S912XHY128F0VLM Datasheet, PDF (704/802 Pages) Freescale Semiconductor, Inc – S12 Microcontrollers

Stepper Stall Detector (SSDV1) Block Description
Table 21-3. RTZCTL Field Descriptions (continued)
Field
2
SMS
1:0
STEP
Description
Stepper Motor Select — This bit selects one of two possible stepper motors to be used for stall detection. See
top level chip description for the stepper motor assignments to the SSD.
0 Stepper Motor A is selected for stall detection
1 Stepper Motor B is selected for stall detection
Full Step State — This field indicates one of the four possible full step states. Step 0 is considered the east pole
or 0° angle, step 1 is the north Pole or 90° angle, step 2 is the west pole or 180° angle, and step 3 is the south
pole or 270° angle. For each full step state, Table 21-6 shows the current through each of the two coils, and the
coil nodes that are multiplexed to the sigma-delta converter during conversion or integration mode.
STEP
xx
00
00
00
00
00
01
01
01
01
01
10
10
10
10
10
11
11
11
11
11
Table 21-4. Transistor Condition States (RTZE = 1)
ITG
DCOIL RCIR
T1
T2
T3
T4
T5
T6
T7
T8
1
0
x
OFF OFF OFF OFF OFF OFF OFF OFF
0
0
0
OFF OFF OFF OFF
ON
OFF
ON
OFF
0
0
1
OFF OFF OFF OFF OFF
ON
OFF
ON
0
1
0
ON
OFF OFF
ON
ON
OFF
ON
OFF
0
1
1
ON
OFF OFF
ON
OFF
ON
OFF
ON
1
1
x
ON
OFF OFF
ON
OFF OFF OFF OFF
0
0
0
ON
OFF
ON
OFF OFF OFF OFF OFF
0
0
1
OFF
ON
OFF
ON
OFF OFF OFF OFF
0
1
0
ON
OFF
ON
OFF
ON
OFF OFF
ON
0
1
1
OFF
ON
OFF
ON
ON
OFF OFF
ON
1
1
x
OFF OFF OFF OFF
ON
OFF OFF
ON
0
0
0
OFF OFF OFF OFF
ON
OFF
ON
OFF
0
0
1
OFF OFF OFF OFF OFF
ON
OFF
ON
0
1
0
OFF
ON
ON
OFF
ON
OFF
ON
OFF
0
1
1
OFF
ON
ON
OFF OFF
ON
OFF
ON
1
1
x
OFF
ON
ON
OFF OFF OFF OFF OFF
0
0
0
ON
OFF
ON
OFF OFF OFF OFF OFF
0
0
1
OFF
ON
OFF
ON
OFF OFF OFF OFF
0
1
0
ON
OFF
ON
OFF OFF
ON
ON
OFF
0
1
1
OFF
ON
OFF
ON
OFF
ON
ON
OFF
1
1
x
OFF OFF OFF OFF OFF
ON
ON
OFF
MC9S12XHY-Family Reference Manual, Rev. 1.01
704
Freescale Semiconductor