV SCKx Edge
—
—
30
ns
—
SP40
TdiV2scH, Setup Time of SDIx Data Input
TdiV2scL to SCKx Edge
20
—
—
ns
—
SP41
TscH2diL,
TscL2diL
20
—
—
ns
—
SP50
TssL2scH, SSx ↓ to SCKx ↑ or SCKx Input
TssL2scL
120
—
—
ns
—
SP51
TssH2doZ SSx ↑ to SDOx Output
High-Impedance(3)
10
—
50
ns
—
SP52
TscH2ssH SSx after SCKx Edge
TscL2ssH
1.5 TCY +40
—
—
ns
—
Note 1:
Hold Time of SDIx Data Input
to SCKx Edge
These parameters are characterized but not tested in manufacturing.
© 2007 Microchip Technology Inc.
DS70287A-page 307
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-17:
SPIx MODULE SLAVE MODE (CKE = 1) TIMING CHARACTERISTICS
SP60
SSx
SP52
SP50
SCKx
(CKP = 0)
SP71
SP70
SP73
SP72
SP72
SP73
SCKx
(CKP = 1)
SP35
SP52
MSb
SDOx
Bit 14 - - - - - -1
LSb
SP30,SP31
SDIx
SDI
MSb In
Bit 14 - - - -1
SP51
LSb In
SP41
SP40
Note: Refer to Figure 25-1 for load conditions.
DS70287A-page 308
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-35: SPIx MODULE SLAVE MODE (CKE = 1) TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic(1)
Min
Typ(2)
Max
Units
Conditions
SP70
TscL
SCKx Input Low Time
30
—
—
ns
—
SP71
TscH
SCKx Input High Time
30
—
—
ns
—
SP72
TscF
SCKx Input Fall Time(3)
—
10
25
ns
—
SP73
TscR
SCKx Input Rise Time(3)
—
10
25
ns
—
(3)
SP30
TdoF
SDOx Data Output Fall Time
—
—
—
ns
See parameter D032
SP31
TdoR
SDOx Data Output Rise Time(3)
—
—
—
ns
See parameter D031
SP35
TscH2doV, SDOx Data Output Valid after
TscL2doV SCKx Edge
—
—
30
ns
—
SP40
TdiV2scH, Setup Time of SDIx Data Input
TdiV2scL to SCKx Edge
20
—
—
ns
—
SP41
TscH2diL, Hold Time of SDIx Data Input
TscL2diL to SCKx Edge
20
—
—
ns
—
SP50
TssL2scH, SSx ↓ to SCKx ↓ or SCKx ↑
TssL2scL Input
120
—
—
ns
—
SP51
TssH2doZ SSx ↑ to SDOX Output
High-Impedance(4)
10
—
50
ns
—
SP52
TscH2ssH SSx ↑ after SCKx Edge
TscL2ssH
1.5 TCY + 40
—
—
ns
—
SP60
TssL2doV SDOx Data Output Valid after
SSx Edge
—
—
50
ns
—
Note 1:
2:
3:
4:
These parameters are characterized but not tested in manufacturing.
Data in “Typ” column is at 3.3V, 25°C unless otherwise stated.
The minimum clock period for SCKx is 100 ns. Therefore, the clock generated in Master mode must not
violate this specification.
Assumes 50 pF load on all SPIx pins.
© 2007 Microchip Technology Inc.
DS70287A-page 309
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-18:
I2Cx BUS START/STOP BITS TIMING CHARACTERISTICS (MASTER MODE)
SCLx
IM31
IM34
IM30
IM33
SDAx
Stop
Condition
Start
Condition
Note: Refer to Figure 25-1 for load conditions.
FIGURE 25-19:
I2Cx BUS DATA TIMING CHARACTERISTICS (MASTER MODE)
IM20
IM21
IM11
IM10
SCLx
IM11
IM26
IM10
IM25
IM33
SDAx
In
IM40
IM40
IM45
SDAx
Out
Note: Refer to Figure 25-1 for load conditions.
DS70287A-page 310
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-36: I2Cx BUS DATA TIMING REQUIREMENTS (MASTER MODE)
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
Symbol
No.
IM10
IM11
Min(1)
Max
Units
Conditions
TLO:SCL Clock Low Time 100 kHz mode
TCY/2 (BRG + 1)
—
μs
—
400 kHz mode
TCY/2 (BRG + 1)
—
μs
—
1 MHz mode(2)
TCY/2 (BRG + 1)
—
μs
—
Clock High Time 100 kHz mode
TCY/2 (BRG + 1)
—
μs
—
400 kHz mode
TCY/2 (BRG + 1)
—
μs
—
(2)
TCY/2 (BRG + 1)
—
μs
—
—
300
ns
THI:SCL
Characteristic
1 MHz mode
IM20
TF:SCL
SDAx and SCLx 100 kHz mode
Fall Time
400 kHz mode
1 MHz mode(2)
IM21
TR:SCL
IM25
SDAx and SCLx 100 kHz mode
Rise Time
400 kHz mode
TSU:DAT Data Input
Setup Time
IM26
THD:DAT Data Input
Hold Time
IM30
TSU:STA
IM31
Start Condition
Setup Time
THD:STA Start Condition
Hold Time
IM33
TSU:STO Stop Condition
Setup Time
IM34
THD:STO Stop Condition
Hold Time
IM40
TAA:SCL
IM45
Output Valid
From Clock
TBF:SDA Bus Free Time
IM50
CB
Note 1:
2:
20 + 0.1 CB
300
ns
—
100
ns
—
1000
ns
20 + 0.1 CB
300
ns
1 MHz mode(2)
—
300
ns
100 kHz mode
250
—
ns
400 kHz mode
100
—
ns
1 MHz mode(2)
40
—
ns
100 kHz mode
0
—
μs
400 kHz mode
0
0.9
μs
1 MHz mode(2)
0.2
—
μs
100 kHz mode
TCY/2 (BRG + 1)
—
μs
400 kHz mode
TCY/2 (BRG + 1)
—
μs
1 MHz mode(2)
TCY/2 (BRG + 1)
—
μs
100 kHz mode
TCY/2 (BRG + 1)
—
μs
400 kHz mode
TCY/2 (BRG + 1)
—
μs
1 MHz mode(2)
TCY/2 (BRG + 1)
—
μs
100 kHz mode
TCY/2 (BRG + 1)
—
μs
400 kHz mode
TCY/2 (BRG + 1)
—
μs
1 MHz mode(2)
TCY/2 (BRG + 1)
—
μs
CB is specified to be
from 10 to 400 pF
CB is specified to be
from 10 to 400 pF
—
—
Only relevant for
Repeated Start
condition
After this period the
first clock pulse is
generated
—
100 kHz mode
TCY/2 (BRG + 1)
—
ns
400 kHz mode
TCY/2 (BRG + 1)
—
ns
1 MHz mode(2)
TCY/2 (BRG + 1)
—
ns
100 kHz mode
—
3500
μs
400 kHz mode
—
1000
μs
—
1 MHz mode(2)
—
400
μs
—
Time the bus must be
free before a new
transmission can start
100 kHz mode
4.7
—
μs
400 kHz mode
1.3
—
μs
1 MHz mode(2)
0.5
—
μs
—
400
pF
Bus Capacitive Loading
—
—
BRG is the value of the
Rate Generator. Refer to Section 19. “Inter-Integrated Circuit (I2C™)”
in the “dsPIC33F Family Reference Manual”.
Maximum pin capacitance = 10 pF for all I2Cx pins (for 1 MHz mode only).
© 2007 Microchip Technology Inc.
