MC9S12ZVM-Family Reference Manual and Datasheet S12 MagniV Microcontrollers Rev. 2.2 27 APR 2015 MC9S12ZVMRMV1 freescale.com The document revision on the Internet is the most current. To verify this is the latest revision, refer to: freescale.com. This document contains information for all modules except the CPU. For CPU information please refer to the CPU S12Z Reference Manual. This revision history table summarizes changes to this document. The individual module sections contain revision history tables with more detailed information. CAUTION ZVMC256, ZVML31, ZVM32 and ZVM16 specific information is preliminary until these devices are qualified. NOTE This reference manual documents the entire S12ZVM-Family. It contains a superset of features within the family. Some module versions differ from one part to another within the family. Section 1.2.1 MC9S12ZVM-Family Member Comparison provides support to access the correct information for a particular part within the family. Freescale reserves the right to make changes without further notice to any products herein. Freescale makes no warranty, representation, or guarantee regarding the suitability of its products for any particular purpose, nor does Freescale assume any liability arising out of the application or use of any product or circuit, and specifically disclaims any and all liability, including without limitation consequential or incidental damages. "Typical" parameters that may be provided in Freescale data sheets and/or specifications can and do vary in different applications, and actual performance may vary over time. All operating parameters, including "typicals," must be validated for each customer application by customer's technical experts. Freescale does not convey any license under its patent rights nor the rights of others. Freescale Semiconductor products are not designed, intended, or authorized for use as components in systems intended for surgical implant into the body, or other applications intended to support or sustain life, or for any other application in which the failure of the Freescale Semiconductor product could create a situation where personal injury or death may occur. Should Buyer purchase or use Freescale Semiconductor products for any such unintended or unauthorized application, Buyer shall indemnify and hold Freescale Semiconductor and its officers, employees, subsidiaries, affiliates, and distributors harmless against all claims, costs, damages, and expenses, and reasonable attorney fees arising out of, directly or indirectly, any claim of personal injury or death associated with such unintended or unauthorized use, even if such claim alleges that Freescale Semiconductor was negligent regarding the design or manufacture of the part. Table 0-1. Revision History Date Revision Description 22 MAY2014 1.4 Updated family derivative table for S12ZVML32, S12ZVM32 and S12ZVM16 devices Added 64KB, 32KB and 16KB derivative information to flash module chapter Added pin routing options for S12ZVM32 and S12ZVM16 devices Added HV Phy information for the S12ZVM32 and S12ZVM16 derivatives Updated Part ID assignment table and ordering information for S12ZVM32 and S12ZVM16 Corrected PLL VCO maximum frequency specification Changed VLVLSA maximum from 7V to 6.9V Added electrical parameter for HD division ratio through the phase multiplexer Corrected preferred VRL reference from VRL_1 to VRL_0 Included NVM timing parameters for the S12ZVM32 and S12ZVM16 devices Added GDU S12ZVM32 and S12ZVM16 specific differences and electrical specifications Added references to fWSTAT Added VDDX short circuit fall back current and temperature/input dependency specs. 22 SEP 2014 1.5 Removed incorrect references to PACLK in TIM chapter Improved clarity of routing options in PIM chapter. Updated S12ZVM- Family derivative table. Added 48LQFP thermal package parameters Extended LINPHY specification range minimum to 5V Updated BKGD pin I/O specification Specified ADC accuracy for a range of VDDA and VREF. 20 MAR 2015 2.0 Added ZVMC256 information Added maskset 2N95G information Added more detailed PTU minimum trigger spacing description Updated CPMU, PIM and GDU chapters for ZVMC256 Improved CPMU specification clarity (see CPMU revision history) Removed electrical parameter classification Added reset startup timing parameter Updated BATS parameters Extended BKGD VIL condition from 3.15V to 3.13V Extended GDU operating range from 26V to 26.6V Temperature sensor output at 150C changed from 2.25V to 2.33V. Added GDU VBS current parameter Updated package thermal information for ZVM32 and ZVM16 parts Added VBG temperature and voltage dependency parameters Added device stop current at 105C. 22 APR 2015 2.1 Updated Stop and Wait current parameter values (ISUPS, ISUPW) Corrected 80LQFP-EP pin name from VSS2 to VSS1 Updated ZVMC256 VDDS regulator parameters. Changed PL0 ESD specification Minor corrections to PIM, PMF, SRAM and ADC chapters (see module revision histories) 27 APR 2015 2.2 Updated Stop current parameter values (ISUPS) Updated LINPHY parameter range limit to 5.5V Added more information about VDDS1, VDDS2, SNPS1, SNPS2 to CPMU chapter. Reintroduced EPRES bit for GDU V4 Added 80LQFP-EP mechanical package information MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 3 MC9S12ZVM Family Reference Manual Rev. 2.2 4 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 1.2.1 MC9S12ZVM-Family Member Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 1.2.2 Module Version Differences Within The S12ZVM Family . . . . . . . . . . . . . . . . . . . . . . . 23 1.2.3 Functional Differences Between Masksets 0N95G, 1N95G, 2N95G . . . . . . . . . . . . . . . . 24 Chip-Level Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Module Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 1.4.1 S12Z Central Processor Unit (CPU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 1.4.2 Embedded Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 1.4.3 Clocks, Reset & Power Management Unit (CPMU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 1.4.4 Main External Oscillator (XOSCLCP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 1.4.5 Timer (TIM0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 1.4.6 Timer (TIM1) (ZVMC256 only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 1.4.7 Pulse width Modulator with Fault protection (PMF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 1.4.8 Programmable Trigger Unit (PTU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 1.4.9 LIN physical layer transceiver (ZVML devices only) . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 1.4.10 Serial Communication Interface Module (SCI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 1.4.11 Multi-Scalable Controller Area Network (MSCAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 1.4.12 Serial Peripheral Interface Module (SPI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 1.4.13 Analog-to-Digital Converter Module (ADC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 1.4.14 Supply Voltage Sensor (BATS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 1.4.15 On-Chip Voltage Regulator system (VREG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 1.4.16 Gate Drive Unit (GDU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 1.4.17 Current Sense . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 1.4.18 High Voltage Physical Interface (ZVM32, ZVM16) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 1.4.19 CAN Physical Layer Module (ZVMC256 only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 1.4.20 Pulse Width Modulation Module (PWM) (ZVMC256 only) . . . . . . . . . . . . . . . . . . . . . 32 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Device Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 1.6.1 Flash Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 1.6.2 Part ID Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Signal Description and Device Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 1.7.1 Pin Assignment Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 1.7.2 Detailed External Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 1.7.3 Power Supply And Voltage Regulator Related Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 1.7.4 Package and Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Internal Signal Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 1.8.1 ADC Connectivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 1.8.2 Motor Control Loop Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 1.8.3 Device Level PMF Connectivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 1.8.4 BDC Clock Source Connectivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 1.8.5 LINPHY Connectivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 1.8.6 HVPHY Connectivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 5 1.9 1.10 1.11 1.12 1.13 1.8.7 FTMRZ Connectivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 1.8.8 CPMU Connectivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 1.9.1 Chip Configuration Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 1.9.2 Debugging Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 1.9.3 Low Power Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 1.10.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 1.10.2 Securing the Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 1.10.3 Operation of the Secured Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 1.10.4 Unsecuring the Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 1.10.5 Reprogramming the Security Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 1.10.6 Complete Memory Erase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Resets and Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 1.11.1 Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 1.11.2 Interrupt Vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 1.11.3 Effects of Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 Module device level dependencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 1.12.1 CPMU COP and GDU GSUF Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 1.12.2 CPMU High Temperature Trimming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 1.12.3 Flash IFR Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Application Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 1.13.1 ADC Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 1.13.2 SCI Baud Rate Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 1.13.3 Motor Control Application Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 1.13.4 BDCM Complementary Mode Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 1.13.5 BLDC Six-Step Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 1.13.6 PMSM Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 1.13.7 Power Domain Overview (All devices except ZVMC256) . . . . . . . . . . . . . . . . . . . . . . . 90 1.13.8 Power Domain Overview (ZVMC256) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.1 2.2 2.3 2.4 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 2.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 2.1.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 2.3.1 Register Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 2.3.2 PIM Registers 0x0200-0x020F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 2.3.3 PIM Generic Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 2.3.4 PIM Generic Register Exceptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 2.4.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 2.4.2 Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 MC9S12ZVM Family Reference Manual Rev. 2.2 6 Freescale Semiconductor 2.5 2.4.3 Pin I/O Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 2.4.4 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 2.4.5 Pin interrupts and Key-Wakeup (KWU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 2.4.6 Over-Current Interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 2.4.7 High-Voltage Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 Initialization and Application Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 2.5.1 Port Data and Data Direction Register writes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 2.5.2 Open Input Detection on HVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 2.5.3 Over-Current Protection on EVDD1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 Chapter 3 Memory Mapping Control (S12ZMMCV1) 3.1 3.2 3.3 3.4 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 3.1.1 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 3.1.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 3.1.3 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 3.1.4 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 3.1.5 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 3.3.1 Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 3.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 3.4.1 Global Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 3.4.2 Illegal Accesses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 3.4.3 Uncorrectable ECC Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 Chapter 4 Interrupt (S12ZINTV0) 4.1 4.2 4.3 4.4 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 4.1.1 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 4.1.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 4.1.3 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 4.1.4 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 4.3.1 Module Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 4.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 4.4.1 S12Z Exception Requests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 4.4.2 Interrupt Prioritization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 4.4.3 Priority Decoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 4.4.4 Reset Exception Requests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 4.4.5 Exception Priority . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 7 4.5 4.4.6 Interrupt Vector Table Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174 Initialization/Application Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174 4.5.1 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174 4.5.2 Interrupt Nesting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 4.5.3 Wake Up from Stop or Wait Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 Chapter 5 Background Debug Controller (S12ZBDCV2) 5.1 5.2 5.3 5.4 5.5 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 5.1.1 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 5.1.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 5.1.3 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 5.1.4 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 5.3.1 Module Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 5.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186 5.4.1 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186 5.4.2 Enabling BDC And Entering Active BDM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186 5.4.3 Clock Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 5.4.4 BDC Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 5.4.5 BDC Access Of Internal Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203 5.4.6 BDC Serial Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206 5.4.7 Serial Interface Hardware Handshake (ACK Pulse) Protocol . . . . . . . . . . . . . . . . . . . . 209 5.4.8 Hardware Handshake Abort Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 5.4.9 Hardware Handshake Disabled (ACK Pulse Disabled) . . . . . . . . . . . . . . . . . . . . . . . . . 212 5.4.10 Single Stepping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213 5.4.11 Serial Communication Timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214 Application Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214 5.5.1 Clock Frequency Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214 Chapter 6 S12Z Debug (S12ZDBG) Module 6.1 6.2 6.3 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 6.1.1 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216 6.1.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216 6.1.3 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216 6.1.4 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217 6.1.5 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 6.2.1 External Event Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 6.2.2 Profiling Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 Memory Map and Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 MC9S12ZVM Family Reference Manual Rev. 2.2 8 Freescale Semiconductor 6.4 6.5 6.3.1 Module Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 6.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243 6.4.1 DBG Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243 6.4.2 Comparator Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243 6.4.3 Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247 6.4.4 State Sequence Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249 6.4.5 Trace Buffer Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250 6.4.6 Code Profiling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259 6.4.7 Breakpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263 Application Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264 6.5.1 Avoiding Unintended Breakpoint Re-triggering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264 6.5.2 Debugging Through Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264 6.5.3 Breakpoints from other S12Z sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265 6.5.4 Code Profiling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265 Chapter 7 ECC Generation Module (SRAM_ECCV1) 7.1 7.2 7.3 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267 7.1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267 7.2.1 Register Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267 7.2.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273 7.3.1 Aligned 2 and 4 Byte Memory Write Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274 7.3.2 Other Memory Write Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274 7.3.3 Memory Read Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275 7.3.4 Memory Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275 7.3.5 Interrupt Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275 7.3.6 ECC Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276 7.3.7 ECC Debug Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.1 8.2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279 8.1.1 Differences between S12CPMU_UHV_V10 and S12CPMU_UHV_V6 . . . . . . . . . . . 281 8.1.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282 8.1.3 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284 8.1.4 S12CPMU_UHV_V10_V6 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287 Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289 8.2.1 RESET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289 8.2.2 EXTAL and XTAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289 8.2.3 VSUP -- Regulator Power Input Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289 8.2.4 VDDA, VSSA -- Regulator Reference Supply Pins . . . . . . . . . . . . . . . . . . . . . . . . . . 289 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 9 8.3 8.4 8.5 8.6 8.7 8.2.5 VDDX, VSSX-- Pad Supply Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289 8.2.6 VDDC-- CAN Supply Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290 8.2.7 VDDS1-- Sensor Supply1 Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290 8.2.8 VDDS2-- Sensor Supply2 Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290 8.2.9 BCTL-- Base Control Pin for external PNP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290 8.2.10 BCTLC -- Base Control Pin for external PNP for VDDC power domain . . . . . . . . . . 291 8.2.11 BCTLS1 -- Base Control Pin for external PNP for VDDS1 power domain . . . . . . . . 291 8.2.12 BCTLS2 -- Base Control Pin for external PNP for VDDS2 power domain . . . . . . . . 292 8.2.13 SNPS1 -- Sense Pin for VDDS1 power domain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292 8.2.14 SNPS2 -- Sense Pin for VDDS2 power domain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292 8.2.15 VSS1,2 -- Core Ground Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292 8.2.16 VDD-- Core Logic Supply Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293 8.2.17 VDDF-- NVM Logic Supply Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293 8.2.18 API_EXTCLK -- API external clock output pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293 8.2.19 TEMPSENSE -- Internal Temperature Sensor Output Voltage . . . . . . . . . . . . . . . . . . 293 Memory Map and Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294 8.3.1 Module Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294 8.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337 8.4.1 Phase Locked Loop with Internal Filter (PLL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337 8.4.2 Startup from Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339 8.4.3 Stop Mode using PLLCLK as source of the Bus Clock . . . . . . . . . . . . . . . . . . . . . . . . 340 8.4.4 Full Stop Mode using Oscillator Clock as source of the Bus Clock . . . . . . . . . . . . . . . 340 8.4.5 External Oscillator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342 8.4.6 System Clock Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343 Resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344 8.5.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344 8.5.2 Description of Reset Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345 8.5.3 Oscillator Clock Monitor Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345 8.5.4 PLL Clock Monitor Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346 8.5.5 Computer Operating Properly Watchdog (COP) Reset . . . . . . . . . . . . . . . . . . . . . . . . . 346 8.5.6 Power-On Reset (POR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347 8.5.7 Low-Voltage Reset (LVR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348 8.6.1 Description of Interrupt Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348 Initialization/Application Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350 8.7.1 General Initialization Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350 8.7.2 Application information for COP and API usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350 8.7.3 Application Information for PLL and Oscillator Startup . . . . . . . . . . . . . . . . . . . . . . . . 351 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.1 9.2 Differences ADC12B_LBA V1 vs V2 vs V3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354 MC9S12ZVM Family Reference Manual Rev. 2.2 10 Freescale Semiconductor 9.3 9.4 9.5 9.6 9.7 9.8 9.9 Key Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355 9.3.1 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356 9.3.2 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359 Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360 9.4.1 Detailed Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361 9.5.1 Module Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361 9.5.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397 9.6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397 9.6.2 Analog Sub-Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397 9.6.3 Digital Sub-Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398 Resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411 9.8.1 ADC Conversion Interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411 9.8.2 ADC Sequence Abort Done Interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411 9.8.3 ADC Error and Conversion Flow Control Issue Interrupt . . . . . . . . . . . . . . . . . . . . . . . 412 Use Cases and Application Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413 9.9.1 List Usage -- CSL single buffer mode and RVL single buffer mode . . . . . . . . . . . . . . 413 9.9.2 List Usage -- CSL single buffer mode and RVL double buffer mode . . . . . . . . . . . . . 413 9.9.3 List Usage -- CSL double buffer mode and RVL double buffer mode . . . . . . . . . . . . . 414 9.9.4 List Usage -- CSL double buffer mode and RVL single buffer mode . . . . . . . . . . . . . 414 9.9.5 List Usage -- CSL double buffer mode and RVL double buffer mode . . . . . . . . . . . . . 415 9.9.6 RVL swapping in RVL double buffer mode and related registers ADCIMDRI and ADCEOLRI 415 9.9.7 Conversion flow control application information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417 9.9.8 Continuous Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419 9.9.9 Triggered Conversion -- Single CSL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420 9.9.10 Fully Timing Controlled Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421 Chapter 10 Supply Voltage Sensor - (BATSV3) 10.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423 10.1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423 10.1.2 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423 10.1.3 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424 10.2 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424 10.2.1 VSUP -- Voltage Supply Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424 10.3 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425 10.3.1 Register Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425 10.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425 10.4 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429 10.4.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429 10.4.2 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 11 Chapter 11 Timer Module (TIM16B4CV3) Block Description 11.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433 11.1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433 11.1.2 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433 11.1.3 Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434 11.2 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434 11.2.1 IOC3 - IOC0 -- Input Capture and Output Compare Channel 3-0 . . . . . . . . . . . . . . . . 435 11.3 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435 11.3.1 Module Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435 11.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435 11.4 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447 11.4.1 Prescaler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448 11.4.2 Input Capture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449 11.4.3 Output Compare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449 11.5 Resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450 11.6 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450 11.6.1 Channel [3:0] Interrupt (C[3:0]F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450 11.6.2 Timer Overflow Interrupt (TOF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450 Chapter 12 Timer Module (TIM16B2CV3) Block Description 12.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451 12.1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451 12.1.2 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451 12.1.3 Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452 12.2 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452 12.2.1 IOC1 - IOC0 -- Input Capture and Output Compare Channel 1-0 . . . . . . . . . . . . . . . . 452 12.3 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453 12.3.1 Module Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453 12.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453 12.4 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465 12.4.1 Prescaler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466 12.4.2 Input Capture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467 12.4.3 Output Compare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467 12.5 Resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468 12.6 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468 12.6.1 Channel [1:0] Interrupt (C[1:0]F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468 12.6.2 Timer Overflow Interrupt (TOF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 469 13.1.1 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470 MC9S12ZVM Family Reference Manual Rev. 2.2 12 Freescale Semiconductor 13.2 13.3 13.4 13.5 13.1.2 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470 13.1.3 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471 13.1.4 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472 13.2.1 RXCAN -- CAN Receiver Input Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472 13.2.2 TXCAN -- CAN Transmitter Output Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472 13.2.3 CAN System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473 13.3.1 Module Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473 13.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475 13.3.3 Programmer's Model of Message Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506 13.4.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506 13.4.2 Message Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506 13.4.3 Identifier Acceptance Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509 13.4.4 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515 13.4.5 Low-Power Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517 13.4.6 Reset Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521 13.4.7 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521 Initialization/Application Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523 13.5.1 MSCAN initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523 13.5.2 Bus-Off Recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523 Chapter 14 Programmable Trigger Unit (PTUV3) 14.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525 14.1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525 14.1.2 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526 14.1.3 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527 14.2 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527 14.2.1 PTUT0 -- PTU Trigger 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527 14.2.2 PTUT1 -- PTU Trigger 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527 14.2.3 PTURE -- PTUE Reload Event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528 14.3 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528 14.3.1 Register Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528 14.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530 14.4 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 546 14.4.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 546 14.4.2 Memory based trigger event list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548 14.4.3 Reload mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549 14.4.4 Async reload event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549 14.4.5 Interrupts and error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 550 14.4.6 Debugging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 13 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554 15.1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554 15.1.2 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555 15.1.3 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556 15.2 Signal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557 15.2.1 PWM0-PWM5 Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557 15.2.2 FAULT0-FAULT5 Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557 15.2.3 IS0-IS2 Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557 15.2.4 Global Load OK Signal -- glb_ldok . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557 15.2.5 Commutation Event Signal -- async_event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557 15.2.6 Commutation Event Edge Select Signal -- async_event_edge_sel[1:0] . . . . . . . . . . . 558 15.2.7 PWM Reload Event Signals -- pmf_reloada,b,c . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 558 15.2.8 PWM Reload-Is-Asynchronous Signal -- pmf_reload_is_async . . . . . . . . . . . . . . . . . 558 15.3 Memory Map and Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559 15.3.1 Module Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559 15.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564 15.4 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591 15.4.1 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591 15.4.2 Prescaler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592 15.4.3 PWM Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592 15.4.4 Independent or Complementary Channel Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 596 15.4.5 Deadtime Generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597 15.4.6 Top/Bottom Correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599 15.4.7 Asymmetric PWM Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605 15.4.8 Variable Edge Placement PWM Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 606 15.4.9 Double Switching PWM Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607 15.4.10Output Polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609 15.4.11Software Output Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609 15.4.12PWM Generator Loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612 15.4.13Fault Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617 15.5 Resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619 15.6 Clocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619 15.7 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620 15.8 Initialization and Application Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620 15.8.1 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620 15.8.2 BLDC 6-Step Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 621 Chapter 16 Serial Communication Interface (S12SCIV6) 16.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625 16.1.1 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625 16.1.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 626 MC9S12ZVM Family Reference Manual Rev. 2.2 14 Freescale Semiconductor 16.2 16.3 16.4 16.5 16.1.3 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 627 16.1.4 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 627 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 628 16.2.1 TXD -- Transmit Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 628 16.2.2 RXD -- Receive Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 628 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 628 16.3.1 Module Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 628 16.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642 16.4.1 Infrared Interface Submodule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643 16.4.2 LIN Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643 16.4.3 Data Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 644 16.4.4 Baud Rate Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645 16.4.5 Transmitter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 646 16.4.6 Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 651 16.4.7 Single-Wire Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659 16.4.8 Loop Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 660 Initialization/Application Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 660 16.5.1 Reset Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 660 16.5.2 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661 16.5.3 Interrupt Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661 16.5.4 Recovery from Wait Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 664 16.5.5 Recovery from Stop Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 664 Chapter 17 Serial Peripheral Interface (S12SPIV5) 17.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 665 17.1.1 Glossary of Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 665 17.1.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 665 17.1.3 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 665 17.1.4 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 666 17.2 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667 17.2.1 MOSI -- Master Out/Slave In Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667 17.2.2 MISO -- Master In/Slave Out Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667 17.2.3 SS -- Slave Select Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 668 17.2.4 SCK -- Serial Clock Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 668 17.3 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 668 17.3.1 Module Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 668 17.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 669 17.4 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 677 17.4.1 Master Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 678 17.4.2 Slave Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 679 17.4.3 Transmission Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 680 17.4.4 SPI Baud Rate Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 685 17.4.5 Special Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 686 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 15 17.4.6 Error Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687 17.4.7 Low Power Mode Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 688 Chapter 18 Gate Drive Unit (GDU) 18.1 Differences GDUV4 vs GDUV5 vs GDUV6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 691 18.1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 692 18.1.2 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 692 18.1.3 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 694 18.2 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695 18.2.1 HD -- High-Side Drain Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695 18.2.2 VBS[2:0] -- Bootstrap Capacitor Connection Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . 695 18.2.3 HG[2:0] -- High-Side Gate Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695 18.2.4 HS[2:0] -- High-Side Source Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695 18.2.5 VLS[2:0] -- Voltage Supply for Low-Side Pre-Drivers . . . . . . . . . . . . . . . . . . . . . . . . 695 18.2.6 LG[2:0] -- Low-Side Gate Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695 18.2.7 LD[2:0] -- Low-Side Gate Pins (only on GDUV6) . . . . . . . . . . . . . . . . . . . . . . . . . . . 695 18.3 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 697 18.3.1 Register Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 697 18.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 698 18.4 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 717 18.4.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 717 18.4.2 Low-Side FET Pre-Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 718 18.4.3 High-Side FET Pre-Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 718 18.4.4 Charge Pump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 720 18.4.5 Desaturation Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 722 18.4.6 Phase Comparators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 724 18.4.7 Fault Protection Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 725 18.4.8 Current Sense Amplifier and Overcurrent Comparator . . . . . . . . . . . . . . . . . . . . . . . . . 729 18.4.9 GDU DC Link Voltage Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 729 18.4.10Boost Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 730 18.4.11Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 731 18.5 Application Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 732 18.5.1 FET Pre-Driver Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 732 18.5.2 GDU Intrinsic Dead Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 733 18.5.3 Calculation of Bootstrap Capacitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 735 Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) 19.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 737 19.1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 738 19.1.2 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 738 19.1.3 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 739 19.2 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741 MC9S12ZVM Family Reference Manual Rev. 2.2 16 Freescale Semiconductor 19.2.1 LIN -- LIN Bus Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741 19.2.2 LGND -- LIN Ground Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741 19.2.3 VLINSUP -- Positive Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741 19.2.4 LPTxD -- LIN Transmit Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741 19.2.5 LPRxD -- LIN Receive Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741 19.3 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741 19.3.1 Module Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741 19.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 743 19.4 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 749 19.4.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 749 19.4.2 Slew Rate and LIN Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 749 19.4.3 Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 750 19.4.4 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 753 19.5 Application Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 756 19.5.1 Module Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 756 19.5.2 Interrupt handling in Interrupt Service Routine (ISR) . . . . . . . . . . . . . . . . . . . . . . . . . . 756 Chapter 20 Flash Module (S12ZFTMRZ) 20.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 759 20.1.1 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 760 20.1.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 760 20.1.3 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 761 20.2 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 763 20.3 Memory Map and Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 764 20.3.1 Module Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 764 20.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 768 20.4 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 788 20.4.1 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 788 20.4.2 IFR Version ID Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 788 20.4.3 Flash Block Read Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 788 20.4.4 Internal NVM resource . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 789 20.4.5 Flash Command Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 789 20.4.6 Allowed Simultaneous P-Flash and EEPROM Operations . . . . . . . . . . . . . . . . . . . . . . 794 20.4.7 Flash Command Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 795 20.4.8 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 811 20.4.9 Wait Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 812 20.4.10Stop Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 812 20.5 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 812 20.5.1 Unsecuring the MCU using Backdoor Key Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . 813 20.5.2 Unsecuring the MCU in Special Single Chip Mode using BDM . . . . . . . . . . . . . . . . . 813 20.5.3 Mode and Security Effects on Flash Command Availability . . . . . . . . . . . . . . . . . . . . . 813 20.6 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 814 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 17 Chapter 21 CAN Physical Layer (S12CANPHYV3) 21.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 815 21.1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 815 21.1.2 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 816 21.1.3 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 816 21.2 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 817 21.2.1 CANH -- CAN Bus High Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 818 21.2.2 CANL -- CAN Bus Low Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 818 21.2.3 SPLIT -- CAN Bus Termination Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 818 21.2.4 VDDC -- Supply Pin for CAN Physical Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 818 21.2.5 VSSC -- Ground Pin for CAN Physical Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 818 21.3 Internal Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 818 21.3.1 CPTXD -- TXD Input to CAN Physical Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 818 21.3.2 CPRXD -- RXD Output of CAN Physical Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 818 21.4 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 819 21.4.1 Module Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 819 21.4.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 820 21.5 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 827 21.5.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 827 21.5.2 Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 827 21.5.3 Configurable Wake-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 829 21.5.4 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 830 21.6 Initialization/Application Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 831 21.6.1 Initialization Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 831 21.6.2 Wake-up Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 832 21.6.3 Bus Error Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 832 21.6.4 CPTXD-Dominant Timeout Recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 833 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) 22.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 835 22.1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 835 22.1.2 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 835 22.1.3 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 836 22.2 External Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 836 22.2.1 PWM7 - PWM0 -- PWM Channel 7 - 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 837 22.3 Memory Map and Register Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 837 22.3.1 Module Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 837 22.3.2 Register Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 837 22.4 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 852 22.4.1 PWM Clock Select . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 852 22.4.2 PWM Channel Timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 855 22.5 Resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 863 MC9S12ZVM Family Reference Manual Rev. 2.2 18 Freescale Semiconductor 22.6 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 864 Appendix A MCU Electrical Specifications A.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 865 Appendix B CPMU Electrical Specifications (VREG, OSC, IRC, PLL) B.1 B.2 B.3 B.4 VREG Electrical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 885 Reset and Stop Timing Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 887 IRC and OSC Electrical Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 888 Phase Locked Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 888 Appendix C ADC Electrical Specifications C.1 ADC Operating Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 891 Appendix D LIN/HV PHY Electrical Specifications D.1 Static Electrical Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 897 D.2 Dynamic Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 898 Appendix E GDU Electrical Specifications E.1 E.2 GDU specifications for devices featuring GDU V4 or V6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 901 Preliminary GDU specifications for devices featuring GDU V5 . . . . . . . . . . . . . . . . . . . . . . . . . 903 Appendix F NVM Electrical Parameters F.1 F.2 F.3 NVM Timing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 907 NVM Reliability Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 914 NVM Factory Shipping Condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 914 Appendix G BATS Electrical Specifications G.1 Static Electrical Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 915 G.2 Dynamic Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 916 Appendix H S12CANPHY Electrical Specifications H.1 Maximum Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 917 H.2 Static Electrical Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 917 H.3 Dynamic Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 920 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 19 Appendix I SPI Electrical Specifications I.1 Master Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 923 Appendix J MSCAN Electrical Specifications J.1 MSCAN Wake-up Pulse Timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 927 Appendix K Package Information K.1 48LQFP-EP Mechanical Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 929 K.2 64LQFP-EP Mechanical Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 932 K.3 80LQFP-EP Mechanical Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 935 Appendix L Ordering Information Appendix M Detailed Register Address Map M.1 0x0000-0x0003 Part ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 941 M.2 0x0010-0x001F S12ZINT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 942 M.3 0x0070-0x00FF S12ZMMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 942 M.4 0x0100-0x017F S12ZDBG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 943 M.5 0x0200-0x02FF PIM (See footnotes for part specific information) . . . . . . . . . . . . . . . . . . . . . . . 947 M.6 0x0380-0x039F FTMRZ128K512 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 953 M.7 0x03C0-0x03CF SRAM_ECC_32D7P. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 955 M.8 0x0400-0x042F TIM1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 956 M.9 0x0480-0x04AF PWM0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 957 M.10 0x0500-x053F PMF15B6C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 959 M.11 0x0580-0x059F PTU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 963 M.12 0x05C0-0x05FF TIM0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 965 M.13 0x0600-0x063F ADC0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 967 M.14 0x0640-0x067F ADC1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 969 M.15 0x06A0-0x06BF GDU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 971 M.16 0x06C0-0x06DF CPMU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 972 M.17 0x06F0-0x06F7 BATS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 974 M.18 0x0700-0x0707 SCI0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 974 M.19 0x0710-0x0717 SCI1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 975 M.20 0x0780-0x0787 SPI0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 976 M.21 0x0800-0x083F CAN0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 976 M.22 0x0980-0x0987 LINPHY0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 978 M.23 0x0990-0x0997 CANPHY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 978 MC9S12ZVM Family Reference Manual Rev. 2.2 20 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family Table 1-1. Revision History Version Number Revision Date Sections Affected 1.7 26.Feb.2014 Section 1.2.1 Table 1-6 General Section 1.7.4 * * * * 1.8 04.Sep.2014 Section 1.2.1 * Added S12ZVML31 information to derivative table 2.0 10.Oct.2014 General * Added ZVMC256 information 2.01 06.Feb.2015 General * Added 2N95G maskset information. * Added TIM1 for ZVMC256 1.1 Description of Changes Added S12ZVM32 and S12ZVM16 information to derivative table Updated PartID Table Added HVPHY feature for S12ZVM32 and S12ZVM16 Added 48LQFP-EP for S12ZVM32 and S12ZVM16 Introduction The MC9S12ZVM-Family is an automotive 16-bit microcontroller family using the NVM + UHV technology that offers the capability to integrate 40 V analog components. This family reuses many features from the existing S12/S12X portfolio. The particular differentiating features of this family are the enhanced S12Z core, the combination of dual-ADC synchronized with PWM generation and the integration of "high-voltage" analog modules, including the voltage regulator (VREG), Gate Drive Unit (GDU), and either Local Interconnect Network (LIN) physical layer or CAN Physical layer. These features enable a fully integrated single chip solution to drive up to 6 external power MOSFETs for BLDC or PMSM motor drive applications. The MC9S12ZVM-Family includes error correction code (ECC) on RAM and flash memory, EEPROM for diagnostic or data storage, a fast analog-to-digital converter (ADC) and a frequency modulated phase locked loop (IPLL) that improves the EMC performance. The MC9S12ZVM-Family allows the integration of several key system components into a single device, optimizing system architecture and achieving significant space savings. The MC9S12ZVM-Family delivers all the advantages and efficiencies of a 16-bit MCU while retaining the low cost, power consumption, EMC, and code-size efficiency advantages currently enjoyed by users of existing S12(X) families. The MC9S12ZVM-Family is available in different pin-out options, using 80-pin, 64-pin and 48-pin LQFP-EP packages to accommodate LIN, CAN and external PWM based application interfaces. In addition to the I/O ports available in each module, further I/O ports are available with interrupt capability allowing wake-up from stop or wait modes. The MC9S12ZVM-Family is a general-purpose family of devices suitable for a range of applications, including: * 3-phase sensorless BLDC motor control for -- Fuel pump MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 21 Chapter 1 Device Overview MC9S12ZVM-Family * 1.2 -- Water pump -- Oil pump -- A/C compressor -- HVAC blower -- Engine cooling fan -- Electric vehicle battery cooling fan Brush DC motor control requiring driving in 2 directions, along with PWM control for -- Reversible wiper -- Trunk opener Features This section describes the key features of the MC9S12ZVM-Family. It documents the superset of features within the family. Some module versions differ from one part to another within the family. Section 1.2.1 MC9S12ZVM-Family Member Comparison provides information to help access the correct information for a particular part within the family. 1.2.1 MC9S12ZVM-Family Member Comparison Table 1-2 provides a summary of feature set differences within the MC9S12ZVM-Family. Table 1-2. S12ZVM Family Feature Set Differences Feature Flash ZVMC256 ZVML128 ZVMC128 ZVML64 ZVMC64 ZVML32 ZVML31 ZVML31 256 KB 128 KB 128 KB 512 Bytes 512 Bytes ZVM32 ZVM32 ZVM16 ZVM16 64 KB 64 KB 32 KB 32 KB 32 KB 32 KB 32 KB 16 KB 16 KB 512 Bytes 512 Bytes 512 Bytes 128 Bytes 128 Bytes 128 Bytes 128 Bytes 128 Bytes 128 Bytes EEPROM 1 KB RAM 32 KB 8 KB 8 KB 4 KB 4 KB 4 KB 4 KB 4 KB 4 KB 4 KB 2 KB 2 KB Package 80 pin 64 pin 64 pin 64 pin 64 pin 64 pin 64 pin 48 pin 64 pin 48 pin 64 pin 48 pin LINPHY - 1 - 1 - 1 1 1 - - - - HVPHY - - - - - - - - 1 1 1 1 SCI(1) 2 2 2 2 2 2 2 2 2 2 2 2 SPI 1 1 1 1 1 1 1 0 1 0 1 0 ADC channels 8+8 4+5 4+5 4+5 4+5 4+5 4+5 1+3 4+5 1+3 4+5 1+3 PMF channels 6 6 6 6 6 6 6 6 6 6 6 6 TIM channels 4 TIM0 + 2 TIM1 4 4 4 4 4 4 3 4 3 4 3 PWM channels 8 - - - - - - - - - - - MSCAN 1 1 1 1 1 1 - - - - - - MC9S12ZVM Family Reference Manual Rev. 2.2 22 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family Table 1-2. S12ZVM Family Feature Set Differences Feature ZVMC256 ZVML128 ZVMC128 ZVML64 ZVMC64 ZVML32 ZVML31 ZVML31 ZVM32 ZVM32 ZVM16 ZVM16 CAN VREG 1 - 1 - 1 - - - - - - - CANPHY 1 - - - - - - - - - - - External FET gate charge(nC) Standard + 50% Standard GDU external bootstrap diode Needed Needed Needed Needed Needed Needed Not Needed Not Needed Not Needed Not Needed Not Needed Not Needed Current sense op-amps 2 2 2 2 2 2 2 1 2 1 2 1 Auxiliary tracker VREGs 2 - - - - - - - - - - - 1. Options featuring a single SCI include the SCI1 instantiation. 1.2.2 Module Version Differences Within The S12ZVM Family Table 1-3 provides a summary of module version differences within the MC9S12ZVM-Family. The differences between the module versions are summarized in the individual module chapters. Modules that are not listed in this table have identical versions across all MC9S12ZVM-Family members. Table 1-3. S12ZVM Module Version Table Feature ZVMC256 ZVML128 ZVMC128 ZVML64 ZVMC64 ZVML32 ZVML31 ZVM32 ZVM16 PIM V3 V2 V2 V2 V2 V2 V2 V2 V2 CPMU_UHV V10 V6 V6 V6 V6 V6 V6 V6 V6 PMF V4 V3 V3 V3 V3 V3 V4 V4 V4 V5 V5 V5 GDU V6 V4 DBG V4 ADC V3 (1) V4 1 V4 1 V4 1 V4 1 V2 V2 V2 V2 V2 V3 (Lite) V3 (Lite) V3 (Lite) V1 V1 V1 V1 V1 V1 V1 V1 1. Mask set differences listed in Section 1.2.3 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 23 Chapter 1 Device Overview MC9S12ZVM-Family 1.2.3 Functional Differences Between Masksets 0N95G, 1N95G, 2N95G The parts ZVML128, ZVMC128, ZVML64, ZVMC64 and ZVML32 have the following maskset options. CAUTION The maskset 2N95G uses the VSUPpin as the LINPHY supply.Thus the BST function must not be used on this maskset because enabling it could cause a LINPHY supply voltage offset with respect to other devices on the LIN bus. Table 1-4. N95G Option Table Feature LINPHY supply pin BST pin function GDU low side driver state in HD over-voltage case GDU HD nominal over-voltage time constant GDU GSUF bit state one clock cycle after reset 1.3 0N95G 1N95G 2N95G HD HD VSUP Available Available Not Available on GOCA1 GOCA1 300ns 2.7us 2.7us 1 1 0 Chip-Level Features On-chip modules available within the family include the following features: * S12Z CPU core * 256, 128, 64, 32 or 16KB on-chip flash with ECC * 1K, 512 or 128 byte EEPROM with ECC * 32, 8, 4 or 2 KB on-chip SRAM with ECC * Phase locked loop (IPLL) frequency multiplier with internal filter * 1 MHz internal RC oscillator with +/-1.3% accuracy over rated temperature range * 4-20MHz amplitude controlled pierce oscillator * Internal COP (watchdog) module * 6-channel, 15-bit pulse width modulator with fault protection (PMF) * Low side and high side FET pre-drivers for each phase -- Gate drive pre-regulator -- LDO (Low Dropout Voltage Regulator) (typically 11V) -- High side gate supply generated using bootstrap circuit with external diode and capacitor -- Sustaining charge pump with two external capacitors and diodes -- High side drain (HD) monitoring on internal ADC channel using HD/5 voltage * Two parallel analog-to-digital converters (ADC) with 12-bit resolution and up to 16 channels available on external pins * Programmable Trigger Unit (PTU) for synchronization of PMF and ADC * One serial peripheral interface (SPI) module MC9S12ZVM Family Reference Manual Rev. 2.2 24 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family * * * * * * * * * * * * * * * * * 1.4 One serial communication interface (SCI) module with interface to internal LIN physical layer transceiver (with RX connected to a timer channel for frequency calibration purposes, if desired) Up to one additional SCI (not connected to LIN physical layer) On-chip LIN physical layer transceiver fully compliant with the LIN 2.2 standard (S12ZVML versions) One High Voltage physical interface. (ZVM32, ZVM16 versions only) 4-channel timer module (TIM0) with input capture/output compare 2-channel timer module (TIM1) with input capture/output compare (ZVMC256 version only) One 8-bit, 8-channel pulse width modulator (PWM) module. (ZVMC256 version only) MSCAN (1 Mbit/s, CAN 2.0 A, B software compatible) module On-chip voltage regulator (VREG) for regulation of input supply and all internal voltages -- Optional VREG ballast control output to supply an external CAN physical layer CAN Physical Layer, ISO 11898-2 and ISO 11898-5 compliant. (ZVMC256 version only) Two voltage regulator outputs to supply external loads. (ZVMC256 version only) Two current sense circuits for overcurrent detection or torque measurement Autonomous periodic interrupt (API) 20mA high-current output for use as Hall sensor supply Supply voltage sense with low battery warning Chip temperature sensor One High Voltage Input (ZVMC256 version only) Module Features The following sections provide more details of the integrated modules. 1.4.1 S12Z Central Processor Unit (CPU) The S12Z CPU is a revolutionary high-speed core, with code size and execution efficiencies over the S12X CPU. The S12Z CPU also provides a linear memory map eliminating the inconvenience and performance impact of page swapping. * Harvard Architecture - parallel data and code access * 3 stage pipeline * 32-Bit wide instruction and databus * 32-Bit ALU * 24-bit addressing, of 16MB linear address space * Instructions and Addressing modes optimized for C-Programming & Compiler -- MAC unit 32bit += 32bit*32bit -- Hardware divider -- Single cycle multi-bit shifts (Barrel shifter) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 25 Chapter 1 Device Overview MC9S12ZVM-Family * * -- Special instructions for fixed point math Unimplemented opcode traps Unprogrammed byte value (0xFF) defaults to SWI instruction 1.4.1.1 * Background debug controller (BDC) with single-wire interface -- Non-intrusive memory access commands -- Supports in-circuit programming of on-chip nonvolatile memory 1.4.1.2 * * * * Debugger (DBG) ZVML31, ZVM32, ZVM16 feature subset listed in S12ZDBG chapter Enhanced DBG module including: -- Four comparators (A, B, C and D) each configurable to monitor PC addresses or addresses of data accesses -- A and C compare full address bus and full 32-bit data bus with data bus mask register -- B and D compare full address bus only -- Three modes: simple address/data match, inside address range, or outside address range -- Tag-type or force-type hardware breakpoint requests State sequencer control 64 x 64-bit circular trace buffer to capture change-of-flow addresses or address and data of every access -- Begin, End and Mid alignment of tracing to trigger Profiling mode for external visibility of internal program flow 1.4.2 Embedded Memory 1.4.2.1 * * Background Debug Controller (BDC) Memory Access Integrity Illegal address detection ECC support on embedded NVM and system RAM 1.4.2.2 Flash On-chip flash memory on the MC9S12ZVM-family on the features the following: * Up to 256KB of program flash memory -- 32 data bits plus 7 syndrome ECC (error correction code) bits allow single bit fault correction and double fault detection -- Erase sector size 512 bytes -- Automated program and erase algorithm -- User margin level setting for reads MC9S12ZVM Family Reference Manual Rev. 2.2 26 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family -- Protection scheme to prevent accidental program or erase 1.4.2.3 * Up to 1K byte EEPROM -- 16 data bits plus 6 syndrome ECC (error correction code) bits allow single bit error correction and double fault detection -- Erase sector size 4 bytes -- Automated program and erase algorithm -- User margin level setting for reads 1.4.2.4 * * * * Clocks, Reset & Power Management Unit (CPMU) Real time interrupt (RTI) Clock monitor, supervising the correct function of the oscillator (CM) Computer operating properly (COP) watchdog -- Configurable as window COP for enhanced failure detection -- Can be initialized out of reset using option bits located in flash memory System reset generation Autonomous periodic interrupt (API) (combination with cyclic, watchdog) Low Power Operation -- RUN mode is the main full performance operating mode with the entire device clocked. -- WAIT mode when the internal CPU clock is switched off, so the CPU does not execute instructions. -- Pseudo STOP - system clocks are stopped but the oscillator the RTI, the COP, and API modules can be enabled -- STOP - the oscillator is stopped in this mode, all clocks are switched off and all counters and dividers remain frozen, with the exception of the COP and API which can optionally run from ACLK. 1.4.3.1 * SRAM Up to 32 KB of general-purpose RAM with ECC -- Single bit error correction and double bit error detection 1.4.3 * * * EEPROM Internal Phase-Locked Loop (IPLL) Phase-locked-loop clock frequency multiplier -- No external components required -- Reference divider and multiplier allow large variety of clock rates -- Automatic bandwidth control mode for low-jitter operation -- Automatic frequency lock detector MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 27 Chapter 1 Device Overview MC9S12ZVM-Family -- Configurable option to spread spectrum for reduced EMC radiation (frequency modulation) -- Reference clock sources: - Internal 1 MHz RC oscillator (IRC) - External 4-20 MHz crystal oscillator/resonator 1.4.3.2 * 1.4.4 * 1.4.5 * * 1.4.6 * * 1.4.7 * * * * * * Internal RC Oscillator (IRC) Trimmable internal 1MHz reference clock. -- Trimmed accuracy over -40C to 150C junction temperature range: 1.3%max. Main External Oscillator (XOSCLCP) Amplitude controlled Pierce oscillator using 4 MHz to 20 MHz crystal -- Current gain control on amplitude output -- Signal with low harmonic distortion -- Low power -- Good noise immunity -- Eliminates need for external current limiting resistor -- Trans conductance sized for optimum start-up margin for typical crystals -- Oscillator pins shared with GPIO functionality Timer (TIM0) 4 x 16-bit channels Timer module for input capture or output compare 16-bit free-running counter with 8-bit precision prescaler Timer (TIM1) (ZVMC256 only) 2 x 16-bit channels Timer module for input capture or output compare 16-bit free-running counter with 8-bit precision prescaler Pulse width Modulator with Fault protection (PMF) 6 x 15-bit channel PWM resolution Each pair of channels can be combined to generate a PWM signal (with independent control of edges of PWM signal) Dead time insertion available for each complementary pair Center-aligned or edge-aligned outputs Programmable clock select logic with a wide range of frequencies Programmable fault detection MC9S12ZVM Family Reference Manual Rev. 2.2 28 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family 1.4.8 * * * * * Programmable Trigger Unit (PTU) Enables synchronization between PMF and ADC 2 trigger input sources and software trigger source 2 trigger outputs One 16-bit delay register pre-trigger output Operation in One-Shot or Continuous modes 1.4.9 * * * * * * * * * * LIN physical layer transceiver (ZVML devices only) Compliant with LIN Physical Layer 2.2 specification. Compliant with the SAE J2602-2 LIN standard. Standby mode with glitch-filtered wake-up. Slew rate selection optimized for the baud rates: 10.4kBit/s, 20kBit/s and Fast Mode (up to 250kBit/s). Switchable 34k/330k pull-ups (in shutdown mode, 330k only) Current limitation for LIN Bus pin falling edge. Over-current protection. LIN TxD-dominant timeout feature monitoring the LPTxD signal. Automatic transmitter shutdown in case of an over-current or TxD-dominant timeout. Fulfills the OEM "Hardware Requirements for LIN (CAN and FlexRay) Interfaces in Automotive Applications" v1.3. 1.4.10 * * * * * * * * Full-duplex or single-wire operation Standard mark/space non-return-to-zero (NRZ) format Selectable IrDA 1.4 return-to-zero-inverted (RZI) format with programmable pulse widths 16-bit baud rate selection Programmable character length Programmable polarity for transmitter and receiver Active edge receive wakeup Break detect and transmit collision detect supporting LIN 1.4.11 * * * * Serial Communication Interface Module (SCI) Multi-Scalable Controller Area Network (MSCAN) Implementation of the CAN protocol -- Version 2.0A/B Five receive buffers with FIFO storage scheme Three transmit buffers with internal prioritization using a "local priority" concept Flexible maskable identifier filter supports two full-size (32-bit) extended identifier filters, or four 16-bit filters, or either 8-bit filters MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 29 Chapter 1 Device Overview MC9S12ZVM-Family * Programmable wake-up functionality with integrated low-pass filter 1.4.12 * * * * * * Configurable 8- or 16-bit data size Full-duplex or single-wire bidirectional Double-buffered transmit and receive Master or slave mode MSB-first or LSB-first shifting Serial clock phase and polarity options 1.4.13 * * * * Supply Voltage Sensor (BATS) Monitoring of supply (VSUP) voltage Internal ADC interface from an internal resistive divider Generation of low or high voltage interrupts 1.4.15 * Analog-to-Digital Converter Module (ADC) Dual ADC -- 12-bit resolution -- Up to 16 external channels & 8 internal channels -- 2.5us for single 12-bit resolution conversion -- Left or right aligned result data -- Continuous conversion mode Programmers model with list based command and result storage architecture ADC directly writes results to RAM, preventing stall of further conversions Internal signals monitored with the ADC module -- VRH, VRL, (VRL+VRH)/2, Vsup monitor, Vbg, TempSense, GDU phase, GDU DC-link External pins can also be used as digital I/O 1.4.14 * * * Serial Peripheral Interface Module (SPI) On-Chip Voltage Regulator system (VREG) Voltage regulator -- Linear voltage regulator directly supplied by VSUP -- Low-voltage detect on VSUP -- Power-on reset (POR) -- Low-voltage reset (LVR) for VDDX domain -- External ballast device support to reduce internal power dissipation -- Capable of supplying both the MCU internally plus external components -- Over-temperature interrupt MC9S12ZVM Family Reference Manual Rev. 2.2 30 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family * * * Internal voltage regulator -- Linear voltage regulator with bandgap reference -- Low-voltage detect on VDDA -- Power-on reset (POR) circuit -- Low-voltage reset for VDD domain Package option for VREG ballast control output to supply external CANPHY Option for 2 further VREG ballast control outputs to supply external components (ZVMC256) 1.4.16 * * * * * * * * * * Low side and high side FET pre-drivers for each phase Gate drive pre-regulator LDO (Low Dropout Voltage Regulator) High side gate supply done via bootstrap circuit External bootstrap diode replaced by internal circuit (GDUV5 only) Sustaining charge pump with two external capacitors and diodes Optional boost converter configuration with voltage feedback FET-Predriver desaturation and error recognition Monitoring of FET High Side drain (HD) voltage Diagnostic failure management Low side drain pins for monitoring desaturation of switch reluctance motor drivers (ZVMC256) 1.4.17 * High Voltage Physical Interface (ZVM32, ZVM16) Single pin high voltage interface signal operating in the VSUP voltage range Internal interface mapped to internal timer channel. Compliant with the ISO9141 (K-line) standard. Standby mode with glitch-filtered wake-up. Slew rate selection optimized for: 5.2 kHz, 10 kHz and Fast Mode (up to 125 kHz). Switchable 34 k/330 k pullup resistors (in shutdown mode, 330 konly Current limitation for pin falling edge. Overcurrent protection. 1.4.19 * * Current Sense 2 channel, integrated op-amp functionality 1.4.18 * * * * * * * * Gate Drive Unit (GDU) CAN Physical Layer Module (ZVMC256 only) High speed CAN interface for baud rates of up to 1 Mbit/s ISO 11898-2 and ISO 11898-5 compliant for 12 V battery systems MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 31 Chapter 1 Device Overview MC9S12ZVM-Family * * * * * * * SPLIT pin driver for bus recessive level stabilization Low power mode with remote CAN wake-up handled by MSCAN module Configurable wake-up pulse filtering Over-current shutdown for CANH and CANL Voltage monitoring on CANH and CANL CPTXD-dominant timeout feature monitoring the CPTXD signal Fulfills the OEM "Hardware Requirements for (LIN,) CAN (and FlexRay) Interfaces in Automotive Applications" v1.3 1.4.20 * * * * Pulse Width Modulation Module (PWM) (ZVMC256 only) Configurable as 8 channels x 8-bit or 4 channels x 16-bit Programmable period and duty cycle per channel Center-aligned or edge-aligned outputs Programmable clock select logic with a wide range of frequencies MC9S12ZVM Family Reference Manual Rev. 2.2 32 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family Block Diagram ADC0 AN0_[7:0] 12-bit VRH Analog-Digital Converter VRL 2K, 4K, 8K, 32KB RAM with ECC 1K, 512 bytes EEPROM with ECC VDD VSS2 VDDF VSS1 VDDX1/VDDX2 VSUP BCTL VDDS1 BCTLS1 SNPS1 VDDS2 BCTLS2 SNPS2 Voltage Regulator (Nominal 12V) Additional Voltage Regulator #1 Additional Voltage Regulator #2 BATS Voltage Supply Monitor S12ZCPU Interrupt Module PE0 PE1 PTE BKGD RESET TEST PL0 PTL/KWL LIN0 LGND BCTLC VDDC CANH0 SPLIT0 CANL0 VSSC BDC Background Debug Controller DBG Debug Module 4 Comparators Trace Buffer Current Sense Circuits GDU Gate Drive Unit AMPP1 AMPM1 AMP1 PTAD / KWAD AMPP0 AMPM0 AMP0 HD CP VCP VLS_OUT BST VSSB VBS[2:0] HG[2:0] HS[2:0] VLS[2:0] LG[2:0] LS[2:0] LD[2:0] PMF PWM1_0 15-bit 6 channel PWM1_1 Pulse Width Modulator PWM1_2 PWM1_3 PWM1_4 PWM1_5 Clock Monitor IOC0_0 TIM0 EXTAL COP Watchdog 16-bit 4-Channel Timer IOC0_1 Low Power Pierce Real Time Interrupt IOC0_2 XTAL Oscillator Auton. Periodic Int. IOC0_3 PLL with Frequency PTU PTURE Modulation option Internal RC Oscillator Programmable Trigger PTUT0 Reset Generation Unit PTUT1 and Test Entry RXD1 SCI1 LINPHY0 (S12ZVML versions only) Asynchronous Serial IF TXD1 OR HV Physical Interface RXD0 SCI0 LIN0 Asynchronous Serial IF TXD0 LGND RXCAN0 CAN0 TXCAN0 msCAN 2.0B CAN VREG MISO0 SPI0 CANH0 MOSI0 SPLIT0 SCK0 CANPHY0 Synchronous Serial IF CANL0 SS0 VSSC PWM0 PWM0_[7,5,3,1] 8-bit, 8-channel High Voltage Input Pulse Width Modulator HV0 TIM1 IOC1_0 16-bit 2-Channel Timer IOC1_1 PAD[15:8] HD CP VCP VLS_OUT BST VSSB VBS[2:0] HG[2:0] HS[2:0] VLS[2:0] LG[2:0] LS[2:0] LD[2:0] PTP / KWP 32K, 64K, 128K, 256KB Flash with ECC ADC1 AN1_[7:0] 12-bit VRH Analog-Digital Converter VRL PAD[7:0] PP0 PP1 PP2 PTT 5V Analog Supply VDDA/VSSA PT0 PT1 PT2 PT3 PTS / KWS 1.5 PS0 PS1 PS2 PS3 PS4 PS5 Block Diagram shows the maximum configuration Not all pins or all peripherals are available on all devices and packages. Red highlighted features are ZVMC256 specific. Rerouting options are not shown. Figure 1-1. MC9S12ZVM-Family Block Diagram MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 33 Chapter 1 Device Overview MC9S12ZVM-Family 1.6 Device Memory Map Table 1-5 shows the device register memory map. All modules that can be instantiated more than once on S12 devices are listed with an index number, even if they are only instantiated once on this device family. Table 1-5. Module Register Address Ranges Address Module Size (Bytes) 0x0000-0x0003 Part ID Register Section 1.6.2 4 0x0004-0x000F Reserved 12 0x0010-0x001F INT 1 6 0x0020-0x006F Reserved 80 0x0070-0x008F MMC 3 2 0x0090-0x00FF 0x0100-0x017F MMC Reserved 112 DBG 128 0x0180-0x01FF Reserved 128 0x0200-0x033F PIM 320 0x0340-0x037F Reserved 64 0x0380-0x039F FTMRZ 32 0x03A0-0x03BF Reserved 32 0x03C0-0x03CF RAM ECC 16 0x03D0-0x03FF Reserved 48 0x0400-0x043F TIM1 (ZVMC256 only) 64 0x0440-0x047F Reserved 64 0x0480-0x04AF PWM0 (ZVMC256 only) 48 0x04B0-0x04FF Reserved(1) 80 0x0500-0x053F PMF 64 0x0540-0x057F Reserved 64 0x0580-0x059F PTU 32 0x05A0-0x05BF Reserved 32 0x05C0-0x05EF TIM0 48 0x05F0-0x05FF Reserved 1 6 0x0600-0x063F ADC0 6 4 0x0640-0x067F ADC1 64 0x0680-0x069F Reserved 32 (2)0x06A0-0x06BF GDU 32 0x06C0-0x06DF CPMU 32 0x06E0-0x06EF Reserved 16 0x06F0-0x06F7 BATS 8 MC9S12ZVM Family Reference Manual Rev. 2.2 34 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family Table 1-5. Module Register Address Ranges Address Module Size (Bytes) 0x06F8-0x06FF Reserved 8 0x0700-0x0707 SCI0 8 0x0708-0x070F Reserved 8 0x0710-0x0717 SCI1 8 0x0718-0x077F Reserved 104 0x0780-0x0787 SPI0 8 0x0788-0x07FF Reserved 120 0x0800-0x083F CAN0 64 0x0840-0x097F Reserved 320 0x0980-0x0987 LINPHY (S12ZVML derivatives) 8 0x0980-0x0987 HV Physical Interface (S12ZVM32, S12ZVM16 derivatives) 8 0x0988-0x098F Reserved 8 0x0990-0x0997 CANPHY (ZVMC256 only) 8 0x0998-0x0FFF Reserved 1640 1. Reading from the first 16 locations in this reserved range returns undefined data 2. Address range = 0x0690-0x069F on Maskset N06E NOTE Reserved register space shown above is not allocated to any module. This register space is reserved for future use. Writing to these locations has no effect. Read access to these locations returns zero. 1.6.1 Flash Module This device family instantiates different flash modules, depending on derivative. The flash documentation for the all devices is featured in the FTMRZ section. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 35 Chapter 1 Device Overview MC9S12ZVM-Family Register Space 4 KB 0x00_0000 0x00_1000 RAM max. 1 MByte - 4 KB 0x10_0000 EEPROM max. 1 MByte - 48 KB Reserved Reserved (read only) NVM IFR 512 Byte 0x1F_4000 6 KB 0x1F_8000 256 Byte 0x1F_C000 0x20_0000 Unmapped 6 MByte 0x80_0000 Program NVM max. 8 MB Unmapped address range Low address aligned High address aligned 0xFF_FFFF Figure 1-2. MC9S12ZVM-Family Global Memory Map. (See Table 1-3 for individual device details) MC9S12ZVM Family Reference Manual Rev. 2.2 36 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family 1.6.2 Part ID Assignments The part ID is located in four 8-bit registers at addresses 0x0000-0x0003. The read-only value is a unique part ID for each revision of the chip. Table 1-6 shows the assigned part ID number and mask set number. Table 1-6. Assigned Part ID Numbers 1.7 Device Mask Set Number Part ID Option MC9S12ZVMC256 N00R 0x00180000 CAN MC9S12ZVML12 N06E 0x00170000 LIN MC9S12ZVMC12 N06E 0x00170001 CAN-VREG MC9S12ZVML12 0N95G 0x00172000 LIN MC9S12ZVMC12 0N95G 0x00172001 CAN-VREG MC9S12ZVML12 1N95G 0x00172100 LIN MC9S12ZVML64 1N95G 0x00172100 LIN MC9S12ZVML32 1N95G 0x00172100 LIN MC9S12ZVMC12 1N95G 0x00172101 CAN-VREG MC9S12ZVMC64 1N95G 0x00172101 CAN-VREG MC9S12ZVML12 2N95G 0x00172200 LIN MC9S12ZVML64 2N95G 0x00172200 LIN MC9S12ZVML32 2N95G 0x00172200 LIN MC9S12ZVML31 0N14N 0x00150000 LIN MC9S12ZVM32 0N14N 0x00150000 HV Physical Interface MC9S12ZVM16 0N14N 0x00150000 HV Physical Interface Signal Description and Device Pinouts This section describes signals that connect off-chip. It includes pin out diagrams a table of signal properties, and detailed discussion of signals. Internal inter module signal mapping at device level is described in 1.8 Internal Signal Mapping. 