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S912XHZ512F1VAG Datasheet, PDF (465/978 Pages) Freescale Semiconductor, Inc – Covers MC9S12XHZ384, MC9S12XHZ256 | |||
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Chapter 12 Stepper Stall Detector (SSDV1) Block Description
12.3.2.1 Return-to-Zero Control Register (RTZCTL)
Module Base + 0x0000
7
6
5
4
3
2
R
0
ITG
DCOIL
RCIR
POL
SMS
W
Reset
0
0
0
0
0
0
= Unimplemented or Reserved
Figure 12-2. Return-to-Zero Control Register (RTZCTL)
1
0
STEP
0
0
Read: anytime
Write: anytime
Table 12-3. RTZCTL Field Descriptions
Field
7
ITG
6
DCOIL
5
RCIR
4
POL
Description
Integration â During return to zero (RTZE = 1), one of the coils must be recirculated or non-driven determined
by the STEP ï¬eld. If the ITG bit is set, the coil is non-driven, and if the ITG bit is clear, the coil is being recirculated.
Table 12-4 shows the condition state of each transistor from Figure 12-1 based on the STEP, ITG, DCOIL and
RCIR bits.
Regardless of the RTZE bit value, if the ITG bit is set, one end of the non-driven coil connects to the (non-zero)
reference input and the other end connects to the integrator input of the sigma-delta converter. Regardless of
the RTZE bit value, if the ITG bit is clear, the non-driven coil is in a blanking state, the converter is in a reset state,
and the accumulator is initialized to zero. Table 12-5 shows the condition state of each switch from Figure 12-1
based on the ITG, STEP and POL bits.
0 Blanking
1 Integration
Drive Coil â During return to zero (RTZE=1), one of the coils must be driven determined by the STEP ï¬eld. If
the DCOIL bit is set, this coil is driven. If the DCOIL bit is clear, this coil is disconnected or drivers turned off.
Table 12-4 shows the condition state of each transistor from Figure 12-1 based on the STEP, ITG, DCOIL and
RCIR bits.
0 Disconnect Coil
1 Drive Coil
Recirculation in Blanking Mode â During return to zero (RTZE = 1), one of the coils is recirculated prior to
integration during the blanking period. This bit determines if the coil is recirculated via VDDM or via VSSM.
Table 12-4 shows the condition state of each transistor from Figure 12-1 based on the STEP, ITG, DCOIL and
RCIR bits.
0 Recirculation on the high side transistors
1 Recirculation on the low side transistors
Polarity â This bit determines which end of the non-driven coil is routed to the sigma-delta converter during
conversion or integration mode. Table 12-5 shows the condition state of each switch from Figure 12-1 based on
the ITG, STEP and POL bits.
MC9S12XHZ512 Data Sheet, Rev. 1.06
Freescale Semiconductor
465
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