I2C Baud
DS70287A-page 311
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-20:
I2Cx BUS START/STOP BITS TIMING CHARACTERISTICS (SLAVE MODE)
SCLx
IS34
IS31
IS30
IS33
SDAx
Stop
Condition
Start
Condition
FIGURE 25-21:
I2Cx BUS DATA TIMING CHARACTERISTICS (SLAVE MODE)
IS20
IS21
IS11
IS10
SCLx
IS30
IS26
IS31
IS25
IS33
SDAx
In
IS40
IS40
IS45
SDAx
Out
DS70287A-page 312
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-37: I2Cx BUS DATA TIMING REQUIREMENTS (SLAVE MODE)
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
IS10
IS11
IS20
Symbol
TLO:SCL
THI:SCL
TF:SCL
Characteristic
Clock Low Time
Clock High Time
SDAx and SCLx
Fall Time
Min
Max
Units
100 kHz mode
4.7
—
μs
Device must operate at a
minimum of 1.5 MHz
400 kHz mode
1.3
—
μs
Device must operate at a
minimum of 10 MHz
1 MHz mode(1)
0.5
—
μs
100 kHz mode
4.0
—
μs
Device must operate at a
minimum of 1.5 MHz
400 kHz mode
0.6
—
μs
Device must operate at a
minimum of 10 MHz
1 MHz mode(1)
0.5
—
μs
100 kHz mode
—
300
ns
400 kHz mode
20 + 0.1 CB
300
ns
—
100
ns
100 kHz mode
—
1000
ns
400 kHz mode
20 + 0.1 CB
300
ns
1 MHz mode(1)
—
300
ns
100 kHz mode
250
—
ns
400 kHz mode
100
—
ns
1 MHz mode(1)
100
—
ns
1 MHz
IS21
IS25
IS26
IS30
IS31
IS33
IS34
IS40
IS45
IS50
Note 1:
TR:SCL
TSU:DAT
THD:DAT
TSU:STA
THD:STA
TSU:STO
THD:STO
TAA:SCL
TBF:SDA
CB
SDAx and SCLx
Rise Time
Data Input
Setup Time
Data Input
Hold Time
Start Condition
Setup Time
Start Condition
Hold Time
Stop Condition
Setup Time
Stop Condition
Hold Time
Output Valid
From Clock
Bus Free Time
Conditions
mode(1)
100 kHz mode
0
—
μs
400 kHz mode
0
0.9
μs
1 MHz mode(1)
0
0.3
μs
100 kHz mode
4.7
—
μs
400 kHz mode
0.6
—
μs
1 MHz mode(1)
0.25
—
μs
100 kHz mode
4.0
—
μs
400 kHz mode
0.6
—
μs
1 MHz mode(1)
0.25
—
μs
100 kHz mode
4.7
—
μs
400 kHz mode
0.6
—
μs
1 MHz mode(1)
0.6
—
μs
100 kHz mode
4000
—
ns
400 kHz mode
600
—
ns
1 MHz mode(1)
250
100 kHz mode
0
3500
ns
400 kHz mode
0
1000
ns
1 MHz mode(1)
0
350
ns
—
CB is specified to be from
10 to 400 pF
CB is specified to be from
10 to 400 pF
—
—
Only relevant for Repeated
Start condition
After this period, the first
clock pulse is generated
—
—
ns
100 kHz mode
4.7
—
μs
400 kHz mode
1.3
—
μs
1 MHz mode(1)
0.5
—
μs
—
400
pF
Bus Capacitive Loading
—
—
Time the bus must be free
before a new transmission
can start
—
Maximum pin capacitance = 10 pF for all I2Cx pins (for 1 MHz mode only).
© 2007 Microchip Technology Inc.
DS70287A-page 313
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-22:
CiTx Pin
(output)
CAN MODULE I/O TIMING CHARACTERISTICS
New Value
Old Value
CA10 CA11
CiRx Pin
(input)
CA20
TABLE 25-38: CAN MODULE I/O TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic(1)
Min
Typ
Max
Units
Conditions
—
—
—
ns
See parameter D032
CA10
TioF
Port Output Fall Time
CA11
TioR
Port Output Rise Time
—
—
—
ns
See parameter D031
CA20
Tcwf
Pulse Width to Trigger
CAN Wake-up Filter
120
—
—
ns
—
Note 1:
These parameters are characterized but not tested in manufacturing.
DS70287A-page 314
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-39: ADC MODULE SPECIFICATIONS
AC CHARACTERISTICS
Param
Symbol
No.
Characteristic
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
Min.
Typ
Max.
Units
Lesser of
VDD + 0.3
or 3.6
V
VSS + 0.3
V
Conditions
Device Supply
AD01
AVDD
Module VDD Supply
AD02
AVSS
Module VSS Supply
AD05
VREFH
Reference Voltage High
Greater of
VDD – 0.3
or 3.0
—
VSS – 0.3
—
—
—
Reference Inputs
AD05a
AD06
VREFL
Reference Voltage Low
AD06a
AVSS + 2.7
—
AVDD
V
See Note 1
3.0
—
3.6
V
VREFH = AVDD
VREFL = AVSS = 0
AVSS
—
AVDD – 2.7
V
See Note 1
0
—
0
V
VREFH = AVDD
VREFL = AVSS = 0
AD07
VREF
Absolute Reference Voltage
2.7
—
3.6
V
VREF = VREFH - VREFL
AD08
IREF
Current Drain
—
400
—
550
10
μA
μA
ADC operating
ADC off
AD12
VINH
Input Voltage Range VINH
VINL
—
VREFH
V
This voltage reflects
Sample and Hold Channels
0, 1, 2, and 3 (CH0-CH3),
positive input
AD13
VINL
Input Voltage Range VINL
VREFL
—
AVSS + 1V
V
This voltage reflects
Sample and Hold Channels
0, 1, 2, and 3 (CH0-CH3),
negative input
AD17
RIN
Recommended Impedance
of Analog Voltage Source
—
—
—
—
200
200
Ω
Ω
10-bit ADC
12-bit ADC
Analog Input
Note 1:
These parameters are not characterized or tested in manufacturing.
© 2007 Microchip Technology Inc.
DS70287A-page 315
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-40: ADC MODULE SPECIFICATIONS (12-BIT MODE)
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic
Min.
Typ
Max.
Units
Conditions
ADC Accuracy (12-bit Mode) – Measurements with external VREF+/VREFAD20a
Nr
Resolution
AD21a
INL
Integral Nonlinearity
-2
12 data bits
—
+2
LSb
bits
VINL = AVSS = VREFL = 0V, AVDD
= VREFH = 3.6V
AD22a
DNL
Differential Nonlinearity
>-1
—
<1
LSb
VINL = AVSS = VREFL = 0V, AVDD
= VREFH = 3.6V
AD23a
GERR
Gain Error
1.25
1.5
3
LSb
VINL = AVSS = VREFL = 0V, AVDD
= VREFH = 3.6V
AD24a
EOFF
Offset Error
1.25
1.52
2
LSb
VINL = AVSS = VREFL = 0V, AVDD
= VREFH = 3.6V
AD25a
—
Monotonicity
—
—
—
—
AD20b
Nr
Resolution
AD21b
INL
Integral Nonlinearity
-2
—
+2
LSb
VINL = AVSS = 0V, AVDD = 3.6V
AD22b
DNL
Differential Nonlinearity
>-1
—
<1
LSb
VINL = AVSS = 0V, AVDD = 3.6V
AD23b
GERR
Gain Error
2
3
7
LSb
VINL = AVSS = 0V, AVDD = 3.6V
AD24b
EOFF
Offset Error
2
3
5
LSb
VINL = AVSS = 0V, AVDD = 3.6V
AD25b
—
Monotonicity
—
—
—
—
Guaranteed
ADC Accuracy (12-bit Mode) – Measurements with internal VREF+/VREF12 data bits
bits
Guaranteed
Dynamic Performance (12-bit Mode)
AD30a
THD
Total Harmonic Distortion
-77
-69
-61
dB
—
AD31a
SINAD
Signal to Noise and
Distortion
59
63
64
dB
—
AD32a
SFDR
Spurious Free Dynamic
Range
63
72
74
dB
—
AD33a
FNYQ
Input Signal Bandwidth
—
—
250
kHz
—
AD34a
ENOB
Effective Number of Bits
10.95
11.1
—
bits
—
DS70287A-page 316
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-41: ADC MODULE SPECIFICATIONS (10-BIT MODE)
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C for Industrial
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic
Min.
Typ
Max.