1.7.1 Pin Assignment Overview Table 1-7 provides a summary of which ports are available. Table 1-7. Port Availability by Option Port 80 LQFP 64 LQFP 48LQFP Port AD PAD[15:0] PAD[8:0] PAD[8],PAD[2:0] Port E PE[1:0] PE[1:0] PE[1:0] Port L PL[0] -- -- MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 37 Chapter 1 Device Overview MC9S12ZVM-Family Table 1-7. Port Availability by Option Port 80 LQFP 64 LQFP 48LQFP Port P PP[1:0] PP[2:0] PP[0] Port S PS[3:0] PS[5:0] PS[1:0] Port T PT[3:0] PT[3:0] PT[0] 29 24 10 sum f ports o NOTE To avoid current drawn from floating inputs, all non-bonded pins should be configured as output or configured as input with a pull up or pull down device enabled 1.7.2 Detailed External Signal Descriptions This section describes the properties of signals available at device pins. Signal names associated with modules that can be instantiated more than once on an S12 are indexed, even if the module is only instantiated once on the MC9S12ZVM-Family. If a signal already includes a channel number, then the index is inserted before the channel number. Thus ANx_y corresponds to AN instance x, channel number y. 1.7.2.1 RESET -- External Reset Signal The RESET signal is an active low bidirectional control signal. It acts as an input to initialize the MCU to a known start-up state, and an output when an internal MCU function causes a reset. The RESET pin has an internal pull-up device. 1.7.2.2 TEST -- Test Pin This input only pin is reserved for factory test. This pin has an internal pull-down device. NOTE The TEST pin must be tied to ground in all applications. 1.7.2.3 MODC -- Mode C Signal The MODC signal is used as an MCU operating mode select during reset. The state of this signal is latched to the MODC bit at the rising edge of RESET. The signal has an internal pull-up device. 1.7.2.4 PAD[15:0] / KWAD[15:0] -- Port AD, Input Pins of ADC These are general-purpose input or output signals. The signals can be configured on per signal basis as interrupt inputs with wake-up capability (KWAD). These signals can have a pull-up or pull-down device selected and enabled on per signal basis. During and out of reset the pull devices are disabled. MC9S12ZVM Family Reference Manual Rev. 2.2 38 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family 1.7.2.5 PE[1:0] -- Port E I/O Signals PE[1:0] are general-purpose input or output signals. The signals can have a pull-down device, enabled by on a per pin basis. Out of reset the pull-down devices are enabled. 1.7.2.6 PL[0] -- Port L Input Signal PL[0] is a high voltage input port. The port can be configured as interrupt input with wake-up capability (KWL[0]). The input voltage is also scaled and mapped to an internal ADC channel. 1.7.2.7 PP[2:0] / KWP[2:0] -- Port P I/O Signals PP[2:0] are general-purpose input or output signals. The signals can be configured on per signal basis as interrupt inputs with wake-up capability (KWP[2:0]). They can have a pull-up or pull-down device selected and enabled on per signal basis. During and out of reset the pull devices are disabled. 1.7.2.8 PS[5:0] / KWS[5:0] -- Port S I/O Signals PS[5:0] are general-purpose input or output signals. The signals can be configured on per signal basis as interrupt inputs with wake-up capability (KWS[5:0]). They can have a pull-up or pull-down device selected and enabled on per signal basis. During and out of reset the pull-up devices are enabled. 1.7.2.9 PT[3:0] -- Port T I/O Signals PT[3:0] are general-purpose input or output signals. They can have a pull-up or pull-down device selected and enabled on per signal basis. During and out of reset the pull devices are disabled. 1.7.2.10 AN0_[7:0], AN1_[7:0]-- ADC Input Signals These are the analog inputs of the Analog-to-Digital Converters. These are mapped to PAD port pins. The number of analog input channels connected to PAD port pins is package option dependent. 1.7.2.11 VRH0_[2:0], VRL0_[1:0] -- ADC0 Reference Signals VRH0_[2:0] and VRL0_[1:0] are the reference voltage signals for the analog-to-digital converter ADC0. 1.7.2.12 VRH1_[2:0], VRL1_[1:0] -- ADC1 Reference Signals VRH1_[2:0] and VRL1_[1:0] are the reference voltage signals for the analog-to-digital converter ADC1. 1.7.2.13 SPI0 Signals 1.7.2.13.1 SS0 Signal This signal is associated with the slave select SS functionality of the serial peripheral interface SPI0. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 39 Chapter 1 Device Overview MC9S12ZVM-Family 1.7.2.13.2 SCK0 Signal This signal is associated with the serial clock SCK functionality of the serial peripheral interface SPI0. 1.7.2.13.3 MISO0 Signal This signal is associated with the MISO functionality of the serial peripheral interface SPI0. This signal acts as master input during master mode or as slave output during slave mode. 1.7.2.13.4 MOSI0 Signal This signal is associated with the MOSI functionality of the serial peripheral interface SPI0. This signal acts as master output during master mode or as slave input during slave mode 1.7.2.14 1.7.2.14.1 SCI[1:0] Signals RXD[1:0] Signals These signals are associated with the receive functionality of the serial communication interfaces (SCI[1:0]). 1.7.2.14.2 TXD[1:0] Signals These signals are associated with the transmit functionality of the serial communication interfaces (SCI[1:0]). 1.7.2.15 1.7.2.15.1 CAN0 Signals RXCAN0 Signal This signal is associated with the receive functionality of the scalable controller area network controller (MSCAN0). 1.7.2.15.2 TXCAN0 Signal This signal is associated with the transmit functionality of the scalable controller area network controller (MSCAN0). 1.7.2.16 Timer IOC0_[3:0] Signals The signals IOC0_[3:0] are associated with the input capture or output compare functionality of the timer (TIM0) module. 1.7.2.17 Timer IOC1_[1:0] Signals (ZVMC256 only) The signals IOC1_[1:0] are associated with the input capture or output compare functionality of the timer (TIM1) module. MC9S12ZVM Family Reference Manual Rev. 2.2 40 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family 1.7.2.18 PWM1_[5:0] Signals The signals PWM1_[5:0] are associated with the PMF module digital channel outputs. 1.7.2.19 PWM0_[7,5,3,1] Signals (ZVMC256 only) The PWM0 signals are associated with the PWM0 module digital channel outputs. 1.7.2.20 1.7.2.20.1 PTU Signals PTUT[1:0] Signals These signals are the PTU trigger output signals. These signals are routed to pins for debugging purposes. 1.7.2.20.2 PTURE Signal This signal is the PTU reload enable output signal. This signal is routed to a pin for debugging purposes. 1.7.2.21 Interrupt Signals -- IRQ and XIRQ IRQ is a maskable level or falling edge sensitive input. XIRQ is a non-maskable level-sensitive interrupt. 1.7.2.22 1.7.2.22.1 Oscillator and Clock Signals Oscillator Pins -- EXTAL and XTAL EXTAL and XTAL are the crystal driver and external clock pins. On reset all the device clocks are derived from the internal PLLCLK, independent of EXTAL and XTAL. XTAL is the oscillator output. 1.7.2.22.2 ECLK This signal is associated with the output of the bus clock (ECLK). NOTE This feature is only intended for debug purposes at room temperature. It must not be used for clocking external devices in an application. 1.7.2.23 1.7.2.23.1 BDC and Debug Signals BKGD -- Background Debug signal The BKGD signal is used as a pseudo-open-drain signal for the background debug communication. The BKGD signal has an internal pull-up device. 1.7.2.23.2 PDO -- Profiling Data Output This is the profiling data output signal used when the DBG module profiling feature is enabled. This signal is output only and provides a serial, encoded data stream that can be used by external development tools to reconstruct the internal CPU code flow. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 41 Chapter 1 Device Overview MC9S12ZVM-Family 1.7.2.23.3 PDOCLK -- Profiling Data Output Clock This is the PDO clock signal used when the DBG module profiling feature is enabled. This signal is output only. During code profiling this is the clock signal that can be used by external development tools to sample the PDO signal. 1.7.2.23.4 DBGEEV -- External Event Input This signal is the DBG external event input. It is input only. Within the DBG module, it allows an external event to force a state sequencer transition, or trace buffer entry, or to gate trace buffer entries. A falling edge at the external event signal constitutes an event. Rising edges have no effect. The maximum frequency of events is half the internal core bus frequency. 1.7.2.24 FAULT5 -- External Fault Input This is the PMF fault input signal, with configurable polarity, that can be used to disable PMF operation when asserted. Asynchronous shutdown of the GDU outputs HG[2:0] and LG[2:0] is not supported. Select QSMPm[1:0] > 0 in PMF. 1.7.2.25 1.7.2.25.1 LIN Physical Layer Signals (Not Available On ZVMC256) LIN0 On S12ZVML derivatives this pad is connected to the single-wire LIN data bus. On the S12ZVM32 and S12ZVM16 derivatives this is a single pin bidirectional high voltage physical interface. It operates in the VSUP voltage range. It can be connected to an external single-wire data bus. 1.7.2.25.2 LP0TXD This is the LIN physical layer (or HV physical interface) transmitter input signal. 1.7.2.25.3 LP0RXD This is the LIN physical layer (or HV physical interface) receiver output signal. 1.7.2.25.4 LP0DR1 This is the LIN (or HV physical interface) LP0DR1 register bit, visible at the designated pin for debug purposes. 1.7.2.25.5 LGND -- LINPHY Ground Pin On S12ZVM(L) parts LGND is the ground pin for the LIN physical layer LINPHY. This signal must be connected to board ground, even if the LINPHY is not used. On S12ZVM32 and S12ZVM16 parts this the ground pin for the HV physical interface. It must be connected to board ground even when the HV physical interface is not used. MC9S12ZVM Family Reference Manual Rev. 2.2 42 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family 1.7.2.26 1.7.2.26.1 CAN Physical Layer Signals (ZVMC256 Only) CANH0 -- CAN Bus High Pin0 The CANH0 signal either connects directly to CAN bus high line or through an optional external common mode choke. 1.7.2.26.2 CANL0 -- CAN Bus Low Pin0 The CANL0 signal either connects directly to CAN bus low line or through an optional external common mode choke. 1.7.2.26.3 SPLIT0 -- CAN Bus Termination Pin0 The SPLIT0 pin can drive a 2.5 V bias for bus termination purpose (CAN bus middle point). Usage of this pin is optional and depends on bus termination strategy for a given bus network. 1.7.2.26.4 CPTXD0 This is the CAN physical layer transmitter input signal. 1.7.2.26.5 CPRXD0 This is the CAN physical layer receiver output signal. 1.7.2.26.6 CPDR0 This is the CAN physical layer direct control output signal. 1.7.2.26.7 BCTLC BCTLC provides the base current of an external bipolar that supplies an external CAN physical interface. This signal is only available on S12ZVMC versions. If not used BCTLC should be left unconnected. 1.7.2.26.8 VDDC (Only Available On S12ZVMC Versions) VDDC is the CANPHY supply. This is the output voltage of the external bipolar, whose base current is supplied by BCTLC. It is fed back to the MCU for regulation. 1.7.2.26.9 VSSC (Only Available On ZVMC256 ) VSSC is the CANPHY ground. 1.7.2.27 Gate Drive Unit (GDU) Signals These are associated with driving the external FETs. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 43 Chapter 1 Device Overview MC9S12ZVM-Family 1.7.2.27.1 HD -- FET Predriver High side Drain Input This is the drain connection of the external high-side FETs. The voltage present at this input is scaled down by an internal voltage divider, and can be routed to the internal ADC via an analog multiplexer. 1.7.2.27.2 VBS[2:0] - Bootstrap Capacitor Connections These signals are the bootstrap capacitor connections for phases HS[2:0]. The capacitor connected between HS[2:0] and these signals provides the gate voltage and current to drive the external FET. 1.7.2.27.3 HG[2:0] - High-Side Gate signals The pins are the gate drives for the three high-side power FETs. The drivers provide a high current with low impedance to turn on and off the high-side power FETs. 1.7.2.27.4 HS[2:0] - High-Side Source signals The pins are the source connection for the high-side power FETs and the drain connection for the low-side power FETs. The low voltage end of the bootstrap capacitor is also connected to this pin. 1.7.2.27.5 VLS[2:0] - Voltage Supply for Low -Side Drivers The pins are the voltage supply pins for the three low-side FET pre-drivers. This pins should be connected to the voltage regulator output pin VLS_OUT. 1.7.2.27.6 LG[2:0] - Low-Side Gate signals The pins are the gate drives for the low-side power FETs. The drivers provide a high current with low impedance to turn on and off the low-side power FETs. 1.7.2.27.7 LS[2:0] - Low-Side Source Signals The pins are the low-side source connections for the low-side power FETs. The pins are the power ground pins used to return the gate currents from the low-side power FETs. 1.7.2.27.8 LD[2:0] - Low-Side Drain Signals (ZVMC256 Only) The pins are the low-side drain connections for the low-side power FETs. The pins can be used to monitor the low-side power FETs for desaturation conditions. 1.7.2.27.9 CP - Charge Pump Output Signal This pin is the switching node of the charge pump circuit. The supply voltage for charge pump driver is the output of the voltage regulator VLS_OUT. The output voltage of this pin switches typically between 0V and 11V. Must be left unconnected if not used. 1.7.2.27.10 VCP - Charge Pump Input For High-Side Driver Supply This is the charge pump input for the FET high-side gate drive supply circuit. The pin must be left unconnected if not used. MC9S12ZVM Family Reference Manual Rev. 2.2 44 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family 1.7.2.27.11 BST - Boost Signal This pin provides the basic switching elements required to implement a boost converter for low battery voltage conditions. This requires external diodes, capacitors and a coil. This pin must be left unconnected if not used. The boost function must not be used on devices of the maskset 2N95G, because these devices use the VSUP pin as the LINPHY supply. Thus boosting the VSUP voltage can cause LIN supply voltage offsets to other devices on the LIN bus. 1.7.2.27.12 VSSB - Boost Ground Signal This pin is a separate ground pin for the on chip boost converter switching device. 1.7.2.27.13 VLS_OUT - 11V Voltage Regulator Output This pin is the output of the integrated voltage regulator. The output voltage is typically VVLS=11V. The input voltage to the voltage regulator is the VSUP pin. 1.7.2.27.14 AMPP[1:0] - Current Sense Amplifier Non-Inverting Input These are the current sense amplifier non-inverting inputs. 1.7.2.27.15 AMPM[1:0] - Current Sense Amplifier Inverting Input These are the current sense amplifier inverting inputs. 1.7.2.27.16 AMP[1:0] - Current Sense Amplifier Output These are the current sense amplifier outputs. 1.7.2.28 High Current Output -- EVDD1 This is a high current, low voltage drop output intended for supplying external devices in a range of up to 20mA. Configuring the pin direction as output automatically enables the high current capability. 1.7.3 Power Supply And Voltage Regulator Related Pins The power and ground pins are described below. Because fast signal transitions place high, short-duration current demands on the power supply, use bypass capacitors with high-frequency characteristics and place them as close to the MCU as possible. NOTE All ground pins must be connected together in the application. 1.7.3.1 VDDX1, VDDX2, VSSX1 -- Digital I/O Power and Ground Pins VDDX1, VDDX2 are voltage regulator outputs to supply the digital I/O drivers. The VSSX1 pin is the ground pin for the digital I/O drivers. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 45 Chapter 1 Device Overview MC9S12ZVM-Family Bypass requirements on VDDX2, VDDX1, VSSX1 depend on how heavily the MCU pins are loaded. 1.7.3.2 BCTL BCTL is the ballast connection for the on chip voltage regulator. It provides the base current of an external bipolar for the VDDX and VDDA supplies. If not used BCTL should be left unconnected. 1.7.3.3 VDDA, VSSA -- Power Supply Pins For ADC These are the power supply and ground pins for the analog-to-digital converter and the voltage regulator. 1.7.3.4 VDD, VSS2 -- Core Power And Ground Pins The VDD voltage supply of nominally 1.8V is generated by the internal voltage regulator. The return current path is through the VSS1 pin on ZVMC256, or VSS2 pin on other devices. 1.7.3.5 VDDF, VSS1-- NVM Power And Ground Pins The VDDF voltage supply of nominally 2.8V is generated by the internal voltage regulator. The return path is through the VSS1 pin. On ZVMC256, the return current path is through the VSS1 and VSSX pins. 1.7.3.6 VSUP -- Voltage Supply Pin for Voltage Regulator VSUP is the main supply pin typically coming from the car battery/alternator in the 12V supply voltage range. This is the voltage supply input from which the voltage regulator generates the on chip voltage supplies. It must be protected externally against a reverse battery connection. 1.7.3.7 VDDS1 -- 5V Supply Pin For External Devices (ZVMC256 Only) This provides a regulated, short circuit protected, 5V supply for external devices. This is the output voltage of the external bipolar, whose base current is supplied by BCTLS1. It is fed back to the MCU for regulation. 1.7.3.8 BCTLS1 (ZVMC256 Only) BCTLS1 provides the base current of an external bipolar that supplies VDDS1. If not used BCTLS1 should be left unconnected. 1.7.3.9 SNPS1 (ZVMC256 Only) SNPS1 is the sense input associated with the VDDS1 regulator. The voltage regulator uses it to detect a short circuit or over current condition. 1.7.3.10 VDDS2 -- 5V Supply Pin For External Devices (ZVMC256 Only) This provides a regulated, short circuit protected, 5V supply for external devices. This is the output voltage of the external bipolar, whose base current is supplied by BCTLS2. It is fed back to the MCU for regulation. MC9S12ZVM Family Reference Manual Rev. 2.2 46 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family 1.7.3.11 BCTLS2 (ZVMC256 Only) BCTLS2 provides the base current of an external bipolar that supplies VDDS2. If not used BCTLS2 should be left unconnected. 1.7.3.12 SNPS2 (ZVMC256 Only) SNPS2 is the sense input associated with the VDDS2 regulator. The voltage regulator uses it to detect a short circuit or over current condition. 1.7.4 Package and Pinouts The following package options are offered. * 80LQFP-EP (exposed pad) with internal CANPHY and CAN VREG. * 64LQFP-EP (exposed pad) with internal LINPHY or HV physical interface. * 64LQFP-EP (exposed pad) with CAN VREG to support a low cost external CANPHY. * 48LQFP-EP (exposed pad) The exposed pad must be connected to a grounded contact pad on the PCB. The exposed pad has an electrical connection within the package to VSSFLAG (VSSX die connection). The pin out details are shown in the following diagrams. Signals in brackets denote routing options. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 47 Chapter 1 Device Overview MC9S12ZVM-Family 80 79 78 77 76 75 74 73 72 71 70 69 68 67 66 65 64 63 62 61 BKGD VSSX1 VDDX1 PP0 PP1 VDD VSS1 VDDF PS0 PS1 PS2 PS3 TEST PE0 PE1 RESET PT3 PT2 PT1 PT0 The exposed pad on the package bottom must be connected to a grounded contact pad on the PCB. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 S12ZVMC256 80-pin LQFP-EP Top view 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 HS1 HG1 VBS1 VLS1 LG1 LS1 LS2 LG2 VLS2 VBS2 HG2 HS2 HS0 HG0 VBS0 VLS0 LG0 LS0 SPLIT0 CANL0 PAD2 PAD3 PAD4 PAD5 PAD6 PAD7 PAD8 VDDA VSSA PAD9 PAD10 PAD11 PAD12 PAD13 PAD14 PAD15 BCTLC VDDC CANH0 VSSC 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 VSUP VLS_OUT CP VSSB BST VCP HD PL0 BCTL SNPS1 BCTLS1 VDDS1 SNPS2 BCTLS2 VDDS2 LD0 LD1 LD2 PAD0 PAD1 Figure 1-3. S12ZVMC256 80-pin LQFP pin out MC9S12ZVM Family Reference Manual Rev. 2.2 48 Freescale Semiconductor LGND VSSX1 VDDX1 PP0 / EVDD1 / KWP0 / (PWM0_0) / ECLK / FAULT5 / XIRQ PP1 / KWP1 / (PWM0_1) / IRQ PP2 / KWP2 / (PWM0_2) VDDF VSS1 PE0 / EXTAL PE1 / XTAL RESET PT3 / IOC0_3 / (SS0) PT2 / IOC0_2 / (PWM0_5) / (SCK0) PT1 / IOC0_1 / (PWM0_4) / (MOSI0) / (TXD0) / LP0DR1 / PTURE PT0 / IOC0_0 / (PWM0_3) / (MISO0) / (RXD0) HS1 Chapter 1 Device Overview MC9S12ZVM-Family The exposed pad on the package bottom must be connected to a grounded contact pad on the PCB. On MC9S12ZVM options the LIN0 pin is mapped to the HV physical interface function 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 IOC0_1 and IOC0_2 can be routed to Port S on the ZVMC256, ZVML31, ZVM32 and ZVM16 devices but not on other devices. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 S12ZVML and S12ZVM option 64-pin LQFP-EP 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 HG1 VBS1 VLS1 LG1 LS1 LS2 LG2 VLS2 VBS2 HG2 HS2 HS0 HG0 VBS0 VLS0 LG0 VDDX2 TEST VSS2 VDD AN0_0 / AMP0 / KWAD0 / PAD0 AN0_1 / AMPM0 / KWAD1 / PAD1 AN0_2 / AMPP0 / KWAD2 / PAD2 AN0_3 / KWAD3 / PAD3 AN0_4 / KWAD4 / PAD4 AN1_0 / AMP1 / KWAD5 / PAD5 (SS0) / AN1_1 / AMPM1 / KWAD6 / PAD6 AN1_2 / AMPP1 / KWAD7 / PAD7 VRH / AN1_3 / KWAD8 / PAD8 VDDA VSSA LS0 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 LIN0 MODC / BKGD PTUT0 / (IOC0_1) / (LP0RXD) / RXCAN0 / RXD1 / KWS0 / PS0 PTUT1 / (IOC0_2) / (LP0TXD) / TXCAN0 / TXD1 / KWS1 / PS1 MISO0 / (RXD1) / KWS2 / PS2 MOSI0 / (TXD1) / DBGEEV / KWS3 / PS3 PDOCLK / SCK0 / KWS4 / PS4 PDO / SS0 / KWS5 / PS5 BCTL HD VCP BST VSSB CP VLS_OUT VSUP Figure 1-4. S12ZVM and S12ZVML option 64-pin LQFP pin out MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 49 Chapter 1 Device Overview MC9S12ZVM-Family 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 IOC0_1 and IOC0_2 can be routed to Port S on the ZVMC256, ZVML31, ZVM32 and ZVM16 devices but not on other devices. VDDC VSSX1 VDDX1 PP0 / EVDD1 / KWP0 / (PWM0_0) / ECLK / FAULT5 / XIRQ PP1 / KWP1 / (PWM0_1) / IRQ PP2 / KWP2 / (PWM0_2) VDDF VSS1 PE0 / EXTAL PE1 / XTAL RESET PT3 / IOC0_3 / (SS0) PT2 / IOC0_2 / (PWM0_5) / (SCK0) PT1 / IOC0_1 / (PWM0_4) / (MOSI0) / (TXD0) / PTURE PT0 / IOC0_0 / (PWM0_3) / (MISO0) / (RXD0) HS1 The exposed pad on the package bottom must be connected to a grounded contact pad on the PCB. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 S12ZVMC Option 64-pin LQFP-EP 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 HG1 VBS1 VLS1 LG1 LS1 LS2 LG2 VLS2 VBS2 HG2 HS2 HS0 HG0 VBS0 VLS0 LG0 VDDX2 TEST VSS2 VDD AN0_0 / AMP0 / KWAD0 / PAD0 AN0_1 / AMPM0 / KWAD1 / PAD1 AN0_2 / AMPP0 / KWAD2 / PAD2 AN0_3 / KWAD3 / PAD3 AN0_4 / KWAD4 / PAD4 AN1_0 / AMP1 / KWAD5 / PAD5 (SS0) / AN1_1 / AMPM1 / KWAD6 / PAD6 AN1_2 / AMPP1 / KWAD7 / PAD7 VRH / AN1_3 / KWAD8 / PAD8 VDDA VSSA LS0 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 BCTLC MODC / BKGD PTUT0 / RXCAN0 / RXD1 / KWS0 / PS0 PTUT1 / TXCAN0 / TXD1 / KWS1 / PS1 MISO0 / (RXD1) / KWS2 / PS2 MOSI0 / (TXD1) / DBGEEV / KWS3 / PS3 PDOCLK / SCK0 / KWS4 / PS4 PDO / SS0 / KWS5 / PS5 BCTL HD VCP BST VSSB CP VLS_OUT VSUP Figure 1-5. S12ZVMC Option 64-pin LQFP pin out MC9S12ZVM Family Reference Manual Rev. 2.2 50 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family The exposed pad on the package bottom must be connected to a grounded contact pad on the PCB. 48 47 46 45 44 43 42 41 40 39 38 37 LGND VSSX1 VDDX1 PP0 / EVDD1 / KWP0 / (PWM0_0) / ECLK / FAULT5 / XIRQ VDDF VSS1 PE0 / EXTAL PE1 / XTAL RESET PT0 / IOC0_0 / (PWM0_3) / (RXD0) HS1 HG1 The LIN0 pin is mapped to the HV physical interface 1 2 3 4 5 6 7 8 9 10 11 12 S12ZVM Option 48-pin LQFP-EP 36 35 34 33 32 31 30 29 28 27 26 25 VBS1 LG1 LS1 LS2 LG2 VLS2 VBS2 HG2 HS2 HS0 HG0 VBS0 VDDX2 TEST VSS2 VDD AN0_0 / AMP0 / KWAD0 / PAD0 AN0_1 / AMPM0 / KWAD1 / PAD1 AN0_2 / AMPP0 / KWAD2 / PAD2 VRH / AN1_3 / KWAD8 / PAD8 VDDA VSSA LS0 LG0 13 14 15 16 17 18 19 20 21 22 23 24 LIN0 MODC / BKGD PTUT0 / (LP0RXD) / RXD1 / KWS0 / PS0 PTUT1 / (LP0TXD) / TXD1 / KWS1 / PS1 BCTL HD VCP BST VSSB CP VLS_OUT VSUP Figure 1-6. S12ZVM, S12ZVML Option 48-pin LQFP MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 51 Chapter 1 Device Overview MC9S12ZVM-Family 1.7.4.1 Pin Summary And Signal Mapping Table 1-8. Pin Summary For 64-Pin and 48-Pin Package Options (Sheet 1 of 3) Function (Priority and device dependencies specified in PIM chapter) LQFP Option Power Supply Internal Pull Resistor 64M /ML 64 MC 48 Pin 1st Func. 2nd Func. 3rd Func. 4th Func. 5th Func. 1 -- 1 LIN0 -- -- -- -- -- -- -- Up (weak) -- 1 -- BCTLC -- -- -- -- -- -- -- -- 2 2 2 BKGD MODC -- -- -- -- VDDX -- Up 3 3 3 PS0 KWS0 RXD1 RXCAN0 LP0RXD PTUT0 / IOC0_1 VDDX PERS/ PPSS Up 4 4 4 PS1 KWS1 TXD1 TXCAN0 LP0TXD PTUT1 / IOC0_2 VDDX PERS/ PPSS Up 5 5 -- PS2 KWS2 RXD1 MISO0 -- -- VDDX PERS/ PPSS Up 6 6 -- PS3 KWS3 DBGEEV TXD1 MOSI0 -- VDDX PERS/ PPSS Up 7 7 -- PS4 KWS4 SCK0 PDOCLK -- -- VDDX PERS/ PPSS Up 8 8 -- PS5 KWS5 SS0 PDO -- -- VDDX PERS/ PPSS Up 9 9 5 BCTL -- -- -- -- -- -- -- -- 10 10 6 HD -- -- -- -- -- -- -- -- 11 11 7 VCP -- -- -- -- -- -- -- -- 12 12 8 BST -- -- -- -- -- -- -- -- 13 13 9 VSSB -- -- -- -- -- -- -- -- 14 14 10 CP -- -- -- -- -- -- -- -- 15 15 11 VLS_OUT -- -- -- -- -- -- -- -- 16 16 12 VSUP -- -- -- -- -- VSUP -- -- 17 17 13 VDDX2 -- -- -- -- -- VDDX -- -- 18 18 14 TEST -- -- -- -- -- -- RESET Down 19 19 15 VSS2 -- -- -- -- -- -- -- -- 20 20 16 VDD -- -- -- -- -- VDD -- -- 21 21 17 PAD0 KWAD0 AN0_0 AMP0 -- -- VDDA PERADL/ PPSADL Off 22 22 18 PAD1 KWAD1 AN0_1 AMPM0 -- -- VDDA PERADL/ PPSADL Off CTRL Reset State MC9S12ZVM Family Reference Manual Rev. 2.2 52 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family Table 1-8. Pin Summary For 64-Pin and 48-Pin Package Options (Sheet 2 of 3) Function (Priority and device dependencies specified in PIM chapter) LQFP Option Power Supply Internal Pull Resistor 64M /ML 64 MC 48 Pin 1st Func. 2nd Func. 3rd Func. 4th Func. 5th Func. 23 23 19 PAD2 KWAD2 AN0_2 AMPP0 -- -- VDDA PERADL/ PPSADL Off 24 24 -- PAD3 KWAD3 AN0_3 -- -- -- VDDA PERADL/ PPSADL Off 25 25 -- PAD4 KWAD4 AN0_4 -- -- -- VDDA PERADL/ PPSADL Off 26 26 -- PAD5 KWAD5 AN1_0 AMP1 -- -- VDDA PERADL/ PPSADL Off 27 27 -- PAD6 KWAD6 AN1_1 AMPM1 SS0 -- VDDA PERADL/ PPSADL Off 28 28 -- PAD7 KWAD7 AN1_2 AMPP1 -- -- VDDA PERADL/ PPSADL Off 29 29 20 PAD8 KWAD8 AN1_3 VRH0_0 VRH1_0 -- VDDA PERADH/ PPSADH Off 30 30 21 VDDA VRH0_1 VRH1_1 -- -- -- VDDA -- -- 31 31 22 VSSA VRL0_ [1:0] VRL1_ [1:0] -- -- -- VDDA -- -- 32 32 23 LS0 -- -- -- -- -- -- -- -- 33 33 24 LG0 -- -- -- -- -- -- -- -- 34 34 -- VLS0 -- -- -- -- -- -- -- -- 35 35 25 VBS0 -- -- -- -- -- -- -- -- 36 36 26 HG0 -- -- -- -- -- -- -- -- 37 37 27 HS0 -- -- -- -- -- -- -- -- 38 38 28 HS2 -- -- -- -- -- -- -- -- 39 39 29 HG2 -- -- -- -- -- -- -- -- 40 40 30 VBS2 -- -- -- -- -- -- -- -- 41 41 31 VLS2 -- -- -- -- -- -- -- -- 42 42 32 LG2 -- -- -- -- -- -- -- -- 43 43 33 LS2 -- -- -- -- -- -- -- -- 44 44 34 LS1 -- -- -- -- -- -- -- -- 45 45 35 LG1 -- -- -- -- -- -- -- -- 46 46 -- VLS1 -- -- -- -- -- -- -- -- 47 47 36 VBS1 -- -- -- -- -- -- -- -- 48 48 37 HG1 -- -- -- -- -- -- -- -- CTRL Reset State MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 53 Chapter 1 Device Overview MC9S12ZVM-Family Table 1-8. Pin Summary For 64-Pin and 48-Pin Package Options (Sheet 3 of 3) Function (Priority and device dependencies specified in PIM chapter) LQFP Option 64M /ML 64 MC 48 Pin 1st Func. 2nd Func. 3rd Func. 4th Func. 5th Func. 49 49 38 HS1 -- -- -- -- -- 50 50 39 PT0 IOC0_0 PWM1_3 MISO0 RXD0 51 51 -- PT1 IOC0_1 PWM1_4 MOSI0 52 52 -- PT2 IOC0_2 PWM1_5 53 53 -- PT3 IOC0_3 54 54 40 RESET 55 55 41 56 56 57 Power Supply Internal Pull Resistor CTRL Reset State -- -- -- -- VDDX PERT/ PPST Off TXD0 LP0DR1/ PTURE VDDX PERT/ PPST Off SCK0 -- -- VDDX PERT/ PPST Off SS0 -- -- -- VDDX PERT/ PPST Off -- -- -- -- -- VDDX TEST pin Up PE1 XTAL -- -- -- -- VDDX PERE/ PPSE Down 42 PE0 EXTAL -- -- -- -- VDDX PERE/ PPSE Down 57 43 VSS1 -- -- -- -- -- -- -- -- 58 58 44 VDDF -- -- -- -- -- VDDF -- -- 59 59 -- PP2 KWP2 PWM1_2 -- -- -- VDDX PERP/ PPSP Off 60 60 -- PP1 KWP1 PWM1_1 IRQ -- -- VDDX PERP/ PPSP Off 61 61 45 PP0 / EVDD1 KWP0 PWM1_0 ECLK FAULT5 XIRQ VDDX PERP/ PPSP Off 62 62 46 VDDX1 -- -- -- -- -- VDDX -- -- 63 63 47 VSSX1 -- -- -- -- -- -- -- -- 64 -- 48 LGND -- -- -- -- -- -- -- -- -- 64 -- VDDC -- -- -- -- -- -- -- -- Table 1-9. Pin Summary For 80-Pin Package Option (ZVMC256 Only) (Sheet 1 of 4) Pin # Pin Name 1 VSUP Function (Priority and routing options defined in PIM chapter) 1st Func. 2nd Func. 3rd Func. 4th Func. 5th Func. 6th Func. -- -- -- -- -- -- 7th Func. Supply VSUP Internal Pull Resistor CTRL Reset State -- -- MC9S12ZVM Family Reference Manual Rev. 2.2 54 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family Table 1-9. Pin Summary For 80-Pin Package Option (ZVMC256 Only) (Sheet 2 of 4) Pin # Pin Name 2 Function (Priority and routing options defined in PIM chapter) 1st Func. 2nd Func. 3rd Func. 4th Func. 5th Func. 6th Func. VLS_OUT -- -- -- -- -- -- 3 CP -- -- -- -- -- 4 VSSB -- -- -- -- 5 BST -- -- -- 6 VCP -- -- 7 HD -- 8 PL0 9 7th Func. Supply Internal Pull Resistor CTRL Reset State VSUP -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- HVI0 KWL0 IOC0_2 -- -- -- -- -- -- BCTL -- -- -- -- -- -- -- -- -- 10 SNPS1 -- -- -- -- -- -- -- -- -- 11 BCTLS1 -- -- -- -- -- -- -- -- -- 12 VDDS1 VRH0_1 VRH1_1 -- -- -- -- -- -- -- 13 SNPS2 -- -- -- -- -- -- -- -- -- 14 BCTLS2 -- -- -- -- -- -- -- -- -- 15 VDDS2 VRH0_2 VRH1_2 -- -- -- -- -- -- -- 16 LD0 -- -- -- -- -- -- -- -- -- 17 LD1 -- -- -- -- -- -- -- -- -- 18 LD2 -- -- -- -- -- -- -- -- -- 19 PAD0 KWAD0 AN0_0 AMP0 -- -- -- VDDA PERADL/ PPSADL Off 20 PAD1 KWAD1 AN0_1 AMPM0 -- -- -- VDDA PERADL/ PPSADL Off 21 PAD2 KWAD2 AN0_2 AMPP0 -- -- -- VDDA PERADL/ PPSADL Off 22 PAD3 KWAD3 AN0_3 -- -- -- -- VDDA PERADL/ PPSADL Off 23 PAD4 KWAD4 AN0_4 -- -- -- -- VDDA PERADL/ PPSADL Off 24 PAD5 KWAD5 AN1_0 AMP1 -- -- -- VDDA PERADL/ PPSADL Off 25 PAD6 KWAD6 AN1_1 SS0 AMPM1 -- -- VDDA PERADL/ PPSADL Off 26 PAD7 KWAD7 AN1_2 AMPP1 -- -- -- VDDA PERADL/ PPSADL Off 27 PAD8 KWAD8 AN1_3 -- -- -- -- VDDA PERADH/ PPSADH Off 28 VDDA VRH0_0 VRH1_0 -- -- -- -- VDDA -- -- MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 55 Chapter 1 Device Overview MC9S12ZVM-Family Table 1-9. Pin Summary For 80-Pin Package Option (ZVMC256 Only) (Sheet 3 of 4) Pin # Pin Name 29 Function (Priority and routing options defined in PIM chapter) 1st Func. 2nd Func. 3rd Func. 4th Func. 5th Func. 6th Func. 7th Func. VSSA VRL0_ [1:0] VRL1_ [1:0] -- -- -- -- -- 30 PAD9 KWAD9 AN1_4 -- -- -- -- 31 PAD10 KWAD10 AN1_5 -- -- -- 32 PAD11 KWAD11 AN1_6 -- -- 33 PAD12 KWAD12 AN1_7 -- 34 PAD13 KWAD13 AN0_5 35 PAD14 KWAD14 36 PAD15 37 Supply Internal Pull Resistor CTRL Reset State VDDA -- -- -- VDDA PERADH/ PPSADH Off -- -- VDDA PERADH/ PPSADH Off -- -- -- VDDA PERADH/ PPSADH Off -- -- -- -- VDDA PERADH/ PPSADH Off PTURE -- -- -- -- VDDA PERADH/ PPSADH Off AN0_6 PDO -- -- -- -- VDDA PERADH/ PPSADH Off KWAD15 AN0_7 PDOCLK -- -- -- -- VDDA PERADH/ PPSADH Off BCTLC -- -- -- -- -- -- -- VDDC -- -- 38 VDDC -- -- -- -- -- -- -- VDDC -- -- 39 CANH0 -- -- -- -- -- -- -- VDDC -- -- 40 VSSC -- -- -- -- -- -- -- VDDC -- -- 41 CANL0 -- -- -- -- -- -- -- VDDC -- -- 42 SPLIT0 -- -- -- -- -- -- -- VDDC -- -- 43 LS0 -- -- -- -- -- -- -- -- -- -- 44 LG0 -- -- -- -- -- -- -- -- -- -- 45 VLS0 -- -- -- -- -- -- -- -- -- -- 46 VBS0 -- -- -- -- -- -- -- -- -- -- 47 HG0 -- -- -- -- -- -- -- -- -- -- 48 HS0 -- -- -- -- -- -- -- -- -- -- 49 HS2 -- -- -- -- -- -- -- -- -- -- 50 HG2 -- -- -- -- -- -- -- -- -- -- 51 VBS2 -- -- -- -- -- -- -- -- -- -- 52 VLS2 -- -- -- -- -- -- -- -- -- -- 53 LG2 -- -- -- -- -- -- -- -- -- -- 54 LS2 -- -- -- -- -- -- -- -- -- -- 55 LS1 -- -- -- -- -- -- -- -- -- -- 56 LG1 -- -- -- -- -- -- -- -- -- -- MC9S12ZVM Family Reference Manual Rev. 2.2 56 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family Table 1-9. Pin Summary For 80-Pin Package Option (ZVMC256 Only) (Sheet 4 of 4) Pin # Pin Name 57 Function (Priority and routing options defined in PIM chapter) 1st Func. 2nd Func. 3rd Func. 4th Func. 5th Func. 6th Func. 7th Func. VLS1 -- -- -- -- -- -- -- 58 VBS1 -- -- -- -- -- -- 59 HG1 -- -- -- -- -- 60 HS1 -- -- -- -- 61 PT0 IOC0_0 PWM1_3 MISO0 62 PT1 IOC0_1 PWM1_4 63 PT2 IOC0_2 64 PT3 65 Supply Internal Pull Resistor CTRL Reset State -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- RXD0 PWM0_5 -- -- VDDX PERT/ PPST Off MOSI0 TXD0 -- -- -- VDDX PERT/ PPST Off PWM1_0 SCK0 PWM0_7 -- -- -- VDDX PERT/ PPST Off IOC0_3 PWM1_2 SS0 PWM0_3 -- -- -- VDDX PERT/ PPST Off RESET -- -- -- -- -- -- -- VDDX TEST pin Up 66 PE1 XTAL -- -- -- -- -- -- VDDX PERE/ PPSE Down 67 PE0 EXTAL -- -- -- -- -- -- VDDX PERE/ PPSE Down 68 TEST -- -- -- -- -- -- -- -- RESET Down 69 PS3 KWS3 TXD1 MOSI0 CPTXD0 DBGEEV IOC1_1 -- VDDX PERS/ PPSS Up 70 PS2 KWS2 RXD1 MISO0 CPRXD0 IOC1_0 -- -- VDDX PERS/ PPSS Up 71 PS1 KWS1 TXD1 SCK0 PTUT1 CPDR0 TXCAN0 IOC0_2 VDDX PERS/ PPSS Up 72 PS0 KWS0 RXD1 SS0 PTUT0 RXCAN0 IOC0_1 -- VDDX PERS/ PPSS Up 73 VDDF -- -- -- -- -- -- -- VDDF -- -- 74 VSS1 -- -- -- -- -- -- -- VDD -- -- 75 VDD -- -- -- -- -- -- -- VDD -- -- 76 PP1 KWP1 PWM1_1 PWM0_1 IRQ -- -- -- VDDX PPRP/ PPSP Off 77 PP0/ EVDD1 KWP0 PWM1_5 ECLK FAULT5 XIRQ -- -- VDDX PPRP/ PPSP Off 78 VDDX1 -- -- -- -- -- -- -- VDDX -- -- 79 VSSX1 -- -- -- -- -- -- -- VDDX -- -- 80 BKGD MODC -- -- -- -- -- -- VDDX -- Up MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 57 Chapter 1 Device Overview MC9S12ZVM-Family 1.8 Internal Signal Mapping This section specifies the mapping of inter-module signals at device level. 1.8.1 ADC Connectivity 1.8.1.1 ADC Reference Voltages The ZVMC256 includes ADC12B_LBA V3 which features VRH_2, VRH_1, VRH_0 and VRL_0. On these devices for each ADC instance VRH_0 is mapped to VDDA, VRH_1 is mapped to VDDS1 and VRH_2 is mapped to VDDS2. VRL_0 is mapped to VSSA. Both VDDS1 and VDDS2 must be enabled by bits in the CPMUVREGCTL register before they can be used as references. All other devices in the family include ADC12B_LBA V1, which features VRH_1, VRH_0, VRL_1 and VRL_0. On these devices, for both ADC instances, VRL_0 and VRL_1 are mapped to VSSA, whereby VRL_0 is the preferred reference for low noise. For both ADC instances VRH_1 is mapped to VDDA and VRH_0 is mapped to PAD8. 1.8.1.2 ADC Internal Channels The ADC0 and ADC1 internal channel mapping is shown in Table 1-10 and Table 1-11 respectively. The GDU current sense amplifier outputs are mapped to pins with ADC input functionality. Thus configuring the ADC to convert these pin channels automatically converts the current sense outputs. The ADC internal temperature sensors must be calibrated by the user. No electrical parameters are specified for these sensors. The VREG temperature sensor electrical parameters are given in the appendices. Table 1-10. Usage of ADC0 Internal Channels ADCCMD_1 CH_SEL[5:0] ADC Channel Usage 0 0 1 0 0 0 Internal_0 ADC0 temperature sensor 0 0 1 0 0 1 Internal_1 VREG temperature sensor or bandgap (VBG)(1) 0 0 1 0 1 0 Internal_2 GDU phase multiplexer voltage 0 0 1 0 1 1 Internal_3 GDU DC link voltage monitor 0 0 1 1 0 0 Internal_4 BATS VSUP sense voltage 0 0 1 1 0 1 Internal_5 HVI[0](2) 0 0 1 1 1 0 Internal_6 Reserved 0 0 1 1 1 1 Internal_7 Reserved 1. Selectable in CPMU 2. ZVMC256 only. On other devices this channel is reserved. MC9S12ZVM Family Reference Manual Rev. 2.2 58 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family Table 1-11. Usage of ADC1 Internal Channels ADCCMD_1 CH_SEL[5:0] ADC Channel Usage 0 0 1 0 0 0 Internal_0 ADC1 temperature sensor 0 0 1 0 0 1 Internal_1 VREG temperature sensor or bandgap (VBG)(1) 0 0 1 0 1 0 Internal_2 GDU phase multiplexer voltage 0 0 1 0 1 1 Internal_3 GDU DC link voltage monitor 0 0 1 1 0 0 Internal_4 Reserved 0 0 1 1 0 1 Internal_5 Reserved 0 0 1 1 1 0 Internal_6 Reserved 0 0 1 1 1 1 Internal_7 Reserved 1. Selectable in CPMU 1.8.2 Motor Control Loop Signals The motor control loop signals are described in 1.13.3.1 Motor Control Loop Overview 1.8.3 Device Level PMF Connectivity Table 1-12. Mapping of PMF signals 1.8.4 PMF Connection Usage Channel0 High-Side Gate and Source Pins HG[0], HS[0] Channel1 Low-Side Gate and Source Pins LG[0], LS[0] Channel2 High-Side Gate and Source Pins HG[1], HS[1] Channel3 Low-Side Gate and Source Pins LG[1], LS[1] Channel4 High-Side Gate and Source Pins HG[2], HS[2] Channel5 Low-Side Gate and Source Pins LG[2], LS[2] FAULT5 External FAULT5 pin FAULT4 HD Over voltage or GDU over current FAULT3 VLS under voltage FAULT2 GDU Desaturation[2] or GDU over current FAULT1 GDU Desaturation[1] or GDU over current FAULT0 GDU Desaturation[0] or GDU over current IS2 GDU Phase Status[2] IS1 GDU Phase Status[1] IS0 GDU Phase Status[0] async_event_edge_sel[1:0] Tied to b11 (both edges active) BDC Clock Source Connectivity The BDC clock, BDCCLK, is mapped to the IRCCLK generated in the CPMU module. The BDC clock, BDCFCLK is mapped to the device bus clock, generated in the CPMU module. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 59 Chapter 1 Device Overview MC9S12ZVM-Family 1.8.5 LINPHY Connectivity The VLINSUP supply is device dependent. On ZVML128, ZVMC128, ZVML64, ZVMC64 and ZVML32 devices with the maskset number 2N95G it is connected to VSUP On all other devices it is connected to the device HD pin. The LINPHY0 signals are mapped internally to SCI0. The receiver can be routed to TIM0 input capture channel3. These routing options are described in detail in the PIM section. 1.8.6 HVPHY Connectivity The HVPHY signals (S12ZVM32 and S12ZVM16 derivatives only) are mapped internally to SCI0. The receiver can be routed to TIM0 input capture channel3. 1.8.7 FTMRZ Connectivity The soc_erase_all_req input to the flash module is driven directly by a BDC erase flash request resulting from the BDC ERASE_FLASH command. The FTMRZ FCLKDIV register is forced to 0x05 by the BDC ERASE_FLASH command. This configures the clock frequency correctly for the initial bus frequency on leaving reset. The bus frequency must not be changed before launching the ERASE_FLASH command. The device bus frequency, below which the flash wait states can be disabled, is specified in the device operating conditions table in Table A-6. 1.8.8 CPMU Connectivity The API clock generated in the CPMU is not mapped to a device pin in the MC9S12ZVM-Family. 1.9 Modes of Operation The MCU can operate in different modes. These are described in 1.9.1 Chip Configuration Modes. The MCU can operate in different power modes to facilitate power saving when full system performance is not required. These are described in 1.9.3 Low Power Modes. Some modules feature a software programmable option to freeze the module status whilst the background debug module is active to facilitate debugging. This is referred to as freeze mode at module level. 1.9.1 Chip Configuration Modes The different modes and the security state of the MCU affect the debug features (enabled or disabled). The operating mode out of reset is determined by the state of the MODC signal during reset (Table 1-13). The MODC bit in the MODE register shows the current operating mode and provides limited mode MC9S12ZVM Family Reference Manual Rev. 2.2 60 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family switching during operation. The state of the MODC signal is latched into this bit on the rising edge of RESET. Table 1-13. Chip Modes Chip Modes 1.9.1.1 MODC Normal single chip 1 Special single chip 0 Normal Single-Chip Mode This mode is intended for normal device operation. The opcode from the on-chip memory is being executed after reset (requires the reset vector to be programmed correctly). The processor program is executed from internal memory. 1.9.1.2 Special Single-Chip Mode This mode is used for debugging operation, boot-strapping, or security related operations. The background debug mode (BDM) is active on leaving reset in this mode 1.9.2 Debugging Modes The background debug mode (BDM) can be activated by the BDC module or directly when resetting into Special Single-Chip mode. Detailed information can be found in the BDC module section. Writing to internal memory locations using the debugger, whilst code is running or at a breakpoint, can change the flow of application code. The MC9S12ZVM-Family supports BDC communication throughout the device Stop mode. During Stop mode, writes to control registers can alter the operation and lead to unexpected results. It is thus recommended not to reconfigure the peripherals during STOP using the debugger. On the S12ZVML and S12ZVMC versions, the DBG module supports breakpoint, tracing and profiling features. At board level the profiling pins can use the same 6-pin connector typically used for the BDC BKGD pin. The connector pin mapping shown in Figure 1-7 is supported by device evaluation boards and leading development tool vendors. GND B 2 1 RST 4 3 PDO KGD VDDX 6 5 PDOCLK Figure 1-7. Standard Debug Connector Pin Mapping 1.9.3 Low Power Modes The device has two dynamic-power modes (run and wait) and two static low-power modes stop and pseudo stop). For a detailed description refer to the CPMU section. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 61 Chapter 1 Device Overview MC9S12ZVM-Family * * * 1.10 Dynamic power mode: Run -- Run mode is the main full performance operating mode with the entire device clocked. The user can configure the device operating speed through selection of the clock source and the phase locked loop (PLL) frequency. To save power, unused peripherals must not be enabled. Dynamic power mode: Wait -- This mode is entered when the CPU executes the WAI instruction. In this mode the CPU does not execute instructions. The internal CPU clock is switched off. All peripherals can be active in system wait mode. For further power consumption the peripherals can individually turn off their local clocks. Asserting RESET, XIRQ, IRQ, or any other interrupt that is not masked, either locally or globally by a CCR bit, ends system wait mode. Static power modes: Static power (Stop) modes are entered following the CPU STOP instruction unless an NVM command is active. When no NVM commands are active, the Stop request is acknowledged and the device enters either Stop or Pseudo Stop mode. Further to the general system aspects of Stop mode discussed here, the motor control loop specific considerations are described in Section 1.13.3.10. -- Pseudo-stop: In this mode the system clocks are stopped but the oscillator is still running and the real time interrupt (RTI), watchdog (COP) and Autonomous Periodic Interrupt (API) may be enabled. Other peripherals are turned off. This mode consumes more current than system STOP mode but, as the oscillator continues to run, the full speed wake up time from this mode is significantly shorter. -- Stop: In this mode the oscillator is stopped and clocks are switched off. The counters and dividers remain frozen. The autonomous periodic interrupt (API) may remain active but has a very low power consumption. The key pad, SCI and MSCAN transceiver modules can be configured to wake the device, whereby current consumption is negligible. If the BDC is enabled in Stop mode, the VREG remains in full performance mode and the CPMU continues operation as in run mode. With BDC enabled and BDCCIS bit set, then all clocks remain active to allow BDC access to internal peripherals. If the BDC is enabled and BDCCIS is clear, then the BDCSI clock remains active, but bus and core clocks are disabled. With the BDC enabled during Stop, the VREG full performance mode and clock activity lead to higher current consumption than with BDC disabled. If the BDC is enabled in Stop mode, then the BATS voltage monitoring remains enabled. Security The MCU security mechanism prevents unauthorized access to the flash memory. It must be emphasized that part of the security must lie with the application code. An extreme example would be application code that dumps the contents of the internal memory. This would defeat the purpose of security. Also, if an application has the capability of downloading code through a serial port and then executing that code (e.g. an application containing bootloader code), then this capability could potentially be used to read the EEPROM and Flash memory contents even when the microcontroller is in the secure state. In this example, the security of the application could be enhanced by requiring a response authentication before any code can be downloaded. MC9S12ZVM Family Reference Manual Rev. 2.2 62 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family Device security details are also described in the flash block description. 1.10.1 Features The security features of the S12Z chip family are: * Prevent external access of the non-volatile memories (Flash, EEPROM) content * Restrict execution of NVM commands 1.10.2 Securing the Microcontroller The chip can be secured by programming the security bits located in the options/security byte in the Flash memory array. These non-volatile bits keep the device secured through reset and power-down. This byte can be erased and programmed like any other Flash location. Two bits of this byte are used for security (SEC[1:0]). The contents of this byte are copied into the Flash security register (FSEC) during a reset sequence. The meaning of the security bits SEC[1:0] is shown in Table 1-14. For security reasons, the state of device security is controlled by two bits. To put the device in unsecured mode, these bits must be programmed to SEC[1:0] = `10'. All other combinations put the device in a secured mode. The recommended value to put the device in secured state is the inverse of the unsecured state, i.e. SEC[1:0] = `01'. Table 1-14. Security Bits SEC[1:0] Security State 00 1 (secured) 01 1 (secured) 10 0 (unsecured) 11 1 (secured) NOTE Please refer to the Flash block description for more security byte details. 1.10.3 Operation of the Secured Microcontroller By securing the device, unauthorized access to the EEPROM and Flash memory contents is prevented. Secured operation has the following effects on the microcontroller: 1.10.3.1 * * Background debug controller (BDC) operation is completely disabled. Execution of Flash and EEPROM commands is restricted (described in flash block description). 1.10.3.2 * * Normal Single Chip Mode (NS) Special Single Chip Mode (SS) Background debug controller (BDC) commands are restricted Execution of Flash and EEPROM commands is restricted (described in flash block description). MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 63 Chapter 1 Device Overview MC9S12ZVM-Family In special single chip mode the device is in active BDM after reset. In special single chip mode on a secure device, only the BDC mass erase and BDC control and status register commands are possible. BDC access to memory mapped resources is disabled. The BDC can only be used to erase the EEPROM and Flash memory without giving access to their contents. 1.10.4 Unsecuring the Microcontroller Unsecuring the microcontroller can be done using three different methods: 1. Backdoor key access 2. Reprogramming the security bits 3. Complete memory erase 1.10.4.1 Unsecuring the MCU Using the Backdoor Key Access In normal single chip mode, security can be temporarily disabled using the backdoor key access method. This method requires that: * The backdoor key has been programmed to a valid value * The KEYEN[1:0] bits within the Flash options/security byte select `enabled'. * The application program programmed into the microcontroller has the capability to write to the backdoor key locations The backdoor key values themselves would not normally be stored within the application data, which means the application program would have to be designed to receive the backdoor key values from an external source (e.g. through a serial port) The backdoor key access method allows debugging of a secured microcontroller without having to erase the Flash. This is particularly useful for failure analysis. NOTE No backdoor key word is allowed to have the value 0x0000 or 0xFFFF. 1.10.5 Reprogramming the Security Bits Security can also be disabled by erasing and reprogramming the security bits within the flash options/security byte to the unsecured value. Since the erase operation will erase the entire sector (0xFF_FE00-0xFF_FFFF) the backdoor key and the interrupt vectors will also be erased; this method is not recommended for normal single chip mode. The application software can only erase and program the Flash options/security byte if the Flash sector containing the Flash options/security byte is not protected (see Flash protection). Thus Flash protection is a useful means of preventing this method. The microcontroller enters the unsecured state after the next reset following the programming of the security bits to the unsecured value. This method requires that: * The application software previously programmed into the microcontroller has been designed to have the capability to erase and program the Flash options/security byte. MC9S12ZVM Family Reference Manual Rev. 2.2 64 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family * The Flash sector containing the Flash options/security byte is not protected. 1.10.6 Complete Memory Erase The microcontroller can be unsecured by erasing the entire EEPROM and Flash memory contents. If ERASE_FLASH is successfully completed, then the Flash unsecures the device and programs the security byte automatically. 1.11 1.11.1 Resets and Interrupts Reset Table 1-15. lists all reset sources and the vector locations. Resets are explained in detail in the Chapter 8, "S12 Clock, Reset and Power Management Unit (V10 and V6)". Table 1-15. Reset Sources and Vector Locations Vector Address Reset Source CCR Mask Local Enable 0xFFFFFC Power-On Reset (POR) None None None None None None None OSCE Bit in CPMUOSC register None CR[2:0] in CPMUCOP register Low Voltage Reset (LVR) External pin RESET Clock monitor reset COP watchdog reset 1.11.2 Interrupt Vectors Table 1-16 lists all interrupt sources and vectors in the default order of priority. The interrupt module description provides an interrupt vector base register (IVBR) to relocate the vectors. Table 1-16. Interrupt Vector Locations (Sheet 1 of 4) CCR Mask Local Enable Unimplemented page1 op-code trap (SPARE) None None - - Vector base + 0x1F4 Unimplemented page2 op-code trap (TRAP) None None - - Vector base + 0x1F0 Software interrupt instruction (SWI) None None - - Vector base + 0x1EC System call interrupt instruction (SYS) None None - - Vector base + 0x1E8 Machine exception None None - - Vector Address(1) Interrupt Source Vector base + 0x1F8 Vector base + 0x1E4 Wake up Wake up from STOP from WAIT Reserved MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 65 Chapter 1 Device Overview MC9S12ZVM-Family Table 1-16. Interrupt Vector Locations (Sheet 1 of 4) Vector Address(1) Interrupt Source CCR Mask Vector base + 0x1E0 Local Enable Wake up Wake up from STOP from WAIT Reserved Vector base + 0x1DC Spurious interrupt -- None - - Vector base + 0x1D8 XIRQ interrupt request X bit None Yes Yes Vector base + 0x1D4 IRQ interrupt request I bit IRQCR(IRQEN) Yes Yes Vector base + 0x1D0 RTI time-out interrupt I bit CPMUINT (RTIE) See CPMU section Yes Vector base + 0x1CC TIM0 timer channel 0 I bit TIM0TIE (C0I) No Yes Vector base + 0x1C8 TIM0 timer channel 1 I bit TIM0TIE (C1I) No Yes Vector base + 0x1C4 TIM0 timer channel 2 I bit TIM0TIE (C2I) No Yes Vector base + 0x1C0 TIM0 timer channel 3 I bit TIM0TIE (C3I) No Yes No Yes Vector base + 0x1BC to Vector base + 0x1B0 Vector base + 0x1AC Reserved TIM0 timer overflow I bit Vector base + 0x1A8 to Vector base + 0x1A4 TIM0TSCR2(TOI) Reserved Vector base + 0x1A0 SPI0 I bit SPI0CR1 (SPIE, SPTIE) No Yes Vector base + 0x19C SCI0 I bit SCI0CR2 (TIE, TCIE, RIE, ILIE) RXEDIF only Yes Vector base + 0x198 SCI1 I bit SCI1CR2 (TIE, TCIE, RIE, ILIE) RXEDIF only Yes Vector base + 0x194 Reserved Vector base + 0x190 Reserved Vector base + 0x18C ADC0 Error I bit ADC0EIE (IA_EIE,CMD_EIE, EOL_EIE, TRIG_EIE, RSTAR_EIE, LDOK_EIE) ADC0IE(CONIF_OIE) No Yes Vector base + 0x188 ADC0 conversion sequence abort I bit ADC0IE(SEQAD_IE) No Yes Vector base + 0x184 ADC0 conversion complete I bit ADC0CONIE[15:0] No Yes Vector base + 0x180 Oscillator status interrupt I bit CPMUINT (OSCIE) No Yes Vector base + 0x17C PLL lock interrupt I bit CPMUINT (LOCKIE) No Yes No Yes Vector base + 0x178 to Vector base + 0x174 Vector base + 0x170 Reserved RAM error I bit EECIE (SBEEIE) MC9S12ZVM Family Reference Manual Rev. 2.2 66 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family Table 1-16. Interrupt Vector Locations (Sheet 1 of 4) Vector Address(1) Interrupt Source CCR Mask Vector base + 0x16C to Vector base + 0x168 Local Enable Wake up Wake up from STOP from WAIT Reserved Vector base + 0x164 FLASH error I bit FERCNFG (SFDIE) No Yes Vector base + 0x160 FLASH command I bit FCNFG (CCIE) No Yes Vector base + 0x15C CAN0 wake-up I bit CAN0RIER (WUPIE) Yes Yes Vector base + 0x158 CAN0 errors I bit CAN0RIER (CSCIE, OVRIE) No Yes Vector base + 0x154 CAN0 receive I bit CAN0RIER (RXFIE) No Yes Vector base + 0x150 CAN0 transmit I bit CAN0TIER (TXEIE[2:0]) No Yes Vector base + 0x14C to Vector base + 0x148 Reserved Vector base + 0x144 LINPHY over-current interrupt I bit LPIE (LPDTIE,LPOCIE) No Yes Vector base + 0x140 BATS supply voltage monitor interrupt I bit BATIE (BVHIE,BVLIE) No Yes Vector base + 0x13C GDU Desaturation Error I bit GDUIE (GDSEIE) No Yes Vector base + 0x138 GDU Voltage Limit Detected I bit GDUIE (GOCIE, GHHDIE, GLVLSIE) No Yes Vector base + 0x134 to Vector base + 0x12C Reserved Vector base + 0x128 CAN Physical Layer (ZVMC256 Only) I bit CPIE(CPVFIE, CPOCIE)] No Yes Vector base + 0x124 Port S interrupt I bit PIES[5:0] Yes Yes Reserved Vector base + 0x120 Vector base + 0x11C ADC1 Error I bit ADC1EIE (IA_EIE, CMD_EIE, EOL_EIE, TRIG_EIE, RSTAR_EIE, LDOK_EIE) ADC1IE(CONIF_OIE) No Yes Vector base + 0x118 ADC1 conversion sequence abort I bit ADC1IE(SEQAD_IE) No Yes Vector base + 0x114 ADC1 conversion complete I bit ADC1CONIE[15:0] No Yes Vector base + 0x110 Reserved Vector base + 0x10C Port P interrupt I bit PIEP[2:0] Yes Yes Vector base + 0x108 EVDD1 over-current interrupt I bit PIEP(OCIE1) No Yes Vector base + 0x104 Low-voltage interrupt (LVI) I bit CPMULVCTL (LVIE) No Yes Vector base + 0x100 Autonomous periodical interrupt (API) I bit Yes Yes Vector base + 0xFC High temperature interrupt I bit CPMUHTCTL(HTIE) Yes Yes Vector base + 0xF8 VDDS integrity interrupt I bit CPMULVCTL(VDDSIE) No Yes CPMUAPICTRL (APIE) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 67 Chapter 1 Device Overview MC9S12ZVM-Family Table 1-16. Interrupt Vector Locations (Sheet 1 of 4) Vector Address(1) Interrupt Source CCR Mask Vector base + 0xF4 Port AD interrupt I bit PIEADH(PIEADH0) PIEADL(PIEADL[7:0]) Yes Yes Vector base + 0xF0 PTU Reload Overrun I bit PTUIEH(PTUROIE) No Yes Vector base + 0xEC PTU Trigger0 Error I bit PTUIEL(TG0AEIE, TG0REIE,TG0TEIE) No Yes Vector base + 0xE8 PTU Trigger1 Error I bit PTUIEL(TG1AEIE, TG1REIE, TG1TEIE) No Yes Vector base + 0xE4 PTU Trigger0 Done I bit PTUIEL(TG0DIE) No Yes Vector base + 0xE0 PTU Trigger1 Done I bit PTUIEL(TG1DIE) No Yes Vector base + 0xDC to Vector base + 0xD4 Local Enable Wake up Wake up from STOP from WAIT Reserved Vector base + 0xD0 PMF Reload A I bit PMFENCA(PWMRIEA) No Yes Vector base + 0xCC PMF Reload B I bit PMFENCB(PWMRIEB) No Yes Vector base + 0xC8 PMF Reload C I bit PMFENCC(PWMRIEC) No Yes Vector base + 0xC4 PMF Fault I bit PMFFIE(FIE[5:0]) No Yes Vector base + 0xC0 PMF Reload Overrun I bit PMFROIE(PMFROIEA,PMF ROIEB,PMFROIEC) No Yes Vector base + 0xBC Port L interrupt (ZVMC256 Only) I bit PIEL(PIEL0) Yes Yes Reserved Vector base + 0xB8 to Vector base + 0xB0 Vector base + 0xAC TIM1 timer channel 0 (ZVMC256 Only) I bit TIM1TIE (C0I) No Yes Vector base + 0xA8 TIM1 timer channel 1 (ZVMC256 Only) I bit TIM1TIE (C1I) No Yes No Yes Vector base + 0xA4 to Vector base + 0x90 Vector base + 0x8C Reserved TIM1 timer overflow (ZVMC256 Only) Vector base + 0x88 to Vector base + 0x10 I bit TIM1TSCR2(TOI) Reserved 1. 15 bits vector address based 1.11.3 Effects of Reset When a reset occurs, MCU registers and control bits are initialized. Refer to the respective block sections for register reset states. MC9S12ZVM Family Reference Manual Rev. 2.2 68 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family On each reset, the Flash module executes a reset sequence to load Flash configuration registers. 1.11.3.1 Flash Configuration Reset Sequence Phase On each reset, the Flash module will hold CPU activity while loading Flash module registers from the Flash memory. If double faults are detected in the reset phase, Flash module protection and security may be active on leaving reset. This is explained in more detail in the Flash module description. 1.11.3.2 Reset While Flash Command Active If a reset occurs while any Flash command is in progress, that command will be immediately aborted. The state of the word being programmed or the sector/block being erased is not guaranteed. 1.11.3.3 I/O Pins Refer to the PIM section for reset configurations of all peripheral module ports. 1.11.3.4 RAM The system RAM arrays, including their ECC syndromes, are initialized following a power on reset. All other RAM arrays are not initialized out of any type of reset. With the exception of a power-on-reset the RAM content is unaltered by a reset occurrence. 1.12 1.12.1 Module device level dependencies CPMU COP and GDU GSUF Configuration The COP time-out rate bits CR[2:0] and the WCOP bit in the CPMUCOP register are loaded from the Flash configuration field byte at global address 0xFF_FE0E during the reset sequence. On the device ZVMC256 the GSUF bit in the GDUF register is also loaded from the Flash configuration field byte at global address 0xFF_FE0E during the reset sequence. See Table 1-17, Table 1-18 and Table 1-19. Table 1-17. Initial COP Rate Configuration NV[2:0] in FOPT Register CR[2:0] in CPMUCOP Register 000 111 001 110 010 101 011 100 100 011 101 010 110 001 111 000 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 69 Chapter 1 Device Overview MC9S12ZVM-Family Table 1-18. Initial WCOP Configuration NV[3] in FOPT Register WCOP in CPMUCOP Register 1 0 0 1 Table 1-19. Initial GSUF Configuration 1.12.2 NV[7] in FOPT Register GSUF in GDUF Register 1 0 0 1 CPMU High Temperature Trimming The value loaded from the flash into the CPMUHTTR register is a default value for the device family. There is no device specific trimming carried out during production. The specified VHT value is a typical value that is part dependent and should thus be calibrated. 1.12.3 Flash IFR Mapping Table 1-20. Flash IFR Mapping 15 14 1.13 1.13.1 13 12 11 10 9 8 7 6 5 4 3 2 1 0 IFR yteB ddress A ADC0 reference conversion using VRH_1/VSSA 0x1F_C040 & 0x1F_C041 ADC0 reference conversion using VRH_0/VSSA 0x1F_C042 & 0x1F_C043 ADC1 reference conversion using VRH_1/VSSA 0x1F_C044 & 0x1F_C045 ADC1 reference conversion using VRH_0/VSSA 0x1F_C046 & 0x1F_C047 Application Information ADC Calibration For applications that do not provide external ADC reference voltages, the VDDA/VSSA supplies can be used as sources for VRH/VRL respectively. Since the VDDA must be connected to VDDX at board level in the application, the accuracy of the VDDA reference is limited by the internal voltage regulator accuracy. In order to compensate for VDDA reference voltage variation in this case, the reference voltage is measured during production test using the internal reference voltage VBG, which has a narrow variation over temperature and external voltage supply. VBG is mapped to an internal channel of each ADC module (Table 1-10,Table 1-11). The resulting 12-bit right justified ADC conversion results of VBG are stored to the flash IFR for reference, as listed in Table 1-20. MC9S12ZVM Family Reference Manual Rev. 2.2 70 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family The measurement conditions of the reference conversion are listed in the device electrical parameters appendix. By measuring the voltage VBG in the application environment and comparing the result to the reference value in the IFR, it is possible to determine the current ADC reference voltage VRH : StoredReference V RH = ------------------------------------------------------- 5V ConvertedReference The exact absolute value of an analog conversion can be determined as follows: StoredReference 5V Result = ConvertedADInput -----------------------------------------------------------------nConvertedReference 2 With: ConvertedADInput: ConvertedReference: StoredReference: n: Result of the analog to digital conversion of the desired pin Result of internal channel conversion Value in IFR location ADC resolution (12 bit) NOTE The ADC reference voltage VRH must remain at a constant level throughout the conversion process. 1.13.2 SCI Baud Rate Detection The baud rate for SCI0 and SCI1 is achieved by using a timer channel to measure the data rate on the RXD signal. 1. Establish the link: -- For SCI0: Set [T0IC3RR1:T0IC3RR0]=0b01 to disconnect IOC0_3 from TIM0 input capture channel 3 and reroute the timer input to the RXD0 signal of SCI0. -- For SCI1: Set [T0IC3RR1:T0IC3RR0]=0b10 to disconnect IOC0_3 from TIM0 input capture channel 3 and reroute the timer input to the RXD1 signal of SCI1. 2. Determine pulse width of incoming data: Configure TIM0 IC3 to measure time between incoming signal edges. 1.13.3 Motor Control Application Overview The following sections provide information for using the device in motor control applications. These sections provide a description of motor control loop considerations that are not detailed in the individual module sections, since they concern device level inter module operation specific for motor control. More detailed information is available in application notes. The applications described are as follows: 1. BDCM - wiper pumps fans 2. BLDCM - pumps, fans and blowers MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 71 Chapter 1 Device Overview MC9S12ZVM-Family - based on Hall sensors - sensorless based on back-EMF zero crossing comparators - sensorless based on back-EMF ADC measurements 3. PMSM - high-end wiper, pumps, fans and blowers - simple sinewave commutation with position sensor Hall effect, sine-cos - FOC with sine-cos position sensor - sensorless 3-phase sinewave control MC9S12ZVM Family Reference Manual Rev. 2.2 72 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family 1.13.3.1 Motor Control Loop Overview The mapping of motor control events at device level as depicted in Figure 1-8 is listed in Table 1-21, whereby the columns list the names used in the module level descriptions Figure 1-8. Internal Control Loop Configuration TIM0 OC0 GDU zero crossing comparators GPHS commutation_event PMF SENSOR reloada async_reload reload If PTU enabled If PTU enabled async reload ADC0 glb_ldok trigger_0 async reload reload dc_bus_voltage async reload reload PTU glb_ldok PHMUX back-EMF dc_bus_current M P1 P2 P3 ADC1 trigger_1 reload The control loop consists of the PMF, GDU, ADC and PTU modules. The control loop operates using either static, dynamic or asynchronous timing. In the following text the event names given in bold type correspond to those shown in Figure 1-8. The PTU and ADC operate using lists stored in memory. These lists define trigger points for the PTU, commands for the ADC and results from the ADC. If the PTU is enabled the reload and async_reload events are immediately passed through to the ADC and GDU modules. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 73 Chapter 1 Device Overview MC9S12ZVM-Family . Table 1-21. Control Loop Events Device Level Event TIM0 PMF PTU ADC0 ADC1 commutation_event OC0(1) commutation_event -- -- -- reload -- reloada(2) reload async_reload -- async_reload async_reload Seq_abort Seq_abort trigger_0 -- -- trigger_0 Trigger -- trigger_1 -- -- trigger_1 -- Trigger glb_ldok -- glb_ldok glb_ldok LoadOK LoadOK Restart Rest art 1. TIM channel OC0 must be configured to toggle on both edges. 2. PMF events reloadb and reloadc are not connected at device level Each control loop cycle is started by a PMF reload event. The PMF reload event restarts the PTU time base. If the PTU is enabled, the reload is immediately passed through to the ADC and GDU modules. The PMF generates the reload event at the required PWM reload frequency. The PMF reload event causes the PTU time base to restart, to acquire the first trigger times from the list and the ADCs to start loading the ADC conversion command from the Command Sequence List (CSL). NOTE In the PTU there is time window after the reload event assertion before the first trigger is permitted. This time can be up to 10 bus cycles. Subsequent triggers also require a load time of 6 bus clock cycles (one trigger generator enabled) or 10 bus clock cycles (both trigger generators enabled). This defines the minimal spacing between triggers without causing a PTU trigger generator timing error. In the ADC there is 10 bus cycle maximum time window after the reload event assertion to access the first ADC command from the list. In this window the ADC conversion can not be started. If the measurement is control loop related these delays are negligible due to much larger delays in the PWM-GDU-feedback loop. When the trigger time is encountered the corresponding PTU trigger generates the trigger_x event for the associated ADC. For simultaneous sampling the PTU generates simultaneous trigger_x events for both ADCs. At the trigger_x event the ADC starts the first conversion of the next conversion sequence in the CSL (the first ADC command is already downloaded). A commutation event is used by the PMF to generate an async_reload event. The async_reload is used by the PTU to update lists and re-initialize the trigger lists. If the PTU is enabled the async_reload is immediately passed through to the ADC. MC9S12ZVM Family Reference Manual Rev. 2.2 74 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family 1.13.3.2 Control Loop Timing Considerations Delays within the separate control loop elements require consideration to ensure correct synchronization. Regarding the raw PWM0 signal as the starting point and stepping through the control loop stages, the factors shown in Figure 1-9 contribute to delays within the control loop, starting with the deadtime insertion, going through the external FETs and back into the internal ADC measurements of external voltages and currents. Figure 1-9. Control Loop Delay Overview PWM cycle PWM base PWM with deadtime GDU propagation FET turn on Current sense settling time (tcslsst) TDEAD_x tdelon tHGON ADC delay The PWM deadtime (TDEAD_X) is an integral number of bus clock cycles, configured by the PMF deadtime registers. The GDU propagation delays (tdelon, tdeloff) are specified in the electrical parameter Table E-1. The FET turn on times (tHGON) are load dependent but are specified for particular loads in the electrical parameter Table E-1. The current sense amplifier delay is highly dependent on external components. The ADC delay until a result is available is specified as the conversion period NCONV in Table C-1. 1.13.3.3 Static Timing Operation The timing frame is static if it is the same in every control cycle (defined by reload frequency) and is relative to start of the control cycle. The only settings modified from one control cycle to the next one are the PWM duty cycle registers. The main control cycle synchronization event is the PMF reload event. The PMF reload event can be generated every n PWM periods. This mode can optionally be extended by a timer channel trigger to PMF to change the PWM channel operation (e.g. used for BLDCM commutation). In this case, the PMF configuration can propagate the MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 75 Chapter 1 Device Overview MC9S12ZVM-Family trigger through the control loop or can prevent propagation so the static timing of the control cycle and inter-block coherency are not affected by the trigger. At the end of the conversion sequence the first ADC command from the new sequence is loaded and the ADCx waits for the next trigger_x. The PTU continues to generate the trigger_x events for each trigger time from the list until a new reload or async_reload occurs. Before the upcoming reload event the CPU: * reads the ADC results from the buffered Conversion Result List * clears the conversion complete flag * services the reload by setting new duty cycle values * sets the PTULDOK bit (corresponding to glb_ldok) to signal the duty cycle coherence The CPU actions are typically performed in an ISR triggered by the conversion complete flag. 1.13.3.4 Static Timing Fault Handling The following Faults and/or errors can occur: * Desaturation error, Overvoltage, Undervoltage, Temperature sensor, External fault The application run-time error is handled by the GDU without CPU interaction. Firstly the FETs are disabled and the PMF signals switched to an inactive state. To re-enable the operation first the GDU fault and then PWM fault must be cleared, to automatically re-enable the FET driving at the next PWM boundary. * PTU reload overrun error This is an application run-time error caused by the CPU not setting PTULDOK on time. Servicing this type of error is application dependent and may range from a further reload attempt to a total shut down. * PTU trigger generator reload error, PTU trigger generator error Since all timing is static, this error should only occur during application debugging. This type of error occurring in a static timing configuration indicates possible data corruption. This can be serviced by a control loop shutdown. * PTU memory access error, Memory access double bit ECC error This type of error occurring in an application indicates data corruption. This can be serviced by a control loop shutdown. * ADC sequence overrun, ADC command overrun, ADC command error Since all timing is static, this error should only occur during application debugging. This type of error occurring in an application indicates possible data corruption. This can be serviced by a control loop shutdown. 1.13.3.5 Dynamic Timing Operation The timing frame is dynamic if the following are modified on a cycle by cycle basis: * PMF - duty cycle value registers (PMF_VALx), modulo registers MC9S12ZVM Family Reference Manual Rev. 2.2 76 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family * * PTU - Trigger Event List (PTU_TELx) ADC - Command Sequence List (ADCx_CSL) The main philosophy is that all cycle-by-cycle settings for cycle n need to be done within cycle n-1. The main control cycle synchronization event is the PMF reload event, which can be generated every n PWM periods. This mode can optionally be extended by a timer channel trigger PMF to change PWM channel operation (e.g. used for BLDCM commutation). The event flow is the same as for static timing. Before the upcoming reload event the CPU: * reads the ADC results from the buffered Conversion Result List * clears the conversion complete flag * services the reload by setting new duty cycle values and a new PMF modulo value * updates the non-active PTU_TELx * updates the non-active ADCx_CSL * sets the PTULDOK bit (corresponding to glb_ldok) to signal the duty cycle coherence The CPU actions are typically performed in an ISR triggered by the conversion complete flag. 1.13.3.6 Dynamic Timing Fault Handling The following Faults and/or errors can occur: * Desaturation error, Overvoltage, Undervoltage, Temperature sensor, External fault The application run-time error is handled by the GDU without CPU interaction. Firstly the FETs are disabled and the PMF signals switched to an inactive state. To re-enable the operation first the GDU fault and then PWM fault must be cleared, to automatically re-enable the FET driving at the next PWM boundary. * PTU reload overrun error This is an application run-time error caused by the CPU not setting PTULDOK on time. Servicing this type of error is application dependent and may range from a further reload attempt to a total shut down. * PTU trigger generator reload error, PTU trigger generator error This indicates an application run-time error caused by a settings mismatch. Servicing this type of error is application dependent. In some cases, the ADC values for the current control cycle can be ignored. * PTU memory access error, Memory access double bit ECC error This type of error occurring in an application indicates possible data corruption. This can be serviced by a control loop shutdown. * ADC sequence overrun, ADC command overrun, ADC command error This indicates an application run-time error caused by a settings mismatch. Servicing this type of error is application dependent. In some cases, the ADC values for the current control cycle can be ignored. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 77 Chapter 1 Device Overview MC9S12ZVM-Family 1.13.3.7 Asynchronous Timing This case is an extension of the dynamic timing case by an asynchronous event generated by the Timer. Note the asynchronous term is referenced to the control cycle. The timing frame is the same as in dynamic timing case plus it can be asynchronously restarted at any time within the control cycle. At the asynchronous commutation_event * the PMF actions are: 1. counter re-start, re-initialization 2. PWM configuration re-initialization according to the selected PWM settings (center/edge-aligned pattern, normal/inverted type etc.) 3. re-initialization of the dead time generators (in case the commutation takes place at a time when one of the dead times is being generated) 4. re-initialization of the PWM outputs according to pre-set PWM channel output settings in double buffered registers (mask, swap, output control) 5. re-initialization of the automatic fault clearing 6. generates async_reload event for the PTU 7. optionally updates the PWM duty cycle values based on LDOK state * the PTU actions are: 1. abortion of the trigger_x event generation 2. re-initialization and re-start the PTU counter 3. update of the current list index TGxList based on the glb_ldok state 4. fetch first trigger time from updated TGxList 5. passes the async_reload event immediately to the ADC (if the PTU is enabled) 6. generates the reload event for the ADC * the ADC actions are: 1. the conversion in progress is completed 2. the ADC conversion sequence is aborted and the SEQA flag is set to indicate that the final conversion occurred during the abortion process (potentially coinciding with a commutation and is thus less precise than under normal conditions) 3. update of the current lists index ADxLists 4. re-start of the conversion sequencing upon successful abortion - fetches the first ADC command from the ADCx_CSL, re-sets the result pointer to the top of the list Note: in case the lists index ADxLists is not updated at the sequence abortion the new restarted A/D conversions will overwrite the previously converted results. * the GDU actions are: 1. standard operation MC9S12ZVM Family Reference Manual Rev. 2.2 78 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family 1.13.3.8 Control Loop Startup Guidelines The sequence for control loop start up is to firstly configure the signal measurement (inputs/feedback). Once the measurement is properly configured (correct value is measured at defined time) the output actuation (control action) is configured. The following modules are involved in signal measurements. * TIM (to identify asynchronous commutation) [BLDC applications only] * PMF (to generate main synchronous events for PTU and ADC) * PTU (to generate delay relative to synchronous events generated by PMF) * ADC (to acquire analog signals under synchronous control) * GDU (zero crossing comparators, Back-EMF muxing) [application dependent] The TIM OC0 channel identifies the commutation event and restarts the PMF counter. In order to establish this link TIM and PMF need to be configured and started. Then to sample accurately within one PMF cycle the PTU needs to be used, so the next step is to configure the PTU to establish PMF to PTU link. The PTU sends triggers to the ADC to perform a measurement of control signals. So the next step is to configure the ADC. In some cases the GDU involvement is required and therefore configured. The control action involves the PMF (to generate the duty cycle for GDU) and the GDU (to propagate the signal to the MOSFETs). Since the PMF has already been configured for the measurements, only the GDU need be configured to complete startup. Sometimes the GDU can be configured earlier but the GDU output is always enabled last. The recommended startup sequence is summarized as follows: * Configure TIM and PMF to establish the link between TIM OC0 commutation event and PMF * Configure PTU to establish the PMF to PTU link and ensure correct sampling within PMF cycle * Configure the ADC * Configure the GDU 1.13.3.9 Control Loop Shutdown Guidelines 1. Remove energy stored in the system after the power stage kinetic energy - stop all rotating/moving mass magnetic energy - gracefully drive currents to zero 2. Put GDU and PMF outputs to safe state 1.13.3.10 Control Loop Stop Mode Considerations In Stop mode the PMF, PTU, ADC can not run because the bus clock is not running. Thus the GDU must transition to a disabled state. Before entering Stop mode the application must perform the following steps: 1. Remove energy stored in the system after the power stage kinetic energy - stop all rotating/moving mass magnetic energy - gracefully drive currents to zero 2. Put GDU and PMF outputs to safe state 3. Verify GDU and PMF safe states MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 79 Chapter 1 Device Overview MC9S12ZVM-Family 4. Verify fault flags and service if necessary 5. Execute the STOP instruction The return from stop is expected in reverse order: 1. On returning from Stop mode the clocks are automatically enabled coherently 2. Initialize and check device proper functionality (charge pump etc.) 3. Check functionality of the external system 4. Initializes control loop operation, however with PMF and GDU outputs still in safe state 5. Read the ADC values to check the system 6. Start driving energy into the system based on the measurements from the previous step, the PWM duty cycle values are calculated 7. PMF and GDU outputs are enabled (actively driven) The device does not support putting the FETs in an active driving state during STOP as the GDU charge pump clock is not running. This means the device cannot be put in stop mode if the FETS need to be in an active driving state to protect the system from external energy supply (e.g. externally driven motorgenerator). NOTE It is imperative, that whatever the modules perform on entering/exiting Stop mode, the pre-set complementary mode of operation and dead time insertion must be guaranteed all the times. 