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S912XHY128F0VLM Datasheet, PDF (705/802 Pages) Freescale Semiconductor, Inc – S12 Microcontrollers
Stepper Stall Detector (SSDV1) Block Description
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)
21.3.2.2 Modulus Down Counter Control Register (MDCCTL)
Module Base + 0x0001
R
W
Reset
7
MCZIE
0
6
5
4
3
2
1
0
0
MODMC
RDMCL
PRE
MCEN
FLMC
0
0
0
0
0
0
= Unimplemented or Reserved
Figure 21-3. Modulus Down Counter Control Register (MDCCTL)
Read: anytime
Write: anytime.
0
AOVIE
0
MC9S12XHY-Family Reference Manual, Rev. 1.01
Freescale Semiconductor
705