Units
Conditions
ADC Accuracy (10-bit Mode) – Measurements with external VREF+/VREFAD20c
Nr
Resolution
10 data bits
bits
AD21c
INL
Integral Nonlinearity
-1.5
—
+1.5
LSb
VINL = AVSS = VREFL = 0V,
AVDD = VREFH = 3.6V
AD22c
DNL
Differential Nonlinearity
>-1
—
<1
LSb
VINL = AVSS = VREFL = 0V,
AVDD = VREFH = 3.6V
AD23c
GERR
Gain Error
1
3
6
LSb
VINL = AVSS = VREFL = 0V,
AVDD = VREFH = 3.6V
AD24c
EOFF
Offset Error
1
2
5
LSb
VINL = AVSS = VREFL = 0V,
AVDD = VREFH = 3.6V
AD25c
—
Monotonicity
—
—
—
—
Guaranteed
ADC Accuracy (10-bit Mode) – Measurements with internal VREF+/VREFAD20d
Nr
Resolution
AD21d
INL
Integral Nonlinearity
-1
10 data bits
—
+1
LSb
bits
VINL = AVSS = 0V, AVDD = 3.6V
>-1
—
<1
LSb
VINL = AVSS = 0V, AVDD = 3.6V
1
5
6
LSb
VINL = AVSS = 0V, AVDD = 3.6V
AD22d
DNL
Differential Nonlinearity
AD23d
GERR
Gain Error
AD24d
EOFF
Offset Error
1
2
3
LSb
AD25d
—
Monotonicity
—
—
—
—
AD30b
THD
Total Harmonic Distortion
—
-64
-67
dB
—
AD31b
SINAD
Signal to Noise and
Distortion
—
57
58
dB
—
AD32b
SFDR
Spurious Free Dynamic
Range
—
60
62
dB
—
AD33b
FNYQ
Input Signal Bandwidth
—
—
550
kHz
—
AD34b
ENOB
Effective Number of Bits
9.1
9.7
9.8
bits
—
VINL = AVSS = 0V, AVDD = 3.6V
Guaranteed
Dynamic Performance (10-bit Mode)
© 2007 Microchip Technology Inc.
DS70287A-page 317
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-23:
ADC CONVERSION (12-BIT MODE) TIMING CHARACTERISTICS
(ASAM = 0, SSRC<2:0> = 000)
AD50
ADCLK
Instruction
Execution
Set SAMP
Clear SAMP
SAMP
ch0_dischrg
ch0_samp
eoc
AD61
AD60
TSAMP
AD55
CONV
ADxIF
Buffer(0)
1
2
3
4
5
6
7
8
9
1 – Software sets ADxCON. SAMP to start sampling.
2 – Sampling starts after discharge period. TSAMP is described in Section 16. “10/12-bit ADC with DMA” in the “dsPIC33F
Family Reference Manual”.
3 – Software clears ADxCON. SAMP to start conversion.
4 – Sampling ends, conversion sequence starts.
5 – Convert bit 11.
6 – Convert bit 10.
7 – Convert bit 1.
8 – Convert bit 0.
9 – One TAD for end of conversion.
DS70287A-page 318
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-42: ADC CONVERSION (12-BIT MODE) TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
No.
Symbol
Characteristic
Min.
Typ
Max.
Units
Conditions
Clock Parameters
AD50a
TAD
ADC Clock Period
AD51a
tRC
ADC Internal RC Oscillator
Period
AD55a
tCONV
Conversion Time
AD56a
FCNV
Throughput Rate
AD57a
TSAMP
Sample Time
AD60a
tPCS
Conversion Start from Sample
Trigger(2)
AD61a
tPSS
Sample Start from Setting
Sample (SAMP) bit(2)
AD62a
tCSS
AD63a
tDPU
117.6
—
—
ns
—
250
—
ns
Conversion Rate
—
14 TAD
—
—
—
500
Ksps
3.0 TAD
—
—
—
Timing Parameters
Note 1:
2:
—
1.0 TAD
—
—
—
0.5 TAD
—
1.5 TAD
—
—
Conversion Completion to
Sample Start (ASAM = 1)(2)
—
0.5 TAD
—
—
—
Time to Stabilize Analog Stage
from ADC Off to ADC On(2)
1
—
5
μs
—
Because the sample caps will eventually lose charge, clock rates below 10 kHz can affect linearity
performance, especially at elevated temperatures.
These parameters are characterized but not tested in manufacturing.
© 2007 Microchip Technology Inc.
DS70287A-page 319
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-24:
ADC CONVERSION (10-BIT MODE) TIMING CHARACTERISTICS
(CHPS<1:0> = 01, SIMSAM = 0, ASAM = 0, SSRC<2:0> = 000)
AD50
ADCLK
Instruction
Execution Set SAMP
Clear SAMP
SAMP
ch0_dischrg
ch0_samp
ch1_dischrg
ch1_samp
eoc
AD61
AD60
AD55
TSAMP
AD55
CONV
ADxIF
Buffer(0)
Buffer(1)
1
2
3
4
5
6
7
8
5
6
7
8
1 – Software sets ADxCON. SAMP to start sampling.
2 – Sampling starts after discharge period. TSAMP is described in Section 16. “10/12-bit ADC with DMA” in the “dsPIC33F
Family Reference Manual”.
3 – Software clears ADxCON. SAMP to start conversion.
4 – Sampling ends, conversion sequence starts.
5 – Convert bit 9.
6 – Convert bit 8.
7 – Convert bit 0.
8 – One TAD for end of conversion.
DS70287A-page 320
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
FIGURE 25-25:
ADC CONVERSION (10-BIT MODE) TIMING CHARACTERISTICS (CHPS<1:0> = 01,
SIMSAM = 0, ASAM = 1, SSRC<2:0> = 111, SAMC<4:0> = 00001)
AD50
ADCLK
Instruction
Execution
Set ADON
SAMP
ch0_dischrg
ch0_samp
ch1_dischrg
ch1_samp
eoc
TSAMP
AD55
TSAMP
AD55
TCONV
CONV
ADxIF
Buffer(0)
Buffer(1)
1
2
3
4
5
6
7
3
4
5
6
8
3
4
1 – Software sets ADxCON. ADON to start AD operation.
5 – Convert bit 0.
2 – Sampling starts after discharge period. TSAMP is described in
Section 16. “10/12-bit ADC with DMA” in the “dsPIC33F
Family Reference Manual”.
6 – One TAD for end of conversion.
3 – Convert bit 9.
8 – Sample for time specified by SAMC<4:0>.
7 – Begin conversion of next channel.
4 – Convert bit 8.
© 2007 Microchip Technology Inc.
DS70287A-page 321
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
TABLE 25-43: ADC CONVERSION (10-BIT MODE) TIMING REQUIREMENTS
Standard Operating Conditions: 3.0V to 3.6V
(unless otherwise stated)
Operating temperature -40°C ≤ TA ≤ +85°C
AC CHARACTERISTICS
Param
Symbol
No.
Characteristic
Min.
Typ(1)
Max.
Units
Conditions
Clock Parameters
AD50b TAD
ADC Clock Period
76
—
—
ns
AD51b tRC
ADC Internal RC Oscillator Period
—
250
—
ns
AD55b tCONV
Conversion Time
AD56b FCNV
Throughput Rate
AD57b TSAMP
Sample Time
AD60b tPCS
Conversion Start from Sample
Trigger(1)
AD61b tPSS
Sample Start from Setting
Sample (SAMP) bit(1)
AD62b tCSS
AD63b tDPU
Conversion Rate
—
12 TAD
—
—
—
—
1.1
MSPS
2 TAD
—
—
—
Timing Parameters
Note 1:
2:
—
1.0 TAD
—
—
Auto-Convert Trigger
(SSRC<2:0> = 111) not
selected
0.5 TAD
—
1.5 TAD
—
—
Conversion Completion to
Sample Start (ASAM = 1)(1)
—
0.5 TAD
—
—
—
Time to Stabilize Analog Stage
from ADC Off to ADC On(1)
1
—
5
μs
—
These parameters are characterized but not tested in manufacturing.
Because the sample caps will eventually lose charge, clock rates below 10 kHz can affect linearity
performance, especially at elevated temperatures.