1.13.3.11 Application Signal Visibility In typical motor control applications, TIM OC0 is used internally to indicate commutation events. To switch off OC0 visibility at port pin PT0: * Disable output compare signal on pin PT0 in TIM: OCPD[OCPD0]=0b1. 1.13.3.12 Debug Signal Visibility Depending on required visibility of internal signals on port pins enable the following registers: * Set [PWMPRR]=0b1 in PIM if monitoring of internal PWM waveforms is needed. PWM0_[5:3] are driven out on pins PT[2:0] and PWM0_[2:0] on pins PP[2:0]. * Enable output compare channel OC0 to output commutation event on pin PT0 in TIM: OCPD[OCPD0]=0b0. * Set PTUDEBUG[PTUREPE]=0b1 in PTU to output the reload event. * Set PTUDEBUG[PTUTxPE]=0b1 with x=0,1 in PTU to output the trigger events. 1.13.4 BDCM Complementary Mode Operation This section describes BDCM control using center aligned complementary mode with deadtime insertion. MC9S12ZVM Family Reference Manual Rev. 2.2 80 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family The DC Brushed motor power stage topology is a classical full bridge as shown in Figure 1-10. The DC Brushed motor is driven by the DC voltage source. A rotational field is created by means of commutator and brushes on the motor. These drives are still very popular because sophisticated calculations and algorithms such as commutation, waveform generation, or space vector modulation are not required. Figure 1-10. DC Brushed Motor External Configuration + 1/2 U PWM 0 PWM 2 B A PWM 1 PWM 3 - 1/2 U Usually the control consists of an outer, speed control loop with inner current (torque) control loop. The inner loop controls DC voltage applied onto the motor winding. The control loop is calculated regularly within a given period. In most cases, this period matches the PWM reload period. Driving the DC motor from a DC voltage source, the motor can work in all four quadrants. The complementary mode of operation with deadtime insertion is needed for smooth reversal of the motor MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 81 Chapter 1 Device Overview MC9S12ZVM-Family current (motor torque), hence smooth full four quadrant control. Usually the center-aligned PWM is chosen to lower electromagnetic emissions. Figure 1-11. BDCM Control Loop Configuration GDU PMF dc_bus_voltage M dc_bus_current0 sine/ cosine sensor reloada reload glb_ldok PTU trigger_0 ADC0 trigger_1 reload ADC1 The PWM frequency selection is always a compromise between audible noise, electromagnetic emissions, current ripples and power switching losses. The BDCM control loop goal is to provide a controlled DC voltage to the motor winding, whereby it is controlled cycle-by-cycle using a speed, current or torque feedback loop. The center aligned PWM waveforms generated by the PMF module are applied to the bridge as shown in Figure 1-12 whereby the base waveform for PWM0_0 and PWM0_1 is depicted at the top and the complementary PWM0_0 and PWM0_1 waveforms are shown with deadtime insertion depicted by the gray phases before the switching edges. MC9S12ZVM Family Reference Manual Rev. 2.2 82 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family Figure 1-12. BDCM Complementary Mode Waveform PWM0_[1:0] base PWM0_[3:2] base TPWM PWM0_0 PWM0_2 PWM0_1 PWM0_3 Assuming first quadrant operation, forward accelerating operation, the applied voltage at node A must exceed the applied voltage at node B (Figure 1-10). Thus the PWM0_0 duty cycle must exceed the PWM0_2 duty cycle. The duty cycle of PWM0_0 defines the voltage at the first power stage branch. The duty cycle of PWM0_2 defines the voltage at the second power stage branch. Modulating the duty cycle every period using the function FPWM then the duty cycle is expressed as: PWM0_0 duty-cycle = 0.5 + (0.5 * FPWM); For -1<=FPWM <= 1; PWM0_2 duty-cycle = 0.5 - (0.5 * FPWM) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 83 Chapter 1 Device Overview MC9S12ZVM-Family 1.13.5 BLDC Six-Step Commutation 1.13.5.1 Hall Sensor Triggered Commutation Figure 1-13. BLDC Configuration With Hall Sensors PIM TIM0 IC1 XOR PTIT OC0 GDU commutation_event PMF reload EVDD1 PT1 PT2 PT3 Hall Sensor dc_bus_voltage M async_reload PTU glb_ldok trigger_0 reload async_reload dc_bus_current ADC0 This BLDC application uses Hall sensor signals to create commutation triggers. The integrated sense amplifier and an ADC module are used to measure DC bus current, for torque calculation. The DC bus voltage measurement is used in the control algorithm to counter-modulate the PWM such that the variation of the DC-bus voltage does not affect the motor current closed loop. The configuration is as follows: 1. Connect the three Hall sensor signals from the motor to input pins PT3-1. 2. Set [T0IC1RR=1] in the register MODRR2 to establish the link from Hall sensor input pins to TIM input capture channel 1. 3. Setup TIM IC1 for speed measurement of XORed Hall sensor signals. Enable interrupt on both edges. 4. Enable TIM OC0 and select toggle action on output compare event: TCTL2[OM0:OL0]=01. 5. Configure PMF for edge-aligned PWM mode with or without restart at commutation: PMFENCx[RSTRT]. If using the restart option, then select generator A as reload signal source and keep the following configurations at their default setting: multi timebase generators (PMFCFG0[MTG]=b0), reload frequency (PMFFQCx[LDFQx]=b0), prescaler (PMFFQCx[PRSCx]=b00). 6. Enable PMF commutation event input: PMFCFG1[ENCE]=1. MC9S12ZVM Family Reference Manual Rev. 2.2 84 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family 7. Read port register PTIT[3:1] to determine starting sector. 8. Startup motor by applying PWM to the related motor phase. 9. In IC1 interrupt ISR calculate the delay to next commutation and store value to output compare register. Update registers with next values of mask and swap. 10. On next output compare event the buffered mask and swap information is transferred to the active PMF registers to execute the commutation. 1.13.5.2 Sensorless Commutation Figure 1-14. Sensorless BLDC Configuration GDU TIM0 zero crossing comparators GPHS OC0 commutation_event dc_bus_voltage PMF reload async_reload PHMUX back-EMF glb_ldok PTU P1 P2 P3 dc_bus_current1 async_reload dc_bus_current0 reloada M trigger_0 ADC0 trigger_1 async_reload reload ADC1 To calculate the commutation time in a sensorless motor system the back-EMF zero crossing event of the currently non-fed phase within an electrical rotation cycle must be determined. For fast motor rotation, the ADC is used to measure the back-EMF voltage and the DC bus voltage to determine the zero crossing time. For slow motor rotation the GPHS register can be polled. In either case the zero crossing event is handled MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 85 Chapter 1 Device Overview MC9S12ZVM-Family by the CPU monitoring flags or responding to interrupts. The TIM then generates the commutation_event under CPU control, based on the zero crossing time. 1. Enable TIM OC0 and select toggle action on output compare event: TCTL2[OM0:OL0]=0b01. 2. Enable PMF commutation event input: PMFCFG1[ENCE]=0b1. 3. Enable internal ADC channel for measuring the phase voltages from the muxed GDU outputs. 4. Align rotor to stator field. Initialize phase MUX using register GDUPHMUX. 5. Startup motor by applying PWM to an arbitrary motor phase. 6. Take samples of the phase voltages periodically based on PWM cycle to detect zero crossing. 7. Calculate the delay to next commutation and store value to output compare register. Update registers with next values of mask and swap. 8. On next output compare event the buffered mask and swap information are transferred to the active PMF register to execute the commutation. 1.13.6 PMSM Control PMSM control drives all 3 phases simultaneously with sinusoidal waveforms. Both sensorless and SineCosine position sensor control loop operation are supported. 1.13.6.1 PMSM Sensorless Operation In this configuration the PMSM stator winding currents are driven sinusoidally and the back EMF waveform is also sinusoidal. Thus all 3 phases are active simultaneously. The rotor position and speed are determined by the current and calculated voltages respectively. The back EMF voltage is calculated based on the currents. 1. Configure PMF for complementary mode operation. 2. Configure PMF for center aligned or phase shifted operation. 3. Select correct PMF deadtime insertion based on external FET switches. 4. Enable GDU current sense opamps for measuring the phase currents from 2 external shunts. 5. Map the output pin of each current sense opamp to the ADC input. 6. Optionally use GDU phase comparators for zero crossing detection to correct deadtime distortion. 7. Fetch targeted motor speed parameter from external source (e.g. SCI) 8. Configure PMF period and duty cycle. 9. Startup motor by applying FOC startup algorithm. 10. Take samples of the phase currents periodically based on PWM cycle to determine motor speed. 11. Calculate FOC algorithm to determine back EMF and motor position. MC9S12ZVM Family Reference Manual Rev. 2.2 86 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family Figure 1-15. Sensorless PMSM Control Loop Configuration zero crossing phase comparison IS0 IS1 IS2 PMF GDU dc_bus_voltage reloada reload dc_bus_current1 dc_bus_current0 M glb_ldok PTU trigger_0 ADC0 trigger_1 reload 1.13.6.2 ADC1 PMSM Operation With Sine-Cosine Position Sensor In this configuration the PMSM stator winding currents are driven sinusoidally and the back EMF waveform is also sinusoidal. Thus all 3 phases are active simultaneously. The back EMF voltage is calculated based on the currents. The rotor position and speed are determined by a sine/cosine sensor, which generates sinusoidal sine/cosine signals, indicating the angle of the rotor in relation to sensor windings. The sensor is supplied by the EVDD1 pin. 1. Configure PMF for complementary mode operation. 2. Configure PMF for center aligned or phase shifted operation. 3. Select correct PMF deadtime insertion based on external FET switches. 4. Enable GDU current sense opamps for measuring the phase currents from external shunts. 5. Map the output pin of each current sense opamp to the ADC input. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 87 Chapter 1 Device Overview MC9S12ZVM-Family 6. Map the sine/cosine input signals to ADC input channels. 7. Configure the EVDD1 pin as output. 8. Optionally use GDU phase comparators for zero crossing detection to correct dead time distortion. 9. Fetch targeted motor speed parameter from external source (e.g. SCI) 10. Configure PMF period and duty cycle. 11. Start motor by applying startup algorithm. 12. Sample the sine/cosine voltages periodically based on PWM cycle to determine motor position. 13. Use FOC algorithm to determine back EMF and motor speed. Figure 1-16. PMSM Sine/Cosine Control Loop Configuration zero crossing phase comparison IS0 IS1 IS2 PMF GDU dc_bus_voltage reload glb_ldok PTU dc_bus_current1 dc_bus_current0 M sine/cosine sensor trigger_0 ADC0 trigger_1 reload ADC1 MC9S12ZVM Family Reference Manual Rev. 2.2 88 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family 1.13.6.3 Dead time Distortion Correction PMSM motor control applications driven by sinusoidal voltages by default require zero crossing information of phase currents to determine the point in time to change sign of deadtime compensation value to be added to duty cycles. The GDU phase comparator signals are connected internally to the PMF ISx inputs. This allows the dead time distortion correction to be applied directly based on the phase status. 1. Align rotor to stator field. 2. Await phase comparator status change. 3. Switch to alternate duty cycle register to compensate distortion. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 89 Chapter 1 Device Overview MC9S12ZVM-Family 1.13.7 Power Domain Overview (All devices except ZVMC256) The power domains are illustrated in Figure 1-17. More detailed information is included in the individual module descriptions. Figure 1-17. Power Domain Overview OPT L = LINPHY package option OPT C = CANPHY package option VRBATP L VSSB VLINSUP INT GHHDF BATS LINPHY LIN BOOST (OPT L) GFDE LDO VCP ADC INT GBOE VRBATP LGND VSUP (12V/18V) BST (OPT L) EXTCON INTXON EXTXON CPS GCPE INT VLS_OUT (11V) GLVLSF VREG_AUTO VLS (OPT C) LG BCTLC 1.8V VDDC (5V) VDD 2.8V BCTL RES LVRF PAD8 VDDA VRH ADC VRL VSSA VSSA LS GDU (OPT C) PORF VRL_SEL VRH_SEL VRBATP 5V VDDF VDDA CP CORE RAM's PLL IRC OSC RES VDDX PADS FLASH GPIO VSSX VSS The system supply voltage VRBATP is a reverse battery protected input voltage. It must be protected against reverse battery connections and must not be connected directly to the battery voltage (VBAT). The device supply voltage VSUP provides the input voltage for the internal regulator, VREG_AUTO, which generates the voltages VDDX, VDD and VDDF. The VDDX domain supplies the device I/O pins, VDDA supplies the ADC and internal bias current generators. The VDDA and VDDX pins must be connected at board level, they are not connected directly internally. ESD protection diodes exist between VDDX and VDDA, therefore forcing a common operating range. The VDD domain supplies the internal device logic. The VDDF domain supplies sections of the internal Flash NVM circuitry. MC9S12ZVM Family Reference Manual Rev. 2.2 90 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family The device supports the use of an external PNP to supplement the VDDX supply, for reducing on chip power dissipation. In this configuration, most of the current flowing from VRBATP to VDDX, flows through the external PNP. This configuration, using the BCTL pin, can be enabled by register bits EXTXON and INTXON. The maximum current that can be sourced by the voltage regulator without the external PNP is specified as IDDX, for different VSUP ranges, in the electrical parameter appendices. Depending on activity and external loading, an application current may exceed this specification limit. In such cases the external PNP configuration must be used. A supply for an external CANPHY is offered via external device pins BCTLC and VDDC, whereby BCTLC provides the base current of an external PNP and VDDC is the CANPHY supply (output voltage of the external PNP). This is only available in the CANPHY package option. This configuration can be enabled by the register bit EXTCON. The LINPHY pull-up resistor is internally connected to the HD voltage. This is chosen as opposed to VSUP to ensure that the LINPHY is not disturbed by the internal VSUP boost circuit. The external connections for the HD pin must ensure a reverse battery protection. The ADC register bit VRH_SEL maps the ADC reference VRH to VDDA or to the device pin PAD8. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 91 Chapter 1 Device Overview MC9S12ZVM-Family 1.13.8 Power Domain Overview (ZVMC256) Figure 1-18. Power Domain Overview (ZVMC256) VRBATP VRBATP L VSSB BCTLC BATS VDDC VRBATP VSSC VSUP (12V/18V) BST BOOST GFDE LDO VCP ADC INT GBOE CANPHY EXTCON INTXON EXTXON CPS GCPE INT BCTLS1 5V SNPS1 VDDS1 VRBATP CP VLS_OUT (11V) GLVLSF VREG_AUTO VLS 5V LG 1.8V 2.8V 5V LS GDU VRBATP BCTLS2 SNPS2 VDDS2 5V BCTL VDD VDDF VDDA PORF VDDA VRH ADC VRL VSSA LVRF RES VSSA VRL_SEL VRH_SEL CORE RAM's PLL IRC OSC RES VDDX PADS FLASH GPIO VSSX VSS The system supply voltage VRBATP is a reverse battery protected input voltage. It must be protected against reverse battery connections and must not be connected directly to the battery voltage (VBAT). The device supply voltage VSUP provides the input voltage for the internal regulator, VREG_AUTO, which generates the voltages VDDX, VDD and VDDF. The VDDX domain supplies the device I/O pins, VDDA supplies the ADC and internal bias current generators. The VDDA and VDDX pins must be connected at board level, they are not connected directly internally. ESD protection diodes exist between VDDX and VDDA, therefore forcing a common operating range. The VDD domain supplies the internal device logic. The VDDF domain supplies sections of the internal Flash NVM circuitry. MC9S12ZVM Family Reference Manual Rev. 2.2 92 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family The device supports the use of an external PNP to supplement the VDDX supply, for reducing on chip power dissipation. In this configuration, most of the current flowing from VRBATP to VDDX, flows through the external PNP, using the BCTL pin for PNP base current control. The configuration can be selected by register bits EXTXON and INTXON. The maximum current that can be sourced by the voltage regulator without the external PNP is specified as IDDX, for different VSUP ranges, in the electrical parameter appendices. Depending on activity and external loading, an application current may exceed this specification limit. In such cases the external PNP configuration must be used. A supply for the internal CANPHY is offered via device pins BCTLC and VDDC, whereby BCTLC provides the base current of an external PNP and VDDC is the CANPHY supply (output voltage of the external PNP). This configuration can be enabled by the register bit EXTCON. Two separate 5V range supplies (VDDS1 and VDDS2) are provided for external (sensor) components. These supplies also use external PNP configurations, whereby the PNP base current is controlled by BCTLS1 and BCTLS2 for VDDS1 and VDDS2 respectively. The VDDS1 and VDDS2 supplies feature sense inputs SNPS1 and SNPS2, to detect a short circuit or over current condition and subsequently limit the current to avoid damage. For each ADC instantiation, the ADC register bit VRH_SEL maps the ADC reference VRH to VDDA or to a VDDS of a tracker regulator. The Figure 1-18 example only shows one ADC to VDDS connection. 1.13.8.1 Voltage Domain Monitoring The BATS module monitors the voltage on the VSUP pin, providing status and flag bits, an interrupt and a connection to the ADC, for accurate measurement of the scaled VSUP level. The POR circuit monitors the VDD and VDDA domains, ensuring a reset assertion until an adequate voltage level is attained. The LVR circuit monitors the VDD, VDDF and VDDX domains, generating a reset when the voltage in any of these domains drops below the specified assert level. The VDDX LVR monitor is disabled when the VREG is in reduced power mode. A low voltage interrupt circuit monitors the VDDA domain. The GDU high side drain voltage, pin HD, is monitored within the GDU and mapped to an interrupt. A connection to the ADC is provided for accurate measurement of a scaled HD level. 1.13.8.2 FET-Predriver (GDU) Supplies A dedicated low drop regulator is used to generate the VLS_OUT voltage from VSUP. The VLS_OUT voltage is used to supply the low side drivers and can be directly connected to the VLS inputs of each low side driver. For FET-predriver operation at lower VSUP levels, a boost circuit can be enabled by the GBOE register bit. The boost circuit requires Shottky diodes, a coil and capacitors, as shown in Figure 1-17. More detailed information is included in the GDU module description. 1.13.8.2.1 Bootstrap Precharge The FET-predriver high side driver must provide a sufficient gate-source voltage and sufficient charge for the gate capacitance of the external FETs. A bootstrap circuit is used to provide sufficient charge, whereby MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 93 Chapter 1 Device Overview MC9S12ZVM-Family the capacitor CBS is first charged to VLS_OUT via an external diode (GDUV4) or internal transistor (GDUV5), when the low side driver is active Figure 1-19. When the high side driver switches on, the charge on this capacitor, supplies the FET-predriver via the VBSx pin. The CBS capacitor can only be charged if the low side driver is active, so after a long period of inactivity of the low side driver, the CBS capacitor becomes discharged. In this case, the low side driver must be switched on to charge CBS before commencing high side driving. The time it takes to discharge the bootstrap capacitor CBS can be calculated from the size of the bootstrap capacitor CBS and the current on VBSx pin in the high side inactive phase. The bootstrap capacitors must be precharged before turning on the high-side drivers for the first time. This can be done by using the PMF software output control mechanism: PMFOUTC = 0x3F; PMFOUTB = 0x2A; // SW control on all outputs // All high-sides off, all low-sides on The PWM0 signals should be configured to start with turning on the low-side before the high-side drivers in order to assure precharged bootstraps. Therefore invert the PWM0 signals: PMFCINV = 0x3F; 1.13.8.2.2 // Invert all channels to precharge bootstraps High Side Charge Pump A charge pump voltage is used to supply the high side FET-predriver with enough current to maintain the gate source voltage. To generate this voltage an external charge pump is driven by the pin CP, switching between 0V and 11V. The pumped voltage is then applied to the pin VCP. At 100% duty cycle operation the low-side turn on time is zero during a masked commutation cycle before the attempting to turn on the high side drivers. This can cause bootstrap charge to decay. In order to speed-up the high-side gate voltage level directly after commutation, the software should drive the first PWM cycle with a duty cycle meeting an on-time of at least tminpulse for the low-side drivers and then switch back to 100% again. The recommended procedure for BLDC applications is to use the manual correction method (PMFCCTL[ISENS]) as described below: Set odd PMF values to alternative duty cycle. At commutation event when one of the three high-side drivers is turned on (every 120) set the PMFCCTL[IPOLx] bits and clear them at the next PWM reload event. Given unipolar switching mode: // TIM OC0 ISR: if ((PMFOUTC == 0x1c) || (PMFOUTC == 0x07) || (PMFOUTC == 0x31)) // all high-side turn-on sectors PMFCCTL = 0x17; // select odd PMF values // PMF reload ISR: PMFCCTL = 0x10; // select even PMF values The GDU high side drain voltage, pin HD, is supplied from VBAT through a reverse battery protection circuit. In a typical application the charge pump is used to switch on an external NMOS, N1, with source connected to VBAT, by generating a voltage of VBAT+VLS-(2xVdiode). In a reverse battery scenario, the external bipolar turns on, ensuring that the HD pin is isolated from VBAT by the external NMOS, N1. MC9S12ZVM Family Reference Manual Rev. 2.2 94 Freescale Semiconductor Chapter 1 Device Overview MC9S12ZVM-Family Figure 1-19. High Side Supply and Charge Pump Concept VBAT S D N1 VLS_OUT (11V) 1nF CP 10nF 11V GCPCD 0V GCPE DIODE NOT REQUIRED WHEN USING GDUV5 VCP HD 1000F (Motor Dependent) VBSx HGx CBS HIGH SIDE HSx LOW SIDE Diode voltage drop = Vdiode MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 95 Chapter 1 Device Overview MC9S12ZVM-Family MC9S12ZVM Family Reference Manual Rev. 2.2 96 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) Table 2-1. Revision History Rev. No. (Item No.) Date V03.06 10 Dec 2014 V03.07 7 Jan 2015 Table 2-11 * Corrected Table 2-11 V03.08 9 Jan 2015 Table 2-5 Table 2-6 Table 2-7 2.3.1/110 Table 2-9 Table 2-11 * Corrections V03.09 22 Jan 2015 V03.10 23 Jan 2015 Figure 2-5 Table 2-13 V03.11 27 Jan 2015 2.3.1/110 * Changed T0C2RR1-0 specification 2.3.2.3/122 V03.12 10 Feb 2015 2.1.1/98 Table 2-5 Table 2-6 * Added TIM1 * Changed PWM0 routing V03.13 16 Feb 2015 2.1.1/98 * Fixed typos and formatting V03.14 19 Feb 2015 2.1.1/98 2.1.2/101 2.2/102 Table 2-39 Table 2-41 * Fixed typos and formatting V03.15 16 Mar 2015 2.1.1/98 2.2/102 * Format updates V03.16 22 Apr2015 2.1.1/98 * Fixed typos and formatting Sections Affected Substantial Change(s) 2.3.2.2/119 * Extended PWMPRR routing option * Minor changes in wording * Corrected T0IC3RR1-0 description MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 97 Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.1 2.1.1 Introduction Overview The S12ZVM-family port integration module establishes the interface between the peripheral modules and the I/O pins for all ports. It controls the electrical pin properties as well as the signal prioritization and multiplexing on shared pins. This document covers: * Port E * GPIO External Oscillator Pins PTE1 XTAL PE1 PTE0 EXTAL PE0 Port T GPIO PWM0(1) TIM0 PTT3 PWM0_31 IOC0_3 PTT2 PWM0_71 IOC0_2 PTT1 PTT0 PWM0_51 PMF PWM1_21 PWM1_5 (2) PWM1_01 SPI0 SCI0 LINPHY0/ HVPHY0 PTU Pins SS0 PT3 SCK0 PT2 IOC0_1 PWM1_4 MOSI0 TXD0 IOC0_0 PWM1_3 MISO0 RXD0 LPDC0(3) PTURE2 PT1 PT0 1. Only available for ZVMC256 2. Not available for ZVMC256 3. Only available for ZVML128, ZVML64, ZVML32, ZVML31, ZVM32, and ZVM16 MC9S12ZVM Family Reference Manual Rev. 2.2 98 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) * Port S GPIO/ KWU CAN0 (1) LINPHY0/ HVPHY0 SPI0 DBG Pins PTS5 SS0 PDO(2) PS5(3) PTS4 SCK0 PDOCLK2 PS43 DBG SCI1 CANPHY04 TIM1 TIM0 PTU TXD1 CPTXD0 IOC1_1 (4) MOSI0 PS3 PTS2 RXD1 CPRXD0 IOC1_04 MISO0 PS2 PTS1 TXD1 TXCAN0 PTS0 RXD1 RXCAN0 PTS3 DBGEEV CPDR LPTXD0(5) IOC0_2 (6) PTUT1 SCK04 PS1 LPRXD05 IOC0_16 PTUT0 SS04 PS0 1. Only available for ZVMC256, ZVMC128, ZVML128, ZVMC64, ZVML64, and ZVML32 2. Only favailableor ZVMC128, ZVML128, ZVMC64, ZVML64, and ZVML32 3. Not available for ZVMC256 4. Only available for ZVMC256 5. Only available for ZVML128, ZVML64, ZVML32, ZVML31, ZVM32, and ZVM16 6. Only available for ZVMC256, ZVML31, ZVM32, and ZVM16 * Port P GPIO/KWU PWM0(1) PMF PTP2 PTP1 ECLK PMF fault IRQ/XIRQ PP2(2) PWM1_2 PWM0_1 PWM1_1 PWM1_02 PWM1_51 PTP0 Pins ECLK FAULT5 IRQ PP1 XIRQ PP0 1. Only available for ZVMC256 2. Not available for ZVMC256 * Port L HVI TIM0 Pins PTIL01 IC0_2 PL0(1) 1. Only available for ZVMC256 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 99 Chapter 2 Port Integration Module (S12ZVMPIMV3) * Port AD GPIO/KWU ADC1 ADC0 SPI0 GDU PTU DBG Pins PTADH7 AN0_7 PDOCLK PAD15(1) PTADH6 AN0_6 PDO PAD141 PTADH5 AN0_5 PTURE PAD131 PTADH4 AN1_7 PAD121 PTADH3 AN1_6 PAD111 PTADH2 AN1_5 PAD101 PTADH1 AN1_4 PAD91 PTADH0 AN1_3 PTADL7 AN1_2 PTADL6 AN1_1 PTADL5 AN1_0 VRH(2) PAD8 SS0 AMPP1 PAD7 AMPM1 PAD6 AMP1 PAD5 PTADL4 AN0_4 PAD4 PTADL3 AN0_3 PAD3 PTADL2 AN0_2 AMPP0 PAD2 PTADL1 AN0_1 AMPM0 PAD1 PTADL0 AN0_0 AMP0 PAD0 1. Only available for ZVMC256 2. Not available for ZVMC256 Most I/O pins can be configured by register bits to select data direction and to enable and select pullup or pulldown devices. MC9S12ZVM Family Reference Manual Rev. 2.2 100 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) NOTE This document shows the superset of all available features offered by the S12ZVM device family. Refer to the package and pinout section in the device overview for functions not available for a particular device or package option. 2.1.2 Features The PIM includes these distinctive registers: * Data registers and data direction registers for ports E, T, S, P and AD when used as general-purpose I/O * Control registers to enable pull devices and select pullups/pulldowns on ports E, T, S, P and AD * Control register to enable open-drain (wired-or) mode on port S * Control register to enable digital input buffers on port AD and L1 * Interrupt enable register for pin interrupts and key-wakeup (KWU) on port S, P, AD, and L1 * Interrupt flag register for pin interrupts andkey-wakeup (KWU) on port S, P, AD, and L1 * Control register to configure IRQ pin operation * Control register to enable ECLK output * Routing registers to support signal relocation on external pins and control internal routings: -- SPI0 to alternative pins -- Various SCI0-LINPHY0 routing options supporting standalone use and conformance testing2 -- Various MSCAN0-CANPHY0 routing options for standalone use and conformance testing1 -- Internal RXD0 and RXD1 link to TIM0 input capture channel (IC0_3) for baud rate detection -- Internal ACLK link to TIM0 input capture channel -- 3 pin input mux to one TIM0 IC channel -- 2 TIM0 channels to alternative pins3 -- PMF channels to GDU and/or pins A standard port pin has the following minimum features: * Input/output selection * 5V output drive * 5V digital and analog input * Input with selectable pullup or pulldown device Optional features supported on dedicated pins: * Open drain for wired-or connections * Interrupt input with glitch filtering * High current drive strength from VDDX with over-current protection 1. Only available for ZVMC256 2. Only available for ZVML128, ZVML64, ZVML32, and ZVML31 3. Only available for S12ZVMC256, S12ZVML31, S12ZVM32, and S12ZVM16 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 101 Chapter 2 Port Integration Module (S12ZVMPIMV3) * 2.2 Selectable drive strength for high current capable outputs External Signal Description This section lists and describes the signals that do connect off-chip. Table 2-2 to Table 2-8 show all pins with the pins and functions that are controlled by the PIM. Routing options are denoted in parenthesis. NOTE If there is more than one function associated with a pin, the output priority is indicated by the position in the table from top (highest priority) to bottom (lowest priority).Inputs do not arbitrate priority unless noted differently in Table 2-40. ZVML31 BKGD ZVM32/16 - ZVML128/64/32 Pin Name ZVMC256 Port ZVMC128\64 Table 2-2. BKGD Pin Functions and Priorities Pin Function I/O & Priority Description Routing Pin Function Register Bit after Reset MODC(1) I MODC input during RESET -- BKGD I/O S12ZBDC communication -- BKGD 1. Function active when RESET asserted. PE0 ZVM32/16 PE1 ZVML31 E ZVML128/64/32 Pin Name ZVMC128\64 Port ZVMC256 Table 2-3. Port E Pin Functions and Priorities Pin Function I/O & Priority XTAL - PTE[1] I/O EXTAL - PTE[0] I/O Description CPMU OSC signal Routing Pin Function Register Bit after Reset -- GPIO General-purpose -- CPMU OSC signal -- General-purpose -- MC9S12ZVM Family Reference Manual Rev. 2.2 102 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) ZVM32/16 ZVMC128\64 AD PAD15 PDOCLK O DBG profiling clock -- AN0_7 I ADC0 analog input -- Port ZVML31 Pin Name ZVMC256 ZVML128/64/32 Table 2-4. Port AD Pin Functions and Priorities PAD14 PAD13 PAD12 PAD11 PAD10 PAD9 PAD8 Pin Function I/O & Priority(1) Description PTADH[7]/ I/O General-purpose; with interrupt and wakeup KWADH[7] Routing Pin Function Register Bit after Reset -- PDO O DBG profiling data output -- AN0_6 I ADC0 analog input -- PTADH[6]/ I/O General-purpose; with interrupt and wakeup KWADH[6] -- PTURE O PTU reload event -- AN0_5 I ADC0 analog input -- PTADH[5]/ I/O General-purpose; with interrupt and wakeup KWADH[5] AN1_7 I ADC1 analog input PTADH[4]/ I/O General-purpose; with interrupt and wakeup KWADH[4] AN1_6 I ADC1 analog input PTADH[3]/ I/O General-purpose; with interrupt and wakeup KWADH[3] AN1_5 I ADC1 analog input PTADH[2]/ I/O General-purpose; with interrupt and wakeup KWADH[2] AN1_4 I ADC1 analog input PTADH[1]/ I/O General-purpose; with interrupt and wakeup KWADH[1] -- -- -- -- -- -- -- -- -- VRH I ADC0&1 voltage reference high -- AN1_3 I ADC1 analog input -- PTADH[0]/ I/O General-purpose; with interrupt and wakeup KWADH[0] GPIO -- MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 103 ZVML31 PAD7 ZVM32/16 AD ZVMC128\64 Pin Name ZVML128/64/32 Port ZVMC256 Chapter 2 Port Integration Module (S12ZVMPIMV3) PAD6 PAD5 PAD4 PAD3 PAD2 -- AN1_2 I ADC1 analog input -- PTADL[7]/ KWADL[7] I GDU AMP1 inverting input (-) (SS0) I/O SPI0 slave select I ADC1 analog input AN1_1 PTADL[6]/ KWADL[6] AMP1 AN1_0 PTADL[4]/ KWADL[4] AN0_3 PTADL[3]/ KWADL[3] I/O General-purpose; with interrupt and wakeup AMPM1 AN0_4 PAD0 GDU AMP1 non-inverting input (+) Routing Pin Function Register Bit after Reset I Description AMPP1 PTADL[5]/ KWADL[5] PAD1 Pin Function I/O & Priority(1) -- SPI0SSRR -- I/O General-purpose; with interrupt and wakeup -- O GDU AMP1 output -- I ADC1 analog input I/O General-purpose; with interrupt and wakeup I ADC0 analog input I/O General-purpose; with interrupt and wakeup I ADC0 analog input I/O General-purpose; with interrupt and wakeup -- -- -- -- -- -- AMPP0 I GDU AMP0 non-inverting input (+) -- AN0_2 I ADC0 analog input -- PTADL[2]/ I/O General-purpose; with interrupt and wakeup KWADL[2]/ -- AMPM0 I GDU AMP0 inverting input (-) -- AN0_1 I ADC0 analog input -- PTADL[1]/ KWADL[1] I/O General-purpose; with interrupt and wakeup -- AMP0 O GDU AMP0 output -- AN0_0 I ADC0 analog input -- PTADL[0]/ KWADL[0] I/O General-purpose; with interrupt and wakeup GPIO -- 1. Signals in parentheses denote alternative module routing pins. MC9S12ZVM Family Reference Manual Rev. 2.2 104 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) ZVM32/16 PT3 ZVML31 T ZVMC128\64 Pin Name ZVML128/64/32 Port ZVMC256 Table 2-5. Port T Pin Functions and Priorities PT2 PT1 PT0 Pin Function I/O & Priority(1) Description Routing Pin Function Register Bit after Reset (SS0) I/O SPI0 slave select SPI0RR SPI0SSRR PWM1_2 O PMF channel 2 PWM32RR PWMPRR1-0 IOC0_3 I/O TIM0 channel 3 T0IC3RR1-0 PWM0_3 O PWM0 channel 3 -- PTT[3] I/O General-purpose -- (SCK0) I/O SPI0 serial clock SPI0RR (PWM1_5) O PMF channel 5 PWM54RR PWMPRR1-0 (PWM1_0) O PMF channel 0 PWM10RR PWMPRR1-0 IOC0_2 I/O TIM0 channel 2 T0C2RR PWM0_7 O PWM0 channel 7 -- PTT[2] I/O General-purpose -- PTURE O PTU reload event -- (TXD0)(2) O SCI0 transmit S0L0RR2-0 (LPDC0) O LPTXD0 direct control by LP0DR[LP0DR1] S0L0RR2-0 (MOSI0) I/O SPI0 master out/slave in SPI0RR (PWM1_4) O PMF channel 4 PWM54RR PWMPRR1-0 IOC0_1 I/O TIM0 channel 1 T0C1RR T0IC1RR T0IC1RR0 PTT[1] I/O General-purpose -- (RXD0)2 I SCI0 receive S0L0RR2-0 (MISO0) I/O SPI0 master in/slave out SPI0RR (PWM1_3) O PMF channel 3 PWM32RR PWMPRR1-0 IOC0_0 I/O TIM0 channel 0 -- PWM0_5 O PWM0 channel 5 -- PTT[0] I/O General-purpose -- GPIO 1. Signals in parentheses denote alternative module routing pins. 2. Default routing for ZVMC256 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 105 Chapter 2 Port Integration Module (S12ZVMPIMV3) ZVM32/16 PS5 ZVML31 S ZVMC128\64 Pin Name ZVML128/64/32 Port ZVMC256 Table 2-6. Port S Pin Functions and Priorities PS4 PS3 PS2 Description Routing Pin Function Register Bit after Reset PDO O DBG profiling data output -- SS0 I/O SPI0 slave select SPI0RR SPI0SSRR PTS[5]/ KWS[5] PDOCLK SCK0 I/O General-purpose; with interrupt and wakeup -- O DBG profiling clock -- I/O SPI0 serial clock SPI0RR PTS[4]/ KWS[4] I/O General-purpose; with interrupt and wakeup MOSI0 I/O IOC1_1 I/O TIM1 channel 1 -- (CPTXD0) I CANPHY0 transmit input M0C0RR2-0 (TXD1) O SCI1 transmit SCI1RR DBGEEV I DBG external event -- PTS[3]/ KWS[3] I/O General-purpose; with interrupt and wakeup MISO0 I/O SPI0 master out/slave in SPI0 master in/slave out SPI0RR -- SPI0RR IOC1_0 I/O TIM1 channel 0 -- (CPRXD0) O CANPHY0 receive output M0C0RR2-0 (RXD1) I SCI1 receive SCI1RR PTS[2]/ KWS[2] I/O General-purpose; with interrupt and wakeup -- SCK0 I/O SPI0 serial clock SPI0RR PTUT1 O PTU trigger 1 -- (IOC0_2) I/O TIM0 channel 2 T0C2RR (LPTXD0) I LINPHY0/HVPHY0 transmit input S0L0RR2-0 (CPDR1) O CANPHY0 direct control output CP0DR[CPDR1] M0C0RR2-0 TXCAN0(2) O MSCAN0 transmit M0C0RR2-0 TXD1 O SCI1 transmit SCI1RR PTS[1]/ KWS[1] I/O General-purpose; with interrupt and wakeup GPIO -- PS1 Pin Function I/O & Priority(1) -- MC9S12ZVM Family Reference Manual Rev. 2.2 106 Freescale Semiconductor PS0 ZVM32/16 ZVML31 ZVMC128\64 Pin Name ZVML128/64/32 Port ZVMC256 Chapter 2 Port Integration Module (S12ZVMPIMV3) Pin Function I/O & Priority(1) Description Routing Pin Function Register Bit after Reset SS0 I/O SPI0 slave select SPI0RR SPI0SSRR PTUT0 O PTU trigger 0 -- (IOC0_1) I/O TIM0 channel 1 T0C1RR T0IC1RR T0IC1RR0 (LPRXD0) O LINPHY0/HVPHY0 receive output S0L0RR2-0 RXCAN0 I MSCAN0 receive M0C0RR2-0 RXD1 I SCI1 receive SCI1RR 2 PTS[0]/ I/O General-purpose; with interrupt and wakeup KWS[0] 1. Signals in parentheses denote alternative module routing pins. 2. Routing option for ZVMC256 -- MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 107 Chapter 2 Port Integration Module (S12ZVMPIMV3) ZVM32/16 PP2 ZVML31 P ZVMC128\64 Pin Name ZVML128/64/32 Port ZVMC256 Table 2-7. Port P Pin Functions and Priorities PP1 PP0 Pin Function I/O & Priority(1) (PWM1_2) PTP[2]/ KWP[2] O Description PMF channel 2 Routing Pin Function Register Bit after Reset PWM32RR PWMPRR I/O General-purpose; with interrupt and wakeup -- IRQ I Maskable level- or falling edge-sensitive interrupt -- (PWM1_1) O PMF channel 1 PWM10RR PWMPRR PWM0_1 O PWM0 channel 1 -- PTP[1]/ KWP[1] I/O General-purpose; with interrupt and wakeup -- XIRQ I Non-maskable level-sensitive interrupt(2) -- FAULT5 I PMF fault -- ECLK O Free-running clock -- (PWM1_0) O PMF channel 0 with over-current interrupt; high-current capable (20 mA) PWM10RR PWMPRR (PWM1_5) O PMF channel 5 with over-current interrupt; high-current capable (20 mA) PWM54RR PWMPRR PTP[0]/ KWP[0]/ EVDD1 GPIO I/O General-purpose; with interrupt and wakeup Switchable external power supply output with over-current interrupt; high-current capable (20 mA) -- 1. Signals in parentheses denote alternative module routing pins. 2. The interrupt is enabled by clearing the X mask bit in the CPU CCR. The pin is forced to input upon first clearing of the X bit and is held in this state until reset. A stop or wait recovery with the X bit set (refer to S12ZCPU reference manual) is not available. 2.3 ZVM32/16 PL0 ZVML31 L ZVMC128\64 Pin Name ZVML128/64/32 Port ZVMC256 Table 2-8. Port L Pin Functions and Priorities Pin Function I/O & Priority PTIL[0]/ KWL[0] Description Routing Pin Function Register Bit after Reset I General-purpose high-voltage input (HVI); with interrupt and wakeup; optional ADC link -- GPI (HVI) Memory Map and Register Definition This section provides a detailed description of all port integration module registers. MC9S12ZVM Family Reference Manual Rev. 2.2 108 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) Subsection 2.3.1 shows all registers and bits at their related addresses within the global SoC register map. A detailed description of every register bit is given in subsection 2.3.2 to 2.3.4. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 109 Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.1 Register Map Global Address Register Name 0x0200 MODRR0 0x0201 MODRR1 0x0202 MODRR2 0x0203- 0x0207 Reserved 0x0208 ECLKCTL 0x0209 IRQCR 0x020A PIMMISC 0x020B- 0x020C Reserved 0x020D Reserved 0x020E Reserved 0x020F Reserved 0x0210- 0x025F Reserved 0x0260 PTE R Bit 67 0 0 W R W R 4 3 SPI0SSRR SPI0RR SCI1RR M0C0RR2-0(2) W R 5 T0C2RR1-0(4) 0 PWMPRR1-0(3) T0C1RR4 RESERVED 2 1 Bit 0 S0L0RR2-0(1) PWM54RR PWM32RR PWM10RR T0IC3RR1-0 T0IC1RR 4 T0IC1RR0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W R W R W R NECLK IRQE IRQEN 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PTE1 PTE0 OCPE1 W R 0 W R W R W R W R W R W MC9S12ZVM Family Reference Manual Rev. 2.2 110 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) Global Address Register Name 0x0261 Reserved 0x0262 PTIE 0x0263 Reserved 0x0264 DDRE 0x0265 Reserved 0x0266 PERE 0x0267 Reserved 0x0268 PPSE 0x0269- 0x027F Reserved 0x0280 PTADH 0x0281 PTADL 0x0282 PTIADH 0x0283 PTIADL R Bit 67 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PTIE1 PTIE0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 DDRE1 DDRE0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PERE1 PERE0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PPSE1 PPSE0 0 0 0 0 0 0 0 0 PTADH72 PTADH62 PTADH52 PTADH42 PTADH32 PTADH22 PTADH12 PTADH0 PTADL7 PTADL6 PTADL5 PTADL4 PTADL3 PTADL2 PTADL1 PTADL0 W R W R W R W R W R W R W R W R W R W R W R PTIADH72 PTIADH62 PTIADH52 PTIADH42 PTIADH32 PTIADH22 PTIADH12 PTIADH0 W R PTIADL7 PTIADL6 PTIADL5 PTIADL4 PTIADL3 PTIADL2 PTIADL1 PTIADL0 W MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 111 Chapter 2 Port Integration Module (S12ZVMPIMV3) Global Address Register Name 0x0284 DDRADH 0x0285 DDRADL 0x0286 PERADH 0x0287 PERADL 0x0288 PPSADH 0x0289 PPSADL 0x028A- 0x028B Reserved 0x028C PIEADH 0x028D PIEADL 0x028E PIFADH 0x028F PIFADL 0x0290- 0x0297 Reserved 0x0298 DIENADH 0x0299 DIENADL Bit R W R W R W R W R W R W R 67 5 4 3 2 1 Bit 0 DDRADH72 DDRADH62 DDRADH52 DDRADH42 DDRADH32 DDRADH22 DDRADL12 DDRADH0 DDRADL7 DDRADL6 DDRADL5 DDRADL4 DDRADL3 DDRADL2 DDRADL1 DDRADL0 PERADH72 PERADH62 PERADH52 PERADH42 PERADH32 PERADH22 PERADH12 PERADH0 PERADL7 PERADL6 PERADL5 PERADL4 PERADL3 PERADL2 PERADL1 PERADL0 PPSADH72 PPSADH62 PPSADH52 PPSADH42 PPSADH32 PPSADH22 PPSADH12 PPSADH0 PPSADL7 PPSADL6 PPSADL5 PPSADL4 PPSADL3 PPSADL2 PPSADL1 PPSADL0 0 0 0 0 0 0 0 0 W R W R W R W R W R PIEADH72 PIEADH62 PIEADH52 PIEADH42 PIEADH32 PIEADH22 PIEADH12 PIEADH0 PIEADL7 PIEADL6 PIEADL5 PIEADL4 PIEADL3 PIEADL2 PIEADL1 PIEADL0 PIFADH72 PIFADH62 PIFADH52 PIFADH42 PIFADH32 PIFADH22 PIFADH12 PIFADH0 PIFADL7 PIFADL6 PIFADL5 PIFADL4 PIFADL3 PIFADL2 PIFADL1 PIFADL0 0 0 0 0 0 0 0 0 W R W R W DIENADH72 DIENADH62 DIENADH52 DIENADH42 DIENADH32 DIENADH22 DIENADH12 DIENADH0 DIENADL7 DIENADL6 DIENADL5 DIENADL4 DIENADL3 DIENADL2 DIENADL1 DIENADL0 MC9S12ZVM Family Reference Manual Rev. 2.2 112 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) Global Address Register Name 0x029A- 0x02BF Reserved 0x02C0 PTT 0x02C1 PTIT 0x02C2 DDRT 0x02C3 PERT 0x02C4 PPST 0x02C5- 0x02CF Reserved 0x02D0 PTS 0x02D1 PTIS 0x02D2 DDRS 0x02D3 PERS 0x02D4 PPSS 0x02D5 Reserved R Bit 67 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 0 0 0 0 0 PTT3 PTT2 PTT1 PTT0 0 0 0 0 PTIT3 PTIT2 PTIT1 PTIT0 0 0 0 0 DDRT3 DDRT2 DDRT1 DDRT0 0 0 0 0 PERT3 PERT2 PERT1 PERT0 0 0 0 0 PPST3 PPST2 PPST1 PPST0 0 0 0 0 0 0 0 0 0 0 PTS5(5) PTS45 PTS3 PTS2 PTS1 PTS0 0 0 PTIS55 PTIS45 PTIS3 PTIS2 PTIS1 PTIS0 0 0 DDRS55 DDRS45 DDRS3 DDRS2 DDRS1 DDRS0 0 0 PERS55 PERS45 PERS3 PERS2 PERS1 PERS0 0 0 PPSS55 PPSS45 PPSS3 PPSS2 PPSS1 PPSS0 0 0 0 0 0 0 0 0 W R W R W R W R W R W R W R W R W R W R W R W R W MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 113 Chapter 2 Port Integration Module (S12ZVMPIMV3) Global Address Register Name 0x02D6 PIES 0x02D7 PIFS 0x02D8- 0x02DE Reserved 0x02DF WOMS 0x02E0- 0x02EF Reserved 0x02F0 PTP 0x02F1 PTIP 0x02F2 DDRP 0x02F3 PERP 0x02F4 PPSP 0x02F5 Reserved 0x02F6 PIEP 0x02F7 PIFP R Bit 67 5 4 3 2 1 Bit 0 0 0 PIES55 PIES45 PIES3 PIES2 PIES1 PIES0 0 0 PIFS55 PIFS45 PIFS3 PIFS2 PIFS1 PIFS0 0 0 0 0 0 0 0 0 0 0 WOMS55 WOMS45 WOMS3 WOMS2 WOMS1 WOMS0 0 0 0 0 0 0 0 0 0 0 0 0 0 PTP25 PTP1 PTP0 0 0 0 0 0 PTIP25 PTIP1 PTIP0 0 0 0 0 0 DDRP25 DDRP1 DDRP0 0 0 0 0 0 PERP25 PERP1 PERP0 0 0 0 0 0 PPSP25 PPSP1 PPSP0 0 0 0 0 0 0 0 0 0 0 0 0 PIEP25 PIEP1 PIEP0 0 0 0 0 PIFP25 PIFP1 PIFP0 W R W R W R W R W R W R W R W R W R W R W R W R W OCIE1 OCIF1 MC9S12ZVM Family Reference Manual Rev. 2.2 114 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) Global Address Register Name 0x02F8- 0x02FC Reserved 0x02FD RDRP 0x02FE- 0x0330 Reserved 0x0331 PTIL2 0x0332 Reserved 0x0333 PTPSL2 0x0334 PPSL2 0x0335 Reserved 0x0336 PIEL2 0x0337 PIFL2 R Bit 67 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PTIL0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W R W R RDRP0 W R W R W R W R W R PTPSL0 PPSL0 0 W R W R W PIEL0 PIFL0 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 115 Chapter 2 Port Integration Module (S12ZVMPIMV3) Global Address Register Name 0x0338- 0x0339 Reserved 0x033A PTABYPL2 0x033B PTADIRL2 0x033C DIENL2 0x033D PTAENL2 0x033E PIRL2 0x033F PTTEL2 R Bit 67 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W R W R W R W R W R W R W PTABYPL0 PTADIRL0 DIENL0 PTAENL0 PIRL0 PTTEL0 1. Only available for ZVML128, ZVML64, ZVML32, and ZVML31 2. Only available for ZVMC256 3. PWMPRR[1] only writable for ZVMC256 4. Only available for ZVMC256, ZVML31, ZVM32, ZVM16 5. Not available for ZVMC256 2.3.2 PIM Registers 0x0200-0x020F This section details the specific purposes of register implemented in address range 0x0200-0x020F. These registers serve for specific PIM related functions not part of the generic port registers. * If not stated differently, writing to reserved bits has no effect and read returns zero. * All register read accesses are synchronous to internal clocks. * Register bits can be written at any time if not stated differently. MC9S12ZVM Family Reference Manual Rev. 2.2 116 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.2.1 Module Routing Register 0 (MODRR0) Access: User read/write(1) Address 0x0200 7 R 6 4 3 SPI0SSRR SPI0RR SCI1RR 0 0 -- -- SPI0 SS0 SPI0 0 0 0 0 W Reset 5 2 1 S0L0RR2-0(2) SCI1 SCI0-LINPHY0/HVPHY0 0 0 0 (see Figure 2-2) 0 0 Figure 2-1. Module Routing Register 0 (MODRR0) 1. Read: Anytime Write: Once in normal, anytime in special mode 2. Only available for ZVML128, ZVML64, ZVML32, and ZVML31 Table 2-9. MODRR0 Routing Register Field Descriptions Field 5 SPI0SSRR Description Module Routing Register -- SPI0 SS0 routing Note: This bit takes precedence over SPI0RR. 1 SS0 on PAD6 0 SS0 based on SPI0RR 4 SPI0RR Module Routing Register -- SPI0 routing 3 SCI1RR Module Routing Register -- SCI1 routing 2-0 S0L0RR2-0 1 MISO0 on PT0; MOSI0 on PT1; SCK0 on PT2; SS0 on PT3 or on pin selected by SPI0SSRR 0 MISO0 on PS2; MOSI0 on PS3; SCK0 on PS4 (PS1 for S12ZVMC256); SS0 on PS5 (PS0 for S12ZVMC256) or on pin selected by SPI0SSRR 1 TXD1 on PS3; RXD1 on PS2 0 TXD1 on PS1; RXD1 on PS0 Module Routing Register -- SCI0-LINPHY0/HVPHU0 routing Selection of SCI0-LINPHY0/HVPHY0 interface routing options to support probing and conformance testing. Refer to Figure 2-2 for an illustration and Table 2-10 for preferred settings. SCI0 must be enabled for TXD0 routing to take effect on pins. LINPHY0/HVPHY0 must be enabled for LPRXD0 and LPDC0 routings to take effect on pins. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 117 Chapter 2 Port Integration Module (S12ZVMPIMV3) S0L0RR0 S0L0RR1 S0L0RR2 0 1 SCI0 TXD0 PS1 / LPTXD0 LINPHY0/ HVPHY0 1 0 PT1 / TXD0 / LPDC0 0 LPTXD0 1 LPDR1 0 RXD0 LPRXD0 1 0 T0IC3RR1-0 1 01 TIM0 input capture channel 3 LIN 10 RXD1 11 ACLK 00 PT3 PS0 / LPRXD0 PT0 / RXD0 Figure 2-2. SCI0-to-LINPHY0 Routing Options Illustration Table 2-10. Preferred Interface Configurations S0L0RR[2:0] Signal Routing 000 001 Description Default setting: SCI0 connects to LINPHY0/HVPHY0, interface internal only Direct control setting: LP0DR[LPDR1] register bit controls LPTXD0, interface internal only MC9S12ZVM Family Reference Manual Rev. 2.2 118 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) S0L0RR[2:0] Signal Routing 100 Description 110 Probe setting: SCI0 connects to LINPHY0/HVPHY0, interface accessible on 2 external pins Conformance test setting: Interface opened and all 4 signals routed externally NOTE For standalone usage of SCI0 on external pins set [S0L0RR2:S0L0RR0]=0b110 and disable the LINPHY0/HVPHY0 (LPCR[LPE]=0). This releases PS0 and PS1 to other associated functions and maintains TXD0 and RXD0 signals on PT1 and PT0, respectively, if no other function with higher priority takes precedence. 2.3.2.2 Module Routing Register 1 (MODRR1) Access: User read/write(1) Address 0x0201 7 R 5 4 3 2 1 0 M0C0RR2-0(2) PWMPRR1-0(3) PWM54RR PWM32RR PWM10RR MSCAN0-CANPHY0 interface PWM probe PWM1_4 PWM1_5 GDU/pins PWM1_2 PWM1_3 GDU/pins PWM1_0 PWM1_1 GDU/pins 0 0 0 W Reset 6 0 0 0 0 0 Figure 2-3. Module Routing Register 1 (MODRR1) 1. Read: Anytime Write: Once in normal, anytime in special mode 2. Only available for ZVMC256 3. PWMPRR[1] only writable for ZVMC256 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 119 Chapter 2 Port Integration Module (S12ZVMPIMV3) Table 2-11. MODRR1 Routing Register Field Descriptions Field Description 7-5 Module Routing Register -- MSCAN0-CANPHY0 routing M0C0RR2-0 Selection of MSCAN0-CANPHY0 interface routing options to support probing and conformance testing. Refer to Figure 2-4 for an illustration and Table 2-12 for preferred settings. MSCAN0 must be enabled for TXCAN0 routing to take effect on pin. CANPHY0 must be enabled for CPRXD0 and CP0DR[CPDR1] routings to take effect on pins. 4-3 Module Routing Register -- PMF probe PWMPRR1-0 Internal PMF outputs can be probed on related external pins. Probing can be enabled independent of the PWM54RR, PWM32RR, and PWM10RR settings. 11 PMF channels 1, 3, 5 connected to related PWM1_x pins (only available for ZVMC256) 10 PMF channels 0, 2, 4 connected to related PWM1_x pins (only available for ZVMC256) 01 All PMF channels connected to related PWM1_x pins 00 No PMF channels connected to related PWM1_x pins 2 Module Routing Register -- PWM1_4 and PWM1_5 routing PWM54RR The PWM channel pair can be configured for internal use with the GDU or with its related external pins only. If set the signal routing to the pins is established and the related GDU inputs are forced low. 1 PWM1_4 to PT1; PWM1_5 to PT2 (PP0 for S12ZVMC256) 0 PWM1_4 to GDU; PWM1_5 to GDU 1 Module Routing Register -- PWM1_2 and PWM1_3 routing PWM32RR The PWM channel pair can be configured for internal use with the GDU or with its related external pins only. If set the signal routing to the pins is established and the related GDU inputs are forced low. 1 PWM1_2 to PP2 (PT3 for S12ZVMC256); PWM1_3 to PT0 0 PWM1_2 to GDU; PWM1_3 to GDU 0 Module Routing Register -- PWM1_0 and PWM1_1 routing PWM10RR The PWM channel pair can be configured for internal use with the GDU or with its related external pins only. If set the signal routing to the pins is established and the related GDU inputs are forced low. 1 PWM1_0 to PP0 (PT2 for S12ZVMC256); PWM1_1 to PP1 0 PWM1_0 to GDU; PWM1_1 to GDU MC9S12ZVM Family Reference Manual Rev. 2.2 120 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) M0C0RR0 M0C0RR1 M0C0RR2 0 1 TXCAN0/CPDR1 CPTXD0 1 TXCAN 0 0 CPTXD 1 CPDR1 CANPHY0 MSCAN0 CANH SPLIT CANL 0 RXCAN CPRXD 1 0 1 CPRXD0 RXCAN0 Figure 2-4. CAN Routing Options Illustration . Table 2-12. Preferred Interface Configurations M0C0RR[2:0] Description 000 Default setting: MSCAN connects to CANPHY, interface internal only 001 Direct control setting: CP0DR[CPDR1] connects to CPTXD, interface internal only 100 Probe setting: MSCAN connects to CANPHY, interface visible on 2 external pins 110 Conformance test setting: Interface opened and all 4 signals routed externally NOTE For standalone usage of MSCAN0 on external pins set M0C0RR[2:0]=0b110 and disable CANPHY0 (CPCR[CPE]=0). This releases the CANPHY0 associated pins to other shared functions. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 121 Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.2.3 Module Routing Register 2 (MODRR2) Access: User read/write(1) Address 0x0202 7 R W Reset 5 4 T0C2RR1-0(2) T0C1RR2 Reserved IOC0_2 IOC0_1 0 6 0 0 3 0 2 1 0 T0IC3RR1-0 T0IC1RR T0IC1RR02 TIM0 IC3 TIM0 IC1 TIM0 IC1 0 0 0 0 Figure 2-5. Module Routing Register 2 (MODRR2) 1. Read: Anytime Write: Once in normal, anytime in special mode 2. Only available for ZVMC256, ZVML31, ZVM32, and ZVM16 Table 2-13. MODRR2 Routing Register Field Descriptions Field Description 7-6 Module Routing Register -- TIM0 IOC0_2 routing (ZVMC256, ZVML31, ZVM32, and ZVM16 only) T0C2RR1-0 11 reserved 10(1) TIM0 IC0_2 is routed to the HVI, OC0_2 is disconnected from GPIO 01 TIM0 IOC0_2 is routed to PS1 00 TIM0 IOC0_2 is routed to PT2 5 T0C1RR Module Routing Register -- TIM0 IOC0_1 routing (ZVMC256, ZVML31, ZVM32, and ZVM16 only) 4 Reserved Reserved -- This bit must always be set to zero. 1 TIM0 IOC0_1 is routed to PS0 0 TIM0 IOC0_1 is routed to PT1 3-2 Module Routing Register -- TIM0 IC3 routing T0IC3RR1-0 One out of four different sources can be selected as input to timer channel 3. 11 TIM0 input capture channel 3 is connected to ACLK 10 TIM0 input capture channel 3 is connected to RXD1 01 TIM0 input capture channel 3 is connected to RXD0 00 TIM0 input capture channel 3 is connected to PT3 1 T0IC1RR Module Routing Register -- TIM0 IC1 routing Timer input capture channel 1 can be used to determine the asynchronous commutation event in BLDC motor applications with Hall sensors. An integrated XOR gate supports direct connection of the three sensor inputs to the device. Note: This bit takes precedence over T0C1RR. 1 TIM0 input capture channel 1 is connected to logically XORed input signals of pins PT3-1 0 TIM0 input capture channel 1 is connected to PT1 or to pin selected by T0C1RR0 (if available) MC9S12ZVM Family Reference Manual Rev. 2.2 122 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) Table 2-13. MODRR2 Routing Register Field Descriptions Field Description 0 T0IC1RR0 Module Routing Register -- TIM0 IC1 routing option 0 (ZVMC256, ZVML31, ZVM32, and ZVM16 only) Timer input capture channel 1 can be used to determine the asynchronous commutation event in BLDC motor applications with Hall sensors. An integrated XOR gate supports direct connection of the three sensor inputs to the device. Note: This bit takes precedence over T0C1RR and T0IC1RR. 1 TIM0 input capture channel 1 is connected to logically XORed input signals of pins PT0, PS0 and PS1 0 TIM0 input capture channel 1 is connected to pin selected by T0IC1RR 1. Only available for ZVMC256, Reserved forZVML31, ZVM32, and ZVM16 2.3.2.4 ECLK Control Register (ECLKCTL) Access: User read/write(1) Address 0x0208 7 R W Reset: NECLK 1 5 4 3 2 1 0 0 6 0 0 0 0 0 0 0 0 0 0 0 0 0 Figure 2-6. ECLK Control Register (ECLKCTL) 1. Read: Anytime Write: Anytime Table 2-14. ECLKCTL Register Field Descriptions Field 7 NECLK 2.3.2.5 Description No ECLK -- Disable ECLK output This bit controls the availability of a free-running clock on the ECLK pin. This clock has a fixed rate equivalent to the internal bus clock. 1 ECLK disabled 0 ECLK enabled IRQ Control Register (IRQCR) Access: User read/write(1) Address 0x0209 7 R W Reset 6 IRQE IRQEN 0 0 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 Figure 2-7. IRQ Control Register (IRQCR) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 123 Chapter 2 Port Integration Module (S12ZVMPIMV3) 1. Read: Anytime Write: IRQE: Once in normal mode, anytime in special mode IRQEN: Anytime Table 2-15. IRQCR Register Field Descriptions Field 7 IRQE 6 IRQEN 2.3.2.6 Description IRQ select edge sensitive only -- 1 IRQ pin configured to respond only to falling edges. Falling edges on the IRQ pin are detected anytime when IRQE=1 and will be cleared only upon a reset or the servicing of the IRQ interrupt. 0 IRQ configured for low level recognition IRQ enable -- 1 IRQ pin is connected to interrupt logic 0 IRQ pin is disconnected from interrupt logic PIM Miscellaneous Register (PIMMISC) Access: User read/write(1) Address 0x020A 7 R 6 5 4 3 2 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 1. Read: Anytime Write:Anytime 1 OCPE1 0 0 0 0 Figure 2-8. PIM Miscellaneous Register (PIMMISC) Table 2-16. PIM Miscellaneous Register Field Descriptions Field 1 OCPE1 Description Over-Current Protection Enable -- Activate over-current detector on PP0 Refer to Section 2.5.3, "Over-Current Protection on EVDD1" 1 PP0 over-current detector enabled 0 PP0 over-current detector disabled MC9S12ZVM Family Reference Manual Rev. 2.2 124 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.2.7 Reserved Register Access: User read/write(1) Address 0x020D 7 R W Reset 6 5 4 3 2 1 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved x x x x x x x x Figure 2-9. Reserved Register 1. Read: Anytime Write: Only in special mode. This reserved register is designed for factory test purposes only and is not intended for general user access. Writing to this register when in special modes can alter the modules functionality. 2.3.2.8 Reserved Register Access: User read/write(1) Address 0x020E 7 : R W Reset 6 5 4 3 2 1 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved x x x x x x x x 1. Read: Anytime Write: Only in special mode Figure 2-10. Reserved Register This reserved register is designed for factory test purposes only and is not intended for general user access. Writing to this register when in special modes can alter the modules functionality. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 125 Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.2.9 Reserved Register Access: User read/write(1) Address 0x020F 7 R W Reset 6 5 4 3 2 1 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved x x x x x x x x 1. Read: Anytime Write: Only in special mode Figure 2-11. Reserved Register NOTE This reserved register is designed for factory test purposes only and is not intended for general user access. Writing to this register when in special modes can alter the modules functionality. 2.3.3 PIM Generic Registers This section describes the details of all configuration registers. * Writing to reserved bits has no effect and read returns zero. * All register read accesses are synchronous to internal clocks. * All registers can be written at any time, however a specific configuration might not become active. E.g. a pullup device does not become active while the port is used as a push-pull output. * General-purpose data output availability depends on prioritization; input data registers always reflect the pin status independent of the use. * Pull-device availability, pull-device polarity, wired-or mode, key-wake up functionality are independent of the prioritization unless noted differently. * For availability of individual bits refer to Section 2.3.1, "Register Map" and Table 2-39. MC9S12ZVM Family Reference Manual Rev. 2.2 126 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.3.1 Port Data Register Access: User read/write(1) Address 0x0260 PTE 0x0280 PTADH 0x0281 PTADL 0x02C0 PTT 0x02D0 PTS 0x02F0 PTP R W Reset 7 6 5 4 3 2 1 0 PTx7 PTx6 PTx5 PTx4 PTx3 PTx2 PTx1 PTx0 0 0 0 0 0 0 0 0 Figure 2-12. Port Data Register 1. Read: Anytime. The data source is depending on the data direction value. Write: Anytime This is a generic description of the standard port data registers. Refer to Table 2-39 to determine the implemented bits in the respective register. Unimplemented bits read zero. Table 2-17. Port Data Register Field Descriptions Field 7-0 PTx7-0 2.3.3.2 Description Port -- General purpose input/output data This register holds the value driven out to the pin if the pin is used as a general purpose output. When not used with the alternative function (refer to Table 2-7), these pins can be used as general purpose I/O. If the associated data direction bits of these pins are set to 1, a read returns the value of the port register, otherwise the buffered pin input state is read. Port Input Register Access: User read only(1) Address 0x0262 PTIE 0x0282 PTIADH 0x0283 PTIADL 0x02C1 PTIT 0x02D1 PTIS 0x02F1 PTIP R 7 6 5 4 3 2 1 0 PTIx7 PTIx6 PTIx5 PTIx4 PTIx3 PTIx2 PTIx1 PTIx0 - - - - - - - - W Reset 1. Read: Anytime Write:Never Figure 2-13. Port Input Register This is a generic description of the standard port input registers. Refer to Table 2-39 to determine the implemented bits in the respective register. Unimplemented bits read zero. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 127 Chapter 2 Port Integration Module (S12ZVMPIMV3) Table 2-18. Port Input Register Field Descriptions Field 7-0 PTIx7-0 2.3.3.3 Description Port Input -- Data input A read always returns the buffered input state of the associated pin. It can be used to detect overload or short circuit conditions on output pins. Data Direction Register Access: User read/write(1) Address 0x0264 DDRE 0x0284 DDRADH 0x0285 DDRADL 0x02C2 DDRT 0x02D2 DDRS 0x02F2 DDRP 7 R W Reset 6 5 4 3 2 1 0 DDRx7 DDRx6 DDRx5 DDRx4 DDRx3 DDRx2 DDRx1 DDRx0 0 0 0 0 0 0 0 0 1. Read: Anytime Write: Anytime Figure 2-14. Data Direction Register This is a generic description of the standard data direction registers. Refer to Table 2-39 to determine the implemented bits in the respective register. Unimplemented bits read zero. Table 2-19. Data Direction Register Field Descriptions Field 7-0 DDRx7-0 Description Data Direction -- Select general-purpose data direction This bit determines whether the pin is a general-purpose input or output. If a peripheral module controls the pin the content of the data direction register is ignored. Independent of the pin usage with a peripheral module this register determines the source of data when reading the associated data register address. Due to internal synchronization circuits, it can take up to two bus clock cycles until the correct value is read on port data and port input registers, when changing the data direction register. Eqn. 0-1 1 Associated pin is configured as output 0 Associated pin is configured as input MC9S12ZVM Family Reference Manual Rev. 2.2 128 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.3.4 Pull Device Enable Register Access: User read/write(1) Address 0x0266 PERE 0x0286 PERADH 0x0287 PERADL 0x02C3 PERT 0x02D3 PERS 0x02F3 PERP 7 6 5 4 3 2 1 0 PERx7 PERx6 PERx5 PERx4 PERx3 PERx2 PERx1 PERx0 Ports : 0 0 0 0 0 0 1 1 Ports S: 0 0 1(2) 12 1 1 1 1 Others: 0 0 0 0 0 0 0 0 R W Reset E Figure 2-15. Pull Device Enable Register 1. Read: Anytime Write: Anytime 2. Unimplemented (reads zero) for S12ZVMC256 This is a generic description of the standard pull device enable registers. Refer to Table 2-39 to determine the implemented bits in the respective register. Unimplemented bits read zero. Table 2-20. Pull Device Enable Register Field Descriptions Field 7-0 PERx7-0 Description Pull Enable -- Activate pull device on input pin This bit controls whether a pull device on the associated port input or open-drain output pin is active. If a pin is used as push-pull output this bit has no effect. The polarity is selected by the related polarity select register bit. On opendrain output pins only a pullup device can be enabled. 1 Pull device enabled 0 Pull device disabled MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 129 Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.3.5 Polarity Select Register Access: User read/write(1) Address 0x0268 PPSE 0x0288 PPSADH 0x0289 PPSADL 0x02C4 PPST 0x02D4 PPSS 7 R W 6 PPSx7 5 4 3 2 1 0 PPSx6 PPSx5 PPSx4 PPSx3 PPSx2 PPSx1 PPSx0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 Reset Ports : 0 Others: 0 E Figure 2-16. Polarity Select Register 1. Read: Anytime Write: Anytime This is a generic description of the standard polarity select registers. Refer to Table 2-39 to determine the implemented bits in the respective register. Unimplemented bits read zero. Table 2-21. Polarity Select Register Field Descriptions Field 7-0 PPSx7-0 Description Pull Polarity Select -- Configure pull device and pin interrupt edge polarity on input pin This bit selects a pullup or a pulldown device if enabled on the associated port input pin. If a port has interrupt functionality this bit also selects the polarity of the active edge. If MSCAN is active a pullup device can be activated on the RXCAN input; attempting to select a pulldown disables the pull-device. 1 Pulldown device selected; rising edge selected 0 Pullup device selected; falling edge selected 2.3.3.6 Port Interrupt Enable Register Read: Anytime Access: User read/write(1) Address 0x028C PIEADH 0x028D PIEADL 0x02D6 PIES 0x0336 PIEL R W Reset 7 6 PIEx7 0 1. Read: Anytime Write: Anytime 5 4 3 2 1 0 PIEx6 PIEx5 PIEx4 PIEx3 PIEx2 PIEx1 PIEx0 0 0 0 0 0 0 0 Figure 2-17. Port Interrupt Enable Register MC9S12ZVM Family Reference Manual Rev. 2.2 130 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) This is a generic description of the standard port interrupt enable registers. Refer to Table 2-39 to determine the implemented bits in the respective register. Unimplemented bits read zero. Table 2-22. Port Interrupt Enable Register Field Descriptions Field 7-0 PIEx7-0 Description Port Interrupt Enable -- Activate pin interrupt (KWU) This bit enables or disables the edge sensitive pin interrupt on the associated pin. An interrupt can be generated if the pin is operating in input or output mode when in use with the general-purpose or related peripheral function. 1 Interrupt is enabled 0 Interrupt is disabled (interrupt flag masked) 2.3.3.7 Port Interrupt Flag Register Access: User read/write(1) Address 0x028E PIFADH 0x028F PIFADL 0x02D7 PIFS 0x0337 PIFL R W Reset 7 6 5 4 3 2 1 0 PIFx7 PIFx6 PIFx5 PIFx4 PIFx3 PIFx2 PIFx1 PIFx0 0 0 0 0 0 0 0 0 1. Read: Anytime Write: Anytime, write 1 to clear Figure 2-18. Port Interrupt Flag Register This is a generic description of the standard port interrupt flag registers. Refer to Table 2-39 to determine the implemented bits in the respective register. Unimplemented bits read zero. Table 2-23. Port Interrupt Flag Register Field Descriptions Field 7-0 PIFx7-0 Description Port Interrupt Flag -- Signal pin event (KWU) This flag asserts after a valid active edge was detected on the related pin (see Section 2.4.5, "Pin interrupts and KeyWakeup (KWU)"). This can be a rising or a falling edge based on the state of the polarity select register. An interrupt will occur if the associated interrupt enable bit is set. Writing a logic "1" to the corresponding bit field clears the flag. 1 Active edge on the associated bit has occurred 0 No active edge occurred MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 131 Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.3.8 Digital Input Enable Register Access: User read/write(1) Address 0x0298 DIENADH 0x0299 DIENADL 7 R W Reset 6 5 4 3 2 1 0 DIENx7 DIENx6 DIENx5 DIENx4 DIENx3 DIENx2 DIENx1 DIENx0 0 0 0 0 0 0 0 0 Figure 2-19. Digital Input Enable Register 1. Read: Anytime Write: Anytime This is a generic description of the standard digital input enable registers. Refer to Table 2-39 to determine the implemented bits in the respective register. Unimplemented bits read zero. Table 2-24. Digital Input Enable Register Field Descriptions Field Description 7-0 Digital Input Enable -- Input buffer control DIENx7-0 This bit controls the digital input function. If set to 1 the input buffers are enabled and the pin can be used with the digital function. If a peripheral module is enabled which uses the pin with a digital function the input buffer is activated and the register bit is ignored. If the pin is used with an analog function this bit shall be cleared to avoid shoot-through current. 1 Associated pin is configured as digital input 0 Associated pin digital input is disabled 2.3.3.9 Reduced Drive Register Access: User read/write(1) Address 0x02FD RDRP 7 R W Reset 6 5 4 3 2 1 0 RDRx7 RDRx6 RDRx5 RDRx4 RDRx3 RDRx2 RDRx1 RDRx0 0 0 0 0 0 0 0 0 1. Read: Anytime Write: Anytime Figure 2-20. Reduced Drive Register This is a generic description of the standard reduced drive registers. Refer to Table 2-39 to determine the implemented bits in the respective register. Unimplemented bits read zero. MC9S12ZVM Family Reference Manual Rev. 2.2 132 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) Table 2-25. Reduced Drive Register Field Descriptions Field Description 7-0 RDRx7-0 Reduced Drive Register -- Select reduced drive for output pin This bit configures the drive strength of the associated output pin as either full or reduced. If a pin is used as input this bit has no effect. The reduced drive function is independent of which function is being used on a particular pin. 1 Reduced drive selected (approx. 1/10 of the full drive strength) 0 Full drive strength enabled 2.3.3.10 Wired-Or Mode Register Access: User read/write(1) Address 0x02DF WOMS 7 R W Reset 6 5 4 3 2 1 0 WOMx7 WOMx6 WOMx5 WOMx4 WOMx3 WOMx2 WOMx1 WOMx0 0 0 0 0 0 0 0 0 Figure 2-21. Wired-Or Mode Register 1. Read: Anytime Write: Anytime This is a generic description of the standard wired-or registers. Refer to Table 2-39 to determine the implemented bits in the respective register. Unimplemented bits read zero. Table 2-26. Wired-Or Mode Register Field Descriptions Field Description 7-0 Wired-Or Mode -- Enable open-drain output WOMx7-0 This bit configures the output buffer as wired-or. If enabled the output is driven active low only (open-drain) while the active high drive is turned off. This allows a multipoint connection of several serial modules. These bits have no influence on pins used as inputs. 1 Output buffers operate as open-drain outputs 0 Output buffers operate as push-pull outputs 2.3.3.11 PIM Reserved Register Access: User read(1) Address (any reserved) 7 R 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 1. Read: Always reads 0x00 Write: Unimplemented Figure 2-22. PIM Reserved Register MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 133 Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.4 PIM Generic Register Exceptions This section lists registers with deviations from the generic description in one or more register bits. 2.3.4.1 Port P Polarity Select Register (PPSP) Access: User read/write(1) Address 0x02F4 PPSP 7 R 6 5 4 3 0 0 0 0 0 0 0 0 0 0 W Reset 2 1 0 PPSP2 PPS1P PPSP0 0 0 0 Figure 2-23. Port P Polarity Select Register 1. Read: Anytime Write: Anytime Table 2-27. Port P Polarity Select Register Field Descriptions Field Description 2-1 PPSP See Section 2.3.3.5, "Polarity Select Register" 0 PPSP Pull Polarity Select -- Configure pull device and pin interrupt edge polarity on input pin This bit selects a pullup or a pulldown device if enabled on the associated port input pin. This bit also selects the polarity of the active interrupt edge. This bit selects if a high or a low level on FAULT5 generates a fault event in PMF. 1 Pulldown device selected; rising edge selected; active-high level selected on FAULT5 input 0 Pullup device selected; falling edge selected; active-low level selected on FAULT5 input 2.3.4.2 Port P Interrupt Enable Register (PIEP) Read: Anytime Access: User read/write(1) Address 0x02F6 PIEP 7 R W Reset OCIE1 0 1. Read: Anytime Write: Anytime 6 5 4 3 0 0 0 0 0 0 0 0 2 1 0 PIEP2 PIEP1 PIEP0 0 0 0 Figure 2-24. Port P Interrupt Enable Register MC9S12ZVM Family Reference Manual Rev. 2.2 134 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) Table 2-28. Port P Interrupt Enable Register Field Descriptions Field 7 OCIE1 Description Over-Current Interrupt Enable register -- This bit enables or disables the over-current interrupt on PP0. 1 PP0 over-current interrupt enabled 0 PP0 over-current interrupt disabled (interrupt flag masked) 2-0 PIEP2-0 2.3.4.3 See Section 2.3.3.6, "Port Interrupt Enable Register" Port P Interrupt Flag Register (PIFP) Access: User read/write(1) Address 0x02F7 PIFP 7 R W Reset OCIF1 0 6 5 4 3 0 0 0 0 0 0 0 0 1. Read: Anytime Write: Anytime, write 1 to clear 2 1 0 PIFP2 PIFP1 PIFP0 0 0 0 Figure 2-25. Port P Interrupt Flag Register Table 2-29. Port P Interrupt Flag Register Field Descriptions Field 7 OCIF1 Description Over-Current Interrupt Flag register -- This flag asserts if an over-current condition is detected on PP0 (Section 2.4.6, "Over-Current Interrupt"). Writing a logic "1" to the corresponding bit field clears the flag. 1 PP0 Over-current event occurred 0 No PP0 over-current event occurred 2-0 PIFP2-0 See Section 2.3.3.7, "Port Interrupt Flag Register" MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 135 Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.4.4 Port L Input Register (PTIL) Access: User read only(1) Address 0x0331 R 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 PTIL0(2) 0 0 0 0 0 0 0 - W Reset 1. Read: Anytime Write: No Write 2. Only available for S12ZVMC256 Figure 2-26. Port L Input Register (PTIL) Table 2-30. PTIL - Register Field Descriptions Field Description Port Input Data Register Port L -- A read returns the synchronized input state if the associated pin is used in digital mode, that is the related DIENL bit is set to 1 and the pin is not used in analog mode (PTAL[PTAENL]=0). See Section 2.3.4.11, "Port L Input Divider Ratio Selection Register (PIRL)". A one is read in any other case(1). 1. Refer to PTTEL bit description in Section 2.3.4.11, "Port L Input Divider Ratio Selection Register (PIRL) for an override condition. 0 PTIL 2.3.4.5 Port L Pull Select Register (PTPSL) Access: User read/write(1) Address 0x0333 7 R 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 1. Read: Anytime Write: Anytime 2. Only available for S12ZVMC256 0 PTPSL0(2) 0 Figure 2-27. Port L Pull Select Register (PTPSL) Table 2-31. PTPSL Register Field Descriptions Field Description 1-0 PTPSL0 Port L Pull Select -- This bit selects a pull device on the HVI pin in analog mode for open input detection. By default a pulldown device is active as part of the input voltage divider. If this bit set to 1 and PTTEL=1 and not in stop mode a pullup to a level close to VDDX takes effect and overrides the weak pulldown device. Refer to Section 2.5.2, "Open Input Detection on HVI"). 1 Pullup enabled 0 Pulldown enabled MC9S12ZVM Family Reference Manual Rev. 2.2 136 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.4.6 Port L Polarity Select Register (PPSL) Access: User read/write(1) Address 0x0334 PPSL 7 R 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 PPSL0(2) 0 Figure 2-28. Port L Polarity Select Register (PPSL) 1. Read: Anytime Write: Anytime 2. Only available for S12ZVMC256 Table 2-32. PPSL Register Field Descriptions Field 1-0 PPSL0 2.3.4.7 Description Polarity Select -- This bit selects the polarity of the active interrupt edge on the associated HVI pin. 1 Rising edge selected 0 Falling edge selected Port L ADC Bypass Register (PTABYPL) Access: User read/write(1) Address 0x033A 7 R 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 PTABYPL0(2) 0 Figure 2-29. Port L ADC Bypass Register (PTABYPL) 1. Read: Anytime Write: Anytime 2. Only available for S12ZVMC256 Table 2-33. PTABYPL Register Field Descriptions Field Description 1-0 Port L ADC Connection Bypass -- PTABYPL0 This bit bypasses and powers down the impedance converter stage in the signal path from the analog input pin to the ADC channel input. This bit takes effect only if using direct input connection to the ADC channel (PTADIRL=1). 1 Impedance converter bypassed 0 Impedance converter used MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 137 Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.4.8 Port L ADC Direct Register (PTADIRL) Access: User read/write(1) Address 0x033B 7 R 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 PTADIRL0(2) 0 Figure 2-30. Port L ADC Direct Register (PTADIRL) 1. Read: Anytime Write: Anytime 2. Only available for S12ZVMC256 Table 2-34. PTADIRL Register Field Descriptions Field Description 1-0 Port L ADC Direct Connection -- PTADIRL0 This bit connects the analog input signal directly to the ADC channel bypassing the voltage divider. This bit takes effect only in analog mode (PTAENL=1). 1 Input pin directly connected to ADC channel 0 Input voltage divider active on analog input to ADC channel 2.3.4.9 Port L Digital Input Enable Register (DIENL) Access: User read/write(1) Address 0x33C 7 R 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 DIENL0(2) 0 Figure 2-31. Port L Digital Input Enable Register (DIENL) 1. Read: Anytime Write: Anytime 2. Only available for S12ZVMC256 Table 2-35. DIENL Register Field Descriptions Field Description Digital Input Enable Port L -- Input buffer control This bit controls the HVI digital input function. If set to 1 the input buffers are enabled and the pin can be used with the digital function. If the analog input function is enabled (PTAL[PTAENL]=1) the input buffer of the selected HVI pin is forced off(1) in run mode and is released to be active in stop mode only if DIENL=1. 