Table of Contents
6
May 4, 2007
Preliminary
15.2.2 PWM Comparators ............................................................................................................................ 320
15.2.3 PWM Signal Generator...................................................................................................................... 321
15.2.4 Dead-Band Generator ....................................................................................................................... 322
15.2.5 Interrupt Selector ............................................................................................................................... 322
15.2.6 Synchronization Methods .................................................................................................................. 322
15.2.7 Fault Conditions................................................................................................................................. 323
15.2.8 Output Control Block.......................................................................................................................... 323
15.3
Initialization and Configuration........................................................................................................... 323
15.4
Register Map ..................................................................................................................................... 324
15.5
Register Descriptions......................................................................................................................... 325
16.
Quadrature Encoder Interface (QEI)................................................................................ 349
16.1
Block Diagram ................................................................................................................................... 349
16.2
Functional Description ....................................................................................................................... 349
16.3
Initialization and Configuration........................................................................................................... 352
16.4
Register Map ..................................................................................................................................... 352
16.5
Register Descriptions......................................................................................................................... 352
17.
Pin Diagram ....................................................................................................................... 365
18.
Signal Tables..................................................................................................................... 366
19.
Operating Characteristics ................................................................................................ 376
20.
Electrical Characteristics ................................................................................................. 377
20.1
DC Characteristics............................................................................................................................. 377
20.1.1 Maximum Ratings .............................................................................................................................. 377
20.1.2 Recommended DC Operating Conditions ......................................................................................... 377
20.1.3 On-Chip Low Drop-Out (LDO) Regulator Characteristics .................................................................. 378
20.1.4 Power Specifications ......................................................................................................................... 379
20.1.5 Flash Memory Characteristics ........................................................................................................... 380
20.2
AC Characteristics ............................................................................................................................. 380
20.2.1 Load Conditions................................................................................................................................. 380
20.2.2 Clocks ................................................................................................................................................ 380
20.2.3 Analog-to-Digital Converter ............................................................................................................... 381
20.2.4 Analog Comparator............................................................................................................................ 382
20.2.5 Synchronous Serial Interface (SSI) ................................................................................................... 382
20.2.6 JTAG and Boundary Scan ................................................................................................................. 384
20.2.7 General-Purpose I/O.......................................................................................................................... 386
20.2.8 Reset ................................................................................................................................................. 386
21.
Package Information......................................................................................................... 389
Appendix A. Serial Flash Loader ............................................................................................... 390
22.1
Interfaces ........................................................................................................................................... 390
22.1.1 UART ................................................................................................................................................. 390
22.1.2 SSI ..................................................................................................................................................... 390
22.2
Packet Handling................................................................................................................................. 390
22.2.1 Packet Format ................................................................................................................................... 391
22.2.2 Sending Packets................................................................................................................................ 391
22.2.3 Receiving Packets ............................................................................................................................. 391
22.3
Commands ........................................................................................................................................ 391
22.3.1 COMMAND_PING (0x20) .................................................................................................................. 392
22.3.2 COMMAND_GET_STATUS (0x23) ................................................................................................... 392
22.3.3 COMMAND_DOWNLOAD (0x21)...................................................................................................... 392
22.3.4 COMMAND_SEND_DATA (0x24) ..................................................................................................... 392
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