DS70287A-page 322
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
26.0
PACKAGING INFORMATION
26.1
Package Marking Information
64-Lead TQFP (10x10x1 mm)
XXXXXXXXXX
XXXXXXXXXX
XXXXXXXXXX
YYWWNNN
dsPIC33FJ
256MC706
-I/PT e3
0510017
80-Lead TQFP (12x12x1 mm)
XXXXXXXXXXXX
XXXXXXXXXXXX
YYWWNNN
dsPIC33FJ128
MC708-I/PT e3
0510017
100-Lead TQFP (12x12x1 mm)
XXXXXXXXXXXX
XXXXXXXXXXXX
YYWWNNN
Legend: XX...X
Y
YY
WW
NNN
e3
*
Note:
Example
dsPIC33FJ256
MC710-I/PT e3
0510017
100-Lead TQFP (14x14x1mm)
XXXXXXXXXXXX
XXXXXXXXXXXX
YYWWNNN
Example
100-Lead TQFP (14x14x1mm)
dsPIC33FJ256
MC710-I/PF e3
0510017
Customer-specific information
Year code (last digit of calendar year)
Year code (last 2 digits of calendar year)
Week code (week of January 1 is week ‘01’)
Alphanumeric traceability code
Pb-free JEDEC designator for Matte Tin (Sn)
This package is Pb-free. The Pb-free JEDEC designator ( e3 )
can be found on the outer packaging for this package.
In the event the full Microchip part number cannot be marked on one line, it will
be carried over to the next line, thus limiting the number of available
characters for customer-specific information.
© 2007 Microchip Technology Inc.
DS70287A-page 323
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
26.2
Package Details
64-Lead Plastic Thin Quad Flatpack (PT) – 10x10x1 mm Body, 2.00 mm Footprint [TQFP]
Note:
For the most current package drawings, please see the Microchip Packaging Specification located at
http://www.microchip.com/packaging
D
D1
E
e
E1
N
b
NOTE 1
123
NOTE 2
α
A
c
φ
A2
β
A1
L
L1
Units
Dimension Limits
Number of Leads
MILLIMETERS
MIN
N
NOM
MAX
64
Lead Pitch
e
Overall Height
A
–
0.50 BSC
–
Molded Package Thickness
A2
0.95
1.00
1.05
Standoff
A1
0.05
–
0.15
Foot Length
L
0.45
0.60
0.75
Footprint
L1
1.20
1.00 REF
Foot Angle
φ
Overall Width
E
12.00 BSC
Overall Length
D
12.00 BSC
Molded Package Width
E1
10.00 BSC
Molded Package Length
D1
10.00 BSC
0°
3.5°
7°
Lead Thickness
c
0.09
–
0.20
Lead Width
b
0.17
0.22
0.27
Mold Draft Angle Top
α
11°
12°
13°
Mold Draft Angle Bottom
β
11°
12°
13°
Notes:
1. Pin 1 visual index feature may vary, but must be located within the hatched area.
2. Chamfers at corners are optional; size may vary.
3. Dimensions D1 and E1 do not include mold flash or protrusions. Mold flash or protrusions shall not exceed 0.25 mm per side.
4. Dimensioning and tolerancing per ASME Y14.5M.
BSC: Basic Dimension. Theoretically exact value shown without tolerances.
REF: Reference Dimension, usually without tolerance, for information purposes only.
Microchip Technology Drawing C04-085B
DS70287A-page 324
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
80-Lead Plastic Thin Quad Flatpack (PT) – 12x12x1 mm Body, 2.00 mm Footprint [TQFP]
Note:
For the most current package drawings, please see the Microchip Packaging Specification located at
http://www.microchip.com/packaging
D
D1
E
e
E1
N
b
NOTE 1
12 3
NOTE 2
c
β
φ
L
α
A
A2
A1
L1
Units
Dimension Limits
Number of Leads
MILLIMETERS
MIN
N
NOM
MAX
80
Lead Pitch
e
Overall Height
A
–
0.50 BSC
–
Molded Package Thickness
A2
0.95
1.00
1.05
Standoff
A1
0.05
–
0.15
Foot Length
L
0.45
0.60
0.75
Footprint
L1
1.20
1.00 REF
Foot Angle
φ
Overall Width
E
14.00 BSC
Overall Length
D
14.00 BSC
Molded Package Width
E1
12.00 BSC
Molded Package Length
D1
12.00 BSC
0°
3.5°
7°
Lead Thickness
c
0.09
–
0.20
Lead Width
b
0.17
0.22
0.27
Mold Draft Angle Top
α
11°
12°
13°
Mold Draft Angle Bottom
β
11°
12°
13°
Notes:
1. Pin 1 visual index feature may vary, but must be located within the hatched area.
2. Chamfers at corners are optional; size may vary.
3. Dimensions D1 and E1 do not include mold flash or protrusions. Mold flash or protrusions shall not exceed 0.25 mm per side.
4. Dimensioning and tolerancing per ASME Y14.5M.
BSC: Basic Dimension. Theoretically exact value shown without tolerances.
REF: Reference Dimension, usually without tolerance, for information purposes only.
Microchip Technology Drawing C04-092B
© 2007 Microchip Technology Inc.
DS70287A-page 325
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
100-Lead Plastic Thin Quad Flatpack (PT) – 12x12x1 mm Body, 2.00 mm Footprint [TQFP]
Note:
For the most current package drawings, please see the Microchip Packaging Specification located at
http://www.microchip.com/packaging
D
D1
e
E
E1
N
b
NOTE 1
1 23
NOTE 2
c
α
A
φ
L
β
A1
Units
Dimension Limits
Number of Leads
A2
L1
MILLIMETERS
MIN
N
NOM
MAX
100
Lead Pitch
e
Overall Height
A
–
0.40 BSC
–
Molded Package Thickness
A2
0.95
1.00
1.05
Standoff
A1
0.05
–
0.15
Foot Length
L
0.45
0.60
0.75
Footprint
L1
1.20
1.00 REF
Foot Angle
φ
Overall Width
E
14.00 BSC
Overall Length
D
14.00 BSC
Molded Package Width
E1
12.00 BSC
Molded Package Length
D1
12.00 BSC
0°
3.5°
7°
Lead Thickness
c
0.09
–
0.20
Lead Width
b
0.13
0.18
0.23
Mold Draft Angle Top
α
11°
12°
13°
Mold Draft Angle Bottom
β
11°
12°
13°
Notes:
1. Pin 1 visual index feature may vary, but must be located within the hatched area.
2. Chamfers at corners are optional; size may vary.
3. Dimensions D1 and E1 do not include mold flash or protrusions. Mold flash or protrusions shall not exceed 0.25 mm per side.
4. Dimensioning and tolerancing per ASME Y14.5M.
BSC: Basic Dimension. Theoretically exact value shown without tolerances.
REF: Reference Dimension, usually without tolerance, for information purposes only.
Microchip Technology Drawing C04-100B
DS70287A-page 326
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
100-Lead Plastic Thin Quad Flatpack (PF) – 14x14x1 mm Body, 2.00 mm Footprint [TQFP]
Note:
For the most current package drawings, please see the Microchip Packaging Specification located at
http://www.microchip.com/packaging
D
D1
e
E1
E
b
N
NOTE 1
α
1 23
NOTE 2
φ
c
β
A
A2
A1
L
L1
Units
Dimension Limits
Number of Leads
MILLIMETERS
MIN
N
NOM
MAX
100
Lead Pitch
e
Overall Height
A
–
0.50 BSC
–
Molded Package Thickness
A2
0.95
1.00
1.05
Standoff
A1
0.05
–
0.15
Foot Length
L
0.45
0.60
0.75
Footprint
L1
1.20
1.00 REF
Foot Angle
φ
Overall Width
E
16.00 BSC
Overall Length
D
16.00 BSC
Molded Package Width
E1
14.00 BSC
Molded Package Length
D1
14.00 BSC
0°
3.5°
7°
Lead Thickness
c
0.09
–
0.20
Lead Width
b
0.17
0.22
0.27
Mold Draft Angle Top
α
11°
12°
13°
Mold Draft Angle Bottom
β
11°
12°
13°
Notes:
1. Pin 1 visual index feature may vary, but must be located within the hatched area.
2. Chamfers at corners are optional; size may vary.
3. Dimensions D1 and E1 do not include mold flash or protrusions. Mold flash or protrusions shall not exceed 0.25 mm per side.
4. Dimensioning and tolerancing per ASME Y14.5M.
BSC: Basic Dimension. Theoretically exact value shown without tolerances.
REF: Reference Dimension, usually without tolerance, for information purposes only.
Microchip Technology Drawing C04-110B
© 2007 Microchip Technology Inc.
DS70287A-page 327
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 328
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
APPENDIX A: DIFFERENCES
BETWEEN “PS”
(PROTOTYPE SAMPLE)
DEVICES AND FINAL
PRODUCTION DEVICES
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family devices marked “PS” have some key differences from the final production devices (devices not
marked “PS”). The major differences are listed in this
appendix. In addition, there are minor differences in
several SFR names, bits and Reset states, which are
described in Section 3.0 “Memory Organization”
and the corresponding peripheral sections.