1 Associated pin digital input is enabled if not used as analog input in run mode1 0 Associated pin digital input is disabled1 1. Refer to PTTEL bit description in Section 2.3.4.11, "Port L Input Divider Ratio Selection Register (PIRL) for an override condition. 0 DIENL MC9S12ZVM Family Reference Manual Rev. 2.2 138 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.4.10 Port L ADC Connection Enable Register (PTAENL) Access: User read/write(1) Address 0x033D 7 R 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 PTAENL0(2) 0 Figure 2-32. Port L ADC Connection Enable Register (PTAENL) 1. Read: Anytime Write: Anytime 2. Only available for S12ZVMC256 Table 2-36. PTAENL Register Field Descriptions Field Description 1-0 PTAENL0 Port L ADC Connection Enable -- This bit enables the analog signal link to an ADC channel. If set to 1 the analog input function takes precedence over the digital input in run mode by forcing off the input buffer if not overridden by PTTEL=1. Note: When enabling the resistor paths to ground by setting PTAENL=1, a delay of tUNC_HVI + two bus cycles must be accounted for. 1 ADC connection enabled 0 ADC connection disabled 2.3.4.11 Port L Input Divider Ratio Selection Register (PIRL) Access: User read/write(1) Address 0x033E R 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 PIRL0(2) 0 Figure 2-33. Port L Input Divider Ratio Selection Register (PIRL) 1. Read: Anytime Write: Anytime 2. Only available for S12ZVMC256 Table 2-37. PIRL Register Field Descriptions Field 1-0 PIRL0 Description Port L Input Divider Ratio Select -- This bit selects one of two voltage divider ratios for the associated HVI pin in analog mode. 1 RatioL_HVI selected 0 RatioH_HVI selected MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 139 Chapter 2 Port Integration Module (S12ZVMPIMV3) 2.3.4.12 Port L Test Enable Register (PTTEL)Port L Input Divider Ratio Selection Access: User read/write(1) Address 0x033F 7 R 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PTTEL0(2) W Reset 1. Read: Anytime Write: Anytime 2. Only available for S12ZVMC256 0 Figure 2-34. Port L Test Enable Register (PTTEL) Table 2-38. PTTEL Register Field Descriptions Field Description 1-0 PTTEL0 Port L Test Enable -- This bit forces the input buffer of the HVI pin active while using the analog function to support open input detection in run mode. Refer to Section 2.5.2, "Open Input Detection on HVI"). In stop mode this bit has no effect. Note: In direct mode (PTADIRL=1) the digital input buffer is not enabled. 1 Input buffer enabled when used with analog function and not in direct mode (PTADIRL=0) 0 Input buffer disabled when used with analog function 2.4 2.4.1 Functional Description General Each pin except BKGD can act as general-purpose I/O. In addition each pin can act as an output or input of a peripheral module. 2.4.2 Registers Table 2-39 lists the implemented configuration bits which are available on each port. These registers except the pin input registers can be written at any time, however a specific configuration might not become active. For example a pullup device does not become active while the port is used as a push-pull output. Unimplemented bits read zero. Table 2-39. Bit Indices of Implemented Register Bits per Port Port Data Register Port Input Register Data Direction Register Pull Device Enable Register Polarity Select Register Port Interrupt Enable Register Port Interrupt Flag Register Digital Input Enable Register Port PT PTI DDR PER PPS PIE PIF DIE RDR WOM E 1-0 1-0 1-0 1-0 1-0 - - - - - Reduced Wired-Or Drive Mode Register Register MC9S12ZVM Family Reference Manual Rev. 2.2 140 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) Table 2-39. Bit Indices of Implemented Register Bits per Port Port Data Register Port Input Register Data Direction Register Pull Device Enable Register Polarity Select Register Port Interrupt Enable Register Port Interrupt Flag Register Digital Input Enable Register 0(1) 01 01 01 01 01 01 01 - - ADL 7-0 7-0 7-0 7-0 7-0 7-0 7-0 7-0 - - T 3-0 3-0 3-0 3-0 3-0 - - - - - S 5-0(2) 2 5-0 2 5-0 2 5-0 2 5-0 2 - - 5-02 P (3) 2-0 2-0 3 2-0 3 2-0 3 2-0 3 - 0 - 0 - 0 - - ADH 2-0 L(4) 5-0 - 3 - 0 5-0 2 2-0 3 0 0 Reduced Wired-Or Drive Mode Register Register 1. 7-0 for ZVMC256 2. 3-0 for ZVMC256 3. 1-0 for ZVMC256 4. Only available for ZVMC256 Table 2-40 shows the effect of enabled peripheral features on I/O state and enabled pull devices. Table 2-40. Effect of Enabled Features Enabled Feature(1) CPMU OSC Effect on I/O state Related Signal(s) CPMU takes control Forced off TIM0 output compare IOC0_x Forced output Forced off TIM0 input capture None(2) None(3) TIM1 output compare IOC1_x Forced output Forced off TIM1 input capture IOC1_x None(4) None(5) SPI0 MISO0, MOSI0, SCK0, SS0 Controlled input/output Forced off if output SCIx transmitter TXDx Forced output Forced off SCIx receiver RXDx Forced input None3 MSCAN0 TXCAN0 Forced output Forced off RXCAN0 Forced input Pulldown forced off PDO, PDOCLK Forced output Forced off DBGEEV None2 None3 PTU PTURE, PTUT1-0 Forced output Forced off PWM channel PWMx_x Forced output Forced off PMF fault input FAULT5 Forced input None3 S12ZDBG EXTAL, XTAL Effect on enabled pull device IOC0_x MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 141 Chapter 2 Port Integration Module (S12ZVMPIMV3) Table 2-40. Effect of Enabled Features Enabled Feature(1) ADCx Effect on I/O state Related Signal(s) ANx_y Effect on enabled pull device None2 (6) None3 VRH, VRL AMPx AMPx, AMPPx, AMPMx None2 6 None3 IRQ IRQ Forced input None3 XIRQ XIRQ Forced input None3 LINPHY0/ HVPHY0 LPTXD0 Forced input None3 LPRXD0 Forced output Forced off 1. If applicable the appropriate routing configuration must be set for the signals to take effect on the pins. 2. DDR maintains control 3. PER/PPS maintain control 4. DDR maintains control 5. PER/PPS maintain control 6. To use the digital input function the related bit in Digital Input Enable Register (DIENADx) must be set to logic level "1". 2.4.3 Pin I/O Control Figure 2-35 illustrates the data paths to and from an I/O pin. Input and output data can always be read via the input register (PTIx, Section 2.3.3.2, "Port Input Register") independent if the pin is used as generalpurpose I/O or with a shared peripheral function. If the pin is configured as input (DDRx=0, Section 2.3.3.3, "Data Direction Register"), the pin state can also be read through the data register (PTx, Section 2.3.3.1, "Port Data Register"). The general-purpose data direction configuration can be overruled by an enabled peripheral function shared on the same pin (Table 2-40). If more than one peripheral function is available and enabled at the same time, the highest ranked module according the predefined priority scheme in Table 2-7 will take precedence on the pin. MC9S12ZVM Family Reference Manual Rev. 2.2 142 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) PTIx synch. 0 1 PTx PIN 0 1 DDRx data out Periph. Module 0 1 output enable port enable data in Figure 2-35. Illustration of I/O pin functionality 2.4.4 Interrupts This section describes the interrupts generated by the PIM and their individual sources. Vector addresses and interrupt priorities are defined at MCU level. Table 2-41. PIM Interrupt Sources Module Interrupt Sources 2.4.4.1 Local Enable XIRQ None IRQ IRQCR[IRQEN] Port AD pin interrupt PIEADH[PIEADH7-PIEADH0] PIEADL[PIEADL7-PIEADL0] Port S pin interrupt PIES[PIES5-PIES0] Port P pin interrupt PIEP[PIEP2-PIEP0] Port L pin interrupt PIEL[PIEL0] PP0 over-current interrupt PIEP[OCIE1] XIRQ, IRQ Interrupts The XIRQ pin allows requesting non-maskable interrupts after reset initialization. During reset, the X bit in the condition code register is set and any interrupts are masked until software enables them. The IRQ pin allows requesting asynchronous interrupts. The interrupt input is disabled out of reset. To enable the interrupt the IRQCR[IRQEN] bit must be set and the I bit cleared in the condition code register. The interrupt can be configured for level-sensitive or falling-edge-sensitive triggering. If IRQCR[IRQEN] is cleared while an interrupt is pending, the request will deassert. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 143 Chapter 2 Port Integration Module (S12ZVMPIMV3) Both interrupts are capable to wake-up the device from stop mode. Means for glitch filtering are not provided on these pins. 2.4.5 Pin interrupts and Key-Wakeup (KWU) Ports AD, S, P and L offer pin interrupt and key-wakeup capability. The related interrupt enable (PIE) as well as the sensitivity to rising or falling edges (PPS) can be individually configured on per-pin basis. All bits/pins in a port share the same interrupt vector. Interrupts can be used with the pins configured as inputs or outputs. An interrupt is generated when a bit in the port interrupt flag (PIF) and its corresponding port interrupt enable (PIE) are both set. The pin interrupt feature is also capable to wake up the CPU when it is in stop or wait mode (key-wakeup). A digital filter on each pin prevents short pulses from generating an interrupt. A valid edge on an input is detected if 4 consecutive samples of a passive level are followed by 4 consecutive samples of an active level. Else the sampling logic is restarted. In run and wait mode the filters are continuously clocked by the bus clock. Pulses with a duration of tPULSE < nP_MASK/fbus are assuredly filtered out while pulses with a duration of tPULSE > nP_PASS/fbus guarantee a pin interrupt. In stop mode the filter clock is generated by an RC-oscillator. The minimum pulse length varies over process conditions, temperature and voltage (Figure 2-36). Pulses with a duration of tPULSE < tP_MASK are assuredly filtered out while pulses with a duration of tPULSE > tP_PASS guarantee a wakeup event. Please refer to the appendix table "Pin Timing Characteristics" for pulse length limits. To maximize current saving the RC oscillator is active only if the following condition is true on any individual pin: individual pin: Sample count <= 4 (at active or passive level) and interrupt enabled (PIE[x]=1) and interrupt flag not set (PIF[x]=0). MC9S12ZVM Family Reference Manual Rev. 2.2 144 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) Glitch, filtered out, no interrupt flag set uncertain Valid pulse, interrupt flag set tP_MASK tP_PASS Figure 2-36. Interrupt Glitch Filter (here: active low level selected) 2.4.6 Over-Current Interrupt In case of an over-current condition on PP0 (see Section 2.5.2, "Open Input Detection on HVI") the overcurrent interrupt flag PIFP[OCIF1] asserts. This flag generates an interrupt if the enable bit PIEP[OCIE1] is set. An asserted flag immediately forces the output pin low to protect the device. The flag must be cleared to re-enable the driver. 2.4.7 High-Voltage Input A high-voltage input (HVI) on port L has the following features: * Input voltage proof up to VHVI * Digital input function with pin interrupt and wakeup from stop capability * Analog input function with selectable divider ratio routable to ADC channel. Optional direct input bypassing voltage divider and impedance converter. Capable to wakeup from stop (pin interrupts in run mode not available). Open input detection. Figure 2-37 shows a block diagram of the HVI. NOTE The term stop mode (STOP) is limited to voltage regulator operating in reduced performance mode (RPM). Refer to "Low Power Modes" section in device overview. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 145 Chapter 2 Port Integration Module (S12ZVMPIMV3) VHVI REXT_HVI 10K PL (HVI) 40K Input Buffer PTIL (DIENL & (PTAENL | STOP)) | (PTAENL & PTADIRL & PTTEL & STOP) 500K PTAENL & STOP & PTADIRL PTAENL & PTTEL & PTPSL & STOP VDDX PTAENL & STOP & PTADIRL Impedance Converter ADC PTAENL & STOP & PTADIRL 110K PIRL PTAENL & PTADIRL & PTABYPL 440K Figure 2-37. HVI Block Diagram Voltages up to VHVI can be applied to the HVI pin. Internal voltage dividers scale the input signals down to logic level. There are two modes, digital and analog, where these signals can be processed. 2.4.7.1 Digital Mode Operation In digital mode (PTAENL=0) the input buffer is enabled if DIENL=1. The synchronized pin input state determined at threshold level VTH_HVI can be read in register PTIL. Interrupt flag (PIFL) is set on input transitions if enabled (PIEL=1) and configured for the related edge polarity (PPSL). Wakeup from stop mode is supported. 2.4.7.2 Analog Mode Operation In analog mode (PTAENL=1) the input buffer is forced off and the voltage applied to a selectable HVI pin can be measured on its related internal ADC channel(refer to device overview section for channel assignment). One of two input divider ratios (RatioH_HVI, RatioL_HVI) can be chosen (PIRL) on the analog MC9S12ZVM Family Reference Manual Rev. 2.2 146 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) input or the voltage divider can be bypassed (PTADIRL=1). Additionally in latter case the impedance converter in the ADC signal path can be used or bypassed in direct input mode (PTABYPL). Out of reset the digital input buffer of the selected pin is disabled to avoid shoot-through current. Thus pin interrupts can only be generated if DIENL=1. In stop mode (RPM) the digital input buffer is enabled only if DIENL=1 to support wakeup functionality. Table 2-42 shows the HVI input configuration depending on register bits and operation mode. Table 2-42. HVI Input Configurations Mode Run Stop(2) DIENL PTAENL Digital Input Analog Input 0 0 off off 0 1 off1 enabled 1 0 enabled off 1 1 off(1) enabled 0 X off off Resulting Function Input disabled (Reset) Analog input, interrupt not supported Digital input, interrupt supported Analog input, interrupt not supported Input disabled, wakeup from stop not supported 1 X enabled off Digital input, wakeup from stop supported 1. Enabled if PTTEL=1 & PTADIRL=0) 2. The term "stop mode" is limited to voltage regulator operating in reduced performance mode (RPM; refer to "Low Power Modes" section in device overview). In any other case the HVI input configuration defaults to "run mode". Therefore set PTAENL=0 before entering stop mode in order to generally support wakeup from stop. NOTE An external resistor REXT_HVI must always be connected to the highvoltage input to protect the device pins from fast transients and to achieve the specified pin input divider ratios when using the HVI in analog mode. 2.5 2.5.1 Initialization and Application Information Port Data and Data Direction Register writes It is not recommended to write PORTx/PTx and DDRx in a word access. When changing the register pins from inputs to outputs, the data may have extra transitions during the write access. Initialize the port data register before enabling the outputs. 2.5.2 Open Input Detection on HVI The connection of an external pull device on a high-voltage input can be validated by using the built-in pull functionality of the HVI. Depending on the application type an external pull-down circuit can be detected with the internal pull-up device whereas an external pull-up circuit can be detected with the internal pull-down device which is part of the input voltage divider. Note that the following procedures make use of a function that overrides the automatic disable mechanism of the digital input buffer when using the HVI in analog mode. Make sure to switch off the override function when using the HVI in analog mode after the check has been completed. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 147 Chapter 2 Port Integration Module (S12ZVMPIMV3) External pulldown device (Figure 2-38): 1. Enable analog function on HVI in non-direct mode (PTAL[PTAENL]=1, PTAL[PTADIRL]=0) 2. Select internal pullup device on HVI (PTAL[PTPSL]=1) 3. Enable function to force input buffer active on HVI in analog mode (PTAL[PTTEL]=1) 4. Verify PTIL=0 for a connected external pulldown device; read PTIL=1 for an open input VDDX 500K min. 1/10 * VDDX 110K / 550K PIRL=0 / PIRL=1 Digital in 40K HVI 10K HV Supply Figure 2-38. Digital Input Read with Pullup Enabled External pullup device (Figure 2-39): 1. Enable analog function on HVI in non-direct mode (PTAL[PTAENL]=1, PTAL[PTADIRL]=0) 2. Select internal pulldown device on HVI (PTAL[PTPSL]=0) 3. Enable function to force input buffer active on HVI in analog mode (PTAL[PTTEL]=1) 4. Verify PTIL=1 for a connected external pullup device; read PTIL=0 for an open input MC9S12ZVM Family Reference Manual Rev. 2.2 148 Freescale Semiconductor Chapter 2 Port Integration Module (S12ZVMPIMV3) HV Supply 10K HVI 40K max. 10/11 * VHVI (PIRL=0) max. 21/22 * VHVI (PIRL=1) Digital in 610K / 1050K PIRL=0 / PIRL=1 Figure 2-39. Digital Input Read with Pulldown Enabled 2.5.3 Over-Current Protection on EVDD1 Pin PP0 can be used as general-purpose I/O or due to its increased current capability in output mode as a switchable external power supply pin (EVDD1) for external devices like Hall sensors. EVDD1 is supplied by the digital pad supply VDDX. An over-current monitor is implemented to protect the controller from short circuits or excess currents on the output which can only arise if the pin is configured for full drive. Although the full drive current is available on the high and low side, the protection is only available on the high side with a current direction from EVDD1 to VSSX. There is also no protection to voltages higher than VDDX. To enable the over-current monitor set the related OCPE1 bit in register PIMMISC. In stop mode the over-current monitor is disabled for power saving. The increased current capability cannot be maintained to supply the external device. Therefore when using the pin as power supply the external load must be powered down prior to entering stop mode by driving the output low. An over-current condition is detected if the output current level exceeds the threshold IOCD in run mode. The output driver is immediately forced low and the over-current interrupt flag OCIFx asserts. Refer to Section 2.4.6, "Over-Current Interrupt". MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 149 Chapter 2 Port Integration Module (S12ZVMPIMV3) MC9S12ZVM Family Reference Manual Rev. 2.2 150 Freescale Semiconductor Chapter 3 Memory Mapping Control (S12ZMMCV1) Table 3-1. Revision History Revision Number Revision Date V01.03 27 Jul 2012 Corrected Table 3-9 V01.04 27 Jul 2012 Added feature tags V01.05 6 Aug 2012 Fixed wording V01.06 12 Feb 2013 3.1 Sections Affected Figure 3-8 3.3.2.2/3-156 Description of Changes * Changed "KByte:to "KB" * Corrected the description of the MMCECH/L register * Introduction The S12ZMMC module controls the access to all internal memories and peripherals for the S12ZCPU, and the S12ZBDC module. It also provides access to the RAM for ADCs and the PTU module. The S12ZMMC determines the address mapping of the on-chip resources, regulates access priorities and enforces memory protection. Figure 3-1 shows a block diagram of the S12ZMMC module. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 151 Chapter 3 Memory Mapping Control (S12ZMMCV1) 3.1.1 Glossary Table 3-2. Glossary Of Terms Term Definition MCU Microcontroller Unit CPU S12Z Central Processing Unit BDC S12Z Background Debug Controller ADC Analog-to-Digital Converter PTU Programmable Trigger Unit unmapped address range Address space that is not assigned to a memory reserved address Address space that is reserved for future use cases range illegal access access violation 3.1.2 Memory access, that is not supported or prohibited by the S12ZMMC, e.g. a data store to NVM Either an illegal access or an uncorrectable ECC error byte 8-bit data word 16-bit data Overview The S12ZMMC provides access to on-chip memories and peripherals for the S12ZCPU, the S12ZBDC, the PTU, and the ADC. It arbitrates memory accesses and determines all of the MCU memory maps. Furthermore, the S12ZMMC is responsible for selecting the MCUs functional mode. 3.1.3 * * * Features S12ZMMC mode operation control Memory mapping for S12ZCPU and S12ZBDC, PTU and ADCs -- Maps peripherals and memories into a 16 MByte address space for the S12ZCPU, the S12ZBDC, the PTU, and the ADCs -- Handles simultaneous accesses to different on-chip resources (NVM, RAM, and peripherals) Access violation detection and logging -- Triggers S12ZCPU machine exceptions upon detection of illegal memory accesses and uncorrectable ECC errors -- Logs the state of the S12ZCPU and the cause of the access error MC9S12ZVM Family Reference Manual Rev. 2.2 152 Freescale Semiconductor Chapter 3 Memory Mapping Control (S12ZMMCV1) 3.1.4 Modes of Operation 3.1.4.1 Chip configuration modes The S12ZMMC determines the chip configuration mode of the device. It captures the state of the MODC pin at reset and provides the ability to switch from special-single chip mode to normal single chip-mode. 3.1.4.2 Power modes The S12ZMMC module is only active in run and wait mode.There is no bus activity in stop mode. 3.1.5 Block Diagram e Run Mode Controller S12ZCPU S12ZBDC ADCs, PTU Memory Protection Register Block Crossbar Switch Program Flash EEPROM RAM Peripherals Figure 3-1. S12ZMMC Block Diagram 3.2 External Signal Description The S12ZMMC uses two external pins to determine the devices operating mode: RESET and MODC (Table 3-3) See device overview for the mapping of these signals to device pins. Table 3-3. External System Pins Associated With S12ZMMC Pin Name Description RESET External reset signal. The RESET signal is active low. MODC This input is captured in bit MODC of the MODE register when the external RESET pin deasserts. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 153 Chapter 3 Memory Mapping Control (S12ZMMCV1) 3.3 3.3.1 Memory Map and Register Definition Memory Map A summary of the registers associated with the MMC block is shown in Figure 3-2. Detailed descriptions of the registers and bits are given in the subsections that follow. Address Name 0x0070 MODE Bit 7 R W 0x00710x007F Reserved 0x0080 MMCECH R MODC 0 6 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W R ITR[3:0] TGT[3:0] ACC[3:0] ERR[3:0] W 0x0081 MMCECL R W 0x0082 MMCCCRH R CPUU 0 0 0 0 0 0 0 0 CPUX 0 CPUI 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W 0x0083 MMCCCRL R W 0x0084 Reserved R W 0x0085 MMCPCH R CPUPC[23:16] W 0x0086 MMCPCM R CPUPC[15:8] W 0x0087 MMCPCL R CPUPC[7:0] W 0x00880x00FF Reserved R 0 0 0 0 W = Unimplemented or Reserved Figure 3-2. S12ZMMC Register Summary 3.3.2 Register Descriptions This section consists of the S12ZMMC control and status register descriptions in address order. MC9S12ZVM Family Reference Manual Rev. 2.2 154 Freescale Semiconductor Chapter 3 Memory Mapping Control (S12ZMMCV1) 3.3.2.1 Mode Register (MODE) Address: 0x0070 7 R W Reset 6 MODC MODC1 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1. External signal (see Table 3-3). = Unimplemented or Reserved Figure 3-3. Mode Register (MODE) Read: Anytime. Write: Only if a transition is allowed (see Figure 3-4). The MODE register determines the operating mode of the MCU. CAUTION Table 3-4. MODE Field Descriptions Field Description 7 MODC Mode Select Bit -- This bit determines the current operating mode of the MCU. Its reset value is captured from the MODC pin at the rising edge of the RESET pin. Figure 3-4 illustrates the only valid mode transition from special single-chip mode to normal single chip mode. Reset with MODC pin = 1 Reset with MODC pin = 0 Normal Single-Chip Mode (NS) Special Single-Chip Mode (SS) write access to MODE: 1 MODC bit Figure 3-4. Mode Transition Diagram MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 155 Chapter 3 Memory Mapping Control (S12ZMMCV1) 3.3.2.2 Error Code Register (MMCECH, MMCECL) Address: 0x0080 (MMCECH) 7 6 R 4 3 2 ITR[3:0] W Reset 5 0 0 1 0 TGT[3:0] 0 0 0 0 0 0 5 4 3 2 1 0 0 0 Address: 0x0081 (MMCECL) 7 6 R ACC[3:0] W Reset 0 0 ERR[3:0] 0 0 0 0 Figure 3-5. Error Code Register (MMCEC) Read: Anytime Write: Write of 0xFFFF to MMCECH:MMCECL resets both registers to 0x0000 Table 3-5. MMCECH and MMCECL Field Descriptions Field Description 7-4 (MMCECH) ITR[3:0] Initiator Field -- The ITR[3:0] bits capture the initiator which caused the access violation. The initiator is captured in form of a 4 bit value which is assigned as follows: 0:none (no error condition detected) 1:S12ZCPU 2:reserved 3:ADC0 4:ADC1 5:PTU 6-15: reserved 3-0 (MMCECH) TGT[3:0] Target Field -- The TGT[3:0] bits capture the target of the faulty access. The target is captured in form of a 4 bit value which is assigned as follows: 0:none 1:register space 2:RAM 3:EEPROM 4:program flash 5:IFR 6-15: reserved MC9S12ZVM Family Reference Manual Rev. 2.2 156 Freescale Semiconductor Chapter 3 Memory Mapping Control (S12ZMMCV1) Field Description 7-4 (MMCECL) ACC[3:0] Access Type Field -- The ACC[3:0] bits capture the type of memory access, which caused the access violation. The access type is captured in form of a 4 bit value which is assigned as follows: 0:none (no error condition detected) 1:opcode fetch 2:vector fetch 3:data load 4:data store 5-15: reserved 3-0 (MMCECL) ERR[3:0] Error Type Field -- The EC[3:0] bits capture the type of the access violation. The type is captured in form of a 4 bit value which is assigned as follows: 0:none (no error condition detected) 1:access to an illegal access 2:uncorrectable ECC error 3-15:reserved The MMCEC register captures debug information about access violations. It is set to a non-zero value if a S12ZCPU access violation or an uncorrectable ECC error has occurred. At the same time this register is set to a non-zero value, access information is captured in the MMCPCn and MMCCCRn registers. The MMCECn, the MMCPCn and the MMCCCRn registers are not updated if the MMCECn registers contain a non-zero value. The MMCECn registers are cleared by writing the value 0xFFFF. 3.3.2.3 Captured S12ZCPU Condition Code Register (MMCCCRH, MMCCCRL) Address: 0x0082 (MMCCCRH) 7 R 5 4 3 2 1 0 CPUU 0 6 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset Address: 0x0083 (MMCCCRL) 7 R 6 5 4 3 2 1 0 0 CPUX 0 CPUI 0 0 0 0 0 0 0 0 0 0 0 0 W Reset Figure 3-6. Captured S12ZCPU Condition Code Register (MMCCCRH, MMCCCRL) Read: Anytime Write: Never MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 157 Chapter 3 Memory Mapping Control (S12ZMMCV1) Table 3-6. MMCCCRH and MMCCCRL Field Descriptions Field Description 7 (MMCCCRH) CPUU S12ZCPU User State Flag -- This bit shows the state of the user/supervisor mode bit in the S12ZCPU's CCR at the time the access violation has occurred. The S12ZCPU user state flag is read-only; it will be automatically updated when the next error condition is flagged through the MMCEC register. This bit is undefined if the error code registers (MMCECn) are cleared. 6 (MMCCCRL) CPUX S12ZCPU X-Interrupt Mask-- This bit shows the state of the X-interrupt mask in the S12ZCPU's CCR at the time the access violation has occurred. The S12ZCPU X-interrupt mask is read-only; it will be automatically updated when the next error condition is flagged through the MMCEC register. This bit is undefined if the error code registers (MMCECn) are cleared. 4 (MMCCCRL) CPUI S12ZCPU I-Interrupt Mask-- This bit shows the state of the I-interrupt mask in the CPU's CCR at the time the access violation has occurred. The S12ZCPU I-interrupt mask is read-only; it will be automatically updated when the next error condition is flagged through the MMCEC register. This bit is undefined if the error code registers (MMCECn) are cleared. 3.3.2.4 Captured S12ZCPU Program Counter (MMCPCH, MMCPCM, MMCPCL) Address: 0x0085 (MMCPCH) 7 6 5 R 4 3 2 1 0 CPUPC[23:16] W Reset 0 0 0 0 0 0 0 0 5 4 3 2 1 0 0 0 0 0 3 2 1 0 0 0 0 0 Address: 0x0086 (MMCPCM) 7 6 R CPUPC[15:8] W Reset 0 0 0 0 5 4 Address: 0x0087 (MMCPCL) 7 6 R CPUPC[7:0] W Reset 0 0 0 0 Figure 3-7. Captured S12ZCPU Program Counter (MMCPCH, MMCPCM, MMCPCL) Read: Anytime Write: Never MC9S12ZVM Family Reference Manual Rev. 2.2 158 Freescale Semiconductor Chapter 3 Memory Mapping Control (S12ZMMCV1) Table 3-7. MMCPCH, MMCPCM, and MMCPCL Field Descriptions Field Description 7-0 (MMCPCH) 7-0 (MMCPCM) 7-0 (MMCPCL) CPUPC[23:0] S12ZCPU Program Counter Value-- The CPUPC[23:0] stores the CPU's program counter value at the time the access violation occurred. CPUPC[23:0] always points to the instruction which triggered the violation. These bits are undefined if the error code registers (MMCECn) are cleared. 3.4 Functional Description This section provides a complete functional description of the S12ZMMC module. 3.4.1 Global Memory Map The S12ZMMC maps all on-chip resources into an 16MB address space, the global memory map. The exact resource mapping is shown in Figure 3-8. The global address space is used by the S12ZCPU, ADCs, PTU, and the S12ZBDC module. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 159 Chapter 3 Memory Mapping Control (S12ZMMCV1) Register Space 4 KB 0x00_0000 0x00_1000 RAM max. 1 MByte - 4 KB 0x10_0000 EEPROM max. 1 MByte - 48 KB Reserved 512 Byte 0x1F_4000 Reserved (read only) 6 KBKB 0x1F_8000 NVM IFR 256 Byte 0x1F_C000 0x20_0000 Unmapped 6 MByte 0x80_0000 Program NVM max. 8 MByte Unmapped address range Low address aligned High address aligned 0xFF_FFFF Figure 3-8. Global Memory Map MC9S12ZVM Family Reference Manual Rev. 2.2 160 Freescale Semiconductor Chapter 3 Memory Mapping Control (S12ZMMCV1) 3.4.2 Illegal Accesses The S12ZMMC module monitors all memory traffic for illegal accesses. See Table 3-9 for a complete list of all illegal accesses. Table 3-9. Illegal memory accesses Register space RAM EEPROM Reserved Space Reserved Read-only Space NVM IFR Program NVM Unmapped Space S12ZCPU S12ZBDC ADCs and PTU Read access ok ok illegal access Write access ok ok illegal access Code execution illegal access Read access ok ok ok Write access ok ok ok Code execution ok Read access ok(1) ok1 ok1 Write access illegal access illegal access illegal access Code execution ok1 Read access ok ok illegal access Write access only permitted in SS mode ok illegal access Code execution illegal access Read access ok ok illegal access Write access illegal access illegal access illegal access Code execution illegal access Read access ok1 ok1 illegal access Write access illegal access illegal access illegal access Code execution illegal access Read access ok1 ok1 ok1 Write access illegal access illegal access illegal access Code execution ok1 Read access illegal access illegal access illegal access Write access illegal access illegal access illegal access Code execution illegal access 1. Unsupported NVM accesses during NVM command execution ("collisions"), are treated as illegal accesses. Illegal accesses are reported in several ways: * All illegal accesses performed by the S12ZCPU trigger machine exceptions. * All illegal accesses performed through the S12ZBDC interface, are captured in the ILLACC bit of the BDCCSRL register. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 161 Chapter 3 Memory Mapping Control (S12ZMMCV1) * All illegal accesses performed by an ADC or PTU module trigger error interrupts. See ADC and PTU section for details. NOTE Illegal accesses caused by S12ZCPU opcode prefetches will also trigger machine exceptions, even if those opcodes might not be executed in the program flow. To avoid these machine exceptions, S12ZCPU instructions must not be executed from the last (high addresses) 8 bytes of RAM, EEPROM, and Flash. 3.4.3 Uncorrectable ECC Faults RAM and flash use error correction codes (ECC) to detect and correct memory corruption. Each uncorrectable memory corruption, which is detected during a S12ZCPU, ADC or PTU access triggers a machine exception. Uncorrectable memory corruptions which are detected during a S12ZBDC access, are captured in the RAMWF or the RDINV bit of the BDCCSRL register. MC9S12ZVM Family Reference Manual Rev. 2.2 162 Freescale Semiconductor Chapter 4 Interrupt (S12ZINTV0) Table 4-1. Revision History Version Number Revision Date Effective Date V00.01 17 Apr 2009 all Initial version based on S12XINT V2.06 V00.02 14 Jul 2009 all Reduce RESET vectors from three to one. V00.03 05 Oct 2009 all Removed dedicated ECC machine exception vector and marked vector-table entry "reserved for future use". Added a second illegal op-code vector (to distinguish between SPARE and TRAP). V00.04 04 Jun 2010 all Fixed remaining descriptions of RESET vectors. Split non-maskable hardware interrupts into XGATE software error and machine exception requests. Replaced mentions of CCR (old name from S12X) with CCW (new name). V00.05 12 Jan 2011 all Corrected wrong IRQ vector address in some descriptions. V00.06 22 Mar 2011 all Added vectors for RAM ECC andNVM ECC machine exceptions. And moved position to 1E0..1E8. Moved XGATE error interrupt to vector 1DC. Remaining vectors accordingly. Removed illegal address reset as a potential reset source. V00.07 15 Apr 2011 all Removed illegal address reset as a potential reset source from Exception vector table as well. Added the other possible reset sources to the table. Changed register addresses according to S12Z platform definition. V00.08 02 May 2011 all Reduced machine exception vectors to one. Removed XGATE error interrupt. Moved Spurious interrupt vector to 1DC. Moved vector base address to 010 to make room for NVM non-volatile registers. V00.09 12 Aug 2011 all Added: Machine exceptions can cause wake-up from STOP or WAIT V00.10 21 Feb 2012 all Corrected reset value for INT_CFADDR register V00.11 02 Jul 2012 all Removed references and functions related to XGATE V00.12 22 May 2013 all added footnote about availability of "Wake-up from STOP or WAIT by XIRQ with X bit set" feature 4.1 Description of Changes Introduction The INT module decodes the priority of all system exception requests and provides the applicable vector for processing the exception to the CPU. The INT module supports: * I-bit and X-bit maskable interrupt requests * One non-maskable unimplemented page1 op-code trap MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 163 Chapter 4 Interrupt (S12ZINTV0) * * * * * * One non-maskable unimplemented page2 op-code trap One non-maskable software interrupt (SWI) One non-maskable system call interrupt (SYS) One non-maskable machine exception vector request One spurious interrupt vector request One system reset vector request Each of the I-bit maskable interrupt requests can be assigned to one of seven priority levels supporting a flexible priority scheme. The priority scheme can be used to implement nested interrupt capability where interrupts from a lower level are automatically blocked if a higher level interrupt is being processed. 4.1.1 Glossary The following terms and abbreviations are used in the document. Table 4-2. Terminology Term CCW Condition Code Register (in the S12Z CPU) DMA Direct Memory Access INT Interrupt IPL Interrupt Processing Level ISR Interrupt Service Routine MCU Micro-Controller Unit IRQ refers to the interrupt request associated with the IRQ pin XIRQ 4.1.2 * * * * * * * * * Meaning refers to the interrupt request associated with the XIRQ pin Features Interrupt vector base register (IVBR) One system reset vector (at address 0xFFFFFC). One non-maskable unimplemented page1 op-code trap (SPARE) vector (at address vector base1 + 0x0001F8). One non-maskable unimplemented page2 op-code trap (TRAP) vector (at address vector base1 + 0x0001F4). One non-maskable software interrupt request (SWI) vector (at address vector base1 + 0x0001F0). One non-maskable system call interrupt request (SYS) vector (at address vector base1 + 0x00001EC). One non-maskable machine exception vector request (at address vector base1 + 0x0001E8. One spurious interrupt vector (at address vector base1 + 0x0001DC). One X-bit maskable interrupt vector request associated with XIRQ (at address vector base1 + 0x0001D8). 1. The vector base is a 24-bit address which is accumulated from the contents of the interrupt vector base register (IVBR, used as the upper 15 bits of the address) and 0x000 (used as the lower 9 bits of the address). MC9S12ZVM Family Reference Manual Rev. 2.2 164 Freescale Semiconductor Chapter 4 Interrupt (S12ZINTV0) * * * * * 4.1.3 * * * 4.1.4 One I-bit maskable interrupt vector request associated with IRQ (at address vector base1 + 0x0001D4). up to 113 additional I-bit maskable interrupt vector requests (at addresses vector base1 + 0x000010 .. vector base + 0x0001D0). Each I-bit maskable interrupt request has a configurable priority level. I-bit maskable interrupts can be nested, depending on their priority levels. Wakes up the system from stop or wait mode when an appropriate interrupt request occurs or whenever XIRQ is asserted, even if X interrupt is masked. Modes of Operation Run mode This is the basic mode of operation. Wait mode In wait mode, the INT module is capable of waking up the CPU if an eligible CPU exception occurs. Please refer to Section 4.5.3, "Wake Up from Stop or Wait Mode" for details. Stop Mode In stop mode, the INT module is capable of waking up the CPU if an eligible CPU exception occurs. Please refer to Section 4.5.3, "Wake Up from Stop or Wait Mode" for details. Block Diagram Figure 4-1 shows a block diagram of the INT module. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 165 Chapter 4 Interrupt (S12ZINTV0) Peripheral Interrupt Requests Wake Up CPU Interrupt Requests One Set Per Channel (Up to 117 Channels) PRIOLVL2 PRIOLVL1 PRIOLVL0 Priority Level Filter Highest Pending IPL PRIOLVLnPriority Level = configuration bits from the associated channel configuration register IVBR = Interrupt Vector Base IPL = Interrupt Processing Level IVBR New IPL To C PU Non I Bit Maskable Channels Priority Decoder Vector Address Current IPL Figure 4-1. INT Block Diagram 4.2 External Signal Description The INT module has no external signals. 4.3 Memory Map and Register Definition This section provides a detailed description of all registers accessible in the INT module. 4.3.1 Module Memory Map Table 4-3 gives an overview over all INT module registers. Table 4-3. INT Memory Map Address Use Access 0x000010-0x000011 Interrupt Vector Base Register (IVBR) R/W 0x000012-0x000016 RESERVED -- 0x000017 Interrupt Request Configuration Address Register (INT_CFADDR) R/W 0x000018 Interrupt Request Configuration Data Register 0 (INT_CFDATA0) R/W MC9S12ZVM Family Reference Manual Rev. 2.2 166 Freescale Semiconductor Chapter 4 Interrupt (S12ZINTV0) Table 4-3. INT Memory Map 4.3.2 0x000019 Interrupt Request Configuration Data Register 1 (INT_CFDATA1) R/W 0x00001A Interrupt Request Configuration Data Register 2 (INT_CFDATA2 R/W 0x00001B Interrupt Request Configuration Data Register 3 (INT_CFDATA3) R/W 0x00001C Interrupt Request Configuration Data Register 4 (INT_CFDATA4) R/W 0x00001D Interrupt Request Configuration Data Register 5 (INT_CFDATA5) R/W 0x00001E Interrupt Request Configuration Data Register 6 (INT_CFDATA6) R/W 0x00001F Interrupt Request Configuration Data Register 7 (INT_CFDATA7) R/W Register Descriptions This section describes in address order all the INT module registers and their individual bits. Address Register Name 0x000010 IVBR Bit 7 6 5 R R 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W 0x000019 INT_CFDATA1 R W 0x00001A INT_CFDATA2 R W 0x00001B INT_CFDATA3 R W 0x00001C INT_CFDATA4 R 1 Bit 0 0 INT_CFADDR[6:3] W 0x000018 INT_CFDATA0 R 2 IVB_ADDR[7:1] W 0x000017 INT_CFADDR R 3 IVB_ADDR[15:8] W 0x000011 4 W 0 0 PRIOLVL[2:0] PRIOLVL[2:0] PRIOLVL[2:0] PRIOLVL[2:0] PRIOLVL[2:0] = Unimplemented or Reserved Figure 4-2. INT Register Summary MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 167 Chapter 4 Interrupt (S12ZINTV0) Register Name Address Bit 7 6 5 4 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0x00001D INT_CFDATA5 R 2 1 PRIOLVL[2:0] W 0x00001E INT_CFDATA6 R PRIOLVL[2:0] W 0x00001F INT_CFDATA7 R Bit 0 PRIOLVL[2:0] W = Unimplemented or Reserved Figure 4-2. INT Register Summary 4.3.2.1 Interrupt Vector Base Register (IVBR) Address: 0x000010 1 5 14 13 12 11 10 R 8 7 6 5 4 3 2 1 0 0 IVB_ADDR[15:1] W Reset 9 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 Figure 4-3. Interrupt Vector Base Register (IVBR) Read: Anytime Write: Anytime Table 4-4. IVBR Field Descriptions Field Description 15-1 IVB_ADDR [15:1] Interrupt Vector Base Address Bits -- These bits represent the upper 15 bits of all vector addresses. Out of reset these bits are set to 0xFFFE (i.e., vectors are located at 0xFFFE00-0xFFFFFF). Note: A system reset will initialize the interrupt vector base register with "0xFFFE" before it is used to determine the reset vector address. Therefore, changing the IVBR has no effect on the location of the reset vector (0xFFFFFC-0xFFFFFF). 4.3.2.2 Interrupt Request Configuration Address Register (INT_CFADDR) Address: 0x000017 7 R 6 0 0 4 3 INT_CFADDR[6:3] W Reset 5 0 0 0 1 2 1 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 4-4. Interrupt Configuration Address Register (INT_CFADDR) Read: Anytime MC9S12ZVM Family Reference Manual Rev. 2.2 168 Freescale Semiconductor Chapter 4 Interrupt (S12ZINTV0) Write: Anytime Table 4-5. INT_CFADDR Field Descriptions Field Description 6-3 Interrupt Request Configuration Data Register Select Bits -- These bits determine which of the 128 INT_CFADDR[6:3] configuration data registers are accessible in the 8 register window at INT_CFDATA0-7. The hexadecimal value written to this register corresponds to the upper 4 bits of the vector number (multiply with 4 to get the vector address offset). If, for example, the value 0x70 is written to this register, the configuration data register block for the 8 interrupt vector requests starting with vector at address (vector base + (0x70*4 = 0x0001C0)) is selected and can be accessed as INT_CFDATA0-7. 4.3.2.3 Interrupt Request Configuration Data Registers (INT_CFDATA0-7) The eight register window visible at addresses INT_CFDATA0-7 contains the configuration data for the block of eight interrupt requests (out of 128) selected by the interrupt configuration address register (INT_CFADDR) in ascending order. INT_CFDATA0 represents the interrupt configuration data register of the vector with the lowest address in this block, while INT_CFDATA7 represents the interrupt configuration data register of the vector with the highest address, respectively. Address: 0x000018 7 R 6 5 4 3 0 0 0 0 0 0 0 0 0 0 2 0 PRIOLVL[2:0] W Reset 1 0 0 1(1) = Unimplemented or Reserved Figure 4-5. Interrupt Request Configuration Data Register 0 (INT_CFDATA0) 1. Please refer to the notes following the PRIOLVL[2:0] description below. Address: 0x000019 7 R 5 4 3 0 0 6 0 0 0 0 0 0 0 0 2 0 PRIOLVL[2:0] W Reset 1 0 0 1(1) = Unimplemented or Reserved Figure 4-6. Interrupt Request Configuration Data Register 1 (INT_CFDATA1) 1. Please refer to the notes following the PRIOLVL[2:0] description below. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 169 Chapter 4 Interrupt (S12ZINTV0) Address: 0x00001A 7 R 6 5 4 3 0 0 0 0 0 0 0 0 0 0 2 0 PRIOLVL[2:0] W Reset 1 0 0 1(1) = Unimplemented or Reserved Figure 4-7. Interrupt Request Configuration Data Register 2 (INT_CFDATA2) 1. Please refer to the notes following the PRIOLVL[2:0] description below. Address: 0x00001B 7 R 5 4 3 0 0 6 0 0 0 0 0 0 0 0 2 0 PRIOLVL[2:0] W Reset 1 0 0 1(1) = Unimplemented or Reserved Figure 4-8. Interrupt Request Configuration Data Register 3 (INT_CFDATA3) 1. Please refer to the notes following the PRIOLVL[2:0] description below. Address: 0x00001C 7 R 5 4 3 0 0 6 0 0 0 0 0 0 0 0 2 0 PRIOLVL[2:0] W Reset 1 0 0 1(1) = Unimplemented or Reserved Figure 4-9. Interrupt Request Configuration Data Register 4 (INT_CFDATA4) 1. Please refer to the notes following the PRIOLVL[2:0] description below. Address: 0x00001D 7 R 5 4 3 0 0 6 0 0 0 0 0 0 0 0 2 0 PRIOLVL[2:0] W Reset 1 0 0 1(1) = Unimplemented or Reserved Figure 4-10. Interrupt Request Configuration Data Register 5 (INT_CFDATA5) 1. Please refer to the notes following the PRIOLVL[2:0] description below. MC9S12ZVM Family Reference Manual Rev. 2.2 170 Freescale Semiconductor Chapter 4 Interrupt (S12ZINTV0) Address: 0x00001E 7 R 6 5 4 3 0 0 0 0 0 0 0 0 0 0 2 0 PRIOLVL[2:0] W Reset 1 0 0 1(1) = Unimplemented or Reserved Figure 4-11. Interrupt Request Configuration Data Register 6 (INT_CFDATA6) 1. Please refer to the notes following the PRIOLVL[2:0] description below. Address: 0x00001F 7 R 5 4 3 0 0 6 0 0 0 0 0 0 0 0 2 0 PRIOLVL[2:0] W Reset 1 0 0 1(1) = Unimplemented or Reserved Figure 4-12. Interrupt Request Configuration Data Register 7 (INT_CFDATA7) 1. Please refer to the notes following the PRIOLVL[2:0] description below. Read: Anytime Write: Anytime Table 4-6. INT_CFDATA0-7 Field Descriptions Field Description 2-0 Interrupt Request Priority Level Bits -- The PRIOLVL[2:0] bits configure the interrupt request priority level of PRIOLVL[2:0] the associated interrupt request. Out of reset all interrupt requests are enabled at the lowest active level ("1"). Please also refer to Table 4-7 for available interrupt request priority levels. Note: Write accesses to configuration data registers of unused interrupt channels are ignored and read accesses return all 0s. For information about what interrupt channels are used in a specific MCU, please refer to the Device Reference Manual for that MCU. Note: When non I-bit maskable request vectors are selected, writes to the corresponding INT_CFDATA registers are ignored and read accesses return all 0s. The corresponding vectors do not have configuration data registers associated with them. Note: Write accesses to the configuration register for the spurious interrupt vector request (vector base + 0x0001DC) are ignored and read accesses return 0x07 (request is handled by the CPU, PRIOLVL = 7). Table 4-7. Interrupt Priority Levels Priority low PRIOLVL2 PRIOLVL1 PRIOLVL0 Meaning 0 0 0 Interrupt request is disabled 0 0 1 Priority level 1 0 1 0 Priority level 2 0 1 1 Priority level 3 1 0 0 Priority level 4 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 171 Chapter 4 Interrupt (S12ZINTV0) Table 4-7. Interrupt Priority Levels Priority high 4.4 PRIOLVL2 PRIOLVL1 PRIOLVL0 Meaning 1 0 1 Priority level 5 1 1 0 Priority level 6 1 1 1 Priority level 7 Functional Description The INT module processes all exception requests to be serviced by the CPU module. These exceptions include interrupt vector requests and reset vector requests. Each of these exception types and their overall priority level is discussed in the subsections below. 4.4.1 S12Z Exception Requests The CPU handles both reset requests and interrupt requests. The INT module contains registers to configure the priority level of each I-bit maskable interrupt request which can be used to implement an interrupt priority scheme. This also includes the possibility to nest interrupt requests. A priority decoder is used to evaluate the relative priority of pending interrupt requests. 4.4.2 Interrupt Prioritization After system reset all I-bit maskable interrupt requests are configured to be enabled, are set up to be handled by the CPU and have a pre-configured priority level of 1. Exceptions to this rule are the nonmaskable interrupt requests and the spurious interrupt vector request at (vector base + 0x0001DC) which cannot be disabled, are always handled by the CPU and have a fixed priority levels. A priority level of 0 effectively disables the associated I-bit maskable interrupt request. If more than one interrupt request is configured to the same interrupt priority level the interrupt request with the higher vector address wins the prioritization. The following conditions must be met for an I-bit maskable interrupt request to be processed. 1. The local interrupt enabled bit in the peripheral module must be set. 2. The setup in the configuration register associated with the interrupt request channel must meet the following conditions: a) The priority level must be set to non zero. b) The priority level must be greater than the current interrupt processing level in the condition code register (CCW) of the CPU (PRIOLVL[2:0] > IPL[2:0]). 3. The I-bit in the condition code register (CCW) of the CPU must be cleared. 4. There is no access violation interrupt request pending. 5. There is no SYS, SWI, SPARE, TRAP, Machine Exception or XIRQ request pending. MC9S12ZVM Family Reference Manual Rev. 2.2 172 Freescale Semiconductor Chapter 4 Interrupt (S12ZINTV0) NOTE All non I-bit maskable interrupt requests always have higher priority than Ibit maskable interrupt requests. If an I-bit maskable interrupt request is interrupted by a non I-bit maskable interrupt request, the currently active interrupt processing level (IPL) remains unaffected. It is possible to nest non I-bit maskable interrupt requests, e.g., by nesting SWI, SYS or TRAP calls. 4.4.2.1 Interrupt Priority Stack The current interrupt processing level (IPL) is stored in the condition code register (CCW) of the CPU. This way the current IPL is automatically pushed to the stack by the standard interrupt stacking procedure. The new IPL is copied to the CCW from the priority level of the highest priority active interrupt request channel which is configured to be handled by the CPU. The copying takes place when the interrupt vector is fetched. The previous IPL is automatically restored from the stack by executing the RTI instruction. 4.4.3 Priority Decoder The INT module contains a priority decoder to determine the relative priority for all interrupt requests pending for the CPU. A CPU interrupt vector is not supplied until the CPU requests it. Therefore, it is possible that a higher priority interrupt request could override the original exception which caused the CPU to request the vector. In this case, the CPU will receive the highest priority vector and the system will process this exception first instead of the original request. If the interrupt source is unknown (for example, in the case where an interrupt request becomes inactive after the interrupt has been recognized, but prior to the vector request), the vector address supplied to the CPU defaults to that of the spurious interrupt vector. NOTE Care must be taken to ensure that all exception requests remain active until the system begins execution of the applicable service routine; otherwise, the exception request may not get processed at all or the result may be a spurious interrupt request (vector at address (vector base + 0x0001DC)). 4.4.4 Reset Exception Requests The INT module supports one system reset exception request. The different reset types are mapped to this vector (for details please refer to the Clock and Power Management Unit module (CPMU)): 1. Pin reset 2. Power-on reset 3. Low-voltage reset 4. Clock monitor reset request 5. COP watchdog reset request MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 173 Chapter 4 Interrupt (S12ZINTV0) 4.4.5 Exception Priority The priority (from highest to lowest) and address of all exception vectors issued by the INT module upon request by the CPU are shown in Table 4-8. Generally, all non-maskable interrupts have higher priorities than maskable interrupts. Please note that between the four software interrupts (Unimplemented op-code trap page1/page2 requests, SWI request, SYS request) there is no real priority defined since they cannot occur simultaneously (the S12Z CPU executes one instruction at a time). Table 4-8. Exception Vector Map and Priority Vector Address(1) Source 0xFFFFFC Pin reset, power-on reset, low-voltage reset, clock monitor reset, COP watchdog reset (Vector base + 0x0001F8) Unimplemented page1 op-code trap (SPARE) vector request (Vector base + 0x0001F4) Unimplemented page2 op-code trap (TRAP) vector request (Vector base + 0x0001F0) Software interrupt instruction (SWI) vector request (Vector base + 0x0001EC) System call interrupt instruction (SYS) vector request (Vector base + 0x0001E8) Machine exception vector request (Vector base + 0x0001E4) Reserved (Vector base + 0x0001E0) Reserved (Vector base + 0x0001DC) Spurious interrupt (Vector base + 0x0001D8) XIRQ interrupt request (Vector base + 0x0001D4) IRQ interrupt request (Vector base + 0x000010 .. Vector base + 0x0001D0) Device specific I-bit maskable interrupt sources (priority determined by the associated configuration registers, in descending order) 1. 24 bits vector address based 4.4.6 Interrupt Vector Table Layout The interrupt vector table contains 128 entries, each 32 bits (4 bytes) wide. Each entry contains a 24-bit address (3 bytes) which is stored in the 3 low-significant bytes of the entry. The content of the most significant byte of a vector-table entry is ignored. Figure 4-13 illustrates the vector table entry format. Bits [31:24 ] (unused) [23:0] ISR Address Figure 4-13. Interrupt Vector Table Entry 4.5 4.5.1 Initialization/Application Information Initialization After system reset, software should: * Initialize the interrupt vector base register if the interrupt vector table is not located at the default location (0xFFFE00-0xFFFFFB). MC9S12ZVM Family Reference Manual Rev. 2.2 174 Freescale Semiconductor Chapter 4 Interrupt (S12ZINTV0) * Initialize the interrupt processing level configuration data registers (INT_CFADDR, INT_CFDATA0-7) for all interrupt vector requests with the desired priority levels. It might be a good idea to disable unused interrupt requests. Enable I-bit maskable interrupts by clearing the I-bit in the CCW. Enable the X-bit maskable interrupt by clearing the X-bit in the CCW (if required). * * 4.5.2 Interrupt Nesting The interrupt request priority level scheme makes it possible to implement priority based interrupt request nesting for the I-bit maskable interrupt requests. * I-bit maskable interrupt requests can be interrupted by an interrupt request with a higher priority, so that there can be up to seven nested I-bit maskable interrupt requests at a time (refer to Figure 414 for an example using up to three nested interrupt requests). I-bit maskable interrupt requests cannot be interrupted by other I-bit maskable interrupt requests per default. In order to make an interrupt service routine (ISR) interruptible, the ISR must explicitly clear the I-bit in the CCW (CLI). After clearing the I-bit, I-bit maskable interrupt requests with higher priority can interrupt the current ISR. An ISR of an interruptible I-bit maskable interrupt request could basically look like this: * Service interrupt, e.g., clear interrupt flags, copy data, etc. * Clear I-bit in the CCW by executing the CPU instruction CLI (thus allowing interrupt requests with higher priority) * Process data * Return from interrupt by executing the instruction RTI 0 Stacked IPL IPL in CCW 0 0 4 0 0 0 4 7 4 3 1 0 7 6 L7 5 Processing Levels RTI 4 RTI 3 2 L4 1 L3 (Pending) L1 (Pending) 0 RTI RTI Reset Figure 4-14. Interrupt Processing Example MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 175 Chapter 4 Interrupt (S12ZINTV0) 4.5.3 4.5.3.1 Wake Up from Stop or Wait Mode CPU Wake Up from Stop or Wait Mode Every I-bit maskable interrupt request which is configured to be handled by the CPU is capable of waking the MCU from stop or wait mode. Additionally machine exceptions can wake-up the MCU from stop or wait mode. To determine whether an I-bit maskable interrupts is qualified to wake up the CPU or not, the same settings as in normal run mode are applied during stop or wait mode: * If the I-bit in the CCW is set, all I-bit maskable interrupts are masked from waking up the MCU. * An I-bit maskable interrupt is ignored if it is configured to a priority level below or equal to the current IPL in CCW. The X-bit maskable interrupt request can wake up the MCU from stop or wait mode at anytime, even if the X-bit in CCW is set1. If the X-bit maskable interrupt request is used to wake-up the MCU with the Xbit in the CCW set, the associated ISR is not called. The CPU then resumes program execution with the instruction following the WAI or STOP instruction. This feature works following the same rules like any interrupt request, i.e. care must be taken that the X-bit maskable interrupt request used for wake-up remains active at least until the system begins execution of the instruction following the WAI or STOP instruction; otherwise, wake-up may not occur. 1. The capability of the XIRQ pin to wake-up the MCU with the X bit set may not be available if, for example, the XIRQ pin is shared with other peripheral modules on the device. Please refer to the Port Integration Module (PIM) section of the MCU reference manual for details. MC9S12ZVM Family Reference Manual Rev. 2.2 176 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) Table 5-1. Revision History Revision Number Revision Date Sections Affected V2.04 03.Dec.2012 Section 5.1.3.3 Included BACKGROUND/ Stop mode dependency V2.05 22.Jan.2013 Section 5.3.2.2 Improved NORESP description and added STEP1/ Wait mode dependency V2.06 22.Mar.2013 Section 5.3.2.2 Improved NORESP description of STEP1/ Wait mode dependency V2.07 11.Apr.2013 V2.08 31.May.2013 Section 5.4.4.4 Section 5.4.7.1 Removed misleading WAIT and BACKGROUND interdepency description Added subsection dedicated to Long-ACK V2.09 29.Aug.2013 Section 5.4.4.12 Noted that READ_DBGTB is only available for devices featuring a trace buffer. V2.10 21.Oct.2013 Section 5.1.3.3.2 Improved description of NORESP dependence on WAIT and BACKROUND V2.11 02.Feb.2015 Section 5.1.3.3.1 Corrected name of clock that can stay active in Stop mode Section 5.3.2 5.1 Description of Changes Section 5.1.3.3.1 Improved STOP and BACKGROUND interdepency description Introduction The background debug controller (BDC) is a single-wire, background debug system implemented in onchip hardware for minimal CPU intervention. The device BKGD pin interfaces directly to the BDC. The S12ZBDC maintains the standard S12 serial interface protocol but introduces an enhanced handshake protocol and enhanced BDC command set to support the linear instruction set family of S12Z devices and offer easier, more flexible internal resource access over the BDC serial interface. 5.1.1 Glossary Table 5-2. Glossary Of Terms Term Definition DBG On chip Debug Module BDM Active Background Debug Mode CPU S12Z CPU SSC Special Single Chip Mode (device operating mode NSC Normal Single Chip Mode (device operating mode) BDCSI Background Debug Controller Serial Interface. This refers to the single pin BKGD serial interface. EWAIT Optional S12 feature which allows external devices to delay external accesses until deassertion of EWAIT MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 177 Chapter 5 Background Debug Controller (S12ZBDCV2) 5.1.2 Features The BDC includes these distinctive features: * Single-wire communication with host development system * SYNC command to determine communication rate * Genuine non-intrusive handshake protocol * Enhanced handshake protocol for error detection and stop mode recognition * Active out of reset in special single chip mode * Most commands not requiring active BDM, for minimal CPU intervention * Full global memory map access without paging * Simple flash mass erase capability 5.1.3 Modes of Operation S12 devices feature power modes (run, wait, and stop) and operating modes (normal single chip, special single chip). Furthermore, the operation of the BDC is dependent on the device security status. 5.1.3.1 BDC Modes The BDC features module specific modes, namely disabled, enabled and active. These modes are dependent on the device security and operating mode. In active BDM the CPU ceases execution, to allow BDC system access to all internal resources including CPU internal registers. 5.1.3.2 Security and Operating mode Dependency In device run mode the BDC dependency is as follows * Normal modes, unsecure device General BDC operation available. The BDC is disabled out of reset. * Normal modes, secure device BDC disabled. No BDC access possible. * Special single chip mode, unsecure BDM active out of reset. All BDC commands are available. * Special single chip mode, secure BDM active out of reset. Restricted command set available. When operating in secure mode, BDC operation is restricted to allow checking and clearing security by mass erasing the on-chip flash memory. Secure operation prevents BDC access to on-chip memory other than mass erase. The BDC command set is restricted to those commands classified as Always-available. MC9S12ZVM Family Reference Manual Rev. 2.2 178 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) 5.1.3.3 5.1.3.3.1 Low-Power Modes Stop Mode The execution of the CPU STOP instruction leads to stop mode only when all bus masters (CPU, or others, depending on the device) have finished processing. The operation during stop mode depends on the ENBDC and BDCCIS bit settings as summarized in Table 5-3 Table 5-3. BDC STOP Operation Dependencies ENBDC BDCCIS Description Of Operation 0 0 BDC has no effect on STOP mode. 0 1 BDC has no effect on STOP mode. 1 0 Only BDCCLK clock continues 1 1 All clocks continue A disabled BDC has no influence on stop mode operation. In this case the BDCSI clock is disabled in stop mode thus it is not possible to enable the BDC from within stop mode. STOP Mode With BDC Enabled And BDCCIS Clear If the BDC is enabled and BDCCIS is clear, then the BDC prevents the BDCCLK clock (Figure 5-5) from being disabled in stop mode. This allows BDC communication to continue throughout stop mode in order to access the BDCCSR register. All other device level clock signals are disabled on entering stop mode. NOTE This is intended for application debugging, not for fast flash programming. Thus the CLKSW bit must be clear to map the BDCSI to BDCCLK. With the BDC enabled, an internal acknowledge delays stop mode entry and exit by 2 BDCSI clock + 2 bus clock cycles. If no other module delays stop mode entry and exit, then these additional clock cycles represent a difference between the debug and not debug cases. Furthermore if a BDC internal access is being executed when the device is entering stop mode, then the stop mode entry is delayed until the internal access is complete (typically for 1 bus clock cycle). Accesses to the internal memory map are not possible when the internal device clocks are disabled. Thus attempted accesses to memory mapped resources are suppressed and the NORESP flag is set. Resources can be accessed again by the next command received following exit from Stop mode. A BACKGROUND command issued whilst in stop mode remains pending internally until the device leaves stop mode. This means that subsequent active BDM commands, issued whilst BACKGROUND is pending, set the ILLCMD flag because the device is not yet in active BDM. If ACK handshaking is enabled, then the first ACK, following a stop mode entry is long to indicate a stop exception. The BDC indicates a stop mode occurrence by setting the BDCCSR bit STOP. If the host attempts further communication before the ACK pulse generation then the OVRUN bit is set. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 179 Chapter 5 Background Debug Controller (S12ZBDCV2) STOP Mode With BDC Enabled And BDCCIS Set If the BDC is enabled and BDCCIS is set, then the BDC prevents core clocks being disabled in stop mode. This allows BDC communication, for access of internal memory mapped resources, but not CPU registers, to continue throughout stop mode. A BACKGROUND command issued whilst in stop mode remains pending internally until the device leaves stop mode. This means that subsequent active BDM commands, issued whilst BACKGROUND is pending, set the ILLCMD flag because the device is not yet in active BDM. If ACK handshaking is enabled, then the first ACK, following a stop mode entry is long to indicate a stop exception. The BDC indicates a stop mode occurrence by setting the BDCCSR bit STOP. If the host attempts further communication before the ACK pulse generation then the OVRUN bit is set. 5.1.3.3.2 Wait Mode The device enters wait mode when the CPU starts to execute the WAI instruction. The second part of the WAI instruction (return from wait mode) can only be performed when an interrupt occurs. Thus on entering wait mode the CPU is in the middle of the WAI instruction and cannot permit access to CPU internal resources, nor allow entry to active BDM. Thus only commands classified as Non-Intrusive or Always-Available are possible in wait mode. On entering wait mode, the WAIT flag in BDCCSR is set. If the ACK handshake protocol is enabled then the first ACK generated after WAIT has been set is a long-ACK pulse. Thus the host can recognize a wait mode occurrence. The WAIT flag remains set and cannot be cleared whilst the device remains in wait mode. After the device leaves wait mode the WAIT flag can be cleared by writing a "1" to it. A BACKGROUND command issued whilst in wait mode sets the NORESP bit and the BDM active request remains pending internally until the CPU leaves wait mode due to an interrupt. The device then enters BDM with the PC pointing to the address of the first instruction of the ISR. With ACK disabled, further Non-Intrusive or Always-Available commands are possible, in this pending state, but attempted Active-Background commands set NORESP and ILLCMD because the BDC is not in active BDM state. With ACK enabled, if the host attempts further communication before the ACK pulse generation then the OVRUN bit is set. Similarly the STEP1 command issued from a WAI instruction cannot be completed by the CPU until the CPU leaves wait mode due to an interrupt. The first STEP1 into wait mode sets the BDCCSR WAIT bit. If the part is still in Wait mode and a further STEP1 is carried out then the NORESP and ILLCMD bits are set because the device is no longer in active BDM for the duration of WAI execution. 5.1.4 Block Diagram A block diagram of the BDC is shown in Figure 5-1. MC9S12ZVM Family Reference Manual Rev. 2.2 180 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) HOST SYSTEM BKGD SERIAL INTERFACE CONTROL AND SHIFT REGISTER CLOCK DOMAIN CONTROL INSTRUCTION DECODE AND FSM BDCSI CORE CLOCK ADDRESS BUS INTERFACE AND CONTROL LOGIC BDCCSR REGISTER AND DATAPATH CONTROL DATA BUS CONTROL CPU CONTROL ERASE FLASH FLASH ERASED FLASH SECURE Figure 5-1. BDC Block Diagram 5.2 External Signal Description A single-wire interface pin (BKGD) is used to communicate with the BDC system. During reset, this pin is a device mode select input. After reset, this pin becomes the dedicated serial interface pin for the BDC. BKGD is a pseudo-open-drain pin with an on-chip pull-up. Unlike typical open-drain pins, the external RC time constant on this pin due to external capacitance, plays almost no role in signal rise time. The custom protocol provides for brief, actively driven speed-up pulses to force rapid rise times on this pin without risking harmful drive level conflicts. Refer to Section 5.4.6" for more details. 5.3 5.3.1 Memory Map and Register Definition Module Memory Map Table 5-4 shows the BDC memory map. Table 5-4. BDC Memory Map Global Address Module Size (Bytes) Not Applicable BDC registers 2 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 181 Chapter 5 Background Debug Controller (S12ZBDCV2) 5.3.2 Register Descriptions The BDC registers are shown in Figure 5-2. Registers are accessed only by host-driven communications to the BDC hardware using READ_BDCCSR and WRITE_BDCCSR commands. They are not accessible in the device memory map. Global Address Register Name Bit 7 Not Applicable BDCCSRH R Not Applicable BDCCSRL W R W ENBDC WAIT 6 BDMACT STOP 5 4 0 BDCCIS RAMWF OVRUN = Unimplemented, Reserved 3 2 STEAL CLKSW NORESP RDINV 0 1 Bit 0 UNSEC ERASE ILLACC ILLCMD = Always read zero Figure 5-2. BDC Register Summary 5.3.2.1 BDC Control Status Register High (BDCCSRH) Register Address: This register is not in the device memory map. It is accessible using BDC inherent addressing commands 7 R W 6 ENBDC BDMACT 5 BDCCIS 4 0 3 2 STEAL CLKSW 1 0 UNSEC ERASE Reset Secure AND SSC-Mode 1 1 0 0 0 0 0 0 Unsecure AND SSC-Mode 1 1 0 0 0 0 1 0 Secure AND NSC-Mode 0 0 0 0 0 0 0 0 Unsecure AND NSC-Mode 0 0 0 0 0 0 1 0 = Unimplemented, Reserved 0 = Always read zero Figure 5-3. BDC Control Status Register High (BDCCSRH) Read: All modes through BDC operation only. Write: All modes through BDC operation only, when not secured, but subject to the following: -- Bits 7,3 and 2 can only be written by WRITE_BDCCSR commands. -- Bit 5 can only be written by WRITE_BDCCSR commands when the device is not in stop mode. -- Bits 6, 1 and 0 cannot be written. They can only be updated by internal hardware. MC9S12ZVM Family Reference Manual Rev. 2.2 182 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) Table 5-5. BDCCSRH Field Descriptions Field Description 7 ENBDC Enable BDC -- This bit controls whether the BDC is enabled or disabled. When enabled, active BDM can be entered and non-intrusive commands can be carried out. When disabled, active BDM is not possible and the valid command set is restricted. Further information is provided in Table 5-7. 0 BDC disabled 1 BDC enabled Note: ENBDC is set out of reset in special single chip mode. 6 BDMACT BDM Active Status -- This bit becomes set upon entering active BDM. BDMACT is cleared as part of the active BDM exit sequence. 0 BDM not active 1 BDM cative Note: BDMACT is set out of reset in special single chip mode. 5 BDCCIS BDC Continue In Stop -- If ENBDC is set then BDCCIS selects the type of BDC operation in stop mode (as shown in Table 5-3). If ENBDC is clear, then the BDC has no effect on stop mode and no BDC communication is possible.If ACK pulse handshaking is enabled, then the first ACK pulse following stop mode entry is a long ACK. This bit cannot be written when the device is in stop mode. 0 Only the BDCCLK clock continues in stop mode 1 All clocks continue in stop mode 3 STEAL Steal enabled with ACK-- This bit forces immediate internal accesses with the ACK handshaking protocol enabled. If ACK handshaking is disabled then BDC accesses steal the next bus cycle. 0 If ACK is enabled then BDC accesses await a free cycle, with a timeout of 512 cycles 1 If ACK is enabled then BDC accesses are carried out in the next bus cycle 2 CLKSW Clock Switch -- The CLKSW bit controls the BDCSI clock source. This bit is initialized to "0" by each reset and can be written to "1". Once it has been set, it can only be cleared by a reset. When setting CLKSW a minimum delay of 150 cycles atthe initial clock speed must elapse before the nextcommand can be sent. This guarantees that the start of the next BDC command uses the new clock for timing subsequent BDC communications. 0 BDCCLK used as BDCSI clock source 1 Device fast clock used as BDCSI clock source Note: Refer to the device specification to determine which clock connects to the BDCCLK and fast clock inputs. 1 UNSEC Unsecure -- If the device is unsecure, the UNSEC bit is set automatically. 0 Device is secure. 1 Device is unsecure. Note: When UNSEC is set, the device is unsecure and the state of the secure bits in the on-chip Flash EEPROM can be changed. 0 ERASE Erase Flash -- This bit can only be set by the dedicated ERASE_FLASH command. ERASE is unaffected by write accesses to BDCCSR. ERASE is cleared either when the mass erase sequence is completed, independent of the actual status of the flash array or by a soft reset. Reading this bit indicates the status of the requested mass erase sequence. 0 No flash mass erase sequence pending completion 1 Flash mass erase sequence pending completion. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 183 Chapter 5 Background Debug Controller (S12ZBDCV2) 5.3.2.2 BDC Control Status Register Low (BDCCSRL) Register Address: This register is not in the device memory map. It is accessible using BDC inherent addressing commands R W Reset 7 6 5 4 3 2 1 0 WAIT STOP RAMWF OVRUN NORESP RDINV ILLACC ILLCMD 0 0 0 0 0 0 0 0 Figure 5-4. BDC Control Status Register Low (BDCCSRL) Read: BDC access only. Write: Bits [7:5], [3:0] BDC access only, restricted to flag clearing by writing a "1" to the bit position. Write: Bit 4 never. It can only be cleared by a SYNC pulse. If ACK handshaking is enabled then BDC commands with ACK causing a BDCCSRL[3:1] flag setting condition also generate a long ACK pulse. Subsequent commands that are executed correctly generate a normal ACK pulse. Subsequent commands that are not correctly executed generate a long ACK pulse. The first ACK pulse after WAIT or STOP have been set also generates a long ACK. Subsequent ACK pulses are normal, whilst STOP and WAIT remain set. Long ACK pulses are not immediately generated if an overrun condition is caused by the host driving the BKGD pin low whilst a target ACK is pending, because this would conflict with an attempted host transmission following the BKGD edge. When a whole byte has been received following the offending BKGD edge, the OVRUN bit is still set, forcing subsequent ACK pulses to be long. Unimplemented BDC opcodes causing the ILLCMD bit to be set do not generate a long ACK because this could conflict with further transmission from the host. If the ILLCMD is set for another reason, then a long ACK is generated for the current command if it is a BDC command with ACK. Table 5-6. BDCCSRL Field Descriptions Field Description 7 WAIT WAIT Indicator Flag -- Indicates that the device entered wait mode. Writing a "1" to this bit whilst in wait mode has no effect. Writing a "1" after exiting wait mode, clears the bit. 0 Device did not enter wait mode 1 Device entered wait mode. 6 STOP STOP Indicator Flag -- Indicates that the CPU requested stop mode following a STOP instruction. Writing a "1" to this bit whilst not in stop mode clears the bit. Writing a "1" to this bit whilst in stop mode has no effect. This bit can only be set when the BDC is enabled. 0 Device did not enter stop mode 1 Device entered stop mode. 5 RAMWF RAM Write Fault -- Indicates an ECC double fault during a BDC write access to RAM. Writing a "1" to this bit, clears the bit. 0 No RAM write double fault detected. 1 RAM write double fault detected. MC9S12ZVM Family Reference Manual Rev. 2.2 184 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) Table 5-6. BDCCSRL Field Descriptions (continued) Field Description 4 OVRUN Overrun Flag -- Indicates unexpected host activity before command completion. This occurs if a new command is received before the current command completion. With ACK enabled this also occurs if the host drives the BKGD pin low whilst a target ACK pulse is pending To protect internal resources from misinterpreted BDC accesses following an overrun, internal accesses are suppressed until a SYNC clears this bit. A SYNC clears the bit. 0 No overrun detected. 1 Overrun detected when issuing a BDC command. 3 NORESP No Response Flag -- Indicates that the BDC internal action or data access did not complete. This occurs in the following scenarios: a) If no free cycle for an access is found within 512 core clock cycles. This could typically happen if a code loop without free cycles is executing with ACK enabled and STEAL clear. b) With ACK disabled or STEAL set, when an internal access is not complete before the host starts data/BDCCSRL retrieval or an internal write access is not complete before the host starts the next BDC command. c) Attempted internal memory or SYNC_PC accesses during STOP mode set NORESP if BDCCIS is clear. In the above cases, on setting NORESP, the BDC aborts the access if permitted. (For devices supporting EWAIT, BDC external accesses with EWAIT assertions, prevent a command from being aborted until EWAIT is deasserted). d) If a BACKGROUND command is issued whilst the device is in wait mode the NORESP bit is set but the command is not aborted. The active BDM request is completed when the device leaves wait mode. Furthermore subsequent CPU register access commands during wait mode set the NORESP bit, should it have been cleared. e) If a command is issued whilst awaiting return from Wait mode. This can happen when using STEP1 to step over a CPU WAI instruction, if the CPU has not returned from Wait mode before the next BDC command is received. f) If STEP1 is issued with the BDC enabled as the device enters Wait mode regardless of the BDMACT state. When NORESP is set a value of 0xEE is returned for each data byte associated with the current access. Writing a "1" to this bit, clears the bit. 0 Internal action or data access completed. 1 Internal action or data access did not complete. 2 RDINV Read Data Invalid Flag -- Indicates invalid read data due to an ECC error during a BDC initiated read access. The access returns the actual data read from the location. Writing a "1" to this bit, clears the bit. 0 No invalid read data detected. 1 Invalid data returned during a BDC read access. 1 ILLACC Illegal Access Flag -- Indicates an attempted illegal access. This is set in the following cases: When the attempted access addresses unimplemented memory When the access attempts to write to the flash array When a CPU register access is attempted with an invalid CRN (Section 5.4.5.1). Illegal accesses return a value of 0xEE for each data byte Writing a "1" to this bit, clears the bit. 0 No illegal access detected. 1 Illegal BDC access detected. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 185 Chapter 5 Background Debug Controller (S12ZBDCV2) Table 5-6. BDCCSRL Field Descriptions (continued) Field Description 0 ILLCMD Illegal Command Flag -- Indicates an illegal BDC command. This bit is set in the following cases: When an unimplemented BDC command opcode is received. When a DUMP_MEM{_WS}, FILL_MEM{_WS} or READ_SAME{_WS} is attempted in an illegal sequence. When an active BDM command is received whilst BDM is not active When a non Always-available command is received whilst the BDC is disabled or a flash mass erase is ongoing. When a non Always-available command is received whilst the device is secure Read commands return a value of 0xEE for each data byte Writing a "1" to this bit, clears the bit. 0 No illegal command detected. 