S912XHZ512F1VAG Datasheet, PDF (476/978 Pages) Freescale Semiconductor, Inc – Covers MC9S12XHZ384, MC9S12XHZ256

Chapter 12 Stepper Stall Detector (SSDV1) Block Description
12.4.3 Operation in Low Power Modes
The SSD block can be configured for lower MCU power consumption in three different ways.
• Stop mode powers down the sigma-delta converter and halts clock to the modulus counter. Exit
from Stop enables the sigma-delta converter and the clock to the modulus counter but due to the
converter recovery time, the integration result should be ignored.
• Wait mode with SSDWAI bit set powers down the sigma-delta converter and halts the clock to the
modulus counter. Exit from Wait enables the sigma-delta converter and clock to the modulus
counter but due to the converter recovery time, the integration result should be ignored.
• Clearing SDCPU bit powers down the sigma-delta converter.
12.4.4 Stall Detection Flow
Figure 12-15 shows a flowchart and software setup for stall detection of a stepper motor. To control a
second stepper motor, the SMS bit must be toggled during the SSD initialization.
MC9S12XHZ512 Data Sheet, Rev. 1.06
476
Freescale Semiconductor