A.1
Device Names
The Prototype Sample devices have a suffix “PS” in
their names, as marked on the device package. This
distinguishes them from Engineering Sample devices
(which are suffixed “ES”) and final production devices
(that have neither a “PS” nor an “ES” suffix on the
device package marking).
A.5
Oscillator Operation
The default values of the PLL postscaler and feedback
divisor bits are different between the “PS” devices and
final production devices. Please refer to Section 8.0
“Oscillator Configuration” for the register definitions
and Reset states.
A.6
CAN and Enhanced CAN
The dsPIC33FJXXXMCX06/X08/X10 Motor Control
Family devices marked “PS” have up to two CAN modules. The functionality and register layout of these modules are identical to those of dsPIC30F devices, and
are described in Section 20.0 “Enhanced CAN Module” of this data sheet. These modules do not provide
DMA support.
The final production devices have up to two Enhanced
CAN (ECAN™ technology) modules. These modules
have significantly more features than the CAN modules, mainly in the form of an increased number of
available buffers, filters and masks, as well as DMA
support.
Prototype samples are available only for a subset of the
final production devices. Please refer to the device
tables in this data sheet for a listing of all devices.
A.7
A.2
The “PS” devices have a 16-word deep ADC result
buffer.
RAM Sizes
The total RAM size, including the size of the dual ported
DMA RAM, is different between each “PS” device and
the corresponding final production device. For example, the final production devices have 2 Kbytes DMA
RAM, whereas the “PS” devices have 1 Kbyte DMA
RAM. Please refer to the device tables in this data
sheet
for
the
memory
sizes
of
each
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
device.
A.3
Interrupts
The final production devices have four more interrupt
sources (vectors) than the “PS” devices do. Also, two
of the interrupt vectors are associated with slightly different events from the corresponding interrupts in the
“PS” devices. Please refer to Section 6.0 “Interrupt
Controller” for more details.
A.4
DMA Enhancements
Both “PS” and final production devices can perform
Direct Memory Access (DMA) data transfers.
ADC Differences
Both “PS” and final production devices contain up to
two ADC modules.
The final production devices have enhanced DMA support in the form of additional DMA RAM and Peripheral
Indirect Addressing. This renders the 16-word ADC
buffer redundant. Hence, the buffer has been replaced
by a single ADC Result register.
A.8
Device Packages
The final production devices are offered in the following
TQFP packages:
•
•
•
•
64-pin TQFP 10x10x1 mm
80-pin TQFP 12x12x1 mm
100-pin TQFP 12x12x1 mm
100-pin TQFP 14x14x1 mm
The “PS” devices are offered in the following TQFP
packages:
• 64-pin TQFP 10x10x1 mm
• 80-pin TQFP 12x12x1 mm
• 100-pin TQFP 14x14x1 mm
In addition to all of the features supported by the DMA
controller in the “PS” devices, the DMA controller in the
final production devices also supports the Peripheral
Indirect Addressing mode. Please refer to Section 7.0
“Direct Memory Access (DMA)” for a description of
this feature.
© 2007 Microchip Technology Inc.
DS70287A-page 329
dsPIC33FJXXXMCX06/X08/X10 Motor Control Family
APPENDIX B:
REVISION HISTORY
Revision A (June 2007)
Initial release of this document
DS70287A-page 330
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
INDEX
A
A/D Converter ................................................................... 249
DMA .......................................................................... 249
Initialization ............................................................... 249
Key Features............................................................. 249
AC Characteristics ............................................................ 291
Internal RC Accuracy ................................................ 293
Load Conditions ........................................................ 291
ADC Module
ADC11 Register Map .................................................. 46
ADC2 Register Map .................................................... 46
Alternate Vector Table (AIVT) ............................................. 79
Arithmetic Logic Unit (ALU)................................................. 23
Assembler
MPASM Assembler................................................... 280
Automatic Clock Stretch.................................................... 203
Receive Mode ........................................................... 203
Transmit Mode .......................................................... 203
B
Barrel Shifter ....................................................................... 27
Bit-Reversed Addressing .................................................... 60
Example ...................................................................... 61
Implementation ........................................................... 60
Sequence Table (16-Entry)......................................... 61
Block Diagrams
16-bit Timer1 Module ................................................ 149
A/D Module ....................................................... 250, 251
Connections for On-Chip Voltage Regulator............. 267
Device Clock ..................................................... 137, 139
DSP Engine ................................................................ 24
dsPIC33F .................................................................... 14
dsPIC33F CPU Core................................................... 18
ECAN Module ........................................................... 220
Input Capture ............................................................ 157
Output Compare ....................................................... 161
PLL............................................................................ 139
PWM Module ............................................................ 164
Quadrature Encoder Interface .................................. 185
Reset System.............................................................. 73
Shared Port Structure ............................................... 147
SPI ............................................................................ 194
Timer2 (16-bit) .......................................................... 153
Timer2/3 (32-bit) ....................................................... 152
UART ........................................................................ 211
Watchdog Timer (WDT) ............................................ 269
C
C Compilers
MPLAB C18 .............................................................. 280
MPLAB C30 .............................................................. 280
Clock Switching................................................................. 144
Enabling .................................................................... 144
Sequence.................................................................. 144
Code Examples
Erasing a Program Memory Page............................... 70
Initiating a Programming Sequence............................ 71
Loading Write Buffers ................................................. 71
Port Write/Read ........................................................ 148
PWRSAV Instruction Syntax..................................... 145
Code Protection ........................................................ 263, 269
Configuration Bits.............................................................. 263
Configuration Register Map .............................................. 263
© 2007 Microchip Technology Inc.
Configuring Analog Port Pins............................................ 148
CPU
Control Register.......................................................... 20
CPU Clocking System ...................................................... 138
Options ..................................................................... 138
Selection................................................................... 138
Customer Change Notification Service............................. 337
Customer Notification Service .......................................... 337
Customer Support............................................................. 337
D
Data Accumulators and Adder/Subtractor .......................... 25
Data Space Write Saturation ...................................... 27
Overflow and Saturation ............................................. 25
Round Logic ............................................................... 26
Write Back .................................................................. 26
Data Address Space........................................................... 32
Alignment.................................................................... 32
Memory Map for dsPIC33F Devices with
16 KBs RAM ....................................................... 34
Memory Map for dsPIC33F Devices with
30 KBs RAM ....................................................... 35
Memory Map for dsPIC33F Devices with
8 KBs RAM ......................................................... 33
Near Data Space ........................................................ 32
Software Stack ........................................................... 57
Width .......................................................................... 32
DC Characteristics............................................................ 284
I/O Pin Input Specifications ...................................... 288
I/O Pin Output Specifications.................................... 289
Idle Current (IDOZE) .................................................. 287
Idle Current (IIDLE) .................................................... 286
Operating Current (IDD) ............................................ 285
Power-Down Current (IPD)........................................ 286
Program Memory...................................................... 290
Temperature and Voltage Specifications.................. 284
Development Support ....................................................... 279
Differences Between "PS" and Final Production
Devices..................................................................... 329
DMA Module
DMA Register Map ..................................................... 47
DMAC Registers ............................................................... 128
DMAxCNT ................................................................ 128
DMAxCON................................................................ 128
DMAxPAD ................................................................ 128
DMAxREQ ................................................................ 128
DMAxSTA ................................................................. 128
DMAxSTB ................................................................. 128
DSP Engine ........................................................................ 23
Multiplier ..................................................................... 25
E
ECAN Module
Baud Rate Setting .................................................... 224
ECAN1 Register Map (C1CTRL1.WIN = 0 or 1)......... 49
ECAN1 Register Map (C1CTRL1.WIN = 0)................ 49
ECAN1 Register Map (C1CTRL1.WIN = 1)................ 50
ECAN2 Register Map (C2CTRL1.WIN = 0 or 1)......... 52
ECAN2 Register Map (C2CTRL1.WIN = 0).......... 52, 53
Frame Types ............................................................ 219
Message Reception.................................................. 221
Message Transmission............................................. 223
Modes of Operation .................................................. 221
Overview................................................................... 219
DS70287A-page 331
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