1 Illegal BDC command detected. 5.4 5.4.1 Functional Description Security If the device resets with the system secured, the device clears the BDCCSR UNSEC bit. In the secure state BDC access is restricted to the BDCCSR register. A mass erase can be requested using the ERASE_FLASH command. If the mass erase is completed successfully, the device programs the security bits to the unsecure state and sets the BDC UNSEC bit. If the mass erase is unsuccessful, the device remains secure and the UNSEC bit is not set. For more information regarding security, please refer to device specific security information. 5.4.2 Enabling BDC And Entering Active BDM BDM can be activated only after being enabled. BDC is enabled by setting the ENBDC bit in the BDCCSR register, via the single-wire interface, using the command WRITE_BDCCSR. After being enabled, BDM is activated by one of the following1: * The BDC BACKGROUND command * A CPU BGND instruction * The DBG Breakpoint mechanism Alternatively BDM can be activated directly from reset when resetting into Special Single Chip Mode. The BDC is ready for receiving the first command 10 core clock cycles after the deassertion of the internal reset signal. This is delayed relative to the external pin reset as specified in the device reset documentation. On S12Z devices an NVM initialization phase follows reset. During this phase the BDC commands classified as always available are carried out immediately, whereas other BDC commands are subject to delayed response due to the NVM initialization phase. NOTE After resetting into SSC mode, the initial PC address must be supplied by the host using the WRITE_Rn command before issuing the GO command. 1. BDM active immediately out of special single-chip reset. MC9S12ZVM Family Reference Manual Rev. 2.2 186 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) When BDM is activated, the CPU finishes executing the current instruction. Thereafter only BDC commands can affect CPU register contents until the BDC GO command returns from active BDM to user code or a device reset occurs. When BDM is activated by a breakpoint, the type of breakpoint used determines if BDM becomes active before or after execution of the next instruction. NOTE Attempting to activate BDM using a BGND instruction whilst the BDC is disabled, the CPU requires clock cycles for the attempted BGND execution. However BACKGROUND commands issued whilst the BDC is disabled are ignored by the BDC and the CPU execution is not delayed. 5.4.3 Clock Source The BDC clock source can be mapped to a constant frequency clock source or a PLL based fast clock. The clock source for the BDC is selected by the CLKSW bit as shown in Figure 5-5. The BDC internal clock is named BDCSI clock. If BDCSI clock is mapped to the BDCCLK by CLKSW then the serial interface communication is not affected by bus/core clock frequency changes. If the BDC is mapped to BDCFCLK then the clock is connected to a PLL derived source at device level (typically bus clock), thus can be subject to frequency changes in application. Debugging through frequency changes requires SYNC pulses to re-synchronize. The sources of BDCCLK and BDCFCLK are specified at device level. BDC accesses of internal device resources always use the device core clock. Thus if the ACK handshake protocol is not enabled, the clock frequency relationship must be taken into account by the host. When changing the clock source via the CLKSW bit a minimum delay of 150 cycles at the initial clock speed must elapse before a SYNC can be sent. This guarantees that the start of the next BDC command uses the new clock for timing subsequent BDC communications. BDCCLK BDCFCLK 0 BDCSI Clock 1 CLKSW Core clock BDC serial interface and FSM BDC device resource interface Figure 5-5. Clock Switch 5.4.4 BDC Commands BDC commands can be classified into three types as shown in Table 5-7. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 187 Chapter 5 Background Debug Controller (S12ZBDCV2) Table 5-7. BDC Command Types Command Type Secure Status BDC Status Always-available Secure or Unsecure Enabled or Disabled Non-intrusive Active background Unsecure Unsecure Enabled Active CPU Status -- Code execution allowed Code execution halted Command Set * Read/write access to BDCCSR * Mass erase flash memory using ERASE_FLASH * S YNC * ACK enable/disable * * * * * * Read/write access to BDCCSR Memory access Memory access with status Mass erase flash memory using ERASE_FLASH Debug register access BACKGROUND * S YNC * ACK enable/disable * * * * * * * * Read/write access to BDCCSR Memory access Memory access with status Mass erase flash memory using ERASE_FLASH Debug register access Read or write CPU registers Single-step the application Exit active BDM to return to the application program (GO) * S YNC * ACK enable/disable Non-intrusive commands are used to read and write target system memory locations and to enter active BDM. Target system memory includes all memory and registers within the global memory map, including external memory. Active background commands are used to read and write all memory locations and CPU resources. Furthermore they allow single stepping through application code and to exit from active BDM. Non-intrusive commands can only be executed when the BDC is enabled and the device unsecure. Active background commands can only be executed when the system is not secure and is in active BDM. Non-intrusive commands do not require the system to be in active BDM for execution, although, they can still be executed in this mode. When executing a non-intrusive command with the ACK pulse handshake protocol disabled, the BDC steals the next bus cycle for the access. If an operation requires multiple cycles, then multiple cycles can be stolen. Thus if stolen cycles are not free cycles, the application code execution is delayed. The delay is negligible because the BDC serial transfer rate dictates that such accesses occur infrequently. For data read commands, the external host must wait at least 16 BDCSI clock cycles after sending the address before attempting to obtain the read data. This is to be certain that valid data is available in the BDC shift register, ready to be shifted out. For write commands, the external host must wait 16 bdcsi cycles after sending the data to be written before attempting to send a new command. This is to avoid disturbing the BDC shift register before the write has been completed. The external host must wait at least for 16 bdcsi cycles after a control command before starting any new serial command. MC9S12ZVM Family Reference Manual Rev. 2.2 188 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) If the ACK pulse handshake protocol is enabled and STEAL is cleared, then the BDC waits for the first free bus cycle to make a non-intrusive access. If no free bus cycle occurs within 512 core clock cycles then the BDC aborts the access, sets the NORESP bit and uses a long ACK pulse to indicate an error condition to the host. Table 5-8 summarizes the BDC command set. The subsequent sections describe each command in detail and illustrate the command structure in a series of packets, each consisting of eight bit times starting with a falling edge. The bar across the top of the blocks indicates that the BKGD line idles in the high state. The time for an 8-bit command is 8 16 target BDCSI clock cycles. The nomenclature below is used to describe the structure of the BDC commands. Commands begin with an 8-bit hexadecimal command code in the host-to-target direction (most significant bit first) / d dack ad24 rd8 rd16 rd24 rd32 rd64 rd.sz wd8 wd16 wd32 wd.sz ss sz = = = = = = = = = = = = = = = = crn WS = = separates parts of the command delay 16 target BDCSI clock cycles (DLY) delay (16 cycles) no ACK; or delay (=> 32 cycles) then ACK.(DACK) 24-bit memory address in the host-to-target direction 8 bits of read data in the target-to-host direction 16 bits of read data in the target-to-host direction 24 bits of read data in the target-to-host direction 32 bits of read data in the target-to-host direction 64 bits of read data in the target-to-host direction read data, size defined by sz, in the target-to-host direction 8 bits of write data in the host-to-target direction 16 bits of write data in the host-to-target direction 32 bits of write data in the host-to-target direction write data, size defined by sz, in the host-to-target direction the contents of BDCCSRL in the target-to-host direction memory operand size (00 = byte, 01 = word, 10 = long) (sz = 11 is reserved and currently defaults to long) core register number, 32-bit data width command suffix signaling the operation is with status Table 5-8. BDC Command Summary Command Mnemonic Command Classification ACK Command Structure Description SYNC Always Available N/A N/A(1) Request a timed reference pulse to determine the target BDC communication speed ACK_DISABLE Always Available No 0x03/d Disable the communication handshake. This command does not issue an ACK pulse. ACK_ENABLE Always Available Yes 0x02/dack Enable the communication handshake. Issues an ACK pulse after the command is executed. Non-Intrusive Yes 0x04/dack Halt the CPU if ENBDC is set. Otherwise, ignore as illegal command. BACKGROUND MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 189 Chapter 5 Background Debug Controller (S12ZBDCV2) Table 5-8. BDC Command Summary (continued) Command Mnemonic Command Classification ACK Command Structure DUMP_MEM.sz Non-Intrusive Yes (0x32+4 x sz)/dack/rd.sz Dump (read) memory based on operand size (sz). Used with READ_MEM to dump large blocks of memory. An initial READ_MEM is executed to set up the starting address of the block and to retrieve the first result. Subsequent DUMP_MEM commands retrieve sequential operands. DUMP_MEM.sz_WS Non-Intrusive No (0x33+4 x sz)/d/ss/rd.sz Dump (read) memory based on operand size (sz) and report status. Used with READ_MEM{_WS} to dump largeblocks of memory. An initial READ_MEM{_WS} is executed to set up the starting address of the block and to retrieve the first result. Subsequent DUMP_MEM{_WS} commands retrieve sequential operands. FILL_MEM.sz Non-Intrusive Yes (0x12+4 x sz)/wd.sz/dack Fill (write) memory based on operand size (sz). Used with WRITE_MEM to fill large blocks of memory. An initial WRITE_MEM is executed to set upthe starting address of the block and to write the first operand. Subsequent FILL_MEM commands write sequential operands. FILL_MEM.sz_WS Non-Intrusive No (0x13+4 x sz)/wd.sz/d/ss Fill (write) memory based on operand size (sz) and report status. Used with WRITE_MEM{_WS} to fill large blocks of memory. An initial WRITE_MEM{_WS} is executed to set up the starting address of the block and to write the first operand. Subsequent FILL_MEM{_WS} commands write sequential operands. GO Active Background Yes 0x08/dack Resume CPU user code execution GO_UNTIL(2) Active Background Yes 0x0C/dack Go to user program. ACK is driven upon returning to active background mode. Non-Intrusive Yes 0x00/dack No operation Active Background Yes (0x60+CRN)/dack/rd32 READ_MEM.sz Non-Intrusive Yes (0x30+4 x sz)/ad24/dack/rd.sz Read the appropriately-sized (sz) memory value from the location specified by the 24bit address READ_MEM.sz_WS Non-Intrusive No (0x31+4 x sz)/ad24/d/ss/rd.sz Read the appropriately-sized (sz) memory value from the location specified by the 24bit address and report status READ_DBGTB Non-Intrusive Yes NOP READ_Rn (0x07)/dack/rd32/dack/rd32 Description Read the requested CPU register Read 64-bits of DBG trace buffer MC9S12ZVM Family Reference Manual Rev. 2.2 190 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) Table 5-8. BDC Command Summary (continued) Command Mnemonic Command Classification ACK Command Structure READ_SAME.sz Non-Intrusive Yes (0x50+4 x sz)/dack/rd.sz Read from location. An initial READ_MEM defines the address, subsequent READ_SAME reads return content of same address READ_SAME.sz_WS Non-Intrusive No (0x51+4 x sz)/d/ss/rd.sz Read from location. An initial READ_MEM defines the address, subsequent READ_SAME reads return content of same address Always Available No 0x2D/rd16 SYNC_PC Non-Intrusive Yes 0x01/dack/rd24 WRITE_MEM.sz Non-Intrusive Yes (0x10+4 x sz)/ad24/wd.sz/dack WRITE_MEM.sz_WS Non-Intrusive No Active Background Yes (0x40+CRN)/wd32/dack WRITE_BDCCSR Always Available No 0x0D/wd16 ERASE_FLASH Always Available No 0x95/d Active Background Yes 0x09/dack READ_BDCCSR WRITE_Rn STEP1 (TRACE1) Description Read the BDCCSR register Read current PC Write the appropriately-sized (sz) memory value to the location specified by the 24-bit address (0x11+4 x sz)/ad24/wd.sz/d/ss Write the appropriately-sized (sz) memory value to the location specified by the 24-bit address and report status Write the requested CPU register Write the BDCCSR register Mass erase internal flash Execute one CPU command. 1. The SYNC command is a special operation which does not have a command code. 2. The GO_UNTIL command is identical to the GO command if ACK is not enabled. 5.4.4.1 SYNC The SYNC command is unlike other BDC commands because the host does not necessarily know the correct speed to use for serial communications until after it has analyzed the response to the SYNC command. To issue a SYNC command, the host: 1. Ensures that the BKGD pin is high for at least 4 cycles of the slowest possible BDCSI clock without reset asserted. 2. Drives the BKGD pin low for at least 128 cycles of the slowest possible BDCSI clock. 3. Drives BKGD high for a brief speed-up pulse to get a fast rise time. (This speedup pulse is typically one cycle of the host clock which is as fast as the maximum target BDCSI clock). 4. Removes all drive to the BKGD pin so it reverts to high impedance. 5. Listens to the BKGD pin for the sync response pulse. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 191 Chapter 5 Background Debug Controller (S12ZBDCV2) Upon detecting the sync request from the host (which is a much longer low time than would ever occur during normal BDC communications), the target: 1. Discards any incomplete command 2. Waits for BKGD to return to a logic high. 3. Delays 16 cycles to allow the host to stop driving the high speed-up pulse. 4. Drives BKGD low for 128 BDCSI clock cycles. 5. Drives a 1-cycle high speed-up pulse to force a fast rise time on BKGD. 6. Removes all drive to the BKGD pin so it reverts to high impedance. 7. Clears the OVRRUN flag (if set). The host measures the low time of this 128-cycle SYNC response pulse and determines the correct speed for subsequent BDC communications. Typically, the host can determine the correct communication speed within a few percent of the actual target speed and the serial protocol can easily tolerate this speed error. If the SYNC request is detected by the target, any partially executed command is discarded. This is referred to as a soft-reset, equivalent to a timeout in the serial communication. After the SYNC response, the target interprets the next negative edge (issued by the host) as the start of a new BDC command or the start of new SYNC request. A SYNC command can also be used to abort a pending ACK pulse. This is explained in Section 5.4.8. 5.4.4.2 ACK_DISABLE Disable host/target handshake protocol Always Available 0x03 host target D L Y Disables the serial communication handshake protocol. The subsequent commands, issued after the ACK_DISABLE command, do not execute the hardware handshake protocol. This command is not followed by an ACK pulse. 5.4.4.3 ACK_ENABLE Enable host/target handshake protocol Always Available 0x02 host target D A C K Enables the hardware handshake protocol in the serial communication. The hardware handshake is implemented by an acknowledge (ACK) pulse issued by the target MCU in response to a host command. The ACK_ENABLE command is interpreted and executed in the BDC logic without the need to interface MC9S12ZVM Family Reference Manual Rev. 2.2 192 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) with the CPU. An ACK pulse is issued by the target device after this command is executed. This command can be used by the host to evaluate if the target supports the hardware handshake protocol. If the target supports the hardware handshake protocol, subsequent commands are enabled to execute the hardware handshake protocol, otherwise this command is ignored by the target. Table 5-8 indicates which commands support the ACK hardware handshake protocol. For additional information about the hardware handshake protocol, refer to Section 5.4.7," and Section 5.4.8." 5.4.4.4 BACKGROUND Enter active background mode (if enabled) Non-intrusive 0x04 host target D A C K Provided ENBDC is set, the BACKGROUND command causes the target MCU to enter active BDM as soon as the current CPU instruction finishes. If ENBDC is cleared, the BACKGROUND command is ignored. A delay of 16 BDCSI clock cycles is required after the BACKGROUND command to allow the target MCU to finish its current CPU instruction and enter active background mode before a new BDC command can be accepted. The host debugger must set ENBDC before attempting to send the BACKGROUND command the first time. Normally the host sets ENBDC once at the beginning of a debug session or after a target system reset. During debugging, the host uses GO commands to move from active BDM to application program execution and uses the BACKGROUND command or DBG breakpoints to return to active BDM. A BACKGROUND command issued during stop or wait modes cannot immediately force active BDM because the WAI instruction does not end until an interrupt occurs. For the detailed mode dependency description refer to Section 5.1.3.3. The host can recognize this pending BDM request condition because both NORESP and WAIT are set, but BDMACT is clear. Whilst in wait mode, with the pending BDM request, non-intrusive BDC commands are allowed. 5.4.4.5 DUMP_MEM.sz, DUMP_MEM.sz_WS DUMP_MEM.sz Read memory specified by debug address register, then increment address 0x32 Non-intrusive Data[7-0] MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 193 Chapter 5 Background Debug Controller (S12ZBDCV2) DUMP_MEM.sz host target D A C K 0x36 host target D A C K 0x3A host target D A C K target host Data[15-8] Data[7-0] target host target host Data[31-24] Data[23-16] Data[15-8] Data[7-0] target host target host target host target host DUMP_MEM.sz_WS Read memory specified by debug address register with status, then increment address 0x33 host target BDCCSRL D L Y 0x37 host target D L Y 0x3B host target D L Y target host Non-intrusive Data[7-0] target host BDCCSRL Data[15-8] Data[7-0] target host target host BDCCSRL Data[31-24] Data23-16] Data[15-8] target host target host target host target host target host Data[7-0] target host DUMP_MEM{_WS} is used with the READ_MEM{_WS} command to access large blocks of memory. An initial READ_MEM{_WS} is executed to set-up the starting address of the block and to retrieve the first result. The DUMP_MEM{_WS} command retrieves subsequent operands. The initial address is incremented by the operand size (1, 2, or 4) and saved in a temporary register. Subsequent DUMP_MEM{_WS} commands use this address, perform the memory read, increment it by the current operand size, and store the updated address in the temporary register. If the with-status option is specified, the BDCCSRL status byte is returned before the read data. This status byte reflects the state after the memory read was performed. If enabled, an ACK pulse is driven before the data bytes are transmitted. The effect of the access size and alignment on the next address to be accessed is explained in more detail in Section 5.4.5.2". MC9S12ZVM Family Reference Manual Rev. 2.2 194 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) NOTE DUMP_MEM{_WS} is a valid command only when preceded by SYNC, NOP, READ_MEM{_WS}, or another DUMP_MEM{_WS} command. Otherwise, an illegal command response is returned, setting the ILLCMD bit. NOP can be used for inter-command padding without corrupting the address pointer. The size field (sz) is examined each time a DUMP_MEM{_WS} command is processed, allowing the operand size to be dynamically altered. The examples show the DUMP_MEM.B{_WS}, DUMP_MEM.W{_WS} and DUMP_MEM.L{_WS} commands. 5.4.4.6 FILL_MEM.sz, FILL_MEM.sz_WS FILL_MEM.sz Write memory specified by debug address register, then increment address Non-intrusive 0x12 Data[7-0] host target host target 0x16 Data[15-8] Data[7-0] host target host target host target 0x1A Data[31-24] Data[23-16] Data[15-8] Data[7-0] host target host target host target host target host target D A C K D A C K D A C K FILL_MEM.sz_WS Write memory specified by debug address register with status, then increment address Non-intrusive BDCCSRL 0x13 Data[7-0] host target host target 0x17 Data[15-8] Data[7-0] host target host target host target D L Y target host BDCCSRL D L Y target host MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 195 Chapter 5 Background Debug Controller (S12ZBDCV2) FILL_MEM.sz_WS 0x1B Data[31-24] Data[23-16] Data[15-8] Data[7-0] host target host target host target host target host target BDCCSRL D L Y target host FILL_MEM{_WS} is used with the WRITE_MEM{_WS} command to access large blocks of memory. An initial WRITE_MEM{_WS} is executed to set up the starting address of the block and write the first datum. If an initial WRITE_MEM{_WS} is not executed before the first FILL_MEM{_WS}, an illegal command response is returned. The FILL_MEM{_WS} command stores subsequent operands. The initial address is incremented by the operand size (1, 2, or 4) and saved in a temporary register. Subsequent FILL_MEM{_WS} commands use this address, perform the memory write, increment it by the current operand size, and store the updated address in the temporary register. If the with-status option is specified, the BDCCSRL status byte is returned after the write data. This status byte reflects the state after the memory write was performed. If enabled an ACK pulse is generated after the internal write access has been completed or aborted. The effect of the access size and alignment on the next address to be accessed is explained in more detail in Section 5.4.5.2" NOTE FILL_MEM{_WS} is a valid command only when preceded by SYNC, NOP, WRITE_MEM{_WS}, or another FILL_MEM{_WS} command. Otherwise, an illegal command response is returned, setting the ILLCMD bit. NOP can be used for inter command padding without corrupting the address pointer. The size field (sz) is examined each time a FILL_MEM{_WS} command is processed, allowing the operand size to be dynamically altered. The examples show the FILL_MEM.B{_WS}, FILL_MEM.W{_WS} and FILL_MEM.L{_WS} commands. 5.4.4.7 GO Go Non-intrusive 0x08 host target D A C K This command is used to exit active BDM and begin (or resume) execution of CPU application code. The CPU pipeline is flushed and refilled before normal instruction execution resumes. Prefetching begins at the current address in the PC. If any register (such as the PC) is altered by a BDC command whilst in BDM, the updated value is used when prefetching resumes. If enabled, an ACK is driven on exiting active BDM. If a GO command is issued whilst the BDM is inactive, an illegal command response is returned and the ILLCMD bit is set. MC9S12ZVM Family Reference Manual Rev. 2.2 196 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) 5.4.4.8 GO_UNTIL Go Until Active Background 0x0C host target D A C K This command is used to exit active BDM and begin (or resume) execution of application code. The CPU pipeline is flushed and refilled before normal instruction execution resumes. Prefetching begins at the current address in the PC. If any register (such as the PC) is altered by a BDC command whilst in BDM, the updated value is used when prefetching resumes. After resuming application code execution, if ACK is enabled, the BDC awaits a return to active BDM before driving an ACK pulse. timeouts do not apply when awaiting a GO_UNTIL command ACK. If a GO_UNTIL is not acknowledged then a SYNC command must be issued to end the pending GO_UNTIL. If a GO_UNTIL command is issued whilst BDM is inactive, an illegal command response is returned and the ILLCMD bit is set. If ACK handshaking is disabled, the GO_UNTIL command is identical to the GO command. 5.4.4.9 NOP No operation Active Background 0x00 host target D A C K NOP performs no operation and may be used as a null command where required. 5.4.4.10 READ_Rn Read CPU register Active Background 0x60+CRN host target Data [31-24] Data [23-16] D A C K target host target host Data [15-8] Data [7-0] target host target host This command reads the selected CPU registers and returns the 32-bit result. Accesses to CPU registers are always 32-bits wide, regardless of implemented register width. Bytes that are not implemented return MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 197 Chapter 5 Background Debug Controller (S12ZBDCV2) zero. The register is addressed through the CPU register number (CRN). See Section 5.4.5.1 for the CRN address decoding. If enabled, an ACK pulse is driven before the data bytes are transmitted. If the device is not in active BDM, this command is illegal, the ILLCMD bit is set and no access is performed. 5.4.4.11 READ_MEM.sz, READ_MEM.sz_WS READ_MEM.sz Read memory at the specified address 0x30 Address[23-0] host target host target 0x34 Address[23-0] host target host target 0x38 Address[23-0] host target host target Non-intrusive Data[7-0] D A C K D A C K D A C K target host Data[15-8] Data[7-0] target host target host Data[31-24] Data[23-16] Data[15-8] Data[7-0] target host target host target host target host READ_MEM.sz_WS Read memory at the specified address with status 0x31 Address[23-0] host target host target 0x35 Address[23-0] host target host target 0x39 Address[23-0] host target host target Non-intrusive BDCCSRL D L Y D L Y D L Y target host Data[7-0] target host BDCCSRL Data [15-8] Data [7-0] target host target host BDCCSRL Data[31-24] Data[23-16] Data [15-8] target host target host target host target host target host Data [7-0] target host Read data at the specified memory address. The address is transmitted as three 8-bit packets (msb to lsb) immediately after the command. The hardware forces low-order address bits to zero longword accesses to ensure these accesses are on 0modulo-size alignments. Byte alignment details are described in Section 5.4.5.2". If the with-status option is specified, the BDCCSR status byte is returned before the read data. This status byte reflects the state MC9S12ZVM Family Reference Manual Rev. 2.2 198 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) after the memory read was performed. If enabled, an ACK pulse is driven before the data bytes are transmitted. The examples show the READ_MEM.B{_WS}, READ_MEM.W{_WS} and READ_MEM.L{_WS} commands. 5.4.4.12 READ_DBGTB Read DBG trace buffer TB Line [31- TB Line [23- TB Line [15- TB Line [724] 16] 8] 0] 0x07 host target Non-intrusive D A C K target host target host target host target host TB Line [63- TB Line [55- TB Line [47- TB Line [3956] 48] 40] 32] D A C K target host target host target host target host This command is only available on devices, where the DBG module includes a trace buffer. Attempted use of this command on devices without a traace buffer return 0x00. Read 64 bits from the DBG trace buffer. Refer to the DBG module description for more detailed information. If enabled an ACK pulse is generated before each 32-bit longword is ready to be read by the host. After issuing the first ACK a timeout is still possible whilst accessing the second 32-bit longword, since this requires separate internal accesses. The first 32-bit longword corresponds to trace buffer line bits[31:0]; the second to trace buffer line bits[63:32]. If ACK handshaking is disabled, the host must wait 16 clock cycles (DLY) after completing the first 32-bit read before starting the second 32-bit read. 5.4.4.13 READ_SAME.sz, READ_SAME.sz_WS READ_SAME Read same location specified by previous READ_MEM{_WS} 0x54 host target D A C K Data[15-8] Data[7-0] target host target host Non-intrusive READ_SAME_WS Read same location specified by previous READ_MEM{_WS} 0x55 host target D L Y BDCCSRL Data [15-8] target host target host Non-intrusive Data [7-0] target host MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 199 Chapter 5 Background Debug Controller (S12ZBDCV2) Read from location defined by the previous READ_MEM. The previous READ_MEM command defines the address, subsequent READ_SAME commands return contents of same address. The example shows the sequence for reading a 16-bit word size. Byte alignment details are described in Section 5.4.5.2". If enabled, an ACK pulse is driven before the data bytes are transmitted. NOTE READ_SAME{_WS} is a valid command only when preceded by SYNC, NOP, READ_MEM{_WS}, or another READ_SAME{_WS} command. Otherwise, an illegal command response is returned, setting the ILLCMD bit. NOP can be used for inter-command padding without corrupting the address pointer. 5.4.4.14 READ_BDCCSR Read BDCCSR Status Register 0x2D D L Y host target Always Available BDCCSR [15:8] BDCCSR [7-0] target host target host Read the BDCCSR status register. This command can be executed in any mode. 5.4.4.15 SYNC_PC Sample current PC 0x01 host target D A C K Non-intrusive PC data[23-16] PC data[15-8] PC data[7-0] target host target host target host This command returns the 24-bit CPU PC value to the host. Unsuccessful SYNC_PC accesses return 0xEE for each byte. If enabled, an ACK pulse is driven before the data bytes are transmitted. The value of 0xEE is returned if a timeout occurs, whereby NORESP is set. This can occur if the CPU is executing the WAI instruction, or the STOP instruction with BDCCIS clear, or if a CPU access is delayed by EWAIT. If the CPU is executing the STOP instruction and BDCCIS is set, then SYNC_PC returns the PC address of the instruction following STOP in the code listing. This command can be used to dynamically access the PC for performance monitoring as the execution of this command is considerably less intrusive to the real-time operation of an application than a BACKGROUND/read-PC/GO command sequence. Whilst the BDC is not in active BDM, SYNC_PC returns the PC address of the instruction currently being executed by the CPU. In active BDM, SYNC_PC returns the address of the next instruction to be executed on returning from active BDM. Thus following a write to the PC in active BDM, a SYNC_PC returns that written value. MC9S12ZVM Family Reference Manual Rev. 2.2 200 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) 5.4.4.16 WRITE_MEM.sz, WRITE_MEM.sz_WS WRITE_MEM.sz Write memory at the specified address Non-intrusive 0x10 Address[23-0] Data[7-0] host target host target host target 0x14 Address[23-0] Data[15-8] Data[7-0] host target host target host target host target 0x18 Address[23-0] host target host target D A C K D A C K Data[31-24] Data[23-16] host target Data[15-8] Data[7-0] host target host target host target D A C K WRITE_MEM.sz_WS Write memory at the specified address with status Non-intrusive BDCCSRL 0x11 Address[23-0] Data[7-0] host target host target host target 0x15 Address[23-0] Data[15-8] Data[7-0] host target host target host target host target 0x19 Address[23-0] host target host target D L Y target host Data[31-24] Data[23-16] host target host target BDCCSRL D L Y target host Data[15-8] Data[7-0] host target host target BDCCSRL D L Y target host Write data to the specified memory address. The address is transmitted as three 8-bit packets (msb to lsb) immediately after the command. If the with-status option is specified, the status byte contained in BDCCSRL is returned after the write data. This status byte reflects the state after the memory write was performed. The examples show the WRITE_MEM.B{_WS}, WRITE_MEM.W{_WS}, and WRITE_MEM.L{_WS} commands. If enabled an ACK pulse is generated after the internal write access has been completed or aborted. The hardware forces low-order address bits to zero longword accesses to ensure these accesses are on 0modulo-size alignments. Byte alignment details are described in Section 5.4.5.2". MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 201 Chapter 5 Background Debug Controller (S12ZBDCV2) 5.4.4.17 WRITE_Rn Write general-purpose CPU register 0x40+CRN Active Background Data [31-24] Data [23-16] Data [15-8] host target host target host target host target Data [7-0] host target D A C K If the device is in active BDM, this command writes the 32-bit operand to the selected CPU generalpurpose register. See Section 5.4.5.1 for the CRN details. Accesses to CPU registers are always 32-bits wide, regardless of implemented register width. If enabled an ACK pulse is generated after the internal write access has been completed or aborted. If the device is not in active BDM, this command is rejected as an illegal operation, the ILLCMD bit is set and no operation is performed. 5.4.4.18 WRITE_BDCCSR Write BDCCSR Always Available 0x0D host target BDCCSR Data [15-8] BDCCSR Data [7-0] host target host target D L Y 16-bit write to the BDCCSR register. No ACK pulse is generated. Writing to this register can be used to configure control bits or clear flag bits. Refer to the register bit descriptions. 5.4.4.19 ERASE_FLASH Erase FLASH Always Available 0x95 host target D L Y Mass erase the internal flash. This command can always be issued. On receiving this command twice in succession, the BDC sets the ERASE bit in BDCCSR and requests a flash mass erase. Any other BDC command following a single ERASE_FLASH initializes the sequence, such that thereafter the ERASE_FLASH must be applied twice in succession to request a mass erase. If 512 BDCSI clock cycles elapse between the consecutive ERASE_FLASH commands then a timeout occurs, which forces a soft reset and initializes the sequence. The ERASE bit is cleared when the mass erase sequence has been completed. No ACK is driven. MC9S12ZVM Family Reference Manual Rev. 2.2 202 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) During the mass erase operation, which takes many clock cycles, the command status is indicated by the ERASE bit in BDCCSR. Whilst a mass erase operation is ongoing, Always-available commands can be issued. This allows the status of the erase operation to be polled by reading BDCCSR to determine when the operation is finished. The status of the flash array can be verified by subsequently reading the flash error flags to determine if the erase completed successfully. ERASE_FLASH can be aborted by a SYNC pulse forcing a soft reset. NOTE: Device Bus Frequency Considerations The ERASE_FLASH command requires the default device bus clock frequency after reset. Thus the bus clock frequency must not be changed following reset before issuing an ERASE_FLASH command. 5.4.4.20 STEP1 Step1 Active Background 0x09 host target D A C K This command is used to step through application code. In active BDM this command executes the next CPU instruction in application code. If enabled an ACK is driven. If a STEP1 command is issued and the CPU is not halted, the command is ignored. Using STEP1 to step through a CPU WAI instruction is explained in Section 5.1.3.3.2. 5.4.5 BDC Access Of Internal Resources Unsuccessful read accesses of internal resources return a value of 0xEE for each data byte. This enables a debugger to recognize a potential error, even if neither the ACK handshaking protocol nor a status command is currently being executed. The value of 0xEE is returned in the following cases. * Illegal address access, whereby ILLACC is set * Invalid READ_SAME or DUMP_MEM sequence * Invalid READ_Rn command (BDM inactive or CRN incorrect) * Internal resource read with timeout, whereby NORESP is set 5.4.5.1 BDC Access Of CPU Registers The CRN field of the READ_Rn and WRITE_Rn commands contains a pointer to the CPU registers. The mapping of CRN to CPU registers is shown in Table 5-9. Accesses to CPU registers are always 32-bits wide, regardless of implemented register width. This means that the BDC data transmission for these MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 203 Chapter 5 Background Debug Controller (S12ZBDCV2) commands is 32-bits long. The valid bits of the transfer are listed in the Valid Data Bits column. The other bits of the transmission are redundant. Attempted accesses of CPU registers using a CRN of 0xD,0xE or 0xF is invalid, returning the value 0xEE for each byte and setting the ILLACC bit. Table 5-9. CPU Register Number (CRN) Mapping CPU Register Valid Data Bits Command Opcode Command Opcode D0 [7:0] WRITE_D0 0x40 READ_D0 0x60 D1 [7:0] WRITE_D1 0x41 READ_D1 0x61 D2 [15:0] WRITE_D2 0x42 READ_D2 0x62 D3 [15:0] WRITE_D3 0x43 READ_D3 0x63 D4 [15:0] WRITE_D4 0x44 READ_D4 0x64 D5 [15:0] WRITE_D5 0x45 READ_D5 0x65 D6 [31:0] WRITE_D6 0x46 READ_D6 0x66 D7 [31:0] WRITE_D7 0x47 READ_D7 0x67 X [23:0] WRITE_X 0x48 READ_X 0x68 Y [23:0] WRITE_Y 0x49 READ_Y 0x69 SP [23:0] WRITE_SP 0x4A READ_SP 0x6A 5.4.5.2 PC [23:0] WRITE_PC 0x4B READ_PC 0x6B CCR [15:0] WRITE_CCR 0x4C READ_CCR 0x6C BDC Access Of Device Memory Mapped Resources The device memory map is accessed using READ_MEM, DUMP_MEM, WRITE_MEM, FILL_MEM and READ_SAME, which support different access sizes, as explained in the command descriptions. When an unimplemented command occurs during a DUMP_MEM, FILL_MEM or READ_SAME sequence, then that sequence is ended. Illegal read accesses return a value of 0xEE for each byte. After an illegal access FILL_MEM and READ_SAME commands are not valid, and it is necessary to restart the internal access sequence with READ_MEM or WRITE_MEM. An illegal access does not break a DUMP_MEM sequence. After read accesses that cause the RDINV bit to be set, DUMP_MEM and READ_SAME commands are valid, it is not necessary to restart the access sequence with a READ_MEM. The hardware forces low-order address bits to zero for longword accesses to ensure these accesses are realigned to 0-modulo-size alignments. Word accesses map to 2-bytes from within a 4-byte field as shown in Table 5-10. Thus if address bits [1:0] are both logic "1" the access is realigned so that it does not straddle the 4-byte boundary but accesses data from within the addressed 4-byte field. MC9S12ZVM Family Reference Manual Rev. 2.2 204 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) Table 5-10. Field Location to Byte Access Mapping Address[1:0] Access Size 00 01 10 11 Note 00 32-bit Dat a[31:24] Data[23:16] Data [15:8] Data [7:0] 01 32-bit Dat a[31:24] Data[23:16] Data [15:8] Data [7:0] Realigned 10 32-bit Dat a[31:24] Data[23:16] Data [15:8] Data [7:0] Realigned 11 32-bit Dat a[31:24] Data[23:16] Data [15:8] Data [7:0] Realigned 00 16-bit 01 16-bit 10 16-bit Data [15:8] Data [7:0] 11 16-bit Data [15:8] Data [7:0] 00 8-bit Dat 01 8-bit 10 8-bit 11 8-bit Data [15:8] Data [7:0] Data [15:8] Data [7:0] Realigned a [7:0] Data [7:0] Data [7:0] Data [7:0] Denotes byte that is not transmitted 5.4.5.2.1 FILL_MEM and DUMP_MEM Increments and Alignment FILL_MEM and DUMP_MEM increment the previously accessed address by the previous access size to calculate the address of the current access. On misaligned longword accesses, the address bits [1:0] are forced to zero, therefore the following FILL_MEM or DUMP_MEM increment to the first address in the next 4-byte field. This is shown in Table 5-11, the address of the first DUMP_MEM.32 following READ_MEM.32 being calculated from 0x004000+4. When misaligned word accesses are realigned, then the original address (not the realigned address) is incremented for the following FILL_MEM, DUMP_MEM command. Misaligned word accesses can cause the same locations to be read twice as shown in rows 6 and 7. The hardware ensures alignment at an attempted misaligned word access across a 4-byte boundary, as shown in row 7. The following word access in row 8 continues from the realigned address of row 7. Table 5-11. Consecutive Accesses With Variable Size d Row Command Address Address[1:0] 00 01 10 11 1 READ_MEM.32 0x004003 11 Accessed Accessed Accessed Accessed 2 DUMP_MEM.32 0x004004 00 Accessed Accessed Accessed Accessed 3 DUMP_MEM.16 0x004008 00 Accessed Accessed 4 DUMP_MEM.16 0x00400A 10 Accessed Accessed 5 DUMP_MEM.08 0x00400C 00 6 DUMP_MEM.16 0x00400D 01 7 DUMP_MEM.16 0x00400E 10 8 DUMP_MEM.16 0x004010 01 Accessed Accessed Accessed Accessed Accessed Accessed Accessed MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 205 Chapter 5 Background Debug Controller (S12ZBDCV2) 5.4.5.2.2 READ_SAME Effects Of Variable Access Size READ_SAME uses the unadjusted address given in the previous READ_MEM command as a base address for subsequent READ_SAME commands. When the READ_MEM and READ_SAME size parameters differ then READ_SAME uses the original base address buts aligns 32-bit and 16-bit accesses, where those accesses would otherwise cross the aligned 4-byte boundary. Table 5-12 shows some examples of this. Table 5-12. Consecutive READ_SAME Accesses With Variable Size d Row 5.4.6 Command Base Address 00 01 10 11 1 READ_MEM.32 0x004003 Accessed Accessed Accessed Accessed 2 READ_SAME.32 -- Accessed Accessed Accessed Accessed 3 READ_SAME.16 -- Accessed Accessed 4 READ_SAME.08 -- Accessed 5 READ_MEM.08 0x004000 Accessed 6 READ_SAME.08 -- Accessed 7 READ_SAME.16 -- Accessed Accessed 8 READ_SAME.32 -- Accessed Accessed Accessed Accessed 9 READ_MEM.08 0x004002 Accessed 10 READ_SAME.08 -- Accessed 11 READ_SAME.16 -- Accessed Accessed 12 READ_SAME.32 -- Accessed Accessed 13 READ_MEM.08 0x004003 Accessed 14 READ_SAME.08 -- Accessed 15 READ_SAME.16 -- 16 READ_SAME.32 -- 17 READ_MEM.16 18 READ_SAME.08 19 20 Accessed Accessed Accessed Accessed Accessed Accessed Accessed 0x004001 Accessed Accessed -- Accessed READ_SAME.16 -- Accessed Accessed READ_SAME.32 -- Accessed Accessed Accessed Accessed Accessed 21 READ_MEM.16 0x004003 22 READ_SAME.08 -- 23 READ_SAME.16 -- 24 READ_SAME.32 -- Accessed Accessed Accessed Accessed Accessed Accessed Accessed Accessed Accessed BDC Serial Interface The BDC communicates with external devices serially via the BKGD pin. During reset, this pin is a mode select input which selects between normal and special modes of operation. After reset, this pin becomes the dedicated serial interface pin for the BDC. The BDC serial interface uses an internal clock source, selected by the CLKSW bit in the BDCCSR register. This clock is referred to as the target clock in the following explanation. MC9S12ZVM Family Reference Manual Rev. 2.2 206 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) The BDC serial interface uses a clocking scheme in which the external host generates a falling edge on the BKGD pin to indicate the start of each bit time. This falling edge is sent for every bit whether data is transmitted or received. Data is transferred most significant bit (MSB) first at 16 target clock cycles per bit. The interface times out if during a command 512 clock cycles occur between falling edges from the host. The timeout forces the current command to be discarded. The BKGD pin is a pseudo open-drain pin and has a weak on-chip active pull-up that is enabled at all times. It is assumed that there is an external pull-up and that drivers connected to BKGD do not typically drive the high level. Since R-C rise time could be unacceptably long, the target system and host provide brief drive-high (speedup) pulses to drive BKGD to a logic 1. The source of this speedup pulse is the host for transmit cases and the target for receive cases. The timing for host-to-target is shown in Figure 5-6 and that of target-to-host in Figure 5-7 and Figure 5-8. All cases begin when the host drives the BKGD pin low to generate a falling edge. Since the host and target operate from separate clocks, it can take the target up to one full clock cycle to recognize this edge; this synchronization uncertainty is illustrated in Figure 5-6. The target measures delays from this perceived start of the bit time while the host measures delays from the point it actually drove BKGD low to start the bit up to one target clock cycle earlier. Synchronization between the host and target is established in this manner at the start of every bit time. Figure 5-6 shows an external host transmitting a logic 1 and transmitting a logic 0 to the BKGD pin of a target system. The host is asynchronous to the target, so there is up to a one clock-cycle delay from the host-generated falling edge to where the target recognizes this edge as the beginning of the bit time. Ten target clock cycles later, the target senses the bit level on the BKGD pin. Internal glitch detect logic requires the pin be driven high no later than eight target clock cycles after the falling edge for a logic 1 transmission. Since the host drives the high speedup pulses in these two cases, the rising edges look like digitally driven signals. BDCSI clock (TARGET MCU) HOST TRANSMIT 1 HOST TRANSMIT 0 10 CYCLES SYNCHRONIZATION UNCERTAINTY EARLIEST START OF NEXT BIT TARGET SENSES BIT LEVEL PERCEIVED START OF BIT TIME Figure 5-6. BDC Host-to-Target Serial Bit Timing Figure 5-7 shows the host receiving a logic 1 from the target system. The host holds the BKGD pin low long enough for the target to recognize it (at least two target clock cycles). The host must release the low MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 207 Chapter 5 Background Debug Controller (S12ZBDCV2) drive at the latest after 6 clock cycles, before the target drives a brief high speedup pulse seven target clock cycles after the perceived start of the bit time. The host should sample the bit level about 10 target clock cycles after it started the bit time. BDCSI clock (TARGET MCU) HOST DRIVE TO BKGD PIN TARGET MCU SPEEDUP PULSE HIGH-IMPEDANCE HIGH-IMPEDANCE HIGH-IMPEDANCE PERCEIVED START OF BIT TIME BKGD PIN R-C RISE 10 CYCLES 10 CYCLES EARLIEST START OF NEXT BIT HOST SAMPLES BKGD PIN Figure 5-7. BDC Target-to-Host Serial Bit Timing (Logic 1) Figure 5-8 shows the host receiving a logic 0 from the target. The host initiates the bit time but the target finishes it. Since the target wants the host to receive a logic 0, it drives the BKGD pin low for 13 target clock cycles then briefly drives it high to speed up the rising edge. The host samples the bit level about 10 target clock cycles after starting the bit time. MC9S12ZVM Family Reference Manual Rev. 2.2 208 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) BDCSI clock (TARGET MCU) HOST DRIVE TO BKGD PIN HIGH-IMPEDANCE SPEEDUP PULSE TARGET MCU DRIVE AND SPEED-UP PULSE PERCEIVED START OF BIT TIME BKGD PIN 10 CYCLES EARLIEST START OF NEXT BIT 10 CYCLES HOST SAMPLES BKGD PIN Figure 5-8. BDC Target-to-Host Serial Bit Timing (Logic 0) 5.4.7 Serial Interface Hardware Handshake (ACK Pulse) Protocol BDC commands are processed internally at the device core clock rate. Since the BDCSI clock can be asynchronous relative to the bus frequency, a handshake protocol is provided so the host can determine when an issued command has been executed. This section describes the hardware handshake protocol. The hardware handshake protocol signals to the host controller when a BDC command has been executed by the target. This protocol is implemented by a low pulse (16 BDCSI clock cycles) followed by a brief speedup pulse on the BKGD pin, generated by the target MCU when a command, issued by the host, has been successfully executed (see Figure 5-9). This pulse is referred to as the ACK pulse. After the ACK pulse has finished, the host can start the bit retrieval if the last issued command was a read command, or start a new command if the last command was a write command or a control command. BDCSI clock (TARGET MCU) TARGET TRANSMITS ACK PULSE HIGH-IMPEDANCE 32 CYCLES 16 CYCLES HIGH-IMPEDANCE SPEED UP PULSE MINIMUM DELAY FROM THE BDC COMMAND BKGD PIN EARLIEST START OF NEXT BIT 16th CYCLE OF THE LAST COMMAND BIT Figure 5-9. Target Acknowledge Pulse (ACK) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 209 Chapter 5 Background Debug Controller (S12ZBDCV2) The handshake protocol is enabled by the ACK_ENABLE command. The BDC sends an ACK pulse when the ACK_ENABLE command has been completed. This feature can be used by the host to evaluate if the target supports the hardware handshake protocol. If an ACK pulse is issued in response to this command, the host knows that the target supports the hardware handshake protocol. Unlike the normal bit transfer, where the host initiates the transmission by issuing a negative edge on the BKGD pin, the serial interface ACK handshake pulse is initiated by the target MCU by issuing a negative edge on the BKGD pin. Figure 5-9 specifies the timing when the BKGD pin is being driven. The host must follow this timing constraint in order to avoid the risk of an electrical conflict at the BKGD pin. When the handshake protocol is enabled, the STEAL bit in BDCCSR selects if bus cycle stealing is used to gain immediate access. If STEAL is cleared, the BDC is configured for low priority bus access using free cycles, without stealing cycles. This guarantees that BDC accesses remain truly non-intrusive to not affect the system timing during debugging. If STEAL is set, the BDC gains immediate access, if necessary stealing an internal bus cycle. NOTE If bus steals are disabled then a loop with no free cycles cannot allow access. In this case the host must recognize repeated NORESP messages and then issue a BACKGROUND command to stop the target and access the data. Figure 5-10 shows the ACK handshake protocol without steal in a command level timing diagram. The READ_MEM.B command is used as an example. First, the 8-bit command code is sent by the host, followed by the address of the memory location to be read. The target BDC decodes the command. Then an internal access is requested by the BDC. When a free bus cycle occurs the READ_MEM.B operation is carried out. If no free cycle occurs within 512 core clock cycles then the access is aborted, the NORESP flag is set and the target generates a Long-ACK pulse. Having retrieved the data, the BDC issues an ACK pulse to the host controller, indicating that the addressed byte is ready to be retrieved. After detecting the ACK pulse, the host initiates the data read part of the command. TARGET BKGD PIN READ_MEM.B ADDRESS[23-0] HOST T HOST BYTE IS RETRIEVED ARGET NEW BDC COMMAND HOST T ARGET BDC ISSUES THE ACK PULSE (NOT TO SCALE) BDC DECODES THE COMMAND MCU EXECUTES THE READ_MEM.B COMMAND Figure 5-10. Handshake Protocol at Command Level Alternatively, setting the STEAL bit configures the handshake protocol to make an immediate internal access, independent of free bus cycles. MC9S12ZVM Family Reference Manual Rev. 2.2 210 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) The ACK handshake protocol does not support nested ACK pulses. If a BDC command is not acknowledged by an ACK pulse, the host needs to abort the pending command first in order to be able to issue a new BDC command. The host can decide to abort any possible pending ACK pulse in order to be sure a new command can be issued. Therefore, the protocol provides a mechanism in which a command, and its corresponding ACK, can be aborted. Commands With-Status do not generate an ACK, thus if ACK is enabled and a With-Status command is issued, the host must use the 512 cycle timeout to calculate when the data is ready for retrieval. 5.4.7.1 Long-ACK Hardware Handshake Protocol If a command results in an error condition, whereby a BDCCSRL flag is set, then the target generates a "Long-ACK" low pulse of 64 BDCSI clock cycles, followed by a brief speed pulse. This indicates to the host that an error has occurred. The host can subsequently read BDCCSR to determine the type of error. Whether normal ACK or Long-ACK, the ACK pulse is not issued earlier than 32 BDCSI clock cycles after the BDC command was issued. The end of the BDC command is assumed to be the 16th BDCSI clock cycle of the last bit. The 32 cycle minimum delay differs from the 16 cycle delay time with ACK disabled. If a BDC access request does not gain access within 512 core clock cycles, the request is aborted, the NORESP flag is set and a Long-ACK pulse is transmitted to indicate an error case. Following a STOP or WAI instruction, if the BDC is enabled, the first ACK, following stop or wait mode entry is a long ACK to indicate an exception. 5.4.8 Hardware Handshake Abort Procedure The abort procedure is based on the SYNC command. To abort a command that has not responded with an ACK pulse, the host controller generates a sync request (by driving BKGD low for at least 128 BDCSI clock cycles and then driving it high for one BDCSI clock cycle as a speedup pulse). By detecting this long low pulse in the BKGD pin, the target executes the SYNC protocol, see Section 5.4.4.1", and assumes that the pending command and therefore the related ACK pulse are being aborted. After the SYNC protocol has been completed the host is free to issue new BDC commands. The host can issue a SYNC close to the 128 clock cycles length, providing a small overhead on the pulse length to assure the sync pulse is not misinterpreted by the target. See Section 5.4.4.1". Figure 5-11 shows a SYNC command being issued after a READ_MEM, which aborts the READ_MEM command. Note that, after the command is aborted a new command is issued by the host. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 211 Chapter 5 Background Debug Controller (S12ZBDCV2) READ_MEM.B CMD IS ABORTED BY THE SYNC REQUEST (NOT TO SCALE) BKGD PIN READ_MEM.B HOST T ADDRESS[23-0] SYNC RESPONSE FROM THE TARGET (NOT TO SCALE) READ_BDCCSR ARGET HOST T ARGET NEW BDC COMMAND HOST T ARGET NEW BDC COMMAND BDC DECODES AND TRYS TO EXECUTE Figure 5-11. ACK Abort Procedure at the Command Level (Not To Scale) Figure 5-12 shows a conflict between the ACK pulse and the SYNC request pulse. The target is executing a pending BDC command at the exact moment the host is being connected to the BKGD pin. In this case, an ACK pulse is issued simultaneously to the SYNC command. Thus there is an electrical conflict between the ACK speedup pulse and the SYNC pulse. As this is not a probable situation, the protocol does not prevent this conflict from happening. AT LEAST 128 CYCLES BDCSI clock (TARGET MCU) TARGET MCU DRIVES TO BKGD PIN ACK PULSE HIGH-IMPEDANCE ELECTRICAL CONFLICT HOST DRIVES SYNC TO BKGD PIN SPEEDUP PULSE HOST AND TARGET DRIVE TO BKGD PIN HOST SYNC REQUEST PULSE BKGD PIN 16 CYCLES Figure 5-12. ACK Pulse and SYNC Request Conflict 5.4.9 Hardware Handshake Disabled (ACK Pulse Disabled) The default state of the BDC after reset is hardware handshake protocol disabled. It can also be disabled by the ACK_DISABLE BDC command. This provides backwards compatibility with the existing host devices which are not able to execute the hardware handshake protocol. For host devices that support the hardware handshake protocol, true non-intrusive debugging and error flagging is offered. If the ACK pulse protocol is disabled, the host needs to use the worst case delay time at the appropriate places in the protocol. MC9S12ZVM Family Reference Manual Rev. 2.2 212 Freescale Semiconductor Chapter 5 Background Debug Controller (S12ZBDCV2) If the handshake protocol is disabled, the access is always independent of free cycles, whereby BDC has higher priority than CPU. Since at least 2 bytes (command byte + data byte) are transferred over BKGD the maximum intrusiveness is only once every few hundred cycles. After decoding an internal access command, the BDC then awaits the next internal core clock cycle. The relationship between BDCSI clock and core clock must be considered. If the host retrieves the data immediately, then the BDCSI clock frequency must not be more than 4 times the core clock frequency, in order to guarantee that the BDC gains bus access within 16 the BDCSI cycle DLY period following an access command. If the BDCSI clock frequency is more than 4 times the core clock frequency, then the host must use a suitable delay time before retrieving data (see 5.5.1/5-214). Furthermore, for stretched read accesses to external resources via a device expanded bus (if implemented) the potential extra stretch cycles must be taken into consideration before attempting to obtain read data. If the access does not succeed before the host starts data retrieval then the NORESP flag is set but the access is not aborted. The NORESP state can be used by the host to recognize an unexpected access conflict due to stretched expanded bus accesses. Although the NORESP bit is set when an access does not succeed before the start of data retrieval, the access may succeed in following bus cycles if the internal access has already been initiated. 5.4.10 Single Stepping When a STEP1 command is issued to the BDC in active BDM, the CPU executes a single instruction in the user code and returns to active BDM. The STEP1 command can be issued repeatedly to step through the user code one instruction at a time. If an interrupt is pending when a STEP1 command is issued, the interrupt stacking operation occurs but no user instruction is executed. In this case the stacking counts as one instruction. The device re-enters active BDM with the program counter pointing to the first instruction in the interrupt service routine. When stepping through the user code, the execution of the user code is done step by step but peripherals are free running. Some peripheral modules include a freeze feature, whereby their clocks are halted when the device enters active BDM. Timer modules typically include the freeze feature. Serial interface modules typically do not include the freeze feature. Hence possible timing relations between CPU code execution and occurrence of events of peripherals no longer exist. If the handshake protocol is enabled and BDCCIS is set then stepping over the STOP instruction causes the Long-ACK pulse to be generated and the BDCCSR STOP flag to be set. When stop mode is exited due to an interrupt the device enters active BDM and the PC points to the start of the corresponding interrupt service routine. Stepping can be continued. Stepping over a WAI instruction, the STEP1 command cannot be finished because active BDM cannot be entered after CPU starts to execute the WAI instruction. Stepping over the WAI instruction causes the BDCCSR WAIT and NORESP flags to be set and, if the handshake protocol is enabled, then the Long-ACK pulse is generated. Then the device enters wait mode, clears the BDMACT bit and awaits an interrupt to leave wait mode. In this time non-intrusive BDC commands are possible, although the STEP1 has actually not finished. When an interrupt occurs the device leaves wait mode, enters active BDM and the PC points to the start of the corresponding interrupt service routine. A further ACK related to stepping over the WAI is not generated. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 213 Chapter 5 Background Debug Controller (S12ZBDCV2) 5.4.11 Serial Communication Timeout The host initiates a host-to-target serial transmission by generating a falling edge on the BKGD pin. If BKGD is kept low for more than 128 target clock cycles, the target understands that a SYNC command was issued. In this case, the target waits for a rising edge on BKGD in order to answer the SYNC request pulse. When the BDC detects the rising edge a soft reset is generated, whereby the current BDC command is discarded. If the rising edge is not detected, the target keeps waiting forever without any timeout limit. If a falling edge is not detected by the target within 512 clock cycles since the last falling edge, a timeout occurs and the current command is discarded without affecting memory or the operating mode of the MCU. This is referred to as a soft-reset. This timeout also applies if 512 cycles elapse between 2 consecutive ERASE_FLASH commands. The soft reset is disabled whilst the internal flash mass erase operation is pending completion. timeouts are also possible if a BDC command is partially issued, or data partially retrieved. Thus if a time greater than 512 BDCSI clock cycles is observed between two consecutive negative edges, a soft-reset occurs causing the partially received command or data retrieved to be discarded. The next negative edge at the BKGD pin, after a soft-reset has occurred, is considered by the target as the start of a new BDC command, or the start of a SYNC request pulse. 5.5 5.5.1 Application Information Clock Frequency Considerations Read commands without status and without ACK must consider the frequency relationship between BDCSI and the internal core clock. If the core clock is slow, then the internal access may not have been carried out within the standard 16 BDCSI cycle delay period (DLY). The host must then extend the DLY period or clock frequencies accordingly. Taking internal clock domain synchronizers into account, the minimum number of BDCSI periods required for the DLY is expressed by: #DLY > 3(f(BDCSI clock) / f(core clock)) + 4 and the minimum core clock frequency with respect to BDCSI clock frequency is expressed by Minimum f(core clock) = (3/(#DLY cycles -4))f(BDCSI clock) For the standard 16 period DLY this yields f(core clock)>= (1/4)f(BDCSI clock) MC9S12ZVM Family Reference Manual Rev. 2.2 214 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-1. Revision History Table Revision Number Revision Date Sections Affected 2.08 16.NOV.2012 Section 6.5.1 2.09 19.DEC.2012 General 2.10 28.JUN.2013 General Section 6.3.2.21 Section 6.3.2.1 Section 6.3.2.5 2.11 15.JUL.2013 Section 6.3.2 4.00 18.SEP.2013 General 4.01 18.OCT.2013 Section 6.4.5.4 Section 6.4.6.3 4.02 03.FEB.2015 Section 6.1 6.1 Description Of Changes Modified step over breakpoint information Formatting corrections Emphasized need to set TSOURCE for tracing or profiling Corrected DBGCDM write access dependency Corrrected ARM versus PTACT dependency Modified DBGTBH read access dependencies Added explicit names to state control register bit fields Added PREND bit to improve usability of profiling format for debugging Removed trace buffer read dependence on PROFILE bit Corrected reference to timestamp clock source in profiling mode Updated Table 6-2 and preceding NOTE to support V2, V3 and V4 Introduction NOTE Device reference manuals specify which S12Z Debug module version is integrated on the device. Some reference manuals support families of devices, with device dependent Debug module versions. This chapter describes the superset. The feature differences are listed in Table 6-2. Table 6-2. Comparison of S12Z Debug Module Versions S12Z Debug V2 S12Z Debug V4 S12Z Debug V3 (Lite) Tracing included Tracing included Tracing not included Profiling included Profiling included Profiling not included Comparator C included Comparator C included Comparator C not included Match 2 trigger included Match 2 trigger included Match 2 trigger not included PREND bit not included PREND bit included PREND bit not included MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 215 Chapter 6 S12Z Debug (S12ZDBG) Module The DBG module provides on-chip breakpoints and trace buffer with flexible triggering capability to allow non-intrusive debug of application software. The DBG module is optimized for the S12Z architecture and allows debugging of CPU module operations. Typically the DBG module is used in conjunction with the BDC module, whereby the user configures the DBG module for a debugging session over the BDC interface. Once configured the DBG module is armed and the device leaves active BDM returning control to the user program, which is then monitored by the DBG module. Alternatively the DBG module can be configured over a serial interface using SWI routines. 6.1.1 Glossary Table 6-3. Glossary Of Terms Term Definition COF Change Of Flow. Change in the program flow due to a conditional branch, indexed jump or interrupt PC BDM Program Counter BDC WORD Data Line CPU Trigger Background Debug Controller 6.1.2 Background Debug Mode. In this mode CPU application code execution is halted. Execution of BDC "active BDM" commands is possible. 16-bit data entity 64-bit data entity S12Z CPU module A trace buffer input that triggers tracing start, end or mid point Overview The comparators monitor the bus activity of the CPU. A single comparator match or a series of matches can trigger bus tracing and/or generate breakpoints. A state sequencer determines if the correct series of matches occurs. Similarly an external event can trigger bus tracing and/or generate breakpoints. The trace buffer is visible through a 2-byte window in the register address map and can be read out using standard 16-bit word reads. 6.1.3 * Features Four comparators (A, B, C, and D) -- Comparators A and C compare the full address bus and full 32-bit data bus -- Comparators A and C feature a data bus mask register -- Comparators B and D compare the full address bus only -- Each comparator can be configured to monitor PC addresses or addresses of data accesses -- Each comparator can select either read or write access cycles -- Comparator matches can force state sequencer state transitions MC9S12ZVM Family Reference Manual Rev. 2.2 216 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module * * * * * * 6.1.4 Three comparator modes -- Simple address/data comparator match mode -- Inside address range mode, Addmin Address Addmax -- Outside address range match mode, Address Addminor Address Addmax State sequencer control -- State transitions forced by comparator matches -- State transitions forced by software write to TRIG -- State transitions forced by an external event The following types of breakpoints -- CPU breakpoint entering active BDM on breakpoint (BDM) -- CPU breakpoint executing SWI on breakpoint (SWI) Trace control -- Tracing session triggered by state sequencer -- Begin, End, and Mid alignment of tracing to trigger Four trace modes -- Normal: change of flow (COF) PC information is stored (see Section 6.4.5.2.1) for change of flow definition. -- Loop1: same as Normal but inhibits consecutive duplicate source address entries -- Detail: address and data for all read/write access cycles are stored -- Pure PC: All program counter addresses are stored. 2 Pin (data and clock) profiling interface -- Output of code flow information Modes of Operation The DBG module can be used in all MCU functional modes. The DBG module can issue breakpoint requests to force the device to enter active BDM or an SWI ISR. The BDC BACKGROUND command is also handled by the DBG to force the device to enter active BDM. When the device enters active BDM through a BACKGROUND command with the DBG module armed, the DBG remains armed. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 217 Chapter 6 S12Z Debug (S12ZDBG) Module 6.1.5 Block Diagram B EXTERNAL EVENT TRIG COMPARATOR A COMPARATOR B COMPARATOR C COMPARATOR D COMPARATOR MATCH CONTROL CPU BUS BUS INTERFACE REGISTERS MATCH0 MATCH1 STATE SEQUENCER AND EVENT CONTROL BREAKPOINT REQUESTS MATCH2 MATCH3 TRACE CONTROL TRIGGER PROFILE OUTPUT TRACE BUFFER READ TRACE DATA (DBG READ DATA BUS) Figure 6-1. Debug Module Block Diagram 6.2 6.2.1 External Signal Description External Event Input The DBG module features an external event input signal, DBGEEV. The mapping of this signal to a device pin is specified in the device specific documentation. This function can be enabled and configured by the EEVE field in the DBGC1 control register. This signal is input only and allows an external event to force a state sequencer transition, or trace buffer entry, or to gate trace buffer entries. With the external event function enabled, a falling edge at the external event pin constitutes an event. Rising edges have no effect. If configured for gating trace buffer entries, then a low level at the pin allows entries, but a high level suppresses entries. The maximum frequency of events is half the internal core bus frequency. The function is explained in the EEVE field description. NOTE Due to input pin synchronization circuitry, the DBG module sees external events 2 bus cycles after they occur at the pin. Thus an external event occurring less than 2 bus cycles before arming the DBG module is perceived to occur whilst the DBG is armed. When the device is in stop mode the synchronizer clocks are disabled and the external events are ignored. MC9S12ZVM Family Reference Manual Rev. 2.2 218 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module 6.2.2 Profiling Output The DBG module features a profiling data output signal PDO. The mapping of this signal to a device pin is specified in the device specific documentation. The device pin is enabled for profiling by setting the PDOE bit. The profiling function can be enabled by the PROFILE bit in the DBGTCRL control register. This signal is output only and provides a serial, encoded data stream that can be used by external development tools to reconstruct the internal CPU code flow, as specified in Section 6.4.6. During code profiling the device PDOCLK output is used as a clock signal. 6.3 6.3.1 Memory Map and Registers Module Memory Map A summary of the registers associated with the DBG module is shown in Figure 6-2. Detailed descriptions of the registers and bits are given in the subsections that follow. Address Name Bit 7 6 0 TRIG 0x0100 DBGC1 R W 0x0101 DBGC2 R W 0x0102 DBGTCRH R reserved W 0x0103 DBGTCRL R W 0 0 0 0x0104 DBGTB R W Bit 15 Bit 14 Bit 13 0x0105 DBGTB R W Bit 7 Bit 6 it 0x0106 DBGCNT R W 0 0x0107 DBGSCR1 R W C3SC1 C3SC0 C2SC1 C2SC0 C1SC1 C1SC0 C0SC1 C0SC0 0x0108 DBGSCR2 R W C3SC1 C3SC0 C2SC1 C2SC0 C1SC1 C1SC0 C0SC1 C0SC0 0x0109 DBGSCR3 R W C3SC1 C3SC0 C2SC1 C2SC0 C1SC1 C1SC0 C0SC1 C0SC0 0x010A DBGEFR TRIGF 0 EEVF ME3 ME2 ME1 ME0 0x010B DBGSR 0 0 PTACT 0 SSF2 SSF1 SSF0 ARM 0 0 4 3 2 reserved BDMBP BRKCPU reserved 0 0 TSOURCE TRANGE 1 Bit 0 EEVE CDCM ABCM TRCMOD TALIGN PREND DSTAMP PDOE PROFILE STAMP Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 3 it 2 B 5 it 4 B B Bit 1 it B 0 CNT R PTBOVF W R W 5 TBF Figure 6-2. Quick Reference to DBG Registers MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 219 Chapter 6 S12Z Debug (S12ZDBG) Module Address Name Bit 7 0 6 0 5 0 NDB INST 0 0 4 0 3 0 2 0 1 0 Bit 0 0 RW RWE reserved COMPE 0 0 0 0 27 26 25 Bit 24 20 19 18 17 Bit 16 13 12 11 10 9 Bit 8 67 5 4 3 2 1 Bit 0 Bit 31 30 29 28 27 26 25 Bit 24 R W Bit 23 22 21 20 19 18 17 Bit 16 DBGADM2 R W Bit 15 14 13 12 11 10 9 Bit 8 0x011F DBGADM3 R W Bit 67 5 4 3 2 1 Bit 0 0x0120 DBGBCTL R W 0 0 RW RWE reserved COMPE 0x01210x0124 Reserved R W 0 0 0 0 0 0 0x0125 DBGBAH R W DBGBA[23:16] 0x0126 DBGBAM R W DBGBA[15:8] 0x0127 DBGBAL R W DBGBA[7:0] 0x010C0x010F Reserved R W 0x0110 DBGACTL R W 0 0x01110x0114 Reserved R W 0 0x0115 DBGAAH R W DBGAA[23:16] 0x0116 DBGAAM R W DBGAA[15:8] 0x0117 DBGAAL R W DBGAA[7:0] 0x0118 DBGAD0 R W Bit 31 30 29 28 0x0119 DBGAD1 R W Bit 23 22 21 0x011A DBGAD2 R W Bit 15 14 0x011B DBGAD3 R W Bit 0x011C DBGADM0 R W 0x011D DBGADM1 0x011E INST 0 0 0 0 0 Figure 6-2. Quick Reference to DBG Registers MC9S12ZVM Family Reference Manual Rev. 2.2 220 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Address Name Bit 7 0 6 0 5 0 NDB INST 0 0 4 0 3 0 2 0 1 0 Bit 0 0 RW RWE reserved COMPE 0 0 0 0 27 26 25 Bit 24 20 19 18 17 Bit 16 13 12 11 10 9 Bit 8 67 5 4 3 2 1 Bit 0 Bit 31 30 29 28 27 26 25 Bit 24 R W Bit 23 22 21 20 19 18 17 Bit 16 DBGCDM2 R W Bit 15 14 13 12 11 10 9 Bit 8 0x013F DBGCDM3 R W Bit 67 5 4 3 2 1 Bit 0 0x0140 DBGDCTL R W 0 0 RW RWE reserved COMPE 0x01410x0144 Reserved R W 0 0 0 0 0 0 0x0145 DBGDAH R W DBGDA[23:16] 0x0146 DBGDAM R W DBGDA[15:8] 0x01280x012F Reserved R W 0x0130 DBGCCTL R W 0 0x01310x0134 Reserved R W 0 0x0135 DBGCAH R W DBGCA[23:16] 0x0136 DBGCAM R W DBGCA[15:8] 0x0137 DBGCAL R W DBGCA[7:0] 0x0138 DBGCD0 R W Bit 31 30 29 28 0x0139 DBGCD1 R W Bit 23 22 21 0x013A DBGCD2 R W Bit 15 14 0x013B DBGCD3 R W Bit 0x013C DBGCDM0 R W 0x013D DBGCDM1 0x013E INST 0 0 0 0 0 Figure 6-2. Quick Reference to DBG Registers MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 221 Chapter 6 S12Z Debug (S12ZDBG) Module Address Name Bit 7 0x0147 DBGDAL R W 0x01480x017F Reserved R W 6 5 4 3 2 1 Bit 0 0 0 0 DBGDA[7:0] 0 0 0 0 0 Figure 6-2. Quick Reference to DBG Registers 6.3.2 Register Descriptions This section consists of the DBG register descriptions in address order. When ARM is set in DBGC1, the only bits in the DBG module registers that can be written are ARM, and TRIG 6.3.2.1 Debug Control Register 1 (DBGC1) Address: 0x0100 7 0x0100 Reset ARM 0 6 0 TRIG 0 5 4 3 2 reserved BDMBP BRKCPU reserved 0 0 0 0 1 0 EEVE 0 0 Figure 6-3. Debug Control Register (DBGC1) Read: Anytime Write: Bit 7 Anytime with the exception that it cannot be set if PTACT is set. An ongoing profiling session must be finished before DBG can be armed again. Bit 6 can be written anytime but always reads back as 0. Bits 5:0 anytime DBG is not armed and PTACT is clear. NOTE On a write access to DBGC1 and simultaneous hardware disarm from an internal event, the hardware disarm has highest priority, clearing the ARM bit and generating a breakpoint, if enabled. NOTE When disarming the DBG by clearing ARM with software, the contents of bits[5:0] are not affected by the write, since up until the write operation, ARM = 1 preventing these bits from being written. These bits must be cleared using a second write if required. Table 6-4. DBGC1 Field Descriptions Field Description 7 ARM Arm Bit -- The ARM bit controls whether the DBG module is armed. This bit can be set and cleared by register writes and is automatically cleared when the state sequencer returns to State0 on completing a debugging session. On setting this bit the state sequencer enters State1. 0 Debugger disarmed. No breakpoint is generated when clearing this bit by software register writes. 1 Debugger armed MC9S12ZVM Family Reference Manual Rev. 2.2 222 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-4. DBGC1 Field Descriptions (continued) Field Description Immediate Trigger Request Bit -- This bit when written to 1 requests an immediate transition to final state independent of comparator status. This bit always reads back a 0. Writing a 0 to this bit has no effect. 0 No effect. 1 Force state sequencer immediately to final state. 6 TRIG 4 BDMBP Background Debug Mode Enable -- This bit determines if a CPU breakpoint causes the system to enter Background Debug Mode (BDM) or initiate a Software Interrupt (SWI). If this bit is set but the BDC is not enabled, then no breakpoints are generated. 0 Breakpoint to Software Interrupt if BDM inactive. Otherwise no breakpoint. 1 Breakpoint to BDM, if BDC enabled. Otherwise no breakpoint. 3 BRKCPU CPU Breakpoint Enable -- The BRKCPU bit controls whether the debugger requests a breakpoint to CPU upon transitions to State0. If tracing is enabled, the breakpoint is generated on completion of the tracing session. If tracing is not enabled, the breakpoint is generated immediately. Please refer to Section 6.4.7 for further details. 0 Breakpoints disabled 1 Breakpoints enabled External Event Enable -- The EEVE bits configure the external event function. Table 6-5 explains the bit encoding. 1-0 EEVE Table 6-5. EEVE Bit Encoding EEVE Description 00 External event function disabled 01 External event forces a trace buffer entry if tracing is enabled 10 External event is mapped to the state sequencer, replacing comparator channel 3 11 External event pin gates trace buffer entries 6.3.2.2 Debug Control Register2 (DBGC2) Address: 0x0101 7 R 5 4 0 0 6 0 0 0 0 0 0 3 1 CDCM W Reset 2 0 0 ABCM 0 0 0 = Unimplemented or Reserved Figure 6-4. Debug Control Register2 (DBGC2) Read: Anytime. Write: Anytime the module is disarmed and PTACT is clear. This register configures the comparators for range matching. Table 6-6. DBGC2 Field Descriptions Field 3-2 CDCM[1:0] Description C and D Comparator Match Control -- These bits determine the C and D comparator match mapping as described in Table 6-7. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 223 Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-6. DBGC2 Field Descriptions (continued) Field Description A and B Comparator Match Control -- These bits determine the A and B comparator match mapping as described in Table 6-8. 1-0 ABCM[1:0] Table 6-7. CDCM Encoding CDCM Description 00 Match2 mapped to comparator C match....... Match3 mapped to comparator D match. 01 Match2 mapped to comparator C/D inside range....... Match3 disabled. 10 Match2 mapped to comparator C/D outside range....... Match3 disabled. 11 Reserved(1) 1. Currently defaults to Match2 mapped to inside range: Match3 disabled. Table 6-8. ABCM Encoding ABCM Description 00 Match0 mapped to comparator A match....... Match1 mapped to comparator B match. 01 Match0 mapped to comparator A/B inside range....... Match1 disabled. 10 Match0 mapped to comparator A/B outside range....... Match1 disabled. 