Freescale Semiconductor Demonstration Board for Freescale MC9S12XHY256 Microcontroller DEMO9S12XHY256 DEMO9S12XHY256 Manuale Utente
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DEMO9S12XHY256
Stepper Stall Detector (SSDV1) Block Description
MC9S12XHY-Family Reference Manual, Rev. 1.04
Freescale Semiconductor
705
21.3.2.2
Modulus Down Counter Control Register (MDCCTL)
Read: anytime
Write: anytime.
Table 21-5. Switch Condition States (RTZE = 1 or 0)
ITG
STEP
POL
S1
S2
S3
S4
S5
S6
S7
S8
0
xx
x
Open
Open
Open
Open
Open
Open
Open
Open
1
00
0
Open
Open
Open
Open
Close
Open
Open
Close
1
00
1
Open
Open
Open
Open
Open
Close
Close
Open
1
01
0
Open
Close
Close
Open
Open
Open
Open
Open
1
01
1
Close
Open
Open
Close
Open
Open
Open
Open
1
10
0
Open
Open
Open
Open
Open
Close
Close
Open
1
10
1
Open
Open
Open
Open
Close
Open
Open
Close
1
11
0
Close
Open
Open
Close
Open
Open
Open
Open
1
11
1
Open
Close
Close
Open
Open
Open
Open
Open
Table 21-6. Full Step States
STEP
Pole
Angle
COSINE
Coil Current
SINE
Coil Current
Coil Node to
Integrator input
(Close Switch)
Coil Node to
Reference input
(Close Switch)
DCOIL = 0 DCOIL = 1 DCOIL = 0 DCOIL = 1
ITG = 1
POL = 0
ITG = 1
POL = 1
ITG = 1
POL = 0
ITG = 1
POL = 1
0
East
0
°
0
+ I max
0
0
SINxM (S8)
SINxP (S6)
SINxP (S5)
SINxM (S7)
1
North
90
°
0
0
0
+ I max
COSxP (S2) COSxM (S4) COSxM (S3) COSxP (S1)
2
West
180
°
0
– I max
0
0
SINxP (S6)
SINxM (S8)
SINxM (S7)
SINxP (S5)
3
South
270
°
0
0
0
– I max
COSxM (S4) COSxP (S2) COSxP (S1) COSxM (S3)
Module Base + 0x0001
7
6
5
4
3
2
1
0
R
MCZIE
MODMC
RDMCL
PRE
0
MCEN
0
AOVIE
W
FLMC
Reset
0
0
0
0
0
0
0
0
= Unimplemented or Reserved
Figure 21-3. Modulus Down Counter Control Register (MDCCTL)