Electrical Characteristics................................................... 283
AC ............................................................................. 291
Enhanced CAN Module..................................................... 219
Equations
A/D Conversion Clock Period ................................... 252
Calculating the PWM Period ..................................... 160
Calculation for Maximum PWM Resolution............... 160
Device Operating Frequency .................................... 138
PWM Period .............................................................. 166
PWM Resolution ....................................................... 166
Relationship Between Device and SPI
Clock Speed...................................................... 196
Serial Clock Rate ...................................................... 201
Time Quantum for Clock Generation ........................ 225
UART Baud Rate with BRGH = 0 ............................. 212
UART Baud Rate with BRGH = 1 ............................. 212
Errata .................................................................................. 11
Flash Program Memory....................................................... 67
Control Registers ........................................................ 68
Operations .................................................................. 68
Programming Algorithm .............................................. 70
RTSP Operation.......................................................... 68
Table Instructions........................................................ 67
Flexible Configuration ....................................................... 263
FSCM
Delay for Crystal and PLL Clock Sources ................... 77
Device Resets ............................................................. 77
Instruction Addressing Modes ............................................ 57
File Register Instructions ............................................ 57
Fundamental Modes Supported ................................. 58
MAC Instructions ........................................................ 58
MCU Instructions ........................................................ 57
Move and Accumulator Instructions............................ 58
Other Instructions ....................................................... 58
Instruction Set
Overview................................................................... 274
Summary .................................................................. 271
Instruction-Based Power-Saving Modes........................... 145
Idle ............................................................................ 146
Sleep ........................................................................ 145
Internal RC Oscillator
Use with WDT........................................................... 268
Internet Address ............................................................... 337
Interrupt Control and Status Registers ............................... 83
IECx ............................................................................ 83
IFSx ............................................................................ 83
INTCON1 .................................................................... 83
INTCON2 .................................................................... 83
IPCx ............................................................................ 83
Interrupt Setup Procedures............................................... 125
Initialization ............................................................... 125
Interrupt Disable ....................................................... 125
Interrupt Service Routine .......................................... 125
Trap Service Routine ................................................ 125
Interrupt Vector Table (IVT) ................................................ 79
Interrupts Coincident with Power Save Instructions ......... 146
I
J
I/O Ports ............................................................................ 147
Parallel I/O (PIO)....................................................... 147
Write/Read Timing .................................................... 148
I2C
Addresses ................................................................. 203
Baud Rate Generator ................................................ 201
General Call Address Support .................................. 203
Interrupts ................................................................... 201
IPMI Support ............................................................. 203
Master Mode Operation
Clock Arbitration................................................ 204
Multi-Master Communication, Bus Collision
and Bus Arbitration ................................... 204
Operating Modes ...................................................... 201
Registers ................................................................... 201
Slave Address Masking ............................................ 203
Slope Control ............................................................ 204
Software Controlled Clock Stretching
(STREN = 1) ..................................................... 203
I2C Module
I2C1 Register Map ...................................................... 44
I2C2 Register Map ...................................................... 44
In-Circuit Debugger ........................................................... 269
In-Circuit Emulation........................................................... 263
In-Circuit Serial Programming (ICSP) ....................... 263, 269
Infrared Support
Built-in IrDA Encoder and Decoder ........................... 213
External IrDA, IrDA Clock Output.............................. 213
Input Capture
Registers ................................................................... 158
Input Change Notification Module ..................................... 148
JTAG Boundary Scan Interface ........................................ 263
F
M
Memory Organization ......................................................... 29
Microchip Internet Web Site.............................................. 337
Modes of Operation
Disable...................................................................... 221
Initialization ............................................................... 221
Listen All Messages.................................................. 221
Listen Only................................................................ 221
Loopback .................................................................. 221
Normal Operation ..................................................... 221
Modulo Addressing ............................................................. 58
Applicability................................................................. 60
Operation Example ..................................................... 59
Start and End Address ............................................... 59
W Address Register Selection .................................... 59
Motor Control PWM .......................................................... 163
Motor Control PWM Module
8-Output Register Map ............................................... 43
MPLAB ASM30 Assembler, Linker, Librarian ................... 280
MPLAB ICD 2 In-Circuit Debugger ................................... 281
MPLAB ICE 2000 High-Performance Universal
In-Circuit Emulator .................................................... 281
MPLAB Integrated Development Environment
Software ................................................................... 279
MPLAB PM3 Device Programmer .................................... 281
MPLAB REAL ICE In-Circuit Emulator System ................ 281
MPLINK Object Linker/MPLIB Object Librarian ................ 280
N
NVM Module
Register Map .............................................................. 56
DS70287A-page 332
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
O
Open-Drain Configuration ................................................. 148
Output Compare ............................................................... 159
Registers................................................................... 162
P
Packaging ......................................................................... 323
Details ....................................................................... 324
Marking ..................................................................... 323
Peripheral Module Disable (PMD) .................................... 146
PICSTART Plus Development Programmer ..................... 282
Pinout I/O Descriptions (table) ............................................ 15
POR and Long Oscillator Start-up Times............................ 77
PORTA
Register Map............................................................... 54
PORTB
Register Map............................................................... 54
PORTC
Register Map............................................................... 55
PORTD
Register Map............................................................... 55
PORTE
Register Map............................................................... 55
PORTF
Register Map............................................................... 55
PORTG
Register Map............................................................... 56
Power-Saving Features .................................................... 145
Clock Frequency and Switching................................ 145
Program Address Space ..................................................... 29
Construction................................................................ 62
Data Access from Program Memory Using
Program Space Visibility ..................................... 65
Data Access from Program Memory Using Table
Instructions ......................................................... 64
Data Access from, Address Generation...................... 63
Memory Map ............................................................... 30
Table Read Instructions
TBLRDH ............................................................. 64
TBLRDL .............................................................. 64
Visibility Operation ...................................................... 65
Program Memory
Interrupt Vector ........................................................... 31
Organization................................................................ 31
Reset Vector ............................................................... 31
Pulse-Width Modulation Mode .......................................... 160
PWM
Center-Aligned .......................................................... 167
Complementary Mode............................................... 168
Complementary Output Mode................................... 169
Duty Cycle................................................................. 160
Edge-Aligned ............................................................ 166
Independent Output Mode ........................................ 169
Operation During CPU Idle Mode ............................. 171
Operation During CPU Sleep Mode.......................... 171
Output Override ........................................................ 169
Output Override Synchronization.............................. 170
Period................................................................ 160, 166
Single Pulse Mode .................................................... 169
PWM Dead-Time Generators ........................................... 168
Assignment ............................................................... 169
Ranges...................................................................... 169
Selection Bits (table) ................................................. 169
© 2007 Microchip Technology Inc.