11 Reserved(1) 1. Currently defaults to Match0 mapped to inside range: Match1 disabled 6.3.2.3 Debug Trace Control Register High (DBGTCRH) Address: 0x0102 7 R W Reset 6 reserved TSOURCE 0 0 5 4 3 TRANGE 0 2 1 TRCMOD 0 0 0 TALIGN 0 0 0 Figure 6-5. Debug Trace Control Register (DBGTCRH) Read: Anytime. Write: Anytime the module is disarmed and PTACT is clear. WARNING DBGTCR[7] is reserved. Setting this bit maps the tracing to an unimplemented bus, thus preventing proper operation. This register configures the trace buffer for tracing and profiling. MC9S12ZVM Family Reference Manual Rev. 2.2 224 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-9. DBGTCRH Field Descriptions Field 6 TSOURCE Description Trace Control Bits -- The TSOURCE enables the tracing session. 0 No CPU tracing/profiling selected 1 CPU tracing/profiling selected 5-4 TRANGE Trace Range Bits -- The TRANGE bits allow filtering of trace information from a selected address range when tracing from the CPU in Detail mode. These bits have no effect in other tracing modes. To use a comparator for range filtering, the corresponding COMPE bit must remain cleared. If the COMPE bit is set then the comparator is used to generate events and the TRANGE bits have no effect. See Table 6-10 for range boundary definition. 3-2 TRCMOD Trace Mode Bits -- See Section 6.4.5.2 for detailed Trace Mode descriptions. In Normal Mode, change of flow information is stored. In Loop1 Mode, change of flow information is stored but redundant entries into trace memory are inhibited. In Detail Mode, address and data for all memory and register accesses is stored. See Table 6-11. 1-0 TALIGN Trigger Align Bits -- These bits control whether the trigger is aligned to the beginning, end or the middle of a tracing or profiling session. See Table 6-12. Table 6-10. TRANGE Trace Range Encoding TRANGE T racing Range 00 Trace from all addresses (No filter) 01 Trace only in address range from $00000 to Comparator D 10 Trace only in address range from Comparator C to $FFFFFF 11 Trace only in range from Comparator C to Comparator D Table 6-11. TRCMOD Trace Mode Bit Encoding TRCMOD Description 00 Normal 01 Loop1 10 Detail 11 Pure PC Table 6-12. TALIGN Trace Alignment Encoding TALIGN Description 00 Trigger ends data trace 01 Trigger starts data trace 10 32 lines of data trace follow trigger 11(1) 1. Tracing/Profiling disabled. Reserved MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 225 Chapter 6 S12Z Debug (S12ZDBG) Module 6.3.2.4 Debug Trace Control Register Low (DBGTCRL) Address: 0x0103 7 R 0 6 5 0 0 0 0 W Reset 0 4 3 2 1 0 PREND DSTAMP PDOE PROFILE STAMP 0 0 0 0 0 = Unimplemented or Reserved Figure 6-6. Debug Trace Control Register Low (DBGTCRL) Read: Anytime. Write: Anytime the module is disarmed and PTACT is clear. This register configures the profiling and timestamp features Table 6-13. DBGTCRL Field Descriptions Field Description 4 PREND Profiling End -- This bit, when set, forces the profiling session to end when the trace buffer has been filled. This prevents a rollover of the trace buffer from overwriting the initial entry containing the start address 0 Trace buffer rollover is enabled during profiling. After the last line has been filled, the entries continue, starting at line0 and overwriting the older data 1 Trace buffer rollover is disabled during profiling. When the trace buffer is full, the profilling session ends, the PTBOVF bit is set and the ARM bit is cleared. 3 DSTAMP 2 PDOE 1 PROFILE 0 STAMP Comparator D Timestamp Enable -- This bit, when set, enables Comparator D matches to generate timestamps in Detail, Normal and Loop1 trace modes. 0 Comparator D match does not generate timestamp 1 Comparator D match generates timestamp if timestamp function is enabled Profile Data Out Enable -- This bit, when set, configures the device profiling pins for profiling. 0 Device pins not configured for profiling 1 Device pins configured for profiling Profile Enable -- This bit, when set, enables the profile function, whereby a subsequent arming of the DBG activates profiling. When PROFILE is set, the TRCMOD bits are ignored. 0 Profile function disabled 1 Profile function enabled Timestamp Enable -- This bit, when set, enables the timestamp function. The timestamp function adds a timestamp to each trace buffer entry in Detail, Normal and Loop1 trace modes. 0 Timestamp function disabled 1 Timestamp function enabled MC9S12ZVM Family Reference Manual Rev. 2.2 226 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module 6.3.2.5 Debug Trace Buffer Register (DBGTB) Address: 0x0104, 0x0105 15 R W 14 13 12 11 10 9 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 8 7 6 5 4 3 2 1 0 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 POR X X X X X X X X X X X X X X X X Other Resets -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- Figure 6-7. Debug Trace Buffer Register (DBGTB) Read: Only when unlocked AND not armed and the TSOURCE bit is set, otherwise an error code (0xEE) is returned. Only aligned word read operations are supported. Misaligned word reads or byte reads return the error code 0xEE for each byte. Write: Aligned word writes when the DBG is disarmed and the PTACT is clear unlock the trace buffer for reading but do not affect trace buffer contents. Table 6-14. DBGTB Field Descriptions Field Description 15-0 Bit[15:0] Trace Buffer Data Bits -- The Trace Buffer Register is a window through which the lines of the trace buffer may be read 16 bits at a time. Each valid read of DBGTB increments an internal trace buffer pointer which points to the next address to be read. When the ARM bit is written to 1 the trace buffer is locked to prevent reading. The trace buffer can only be unlocked for reading by writing to DBGTB with an aligned word write when the module is disarmed. The DBGTB register can be read only as an aligned word. Byte reads or misaligned access of these registers returns 0xEE and does not increment the trace buffer pointer. Similarly word reads while the debugger is armed or trace buffer is locked return 0xEEEE. The POR state is undefined Other resets do not affect the trace buffer contents. 6.3.2.6 Debug Count Register (DBGCNT) Address: 0x0106 7 R 6 5 4 0 3 2 1 0 -- 0 -- 0 -- 0 CNT W Reset POR 0 0 -- 0 -- 0 -- 0 -- 0 = Unimplemented or Reserved Figure 6-8. Debug Count Register (DBGCNT) Read: Anytime. Write: Never. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 227 Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-15. DBGCNT Field Descriptions Field Description 6-0 CNT[6:0] Count Value -- The CNT bits [6:0] indicate the number of valid data lines stored in the trace buffer. Table 6-16 shows the correlation between the CNT bits and the number of valid data lines in the trace buffer. When the CNT rolls over to zero, the TBF bit in DBGSR is set. Thereafter incrementing of CNT continues if configured for endalignment or mid-alignment. The DBGCNT register is cleared when ARM in DBGC1 is written to a one. The DBGCNT register is cleared by power-on-reset initialization but is not cleared by other system resets. If a reset occurs during a debug session, the DBGCNT register still indicates after the reset, the number of valid trace buffer entries stored before the reset occurred. The DBGCNT register is not decremented when reading from the trace buffer. Table 6-16. CNT Decoding Table 6.3.2.7 TBF (DBGSR) CNT[6:0] Description 0 0000000 No data valid 0 0000001 32 bits of one line valid 0 0000010 0000100 0000110 .. 1111100 1 line valid 2 lines valid 3 lines valid .. 62 lines valid 0 1111110 63 lines valid 1 0000000 64 lines valid; if using Begin trigger alignment, ARM bit is cleared and the tracing session ends. 1 0000010 .. 1111110 64 lines valid, oldest data has been overwritten by most recent data Debug State Control Register 1 (DBGSCR1) Address: 0x0107 7 R W Reset 6 5 4 3 2 1 0 C3SC1 C3SC0 C2SC1 C2SC0 C1SC1 C1SC0 C0SC1 C0SC0 0 0 0 0 0 0 0 0 Figure 6-9. Debug State Control Register 1 (DBGSCR1) Read: Anytime. Write: If DBG is not armed and PTACT is clear. The state control register 1 selects the targeted next state whilst in State1. The matches refer to the outputs of the comparator match control logic as depicted in Figure 6-1 and described in Section 6.3.2.12". Comparators must be enabled by setting the comparator enable bit in the associated DBGXCTL control register. MC9S12ZVM Family Reference Manual Rev. 2.2 228 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-17. DBGSCR1 Field Descriptions Field Description 1-0 C0SC[1:0] Channel 0 State Control. These bits select the targeted next state whilst in State1 following a match0. 3-2 C1SC[1:0] Channel 1 State Control. These bits select the targeted next state whilst in State1 following a match1. 5-4 C2SC[1:0] Channel 2 State Control. These bits select the targeted next state whilst in State1 following a match2. 7-6 C3SC[1:0] Channel 3 State Control. If EEVE !=10, these bits select the targeted next state whilst in State1 following a match3. If EEVE = 10, these bits select the targeted next state whilst in State1 following an external event. Table 6-18. State1 Match State Sequencer Transitions CxSC[1:0] Function 00 Match has no effect 01 Match forces sequencer to State2 10 Match forces sequencer to State3 11 Match forces sequencer to Final State In the case of simultaneous matches, the match on the higher channel number (3...0) has priority. 6.3.2.8 Debug State Control Register 2 (DBGSCR2) Address: 0x0108 7 R W Reset 6 5 4 3 2 1 0 C3SC1 C3SC0 C2SC1 C2SC0 C1SC1 C1SC0 C0SC1 C0SC0 0 0 0 0 0 0 0 0 Figure 6-10. Debug State Control Register 2 (DBGSCR2) Read: Anytime. Write: If DBG is not armed and PTACT is clear. The state control register 2 selects the targeted next state whilst in State2. The matches refer to the outputs of the comparator match control logic as depicted in Figure 6-1 and described in Section 6.3.2.12". Comparators must be enabled by setting the comparator enable bit in the associated DBGXCTL control register. Table 6-19. DBGSCR2 Field Descriptions Field Description 1-0 C0SC[1:0] Channel 0 State Control. These bits select the targeted next state whilst in State2 following a match0. 3-2 C1SC[1:0] Channel 1 State Control. These bits select the targeted next state whilst in State2 following a match1. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 229 Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-19. DBGSCR2 Field Descriptions (continued) Field Description 5-4 C2SC[1:0] Channel 2 State Control. These bits select the targeted next state whilst in State2 following a match2. 7-6 C3SC[1:0] Channel 3 State Control. If EEVE !=10, these bits select the targeted next state whilst in State2 following a match3. If EEVE =10, these bits select the targeted next state whilst in State2 following an external event. Table 6-20. State2 Match State Sequencer Transitions CxSC[1:0] Function 00 Match has no effect 01 Match forces sequencer to State1 10 Match forces sequencer to State3 11 Match forces sequencer to Final State In the case of simultaneous matches, the match on the higher channel number (3...0) has priority. 6.3.2.9 Debug State Control Register 3 (DBGSCR3) Address: 0x0109 7 R W Reset 6 5 4 3 2 1 0 C3SC1 C3SC0 C2SC1 C2SC0 C1SC1 C1SC0 C0SC1 C0SC0 0 0 0 0 0 0 0 0 Figure 6-11. Debug State Control Register 3 (DBGSCR3) Read: Anytime. Write: If DBG is not armed and PTACT is clear. The state control register three selects the targeted next state whilst in State3. The matches refer to the outputs of the comparator match control logic as depicted in Figure 6-1 and described in Section 6.3.2.12". Comparators must be enabled by setting the comparator enable bit in the associated DBGxCTL control register. Table 6-21. DBGSCR3 Field Descriptions Field Description 1-0 C0SC[1:0] Channel 0 State Control. These bits select the targeted next state whilst in State3 following a match0. 3-2 C1SC[1:0] Channel 1 State Control. These bits select the targeted next state whilst in State3 following a match1. 5-4 C2SC[1:0] Channel 2 State Control. These bits select the targeted next state whilst in State3 following a match2. MC9S12ZVM Family Reference Manual Rev. 2.2 230 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-21. DBGSCR3 Field Descriptions (continued) Field 7-6 C3SC[1:0] Description Channel 3 State Control. If EEVE !=10, these bits select the targeted next state whilst in State3 following a match3. If EEVE =10, these bits select the targeted next state whilst in State3 following an external event. Table 6-22. State3 Match State Sequencer Transitions CxSC[1:0] Function 00 Match has no effect 01 Match forces sequencer to State1 10 Match forces sequencer to State2 11 Match forces sequencer to Final State In the case of simultaneous matches, the match on the higher channel number (3....0) has priority. 6.3.2.10 Debug Event Flag Register (DBGEFR) Address: 0x010A 7 R 5 4 3 2 1 0 PTBOVF TRIGF 6 0 EEVF ME3 ME2 ME1 ME0 0 0 0 0 0 0 0 0 W Reset = Unimplemented or Reserved Figure 6-12. Debug Event Flag Register (DBGEFR) Read: Anytime. Write: Never DBGEFR contains flag bits each mapped to events whilst armed. Should an event occur, then the corresponding flag is set. With the exception of TRIGF, the bits can only be set when the ARM bit is set. The TRIGF bit is set if a TRIG event occurs when ARM is already set, or if the TRIG event occurs simultaneous to setting the ARM bit.All other flags can only be cleared by arming the DBG module. Thus the contents are retained after a debug session for evaluation purposes. A set flag does not inhibit the setting of other flags. Table 6-23. DBGEFR Field Descriptions Field 7 PTBOVF 6 TRIGF Description Profiling Trace Buffer Overflow Flag -- Indicates the occurrence of a trace buffer overflow event during a profiling session. 0 No trace buffer overflow event 1 Trace buffer overflow event TRIG Flag -- Indicates the occurrence of a TRIG event during the debug session. 0 No TRIG event 1 TRIG event MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 231 Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-23. DBGEFR Field Descriptions Field 4 EEVF 3-0 ME[3:0] 6.3.2.11 Description External Event Flag -- Indicates the occurrence of an external event during the debug session. 0 No external event 1 External event Match Event[3:0]-- Indicates a comparator match event on the corresponding comparator channel. Debug Status Register (DBGSR) Address: 0x010B 7 R 5 4 3 2 1 0 TBF 0 6 0 PTACT 0 SSF2 SSF1 SSF0 -- 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset POR = Unimplemented or Reserved Figure 6-13. Debug Status Register (DBGSR) Read: Anytime. Write: Never. Table 6-24. DBGSR Field Descriptions Field Description 7 TBF Trace Buffer Full -- The TBF bit indicates that the trace buffer has been filled with data since it was last armed. If this bit is set, then all trace buffer lines contain valid data, regardless of the value of DBGCNT bits CNT[6:0]. The TBF bit is cleared when ARM in DBGC1 is written to a one. The TBF is cleared by the power on reset initialization. Other system generated resets have no affect on this bit 4 PTACT Profiling Transmission Active -- The PTACT bit, when set, indicates that the profiling transmission is still active. When clear, PTACT then profiling transmission is not active. The PTACT bit is set when profiling begins with the first PTS format entry to the trace buffer. The PTACT bit is cleared when the profiling transmission ends. 2-0 SSF[2:0] State Sequencer Flag Bits -- The SSF bits indicate the current State Sequencer state. During a debug session on each transition to a new state these bits are updated. If the debug session is ended by software clearing the ARM bit, then these bits retain their value to reflect the last state of the state sequencer before disarming. If a debug session is ended by an internal event, then the state sequencer returns to State0 and these bits are cleared to indicate that State0 was entered during the session. On arming the module the state sequencer enters State1 and these bits are forced to SSF[2:0] = 001. See Table 6-25. Table 6-25. SSF[2:0] -- State Sequence Flag Bit Encoding SSF[2:0] Current State 000 State0 (disarmed) 001 State1 010 State2 011 State3 100 Final State MC9S12ZVM Family Reference Manual Rev. 2.2 232 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-25. SSF[2:0] -- State Sequence Flag Bit Encoding 6.3.2.12 SSF[2:0] Current State 101,110,111 Reserved Debug Comparator A Control Register (DBGACTL) Address: 0x0110 7 R 6 0 W Reset 0 5 NDB INST 0 0 4 0 0 3 2 1 0 RW RWE reserved COMPE 0 0 0 0 = Unimplemented or Reserved Figure 6-14. Debug Comparator A Control Register Read: Anytime. Write: If DBG not armed and PTACT is clear. Table 6-26. DBGACTL Field Descriptions Field Description 6 NDB Not Data Bus -- The NDB bit controls whether the match occurs when the data bus matches the comparator register value or when the data bus differs from the register value. This bit is ignored if the INST bit in the same register is set. 0 Match on data bus equivalence to comparator register contents 1 Match on data bus difference to comparator register contents 5 INST Instruction Select -- This bit configures the comparator to compare PC or data access addresses. 0 Comparator compares addresses of data accesses 1 Comparator compares PC address 3 RW 2 RWE 0 COMPE Read/Write Comparator Value Bit -- The RW bit controls whether read or write is used in compare for the associated comparator. The RW bit is ignored if RWE is clear or INST is set. 0 Write cycle is matched 1 Read cycle is matched Read/Write Enable Bit -- The RWE bit controls whether read or write comparison is enabled for the associated comparator. This bit is ignored when INST is set. 0 Read/Write is not used in comparison 1 Read/Write is used in comparison Enable Bit -- Determines if comparator is enabled 0 The comparator is not enabled 1 The comparator is enabled Table 6-27 shows the effect for RWE and RW on the comparison conditions. These bits are ignored if INST is set, because matches based on opcodes reaching the execution stage are data independent. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 233 Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-27. Read or Write Comparison Logic Table 6.3.2.13 RWE Bit RW Bit RW Signal Comment 0 x 0 RW not used in comparison 0 x 1 RW not used in comparison 1 0 0 Write match 1 0 1 1 1 0 1 1 1 No atch m No atch m Read match Debug Comparator A Address Register (DBGAAH, DBGAAM, DBGAAL) Address: 0x0115, DBGAAH 2 3 22 21 R 19 18 17 16 DBGAA[23:16] W Reset 20 0 0 0 0 0 0 0 0 14 13 12 11 10 9 8 Address: 0x0116, DBGAAM 1 5 R DBGAA[15:8] W Reset 0 0 0 0 0 0 0 0 5 4 3 2 1 0 0 0 0 0 Address: 0x0117, DBGAAL 7 6 R DBGAA[7:0] W Reset 0 0 0 0 Figure 6-15. Debug Comparator A Address Register Read: Anytime. Write: If DBG not armed and PTACT is clear. Table 6-28. DBGAAH, DBGAAM, DBGAAL Field Descriptions Field Description 23-16 DBGAA [23:16] Comparator Address Bits [23:16]-- These comparator address bits control whether the comparator compares the address bus bits [23:16] to a logic one or logic zero. 0 Compare corresponding address bit to a logic zero 1 Compare corresponding address bit to a logic one 15-0 DBGAA [15:0] Comparator Address Bits [15:0]-- These comparator address bits control whether the comparator compares the address bus bits [15:0] to a logic one or logic zero. 0 Compare corresponding address bit to a logic zero 1 Compare corresponding address bit to a logic one MC9S12ZVM Family Reference Manual Rev. 2.2 234 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module 6.3.2.14 Debug Comparator A Data Register (DBGAD) Address: 0x0118, 0x0119, 0x011A, 0x011B 31 R W 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 eset R 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 0 0 0 0 0 0 R W Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 eset R 0 0 0 0 0 0 0 Figure 6-16. Debug Comparator A Data Register (DBGAD) Read: Anytime. Write: If DBG not armed and PTACT is clear. This register can be accessed with a byte resolution, whereby DBGAD0, DBGAD1, DBGAD2, DBGAD3 map to DBGAD[31:0] respectively. Table 6-29. DBGAD Field Descriptions Field Description 31-16 Bits[31:16] (DBGAD0, DBGAD1) Comparator Data Bits -- These bits control whether the comparator compares the data bus bits to a logic one or logic zero. The comparator data bits are only used in comparison if the corresponding data mask bit is logic 1. 0 Compare corresponding data bit to a logic zero 1 Compare corresponding data bit to a logic one 15-0 Bits[15:0] (DBGAD2, DBGAD3) Comparator Data Bits -- These bits control whether the comparator compares the data bus bits to a logic one or logic zero. The comparator data bits are only used in comparison if the corresponding data mask bit is logic 1. 0 Compare corresponding data bit to a logic zero 1 Compare corresponding data bit to a logic one 6.3.2.15 Debug Comparator A Data Mask Register (DBGADM) Address: 0x011C, 0x011D, 0x011E, 0x011F 31 R W 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 eset R 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 0 0 0 0 0 0 R W Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 eset R 0 0 0 0 0 0 0 Figure 6-17. Debug Comparator A Data Mask Register (DBGADM) Read: Anytime. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 235 Chapter 6 S12Z Debug (S12ZDBG) Module Write: If DBG not armed and PTACT is clear. This register can be accessed with a byte resolution, whereby DBGADM0, DBGADM1, DBGADM2, DBGADM3 map to DBGADM[31:0] respectively. Table 6-30. DBGADM Field Descriptions Field Description 31-16 Bits[31:16] (DBGADM0, DBGADM1) Comparator Data Mask Bits -- These bits control whether the comparator compares the data bus bits to the corresponding comparator data compare bits. 0 Do not compare corresponding data bit 1 Compare corresponding data bit 15-0 Bits[15:0] (DBGADM2, DBGADM3) Comparator Data Mask Bits -- These bits control whether the comparator compares the data bus bits to the corresponding comparator data compare bits. 0 Do not compare corresponding data bit 1 Compare corresponding data bit 6.3.2.16 Debug Comparator B Control Register (DBGBCTL) Address: 0x0120 7 R 6 0 0 0 0 W Reset 5 INST 0 4 0 0 3 2 1 0 RW RWE reserved COMPE 0 0 0 0 = Unimplemented or Reserved Figure 6-18. Debug Comparator B Control Register Read: Anytime. Write: If DBG not armed and PTACT is clear. Table 6-31. DBGBCTL Field Descriptions Field(1) 5 INST 3 RW 2 RWE Description Instruction Select -- This bit configures the comparator to compare PC or data access addresses. 0 Comparator compares addresses of data accesses 1 Comparator compares PC address Read/Write Comparator Value Bit -- The RW bit controls whether read or write is used in compare for the associated comparator. The RW bit is ignored if RWE is clear or INST is set. 0 Write cycle is matched 1 Read cycle is matched Read/Write Enable Bit -- The RWE bit controls whether read or write comparison is enabled for the associated comparator. This bit is ignored when INST is set. 0 Read/Write is not used in comparison 1 Read/Write is used in comparison Enable Bit -- Determines if comparator is enabled 0 The comparator is not enabled 1 The comparator is enabled 1. If the ABCM field selects range mode comparisons, then DBGACTL bits configure the comparison, DBGBCTL is ignored. 0 COMPE MC9S12ZVM Family Reference Manual Rev. 2.2 236 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-32 shows the effect for RWE and RW on the comparison conditions. These bits are ignored if INST is set, as matches based on instructions reaching the execution stage are data independent. Table 6-32. Read or Write Comparison Logic Table 6.3.2.17 RWE Bit RW Bit RW Signal Comment 0 x 0 RW not used in comparison 0 x 1 RW not used in comparison 1 0 0 Write match 1 0 1 1 1 0 1 1 1 No atch m No atch m Read match Debug Comparator B Address Register (DBGBAH, DBGBAM, DBGBAL) Address: 0x0125, DBGBAH 2 3 22 21 R 19 18 17 16 DBGBA[23:16] W Reset 20 0 0 0 0 0 0 0 0 14 13 12 11 10 9 8 Address: 0x0126, DBGBAM 1 5 R DBGBA[15:8] W Reset 0 0 0 0 0 0 0 0 5 4 3 2 1 0 0 0 0 0 Address: 0x0127, DBGBAL 7 6 R DBGBA[7:0] W Reset 0 0 0 0 Figure 6-19. Debug Comparator B Address Register Read: Anytime. Write: If DBG not armed and PTACT is clear. Table 6-33. DBGBAH, DBGBAM, DBGBAL Field Descriptions Field Description 23-16 DBGBA [23:16] Comparator Address Bits [23:16]-- These comparator address bits control whether the comparator compares the address bus bits [23:16] to a logic one or logic zero. 0 Compare corresponding address bit to a logic zero 1 Compare corresponding address bit to a logic one 15-0 DBGBA [15:0] Comparator Address Bits[15:0]-- These comparator address bits control whether the comparator compares the address bus bits [15:0] to a logic one or logic zero. 0 Compare corresponding address bit to a logic zero 1 Compare corresponding address bit to a logic one MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 237 Chapter 6 S12Z Debug (S12ZDBG) Module 6.3.2.18 Debug Comparator C Control Register (DBGCCTL) Address: 0x0130 7 R 6 0 W Reset 5 NDB INST 0 0 0 4 0 0 3 2 1 0 RW RWE reserved COMPE 0 0 0 0 = Unimplemented or Reserved Figure 6-20. Debug Comparator C Control Register Read: Anytime. Write: If DBG not armed and PTACT is clear. Table 6-34. DBGCCTL Field Descriptions Field Description 6 NDB Not Data Bus -- The NDB bit controls whether the match occurs when the data bus matches the comparator register value or when the data bus differs from the register value. This bit is ignored if the INST bit in the same register is set. 0 Match on data bus equivalence to comparator register contents 1 Match on data bus difference to comparator register contents 5 INST Instruction Select -- This bit configures the comparator to compare PC or data access addresses. 0 Comparator compares addresses of data accesses 1 Comparator compares PC address 3 RW 2 RWE 0 COMPE Read/Write Comparator Value Bit -- The RW bit controls whether read or write is used in compare for the associated comparator. The RW bit is ignored if RWE is clear or INST is set. 0 Write cycle is matched 1 Read cycle is matched Read/Write Enable Bit -- The RWE bit controls whether read or write comparison is enabled for the associated comparator. This bit is not used if INST is set. 0 Read/Write is not used in comparison 1 Read/Write is used in comparison Enable Bit -- Determines if comparator is enabled 0 The comparator is not enabled 1 The comparator is enabled Table 6-35 shows the effect for RWE and RW on the comparison conditions. These bits are ignored if INST is set, because matches based on opcodes reaching the execution stage are data independent. Table 6-35. Read or Write Comparison Logic Table RWE Bit RW Bit RW Signal Comment 0 x 0 RW not used in comparison 0 x 1 RW not used in comparison 1 0 0 Write match 1 0 1 No atch m 1 1 0 No atch m MC9S12ZVM Family Reference Manual Rev. 2.2 238 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-35. Read or Write Comparison Logic Table 6.3.2.19 RWE Bit RW Bit RW Signal Comment 1 1 1 Read match Debug Comparator C Address Register (DBGCAH, DBGCAM, DBGCAL) Address: 0x0135, DBGCAH 2 3 22 21 R 19 18 17 16 DBGCA[23:16] W Reset 20 0 0 0 0 0 0 0 0 14 13 12 11 10 9 8 Address: 0x0136, DBGCAM 1 5 R DBGCA[15:8] W Reset 0 0 0 0 0 0 0 0 5 4 3 2 1 0 0 0 0 0 Address: 0x0137, DBGCAL 7 6 R DBGCA[7:0] W Reset 0 0 0 0 Figure 6-21. Debug Comparator C Address Register Read: Anytime. Write: If DBG not armed and PTACT is clear. Table 6-36. DBGCAH, DBGCAM, DBGCAL Field Descriptions Field Description 23-16 DBGCA [23:16] Comparator Address Bits [23:16]-- These comparator address bits control whether the comparator compares the address bus bits [23:16] to a logic one or logic zero. 0 Compare corresponding address bit to a logic zero 1 Compare corresponding address bit to a logic one 15-0 DBGCA [15:0] Comparator Address Bits[15:0]-- These comparator address bits control whether the comparator compares the address bus bits [15:0] to a logic one or logic zero. 0 Compare corresponding address bit to a logic zero 1 Compare corresponding address bit to a logic one MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 239 Chapter 6 S12Z Debug (S12ZDBG) Module 6.3.2.20 Debug Comparator C Data Register (DBGCD) Address: 0x0138, 0x0139, 0x013A, 0x013B 31 R W 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 eset R 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 0 0 0 0 0 0 R W Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 eset R 0 0 0 0 0 0 0 Figure 6-22. Debug Comparator C Data Register (DBGCD) Read: Anytime. Write: If DBG not armed and PTACT is clear. This register can be accessed with a byte resolution, whereby DBGCD0, DBGCD1, DBGCD2, DBGCD3 map to DBGCD[31:0] respectively. XGATE data accesses have a maximum width of 16-bits and are mapped to DBGCD[15:0]. Table 6-37. DBGCD Field Descriptions Field Description 31-16 Bits[31:16] (DBGCD0, DBGCD1) Comparator Data Bits -- These bits control whether the comparator compares the data bus bits to a logic one or logic zero. The comparator data bits are only used in comparison if the corresponding data mask bit is logic 1. 0 Compare corresponding data bit to a logic zero 1 Compare corresponding data bit to a logic one 15-0 Bits[15:0] (DBGCD2, DBGCD3) Comparator Data Bits -- These bits control whether the comparator compares the data bus bits to a logic one or logic zero. The comparator data bits are only used in comparison if the corresponding data mask bit is logic 1. 0 Compare corresponding data bit to a logic zero 1 Compare corresponding data bit to a logic one 6.3.2.21 Debug Comparator C Data Mask Register (DBGCDM) Address: 0x013C, 0x013D, 0x013E, 0x013F 31 R W 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 eset R 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 0 0 0 0 0 0 R W Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 eset R 0 0 0 0 0 0 0 Figure 6-23. Debug Comparator C Data Mask Register (DBGCDM) Read: Anytime. MC9S12ZVM Family Reference Manual Rev. 2.2 240 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Write: If DBG not armed and PTACT is clear. This register can be accessed with a byte resolution, whereby DBGCDM0, DBGCDM1, DBGCDM2, DBGCDM3 map to DBGCDM[31:0] respectively. XGATE data accesses have a maximum width of 16-bits and are mapped to DBGCDM[15:0]. Table 6-38. DBGCDM Field Descriptions Field Description 31-16 Bits[31:16] (DBGCDM0, DBGCDM1) Comparator Data Mask Bits -- These bits control whether the comparator compares the data bus bits to the corresponding comparator data compare bits. 0 Do not compare corresponding data bit 1 Compare corresponding data bit 15-0 Bits[15:0] (DBGCDM2, DBGCDM3) Comparator Data Mask Bits -- These bits control whether the comparator compares the data bus bits to the corresponding comparator data compare bits. 0 Do not compare corresponding data bit 1 Compare corresponding data bit 6.3.2.22 Debug Comparator D Control Register (DBGDCTL) Address: 0x0140 7 R 6 0 0 0 0 W Reset 5 INST 0 4 0 0 3 2 1 0 RW RWE reserved COMPE 0 0 0 0 = Unimplemented or Reserved Figure 6-24. Debug Comparator D Control Register Read: Anytime. Write: If DBG not armed and PTACT is clear. Table 6-39. DBGDCTL Field Descriptions Field(1) 5 INST 3 RW 2 RWE 0 COMPE Description Instruction Select -- This bit configures the comparator to compare PC or data access addresses. 0 Comparator compares addresses of data accesses 1 Comparator compares PC address Read/Write Comparator Value Bit -- The RW bit controls whether read or write is used in compare for the associated comparator. The RW bit is ignored if RWE is clear or INST is set. 0 Write cycle is matched 1 Read cycle is matched Read/Write Enable Bit -- The RWE bit controls whether read or write comparison is enabled for the associated comparator. This bit is ignored if INST is set. 0 Read/Write is not used in comparison 1 Read/Write is used in comparison Enable Bit -- Determines if comparator is enabled 0 The comparator is not enabled 1 The comparator is enabled MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 241 Chapter 6 S12Z Debug (S12ZDBG) Module 1. If the CDCM field selects range mode comparisons, then DBGCCTL bits configure the comparison, DBGDCTL is ignored. Table 6-40 shows the effect for RWE and RW on the comparison conditions. These bits are ignored if INST is set, because matches based on opcodes reaching the execution stage are data independent. Table 6-40. Read or Write Comparison Logic Table 6.3.2.23 RWE Bit RW Bit RW Signal Comment 0 x 0 RW not used in comparison 0 x 1 RW not used in comparison 1 0 0 Write match 1 0 1 No atch m 1 1 0 No atch m 1 1 1 Read match Debug Comparator D Address Register (DBGDAH, DBGDAM, DBGDAL) Address: 0x0145, DBGDAH 2 3 22 21 R 19 18 17 16 DBGDA[23:16] W Reset 20 0 0 0 0 0 0 0 0 14 13 12 11 10 9 8 Address: 0x0146, DBGDAM 1 5 R DBGDA[15:8] W Reset 0 0 0 0 0 0 0 0 5 4 3 2 1 0 0 0 0 0 Address: 0x0147, DBGDAL 7 6 R DBGDA[7:0] W Reset 0 0 0 0 Figure 6-25. Debug Comparator D Address Register Read: Anytime. Write: If DBG not armed and PTACT is clear. Table 6-41. DBGDAH, DBGDAM, DBGDAL Field Descriptions Field Description 23-16 DBGDA [23:16] Comparator Address Bits [23:16]-- These comparator address bits control whether the comparator compares the address bus bits [23:16] to a logic one or logic zero. 0 Compare corresponding address bit to a logic zero 1 Compare corresponding address bit to a logic one MC9S12ZVM Family Reference Manual Rev. 2.2 242 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-41. DBGDAH, DBGDAM, DBGDAL Field Descriptions Field 15-0 DBGDA [15:0] 6.4 Description Comparator Address Bits[15:0]-- These comparator address bits control whether the comparator compares the address bus bits [15:0] to a logic one or logic zero. 0 Compare corresponding address bit to a logic zero 1 Compare corresponding address bit to a logic one Functional Description This section provides a complete functional description of the DBG module. 6.4.1 DBG Operation The DBG module operation is enabled by setting ARM in DBGC1. When armed it supports storing of data in the trace buffer and can be used to generate breakpoints to the CPU. The DBG module is made up of comparators, control logic, the trace buffer, and the state sequencer, Figure 6-1. The comparators monitor the bus activity of the CPU. Comparators can be configured to monitor opcode addresses (effectively the PC address) or data accesses. Comparators can be configured during data accesses to mask out individual data bus bits and to use R/W access qualification in the comparison. Comparators can be configured to monitor a range of addresses. When configured for data access comparisons, the match is generated if the address (and optionally data) of a data access matches the comparator value. Configured for monitoring opcode addresses, the match is generated when the associated opcode reaches the execution stage of the instruction queue, but before execution of that opcode. When a match with a comparator register value occurs, the associated control logic can force the state sequencer to another state (see Figure 6-26). The state sequencer can transition freely between the states 1, 2 and 3. On transition to Final State bus tracing can be triggered. On completion of tracing the state sequencer enters State0. If tracing is disabled or End aligned tracing is enabled then the state sequencer transitions immediately from Final State to State0. The transition to State0 generates breakpoints if breakpoints are enabled. Independent of the comparators, state sequencer transitions can be forced by the external event input or by writing to the TRIG bit in the DBGC1 control register. The trace buffer is visible through a 2-byte window in the register address map and can be read out using standard 16-bit word reads. 6.4.2 Comparator Modes The DBG contains four comparators, A, B, C, and D. Each comparator compares the address stored in DBGXAH, DBGXAM, and DBGXAL with the PC (opcode addresses) or selected address bus (data MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 243 Chapter 6 S12Z Debug (S12ZDBG) Module accesses). Furthermore, comparators A and C can compare the data buses to values stored in DBGXD3-0 and allow data bit masking. The comparators can monitor the buses for an exact address or an address range. The comparator configuration is controlled by the control register contents and the range control by the DBGC2 contents. The comparator control register also allows the type of data access to be included in the comparison through the use of the RWE and RW bits. The RWE bit controls whether the access type is compared for the associated comparator and the RW bit selects either a read or write access for a valid match. The INST bit in each comparator control register is used to determine the matching condition. By setting INST, the comparator matches opcode addresses, whereby the databus, data mask, RW and RWE bits are ignored. The comparator register must be loaded with the exact opcode address. The comparator can be configured to match memory access addresses by clearing the INST bit. Each comparator match can force a transition to another state sequencer state (see Section 6.4.3"). Once a successful comparator match has occurred, the condition that caused the original match is not verified again on subsequent matches. Thus if a particular data value is matched at a given address, this address may not contain that data value when a subsequent match occurs. Comparators C and D can also be used to select an address range to trace from, when tracing CPU accesses in Detail mode. This is determined by the TRANGE bits in the DBGTCRH register. The TRANGE encoding is shown in Table 6-10. If the TRANGE bits select a range definition using comparator D and the COMPE bit is clear, then comparator D is configured for trace range definition. By setting the COMPE bit the comparator is configured for address bus comparisons, the TRANGE bits are ignored and the tracing range function is disabled. Similarly if the TRANGE bits select a range definition using comparator C and the COMPE bit is clear, then comparator C is configured for trace range definition. Match[0, 1, 2, 3] map directly to Comparators [A, B, C, D] respectively, except in range modes (see Section 6.3.2.2"). Comparator priority rules are described in the event priority section (Section 6.4.3.5"). 6.4.2.1 Exact Address Comparator Match With range comparisons disabled, the match condition is an exact equivalence of address bus with the value stored in the comparator address registers. Qualification of the type of access (R/W) is also possible. Code may contain various access forms of the same address, for example a 16-bit access of ADDR[n] or byte access of ADDR[n+1] both access n+1. The comparators ensure that any access of the address defined by the comparator address register generates a match, as shown in the example of Table 6-42. Thus if the comparator address register contains ADDR[n+1] any access of ADDR[n+1] matches. This means that a 16-bit access of ADDR[n] or 32-bit access of ADDR[n-1] also match because they also access ADDR[n+1]. The right hand columns show the contents of DBGxA that would match for each access. Table 6-42. Comparator Address Bus Matches Access Address ADDR[n] ADDR[n+1] ADDR[n+2] ADDR[n+3] 32-bit ADDR[n] Match Match Match Match 16-bit ADDR[n] Match Match No Match No Match No Match Match Match No Match 16-bit ADDR[n+1] MC9S12ZVM Family Reference Manual Rev. 2.2 244 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-42. Comparator Address Bus Matches Access Address ADDR[n] ADDR[n+1] ADDR[n+2] ADDR[n+3] 8-bit ADDR[n] Match No Match No Match No Match If the comparator INST bit is set, the comparator address register contents are compared with the PC, the data register contents and access type bits are ignored. The comparator address register must be loaded with the address of the first opcode byte. 6.4.2.2 Address and Data Comparator Match Comparators A and C feature data comparators, for data access comparisons. The comparators do not evaluate if accessed data is valid. Accesses across aligned 32-bit boundaries are split internally into consecutive accesses. The data comparator mapping to accessed addresses for the CPU is shown in Table 6-43, whereby the Address column refers to the lowest 2 bits of the lowest accessed address. This corresponds to the most significant data byte. Table 6-43. Comparator Data Byte Alignment Address[1:0] Data Comparator 00 DBGxD0 01 DBGxD1 10 DBGxD2 11 DBGxD3 The fixed mapping of data comparator bytes to addresses within a 32-bit data field ensures data matches independent of access size. To compare a single data byte within the 32-bit field, the other bytes within that field must be masked using the corresponding data mask registers. This ensures that any access of that byte (32-bit,16-bit or 8-bit) with matching data causes a match. If no bytes are masked then the data comparator always compares all 32-bits and can only generate a match on a 32-bit access with correct 32bit data value. In this case, 8-bit or 16-bit accesses within the 32-bit field cannot generate a match even if the contents of the addressed bytes match because all 32-bits must match. In Table 6-44 the Access Address column refers to the address bits[1:0] of the lowest accessed address (most significant data byte). Table 6-44. Data Register Use Dependency On CPU Access Type Memory Address[2:0] Case Access Address Access Size 1 00 32-bit D 2 01 32-bit 3 10 32-bit 4 11 32-bit 5 00 16-bit D 6 01 16-bit 7 10 16-bit 8 11 16-bit 000 BGxD0 BGxD0 001 010 011 100 101 DBGxD1 DBGxD2 DBGxD3 DBGxD1 DBGxD2 DBGxD3 DBGxD0 DBGxD2 DBGxD3 DBGxD0 DBGxD1 DBGxD3 DBGxD0 DBGxD1 110 DBGxD2 DBGxD1 DBGxD1 DBGxD2 DBGxD2 DBGxD3 DBGxD3 DBGxD0 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 245 Chapter 6 S12Z Debug (S12ZDBG) Module Memory Address[2:0] Case Access Address Access Size 9 00 8-bit D 10 01 8-bit 11 10 8-bit 12 11 8-bit 13 00 8-bit 000 001 010 011 100 101 110 BGxD0 DBGxD1 DBGxD2 DBGxD3 DBGxD0 Denotes byte that is not accessed. For a match of a 32-bit access with data compare, the address comparator must be loaded with the address of the lowest accessed byte. For Case1 Table 6-44 this corresponds to 000, for Case2 it corresponds to 001. To compare all 32-bits, it is required that no bits are masked. 6.4.2.3 Data Bus Comparison NDB Dependency The NDB control bit allows data bus comparators to be configured to either match on equivalence or on difference. This allows monitoring of a difference in the contents of an address location from an expected value. When matching on an equivalence (NDB=0), each individual data bus bit position can be masked out by clearing the corresponding mask bit, so that it is ignored in the comparison. A match occurs when all data bus bits with corresponding mask bits set are equivalent. If all mask register bits are clear, then a match is based on the address bus only, the data bus is ignored. When matching on a difference, mask bits can be cleared to ignore bit positions. A match occurs when any data bus bit with corresponding mask bit set is different. Clearing all mask bits, causes all bits to be ignored and prevents a match because no difference can be detected. In this case address bus equivalence does not cause a match. Bytes that are not accessed are ignored. Thus when monitoring a multi byte field for a difference, partial accesses of the field only return a match if a difference is detected in the accessed bytes. Table 6-45. NDB and MASK bit dependency NDB 6.4.2.4 DBGADM Comment 0 0 Do not compare data bus bit. 0 1 Compare data bus bit. Match on equivalence. 1 0 Do not compare data bus bit. 1 1 Compare data bus bit. Match on difference. Range Comparisons Range comparisons are accurate to byte boundaries. Thus for data access comparisons a match occurs if at least one byte of the access is in the range (inside range) or outside the range (outside range). For opcode comparisons only the address of the first opcode byte is compared with the range. MC9S12ZVM Family Reference Manual Rev. 2.2 246 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module When using the AB comparator pair for a range comparison, the data bus can be used for qualification by using the comparator A data and data mask registers. Similarly when using the CD comparator pair for a range comparison, the data bus can be used for qualification by using the comparator C data and data mask registers. The DBGACTL/DBGCCTL RW and RWE bits can be used to qualify the range comparison on either a read or a write access. The corresponding DBGBCTL/DBGDCTL bits are ignored. The DBGACTL/DBGCCTL COMPE/INST bits are used for range comparisons. The DBGBCTL/DBGDCTL COMPE/INST bits are ignored in range modes. 6.4.2.4.1 Inside Range (CompAC_Addr address CompBD_Addr) In the Inside Range comparator mode, either comparator pair A and B or comparator pair C and D can be configured for range comparisons by the control register (DBGC2). The match condition requires a simultaneous valid match for both comparators. A match condition on only one comparator is not valid. 6.4.2.4.2 Outside Range (address < CompAC_Addr or address > CompBD_Addr) In the Outside Range comparator mode, either comparator pair A and B or comparator pair C and D can be configured for range comparisons. A single match condition on either of the comparators is recognized as valid. Outside range mode in combination with opcode address matches can be used to detect if opcodes are from an unexpected range. NOTE When configured for data access matches, an outside range match would typically occur at any interrupt vector fetch or register access. This can be avoided by setting the upper or lower range limit to $FFFFFF or $000000 respectively. Interrupt vector fetches do not cause opcode address matches. 6.4.3 Events Events are used as qualifiers for a state sequencer change of state. The state control register for the current state determines the next state for each event. An event can immediately initiate a transition to the next state sequencer state whereby the corresponding flag in DBGSR is set. 6.4.3.1 6.4.3.1.1 Comparator Match Events Opcode Address Comparator Match The comparator is loaded with the address of the selected instruction and the comparator control register INST bit is set. When the opcode reaches the execution stage of the instruction queue a match occurs just before the instruction executes, allowing a breakpoint immediately before the instruction boundary. The comparator address register must contain the address of the first opcode byte for the match to occur. Opcode address matches are data independent thus the RWE and RW bits are ignored. CPU compares are disabled when BDM becomes active. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 247 Chapter 6 S12Z Debug (S12ZDBG) Module 6.4.3.1.2 Data Access Comparator Match Data access matches are generated when an access occurs at the address contained in the comparator address register. The match can be qualified by the access data and by the access type (read/write). The breakpoint occurs a maximum of 2 instructions after the access in the CPU flow. Note, if a COF occurs between access and breakpoint, the opcode address of the breakpoint can be elsewhere in the memory map. Opcode fetches are not classed as data accesses. Thus data access matches are not possible on opcode fetches. 6.4.3.2 External Event The DBGEEV input signal can force a state sequencer transition, independent of internal comparator matches. The DBGEEV is an input signal mapped directly to a device pin and configured by the EEVE field in DBGC1. The external events can change the state sequencer state, or force a trace buffer entry, or gate trace buffer entries. If configured to change the state sequencer state, then the external match is mapped to DBGSCRx bits C3SC[1:0]. In this configuration, internal comparator channel3 is de-coupled from the state sequencer but can still be used for timestamps. The DBGEFR bit EEVF is set when an external event occurs. 6.4.3.3 Setting The TRIG Bit Independent of comparator matches it is possible to initiate a tracing session and/or breakpoint by writing the TRIG bit in DBGC1 to a logic "1". This forces the state sequencer into the Final State. If configured for End aligned tracing or for no tracing, the transition to Final State is followed immediately by a transition to State0. If configured for Begin- or Mid Aligned tracing, the state sequencer remains in Final State until tracing is complete, then it transitions to State0. Breakpoints, if enabled, are issued on the transition to State0. 6.4.3.4 Profiling Trace Buffer Overflow Event During code profiling a trace buffer overflow forces the state sequencer into the disarmed State0 and, if breakpoints are enabled, issues a breakpoint request to the CPU. 6.4.3.5 Event Priorities If simultaneous events occur, the priority is resolved according to Table 6-46. Lower priority events are suppressed. It is thus possible to miss a lower priority event if it occurs simultaneously with an event of a higher priority. The event priorities dictate that in the case of simultaneous matches, the match on the higher comparator channel number (3,2,1,0) has priority. If a write access to DBGC1 with the ARM bit position set occurs simultaneously to a hardware disarm from an internal event, then the ARM bit is cleared due to the hardware disarm. Table 6-46. Event Priorities Priority Source Action Highest TB Overflow Immediate force to state 0, generate breakpoint and terminate tracing MC9S12ZVM Family Reference Manual Rev. 2.2 248 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-46. Event Priorities TRIG Force immediately to final state DBGEEV Force to next state as defined by state control registers (EEVE=2'b10) Match3 Force to next state as defined by state control registers Match2 Force to next state as defined by state control registers Match1 Force to next state as defined by state control registers Match0 Force to next state as defined by state control registers Lowest 6.4.4 State Sequence Control State 0 (Disarmed) ARM = 1 State1 Final State State2 State3 Figure 6-26. State Sequencer Diagram The state sequencer allows a defined sequence of events to provide a breakpoint and/or a trigger point for tracing of data in the trace buffer. When the DBG module is armed by setting the ARM bit in the DBGC1 register, the state sequencer enters State1. Further transitions between the states are controlled by the state control registers and depend upon event occurrences (see Section 6.4.3). From Final State the only permitted transition is back to the disarmed State0. Transition between the states 1 to 3 is not restricted. Each transition updates the SSF[2:0] flags in DBGSR accordingly to indicate the current state. If breakpoints are enabled, then an event based transition to State0 generates the breakpoint request. A transition to State0 resulting from writing "0" to the ARM bit does not generate a breakpoint request. 6.4.4.1 Final State On entering Final State a trigger may be issued to the trace buffer according to the trigger position control as defined by the TALIGN field (see Section 6.3.2.3"). If tracing is enabled and either Begin or Mid aligned triggering is selected, the state sequencer remains in Final State until completion of the trace. On completion of the trace the state sequencer returns to State0 and the debug module is disarmed; if breakpoints are enabled, a breakpoint request is generated. If tracing is disabled or End aligned triggering is selected, then when the Final State is reached the state sequencer returns to State0 immediately and the debug module is disarmed. If breakpoints are enabled, a breakpoint request is generated on transitions to State0. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 249 Chapter 6 S12Z Debug (S12ZDBG) Module 6.4.5 Trace Buffer Operation The trace buffer is a 64 lines deep by 64-bits wide RAM array. If the TSOURCE bit is set the DBG module can store trace information in the RAM array in a circular buffer format. Data is stored in mode dependent formats, as described in the following sections. After each trace buffer entry, the counter register DBGCNT is incremented. Trace buffer rollover is possible when configured for End- or Mid-Aligned tracing, such that older entries are replaced by newer entries. Tracing of CPU activity is disabled when the BDC is active. The RAM array can be accessed through the register DBGTB using 16-bit wide word accesses. After each read, the internal RAM pointer is incremented so that the next read will receive fresh information. Reading the trace buffer whilst the DBG is armed returns invalid data and the trace buffer pointer is not incremented. In Detail mode the address range for CPU access tracing can be limited to a range specified by the TRANGE bits in DBGTCRH. This function uses comparators C and D to define an address range inside which accesses should be traced. Thus traced accesses can be restricted, for example, to particular register or RAM range accesses. The external event pin can be configured to force trace buffer entries in Normal or Loop1 trace modes. All tracing modes support trace buffer gating. In Pure PC and Detail modes external events do not force trace buffer entries. If the external event pin is configured to gate trace buffer entries then any trace mode is valid. 6.4.5.1 Trace Trigger Alignment Using the TALIGN bits (see Section 6.3.2.3") it is possible to align the trigger with the end, the middle, or the beginning of a tracing session. If End or Mid-Alignment is selected, tracing begins when the ARM bit in DBGC1 is set and State1 is entered. The transition to Final State if End-Alignment is selected, ends the tracing session. The transition to Final State if Mid-Alignment is selected signals that another 32 lines are traced before ending the tracing session. Tracing with Begin-Alignment starts at the trigger and ends when the trace buffer is full. Table 6-47. Tracing Alignment TALIGN Tracing Begin 00 On arming At trigger 01 At trigger When trace buffer is full 10 On arming When 32 trace buffer lines have been filled after trigger 11 6.4.5.1.1 Tracing End Reserved Storing with Begin-Alignment Storing with Begin-Alignment, data is not stored in the trace buffer until the Final State is entered. Once the trigger condition is met the DBG module remains armed until 64 lines are stored in the trace buffer. MC9S12ZVM Family Reference Manual Rev. 2.2 250 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Using Begin-Alignment together with opcode address comparisons, if the instruction is about to be executed then the trace is started. If the trigger is at the address of a COF instruction, whilst tracing COF addresses, then that COF address is stored to the trace buffer. If breakpoints are enabled, the breakpoint is generated upon entry into State0 on completion of the tracing session; thus the breakpoint does not occur at the instruction boundary. 6.4.5.1.2 Storing with Mid-Alignment Storing with Mid-Alignment, data is stored in the trace buffer as soon as the DBG module is armed. When the trigger condition is met, another 32 lines are traced before ending the tracing session, irrespective of the number of lines stored before the trigger occurred, then the DBG module is disarmed and no more data is stored. Using Mid-Alignment with opcode address triggers, if the instruction is about to be executed then the trace is continued for another 32 lines. If breakpoints are enabled, the breakpoint is generated upon entry into State0 on completion of the tracing session; thus the breakpoint does not occur at the instruction boundary. When configured for Compressed Pure-PC tracing, the MAT info bit is set to indicate the last PC entry before a trigger event. 6.4.5.1.3 Storing with End-Alignment Storing with End-Alignment, data is stored in the trace buffer until the Final State is entered. Following this trigger, the DBG module immediately transitions to State0. If the trigger is at the address of a COF instruction the trigger event is not stored in the trace buffer. 6.4.5.2 Trace Modes The DBG module can operate in four trace modes. The mode is selected using the TRCMOD bits in the DBGTCRH register. Normal, Loop1 and Detail modes can be configured to store a timestamp with each entry, by setting the STAMP bit. The modes are described in the following subsections. In addition to the listed trace modes it is also possible to use code profiling to fill the trace buffer with a highly compressed COF format. This can be subsequently read out in the same fashion as the listed trace modes (see Section 6.4.6). 6.4.5.2.1 Normal Mode In Normal Mode, change of flow (COF) program counter (PC) addresses are stored. CPU COF addresses are defined as follows: * Source address of taken conditional branches (bit-conditional, and loop primitives) * Destination address of indexed JMP and JSR instruction.s * Destination address of RTI and RTS instructions. * Vector address of interrupts BRA, BSR, BGND as well as non-indexed JMP and JSR instructions are not classified as change of flow and are not stored in the trace buffer. COF addresses stored include the full address bus of CPU and an information byte, which contains bits to indicate whether the stored address was a source, destination or vector address. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 251 Chapter 6 S12Z Debug (S12ZDBG) Module NOTE When a CPU indexed jump instruction is executed, the destination address is stored to the trace buffer on instruction completion, indicating the COF has taken place. If an interrupt occurs simultaneously then the next instruction carried out is actually from the interrupt service routine. The instruction at the destination address of the original program flow gets executed after the interrupt service routine. In the following example an IRQ interrupt occurs during execution of the indexed JMP at address MARK1. The NOP at the destination (SUB_1) is not executed until after the IRQ service routine but the destination address is entered into the trace buffer to indicate that the indexed JMP COF has taken place. MARK1: MARK2: LD JMP NOP SUB_1: NOP ADDR1: NOP DBNE IRQ_ISR: LD ST RTI X,#SUB_1 (0,X) ; IRQ interrupt occurs during execution of this ; ; JMP Destination address TRACE BUFFER ENTRY 1 ; RTI Destination address TRACE BUFFER ENTRY 3 ; ; Source address TRACE BUFFER ENTRY 4 D0,PART5 D1,#$F0 D1,VAR_C1 ; IRQ Vector $FFF2 = TRACE BUFFER ENTRY 2 ; The execution flow taking into account the IRQ is as follows LD MARK1: JMP IRQ_ISR: LD ST RTI SUB_1: NOP NOP ADDR1: DBNE X,#SUB_1 (0,X) D1,#$F0 D1,VAR_C1 ; ; ; ; ; D0,PART5 The Normal Mode trace buffer format is shown in the following tables. Whilst tracing in Normal or Loop1 modes each array line contains 2 data entries, thus in this case the DBGCNT[0] is incremented after each separate entry. Information byte bits indicate if an entry is a source, destination or vector address. The external event input can force trace buffer entries independent of COF occurrences, in which case the EEVI bit is set and the PC value of the last instruction is stored to the trace buffer. If the external event coincides with a COF buffer entry a single entry is made with the EEVI bit set. Normal mode profiling with timestamp is possible when tracing from a single source by setting the STAMP bit in DBGTCRL. This results in a different format (see Table 6-49). Table 6-48. Normal and Loop1 Mode Trace Buffer Format without Timestamp Mode 8-Byte Wide Trace Buffer Line 7 6 5 4 3 2 1 0 MC9S12ZVM Family Reference Manual Rev. 2.2 252 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-48. Normal and Loop1 Mode Trace Buffer Format without Timestamp CPU CINF1 CPCH1 CPCM1 CPCL1 CINF0 CPCH0 CPCM0 CPCL0 CINF3 CPCH3 CPCM3 CPCL3 CINF2 CPCH2 CPCM2 CPCL2 Table 6-49. Normal and Loop1 Mode Trace Buffer Format with Timestamp 8-Byte Wide Trace Buffer Line Mode CPU 7 6 5 4 3 2 1 0 Timestamp Timestamp Reserved Reserved CINF0 CPCH0 CPCM0 CPCL0 Timestamp Timestamp Reserved Reserved CINF1 CPCH1 CPCM1 CPCL1 CINF contains information relating to the CPU. CPU Information Byte CINF For Normal And Loop1 Modes Bit 7 it 6 CET B Bit 5 it 4 0 0 B Bit CTI 3 it 2 B EEVI Bit 0 1 it 0 B TOVF Figure 6-27. CPU Information Byte CINF Table 6-50. CINF Bit Descriptions Field Description 7-6 CET CPU Entry Type Field -- Indicates the type of stored address of the trace buffer entry as described in Table 6-51 3 CTI Comparator Timestamp Indicator -- This bit indicates if the trace buffer entry corresponds to a comparator timestamp. 0 Trace buffer entry initiated by trace mode specification conditions or timestamp counter overflow 1 Trace buffer entry initiated by comparator D match 2 EEVI External Event Indicator -- This bit indicates if the trace buffer entry corresponds to an external event. 0 Trace buffer entry not initiated by an external event 1 Trace buffer entry initiated by an external event 0 TOVF Timestamp Overflow Indicator -- Indicates if the trace buffer entry corresponds to a timestamp overflow 0 Trace buffer entry not initiated by a timestamp overflow 1 Trace buffer entry initiated by a timestamp overflow Table 6-51. CET Encoding CET Entry Type Description 00 Non COF opcode address (entry forced by an external event) 01 Vector destination address 10 Source address of COF opcode 11 Destination address of COF opcode MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 253 Chapter 6 S12Z Debug (S12ZDBG) Module 6.4.5.2.2 Loop1 Mode Loop1 Mode, similarly to Normal Mode also stores only COF address information to the trace buffer, it however allows the filtering out of redundant information. The intent of Loop1 Mode is to prevent the trace buffer from being filled entirely with duplicate information from a looping construct such as delays using the DBNE instruction. The DBG monitors trace buffer entries and prevents consecutive duplicate address entries resulting from repeated branches. Loop1 Mode only inhibits consecutive duplicate source address entries that would typically be stored in most tight looping constructs. It does not inhibit repeated entries of destination addresses or vector addresses, since repeated entries of these could indicate a bug in application code that the DBG module is designed to help find. The trace buffer format for Loop1 Mode is the same as that of Normal Mode. 6.4.5.2.3 Detail Mode When tracing CPU activity in Detail Mode, address and data of data and vector accesses are traced. The information byte indicates the size of access and the type of access (read or write). ADRH, ADRM, ADRL denote address high, middle and low byte respectively. The numerical suffix indicates which tracing step. DBGCNT increments by 2 for each line completed. If timestamps are enabled then each CPU entry can span 2 trace buffer lines, whereby the second line includes the timestamp. If a valid PC occurs in the same cycle as the timestamp, it is also stored to the trace buffer and the PC bit is set. The second line featuring the timestamp is only stored if no further data access occurs in the following cycle. This is shown in Table 6-53, where data accesses 2 and 3 occur in consecutive cycles, suppressing the entry2 timestamp. If 2 lines are used for an entry, then DBGCNT increments by 4. A timestamp line is indicated by bit1 in the TSINF byte. The timestamp counter is only reset each time a timestamp line entry is made. It is not reset when the data and address trace buffer line entry is made. Table 6-52. Detail Mode Trace Buffer Format without Timestamp Mode CPU Detail 8-Byte Wide Trace Buffer Line 7 6 5 4 3 2 1 0 CDATA31 CDATA21 CDATA11 CDATA01 CINF1 CADRH1 CADRM1 CADRL1 CDATA32 CDATA22 CDATA12 CDATA02 CINF2 CADRH2 CADRM2 CADRL2 MC9S12ZVM Family Reference Manual Rev. 2.2 254 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Table 6-53. Detail Mode Trace Buffer Format with Timestamp 8-Byte Wide Trace Buffer Line Mode CPU Detail 7 6 5 4 3 2 1 0 CDATA31 CDATA21 CDATA11 CDATA01 CINF1 CADRH1 CADRM1 CADRL1 Timestamp Timestamp Reserved Reserved TSINF1 CPCH1 CPCM1 CPCL1 CDATA32 CDATA22 CDATA12 CDATA02 CINF2 CADRH2 CADRM2 CADRL2 CDATA33 CDATA23 CDATA13 CDATA03 CINF3 CADRH3 CADRM3 CADRL3 Timestamp Timestamp Reserved Reserved TSINF3 CPCH3 CPCM3 CPCL3 Detail Mode data entries store the bytes aligned to the address of the MSB accessed (Byte1 Table 6-54). Thus accesses split across 32-bit boundaries are wrapped around. Table 6-54. Detail Mode Data Byte Alignment Access Address Access Size CDATA31 CDATA21 CDATA11 CDATA01 00 32-bit Byte1 Byte2 Byte3 Byte4 01 32-bit Byte4 Byte1 Byte2 Byte3 10 32-bit Byte3 Byte4 Byte1 Byte2 11 32-bit Byte2 Byte3 Byte4 Byte1 00 24-bit Byte1 Byte2 Byte3 01 24-bit Byte1 Byte2 Byte3 10 24-bit Byte3 Byte1 Byte2 11 24-bit Byte2 Byte3 00 16-bit Byte1 Byte2 01 16-bit Byte1 10 16-bit 11 16-bit Byte2 00 8-bit Byte 01 8-bit 10 8-bit 11 8-bit Byte1 Byte2 Byte1 Byte2 Byte1 1 Byte1 Byte1 Byte1 Denotes byte that is not accessed. Information Bytes BYTE Bit 7 CINF TSINF Bit 6 CSZ 0 0 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 CRW 0 0 0 0 0 0 0 CTI PC 1 TOVF Figure 6-28. Information Bytes CINF and XINF When tracing in Detail Mode, CINF provides information about the type of CPU access being made. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 255 Chapter 6 S12Z Debug (S12ZDBG) Module TSINF provides information about a timestamp. Bit1 indicates if the byte is a TSINF byte. Table 6-55. CINF Field Descriptions Field Description 7-6 CSZ Access Type Indicator -- This field indicates the CPU access size. 00 8-bit Access 0116-bit Access 10 24-bit Access 11 32-bit Access 5 CRW Read/Write Indicator -- Indicates if the corresponding stored address corresponds to a read or write access. 0 Write Access 1 Read Access Table 6-56. TSINF Field Descriptions Field Description 3 CTI Comparator Timestamp Indicator -- This bit indicates if the trace buffer entry corresponds to a comparator timestamp. 0 Trace buffer entry initiated by trace mode specification conditions or timestamp counter overflow 1 Trace buffer entry initiated by comparator D match 2 PC Program Counter Valid Indicator -- Indicates if the PC entry is valid on the timestamp line. 0 Trace buffer entry does not include PC value 1 Trace buffer entry includes PC value 0 TOVF 6.4.5.2.4 Timestamp Overflow Indicator -- Indicates if the trace buffer entry corresponds to a timestamp overflow 0 Trace buffer entry not initiated by a timestamp overflow 1 Trace buffer entry initiated by a timestamp overflow Pure PC Mode In Pure PC Mode, the PC addresses of all opcodes loaded into the execution stage, including illegal opcodes, are stored. Tracing from a single source, compression is implemented to increase the effective trace depth. A compressed entry consists of the lowest PC byte only. A full entry consists of all PC bytes. If the PC remains in the same 256 byte range, then a compressed entry is made, otherwise a full entry is made. The full entry is always the last entry of a record. Each trace buffer line consists of 7 payload bytes, PLB0-6, containing full or compressed CPU PC addresses and 1 information byte to indicate the type of entry (compressed or base address) for each payload byte. Each trace buffer line is filled from right to left. The final entry on each line is always a base address, used as a reference for the previous entries on the same line. Whilst tracing, a base address is typically stored MC9S12ZVM Family Reference Manual Rev. 2.2 256 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module in bytes[6:4], the other payload bytes may be compressed or complete addresses as indicated by the info byte bits. Table 6-57. Pure PC Mode Trace Buffer Format Single Source Mode CPU 8-Byte Wide Trace Buffer Line 7 6 5 4 3 2 1 0 CXINF BASE BASE BASE PLB3 PLB2 PLB1 PLB0 If the info bit for byte3 indicates a full CPU PC address, whereby bytes[5:3] are used, then the info bit mapped to byte[4] is redundant and the byte[6] is unused because a line overflow has occurred. Similarly a base address stored in bytes[4:2] causes line overflow, so bytes[6:5] are unused. CXINF[6:4] indicate how many bytes in a line contain valid data, since tracing may terminate before a complete line has been filled. CXINF Information Byte Source Tracing 7 CXINF 6 MAT 5 4 PLEC 3 NB3 2 1 0 NB2 NB1 NB0 Figure 6-29. Pure PC Mode CXINF Table 6-58. CXINF Field Descriptions Field Description MAT Mid Aligned Trigger-- This bit indicates a mid aligned trigger position. When a mid aligned trigger occurs, the next trace buffer entry is a base address and the counter is incremented to a newline, independent of the number of bytes used on the current line. The MAT bit is set on the current line, to indicate the position of the trigger. When configured for begin or end aligned trigger, this bit has no meaning. NOTE: In the case when ARM and TRIG are simultaneously set together in the same cycle that a new PC value is registered, then this PC is stored to the same trace buffer line and MAT set. 0 Line filled without mid aligned trigger occurrence 1 Line last entry is the last PC entry before a mid aligned trigger PLEC[2:0] NBx Payload Entry Count-- This field indicates the number of valid bytes in the trace buffer line Binary encoding is used to indicate up to 7 valid bytes. Payload Compression Indicator-- This field indicates if the corresponding payload byte is the lowest byte of a base PC entry 0 Corresponding payload byte is a not the lowest byte of a base PC entry 1 Corresponding payload byte is the lowest byte of a base PC entry Pure PC mode tracing does not support timestamps or external event entries. 6.4.5.3 Timestamp When set, the STAMP bit in DBGTCRL configures the DBG to add a timestamp to trace buffer entries in Normal, Loop1 and Detail trace buffer modes. The timestamp is generated from a 16-bit counter and is stored to the trace buffer line each time a trace buffer entry is made. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 257 Chapter 6 S12Z Debug (S12ZDBG) Module The number of core clock cycles since the last entry equals the timestamp + 1. The core clock runs at twice the frequency of the bus clock. The timestamp of the first trace buffer entry is 0x0000. With timestamps enabled trace buffer entries are initiated in the following ways: * according to the trace mode specification, for example COF PC addresses in Normal mode * on a timestamp counter overflow If the timestamp counter reaches 0xFFFF then a trace buffer entry is made, with timestamp= 0xFFFF and the timestamp overflow bit TOVF is set. * on a match of comparator D If STAMP and DSTAMP are set then comparator D is used for forcing trace buffer entries with timestamps. The state control register settings determine if comparator D is also used to trigger the state sequencer. Thus if the state control register configuration does not use comparator D, then it is used solely for the timestamp function. If comparator D initiates a timestamp then the CTI bit is set in the INFO byte. This can be used in Normal/Loop1 mode to indicate when a particular data access occurs relative to the PC flow. For example when the timing of an access may be unclear due to the use of indexes. NOTE If comparator D is configured to match a PC address then associated timestamps trigger a trace buffer entry during execution of the previous instruction. Thus the PC stored to the trace buffer is that of the previous instruction.The comparator must contain the PC address of the instruction's first opcode byte Timestamps are disabled in Pure PC mode. 6.4.5.4 Reading Data from Trace Buffer The data stored in the trace buffer can be read using either the background debug controller (BDC) module or the CPU provided the DBG module is not armed and is configured for tracing by TSOURCE. When the ARM bit is set the trace buffer is locked to prevent reading. The trace buffer can only be unlocked for reading by an aligned word write to DBGTB when the module is disarmed. The trace buffer can only be read through the DBGTB register using aligned word reads. Reading the trace buffer while the DBG module is armed, or trace buffer locked returns 0xEE and no shifting of the RAM pointer occurs. Any byte or misaligned reads return 0xEE and do not cause the trace buffer pointer to increment to the next trace buffer address. Reading the trace buffer is prevented by internal hardware whilst profiling is active because the RAM pointer is used to indicate the next row to be transmitted. Thus attempted reads of DBGTB do not return valid data when the PTACT bit is set. To initialize the pointer and read profiling data, the PTACT bit must be cleared and remain cleared. The trace buffer data is read out first-in first-out. By reading CNT in DBGCNT the number of valid 64-bit lines can be determined. DBGCNT does not decrement as data is read. Whilst reading, an internal pointer is used to determine the next line to be read. After a tracing session, the pointer points to the oldest data entry, thus if no overflow has occurred, the pointer points to line0. The MC9S12ZVM Family Reference Manual Rev. 2.2 258 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module pointer is initialized by each aligned write to DBGTB to point to the oldest data again. This enables an interrupted trace buffer read sequence to be easily restarted from the oldest data entry. After reading all trace buffer lines, the next read wraps around and returns the contents of line0. The least significant word of each 64-bit wide array line is read out first. All bytes, including those containing invalid information are read out. 6.4.5.5 Trace Buffer Reset State The trace buffer contents are not initialized by a system reset. Thus should a system reset occur, the trace session information from immediately before the reset occurred can be read out. The DBGCNT bits are not cleared by a system reset. Thus should a reset occur, the number of valid lines in the trace buffer is indicated by DBGCNT. The internal pointer is cleared by a system reset. It can be initialized by an aligned word write to DBGTB following a reset during debugging, so that it points to the oldest valid data again. Debugging occurrences of system resets is best handled using mid or end trigger alignment since the reset may occur before the trace trigger, which in the begin trigger alignment case means no information would be stored in the trace buffer. 6.4.6 6.4.6.1 Code Profiling Code Profiling Overview Code profiling supplies encoded COF information on the PDO pin and the reference clock on the PDOCLK pin. If the TSOURCE bit is set then code profiling is enabled by setting the PROFILE bit. The associated device pin is configured for code profiling by setting the PDOE bit. Once enabled, code profiling is activated by arming the DBG. During profiling, if PDOE is set, the PDO operates as an output pin at a half the internal bus frequency, driving both high and low. Independent of PDOE status, profiling data is stored to the trace buffer and can be read out in the usual manner when the debug session ends and the PTACT bit has been cleared. The external debugger uses both edges of the clock output to strobe the data on PDO. The first PDOCLK edge is used to sample the first data bit on PDO. Figure 6-30. Profiling Output Interface CLOCK PDOCLK TBUF DBG PDO DATA DEV TOOL MCU MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 259 Chapter 6 S12Z Debug (S12ZDBG) Module Figure 6-31 shows the profiling clock, PDOCLK, whose edges are offset from the bus clock, to ease setup and hold time requirements relative to PDO, which is synchronous to the bus clock. Figure 6-31. PDO Profiling Clock Control STROBE BUS CLOCK PDO CLOCK ENABLE PDOCLK The trace buffer is used as a temporary storage medium to store COF information before it is transmitted. COF information can be transmitted whilst new information is written to the trace buffer. The trace buffer data is transmitted at PDO least significant bit first. After the first trace buffer entry is made, transmission begins in the first clock period in which no further data is written to the trace buffer. If a trace buffer line transmission completes before the next trace buffer line is ready, then the clock output is held at a constant level until the line is ready for transfer. 6.4.6.2 Profiling Configuration, Alignment and Mode Dependencies The PROFILE bit must be set and the DBG armed to enable profiling. Furthermore the PDOE bit must be set to configure the PDO and PDOCLK pins for profiling. If TALIGN is configured for Begin-aligned tracing, then profiling begins when the state sequencer enters Final State. If PREND is clear then profiling entries continue until a software disarm or trace buffer overflow occurs. If PREND is set then, when the trace buffer is full, the profiling session is terminated, the PTBOVF bit is set and the ARM bit is cleared. This prevents rollover from overwriting the initial PTS entry and thus allows the trace buffer contents, containing the start address, to be read out by a debugger. Mid-Align tracing is not supported whilst profiling; if the TALIGN bits are configured for Mid-Align tracing when PROFILE is set, then the alignment defaults to end alignment. If TALIGN is configured for End-Aligned tracing then profiling begins as soon as the module is armed. If PREND is clear then profiling entries continue until either a trace buffer overflow occurs or the DBG is disarmed by a state machine transition to State0. If PREND is set then, when the trace buffer is full, the profiling session is terminated, the PTBOVF bit is set and the ARM bit is cleared. The profiling output transmission continues, even after disarming, until all trace buffer entries have been transmitted. The PTACT bit indicates if a profiling transmission is still active. The PTBOVF indicates if a trace buffer overflow has occurred. The profiling timestamp feature is used only for the PTVB and PTW formats, thus differing from timestamps offered in other modes. Profiling does not support trace buffer gating. The external pin gating feature is ignored during profiling. MC9S12ZVM Family Reference Manual Rev. 2.2 260 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module When the DBG module is disarmed but profiling transmission is ongoing, register write accesses are suppressed and reading from the DBGTB returns the code 0xEEEE. 