K60P100M100SF2RM Datasheet, PDF (1053/1809 Pages) Freescale Semiconductor, Inc – K60 Sub-Family Reference Manual

phase A
Chapter 39 FlexTimer (FTM)
phase B
FTM counter
increment/decrement
-1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1
FTM counter
MOD
CNTIN
0x0000
Time
set TOF
clear TOFDIR
set TOF
clear TOFDIR
Figure 39-254. FTM Counter Overflow in Down Counting for Quadrature Decoder Mode
39.4.25.1 Quadrature Decoder Boundary Conditions
The following figures are examples of motor jittering which causes the FTM counter
transitions as indicated by these figures. It is expected to observe these behaviors in
motor position control applications.
phase A
phase B
FTM counter
MOD
CNTIN
0x0000
Time
Figure 39-255. Motor Position Jittering in a Mid Count Value
K60 Sub-Family Reference Manual, Rev. 6, Nov 2011
Freescale Semiconductor, Inc.
1053