PWM Duty Cycle
Comparison Units ..................................................... 167
Immediate Updates .................................................. 167
Register Buffers........................................................ 167
PWM Fault Pins ................................................................ 170
Enable Bits ............................................................... 170
Fault States .............................................................. 170
Input Modes.............................................................. 171
Cycle-by-Cycle ................................................. 171
Latched............................................................. 171
Priority ...................................................................... 170
PWM Output and Polarity Control..................................... 170
Output Pin Control .................................................... 170
PWM Special Event Trigger.............................................. 171
Postscaler................................................................. 171
PWM Time Base............................................................... 165
Continuous Up/Down Count Modes ......................... 165
Double Update Mode................................................ 166
Free-Running Mode.................................................. 165
Postscaler................................................................. 166
Prescaler .................................................................. 166
Single-Shot Mode ..................................................... 165
PWM Update Lockout....................................................... 171
Q
QEI
16-bit Up/Down Position Counter Mode ................... 186
Alternate 16-bit Timer/Counter ................................. 187
Count Direction Status.............................................. 186
Error Checking.......................................................... 186
Interrupts .................................................................. 188
Logic ......................................................................... 186
Operation During CPU Idle Mode............................. 187
Operation During CPU Sleep Mode ......................... 187
Position Measurement Mode.................................... 186
Programmable Digital Noise Filters .......................... 187
Timer Operation During CPU Idle Mode................... 188
Timer Operation During CPU Sleep Mode ............... 187
Quadrature Encoder Interface (QEI)................................. 185
Quadrature Encoder Interface (QEI) Module
Register Map .............................................................. 44
R
Reader Response............................................................. 338
Registers
ADxCHS0 (ADCx Input Channel 0 Select ................ 259
ADxCHS123 (ADCx Input Channel 1, 2, 3 Select) ... 258
ADxCON1 (ADCx Control 1) .................................... 253
ADxCON2 (ADCx Control 2) .................................... 255
ADxCON3 (ADCx Control 3) .................................... 256
ADxCON4 (ADCx Control 4) .................................... 257
ADxCSSH (ADCx Input Scan Select High) .............. 260
ADxCSSL (ADCx Input Scan Select Low)................ 260
ADxPCFGH (ADCx Port Configuration High) ........... 261
ADxPCFGL (ADCx Port Configuration Low) ............ 261
CiBUFPNT1 (ECAN Filter 0-3 Buffer Pointer) .......... 236
CiBUFPNT2 (ECAN Filter 4-7 Buffer Pointer) .......... 237
CiBUFPNT3 (ECAN Filter 8-11 Buffer Pointer) ........ 237
CiBUFPNT4 (ECAN Filter 12-15 Buffer Pointer) ...... 238
CiCFG1 (ECAN Baud Rate Configuration 1)............ 234
CiCFG2 (ECAN Baud Rate Configuration 2)............ 235
CiCTRL1 (ECAN Control 1) ...................................... 226
CiCTRL2 (ECAN Control 2) ...................................... 227
CiEC (ECAN Transmit/Receive Error Count) ........... 233
CiFCTRL (ECAN FIFO Control) ............................... 229
CiFEN1 (ECAN Acceptance Filter Enable)............... 236
DS70287A-page 333
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
CiFIFO (ECAN FIFO Status)..................................... 230
CiFMSKSEL1 (ECAN Filter 7-0 Mask Selection) ...... 240
CiINTE (ECAN Interrupt Enable) .............................. 232
CiINTF (ECAN Interrupt Flag) ................................... 231
CiRXFnEID (ECAN Acceptance Filter n Extended
Identifier) ........................................................... 239
CiRXFnSID (ECAN Acceptance Filter n Standard
Identifier) ........................................................... 239
CiRXFUL1 (ECAN Receive Buffer Full 1) ................. 242
CiRXFUL2 (ECAN Receive Buffer Full 2) ................. 242
CiRXMnEID (ECAN Acceptance Filter Mask n
Extended Identifier)........................................... 241
CiRXMnSID (ECAN Acceptance Filter Mask n
Standard Identifier) ........................................... 241
CiRXOVF1 (ECAN Receive Buffer Overflow 1) ........ 243
CiRXOVF2 (ECAN Receive Buffer Overflow 2) ........ 243
CiTRBnDLC (ECAN Buffer n Data Length Control) .. 246
CiTRBnDm (ECAN Buffer n Data Field Byte m) ....... 246
CiTRBnEID (ECAN Buffer n Extended Identifier) ..... 245
CiTRBnSID (ECAN Buffer n Standard Identifier) ...... 245
CiTRBnSTAT (ECAN Receive Buffer n Status) ........ 247
CiTRmnCON (ECAN TX/RX Buffer m Control)......... 244
CiVEC (ECAN Interrupt Code) .................................. 228
CLKDIV (Clock Divisor)............................................. 141
CORCON (Core Control) ...................................... 22, 84
DFLTCON (QEI Control) ........................................... 191
DMACS0 (DMA Controller Status 0) ......................... 133
DMACS1 (DMA Controller Status 1) ......................... 135
DMAxCNT (DMA Channel x Transfer Count) ........... 132
DMAxCON (DMA Channel x Control) ....................... 129
DMAxPAD (DMA Channel x Peripheral Address)..... 132
DMAxREQ (DMA Channel x IRQ Select) ................. 130
DMAxSTA (DMA Channel x RAM Start Address A).. 131
DMAxSTB (DMA Channel x RAM Start Address B).. 131
DSADR (Most Recent DMA RAM Address).............. 136
DTCON1 (Dead-Time Control 1) .............................. 177
DTCON2 (Dead-Time Control 2) .............................. 178
FLTACON (Fault A Control) ...................................... 179
FLTBCON (Fault B Control) ...................................... 180
I2CxCON (I2Cx Control) ........................................... 205
I2CxMSK (I2Cx Slave Mode Address Mask) ............ 209
I2CxSTAT (I2Cx Status) ........................................... 207
ICxCON (Input Capture x Control) ............................ 158
IEC0 (Interrupt Enable Control 0) ............................... 97
IEC1 (Interrupt Enable Control 1) ............................... 99
IEC2 (Interrupt Enable Control 2) ............................. 101
IEC3 (Interrupt Enable Control 3) ............................. 103
IEC4 (Interrupt Enable Control 4) ............................. 105
IFS0 (Interrupt Flag Status 0) ..................................... 88
IFS1 (Interrupt Flag Status 1) ..................................... 90
IFS2 (Interrupt Flag Status 2) ..................................... 92
IFS3 (Interrupt Flag Status 3) ..................................... 94
IFS4 (Interrupt Flag Status 4) ..................................... 96
INTCON1 (Interrupt Control 1) .................................... 85
INTCON2 (Interrupt Control 2) .................................... 87
INTTREG Interrupt Control and Status Register....... 124
IPC0 (Interrupt Priority Control 0) ............................. 106
IPC1 (Interrupt Priority Control 1) ............................. 107
IPC10 (Interrupt Priority Control 10) ......................... 116
IPC11 (Interrupt Priority Control 11) ......................... 117
IPC12 (Interrupt Priority Control 12) ......................... 118
IPC13 (Interrupt Priority Control 13) ......................... 119
IPC14 (Interrupt Priority Control 14) ......................... 120
IPC15 (Interrupt Priority Control 15) ......................... 121
IPC16 (Interrupt Priority Control 16) ......................... 122
DS70287A-page 334
IPC17 (Interrupt Priority Control 17) ......................... 123
IPC2 (Interrupt Priority Control 2) ............................. 108
IPC3 (Interrupt Priority Control 3) ............................. 109
IPC4 (Interrupt Priority Control 4) ............................. 110
IPC5 (Interrupt Priority Control 5) ............................. 111
IPC6 (Interrupt Priority Control 6) ............................. 112
IPC7 (Interrupt Priority Control 7) ............................. 113
IPC8 (Interrupt Priority Control 8) ............................. 114
IPC9 (Interrupt Priority Control 9) ............................. 115
NVMCOM (Flash Memory Control)............................. 69
OCxCON (Output Compare x Control) ..................... 162
OSCCON (Oscillator Control) ................................... 140
OSCTUN (FRC Oscillator Tuning)............................ 143
OVDCON (Override Control) .................................... 181
PDC1 (PWM Duty Cycle 1)....................................... 182
PDC2 (PWM Duty Cycle 2)....................................... 182
PDC3 (PWM Duty Cycle 3)....................................... 183
PDC4 (PWM Duty Cycle 4)....................................... 183
PLLFBD (PLL Feedback Divisor).............................. 142
PTCON (PWM Time Base Control) .......................... 172
PTMR (PWM Timer Count Value) ............................ 173
PTPER (PWM Time Base Period) ............................ 173
PWMCON1 (PWM Control 1) ................................... 175
PWMCON2 (PWM Control 2) ................................... 176
QEICON (QEI Control) ............................................. 189
RCON (Reset Control)................................................ 74
SEVTCMP (Special Event Compare) ....................... 174
SPIxCON1 (SPIx Control 1)...................................... 198
SPIxCON2 (SPIx Control 2)...................................... 200
SPIxSTAT (SPIx Status and Control) ....................... 197
SR (CPU Status)................................................... 20, 84
T1CON (Timer1 Control) .......................................... 150
TxCON (T2CON, T4CON, T6CON or T8CON
Control)............................................................. 154
TyCON (T3CON, T5CON, T7CON or T9CON
Control)............................................................. 155
UxMODE (UARTx Mode).......................................... 214
UxSTA (UARTx Status and Control)......................... 216
Reset
Clock Source Selection............................................... 76
Special Function Register Reset States ..................... 78