6.4.6.3 Code Profiling Internal Data Storage Format When profiling starts, the first trace buffer entry is made to provide the start address. This uses a 4 byte format (PTS), including the INFO byte and a 3-byte PC start address. In order to avoid trace buffer overflow a fully compressed format is used for direct (conditional branch) COF information. Table 6-59. Profiling Trace buffer line format Format 8-Byte Wide Trace Buffer Line 7 6 5 4 3 PTS PTIB 2 1 PC Start Address Indirect Indirect PTHF 0 INFO Indirect Direct Direct Direct Direct INFO 0 Direct Direct Direct Direct INFO PTVB Timestamp Timestamp Vector Direct Direct Direct Direct INFO PTW Timestamp Timestamp 0 Direct Direct Direct Direct INFO The INFO byte indicates the line format used. Up to 4 bytes of each line are dedicated to branch COFs. Further bytes are used for storing indirect COF information (indexed jumps and interrupt vectors). Indexed jumps force a full line entry with the PTIB format and require 3-bytes for the full 24-bit destination address. Interrupts force a full line entry with the PTVB format, whereby vectors are stored as a single byte and a 16-bit timestamp value is stored simultaneously to indicate the number of core clock cycles relative to the previous COF. At each trace buffer entry the 16-bit timestamp counter is cleared. The device vectors use address[8:0] whereby address[1:0] are constant zero for vectors. Thus the value stored to the PTVB vector byte is equivalent to (Vector Address[8:1]). After the PTS entry, the pointer increments and the DBG begins to fill the next line with direct COF information. This continues until the direct COF field is full or an indirect COF occurs, then the INFO byte and, if needed, indirect COF information are entered on that line and the pointer increments to the next line. If a timestamp overflow occurs, indicating a 65536 bus clock cycles without COF, then an entry is made with the TSOVF bit set, INFO[6] (Table 6-60) and profiling continues. If a trace buffer overflow occurs, a final entry is made with the TBOVF bit set, profiling is terminated and the DBG is disarmed. Trace buffer overflow occurs when the trace buffer contains 64 lines pending transmission. Whenever the DBG is disarmed during profiling, a final entry is made with the TERM bit set to indicate the final entry. When a final entry is made then by default the PTW line format is used, except if a COF occurs in the same cycle in which case the corresponding PTIB/PTVB/PTHF format is used. Since the development tool receives the INFO byte first, it can determine in advance the format of data it is about to receive. The MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 261 Chapter 6 S12Z Debug (S12ZDBG) Module transmission of the INFO byte starts when a line is complete. Whole bytes are always transmitted. The grey shaded bytes of Table 6-59 are not transmitted. Figure 6-32. INFO byte encoding 7 6 5 4 0 TSOVF TBOVF TERM 3 2 1 0 Line Format Table 6-60. Profiling Format Encoding 6.4.6.4 INFO[3:0] Line Format Source Description 0000 PTS CPU Initial CPU entry 0001 PTIB CPU Indexed jump with up to 31 direct COFs 0010 PTHF CPU 31 direct COFs without indirect COF 0011 PTVB CPU Vector with up to 31 direct COFs 0111 PTW CPU Error (Error codes in INFO[7:4]) Others Reserved CPU Reserved INFO[7:4] Bit Name INFO[7] Reserved Description CPU Reserved INFO[6] TSOVF CPU Timestamp Overflow INFO[5] TBOVF CPU Trace Buffer Overflow INFO[4] TERM CPU Profiling terminated by disarming Vector[7:0] Vector[7:0] CPU Device Interrupt Vector Address [8:1] Direct COF Compression Each branch COF is stored to the trace buffer as a single bit (0=branch not taken, 1=branch taken) until an indirect COF (indexed jump, return, or interrupt) occurs. The branch COF entries are stored in the byte fields labelled "Direct" in Table 6-59. These entries start at byte1[0] and continue through to byte4[7], or until an indirect COF occurs, whichever occurs sooner. The entries use a format whereby the left most asserted bit is always the stop bit, which indicates that the bit to its right is the first direct COF and byte1[0] is the last COF that occurred before the indirect COF. This is shown in Table 6-61, whereby the Bytes 4 to 1 of the trace buffer are shown for 3 different cases. The stop bit field for each line is shaded. In line0, the left most asserted bit is Byte4[7]. This indicates that all remaining 31 bits in the 4-byte field contain valid direct COF information, whereby each 1 represents branch taken and each 0 represents branch not taken. The stop bit of line1 indicates that all 30 bits to it's right are valid, after the 30th direct COF entry, an indirect COF occurred, that is stored in bytes 7 to 5. In this case the bit to the left of the stop bit is redundant. Line2 indicates that an indirect COF occurred after 8 direct COF entries. The indirect COF address is stored in bytes 7 to 5. All bits to the left of the stop bit are redundant. MC9S12ZVM Family Reference Manual Rev. 2.2 262 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module Line Byte4 Byte3 Byte2 Byte1 Line0 1 0 0 1 0 0 1 0 0 1 0 1 1 0 0 1 0 0 1 0 0 0 0 1 1 0 0 0 0 1 1 0 Line1 0 1 1 0 0 1 0 1 1 0 0 1 0 0 1 0 1 1 0 0 1 0 0 1 0 1 1 0 0 1 0 0 Line2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 Table 6-61. Profiling Direct COF Format 6.4.7 Breakpoints Breakpoints can be generated by state sequencer transitions to State0. Transitions to State0 are forced by the following events * Through comparator matches via Final State. * Through software writing to the TRIG bit in the DBGC1 register via Final State. * Through the external event input (DBGEEV) via Final State. * Through a profiling trace buffer overflow event. Breakpoints are not generated by software writes to DBGC1 that clear the ARM bit. 6.4.7.1 Breakpoints From Comparator Matches or External Events Breakpoints can be generated when the state sequencer transitions to State0 following a comparator match or an external event. If a tracing session is selected by TSOURCE, the transition to State0 occurs when the tracing session has completed, thus if Begin or Mid aligned triggering is selected, the breakpoint is requested only on completion of the subsequent trace. If End aligned tracing or no tracing session is selected, the transition to State0 and associated breakpoints are immediate. 6.4.7.2 Breakpoints Generated Via The TRIG Bit When TRIG is written to "1", the Final State is entered. If a tracing session is selected by TSOURCE, State0 is entered and breakpoints are requested only when the tracing session has completed, thus if Begin or Mid aligned triggering is selected, the breakpoint is requested only on completion of the subsequent trace. If no tracing session is selected, the state sequencer enters State0 immediately and breakpoints are requested. TRIG breakpoints are possible even if the DBG module is disarmed. 6.4.7.3 DBG Breakpoint Priorities If a TRIG occurs after Begin or Mid aligned tracing has already been triggered by a comparator instigated transition to Final State, then TRIG no longer has an effect. When the associated tracing session is complete, the breakpoint occurs. Similarly if a TRIG is followed by a subsequent comparator match, it has no effect, since tracing has already started. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 263 Chapter 6 S12Z Debug (S12ZDBG) Module 6.4.7.3.1 DBG Breakpoint Priorities And BDC Interfacing Breakpoint operation is dependent on the state of the S12ZBDC module. BDM cannot be entered from a breakpoint unless the BDC is enabled (ENBDC bit is set in the BDC). If BDM is already active, breakpoints are disabled. In addition, while executing a BDC STEP1 command, breakpoints are disabled. When the DBG breakpoints are mapped to BDM (BDMBP set), then if a breakpoint request, either from a BDC BACKGROUND command or a DBG event, coincides with an SWI instruction in application code, (i.e. the DBG requests a breakpoint at the next instruction boundary and the next instruction is an SWI) then the CPU gives priority to the BDM request over the SWI request. On returning from BDM, the SWI from user code gets executed. Breakpoint generation control is summarized in Table 6-62. Table 6-62. Breakpoint Mapping Summary 6.5 6.5.1 BRKCPU BDMBP Bit (DBGC1[4]) BDC Enabled BDM Active Breakpoint Mapping 0 X X X No Breakpoint 1 0 X 0 Breakpoint to SWI 1 0 1 1 No reakpoint 1 1 0 X No Breakpoint B 1 1 1 0 Breakpoint o BDM 1 1 1 1 No reakpoint t B Application Information Avoiding Unintended Breakpoint Re-triggering Returning from an instruction address breakpoint using an RTI or BDC GO command without PC modification, returns to the instruction that generated the breakpoint. If an active breakpoint or trigger still exists at that address, this can re-trigger, disarming the DBG. If configured for BDM breakpoints, the user must apply the BDC STEP1 command to increment the PC past the current instruction. If configured for SWI breakpoints, the DBG can be re configured in the SWI routine. If a comparator match occurs at an SWI vector address then a code SWI and DBG breakpoint SWI could occur simultaneously. In this case the SWI routine is executed twice before returning. 6.5.2 Debugging Through Reset To debug through reset, the debugger can recognize a reset occurrence and pull the device BKGD pin low. This forces the device to leave reset in special single chip (SSC) mode, because the BKGD pin is used as the MODC signal in the reset phase. When the device leaves reset in SSC mode, CPU execution is halted and the device is in active BDM. Thus the debugger can configure the DBG for tracing and breakpoints before returning to application code execution. In this way it is possible to analyze the sequence of events emerging from reset. The recommended handling of the internal reset scenario is as follows: MC9S12ZVM Family Reference Manual Rev. 2.2 264 Freescale Semiconductor Chapter 6 S12Z Debug (S12ZDBG) Module * * * * When a reset occurs the debugger pulls BKGD low until the reset ends, forcing SSC mode entry. Then the debugger reads the reset flags to determine the cause of reset. If required, the debugger can read the trace buffer to see what happened just before reset. Since the trace buffer and DBGCNT register are not affected by resets other than POR. The debugger configures and arms the DBG to start tracing on returning to application code. * * The debugger then sets the PC according to the reset flags. Then the debugger returns to user code with GO or STEP1. 6.5.3 Breakpoints from other S12Z sources The DBG is neither affected by CPU BGND instructions, nor by BDC BACKGROUND commands. 6.5.4 Code Profiling The code profiling data output pin PDO is mapped to a device pin that can also be used as GPIO in an application. If profiling is required and all pins are required in the application, it is recommended to use the device pin for a simple output function in the application, without feedback to the chip. In this way the application can still be profiled, since the pin has no effect on code flow. The PDO provides a simple bit stream that must be strobed at both edges of the profiling clock when profiling. The external development tool activates profiling by setting the DBG ARM bit, with PROFILE and PDOE already set. Thereafter the first bit of the profiling bit stream is valid at the first rising edge of the profiling clock. No start bit is provided. The external development tool must detect this first rising edge after arming the DBG. To detect the end of profiling, the DBG ARM bit can be monitored using the BDC. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 265 Chapter 6 S12Z Debug (S12ZDBG) Module MC9S12ZVM Family Reference Manual Rev. 2.2 266 Freescale Semiconductor Chapter 7 ECC Generation Module (SRAM_ECCV1) 7.1 Introduction The purpose of ECC logic is to detect and correct as much as possible memory data bit errors. These soft errors, mainly generated by alpha radiation, can occur randomly during operation. "Soft error" means that only the information inside the memory cell is corrupt; the memory cell itself is not damaged. A write access with correct data solves the issue. If the ECC algorithm is able to correct the data, then the system can use this corrected data without any issues. If the ECC algorithm is able to detect, but not correct the error, then the system is able to ignore the memory read data to avoid system malfunction. The ECC value is calculated based on an aligned 2 byte memory data word. The ECC algorithm is able to detect and correct single bit ECC errors. Double bit ECC errors will be detected but the system is not able to correct these errors. This kind of ECC code is called SECDED code. This ECC code requires 6 additional parity bits for each 2 byte data word. 7.1.1 Features The SRAM_ECC module provides the ECC logic for the system memory based on a SECDED algorithm. The SRAM_ECC module includes the following features: * SECDED ECC code - Single bit error detection and correction per 2 byte data word - Double bit error detection per 2 byte data word * Memory initialization function * Byte wide system memory write access * Automatic single bit ECC error correction for read and write accesses * Debug logic to read and write raw use data and ECC values 7.2 Memory Map and Register Definition This section provides a detailed description of all memory and registers for the SRAM_ECC module. 7.2.1 Register Summary Figure 7-1 shows the summary of all implemented registers inside the SRAM_ECC module. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 267 Chapter 7 ECC Generation Module (SRAM_ECCV1) NOTE Register Address = Module Base Address + Address Offset, where the Module Base Address is defined at the MCU level and the Address Offset is defined at the module level. Address Offset Register Name 0x0000 ECCSTAT R 0x0001 ECCIE R 0x0002 ECCIF R 0x0003 - 0x0006 Reserved R 0x0007 ECCDPTRH R 0x0008 ECCDPTRM R 0x0009 ECCDPTRL R 0x000A - 0x000B Reserved R 0x000C ECCDDH R 0x000D ECCDDL R 0x000E ECCDE R 0x000F ECCDCMD R Bit 67 5 4 3 2 1 Bit 0 0 0 0 0 0 0 RDY 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W W W SBEEIE SBEEIF 0 W DPTR[23:16] W DPTR[15:8] W 0 DPTR[7:1] W 0 0 0 0 0 0 0 0 ECCDW ECCDR W DDATA[15:8] W DDATA[7:0] W 0 0 DECC[5:0] W W ECCDRR 0 0 0 0 0 = Unimplemented, Reserved, Read as zero Figure 7-1. SRAM_ECC Register Summary MC9S12ZVM Family Reference Manual Rev. 2.2 268 Freescale Semiconductor 0 Chapter 7 ECC Generation Module (SRAM_ECCV1) 7.2.2 Register Descriptions This section consists of register descriptions in address order. Each description includes a standard register diagram with an associated figure number. Details of register bit and field functions follow the register diagrams, in bit order. 7.2.2.1 ECC Status Register (ECCSTAT) Access: User read only(1) Module Base + 0x00000 R 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 RDY 0 0 0 0 0 0 0 0 W Reset 1. Read: Anytime Write: Never Figure 7-2. ECC Status Register (ECCSTAT) Table 7-2. ECCSTAT Field Description Field Description ECC Ready-- Shows the status of the ECC module. 0 Internal SRAM initialization is ongoing, access to the SRAM is disabled 1 Internal SRAM initialization is done, access to the SRAM is enabled 0 RDY 7.2.2.2 ECC Interrupt Enable Register (ECCIE) Access: User read/write(1) Module Base + 0x00001 R 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 SBEEIE 0 1. Read: Anytime Write: Anytime Figure 7-3. ECC Interrupt Enable Register (ECCIE) Table 7-3. ECCIE Field Description Field 0 SBEEIE Description Single bit ECC Error Interrupt Enable -- Enables Single ECC Error interrupt. 0 Interrupt request is disabled 1 Interrupt will be requested whenever SBEEIF is set MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 269 Chapter 7 ECC Generation Module (SRAM_ECCV1) 7.2.2.3 ECC Interrupt Flag Register (ECCIF) Access: User read/write(1) Module Base + 0x0002 R 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 SBEEIF 0 1. Read: Anytime Write: Anytime, write 1 to clear Figure 7-4. ECC Interrupt Flag Register (ECCIF) Table 7-4. ECCIF Field Description Field 0 SBEEIF Description Single bit ECC Error Interrupt Flag -- The flag is set to 1 when a single bit ECC error occurs. 0 No occurrences of single bit ECC error since the last clearing of the flag 1 Single bit ECC error has occured since the last clearing of the flag MC9S12ZVM Family Reference Manual Rev. 2.2 270 Freescale Semiconductor Chapter 7 ECC Generation Module (SRAM_ECCV1) ECC Debug Pointer Register (ECCDPTRH, ECCDPTRM, ECCDPTRL) 7.2.2.4 Access: User read/write(1) Module Base + 0x0007 7 6 5 4 R 3 2 1 0 0 0 0 0 DPTR[23:16] W Reset 0 0 0 0 Module Base + 0x0008 7 Access: User read/write 6 5 4 R 3 2 1 0 0 0 0 0 DPTR[15:8] W Reset 0 0 0 0 Module Base + 0x0009 7 Access: User read/write 6 5 R 3 2 1 0 0 0 0 0 0 DPTR[7:1] W Reset 4 0 0 0 0 = Unimplemented Figure 7-5. ECC Debug Pointer Register (ECCDPTRH, ECCDPTRM, ECCDPTRL) 1. Read: Anytime Write: Anytime Table 7-5. ECCDPTR Register Field Descriptions Field Description DPTR [23:0] ECC Debug Pointer -- This register contains the system memory address which will be used for a debug access. Address bits not relevant for SRAM address space are not writeable, so the software should read back the pointer value to make sure the register contains the intended memory address. It is possible to write an address value to this register which points outside the system memory. There is no additional monitoring of the register content; therefore, the software must make sure that the address value points to the system memory space. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 271 Chapter 7 ECC Generation Module (SRAM_ECCV1) ECC Debug Data (ECCDDH, ECCDDL) 7.2.2.5 Access: User read/write(1) Module Base + 0x000C 7 6 5 4 R 3 2 1 0 0 0 0 0 DDATA[15:8] W Reset 0 0 0 0 Module Base + 0x000D 7 Access: User read/write 6 5 4 R 3 2 1 0 0 0 0 0 DDATA[7:0] W Reset 0 0 0 0 = Unimplemented Figure 7-6. ECC Debug Data (ECCDDH, ECCDDL) 1. Read: Anytime Write: Anytime Table 7-6. ECCDD Register Field Descriptions Field Description ECC Debug Raw Data -- This register contains the raw data which will be written into the system memory during a debug write command or the read data from the debug read command. DDATA [23:0] 7.2.2.6 ECC Debug ECC (ECCDE) Access: User read/write(1) Module Base + 0x000E R 7 6 0 0 0 0 5 4 3 1 0 0 0 0 DECC[5:0] W Reset 2 0 0 0 1. Read: Anytime Write: Anytime Figure 7-7. ECC Debug ECC (ECCDE) Table 7-7. ECCDE Field Description Field Description 5:0 ECC Debug ECC -- This register contains the raw ECC value which will be written into the system memory DECC[5:0] during a debug write command or the ECC read value from the debug read command. MC9S12ZVM Family Reference Manual Rev. 2.2 272 Freescale Semiconductor Chapter 7 ECC Generation Module (SRAM_ECCV1) 7.2.2.7 ECC Debug Command (ECCDCMD) Access: User read/write(1) Module Base + 0x000F 7 R W Reset ECCDRR 0 6 5 4 3 2 0 0 0 0 0 0 0 0 0 0 1 0 ECCDW ECCDR 0 0 1. Read: Anytime Write: Anytime, in special mode only Figure 7-8. ECC Debug Command (ECCDCMD) Table 7-8. ECCDCMD Field Description Field Description 7 ECC Disable Read Repair Function-- Writing one to this register bit will disable the automatic single bit ECC ECCDRR error repair function during read access; see also chapter 7.3.7, "ECC Debug Behavior". 0 Automatic single ECC error repair function is enabled 1 Automatic single ECC error repair function is disabled 1 ECCDW ECC Debug Write Command -- Writing one to this register bit will perform a debug write access, to the system memory. During this access the debug data word (DDATA) and the debug ECC value (DECC) will be written to the system memory address defined by DPTR. If the debug write access is done, this bit is cleared. Writing 0 has no effect. It is not possible to set this bit if the previous debug access is ongoing (ECCDW or ECCDR bit set). 0 ECCDR ECC Debug Read Command -- Writing one to this register bit will perform a debug read access from the system memory address defined by DPTR. If the debug read access is done, this bit is cleared and the raw memory read data are available in register DDATA and the raw ECC value is available in register DECC. Writing 0 has no effect. If the ECCDW and ECCDR bit are set at the same time, then only the ECCDW bit is set and the Debug Write Command is performed. It is not possible to set this bit if the previous debug access is ongoing (ECCDW or ECCDR bit set). 7.3 Functional Description The bus system allows 1, 2, 3 and 4 byte write access to a 4 byte aligned memory address, but the ECC value is generated based on an aligned 2 byte data word. Depending on the access type, the access is separated into different access cycles. Table 7-9 shows the different access types with the expected number of access cycles and the performed internal operations. Table 7-9. Memory access cycles Access type ECC error access cycle Internal operation Memory content Error indication 2 and 4 byte aligned write access -- 1 write to memory new data -- MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 273 Chapter 7 ECC Generation Module (SRAM_ECCV1) Table 7-9. Memory access cycles Access type 1 or 3 byte write, non-aligned 2 byte write read access ECC error access cycle no 2 Memory content Error indication old + new data -- corrected + new data SBEEIF unchanged initiator module is informed read from memory unchanged - read data from the memory corrected data SBEEIF Internal operation read data from the memory write old + new data to the memory read data from the memory single bit 2 double bit 2 no 1 single bit 1(1) double bit 1 write corrected + new data to the memory read data from the memory ignore write data write corrected data back to memory read from memory unchanged data mark as invalid 1. The next back to back read access to the memory will be delayed by one clock cycle The single bit ECC error generates an interrupt when enabled. The double bit ECC errors are reported by the SRAM_ECC module, but handled at MCU level. For more information, see the MMC description. 7.3.1 Aligned 2 and 4 Byte Memory Write Access During an aligned 2 or 4 byte memory write access, no ECC check is performed. The internal ECC logic generates the new ECC value based on the write data and writes the data words together with the generated ECC values into the memory. 7.3.2 Other Memory Write Access Other types of write accesses are separated into a read-modify-write operation. During the first cycle, the logic reads the data from the memory and performs an ECC check. If no ECC errors were detected then the logic generates the new ECC value based on the read and write data and writes the new data word together with the new ECC value into the memory. If required both 2 byte data words are updated. If the module detects a single bit ECC error during the read cycle, then the logic generates the new ECC value based on the corrected read and new write read. In the next cycle, the new data word and the new ECC value are written into the memory. If required both 2 byte data words are updated. The SBEEIF bit is set. Hence, the single bit ECC error was corrected by the write access. Figure 7-9 shows an example of a 2 byte non-aligned memory write access. If the module detects a double bit ECC error during the read cycle, then the write access to the memory is blocked and the initiator module is informed about the error. MC9S12ZVM Family Reference Manual Rev. 2.2 274 Freescale Semiconductor Chapter 7 ECC Generation Module (SRAM_ECCV1) . 2 byte use data ECC 2 byte use data read out data and correct if single bit ECC error was found 4 byte read data from system memory read out data and correct if single bit ECC error was found correct read data correct read data write data correct read data write data ECC write data ECC write data 2 byte write data correct read data ECC 4 byte write data to system memory Figure 7-9. 2 byte non-aligned write access 7.3.3 Memory Read Access During each memory read access an ECC check is performed. If the logic detects a single bit ECC error, then the module corrects the data, so that the access initiator module receives correct data. In parallel, the logic writes the corrected data back to the memory, so that this read access repairs the single bit ECC error. This automatic ECC read repair function is disabled by setting the ECCDRR bit. If a single bit ECC error was detected, then the SBEEIF flag is set. If the logic detects a double bit ECC error, then the data word is flagged as invalid, so that the access initiator module can ignore the data. 7.3.4 Memory Initialization To avoid spurious ECC error reporting, memory operations that allow a read before a first write (like the read-modify-write operation of the unaligned access) require that the memory contains valid ECC values before the first read-modify-write access is performed. The ECC module provides logic to initialize the complete memory content with zero during the power up phase. During the initialization process the access to the SRAM is disabled and the RDY status bit is cleared. If the initialization process is done, SRAM access is possible and the RDY status bit is set. 7.3.5 Interrupt Handling This section describes the interrupts generated by the SRAM_ECC module and their individual sources. Vector addresses and interrupt priority are defined at the MCU level. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 275 Chapter 7 ECC Generation Module (SRAM_ECCV1) Table 7-10. SRAM_ECC Interrupt Sources Module Interrupt Sources Single bit ECC error 7.3.6 Local Enable ECCIE[SBEEIE] ECC Algorithm The table below shows the equation for each ECC bit based on the 16 bit data word. Table 7-11. ECC Calculation 7.3.7 ECC bit Use data ECC[0] ~ ( ^ ( data[15:0] & 0x443F ) ) ECC[1] ~ ( ^ ( data[15:0] & 0x13C7 ) ) ECC[2] ~ ( ^ ( data[15:0] & 0xE1D1 ) ) ECC[3] ~ ( ^ ( data[15:0] & 0xEE60 ) ) ECC[4] ~ ( ^ ( data[15:0] & 0x3E8A ) ) ECC[5] ~ ( ^ ( data[15:0] & 0x993C ) ) ECC Debug Behavior For debug purposes, it is possible to read and write the uncorrected use data and the raw ECC value directly from the memory. For these debug accesses a register interface is available. The debug access is performed with the lowest priority; other memory accesses must be done before the debug access starts. If a debug access is requested during an ongoing memory initialization process, then the debug access is performed if the memory initialization process is done. If the ECCDRR bit is set, then the automatic single bit ECC error repair function for all read accesses is disabled. In this case a read access from a system memory location with single bit ECC error will produce correct data and the single bit ECC error is flagged by the SBEEIF, but the data inside the system memory are unchanged. By writing wrong ECC values into the system memory the debug access can be used to force single and double bit ECC errors to check the software error handling. It is not possible to set the ECCDW or ECCDR bit if the previous debug access is ongoing (ECCDW or ECCDR bit active). This ensures that the ECCDD and ECCDE registers contains consistent data. The software should read out the status of the ECCDW and ECCDR register bit before a new debug access is requested. 7.3.7.1 ECC Debug Memory Write Access Writing one to the ECCDW bit performs a debug write access to the memory address defined by register DPTR. During this access, the raw data DDATA and the ECC value DECC are written directly into the system memory. If the debug write access is done, the ECCDW register bit is cleared. The debug write MC9S12ZVM Family Reference Manual Rev. 2.2 276 Freescale Semiconductor Chapter 7 ECC Generation Module (SRAM_ECCV1) access is always a 2 byte aligned memory access, so that no ECC check is performed and no single or double bit ECC error indication is activated. 7.3.7.2 ECC Debug Memory Read Access Writing one to the ECCDR bit performs a debug read access from the memory address defined by register DPTR. If the ECCDR bit is cleared then the register DDATA contains the uncorrected read data from the memory. The register DECC contains the ECC value read from the memory. Independent of the ECCDRR register bit setting, the debug read access will not perform an automatic ECC repair during read access. During the debug read access no ECC check is performed, so that no single or double bit ECC error indication is activated. If the ECCDW and the ECCDR bits are set at the same time, then only the debug write access is performed. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 277 Chapter 7 ECC Generation Module (SRAM_ECCV1) MC9S12ZVM Family Reference Manual Rev. 2.2 278 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-1. Revision Rev. No. (Item No) V10.00 V10.01 V10.02 V10.03 V10.04 V10.05 V10.06 V10.07 V10.08 V10.09 V10.10 V10.11 8.1 Date (Submitted By) 1 Dec. 2014 3 Dec. 2014 History Sections Affected Substantial Change(s) * Initial version copied from V06.xx * CPMUVREGCTL register: added EXTS1ON and EXTS2ON Bits * Signal Description: added Figures to illustrate application of BCTL and BCTLS1 * VDDS1, VDDS2, SNPS1, SNPS2, BCTLS1, BCTLS2: added pins to Block Diagram and Signal Description 22 Jan. 2015 * correct typo in CPMUVREGTRIM0 register bits 23 Jan. 2015 * added section: differences between V10 and V6 * changed Framemaker variables to have V10_V6 instead of V10 27 Jan. 2015 * Diagram "BCTLS1 application example": added VRH switch * Added bits VRH2EN and VRH1EN to CPMUVREGCTL register 10 Feb. 2015 20 Feb. 2015 3 Mar. 2015 11 Mar. 2015 * Signal description of VDDS1/2: removed statement "monitored by LVR" * Formal cleanup of header 1.2.6 * CPMUVREGCTL register: added footnote for bits only available in version V10 * CPMULVCTL register: added VDDSIE interrupt enable bit for VDDS1 and VDDS2 fail events * Added CPMUVDDS register with 4 status bits and 4 interrupt flags * CPMUVDDS register: added detailed register description * Interrupt chapter: Added VDDS Integrity Interrupt * Updated Differences V10 versus V6 27 Mar. 2015 * Syntax cleanup 22 April 2015 * Removed blank page * Corrected typo in Application section 24 April 2015 * Signal Description: Added more details to the description of the VDDS1, VDDS2, SNPS1, SNPS2 signals Introduction This specification describes the function of the Clock, Reset and Power Management Unit (S12_CPMU_UHV_V10 and S12CPMU_UHV_V6). MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 279 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) * * * * The Pierce oscillator (XOSCLCP) provides a robust, low-noise and low-power external clock source. It is designed for optimal start-up margin with typical crystal oscillators. The Voltage regulator (VREGAUTO) operates from the range 6V to 18V. It provides all the required chip internal voltages and voltage monitors. The Phase Locked Loop (PLL) provides a highly accurate frequency multiplier with internal filter. The Internal Reference Clock (IRC1M) provides a 1MHz internal clock. MC9S12ZVM Family Reference Manual Rev. 2.2 280 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.1.1 * * * * Differences between S12CPMU_UHV_V10 and S12CPMU_UHV_V6 The following device pins exist only in V10: VDDS1, VDDS2, BCTLS1, BCTLS2, SNPS1, SNPS2, The feature of switching VDDS1/2 to VRH1/2 (which connects to ADC) exists only in V10 The following register and bits exist only in V10: CPMUVREGCTL register: Bits VRH2EN, VRH1EN, EXTS1ON, EXTS2ON CPMULVCTL register: Bit VDDSIE CPMUVDDS register The VDD Integrity Interrupt only exists in V10 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 281 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.1.2 Features The Pierce Oscillator (XOSCLCP) contains circuitry to dynamically control current gain in the output amplitude. This ensures a signal with low harmonic distortion, low power and good noise immunity. * Supports crystals or resonators from 4MHz to 20MHz. * High noise immunity due to input hysteresis and spike filtering. * Low RF emissions with peak-to-peak swing limited dynamically * Transconductance (gm) sized for optimum start-up margin for typical crystals * Dynamic gain control eliminates the need for external current limiting resistor * Integrated resistor eliminates the need for external bias resistor * Low power consumption: Operates from internal 1.8V (nominal) supply, Amplitude control limits power * Optional oscillator clock monitor reset * Optional full swing mode for higher immunity against noise injection on the cost of higher power consumption and increased emission The Voltage Regulator (VREGAUTO) has the following features: * Input voltage range from 6 to 18V (nominal operating range) * Low-voltage detect (LVD) with low-voltage interrupt (LVI) * Power-on reset (POR) * Low-voltage reset (LVR) * On Chip Temperature Sensor and Bandgap Voltage measurement via internal ADC channel. * Voltage Regulator providing Full Performance Mode (FPM) and Reduced Performance Mode (RPM) * External ballast device support to reduce internal power dissipation * Capable of supplying both the MCU internally plus external components * Over-temperature interrupt The Phase Locked Loop (PLL) has the following features: * Highly accurate and phase locked frequency multiplier * Configurable internal filter for best stability and lock time * Frequency modulation for defined jitter and reduced emission * Automatic frequency lock detector * Interrupt request on entry or exit from locked condition * PLL clock monitor reset * Reference clock either external (crystal) or internal square wave (1MHz IRC1M) based. * PLL stability is sufficient for LIN communication in slave mode, even if using IRC1M as reference clock The Internal Reference Clock (IRC1M) has the following features: MC9S12ZVM Family Reference Manual Rev. 2.2 282 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) * * Frequency trimming (A factory trim value for 1MHz is loaded from Flash Memory into the IRCTRIM register after reset, which can be overwritten by application if required) Temperature Coefficient (TC) trimming. (A factory trim value is loaded from Flash Memory into the IRCTRIM register to turn off TC trimming after reset. Application can trim the TC if required by overwriting the IRCTRIM register). Other features of the S12CPMU_UHV_V10_V6 include * Oscillator clock monitor to detect loss of crystal * Autonomous periodical interrupt (API) * Bus Clock Generator -- Clock switch to select either PLLCLK or external crystal/resonator based Bus Clock -- PLLCLK divider to adjust system speed * System Reset generation from the following possible sources: -- Power-on reset (POR) -- Low-voltage reset (LVR) -- COP system watchdog, COP reset on time-out, windowed COP -- Loss of oscillation (Oscillator clock monitor fail) -- Loss of PLL clock (PLL clock monitor fail) -- External pin RESET MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 283 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.1.3 Modes of Operation This subsection lists and briefly describes all operating modes supported by the S12CPMU_UHV_V10_V6. 8.1.3.1 Run Mode The voltage regulator is in Full Performance Mode (FPM). NOTE The voltage regulator is active, providing the nominal supply voltages with full current sourcing capability (see also Appendix for VREG electrical parameters). The features ACLK clock source, Low Voltage Interrupt (LVI), Low Voltage Reset (LVR) and Power-On Reset (POR) are available. The Phase Locked Loop (PLL) is on. The Internal Reference Clock (IRC1M) is on. The API is available. * PLL Engaged Internal (PEI) -- This is the default mode after System Reset and Power-On Reset. -- The Bus Clock is based on the PLLCLK. -- After reset the PLL is configured for 50MHz VCOCLK operation. Post divider is 0x03, so PLLCLK is VCOCLK divided by 4, that is 12.5MHz and Bus Clock is 6.25MHz. The PLL can be re-configured for other bus frequencies. -- The reference clock for the PLL (REFCLK) is based on internal reference clock IRC1M. * PLL Engaged External (PEE) -- The Bus Clock is based on the PLLCLK. -- This mode can be entered from default mode PEI by performing the following steps: - Configure the PLL for desired bus frequency. - Program the reference divider (REFDIV[3:0] bits) to divide down oscillator frequency if necessary. - Enable the external oscillator (OSCE bit). - Wait for oscillator to start up (UPOSC=1) and PLL to lock (LOCK=1). * PLL Bypassed External (PBE) -- The Bus Clock is based on the Oscillator Clock (OSCCLK). -- The PLLCLK is always on to qualify the external oscillator clock. Therefore it is necessary to make sure a valid PLL configuration is used for the selected oscillator frequency. -- This mode can be entered from default mode PEI by performing the following steps: MC9S12ZVM Family Reference Manual Rev. 2.2 284 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) - Make sure the PLL configuration is valid for the selected oscillator frequency. - Enable the external oscillator (OSCE bit). - Wait for oscillator to start up (UPOSC=1). - Select the Oscillator Clock (OSCCLK) as source of the Bus Clock (PLLSEL=0). -- The PLLCLK is on and used to qualify the external oscillator clock. 8.1.3.2 Wait Mode For S12CPMU_UHV_V10_V6 Wait Mode is the same as Run Mode. 8.1.3.3 Stop Mode This mode is entered by executing the CPU STOP instruction. The voltage regulator is in Reduced Performance Mode (RPM). NOTE The voltage regulator output voltage may degrade to a lower value than in Full Performance Mode (FPM), additionally the current sourcing capability is substantially reduced (see also Appendix for VREG electrical parameters). Only clock source ACLK is available and the Power On Reset (POR) circuitry is functional. The Low Voltage Interrupt (LVI) and Low Voltage Reset (LVR) are disabled. The API is available. The Phase Locked Loop (PLL) is off. The Internal Reference Clock (IRC1M) is off. Core Clock and Bus Clock are stopped. Depending on the setting of the PSTP and the OSCE bit, Stop Mode can be differentiated between Full Stop Mode (PSTP = 0 or OSCE=0) and Pseudo Stop Mode (PSTP = 1 and OSCE=1). In addition, the behavior of the COP in each mode will change based on the clocking method selected by COPOSCSEL[1:0]. * Full Stop Mode (PSTP = 0 or OSCE=0) External oscillator (XOSCLCP) is disabled. -- If COPOSCSEL1=0: The COP and RTI counters halt during Full Stop Mode. After wake-up from Full Stop Mode the Core Clock and Bus Clock are running on PLLCLK (PLLSEL=1). COP and RTI are running on IRCCLK (COPOSCSEL0=0, RTIOSCSEL=0). -- If COPOSCSEL1=1: The clock for the COP is derived from ACLK (trimmable internal RC-Oscillator clock). During Full Stop Mode the ACLK for the COP can be stopped (COP static) or running (COP active) depending on the setting of bit CSAD. When bit CSAD is set the ACLK clock source for the MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 285 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) * COP is stopped during Full Stop Mode and COP continues to operate after exit from Full Stop Mode. For this COP configuration (ACLK clock source, CSAD set) a latency time (please refer to CSAD bit description for details) occurs when entering or exiting (Full, Pseudo) Stop Mode. When bit CSAD is clear the ACLK clock source is on for the COP during Full Stop Mode and COP is operating. During Full Stop Mode the RTI counter halts. After wake-up from Full Stop Mode the Core Clock and Bus Clock are running on PLLCLK (PLLSEL=1). The COP runs on ACLK and RTI is running on IRCCLK (COPOSCSEL0=0, RTIOSCSEL=0). Pseudo Stop Mode (PSTP = 1 and OSCE=1) External oscillator (XOSCLCP) continues to run. -- If COPOSCSEL1=0: If the respective enable bits are set (PCE=1 and PRE=1) the COP and RTI will continue to run with a clock derived from the oscillator clock. The clock configuration bits PLLSEL, COPOSCSEL0, RTIOSCSEL are unchanged. -- If COPOSCSEL1=1: If the respective enable bit for the RTI is set (PRE=1) the RTI will continue to run with a clock derived from the oscillator clock. The clock for the COP is derived from ACLK (trimmable internal RC-Oscillator clock). During Pseudo Stop Mode the ACLK for the COP can be stopped (COP static) or running (COP active) depending on the setting of bit CSAD. When bit CSAD is set the ACLK for the COP is stopped during Pseudo Stop Mode and COP continues to operate after exit from Pseudo Stop Mode. For this COP configuration (ACLK clock source, CSAD set) a latency time (please refer to CSAD bit description for details) occurs when entering or exiting (Pseudo, Full) Stop Mode. When bit CSAD is clear the ACLK clock source is on for the COP during Pseudo Stop Mode and COP is operating. The clock configuration bits PLLSEL, COPOSCSEL0, RTIOSCSEL are unchanged. NOTE When starting up the external oscillator (either by programming OSCE bit to 1 or on exit from Full Stop Mode with OSCE bit already 1) the software must wait for a minimum time equivalent to the startup-time of the external oscillator tUPOSC before entering Pseudo Stop Mode. 8.1.3.4 Freeze Mode (BDM active) For S12CPMU_UHV_V10_V6 Freeze Mode is the same as Run Mode except for RTI and COP which can be frozen in Active BDM Mode with the RSBCK bit in the CPMUCOP register. After exiting BDM Mode RTI and COP will resume its operations starting from this frozen status. Additionally the COP can be forced to the maximum time-out period in Active BDM Mode. For details please see also the RSBCK and CR[2:0] bit description field of Table 8-14 in Section 8.3.2.12, "S12CPMU_UHV_V10_V6 COP Control Register (CPMUCOP) MC9S12ZVM Family Reference Manual Rev. 2.2 286 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.1.4 S12CPMU_UHV_V10_V6 Block Diagram VSUP VDDS1,2 BCTLS1,2 SNPS1,2 Low Voltage Detect VDDA Low Voltage Detect vsup monitor VDDA VSSA VDDX VSSX VSS1,2 VDD VDDF VDDC BCTL BCTLC ADC Voltage VDDX, VDD, VDDF Regulator LVRF 6V to 18V Power-On Detect (VREGAUTO) PORF PMRF LVDS LVIE Low Voltage Interrupt COP time-out S12CPMU_UHV COPRF OMRF osc monitor fail Power-On Reset System Reset Reset Generator PLL monitor fail RESET OSCCLK OSCCLK Monitor EXTAL Loop Controlled REFDIV[3:0] IRCTRIM[9:0] Pierce XTAL Oscillator (XOSCLCP) Internal Reference Reference 4MHz-20MHz Divider Clock (IRC1M) PSTP OSCMOD IRCCLK OSCCLK REFCLK FBCLK Phase locked Loop with internal Filter (PLL) Post Divider 1,2,.32 divide by 4 Divide by 2*(SYNDIV+1) ACLK CSAD divide by 2 IRCCLK COPOSCSEL1 SYNDIV[5:0] COPCLK COP Watchdog OSCCLK COPOSCSEL0 UPOSC=0 clears PCE LOCKIE Bus Clock OSCCLK PLL lock interrupt Autonomous API_EXTCLK Periodic Interrupt (API) divide by 2 ACLK HT Interrupt HTIE High Temperature Sense COP time-out to Reset Generator IRCCLK CPMUCOP ECLK2X (Core Clock) HTDS VCOCLK RC Osc. ECLK divide by 2 (Bus Clock) PLLCLK VCOFRQ[1:0] UPOSC PLLSEL POSTDIV[4:0] REFFRQ[1:0] LOCK Oscillator status Interrupt OSCIE UPOSC UPOSC=0 sets PLLSEL bit OSCE Lock detect IRCCLK APICLK APIE RTIE RTI Interrupt Real Time Interrupt (RTI) RTICLK RTIOSCSEL API Interrupt PRE CPMURTI Figure 8-1. Block diagram of S12CPMU_UHV_V10_V6 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 287 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Figure 8-2 shows a block diagram of the XOSCLCP. OSCMOD Peak Detector Clock monitor fail Monitor + _ Gain Control OSCCLK VDD=1.8V VSS Rf Quartz Crystals EXTAL or Ceramic Resonators XTAL C1 C2 VSS VSS Figure 8-2. XOSCLCP Block Diagram MC9S12ZVM Family Reference Manual Rev. 2.2 288 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.2 Signal Description This section lists and describes the signals that connect off chip as well as internal supply nodes and special signals. 8.2.1 RESET Pin RESET is an active-low bidirectional pin. As an input it initializes the MCU asynchronously to a known start-up state. As an open-drain output it indicates that an MCU-internal reset has been triggered. 8.2.2 EXTAL and XTAL These pins provide the interface for a crystal to control the internal clock generator circuitry. EXTAL is the input to the crystal oscillator amplifier. XTAL is the output of the crystal oscillator amplifier. If XOSCLCP is enabled, the MCU internal OSCCLK_LCP is derived from the EXTAL input frequency. If OSCE=0, the EXTAL pin is pulled down by an internal resistor of approximately 200 k and the XTAL pin is pulled down by an internal resistor of approximately 700 k. NOTE Freescale recommends an evaluation of the application board and chosen resonator or crystal by the resonator or crystal supplier. The loop controlled circuit (XOSCLCP) is not suited for overtone resonators and crystals. 8.2.3 VSUP -- Regulator Power Input Pin Pin VSUP is the power input of VREGAUTO. All currents sourced into the regulator loads flow through this pin. A suitable reverse battery protection network can be used to connect VSUP to the car battery supply network. 8.2.4 VDDA, VSSA -- Regulator Reference Supply Pins Pins VDDA and VSSA,are used to supply the analog parts of the regulator. Internal precision reference circuits are supplied from these signals. An off-chip decoupling capacitor (220 nF(X7R ceramic)) between VDDA and VSSA is required and can improve the quality of this supply. VDDA has to be connected externally to VDDX. 8.2.5 VDDX, VSSX-- Pad Supply Pins VDDX is the supply domain for the digital Pads. An off-chip decoupling capacitor (10F plus 220 nF(X7R ceramic)) between VDDX and VSSX is required. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 289 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) This supply domain is monitored by the Low Voltage Reset circuit. VDDX has to be connected externally to VDDA. 8.2.6 VDDC-- CAN Supply Pin VDDC is the supply domain for the CAN module. An off-chip decoupling capacitor (10F plus 220 nF(X7R ceramic)) between VDDC and VSSX is required. This supply domain is monitored by the Low Voltage Reset circuit. 8.2.7 VDDS1-- Sensor Supply1 Pin VDDS1 is a short circuit protected supply domain which is suitable for sensors (which connect externally to the PCB). An off-chip decoupling capacitor (4.7F plus 220 nF(X7R ceramic)) between VDDS1 and VSSX is required. This supply domain is monitored by a Low Voltage Detect (LVDS1) circuit. 8.2.8 VDDS2-- Sensor Supply2 Pin VDDS2 is a short circuit protected supply domain which is suitable for sensors (which connect externally to the PCB). An off-chip decoupling capacitor (4.7F plus 220 nF(X7R ceramic)) between VDDS2 and VSSX is required. This supply domain is monitored by a Low Voltage Detect (LVDS2) circuit. 8.2.9 BCTL-- Base Control Pin for external PNP BCTL is the ballast connection for the on chip voltage regulator. It provides the base current of an external BJT (PNP) of the VDDX and VDDA supplies. An additional 1K resistor between emitter and base of the BJT is required. Figure 8-3 shows an application example for the external BCTL pin. MC9S12ZVM Family Reference Manual Rev. 2.2 290 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) VRBATP (reverse battery MCU protected input voltage) Voltage Regulator 1K BCTL VDDX B E C Figure 8-3. BCTL application example 8.2.10 BCTLC -- Base Control Pin for external PNP for VDDC power domain BCTLC is the ballast connection for the on chip voltage regulator for the VDDC power domain. It provides the base current of an external BJT (PNP) of the VDDC supply. An additional 1K resistor between emitter and base of the BJT is required. 8.2.11 BCTLS1 -- Base Control Pin for external PNP for VDDS1 power domain BCTLS1 is the ballast connection for the on chip voltage regulator for the VDDS1 power domain. It provides the base current of an external BJT (PNP) of the VDDS1 supply. An additional 1K resistor between emitter and base of the BJT is required. Figure 8-4 shows an application example for the external BCTLS1 pin. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 291 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) VRBATP (reverse battery MCU protected input voltage) Voltage Regulator 1K BCTLS1 B C SNPS1 VRH1EN ADC VRH1 VDDS1 E VSNPSM RSNPS1 Figure 8-4. BCTLS1 application example 8.2.12 BCTLS2 -- Base Control Pin for external PNP for VDDS2 power domain BCTLS2 is the ballast connection for the on chip voltage regulator for the VDDS2 power domain. It provides the base current of an external BJT (PNP) of the VDDS2 supply. An additional 1K resistor between emitter and base of the BJT is required. 8.2.13 SNPS1 -- Sense Pin for VDDS1 power domain SNPS1 is the sense input associated with the VDDS1 power domain regulator. The voltage regulator uses it to detect a short circuit or over current condition and subsequently limits the current to avoid damage. RSNPS1 = VSNPSM / (desired max current flowing) 8.2.14 SNPS2 -- Sense Pin for VDDS2 power domain SNPS2 is the sense input associated with the VDDS2 power domain regulator. The voltage regulator uses it to detect a short circuit or over current condition and subsequently limits the current to avoid damage. RSNPS2 = VSNPSM / (desired max current flowing) 8.2.15 VSS1,2 -- Core Ground Pins VSS1,2 are the core logic supply return pins. They must be grounded. MC9S12ZVM Family Reference Manual Rev. 2.2 292 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.2.16 VDD-- Core Logic Supply Pin VDD is the supply domain for the core logic. An off-chip decoupling capacitor (220 nF(X7R ceramic)) between VDD and VSS is required and can improve the quality of this supply. This supply domain is monitored by the Low Voltage Reset circuit and The Power On Reset circuit. 8.2.17 VDDF-- NVM Logic Supply Pin VDDF is the supply domain for the NVM logic. An off-chip decoupling capacitor (220 nF(X7R ceramic)) between VDDF and VSS is required and can improve the quality of this supply. This supply domain is monitored by the Low Voltage Reset circuit. 8.2.18 API_EXTCLK -- API external clock output pin This pin provides the signal selected via APIES and is enabled with APIEA bit. See the device specification if this clock output is available on this device and to which pin it might be connected. 8.2.19 TEMPSENSE -- Internal Temperature Sensor Output Voltage Depending on the VSEL setting either the voltage level generated by the temperature sensor or the VREG bandgap voltage is driven to a special channel input of the ADC Converter. See device level specification for connectivity of ADC special channels. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 293 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3 Memory Map and Registers This section provides a detailed description of all registers accessible in the S12CPMU_UHV_V10_V6. 8.3.1 Module Memory Map The S12CPMU_UHV_V10_V6 registers are shown in Figure 8-5. Address Offset 0x0000 Register Name R CPMU RESERVED00 W 0x0001 RESERVED CPMU VREGTRIM0 0x0002 RESERVED CPMU VREGTRIM1 0x0003 CPMURFLG 0x0004 CPMU SYNR 0x0005 CPMU REFDIV 0x0006 CPMU POSTDIV 0x0007 CPMUIFLG 0x0008 CPMUINT 0x0009 CPMUCLKS 0x000A CPMUPLL 0x000B CPMURTI 0x000C CPMUCOP 0x000D RESERVED CPMUTEST0 R Bit 7 6 0 0 0 000 5 0 4 3 2 1 Bit 0 0 0 0 0 0 U U U U U 0 0 0 OMRF PMRF W R 0 0 U U W R 0 W R W R W R PORF LVRF 0 VCOFRQ[1:0] REFFRQ[1:0] 0 SYNDIV[5:0] 0 0 0 0 0 0 0 0 PLLSEL PSTP CSAD COP OSCSEL1 0 0 FM1 FM0 RTDEC RTR6 RTR5 WCOP RSBCK 0 0 0 REFDIV[3:0] POSTDIV[4:0] W R W R W R W R RTIF RTIE W R W R W R 0 COPRF LOCK 0 0 0 PRE PCE RTI OSCSEL COP OSCSEL0 0 0 0 0 RTR4 RTR3 RTR2 RTR1 RTR0 0 0 CR2 CR1 CR0 0 0 0 0 0 LOCKIF LOCKIE WRTMASK 0 OSCIF OSCIE UPOSC 0 W = Unimplemented or Reserved Figure 8-5. CPMU Register Summary MC9S12ZVM Family Reference Manual Rev. 2.2 294 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Address Offset Register Name 0x000E RESERVED CPMUTEST1 0x000F CPMU ARMCOP 0x0010 CPMU HTCTL 0x0011 CPMU LVCTL 0x0012 CPMU APICTL 0x0013 CPMUACLKTR 0x0014 CPMUAPIRH 0x0015 CPMUAPIRL 0x0016 RESERVED CPMUTEST3 0x0017 CPMUHTTR 0x0018 CPMU IRCTRIMH 0x0019 CPMU IRCTRIML 0x001A CPMUOSC 0x001B CPMUPROT 0x001C RESERVED CPMUTEST2 0x001D CPMU VREGCTL 0x001E CPMUOSC2 0x001F CPMUVDDS Bit 7 6 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 0 R 0 0 0 0 0 0 0 0 W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved 0 HTIE HTIF 0 0 LVIE LVIF APIE APIF 0 0 R W R VSEL W R 0 0 0 W R W R W R W R W R HTE VDDSIE HTDS LVDS 0 0 ACLKTR5 ACLKTR4 ACLKTR3 APIR15 APIR14 APIR13 APIR12 APIR11 APIR10 APIR9 APIR8 APIR7 APIR6 APIR5 APIR4 APIR3 APIR2 APIR1 APIR0 0 0 0 000 0 0 0 0 0 HTTR1 HTTR0 APICLK APIES APIEA APIFE ACLKTR2 ACLKTR1 ACLKTR0 W R W HTOE R R R IRCTRIM[9:8] IRCTRIM[7:0] W W HTTR2 0 TCTRIM[4:0] W R HTTR3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 VRH2EN VRH1EN 0 0 OSCE W R W R W R EXTS2ON EXTS1ON 0 0 0 0 0 EXTCON 0 0 SCS2IF SCS1IF W R SCS2 SCS1 L VDS2 LVDS1 W 0 PROT 0 EXTXON INTXON OMRE OSCMOD LVS2IF LVS1IF = Unimplemented or Reserved Figure 8-5. CPMU Register Summary MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 295 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2 Register Descriptions This section describes all the S12CPMU_UHV_V10_V6 registers and their individual bits. Address order is as listed in Figure 8-5 8.3.2.1 Reserved Register CPMUVREGTRIM0 NOTE This reserved register is designed for factory test purposes only, and is not intended for general user access. Writing to this register when in Special Mode can alter the S12CPMU_UHV_V10_V6's functionality. . Module Base + 0x0001 5 4 0 7 0 0 0 Reset 0 0 0 0 F Power on Reset 0 0 0 0 0 R 6 3 2 1 0 F F F 0 0 0 U W Note: After de-assert of System Reset a value is automatically loaded from the Flash memory. Figure 8-6. Reserved Register (CPMUVREGTRIM0) Read: Anytime Write: Only in Special Mode 8.3.2.2 Reserved Register CPMUVREGTRIM1 NOTE This reserved register is designed for factory test purposes only, and is not intended for general user access. Writing to this register when in Special Mode can alter the S12CPMU_UHV_V10_V6's functionality. . MC9S12ZVM Family Reference Manual Rev. 2.2 296 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Module Base + 0x0002 5 4 3 2 1 0 0 7 0 U U U 0 0 0 Reset 0 0 F F F 0 0 0 Power on Reset 0 0 0 0 0 0 0 0 R 6 W Note: After de-assert of System Reset a value is automatically loaded from the Flash memory. Figure 8-7. Reserved Register (CPMUVREGTRIM1) Read: Anytime Write: Only in Special Mode 8.3.2.3 S12CPMU_UHV_V10_V6 Reset Flags Register (CPMURFLG) This register provides S12CPMU_UHV_V10_V6 reset flags. Module Base + 0x0003 7 R 6 0 W Reset 0 5 PORF LVRF Note 1 Note 2 4 0 0 3 COPRF Note 3 2 0 0 1 0 OMRF PMRF Note 4 Note 5 1. PORF is set to 1 when a power on reset occurs. Unaffected by System Reset. 2. LVRF is set to 1 when a low voltage reset occurs. Unaffected by System Reset. Set by power on reset. 3. COPRF is set to 1 when COP reset occurs. Unaffected by System Reset. Cleared by power on reset. 4. OMRF is set to 1 when an oscillator clock monitor reset occurs. Unaffected by System Reset. Cleared by power on reset. 5. PMRF is set to 1 when a PLL clock monitor reset occurs. Unaffected by System Reset. Cleared by power on reset. = Unimplemented or Reserved Figure 8-8. S12CPMU_UHV_V10_V6 Flags Register (CPMURFLG) Read: Anytime Write: Refer to each bit for individual write conditions MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 297 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-2. CPMURFLG Field Descriptions Field Description 6 PORF Power on Reset Flag -- PORF is set to 1 when a power on reset occurs. This flag can only be cleared by writing a 1. Writing a 0 has no effect. 0 Power on reset has not occurred. 1 Power on reset has occurred. 5 LVRF Low Voltage Reset Flag -- LVRF is set to 1 when a low voltage reset occurs on the VDD, VDDF or VDDX domain. This flag can only be cleared by writing a 1. Writing a 0 has no effect. 0 Low voltage reset has not occurred. 1 Low voltage reset has occurred. 3 COPRF COP Reset Flag -- COPRF is set to 1 when a COP (Computer Operating Properly) reset occurs. Refer to 8.5.5, "Computer Operating Properly Watchdog (COP) Reset and 8.3.2.12, "S12CPMU_UHV_V10_V6 COP Control Register (CPMUCOP) for details.This flag can only be cleared by writing a 1. Writing a 0 has no effect. 0 COP reset has not occurred. 1 COP reset has occurred. 1 OMRF Oscillator Clock Monitor Reset Flag -- OMRF is set to 1 when a loss of oscillator (crystal) clock occurs. Refer to8.5.3, "Oscillator Clock Monitor Reset for details.This flag can only be cleared by writing a 1. Writing a 0 has no effect. 0 Loss of oscillator clock reset has not occurred. 1 Loss of oscillator clock reset has occurred. 0 PMRF PLL Clock Monitor Reset Flag -- PMRF is set to 1 when a loss of PLL clock occurs. This flag can only be cleared by writing a 1. Writing a 0 has no effect. 0 Loss of PLL clock reset has not occurred. 1 Loss of PLL clock reset has occurred. 8.3.2.4 S12CPMU_UHV_V10_V6 Synthesizer Register (CPMUSYNR) The CPMUSYNR register controls the multiplication factor of the PLL and selects the VCO frequency range. Module Base + 0x0004 7 R W Reset 6 5 4 3 VCOFRQ[1:0] 0 1 2 1 0 0 0 0 SYNDIV[5:0] 0 1 1 Figure 8-9. S12CPMU_UHV_V10_V6 Synthesizer Register (CPMUSYNR) Read: Anytime Write: If PROT=0 (CPMUPROT register) and PLLSEL=1 (CPMUCLKS register), then write anytime. Else write has no effect. NOTE Writing to this register clears the LOCK and UPOSC status bits. MC9S12ZVM Family Reference Manual Rev. 2.2 298 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) f VCO = 2 f REF SYNDIV + 1 If PLL has locked (LOCK=1) NOTE fVCO must be within the specified VCO frequency lock range. Bus frequency fbus must not exceed the specified maximum. The VCOFRQ[1:0] bits are used to configure the VCO gain for optimal stability and lock time. For correct PLL operation the VCOFRQ[1:0] bits have to be selected according to the actual target VCOCLK frequency as shown in Table 8-3. Setting the VCOFRQ[1:0] bits incorrectly can result in a non functional PLL (no locking and/or insufficient stability). Table 8-3. VCO Clock Frequency Selection 8.3.2.5 VCOCLK Frequency Ranges VCOFRQ[1:0] 32MHz <= fVCO <= 48MHz 00 48MHz < fVCO <= 80MHz 01 Reserved 10 80MHz < fVCO<= 100MHz 11 S12CPMU_UHV_V10_V6 Reference Divider Register (CPMUREFDIV) The CPMUREFDIV register provides a finer granularity for the PLL multiplier steps when using the external oscillator as reference. Module Base + 0x0005 7 R W Reset 6 REFFRQ[1:0] 0 0 5 4 0 0 0 0 3 2 1 0 1 1 REFDIV[3:0] 1 1 Figure 8-10. S12CPMU_UHV_V10_V6 Reference Divider Register (CPMUREFDIV) Read: Anytime Write: If PROT=0 (CPMUPROT register) and PLLSEL=1 (CPMUCLKS register), then write anytime. Else write has no effect. NOTE Write to this register clears the LOCK and UPOSC status bits. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 299 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) If XOSCLCP is enabled (OSCE=1) f OSC f REF = ------------------------------------ REFDIV + 1 If XOSCLCP is disabled (OSCE=0) f REF = f IRC1M The REFFRQ[1:0] bits are used to configure the internal PLL filter for optimal stability and lock time. For correct PLL operation the REFFRQ[1:0] bits have to be selected according to the actual REFCLK frequency as shown in Table 8-4. If IRC1M is selected as REFCLK (OSCE=0) the PLL filter is fixed configured for the 1MHz <= fREF <= 2MHz range. The bits can still be written but will have no effect on the PLL filter configuration. For OSCE=1, setting the REFFRQ[1:0] bits incorrectly can result in a non functional PLL (no locking and/or insufficient stability). Table 8-4. Reference Clock Frequency Selection if OSC_LCP is enabled REFCLK Frequency Ranges (OSCE=1) REFFRQ[1:0] 1MHz <= fREF <= 2MHz 00 2MHz < fREF <= 6MHz 01 6MHz < fREF <= 12MHz 10 fREF >12MHz 11 MC9S12ZVM Family Reference Manual Rev. 2.2 300 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.6 S12CPMU_UHV_V10_V6 Post Divider Register (CPMUPOSTDIV) The POSTDIV register controls the frequency ratio between the VCOCLK and the PLLCLK. Module Base + 0x0006 7 R 6 5 0 0 0 0 0 0 4 3 1 0 1 1 POSTDIV[4:0] W Reset 2 0 0 0 = Unimplemented or Reserved Figure 8-11. S12CPMU_UHV_V10_V6 Post Divider Register (CPMUPOSTDIV) Read: Anytime Write: If PLLSEL=1 write anytime, else write has no effect If PLL is locked (LOCK=1) f VCO f PLL = ---------------------------------------- POSTDIV + 1 If PLL is not locked (LOCK=0) f VCO f PLL = --------------4 If PLL is selected (PLLSEL=1) f PLL f bus = ------------2 When changing the POSTDIV[4:0] value or PLL transitions to locked stated (lock=1), it takes up to 32 Bus Clock cycles until fPLL is at the desired target frequency. This is because the post divider gradually changes (increases or decreases) fPLL in order to avoid sudden load changes for the on-chip voltage regulator. 8.3.2.7 S12CPMU_UHV_V10_V6 Interrupt Flags Register (CPMUIFLG) This register provides S12CPMU_UHV_V10_V6 status bits and interrupt flags. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 301 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Module Base + 0x0007 7 R W Reset RTIF 0 6 5 0 0 0 0 4 LOCKIF 0 3 2 LOCK 0 0 0 1 OSCIF 0 0 UPOSC 0 = Unimplemented or Reserved Figure 8-12. S12CPMU_UHV_V10_V6 Flags Register (CPMUIFLG) Read: Anytime Write: Refer to each bit for individual write conditions Table 8-5. CPMUIFLG Field Descriptions Field Description 7 RTIF Real Time Interrupt Flag -- RTIF is set to 1 at the end of the RTI period. This flag can only be cleared by writing a 1. Writing a 0 has no effect. If enabled (RTIE=1), RTIF causes an interrupt request. 0 RTI time-out has not yet occurred. 1 RTI time-out has occurred. 4 LOCKIF PLL Lock Interrupt Flag -- LOCKIF is set to 1 when LOCK status bit changes. This flag can only be cleared by writing a 1. Writing a 0 has no effect. If enabled (LOCKIE=1), LOCKIF causes an interrupt request. 0 No change in LOCK bit. 1 LOCK bit has changed. 3 LOCK Lock Status Bit -- LOCK reflects the current state of PLL lock condition. Writes have no effect. While PLL is unlocked (LOCK=0) fPLL is fVCO / 4 to protect the system from high core clock frequencies during the PLL stabilization time tlock. 0 VCOCLK is not within the desired tolerance of the target frequency. fPLL = fVCO/4. 1 VCOCLK is within the desired tolerance of the target frequency. fPLL = fVCO/(POSTDIV+1). 1 OSCIF Oscillator Interrupt Flag -- OSCIF is set to 1 when UPOSC status bit changes. This flag can only be cleared by writing a 1. Writing a 0 has no effect. If enabled (OSCIE=1), OSCIF causes an interrupt request. 0 No change in UPOSC bit. 1 UPOSC bit has changed. 0 UPOSC Oscillator Status Bit -- UPOSC reflects the status of the oscillator. Writes have no effect. Entering Full Stop Mode UPOSC is cleared. 0 The oscillator is off or oscillation is not qualified by the PLL. 1 The oscillator is qualified by the PLL. MC9S12ZVM Family Reference Manual Rev. 2.2 302 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.8 S12CPMU_UHV_V10_V6 Interrupt Enable Register (CPMUINT) This register enables S12CPMU_UHV_V10_V6 interrupt requests. Module Base + 0x0008 7 R W Reset 6 RTIE 0 5 0 0 0 0 4 LOCKIE 0 3 2 0 0 0 0 1 OSCIE 0 0 0 0 = Unimplemented or Reserved Figure 8-13. S12CPMU_UHV_V10_V6 Interrupt Enable Register (CPMUINT) Read: Anytime Write: Anytime Table 8-6. CPMUINT Field Descriptions Field 7 RTIE Description Real Time Interrupt Enable Bit 0 Interrupt requests from RTI are disabled. 1 Interrupt will be requested whenever RTIF is set. 4 LOCKIE PLL Lock Interrupt Enable Bit 0 PLL LOCK interrupt requests are disabled. 1 Interrupt will be requested whenever LOCKIF is set. 1 OSCIE Oscillator Corrupt Interrupt Enable Bit 0 Oscillator Corrupt interrupt requests are disabled. 1 Interrupt will be requested whenever OSCIF is set. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 303 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.9 S12CPMU_UHV_V10_V6 Clock Select Register (CPMUCLKS) This register controls S12CPMU_UHV_V10_V6 clock selection. Module Base + 0x0009 7 R W Reset 6 5 4 3 2 1 0 PLLSEL PSTP CSAD COP OSCSEL1 PRE PCE RTI OSCSEL COP OSCSEL0 1 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 8-14. S12CPMU_UHV_V10_V6 Clock Select Register (CPMUCLKS) Read: Anytime Write: * * * * * * Only possible if PROT=0 (CPMUPROT register) in all MCU Modes (Normal and Special Mode). All bits in Special Mode (if PROT=0). PLLSEL, PSTP, PRE, PCE, RTIOSCSEL: In Normal Mode (if PROT=0). CSAD: In Normal Mode (if PROT=0) until CPMUCOP write once has taken place. COPOSCSEL0: In Normal Mode (if PROT=0) until CPMUCOP write once has taken place. If COPOSCSEL0 was cleared by UPOSC=0 (entering Full Stop Mode with COPOSCSEL0=1 or insufficient OSCCLK quality), then COPOSCSEL0 can be set once again. COPOSCSEL1: In Normal Mode (if PROT=0) until CPMUCOP write once has taken place. COPOSCSEL1 will not be cleared by UPOSC=0 (entering Full Stop Mode with COPOSCSEL1=1 or insufficient OSCCLK quality if OSCCLK is used as clock source for other clock domains: for instance core clock etc.). NOTE After writing CPMUCLKS register, it is strongly recommended to read back CPMUCLKS register to make sure that write of PLLSEL, RTIOSCSEL and COPOSCSEL was successful. This is because under certain circumstances writes have no effect or bits are automatically changed (see CPMUCLKS register and bit descriptions). NOTE When using the oscillator clock as system clock (write PLLSEL = 0) it is highly recommended to enable the oscillator clock monitor reset feature (write OMRE = 1 in CPMUOSC2 register). If the oscillator monitor reset feature is disabled (OMRE = 0) and the oscillator clock is used as system clock, the system will stall in case of loss of oscillation. MC9S12ZVM Family Reference Manual Rev. 2.2 304 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-7. CPMUCLKS Descriptions Field 7 PLLSEL Description PLL Select Bit This bit selects the PLLCLK as source of the System Clocks (Core Clock and Bus Clock). PLLSEL can only be set to 0, if UPOSC=1. UPOSC= 0 sets the PLLSEL bit. Entering Full Stop Mode sets the PLLSEL bit. 0 System clocks are derived from OSCCLK if oscillator is up (UPOSC=1, fbus = fosc / 2). 1 System clocks are derived from PLLCLK, fbus = fPLL / 2. 6 PSTP Pseudo Stop Bit This bit controls the functionality of the oscillator during Stop Mode. 0 Oscillator is disabled in Stop Mode (Full Stop Mode). 1 Oscillator continues to run in Stop Mode (Pseudo Stop Mode), option to run RTI and COP. Note: Pseudo Stop Mode allows for faster STOP recovery and reduces the mechanical stress and aging of the resonator in case of frequent STOP conditions at the expense of a slightly increased power consumption. Note: When starting up the external oscillator (either by programming OSCE bit to 1 or on exit from Full Stop Mode with OSCE bit already 1) the software must wait for a minimum time equivalent to the startup-time of the external oscillator tUPOSC before entering Pseudo Stop Mode. 5 CSAD COP in Stop Mode ACLK Disable -- If this bit is set the ACLK for the COP in Stop Mode is disabled. Hence the COP is static while in Stop Mode and continues to operate after exit from Stop Mode. For CSAD = 1 and COP is running on ACLK (COPOSCSEL1 = 1) the following applies: Due to clock domain crossing synchronization there is a latency time of 2 ACLK cycles to enter Stop Mode. After exit from STOP mode (when interrupt service routine is entered) the software has to wait for 2 ACLK cycles before it is allowed to enter Stop mode again (STOP instruction). It is absolutely forbidden to enter Stop Mode before this time of 2 ACLK cycles has elapsed. 0 COP running in Stop Mode (ACLK for COP enabled in Stop Mode). 1 COP stopped in Stop Mode (ACLK for COP disabled in Stop Mode) 4 COP OSCSEL1 COP Clock Select 1 -- COPOSCSEL0 and COPOSCSEL1 combined determine the clock source to the COP (see also Table 8-8). If COPOSCSEL1 = 1, COPOSCSEL0 has no effect regarding clock select and changing the COPOSCSEL0 bit does not re-start the COP time-out period. COPOSCSEL1 selects the clock source to the COP to be either ACLK (derived from trimmable internal RCOscillator) or clock selected via COPOSCSEL0 (IRCCLK or OSCCLK). Changing the COPOSCSEL1 bit re-starts the COP time-out period. COPOSCSEL1 can be set independent from value of UPOSC. UPOSC= 0 does not clear the COPOSCSEL1 bit. 0 COP clock source defined by COPOSCSEL0 1 COP clock source is ACLK derived from a trimmable internal RC-Oscillator 3 PRE RTI Enable During Pseudo Stop Bit -- PRE enables the RTI during Pseudo Stop Mode. 0 RTI stops running during Pseudo Stop Mode. 1 RTI continues running during Pseudo Stop Mode if RTIOSCSEL=1. Note: If PRE=0 or RTIOSCSEL=0 then the RTI will go static while Stop Mode is active. The RTI counter will not be reset. 2 PCE COP Enable During Pseudo Stop Bit -- PCE enables the COP during Pseudo Stop Mode. 0 COP stops running during Pseudo Stop Mode 1 COP continues running during Pseudo Stop Mode if COPOSCSEL=1 Note: If PCE=0 or COPOSCSEL=0 then the COP will go static while Stop Mode is active. The COP counter will not be reset. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 305 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-7. CPMUCLKS Descriptions (continued) Field Description 1 RTI Clock Select-- RTIOSCSEL selects the clock source to the RTI. Either IRCCLK or OSCCLK. Changing the RTIOSCSEL RTIOSCSEL bit re-starts the RTI time-out period. RTIOSCSEL can only be set to 1, if UPOSC=1. UPOSC= 0 clears the RTIOSCSEL bit. 0 RTI clock source is IRCCLK. 1 RTI clock source is OSCCLK. 0 COP OSCSEL0 COP Clock Select 0 -- COPOSCSEL0 and COPOSCSEL1 combined determine the clock source to the COP (see also Table 8-8) If COPOSCSEL1 = 1, COPOSCSEL0 has no effect regarding clock select and changing the COPOSCSEL0 bit does not re-start the COP time-out period. When COPOSCSEL1=0,COPOSCSEL0 selects the clock source to the COP to be either IRCCLK or OSCCLK. Changing the COPOSCSEL0 bit re-starts the COP time-out period. COPOSCSEL0 can only be set to 1, if UPOSC=1. UPOSC= 0 clears the COPOSCSEL0 bit. 0 COP clock source is IRCCLK. 1 COP clock source is OSCCLK Table 8-8. COPOSCSEL1, COPOSCSEL0 clock source select description COPOSCSEL1 COPOSCSEL0 COP clock source 0 0 IRCCLK 0 1 OSCCLK 1 x ACLK MC9S12ZVM Family Reference Manual Rev. 2.2 306 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.10 S12CPMU_UHV_V10_V6 PLL Control Register (CPMUPLL) This register controls the PLL functionality. Module Base + 0x000A 7 R 6 0 0 0 0 W Reset 5 4 FM1 FM0 0 0 3 2 1 0 0 0 0 0 0 0 0 0 Figure 8-15. S12CPMU_UHV_V10_V6 PLL Control Register (CPMUPLL) Read: Anytime Write: Anytime if PROT=0 (CPMUPROT register) and PLLSEL=1 (CPMUCLKS register). Else write has no effect. NOTE Write to this register clears the LOCK and UPOSC status bits. NOTE Care should be taken to ensure that the bus frequency does not exceed the specified maximum when frequency modulation is enabled. Table 8-9. CPMUPLL Field Descriptions Field Description 5, 4 FM1, FM0 PLL Frequency Modulation Enable Bits -- FM1 and FM0 enable frequency modulation on the VCOCLK. This is to reduce noise emission. The modulation frequency is fref divided by 16. See Table 8-10 for coding. Table 8-10. FM Amplitude selection FM1 FM0 FM Amplitude / fVCO Variation 0 0 FM ff 0 1 1% 1 0 2% 1 1 4% o MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 307 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.11 S12CPMU_UHV_V10_V6 RTI Control Register (CPMURTI) This register selects the time-out period for the Real Time Interrupt. The clock source for the RTI is either IRCCLK or OSCCLK depending on the setting of the RTIOSCSEL bit. In Stop Mode with PSTP=1 (Pseudo Stop Mode) and RTIOSCSEL=1 the RTI continues to run, else the RTI counter halts in Stop Mode. Module Base + 0x000B 7 R W Reset 6 5 4 3 2 1 0 RTDEC RTR6 RTR5 RTR4 RTR3 RTR2 RTR1 RTR0 0 0 0 0 0 0 0 0 Figure 8-16. S12CPMU_UHV_V10_V6 RTI Control Register (CPMURTI) Read: Anytime Write: Anytime NOTE A write to this register starts the RTI time-out period. A change of the RTIOSCSEL bit (writing a different value or loosing UPOSC status) restarts the RTI time-out period. Table 8-11. CPMURTI Field Descriptions Field Description 7 RTDEC Decimal or Binary Divider Select Bit -- RTDEC selects decimal or binary based prescaler values. 0 Binary based divider value. See Table 8-12 1 Decimal based divider value. See Table 8-13 6-4 RTR[6:4] Real Time Interrupt Prescale Rate Select Bits -- These bits select the prescale rate for the RTI.See Table 812 and Table 8-13. 3-0 RTR[3:0] Real Time Interrupt Modulus Counter Select Bits -- These bits select the modulus counter target value to provide additional granularity.Table 8-12 and Table 8-13 show all possible divide values selectable by the CPMURTI register. MC9S12ZVM Family Reference Manual Rev. 2.2 308 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-12. RTI Frequency Divide Rates for RTDEC = 0 RTR[6:4] = RTR[3:0] 000 (OFF) 001 (210) 010 (211) 011 (212) 100 (213) 101 (214) 110 (215) 111 (216) 0000 (1) OFF(1) 210 211 212 213 214 215 216 0001 (2) OFF 2x210 2x211 2x212 2x213 2x214 2x215 2x216 0010 (3) OFF 3x210 3x211 3x212 3x213 3x214 3x215 3x216 0011 (4) OFF 4x210 4x211 4x212 4x213 4x214 4x215 4x216 0100 (5) OFF 5x210 5x211 5x212 5x213 5x214 5x215 5x216 0101 (6) OFF 6x210 6x211 6x212 6x213 6x214 6x215 6x216 0110 (7) OFF 7x210 7x211 7x212 7x213 7x214 7x215 7x216 0111 (8) OFF 8x210 8x211 8x212 8x213 8x214 8x215 8x216 1000 (9) OFF 9x210 9x211 9x212 9x213 9x214 9x215 9x216 1001 (10) OFF 10x210 10x211 10x212 10x213 10x214 10x215 10x216 1010 (11) OFF 11x210 11x211 11x212 11x213 11x214 11x215 11x216 1011 (12) OFF 12x210 12x211 12x212 12x213 12x214 12x215 12x216 1100 (13) OFF 13x210 13x211 13x212 13x213 13x214 13x215 13x216 1101 (14) OFF 14x210 14x211 14x212 14x213 14x214 14x215 14x216 1110 (15) OFF 15x210 15x211 15x212 15x213 15x214 15x215 15x216 1111 (16) OFF 16x210 16x211 16x212 16x213 16x214 16x215 16x216 1. Denotes the default value out of reset.This value should be used to disable the RTI to ensure future backwards compatibility. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 309 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-13. RTI Frequency Divide Rates for RTDEC=1 RTR[6:4] = RTR[3:0] 000 (1x103) 001 (2x103) 010 (5x103) 011 (10x103) 100 (20x103) 101 (50x103) 110 (100x103) 111 (200x103) 0000 (1) 1x103 2x103 5x103 10x103 20x103 50x103 100x103 200x103 0001 (2) 2x103 4x103 10x103 20x103 40x103 100x103 200x103 400x103 0010 (3) 3x103 6x103 15x103 30x103 60x103 150x103 300x103 600x103 0011 (4) 4x103 8x103 20x103 40x103 80x103 200x103 400x103 800x103 0100 (5) 5x103 10x103 25x103 50x103 100x103 250x103 500x103 1x106 0101 (6) 6x103 12x103 30x103 60x103 120x103 300x103 600x103 1.2x106 0110 (7) 7x103 14x103 35x103 70x103 140x103 350x103 700x103 1.4x106 0111 (8) 8x103 16x103 40x103 80x103 160x103 400x103 800x103 1.6x106 1000 (9) 9x103 18x103 45x103 90x103 180x103 450x103 900x103 1.8x106 1001 (10) 10 x103 20x103 50x103 100x103 200x103 500x103 1x106 2x106 1010 (11) 11 x103 22x103 55x103 110x103 220x103 550x103 1.1x106 2.2x106 1011 (12) 12x103 24x103 60x103 120x103 240x103 600x103 1.2x106 2.4x106 1100 (13) 13x103 26x103 65x103 130x103 260x103 650x103 1.3x106 2.6x106 1101 (14) 14x103 28x103 70x103 140x103 280x103 700x103 1.4x106 2.8x106 1110 (15) 15x103 30x103 75x103 150x103 300x103 750x103 1.5x106 3x106 1111 (16) 16x103 32x103 80x103 160x103 320x103 800x103 1.6x106 3.2x106 MC9S12ZVM Family Reference Manual Rev. 2.2 310 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.12 S12CPMU_UHV_V10_V6 COP Control Register (CPMUCOP) This register controls the COP (Computer Operating Properly) watchdog. The clock source for the COP is either ACLK, IRCCLK or OSCCLK depending on the setting of the COPOSCSEL0 and COPOSCSEL1 bit (see also Table 8-8). In Stop Mode with PSTP=1 (Pseudo Stop Mode), COPOSCSEL0=1 and COPOSCEL1=0 and PCE=1 the COP continues to run, else the COP counter halts in Stop Mode with COPOSCSEL1 =0. In Full Stop Mode and Pseudo Stop Mode with COPOSCSEL1=1 the COP continues to run. Module Base + 0x000C 7 R W Reset 6 WCOP RSBCK F 0 5 4 3 0 0 0 0 0 WRTMASK 0 2 1 0 CR2 CR1 CR0 F F F After de-assert of System Reset the values are automatically loaded from the Flash memory. See Device specification for details. = Unimplemented or Reserved Figure 8-17. S12CPMU_UHV_V10_V6 COP Control Register (CPMUCOP) Read: Anytime Write: 1. RSBCK: Anytime in Special Mode; write to "1" but not to "0" in Normal Mode 2. WCOP, CR2, CR1, CR0: -- Anytime in Special Mode, when WRTMASK is 0, otherwise it has no effect -- Write once in Normal Mode, when WRTMASK is 0, otherwise it has no effect. - Writing CR[2:0] to "000" has no effect, but counts for the "write once" condition. - Writing WCOP to "0" has no effect, but counts for the "write once" condition. When a non-zero value is loaded from Flash to CR[2:0] the COP time-out period is started. A change of the COPOSCSEL0 or COPOSCSEL1 bit (writing a different value) or loosing UPOSC status while COPOSCSEL1 is clear and COPOSCSEL0 is set, re-starts the COP time-out period. In Normal Mode the COP time-out period is restarted if either of these conditions is true: 1. Writing a non-zero value to CR[2:0] (anytime in special mode, once in normal mode) with WRTMASK = 0. 