Times .......................................................................... 76
Reset Sequence ................................................................. 79
Resets................................................................................. 73
S
Serial Peripheral Interface (SPI) ....................................... 193
Setup for Continuous Output Pulse Generation ............... 159
Setup for Single Output Pulse Generation........................ 159
Software Simulator (MPLAB SIM) .................................... 280
Software Stack Pointer, Frame Pointer
CALLL Stack Frame ................................................... 57
Special Features of the CPU ............................................ 263
SPI
Master, Frame Master Connection ........................... 195
Master/Slave Connection.......................................... 195
Slave, Frame Master Connection ............................. 196
Slave, Frame Slave Connection ............................... 196
SPI Module
SPI1 Register Map...................................................... 45
SPI2 Register Map...................................................... 45
Symbols Used in Opcode Descriptions ............................ 272
System Control
Register Map .............................................................. 56
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
T
U
Temperature and Voltage Specifications
AC ............................................................................. 291
Timer1 ............................................................................... 149
Timer2/3, Timer4/5, Timer6/7 and Timer8/9 ..................... 151
Timing Characteristics
CLKO and I/O ........................................................... 294
Timing Diagrams
10-bit A/D Conversion (CHPS = 01, SIMSAM = 0,
ASAM = 0, SSRC = 000) .................................. 320
10-bit A/D Conversion (CHPS = 01, SIMSAM = 0,
ASAM = 1, SSRC = 111, SAMC = 00001)........ 321
12-bit A/D Conversion (ASAM = 0, SSRC = 000) ..... 318
CAN I/O..................................................................... 314
Center-Aligned PWM ................................................ 167
Dead-Time ................................................................ 168
ECAN Bit................................................................... 224
Edge-Aligned PWM................................................... 166
External Clock........................................................... 292
I2Cx Bus Data (Master Mode) .................................. 310
I2Cx Bus Data (Slave Mode) .................................... 312
I2Cx Bus Start/Stop Bits (Master Mode) ................... 310
I2Cx Bus Start/Stop Bits (Slave Mode) ..................... 312
Input Capture (CAPx)................................................ 300
Motor Control PWM .................................................. 302
Motor Control PWM Fault ......................................... 302
OC/PWM................................................................... 301
Output Compare (OCx)............................................. 300
QEA/QEB Input......................................................... 303
QEI Module Index Pulse ........................................... 304
Reset, Watchdog Timer, Oscillator Start-up
Timer and Power-up Timer ............................... 295
SPIx Master Mode (CKE = 0) ................................... 305
SPIx Master Mode (CKE = 1) ................................... 306
SPIx Slave Mode (CKE = 0) ..................................... 307
SPIx Slave Mode (CKE = 1) ..................................... 308
Timer1, 2, 3, 4, 5, 6, 7, 8, 9 External Clock............... 297
TimerQ (QEI Module) External Clock ....................... 299
Timing Requirements
CLKO and I/O ........................................................... 294
External Clock........................................................... 292
Input Capture ............................................................ 300
Timing Specifications
10-bit A/D Conversion Requirements ....................... 322
12-bit A/D Conversion Requirements ....................... 319
CAN I/O Requirements ............................................. 314
I2Cx Bus Data Requirements (Master Mode) ........... 311
I2Cx Bus Data Requirements (Slave Mode) ............. 313
Motor Control PWM Requirements ........................... 302
Output Compare Requirements ................................ 300
PLL Clock.................................................................. 293
QEI External Clock Requirements ............................ 299
QEI Index Pulse Requirements................................. 304
Quadrature Decoder Requirements.......................... 303
Reset, Watchdog Timer, Oscillator Start-up Timer,
Power-up Timer and Brown-out Reset
Requirements ................................................... 296
Simple OC/PWM Mode Requirements ..................... 301
SPIx Master Mode (CKE = 0) Requirements ............ 305
SPIx Master Mode (CKE = 1) Requirements ............ 306
SPIx Slave Mode (CKE = 0) Requirements .............. 307
SPIx Slave Mode (CKE = 1) Requirements .............. 309
Timer1 External Clock Requirements ....................... 297
Timer2, Timer4, Timer6 and Timer8 External
Clock Requirements ......................................... 298
Timer3, Timer5, Timer7 and Timer9 External Clock
Requirements ................................................... 298
UART
Baud Rate
Generator (BRG) .............................................. 212
Break and Sync Transmit Sequence ........................ 213
Flow Control Using UxCTS and UxRTS Pins ........... 213
Receiving in 8-bit or 9-bit Data Mode ....................... 213
Transmitting in 8-bit Data Mode ............................... 213
Transmitting in 9-bit Data Mode ............................... 213
UART Module
UART1 Register Map ................................................. 45
UART2 Register Map ................................................. 45
© 2007 Microchip Technology Inc.
V
Voltage Regulator (On-Chip) ............................................ 267
W
Watchdog Timer (WDT)............................................ 263, 268
Programming Considerations ................................... 268
WWW Address ................................................................. 337
WWW, On-Line Support ..................................................... 11
DS70287A-page 335
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
NOTES:
DS70287A-page 336
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
THE MICROCHIP WEB SITE
CUSTOMER SUPPORT
Microchip provides online support via our WWW site at
www.microchip.com. This web site is used as a means
to make files and information easily available to
customers. Accessible by using your favorite Internet
browser, the web site contains the following
information:
Users of Microchip products can receive assistance
through several channels:
• Product Support – Data sheets and errata,
application notes and sample programs, design
resources, user’s guides and hardware support
documents, latest software releases and archived
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• General Technical Support – Frequently Asked
Questions (FAQ), technical support requests,
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• Business of Microchip – Product selector and
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listing of seminars and events, listings of
Microchip sales offices, distributors and factory
representatives
•
•
•
•
Distributor or Representative
Local Sales Office
Field Application Engineer (FAE)
Technical Support
Customers
should
contact
their
distributor,
representative or field application engineer (FAE) for
support. Local sales offices are also available to help
customers. A listing of sales offices and locations is
included in the back of this document.
Technical support is available through the web site
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CUSTOMER CHANGE NOTIFICATION
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Microchip’s customer notification service helps keep
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To register, access the Microchip web site at
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Notification and follow the registration instructions.
© 2007 Microchip Technology Inc.
DS70287A-page 337
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
READER RESPONSE
It is our intention to provide you with the best documentation possible to ensure successful use of your Microchip product. If you wish to provide your comments on organization, clarity, subject matter, and ways in which our documentation
can better serve you, please FAX your comments to the Technical Publications Manager at (480) 792-4150.
Please list the following information, and use this outline to provide us with your comments about this document.
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Device: dsPIC33FJXXXMCX06/X08/
Literature Number: DS70287A
Questions:
1. What are the best features of this document?
2. How does this document meet your hardware and software development needs?
3. Do you find the organization of this document easy to follow? If not, why?
4. What additions to the document do you think would enhance the structure and subject?
5. What deletions from the document could be made without affecting the overall usefulness?
6. Is there any incorrect or misleading information (what and where)?
7. How would you improve this document?
DS70287A-page 338
© 2007 Microchip Technology Inc.
dsPIC33FJXXXMCX06/X08/X10 MOTOR CONTROL FAMILY
PRODUCT IDENTIFICATION SYSTEM
To order or obtain information, e.g., on pricing or delivery, refer to the factory or the listed sales office.
dsPIC 33 FJ 256 MC7 10 T I / PT - XXX
Examples:
a)
Microchip Trademark
Architecture
dsPIC33FJ64MC706I/PT:
Motor Control dsPIC33, 64 KB program
memory, 64-pin, Industrial temp.,
TQFP package.
Flash Memory Family
Program Memory Size (KB)
Product Group
Pin Count
Tape and Reel Flag (if applicable)
Temperature Range
Package
Pattern
Architecture:
33
=
16-bit Digital Signal Controller
Flash Memory Family:
FJ
=
Flash program memory, 3.3V
Product Group:
MC5
MC7
=
=
Motor Control family
Motor Control family
Pin Count:
06
08
10
=
=
=
64-pin
80-pin
100-pin
Temperature Range:
I
= -40°C to
Package:
PT
=
PF
=
Pattern
+85°C
(Industrial)
10x10 or 12x12 mm TQFP (Thin Quad Flatpack)
14x14 mm TQFP (Thin Quad Flatpack)
Three-digit QTP, SQTP, Code or Special Requirements
(blank otherwise)
© 2007 Microchip Technology Inc.
DS70287A-page 339
WORLDWIDE SALES AND SERVICE
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ASIA/PACIFIC
ASIA/PACIFIC
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06/25/07
DS70175F-page 284
© 2007 Microchip Technology Inc.
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