2. Writing WCOP bit (anytime in Special Mode, once in Normal Mode) with WRTMASK = 0. 3. Changing RSBCK bit from "0" to "1". In Special Mode, any write access to CPMUCOP register restarts the COP time-out period. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 311 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-14. CPMUCOP Field Descriptions Field Description 7 WCOP Window COP Mode Bit -- When set, a write to the CPMUARMCOP register must occur in the last 25% of the selected period. A write during the first 75% of the selected period generates a COP reset. As long as all writes occur during this window, $55 can be written as often as desired. Once $AA is written after the $55, the time-out logic restarts and the user must wait until the next window before writing to CPMUARMCOP. Table 8-15 shows the duration of this window for the seven available COP rates. 0 Normal COP operation 1 Window COP operation 6 RSBCK COP and RTI Stop in Active BDM Mode Bit 0 Allows the COP and RTI to keep running in Active BDM mode. 1 Stops the COP and RTI counters whenever the part is in Active BDM mode. 5 Write Mask for WCOP and CR[2:0] Bit -- This write-only bit serves as a mask for the WCOP and CR[2:0] bits WRTMASK while writing the CPMUCOP register. It is intended for BDM writing the RSBCK without changing the content of WCOP and CR[2:0]. 0 Write of WCOP and CR[2:0] has an effect with this write of CPMUCOP 1 Write of WCOP and CR[2:0] has no effect with this write of CPMUCOP. (Does not count for "write once".) 2-0 CR[2:0] COP Watchdog Timer Rate Select -- These bits select the COP time-out rate (see Table 8-15 and Table 8-16). Writing a nonzero value to CR[2:0] enables the COP counter and starts the time-out period. A COP counter timeout causes a System Reset. This can be avoided by periodically (before time-out) initializing the COP counter via the CPMUARMCOP register. While all of the following four conditions are true the CR[2:0], WCOP bits are ignored and the COP operates at highest time-out period (2 24 cycles) in normal COP mode (Window COP mode disabled): 1) COP is enabled (CR[2:0] is not 000) 2) BDM mode active 3) RSBCK = 0 4) Operation in Special Mode Table 8-15. COP Watchdog Rates if COPOSCSEL1=0. (default out of reset) CR2 CR1 CR0 COPCLK Cycles to time-out (COPCLK is either IRCCLK or OSCCLK depending on the COPOSCSEL0 bit) 0 0 0 COP disabled 0 0 1 2 14 0 1 0 2 16 0 1 1 2 18 1 0 0 2 20 1 0 1 2 22 1 1 0 2 23 1 1 1 2 24 MC9S12ZVM Family Reference Manual Rev. 2.2 312 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-16. COP Watchdog Rates if COPOSCSEL1=1. CR2 CR1 CR0 COPCLK Cycles to time-out (COPCLK is ACLK divided by 2) 0 0 0 COP disabled 0 0 1 27 0 1 0 29 0 1 1 2 11 1 0 0 2 13 1 0 1 2 15 1 1 0 2 16 1 1 1 2 17 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 313 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.13 Reserved Register CPMUTEST0 NOTE This reserved register is designed for factory test purposes only, and is not intended for general user access. Writing to this register when in Special Mode can alter the S12CPMU_UHV_V10_V6's functionality. Module Base + 0x000D 7 R 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset = Unimplemented or Reserved Figure 8-18. Reserved Register (CPMUTEST0) Read: Anytime Write: Only in Special Mode 8.3.2.14 Reserved Register CPMUTEST1 NOTE This reserved register is designed for factory test purposes only, and is not intended for general user access. Writing to this register when in Special Mode can alter the S12CPMU_UHV_V10_V6's functionality. Module Base + 0x000E 7 R 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset = Unimplemented or Reserved Figure 8-19. Reserved Register (CPMUTEST1) Read: Anytime Write: Only in Special Mode MC9S12ZVM Family Reference Manual Rev. 2.2 314 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.15 S12CPMU_UHV_V10_V6 COP Timer Arm/Reset Register (CPMUARMCOP) This register is used to restart the COP time-out period. Module Base + 0x000F 7 R 6 0 0 5 4 3 2 1 0 0 0 0 0 0 0 W ARMCOP-Bit ARMCOP-Bit ARMCOP-Bit ARMCOP-Bit ARMCOP-Bit ARMCOP-Bit ARMCOP-Bit ARMCOP-Bit 7 6 5 4 3 2 1 0 Reset 0 0 0 0 0 0 0 0 Figure 8-20. S12CPMU_UHV_V10_V6 CPMUARMCOP Register Read: Always reads $00 Write: Anytime When the COP is disabled (CR[2:0] = "000") writing to this register has no effect. When the COP is enabled by setting CR[2:0] nonzero, the following applies: Writing any value other than $55 or $AA causes a COP reset. To restart the COP time-out period write $55 followed by a write of $AA. These writes do not need to occur back-to-back, but the sequence ($55, $AA) must be completed prior to COP end of time-out period to avoid a COP reset. Sequences of $55 writes are allowed. When the WCOP bit is set, $55 and $AA writes must be done in the last 25% of the selected time-out period; writing any value in the first 75% of the selected period will cause a COP reset. 8.3.2.16 High Temperature Control Register (CPMUHTCTL) The CPMUHTCTL register configures the temperature sense features. Module Base + 0x0010 7 R 6 0 Reserved W Reset 0 0 5 VSEL 0 4 0 0 3 HTE 2 HTDS 0 0 1 0 HTIE HTIF 0 0 = Unimplemented or Reserved Figure 8-21. High Temperature Control Register (CPMUHTCTL) Read: Anytime Write: VSEL, HTE, HTIE and HTIF are write anytime, HTDS is read only MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 315 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-17. CPMUHTCTL Field Descriptions Field Description 5 VSEL Voltage Access Select Bit -- If set, the bandgap reference voltage VBG can be accessed internally (i.e. multiplexed to an internal Analog to Digital Converter channel). If not set, the die temperature proportional voltage VHT of the temperature sensor can be accessed internally. See device level specification for connectivity. For any of these access the HTE bit must be set. 0 An internal temperature proportional voltage VHT can be accessed internally. 1 Bandgap reference voltage VBG can be accessed internally. 3 HTE High Temperature Sensor/Bandgap Voltage Enable Bit -- This bit enables the high temperature sensor and bandgap voltage amplifier. 0 The temperature sensor and bandgap voltage amplifier is disabled. 1 The temperature sensor and bandgap voltage amplifier is enabled. 2 HTDS High Temperature Detect Status Bit -- This read-only status bit reflects the temperature status. Writes have no effect. 0 Junction Temperature is below level THTID or RPM. 1 Junction Temperature is above level THTIA and FPM. 1 HTIE High Temperature Interrupt Enable Bit 0 Interrupt request is disabled. 1 Interrupt will be requested whenever HTIF is set. 0 HTIF High Temperature Interrupt Flag -- HTIF is set to 1 when HTDS status bit changes. This flag can only be cleared by writing a 1. Writing a 0 has no effect. If enabled (HTIE=1), HTIF causes an interrupt request. 0 No change in HTDS bit. 1 HTDS bit has changed. NOTE The voltage at the temperature sensor can be computed as follows: VHT(temp) = VHT(150) - (150 - temp) * dVHT Figure 8-22. Voltage Access Select VBG Ref VSEL TEMPSENSE ADC Channel C HTD MC9S12ZVM Family Reference Manual Rev. 2.2 316 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.17 Low Voltage Control Register (CPMULVCTL) The CPMULVCTL register allows the configuration of the low-voltage detect features. Module Base + 0x0011 7 R 6 5 4 0 0 0 0 0 0 0 0 3 VDDSIE(1) W Reset 2 LVDS 0 U 1 0 LVIE LVIF 0 U The Reset state of LVDS and LVIF depends on the external supplied VDDA level = Unimplemented or Reserved 1. Only available in V10 Figure 8-23. Low Voltage Control Register (CPMULVCTL) Read: Anytime Write: LVIE and LVIF are write anytime, LVDS is read only Table 8-18. CPMULVCTL Field Descriptions Field 3 VDDSIE Description VDDS Integrity Interrupt Enable Bit 0 Interrupt request is disabled. 1 Interrupt will be requested on VDDS integrity fails, that means whenever one of the following flags in CPMUVDDS register is set: SCS2IF, SCS1IF, LVS2IF, LVS1IF. 2 LVDS Low-Voltage Detect Status Bit -- This read-only status bit reflects the voltage level on VDDA. Writes have no effect. 0 Input voltage VDDA is above level VLVID or RPM. 1 Input voltage VDDA is below level VLVIA and FPM. 1 LVIE Low-Voltage Interrupt Enable Bit 0 Interrupt request is disabled. 1 Interrupt will be requested whenever LVIF is set. 0 LVIF Low-Voltage Interrupt Flag -- LVIF is set to 1 when LVDS status bit changes. This flag can only be cleared by writing a 1. Writing a 0 has no effect. If enabled (LVIE = 1), LVIF causes an interrupt request. 0 No change in LVDS bit. 1 LVDS bit has changed. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 317 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.18 Autonomous Periodical Interrupt Control Register (CPMUAPICTL) The CPMUAPICTL register allows the configuration of the autonomous periodical interrupt features. Module Base + 0x0012 7 R W Reset APICLK 0 6 5 0 0 0 0 4 3 2 1 0 APIES APIEA APIFE APIE APIF 0 0 0 0 0 = Unimplemented or Reserved Figure 8-24. Autonomous Periodical Interrupt Control Register (CPMUAPICTL) Read: Anytime Write: Anytime Table 8-19. CPMUAPICTL Field Descriptions Field 7 APICLK Description Autonomous Periodical Interrupt Clock Select Bit -- Selects the clock source for the API. Writable only if APIFE = 0. APICLK cannot be changed if APIFE is set by the same write operation. 0 Autonomous Clock (ACLK) used as source. 1 Bus Clock used as source. 4 APIES Autonomous Periodical Interrupt External Select Bit -- Selects the waveform at the external pin API_EXTCLK as shown in Figure 8-25. See device level specification for connectivity of API_EXTCLK pin. 0 If APIEA and APIFE are set, at the external pin API_EXTCLK periodic high pulses are visible at the end of every selected period with the size of half of the minimum period (APIR=0x0000 in Table 8-23). 1 If APIEA and APIFE are set, at the external pin API_EXTCLK a clock is visible with 2 times the selected API Period. 3 APIEA Autonomous Periodical Interrupt External Access Enable Bit -- If set, the waveform selected by bit APIES can be accessed externally. See device level specification for connectivity. 0 Waveform selected by APIES can not be accessed externally. 1 Waveform selected by APIES can be accessed externally, if APIFE is set. 2 APIFE Autonomous Periodical Interrupt Feature Enable Bit -- Enables the API feature and starts the API timer when set. 0 Autonomous periodical interrupt is disabled. 1 Autonomous periodical interrupt is enabled and timer starts running. 1 APIE Autonomous Periodical Interrupt Enable Bit 0 API interrupt request is disabled. 1 API interrupt will be requested whenever APIF is set. 0 APIF Autonomous Periodical Interrupt Flag -- APIF is set to 1 when the in the API configured time has elapsed. This flag can only be cleared by writing a 1.Writing a 0 has no effect. If enabled (APIE = 1), APIF causes an interrupt request. 0 API time-out has not yet occurred. 1 API time-out has occurred. MC9S12ZVM Family Reference Manual Rev. 2.2 318 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Figure 8-25. Waveform selected on API_EXTCLK pin (APIEA=1, APIFE=1) API min. period / 2 APIES=0 API period APIES=1 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 319 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.19 Autonomous Clock Trimming Register (CPMUACLKTR) The CPMUACLKTR register configures the trimming of the Autonomous Clock (ACLK - trimmable internal RC-Oscillator) which can be selected as clock source for some CPMU features. Module Base + 0x0013 7 R W Reset 6 5 4 3 2 ACLKTR5 ACLKTR4 ACLKTR3 ACLKTR2 ACLKTR1 ACLKTR0 F F F F F F 1 0 0 0 0 0 After de-assert of System Reset a value is automatically loaded from the Flash memory. Figure 8-26. Autonomous Clock Trimming Register (CPMUACLKTR) Read: Anytime Write: Anytime Table 8-20. CPMUACLKTR Field Descriptions Field Description 7-2 Autonomous Clock Period Trimming Bits -- See Table 8-21 for trimming effects. The ACLKTR[5:0] value ACLKTR[5:0] represents a signed number influencing the ACLK period time. Table 8-21. Trimming Effect of ACLKTR[5:0] ACLKTR[5:0] Decimal ACLK frequency 100000 -32 lowest 100001 -31 .... 111111 increasing -1 000000 0 000001 +1 .... 011110 +30 011111 +31 mid increasing highest MC9S12ZVM Family Reference Manual Rev. 2.2 320 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.20 Autonomous Periodical Interrupt Rate High and Low Register (CPMUAPIRH / CPMUAPIRL) The CPMUAPIRH and CPMUAPIRL registers allow the configuration of the autonomous periodical interrupt rate. Module Base + 0x0014 7 R W Reset 6 5 4 3 2 1 0 APIR15 APIR14 APIR13 APIR12 APIR11 APIR10 APIR9 APIR8 0 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 8-27. Autonomous Periodical Interrupt Rate High Register (CPMUAPIRH) Module Base + 0x0015 7 R W Reset 6 5 4 3 2 1 0 APIR7 APIR6 APIR5 APIR4 APIR3 APIR2 APIR1 APIR0 0 0 0 0 0 0 0 0 Figure 8-28. Autonomous Periodical Interrupt Rate Low Register (CPMUAPIRL) Read: Anytime Write: Anytime if APIFE=0, Else writes have no effect. Table 8-22. CPMUAPIRH / CPMUAPIRL Field Descriptions Field Description 15-0 APIR[15:0] Autonomous Periodical Interrupt Rate Bits -- These bits define the time-out period of the API. See Table 823 for details of the effect of the autonomous periodical interrupt rate bits. The period can be calculated as follows depending on logical value of the APICLK bit: APICLK=0: Period = 2*(APIR[15:0] + 1) * (ACLK Clock Period * 2) APICLK=1: Period = 2*(APIR[15:0] + 1) * Bus Clock Period NOTE For APICLK bit clear the first time-out period of the API will show a latency time between two to three fACLK cycles due to synchronous clock gate release when the API feature gets enabled (APIFE bit set). MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 321 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-23. Selectable Autonomous Periodical Interrupt Periods APICLK APIR[15:0] Selected Period 0 0000 0.2 ms(1) 0 0001 0.4 ms1 0 0002 0.6 ms1 0 0003 0.8 ms1 0 0004 1.0 ms1 0 0005 1.2 ms1 0 ..... ..... 0 FFFD 13106.8 ms1 0 FFFE 13107.0 ms1 0 FFFF 13107.2 ms1 1 0000 2 * Bus Clock period 1 0001 4 * Bus Clock period 1 0002 6 * Bus Clock period 1 0003 8 * Bus Clock period 1 0004 10 * Bus Clock period 1 0005 12 * Bus Clock period 1 ..... ..... 1 FFFD 131068 * Bus Clock period 1 FFFE 131070 * Bus Clock period 1 FFFF 1. When fACLK is trimmed to 20KHz. 131072 * Bus Clock period MC9S12ZVM Family Reference Manual Rev. 2.2 322 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.21 Reserved Register CPMUTEST3 NOTE This reserved register is designed for factory test purposes only, and is not intended for general user access. Writing to this register when in Special Mode can alter the S12CPMU_UHV_V10_V6's functionality. Module Base + 0x0016 7 R 5 4 3 2 1 0 0 0 6 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset = Unimplemented or Reserved Figure 8-29. Reserved Register (CPMUTEST3) Read: Anytime Write: Only in Special Mode MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 323 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.22 High Temperature Trimming Register (CPMUHTTR) The CPMUHTTR register configures the trimming of the S12CPMU_UHV_V10_V6 temperature sense. Module Base + 0x0017 7 R W Reset HTOE 0 6 5 4 0 0 0 0 0 0 3 2 1 0 HTTR3 HTTR2 HTTR1 HTTR0 F F F F After de-assert of System Reset a trim value is automatically loaded from the Flash memory. See Device specification for details. = Unimplemented or Reserved Figure 8-30. High Temperature Trimming Register (CPMUHTTR) Read: Anytime Write: Anytime Table 8-25. CPMUHTTR Field Descriptions Field 7 HTOE 3-0 HTTR[3:0] Description High Temperature Offset Enable Bit -- If set the temperature sense offset is enabled. 0 The temperature sense offset is disabled. HTTR[3:0] bits don't care. 1 The temperature sense offset is enabled. HTTR[3:0] select the temperature offset. High Temperature Trimming Bits -- See Table 8-26 for trimming effects. Table 8-26. Trimming Effect of HTTR HTTR[3:0] Temperature sensor voltage VHT Interrupt threshold temperatures THTIA and THTID 0000 lowest highest increasing decreasing highest lowest 0001 .... 1110 1111 MC9S12ZVM Family Reference Manual Rev. 2.2 324 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.23 S12CPMU_UHV_V10_V6 IRC1M Trim Registers (CPMUIRCTRIMH / CPMUIRCTRIML) Module Base + 0x0018 1 5 14 13 R 11 F F F 10 0 TCTRIM[4:0] W Reset 12 F F 0 9 8 IRCTRIM[9:8] F F After de-assert of System Reset a factory programmed trim value is automatically loaded from the Flash memory to provide trimmed Internal Reference Frequency fIRC1M_TRIM. Figure 8-31. S12CPMU_UHV_V10_V6 IRC1M Trim High Register (CPMUIRCTRIMH) Module Base + 0x0019 7 6 5 R 3 2 1 0 F F F IRCTRIM[7:0] W Reset 4 F F F F F After de-assert of System Reset a factory programmed trim value is automatically loaded from the Flash memory to provide trimmed Internal Reference Frequency fIRC1M_TRIM. Figure 8-32. S12CPMU_UHV_V10_V6 IRC1M Trim Low Register (CPMUIRCTRIML) Read: Anytime Write: Anytime if PROT=0 (CPMUPROT register). Else write has no effect NOTE Writes to these registers while PLLSEL=1 clears the LOCK and UPOSC status bits. Table 8-27. CPMUIRCTRIMH/L Field Descriptions Field Description 15-11 IRC1M temperature coefficient Trim Bits TCTRIM[4:0] Trim bits for the Temperature Coefficient (TC) of the IRC1M frequency. Table 8-28 shows the influence of the bits TCTRIM[4:0] on the relationship between frequency and temperature. Figure 8-34 shows an approximate TC variation, relative to the nominal TC of the IRC1M (i.e. for TCTRIM[4:0]=0x00000 or 0x10000). 9-0 IRC1M Frequency Trim Bits -- Trim bits for Internal Reference Clock IRCTRIM[9:0] After System Reset the factory programmed trim value is automatically loaded into these registers, resulting in a Internal Reference Frequency fIRC1M_TRIM.See device electrical characteristics for value of fIRC1M_TRIM. The frequency trimming consists of two different trimming methods: A rough trimming controlled by bits IRCTRIM[9:6] can be done with frequency leaps of about 6% in average. A fine trimming controlled by bits IRCTRIM[5:0] can be done with frequency leaps of about 0.3% (this trimming determines the precision of the frequency setting of 0.15%, i.e. 0.3% is the distance between two trimming values). Figure 8-33 shows the relationship between the trim bits and the resulting IRC1M frequency. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 325 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) IRC1M frequency (IRCCLK) IRCTRIM[9:6] 1.5MHz IRCTRIM[5:0] ...... 1MHz 600KHz IRCTRIM[9:0] $000 $3FF Figure 8-33. IRC1M Frequency Trimming Diagram MC9S12ZVM Family Reference Manual Rev. 2.2 326 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) frequency T ] [4:0 M RI CT 111 x11 0 = 0x11111 ... 0x10101 0x10100 0x10011 0x10010 0x10001 TC increases TCTRIM[4:0] = 0x10000 or 0x00000 (nominal TC) TCT R - 40C IM[ 4:0 ]=0 x 01 111 0x00001 0x00010 0x00011 0x00100 0x00101 ... 0x01111 TC decreases 150C temperature Figure 8-34. Influence of TCTRIM[4:0] on the Temperature Coefficient NOTE The frequency is not necessarily linear with the temperature (in most cases it will not be). The above diagram is meant only to give the direction (positive or negative) of the variation of the TC, relative to the nominal TC. Setting TCTRIM[4:0] at 0x00000 or 0x10000 does not mean that the temperature coefficient will be zero. These two combinations basically switch off the TC compensation module, which results in the nominal TC of the IRC1M. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 327 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-28. TC trimming of the frequency of the IRC1M at ambient temperature TCTRIM[4:0] IRC1M Indicative relative TC variation IRC1M indicative frequency drift for relative TC variation 00000 0 (nominal TC of the IRC) 0% 00001 -0.27% -0.5% 00010 -0.54% -0.9% 00011 -0.81% -1.3% 00100 -1.08% -1.7% 00101 -1.35% -2.0% 00110 -1.63% -2.2% 00111 -1.9% -2.5% 01000 -2.20% -3.0% 01001 -2.47% -3.4% 01010 -2.77% -3.9% 01011 -3.04 -4.3% 01100 -3.33% -4.7% 01101 -3.6% -5.1% 01110 -3.91% -5.6% 01111 -4.18% -5.9% 10000 0 (nominal TC of the IRC) 0% 10001 +0.27% +0.5% 10010 +0.54% +0.9% 10011 +0.81% +1.3% 10100 +1.07% +1.7% 10101 +1.34% +2.0% 10110 +1.59% +2.2% 10111 +1.86% +2.5% 11000 +2.11% +3.0% 11001 +2.38% +3.4% 11010 +2.62% +3.9% 11011 +2.89% +4.3% 11100 +3.12% +4.7% 11101 +3.39% +5.1% 11110 +3.62% +5.6% 11111 +3.89% +5.9% NOTE Since the IRC1M frequency is not a linear function of the temperature, but more like a parabola, the above relative variation is only an indication and should be considered with care. MC9S12ZVM Family Reference Manual Rev. 2.2 328 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Be aware that the output frequency varies with the TC trimming. A frequency trimming correction is therefore necessary. The values provided in Table 8-28 are typical values at ambient temperature which can vary from device to device. 8.3.2.24 S12CPMU_UHV_V10_V6 Oscillator Register (CPMUOSC) This registers configures the external oscillator (XOSCLCP). Module Base + 0x001A 7 R W Reset 6 OSCE 0 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 8-35. S12CPMU_UHV_V10_V6 Oscillator Register (CPMUOSC) Read: Anytime Write: Anytime if PROT=0 (CPMUPROT register) and PLLSEL=1 (CPMUCLKS register). Else write has no effect. NOTE. Write to this register clears the LOCK and UPOSC status bits. Table 8-29. CPMUOSC Field Descriptions Field Description 7 OSCE Oscillator Enable Bit -- This bit enables the external oscillator (XOSCLCP). The UPOSC status bit in the CPMIUFLG register indicates when the oscillation is stable and when OSCCLK can be selected as source of the Bus Clock or source of the COP or RTI.If the oscillator clock monitor reset is enabled (OMRE = 1 in CPMUOSC2 register), then a loss of oscillation will lead to an oscillator clock monitor reset. 0 External oscillator is disabled. REFCLK for PLL is IRCCLK. 1 External oscillator is enabled. Oscillator clock monitor is enabled. External oscillator is qualified by PLLCLK. REFCLK for PLL is the external oscillator clock divided by REFDIV. If OSCE bit has been set (write "1") the EXTAL and XTAL pins are exclusively reserved for the oscillator and they can not be used anymore as general purpose I/O until the next system reset. Note: When starting up the external oscillator (either by programming OSCE bit to 1 or on exit from Full Stop Mode with OSCE bit already 1) the software must wait for a minimum time equivalent to the startup-time of the external oscillator tUPOSC before entering Pseudo Stop Mode. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 329 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.25 S12CPMU_UHV_V10_V6 Protection Register (CPMUPROT) This register protects the clock configuration registers from accidental overwrite: CPMUSYNR, CPMUREFDIV, CPMUCLKS, CPMUPLL, CPMUIRCTRIMH/L, CPMUOSC and CPMUOSC2 Module Base + 0x001B 7 R 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 PROT 0 Figure 8-36. S12CPMU_UHV_V10_V6 Protection Register (CPMUPROT) Read: Anytime Write: Anytime Field Description PROT Clock Configuration Registers Protection Bit -- This bit protects the clock configuration registers from accidental overwrite (see list of protected registers above): Writing 0x26 to the CPMUPROT register clears the PROT bit, other write accesses set the PROT bit. 0 Protection of clock configuration registers is disabled. 1 Protection of clock configuration registers is enabled. (see list of protected registers above). MC9S12ZVM Family Reference Manual Rev. 2.2 330 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.26 Reserved Register CPMUTEST2 NOTE This reserved register is designed for factory test purposes only, and is not intended for general user access. Writing to this register when in Special Mode can alter the S12CPMU_UHV_V10_V6's functionality. Module Base + 0x001C 7 R W Reset 6 0 0 0 0 5 4 00 0 3 0 0 0 2 1 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 8-37. Reserved Register CPMUTEST2 Read: Anytime Write: Only in Special Mode MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 331 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.27 Voltage Regulator Control Register (CPMUVREGCTL) The CPMUVREGCTL allows to enable or disable certain parts of the voltage regulator.This register must be configured after system startup. Module Base + 0x001D 7 R W 6 5 4 3 VRH2EN1 VRH1EN1 EXTS2ON1 EXTS1ON(1) 0 0 0 0 Reset 0 2 1 0 EXTCON EXTXON INTXON 1 1 1 0 = Unimplemented or Reserved 1. Only available in V10 Figure 8-38. Voltage Regulator Control Register (CPMUVREGCTL) Read: Anytime Write: VRH2EN, VRH1EN, EXTS2ON, EXTS1ON anytime Write: EXTCON, EXTXON, INTXON once in normal modes, anytime in special modes Table 8-30. Effects of writing the EXTXON and INTXON bits value of EXTXON to be written value of INTXON to be written Write Access 0 0 blocked, no effect 0 1 legal access 1 0 legal access 1 1 blocked, no effect Table 8-31. CPMUVREGCTL Field Descriptions Field Description 7 VRH2EN VRH2 Enable Bit -- This bits switches VDDS2 pin to VRH2 of ADC. 0 VRH2 of ADC disconnected (open) 1 VRH2 of ADC connected to VDDS2. In RPM VRH2 is always disconnected from VDDS2 regardless of the value of the VRH2EN bit. 6 VRH1EN VRH1 Enable Bit -- This bits switches VDDS1 pin to VRH1 of ADC. 0 VRH1 of ADC disconnected (open) 1 VRH1 of ADC connected to VDDS1. In RPM VRH1 is always disconnected from VDDS1 regardless of the value of the VRH1EN bit. 5 EXTS2ON External voltage regulator Enable Bit for VDDS2 domain -- Should be enabled after system startup if VDDS2 is used. 0 VDDS2 domain disabled 1 VDDS2 domain enabled. BCTLS2 pin is active. MC9S12ZVM Family Reference Manual Rev. 2.2 332 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-31. CPMUVREGCTL Field Descriptions (continued) Field Description 4 EXTS1ON External voltage regulator Enable Bit for VDDS1 domain -- Should be enabled after system startup if VDDS1 is used. 0 VDDS1 domain disabled 1 VDDS1 domain enabled. BCTLS1 pin is active. 2 EXTCON External voltage regulator Enable Bit for VDDC domain -- Should be disabled after system startup if VDDC domain is not used. 0 VDDC domain disabled 1 VDDC domain enabled. BCTLC pin is active. 1 EXTXON External voltage regulator Enable Bit for VDDX domain -- Should be set to 1 if external BJT is present on the PCB, cleared otherwise. 0 VDDX control loop does not use external BJT 1 VDDX control loop uses external BJT 0 INTXON Internal voltage regulator Enable Bit for VDDX domain-- Should be set to 1 if no external BJT is present on the PCB, cleared otherwise. 0 VDDX control loop does not use internal power transistor 1 VDDX control loop uses internal power transistor 8.3.2.28 S12CPMU_UHV_V10_V6 Oscillator Register 2 (CPMUOSC2) This registers configures the external oscillator (XOSCLCP). Module Base + 0x001E 7 R 6 5 4 3 2 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 1 0 OMRE OSCMOD 0 0 Figure 8-39. S12CPMU_UHV_V10_V6 Oscillator Register 2 (CPMUOSC2) Read: Anytime Write: Anytime if PROT=0 (CPMUPROT register) and PLLSEL=1 (CPMUCLKS register). Else write has no effect. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 333 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-32. CPMUOSC2 Field Descriptions Field Description 1 OMRE This bit enables the oscillator clock monitor reset. If OSCE bit in CPMUOSC register is 1, then the OMRE bit can not be changed (writes will have no effect). 0 Oscillator clock monitor reset is disabled 1 Oscillator clock monitor reset is enabled 0 OSCMOD This bit selects the mode of the external oscillator (XOSCLCP) If OSCE bit in CPMUOSC register is 1, then the OSCMOD bit can not be changed (writes will have no effect). 0 External oscillator configured for loop controlled mode (reduced amplitude on EXTAL and XTAL)) 1 External oscillator configured for full swing mode (full swing amplitude on EXTAL and XTAL) MC9S12ZVM Family Reference Manual Rev. 2.2 334 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.3.2.29 VDDS Status Register (CPMUVDDS) This register is only available in V10. The CPMUVDDS register contains the status and flag bits for VDDS1 and VDDS2 to indicate integrity fails. Monitoring of VDDS1 and VDDS2 domain is only active in full performance mode (FPM) and if the respective supply is enabled in CPMUVREGCTL register. It is disabled in reduced performance mode (RPM). Module Base + 0x001F 7 R 6 SCS2 SCS1 L 5 4 VDS2 LVDS1 0 0 W Reset 0 0 3 2 1 0 SCS2IF SCS1IF LVS2IF LVS1IF 0 U 0 U The Reset state of LVDS and LVIF depends on the external supplied VDDA level = Unimplemented or Reserved Figure 8-40. VDDS Status Register (CPMUVDDS) Read: Anytime Write: SCS2IF, SCS1IF, LVS2IF and LVS1IF are write anytime, SCS2, SCS, LVS2 and LVS1 are read only Table 8-33. CPMUVDDS Field Descriptions Field Description 7 SCS2 Short circuit on VDDS2 Status Bit --This read-only status bit reflects short circuit status on VDDS2 supply. If VDDS2 is enabled (EXTS2ON=1 in CPMUVREGCTL register), it is monitored that VDDS2 has the same voltage level as VDDA. 0 VDDS2 voltage level is same as on VDDA supply or VDDS2 is disabled or RPM. 1 EXTS2ON =1 and the voltage level on VDDS2 is higher than on VDDA supply and FPM. 6 SCS1 Short circuit on VDDS1 Status Bit --This read-only status bit reflects short circuit status on VDDS1 supply. If VDDS1 is enabled (EXTS1ON=1 in CPMUVREGCTL register), it is monitored that VDDS1 has the same voltage level as VDDA. 0 VDDS1 voltage level is same as on VDDA supply or VDDS1 is disabled or RPM. 1 EXTS1ON =1 and the voltage level on VDDS1 is higher than on VDDA supply and FPM. 5 LVDS2 Low Voltage on VDDS2 Status Bit --This read-only status bit reflects the voltage level on VDDS2 supply. If VDDS2 is enabled (EXTS2ON=1 in CPMUVREGCTL register), it is monitored that VDDS2 does not drop below a voltage threshold VDDSM. 0 VDDS2 voltage is above VDDSM threshold or VDDS2 is disabled or RPM. 1 EXTS2ON =1 and VDDS2 voltage is below VDDSM threshold and FPM. 4 LVDS1 Low Voltage on VDDS1 Status Bit --This read-only status bit reflects the voltage level on VDDS1 supply. If VDDS1 is enabled (EXTS1ON=1 in CPMUVREGCTL register), it is monitored that VDDS1 does not drop below a voltage threshold VDDSM. 0 VDDS1 voltage is above VDDSM threshold or VDDS1 is disabled or RPM. 1 EXTS1ON =1 and VDDS1 voltage is below VDDSM threshold and FPM. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 335 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-33. CPMUVDDS Field Descriptions (continued) Field Description 3 SCS2IF Short circuit VDDS2 Interrupt Flag -- SCS2IF is set to 1 when SCS2 status bit changes. This flag can only be cleared by writing a 1. Writing a 0 has no effect. If enabled (VDDSIE = 1), SCS2IF causes an interrupt request. 0 No change in SCS2 bit. 1 SCS2 bit has changed. 2 SCS1IF Short circuit VDDS2 Interrupt Flag -- SCS1IF is set to 1 when SCS1 status bit changes. This flag can only be cleared by writing a 1. Writing a 0 has no effect. If enabled (VDDSIE = 1), SCS1IF causes an interrupt request. 0 No change in SCS1 bit. 1 SCS1 bit has changed. 1 LVS2IF Low-Voltage VDDS2 Interrupt Flag -- LVS2IF is set to 1 when LVDS2 status bit changes. This flag can only be cleared by writing a 1. Writing a 0 has no effect. If enabled (VDDSIE = 1), LVS2IF causes an interrupt request. 0 No change in LVDS2 bit. 1 LVDS2 bit has changed. 0 LVS1IF Low-Voltage VDDS1 Interrupt Flag -- LVS1IF is set to 1 when LVDS1 status bit changes. This flag can only be cleared by writing a 1. Writing a 0 has no effect. If enabled (VDDSIE = 1), LVS1IF causes an interrupt request. 0 No change in LVDS1 bit. 1 LVDS1 bit has changed. MC9S12ZVM Family Reference Manual Rev. 2.2 336 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.4 8.4.1 Functional Description Phase Locked Loop with Internal Filter (PLL) The PLL is used to generate a high speed PLLCLK based on a low frequency REFCLK. The REFCLK is by default the IRCCLK which is trimmed to fIRC1M_TRIM=1MHz. If using the oscillator (OSCE=1) REFCLK will be based on OSCCLK. For increased flexibility, OSCCLK can be divided in a range of 1 to 16 to generate the reference frequency REFCLK using the REFDIV[3:0] bits. Based on the SYNDIV[5:0] bits the PLL generates the VCOCLK by multiplying the reference clock by a 2, 4, 6,... 126, 128. Based on the POSTDIV[4:0] bits the VCOCLK can be divided in a range of 1,2, 3, 4, 5, 6,... to 32 to generate the PLLCLK. If oscillator is enabled (OSCE=1) f OSC f REF = ------------------------------------ REFDIV + 1 If oscillator is disabled (OSCE=0) f REF = f IRC1M f VCO = 2 f REF SYNDIV + 1 If PLL is locked (LOCK=1) f VCO f PLL = ---------------------------------------- POSTDIV + 1 If PLL is not locked (LOCK=0) f VCO f PLL = --------------4 If PLL is selected (PLLSEL=1) f PLL f bus = ------------2 . NOTE Although it is possible to set the dividers to command a very high clock frequency, do not exceed the specified bus frequency limit for the MCU. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 337 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Several examples of PLL divider settings are shown in Table 8-34. The following rules help to achieve optimum stability and shortest lock time: * Use lowest possible fVCO / fREF ratio (SYNDIV value). * Use highest possible REFCLK frequency fREF. Table 8-34. Examples of PLL Divider Settings fosc REFDIV[3:0] fREF REFFRQ[1:0] SYNDIV[5:0] fVCO VCOFRQ[1:0] POSTDIV[4:0] fPLL fbus off $00 1MHz 00 $18 50MHz 01 $03 12.5MHz 6.25MHz off $00 1MHz 00 $18 50MHz 01 $00 50MHz 25MHz 4MHz $00 4MHz 01 $05 48MHz 00 $00 48MHz 24MHz The phase detector inside the PLL compares the feedback clock (FBCLK = VCOCLK/(SYNDIV+1)) with the reference clock (REFCLK = (IRC1M or OSCCLK)/(REFDIV+1)). Correction pulses are generated based on the phase difference between the two signals. The loop filter alters the DC voltage on the internal filter capacitor, based on the width and direction of the correction pulse which leads to a higher or lower VCO frequency. The user must select the range of the REFCLK frequency (REFFRQ[1:0] bits) and the range of the VCOCLK frequency (VCOFRQ[1:0] bits) to ensure that the correct PLL loop bandwidth is set. The lock detector compares the frequencies of the FBCLK and the REFCLK. Therefore the speed of the lock detector is directly proportional to the reference clock frequency. The circuit determines the lock condition based on this comparison. So e.g. a failure in the reference clock will cause the PLL not to lock. If PLL LOCK interrupt requests are enabled, the software can wait for an interrupt request and for instance check the LOCK bit. If interrupt requests are disabled, software can poll the LOCK bit continuously (during PLL start-up) or at periodic intervals. In either case, only when the LOCK bit is set, the VCOCLK will have stabilized to the programmed frequency. * The LOCK bit is a read-only indicator of the locked state of the PLL. * The LOCK bit is set when the VCO frequency is within the tolerance, Lock, and is cleared when the VCO frequency is out of the tolerance, unl. Interrupt requests can occur if enabled (LOCKIE = 1) when the lock condition changes, toggling the LOCK bit.In case of loss of reference clock (e.g. IRCCLK) the PLL will not lock or if already locked, then it will unlock. The frequency of the VCOCLK will be very low and will depend on the value of the VCOFRQ[1:0] bits. MC9S12ZVM Family Reference Manual Rev. 2.2 338 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.4.2 Startup from Reset An example for startup of the clock system from Reset is given in Figure 8-41. Figure 8-41. Startup of clock system after Reset 256 cycles fVCORST RESET Pin System Reset PLLCLK = Core Clock 512 cycles fVCORST 768 cycles fVCORST fVCORST )( Bus Clock = Core Clock/2 fPLL increasing fPLL=12.5MHz fPLL=50MHz fBUS increasing fBUS=6.25MHz fBUS=25MHz )( )( )( tlock LOCK SYNDIV $18 (default target fVCO=50MHz) POSTDIV $03 (default target fPLL=fVCO/4 = 12.5MHz) CPU reset state startup vector fetch, program execution $00 example change of POSTDIV nSTARTUP cycles fBUS MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 339 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.4.3 Stop Mode using PLLCLK as source of the Bus Clock An example of what happens going into Stop Mode and exiting Stop Mode after an interrupt is shown in Figure 8-42. Disable PLL Lock interrupt (LOCKIE=0) before going into Stop Mode. Figure 8-42. Stop Mode using PLLCLK as source of the Bus Clock wake up CPU execution PLLCLK LOCK interrupt STOP instruction continue execution tSTP_REC tlock Depending on the COP configuration there might be an additional significant latency time until COP is active again after exit from Stop Mode due to clock domain crossing synchronization. This latency time occurs if COP clock source is ACLK and the CSAD bit is set (please refer to CSAD bit description for details). 8.4.4 Full Stop Mode using Oscillator Clock as source of the Bus Clock An example of what happens going into Full Stop Mode and exiting Full Stop Mode after an interrupt is shown in Figure 8-43. Disable PLL Lock interrupt (LOCKIE=0) and oscillator status change interrupt (OSCIE=0) before going into Full Stop Mode. MC9S12ZVM Family Reference Manual Rev. 2.2 340 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Figure 8-43. Full Stop Mode using Oscillator Clock as source of the Bus Clock wake up CPU execution Core Clock PLLCLK OSCCLK UPOSC interrupt STOP instruction continue execution tSTP_REC tlock crystal/resonator starts oscillating tUPOSC select OSCCLK as Core/Bus Clock by writing PLLSEL to "0" PLLSEL automatically set when going into Full Stop Mode Depending on the COP configuration there might be a significant latency time until COP is active again after exit from Stop Mode due to clock domain crossing synchronization. This latency time occurs if COP clock source is ACLK and the CSAD bit is set (please refer to CSAD bit description for details). MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 341 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.4.5 8.4.5.1 External Oscillator Enabling the External Oscillator An example of how to use the oscillator as source of the Bus Clock is shown in Figure 8-44. Figure 8-44. Enabling the external oscillator enable external oscillator by writing OSCE bit to one. OSCE crystal/resonator starts oscillating OSCCLK UPOSC flag is set upon successful start of oscillation UPOSC tUPOSC select OSCCLK as Core/Bus Clock by writing PLLSEL to zero PLLSEL Core Clock based on PLL Clock based on OSCCLK MC9S12ZVM Family Reference Manual Rev. 2.2 342 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.4.6 8.4.6.1 System Clock Configurations PLL Engaged Internal Mode (PEI) This mode is the default mode after System Reset or Power-On Reset. The Bus Clock is based on the PLLCLK, the reference clock for the PLL is internally generated (IRC1M). The PLL is configured to 50 MHz VCOCLK with POSTDIV set to 0x03. If locked (LOCK=1) this results in a PLLCLK of 12.5 MHz and a Bus Clock of 6.25 MHz. The PLL can be re-configured to other bus frequencies. The clock sources for COP and RTI can be based on the internal reference clock generator (IRC1M) or the RC-Oscillator (ACLK). 8.4.6.2 PLL Engaged External Mode (PEE) In this mode, the Bus Clock is based on the PLLCLK as well (like PEI). The reference clock for the PLL is based on the external oscillator. The clock sources for COP and RTI can be based on the internal reference clock generator or on the external oscillator clock or the RC-Oscillator (ACLK). This mode can be entered from default mode PEI by performing the following steps: 1. Configure the PLL for desired bus frequency. 2. Enable the external Oscillator (OSCE bit). 3. Wait for oscillator to start-up and the PLL being locked (LOCK = 1) and (UPOSC =1). 4. Clear all flags in the CPMUIFLG register to be able to detect any future status bit change. 5. Optionally status interrupts can be enabled (CPMUINT register). Loosing PLL lock status (LOCK=0) means loosing the oscillator status information as well (UPOSC=0). The impact of loosing the oscillator status (UPOSC=0) in PEE mode is as follows: * The PLLCLK is derived from the VCO clock (with its actual frequency) divided by four until the PLL locks again. Application software needs to be prepared to deal with the impact of loosing the oscillator status at any time. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 343 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.4.6.3 PLL Bypassed External Mode (PBE) In this mode, the Bus Clock is based on the external oscillator clock. The reference clock for the PLL is based on the external oscillator. The clock sources for COP and RTI can be based on the internal reference clock generator or on the external oscillator clock or the RC-Oscillator (ACLK). This mode can be entered from default mode PEI by performing the following steps: 1. Make sure the PLL configuration is valid. 2. Enable the external Oscillator (OSCE bit) 3. Wait for the oscillator to start-up and the PLL being locked (LOCK = 1) and (UPOSC =1) 4. Clear all flags in the CPMUIFLG register to be able to detect any status bit change. 5. Optionally status interrupts can be enabled (CPMUINT register). 6. Select the Oscillator clock as source of the Bus clock (PLLSEL=0) Loosing PLL lock status (LOCK=0) means loosing the oscillator status information as well (UPOSC=0). The impact of loosing the oscillator status (UPOSC=0) in PBE mode is as follows: * PLLSEL is set automatically and the Bus clock source is switched back to the PLL clock. * The PLLCLK is derived from the VCO clock (with its actual frequency) divided by four until the PLL locks again. NOTEApplication software needs to be prepared to deal with the impact of loosing the oscillator status at any time. When using the oscillator clock as system clock (write PLLSEL = 0) it is highly recommended to enable the oscillator clock monitor reset feature (write OMRE = 1 in CPMUOSC2 register). If the oscillator monitor reset feature is disabled (OMRE = 0) and the oscillator clock is used as system clock, the system might stall in case of loss of oscillation. 8.5 8.5.1 Resets General All reset sources are listed in Table 8-35. There is only one reset vector for all these reset sources. Refer to MCU specification for reset vector address. Table 8-35. Reset Summary Reset Source Local Enable Power-On Reset (POR) None Low Voltage Reset (LVR) None External pin RESET None PLL Clock Monitor Reset None MC9S12ZVM Family Reference Manual Rev. 2.2 344 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Table 8-35. Reset Summary 8.5.2 Reset Source Local Enable Oscillator Clock Monitor Reset OSCE Bit in CPMUOSC register and OMRE Bit in CPMUOSC2 register COP Reset CR[2:0] in CPMUCOP register Description of Reset Operation Upon detection of any reset of Table 8-35, an internal circuit drives the RESET pin low for 512 PLLCLK cycles. After 512 PLLCLK cycles the RESET pin is released. The internal reset of the MCU remains asserted while the reset generator completes the 768 PLLCLK cycles long reset sequence.In case the RESET pin is externally driven low for more than these 768 PLLCLK cycles (External Reset), the internal reset remains asserted longer. NOTE While System Reset is asserted the PLLCLK runs with the frequency fVCORST. Figure 8-45. RESET Timing RESET S12_CPMU drives RESET pin low fVCORST PLLCLK S12_CPMU releases RESET pin fVCORST ) ) ( 512 cycles ) ( ( 256 cycles possibly RESET driven low externally 8.5.3 Oscillator Clock Monitor Reset If the external oscillator is enabled (OSCE=1)and the oscillator clock monitor reset is enabled (OMRE=1), then in case of loss of oscillation or the oscillator frequency drops below the failure assert frequency fCMFA (see device electrical characteristics for values), the S12CPMU_UHV_V10_V6 generates an Oscillator Clock Monitor Reset. In Full Stop Mode the external oscillator and the oscillator clock monitor are disabled. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 345 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.5.4 PLL Clock Monitor Reset In case of loss of PLL clock oscillation or the PLL clock frequency is below the failure assert frequency fPMFA (see device electrical characteristics for values), the S12CPMU_UHV_V10_V6 generates a PLL Clock Monitor Reset. In Full Stop Mode the PLL and the PLL clock monitor are disabled. 8.5.5 Computer Operating Properly Watchdog (COP) Reset The COP (free running watchdog timer) enables the user to check that a program is running and sequencing properly. When the COP is being used, software is responsible for keeping the COP from timing out. If the COP times out it is an indication that the software is no longer being executed in the intended sequence; thus COP reset is generated. The clock source for the COP is either ACLK, IRCCLK or OSCCLK depending on the setting of the COPOSCSEL0 and COPOSCSEL1 bit. Depending on the COP configuration there might be a significant latency time until COP is active again after exit from Stop Mode due to clock domain crossing synchronization. This latency time occurs if COP clock source is ACLK and the CSAD bit is set (please refer to CSAD bit description for details). Table 8-36 gives an overview of the COP condition (run, static) in Stop Mode depending on legal configuration and status bit settings: Table 8-36. COP condition (run, static) in Stop Mode COPOSCSEL1 CSAD PSTP PCE COPOSCSEL0 OSCE UPOSC COP counter behavior in Stop Mode (clock source) 1 0 x x x x x Run (ACLK) 1 1 x x x x x Static ACLK) 0 x 1 1 1 1 1 Run (OSCCLK) 0 x 1 1 0 0 x Static (IRCCLK) 0 x 1 1 0 1 x Static (IRCCLK) 0 x 1 0 0 x x Static (IRCCLK) 0 x 1 0 1 1 1 Static OSCCLK) ( 0 x 0 1 1 1 1 Static OSCCLK) ( 0 x 0 1 0 1 x Static (IRCCLK) 0 x 0 1 0 0 0 Static (IRCCLK) 0 x 0 0 1 1 1 Satic (OSCCLK) 0 x 0 0 0 1 1 Static (IRCCLK) 0 x 0 0 0 1 0 Static (IRCCLK) 0 x 0 0 0 0 0 Static (IRCCLK) ( MC9S12ZVM Family Reference Manual Rev. 2.2 346 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Three control bits in the CPMUCOP register allow selection of seven COP time-out periods. When COP is enabled, the program must write $55 and $AA (in this order) to the CPMUARMCOP register during the selected time-out period. Once this is done, the COP time-out period is restarted. If the program fails to do this and the COP times out, a COP reset is generated. Also, if any value other than $55 or $AA is written, a COP reset is generated. Windowed COP operation is enabled by setting WCOP in the CPMUCOP register. In this mode, writes to the CPMUARMCOP register to clear the COP timer must occur in the last 25% of the selected time-out period. A premature write will immediately reset the part. In MCU Normal Mode the COP time-out period (CR[2:0]) and COP window (WCOP) setting can be automatically pre-loaded at reset release from NVM memory (if values are defined in the NVM by the application). By default the COP is off and no window COP feature is enabled after reset release via NVM memory. The COP control register CPMUCOP can be written once in an application in MCU Normal Mode to update the COP time-out period (CR[2:0]) and COP window (WCOP) setting loaded from NVM memory at reset release. Any value for the new COP time-out period and COP window setting is allowed except COP off value if the COP was enabled during pre-load via NVM memory. The COP clock source select bits can not be pre-loaded via NVM memory at reset release. The IRC clock is the default COP clock source out of reset. The COP clock source select bits (COPOSCSEL0/1) and ACLK clock control bit in Stop Mode (CSAD) can be modified until the CPMUCOP register write once has taken place. Therefore these control bits should be modified before the final COP time-out period and window COP setting is written. The CPMUCOP register access to modify the COP time-out period and window COP setting in MCU Normal Mode after reset release must be done with the WRTMASK bit cleared otherwise the update is ignored and this access does not count as the write once. 8.5.6 Power-On Reset (POR) The on-chip POR circuitry detects when the internal supply VDD drops below an appropriate voltage level. The POR is deasserted, if the internal supply VDD exceeds an appropriate voltage level (voltage levels not specified, because the internal supply can not be monitored externally).The POR circuitry is always active. It acts as LVR in Stop Mode. 8.5.7 Low-Voltage Reset (LVR) The on-chip LVR circuitry detects when one of the supply voltages VDD, VDDX and VDDF drops below an appropriate voltage level. If LVR is deasserted the MCU is fully operational at the specified maximum speed. The LVR assert and deassert levels for the supply voltage VDDX are VLVRXA and VLVRXD and are specified in the device Reference Manual.The LVR circuitry is active in Run- and Wait Mode. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 347 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.6 Interrupts The interrupt vectors requested by the S12CPMU_UHV_V10_V6 are listed in Table 8-37. Refer to MCU specification for related vector addresses and priorities. Table 8-37. S12CPMU_UHV_V10_V6 Interrupt Vectors Interrupt Source CCR Mask Local Enable RTI time-out interrupt I bit CPMUINT (RTIE) PLL lock interrupt I bit CPMUINT (LOCKIE) Oscillator status interrupt I bit CPMUINT (OSCIE) Low voltage interrupt I bit CPMULVCTL (LVIE) (1) I bit CPMULVCTL (VDDSIE) High temperature interrupt I bit CPMUHTCTL (HTIE) I bit CPMUAPICTL (APIE) VDDS integrity interrupt Autonomous Periodical Interrupt 1. Only available in V10 8.6.1 8.6.1.1 Description of Interrupt Operation Real Time Interrupt (RTI) The clock source for the RTI is either IRCCLK or OSCCLK depending on the setting of the RTIOSCSEL bit. In Stop Mode with PSTP=1 (Pseudo Stop Mode), RTIOSCSEL=1 and PRE=1 the RTI continues to run, else the RTI counter halts in Stop Mode. The RTI can be used to generate hardware interrupts at a fixed periodic rate. If enabled (by setting RTIE=1), this interrupt will occur at the rate selected by the CPMURTI register. At the end of the RTI timeout period the RTIF flag is set to one and a new RTI time-out period starts immediately. A write to the CPMURTI register restarts the RTI time-out period. 8.6.1.2 PLL Lock Interrupt The S12CPMU_UHV_V10_V6 generates a PLL Lock interrupt when the lock condition (LOCK status bit) of the PLL changes, either from a locked state to an unlocked state or vice versa. Lock interrupts are locally disabled by setting the LOCKIE bit to zero. The PLL Lock interrupt flag (LOCKIF) is set to1 when the lock condition has changed, and is cleared to 0 by writing a 1 to the LOCKIF bit. 8.6.1.3 Oscillator Status Interrupt When the OSCE bit is 0, then UPOSC stays 0. When OSCE=1 the UPOSC bit is set after the LOCK bit is set. MC9S12ZVM Family Reference Manual Rev. 2.2 348 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) Upon detection of a status change (UPOSC) the OSCIF flag is set. Going into Full Stop Mode or disabling the oscillator can also cause a status change of UPOSC. Any change in PLL configuration or any other event which causes the PLL lock status to be cleared leads to a loss of the oscillator status information as well (UPOSC=0). Oscillator status change interrupts are locally enabled with the OSCIE bit. NOTE Loosing the oscillator status (UPOSC=0) affects the clock configuration of the system1. This needs to be dealt with in application software. 8.6.1.4 Low-Voltage Interrupt (LVI) In FPM the input voltage VDDA is monitored. Whenever VDDA drops below level VLVIA, the status bit LVDS is set to 1. When VDDA rises above level VLVID the status bit LVDS is cleared to 0. An interrupt, indicated by flag LVIF = 1, is triggered by any change of the status bit LVDS if interrupt enable bit LVIE = 1. 8.6.1.5 VDDS Integrity Interrupt This interrupt is only available in V10. In FPM the input voltages VDDS1 and VSS2 are monitored for integrity. The flags in CPMUVDDS register indicate such a failing condition. When one the status bits changes, the respective flag is set in CPMUVDDS register. If interrupt is enabled (VDDSIE = 1) an interrupt is triggered by any of these flags. See CPMUVDDS register description for details. 8.6.1.6 HTI - High Temperature Interrupt In FPM the junction temperature TJ is monitored. Whenever TJ exceeds level THTIA the status bit HTDS is set to 1. Vice versa, HTDS is reset to 0 when TJ get below level THTID. An interrupt, indicated by flag HTIF = 1, is triggered by any change of the status bit HTDS, if interrupt enable bit HTIE = 1. 8.6.1.7 Autonomous Periodical Interrupt (API) The API sub-block can generate periodical interrupts independent of the clock source of the MCU. To enable the timer, the bit APIFE needs to be set. The API timer is either clocked by the Autonomous Clock (ACLK - trimmable internal RC oscillator) or the Bus Clock. Timer operation will freeze when MCU clock source is selected and Bus Clock is turned off. The clock source can be selected with bit APICLK. APICLK can only be written when APIFE is not set. The APIR[15:0] bits determine the interrupt period. APIR[15:0] can only be written when APIFE is cleared. As soon as APIFE is set, the timer starts running for the period selected by APIR[15:0] bits. When the configured time has elapsed, the flag APIF is set. An interrupt, indicated by flag APIF = 1, is triggered if interrupt enable bit APIE = 1. The timer is re-started automatically again after it has set APIF. 1. For details please refer to "8.4.6 System Clock Configurations" MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 349 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) The procedure to change APICLK or APIR[15:0] is first to clear APIFE, then write to APICLK or APIR[15:0], and afterwards set APIFE. The API Trimming bits ACLKTR[5:0] must be set so the minimum period equals 0.2 ms if stable frequency is desired. See Table 8-21 for the trimming effect of ACLKTR[5:0]. NOTE The first period after enabling the counter by APIFE might be reduced by API start up delay tsdel. It is possible to generate with the API a waveform at the external pin API_EXTCLK by setting APIFE and enabling the external access with setting APIEA. 8.7 8.7.1 Initialization/Application Information General Initialization Information Usually applications run in MCU Normal Mode. It is recommended to write the CPMUCOP register in any case from the application program initialization routine after reset no matter if the COP is used in the application or not, even if a configuration is loaded via the flash memory after reset. By doing a "controlled" write access in MCU Normal Mode (with the right value for the application) the write once for the COP configuration bits (WCOP,CR[2:0]) takes place which protects these bits from further accidental change. In case of a program sequencing issue (code runaway) the COP configuration can not be accidentally modified anymore. 8.7.2 Application information for COP and API usage In many applications the COP is used to check that the program is running and sequencing properly. Often the COP is kept running during Stop Mode and periodic wake-up events are needed to service the COP on time and maybe to check the system status. For such an application it is recommended to use the ACLK as clock source for both COP and API. This guarantees lowest possible IDD current during Stop Mode. Additionally it eases software implementation using the same clock source for both, COP and API. The Interrupt Service Routine (ISR) of the Autonomous Periodic Interrupt API should contain the write instruction to the CPMUARMCOP register. The value (byte) written is derived from the "main routine" (alternating sequence of $55 and $AA) of the application software. Using this method, then in the case of a runtime or program sequencing issue the application "main routine" is not executed properly anymore and the alternating values are not provided properly. Hence the COP is written at the correct time (due to independent API interrupt request) but the wrong value is written (alternating sequence of $55 and $AA is no longer maintained) which causes a COP reset. If the COP is stopped during any Stop Mode it is recommended to service the COP shortly before Stop Mode is entered. MC9S12ZVM Family Reference Manual Rev. 2.2 350 Freescale Semiconductor Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) 8.7.3 Application Information for PLL and Oscillator Startup The following C-code example shows a recommended way of setting up the system clock system using the PLL and Oscillator: /* Procedure proposed by to setup PLL and Oscillator */ /* example for OSC = 4 MHz and Bus Clock = 25MHz, That is VCOCLK = 50MHz */ /* Initialize */ /* PLL Clock = 50 MHz, divide by one */ CPMUPOSTDIV = 0x00; /* Generally: Whenever changing PLL reference clock (REFCLK) frequency to a higher value */ /* it is recommended to write CPMUSYNR = 0x00 in order to stay within specified */ /* maximum frequency of the MCU */ CPMUSYNR = 0x00; /* configure PLL reference clock (REFCLK) for usage with Oscillator */ /* OSC=4MHz divide by 4 (3+1) = 1MHz, REFCLK range 1MHz to 2 MHz (REFFRQ[1:0] = 00) */ CPMUREFDIV = 0x03; /* enable external Oscillator, switch PLL reference clock (REFCLK) to OSC */ CPMUOSC = 0x80; /* multiply REFCLK = 1MHz by 2*(24+1)*1MHz = 50MHz */ /* VCO range 48 to 80 MHz (VCOFRQ[1:0] = 01) */ CPMUSYNR = 0x58; /* clear all flags, especially LOCKIF and OSCIF */ CPMUIFLG = 0xFF; /* put your code to loop and wait for the LOCKIF and OSCIF or */ /* poll CPMUIFLG register until both UPOSC and LOCK status are "1" */ /* that is CPMUIFLG == 0x1B */ /*...............continue to your main code execution here...............*/ /* in case later in your code you want to disable the Oscillator and use the */ /* 1MHz IRCCLK as PLL reference clock */ /* Generally: Whenever changing PLL reference clock (REFCLK) frequency to a higher value */ /* it is recommended to write CPMUSYNR = 0x00 in order to stay within specified */ /* maximum frequency of the MCU */ CPMUSYNR = 0x00; /* disable OSC and switch PLL reference clock to IRC */ CPMUOSC = 0x00; /* multiply REFCLK = 1MHz by 2*(24+1)*1MHz = 50MHz */ /* VCO range 48 to 80 MHz (VCOFRQ[1:0] = 01) */ CPMUSYNR = 0x58; /* clear all flags, especially LOCKIF and OSCIF */ CPMUIFLG = 0xFF; MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 351 Chapter 8 S12 Clock, Reset and Power Management Unit (V10 and V6) /* put your code to loop and wait for the LOCKIF or */ /* poll CPMUIFLG register until both LOCK status is "1" */ /* that is CPMUIFLG == 0x18 */ /*...............continue to your main code execution here...............*/ MC9S12ZVM Family Reference Manual Rev. 2.2 352 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Table 9-1. Revision History Revision Number Revision Date Sections Affected V1.37 19. Apr 2013 - Description of Changes Updates from review of reference manual to fix typos etc. V1.38 30. Apr 2013 9.5.2.13/9-381 Provided more detailed information regarding captured information in bits RIDX_IMD[5:0] for different scenarios of Sequence Abort Event execution. V1.39 02. Jul 2013 9.5.2.6/9-370 Update of: Timing considerations for Restart Mode V1.40 02. Oct 2013 entire document Updated formatting and wording correction for entire document (for technical publications). V2.00 14. Oct. 2014 9.3/9-355, 9.5.2.15/9-383, 9.5.2.17/9-388, Figure 9-2./9-359, Added option bits to conversion command for top level SoC specific feature/function implementation option. V3.00 27. Feb. 2015 9.5.2.16/9-386, 9.1/9-353 9.1 Changed ADCCMD_1 VRH_SEL, VRL_SEL Single document for all versions (V1,V2,V3) Differences ADC12B_LBA V1 vs V2 vs V3 NOTE Device reference manuals specify which module version is integrated on the device. Some reference manuals support families of devices, with device dependent module versions. This chapter describes the superset. The feature differences are listed in Table 9-2. Table 9-2. Comparison of ADC12B_LBA Module Versions Feature V1 V2 V3 ADC Command Register 0 (ADCCMD_0), ADC Command Register 2 (ADCCMD_2): OPT[3:0] bits No Yes Yes ADC Command Register 1 (ADCCMD_1):VRH_SEL[1:0] No No Yes ADC Command Register 1 (ADCCMD_1):VRH_SEL,VRL_SEL Yes Yes No MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 353 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.2 Introduction The ADC12B_LBA is an n-channel multiplexed input successive approximation analog-to-digital converter. Refer to device electrical specifications for ADC parameters and accuracy. The List Based Architecture (LBA) provides flexible conversion sequence definition as well as flexible oversampling. The order of channels to be converted can be freely defined. Also, multiple instantiations of the module can be triggered simultaneously (matching sampling point across multiple module instantiations). There are four register bits which control the conversion flow (please refer to the description of register ADCFLWCTL). The four conversion flow control bits of register ADCFLWCTL can be modified in two different ways: * Via data bus accesses * Via internal interface Signals (Trigger, Restart, LoadOK, and Seq_Abort; see also Figure 9-2). Each Interface Signal is associated with one conversion flow control bit. For information regarding internal interface connectivity related to the conversion flow control please refer to the device overview of the reference manual. The ADCFLWCTL register can be controlled via internal interface only or via data bus only or by both depending on the register access configuration bits ACC_CFG[1:0]. The four bits of register ADCFLWCTL reflect the captured request and status of the four internal interface Signals (LoadOK, Trigger, Restart, and Seq_abort; see also Figure 9-2) if access configuration is set accordingly and indicate event progress (when an event is processed and when it is finished). Conversion flow error situations are captured by corresponding interrupt flags in the ADCEIF register. There are two conversion flow control modes (Restart Mode, Trigger Mode). Each mode causes a certain behavior of the conversion flow control bits which can be selected according to the application needs. Please refer to Section 9.5.2.1, "ADC Control Register 0 (ADCCTL_0) and Section 9.6.3.2.4, "The two conversion flow control Mode Configurations for more information regarding conversion flow control. Because internal components of the ADC are turned on/off with bit ADC_EN, the ADC requires a recovery time period (tREC) after ADC is enabled until the first conversion can be launched via a trigger. When bit ADC_EN gets cleared (transition from 1'b1 to 1'b0) any ongoing conversion sequence will be aborted and pending results, or the result of current conversion, gets discarded (not stored). The ADC cannot be re-enabled before any pending action or action in process is finished respectively aborted, which could take up to a maximum latency time of tDISABLE (see device level specification for more details). MC9S12ZVM Family Reference Manual Rev. 2.2 354 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.3 * * * * * * * * * * * * * * * * * * * Key Features Programmer's Model with List Based Architecture for conversion command and result value organization Selectable resolution of 8-bit, 10-bit, or 12-bit Channel select control for n external analog input channels Provides up to eight device internal channels (please see the device reference manual for connectivity information and Figure 9-2) Programmable sample time A sample buffer amplifier for channel sampling (improved performance in view to influence of channel input path resistance versus conversion accuracy) Left/right justified result data Individual selectable VRH_0/1 and VRL_0/1 inputs (ADC12B_LBA V1 and V2) or VRH_0/1/2 inputs (ADC12B_LBA V3) on a conversion command basis (please see Figure 9-2, Table 9-2) Special conversions for selected VRH_0/1 (V1 and V2) or VRH_0/1/2 (V3), VRL_0/1 (V1 and V2) or VRL_0 (V3), (VRL_0/1 + VRH_0/1) / 2 (V1 and V2) or (VRL_0 + VRH_0/1/2) / 2 (V3) (please see Table 9-2) 15 conversion interrupts with flexible interrupt organization per conversion result One dedicated interrupt for "End Of List" type commands Command Sequence List (CSL) with a maximum number of 64 command entries Provides conversion sequence abort Restart from top of active Command Sequence List (CSL) The Command Sequence List and Result Value List are implemented in double buffered manner (two lists in parallel for each function) Conversion Command (CSL) loading possible from System RAM or NVM Single conversion flow control register with software selectable access path Two conversion flow control modes optimized to different application use cases Four option bits in the conversion command for top level SoC specific feature/function implementation option (Please refer to the device reference manual for details of the top level feature/function if implemented) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 355 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.3.1 Modes of Operation 9.3.1.1 Conversion Modes This architecture provides single, multiple, or continuous conversion on a single channel or on multiple channels based on the Command Sequence List. 9.3.1.2 * MCU Operating Modes MCU Stop Mode Before issuing an MCU Stop Mode request the ADC should be idle (no conversion or conversion sequence or Command Sequence List ongoing). If a conversion, conversion sequence, or CSL is in progress when an MCU Stop Mode request is issued, a Sequence Abort Event occurs automatically and any ongoing conversion finish. After the Sequence Abort Event finishes, if the STR_SEQA bit is set (STR_SEQA=1), then the conversion result is stored and the corresponding flags are set. If the STR_SEQA bit is cleared (STR_SEQA=0), then the conversion result is not stored and the corresponding flags are not set. The microcontroller then enters MCU Stop Mode without SEQAD_IF being set. Alternatively, the Sequence Abort Event can be issued by software before an MCU Stop Mode request. As soon as flag SEQAD_IF is set the MCU Stop Mode request can be is issued. With the occurrence of the MCU Stop Mode Request until exit from Stop Mode all flow control signals (RSTA, SEQA, LDOK, TRIG) are cleared. After exiting MCU Stop Mode, the following happens in the order given with expected event(s) depending on the conversion flow control mode: -- In ADC conversion flow control mode "Trigger Mode" a Restart Event is expected to simultaneously set bits TRIG and RSTA, causing the ADC to execute the Restart Event (CMD_IDX and RVL_IDX cleared) followed by the Trigger Event. The Restart Event can be generated automatically after exit from MCU Stop Mode if bit AUT_RSTA is set. -- In ADC conversion flow control mode "Restart Mode", a Restart Event is expected to set bit RSTA only (ADC already aborted at MCU Stop Mode entry hence bit SEQA must not be set simultaneously) causing the ADC to execute the Restart Event (CDM_IDX and RVL_IDX cleared). The Restart Event can be generated automatically after exit from MCU Stop Mode if bit AUT_RSTA is set. -- The RVL buffer select (RVL_SEL) is not changed if a CSL is in process at MCU Stop Mode request. Hence the same buffer will be used after exit from Stop Mode that was used when the Stop Mode request occurred. MC9S12ZVM Family Reference Manual Rev. 2.2 356 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) * MCU Wait Mode Depending on the ADC Wait Mode configuration bit SWAI, the ADC either continues conversion in MCU Wait Mode or freezes conversion at the next conversion boundary before MCU Wait Mode is entered. ADC behavior for configuration SWAI =1'b0: The ADC continues conversion during Wait Mode according to the conversion flow control sequence. It is assumed that the conversion flow control sequence is continued (conversion flow control bits TRIG, RSTA, SEQA, and LDOK are serviced accordingly). ADC behavior for configuration SWAI = 1'b1: At MCU Wait Mode request the ADC should be idle (no conversion or conversion sequence or Command Sequence List ongoing). If a conversion, conversion sequence, or CSL is in progress when an MCU Wait Mode request is issued, a Sequence Abort Event occurs automatically and any ongoing conversion finish. After the Sequence Abort Event finishes, if the STR_SEQA bit is set (STR_SEQA=1), then the conversion result is stored and the corresponding flags are set. If the STR_SEQA bit is cleared (STR_SEQA=0), then the conversion result is not stored and the corresponding flags are not set. Alternatively the Sequence Abort Event can be issued by software before MCU Wait Mode request. As soon as flag SEQAD_IF is set, the MCU Wait Mode request can be issued. With the occurrence of the MCU Wait Mode request until exit from Wait Mode all flow control signals (RSTA, SEQA, LDOK, TRIG) are cleared. After exiting MCU Wait Mode, the following happens in the order given with expected event(s) depending on the conversion flow control mode: -- In ADC conversion flow control mode "Trigger Mode", a Restart Event is expected to occur. This simultaneously sets bit TRIG and RSTA causing the ADC to execute the Restart Event (CMD_IDX and RVL_IDX cleared) followed by the Trigger Event. The Restart Event can be generated automatically after exit from MCU Wait Mode if bit AUT_RSTA is set. -- In ADC conversion flow control mode "Restart Mode", a Restart Event is expected to set bit RSTA only (ADC already aborted at MCU Wait Mode entry hence bit SEQA must not be set simultaneously) causing the ADC to execute the Restart Event (CDM_IDX and RVL_IDX cleared). The Restart Event can be generated automatically after exit from MCU Wait Mode if bit AUT_RSTA is set. -- The RVL buffer select (RVL_SEL) is not changed if a CSL is in process at MCU Wait Mode request. Hence the same RVL buffer will be used after exit from Wait Mode that was used when Wait Mode request occurred. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 357 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) NOTE In principle, the MCU could stay in Wait Mode for a shorter period of time than the ADC needs to abort an ongoing conversion (range of s). Therefore in case a Sequence Abort Event is issued automatically due to MCU Wait Mode request a following Restart Event after exit from MCU Wait Mode can not be executed before ADC has finished this Sequence Abort Event. The Restart Event is detected but it is pending. This applies in case MCU Wait Mode is exited before ADC has finished the Sequence Abort Event and a Restart Event is issued immediately after exit from MCU Wait Mode. Bit READY can be used by software to detect when the Restart Event can be issued without latency time in processing the event (see also Figure 9-1). Wait Mode request (SWAI=1'b1), Automatic Sequence Abort Event Wake-up Event AN3 AN1 AN4 IN5 AN6 AN1 Sequence_0 Wait Mode entry Abort Active Restart Event Trigger AN3 AN1 AN4 AN5 AN2 AN0 Sequence_n CSL_0 Begin from top of current CSL Sequence_1 EOS READY=1'b1 Earliest point of time to issue Restart Event without latency Idle Active t Figure 9-1. Conversion Flow Control Diagram - Wait Mode (SWAI=1'b1, AUT_RSTA=1'b0) * MCU Freeze Mode Depending on the ADC Freeze Mode configuration bit FRZ_MOD, the ADC either continues conversion in Freeze Mode or freezes conversion at next conversion boundary before the MCU Freeze Mode is entered. After exit from MCU Freeze Mode with previously frozen conversion sequence the ADC continues the conversion with the next conversion command and all ADC interrupt flags are unchanged during MCU Freeze Mode. MC9S12ZVM Family Reference Manual Rev. 2.2 358 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.3.2 Block Diagram System Clock Clock Prescaler ADC Clock (EN) Data Bus Error/ FlowCtrl Issue Int. Error handler LoadOK Trigger Option Bits Sequence Abort Int. Conversion Int. Control Unit Restart (Conversion Flow, Timing, Interrupt) Seq_abort see reference manual for connectivity information regarding ADC internal interface Internal_7 Internal_6 Internal_5 Internal_4 Internal_3 Internal_2 DMA access ADC Temperature Sense Comm_0 Comm_1 .......... Idle/ .......... Active ........... .......... Command ........... Sequence AlternativeList ........... Command (RAM/ ........... Sequence NVM) ........... List ........... (RAM/ Comm 63 NVM) int. Channel MUX VREG_sense DMA access Result_0 Result_1 .......... active .......... Conversion ........... Result List .......... (RAM) ........... ........... Alternative ........... Result ........... List ........... (RAM) Result 63 VRH_2 (V3) VRH_1 VRH_0 Successive Approximation Register (SAR) and C-DAC VRL_1 (V1, V2) VRL_0 VDDA VSSA ANx ..... AN2 AN1 ext. Channel MUX AN0 + - Buffer AMP Final + Buffer - Comparator Sample & Hold PIM ADC12B_LBA Figure 9-2. ADC12B_LBA Block Diagram MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 359 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.4 Signal Description This section lists all inputs to the ADC12B_LBA block. 9.4.1 9.4.1.1 Detailed Signal Descriptions ANx (x = n,..., 2, 1, 0) This pin serves as the analog input Channel x. The maximum input channel number is n. Please refer to the device reference manual for the maximum number of input channels. 9.4.1.2 VRH_0, VRH_1, VRH_2, VRL_0, VRL_1 VRH_0/1/2 are the high reference voltages, VRL0/1 are the low reference voltages for a ADC conversion selectable on a conversion command basis. Please refer to the device overview information for availability and connectivity of these pins. VRH_2 is only available on ADC12B_LBA V3. VRL_1 is only available on ADC12B_LBA V1 and V2. See also Table 9-2. 9.4.1.3 VDDA, VSSA These pins are the power supplies for the analog circuitry of the ADC12B_LBA block. MC9S12ZVM Family Reference Manual Rev. 2.2 360 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5 Memory Map and Register Definition This section provides a detailed description of all registers accessible in the ADC12B_LBA. 9.5.1 Module Memory Map Figure 9-3 gives an overview of all ADC12B_LBA registers. NOTE Register Address = Base Address + Address Offset, where the Base Address is defined at the MCU level and the Address Offset is defined at the module level. Address Name 0x0000 ADCCTL_0 0x0001 ADCCTL_1 0x0002 ADCSTS 0x0003 ADCTIM 0x0004 ADCFMT 0x0005 ADCFLWCTL 0x0006 ADCEIE 0x0007 ADCIE 0x0008 ADCEiF 0x0009 ADCIF 0x000A ADCCONIE_0 0x000B ADCCONIE_1 0x000C ADCCONIF_0 0x000D ADCCONIF_1 0x000E ADCIMDRI_0 0x000F ADCIMDRI_1 R W R W R W R W R W R W R W R W R W R W R W R W R W R W R R W Bit 7 6 5 4 ADC_EN ADC_SR FRZ_MOD SWAI CSL_BMOD RVL_BMOD SMOD_ACC CSL_SEL RVL_SEL AUT_RSTA DBECC_ERR Reserved 0 0 0 SEQA TRIG RSTA LDOK IA_EIE CMD_EIE EOL_EIE SEQAD_IE CONIF_OIE IA_EIF 2 ACC_CFG[1:0] 1 Bit 0 STR_SEQA MOD_CFG 0 0 0 0 READY 0 0 0 PRS[6:0] 0 DJM 3 CMD_EIF SEQAD_IF CONIF_OIF Reserved EOL_EIF Reserved 0 0 Reserved TRIG_EIE 0 0 Reserved TRIG_EIF 0 0 SRES[2:0] 0 0 RSTAR_EIE LDOK_EIE 0 0 RSTAR_EIF LDOK_EIF 0 0 0 0 0 0 0 CON_IE[15:8] CON_IE[7:1] EOL_IE CON_IF[15:8] CON_IF[7:1] CSL_IMD RVL_IMD 0 0 0 0 EOL_IF 0 0 0 0 RIDX_IMD[5:0] = Unimplemented or Reserved Figure 9-3. ADC12B_LBA Register Summary (Sheet 1 of 3) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 361 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Address Name 0x0010 ADCEOLRI 0x0011 Reserved 0x0012 Reserved 0x0013 Reserved 0x0014 0x0014 0x0015 0x0015 0x0016 0x0016 ADCCMD_0 (V1) ADCCMD_0 (V2, V3) ADCCMD_1 (V1, V2) ADCCMD_1 (V3) ADCCMD_2 (V1) ADCCMD_2 (V2, V3) 0x0017 ADCCMD_3 0x0018 Reserved 0x0019 Reserved 0x001A Reserved 0x001B Reserved 0x001C ADCCIDX 0x001D ADCCBP_0 0x001E ADCCBP_1 0x001F ADCCBP_2 0x0020 ADCRIDX 0x0021 ADCRBP_0 0x0022 ADCRBP_1 0x0023 ADCRBP_2 Bit 7 6 R CSL_EOL RVL_EOL W R 0 0 W R 0 0 W R Reserved W R CMD_SEL W R CMD_SEL W R VRH_SEL VRL_SEL W R VRH_SEL[1:0] W R W R W R Reserved Reserved W R W R W R W R W R 0 0 W R W R W R W R 0 0 W R 0 0 W R W R W 5 0 4 0 3 0 2 0 1 0 Bit 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reserved 0 0 INTFLG_SEL[3:0] OPT[1:0] INTFLG_SEL[3:0] CH_SEL[5:0] CH_SEL[5:0] 0 SMP[4:0] SMP[4:0] 0 OPT[3:2] Reserved Reserved Reserved Reserved Reserved Reserved Reserved CMD_IDX[5:0] CMD_PTR[23:16] CMD_PTR[15:8] 0 CMD_PTR[7:2] 0 RES_IDX[5:0] 0 0 RES_PTR[19:16] RES_PTR[15:8] RES_PTR[7:2] 0 0 = Unimplemented or Reserved Figure 9-3. ADC12B_LBA Register Summary (Sheet 2 of 3) MC9S12ZVM Family Reference Manual Rev. 2.2 362 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Address Name 0x0024 ADCCROFF0 0x0025 ADCCROFF1 0x0026 Reserved 0x0027 Reserved 0x0028 Reserved 0x0029 Reserved 0x002A0x003F Reserved Bit 7 R 0 W R 0 W R 0 W R W R W R Reserved W R 0 W 6 5 4 3 2 CMDRES_OFF0[6:0] 1 Bit 0 0 0 0 0 CMDRES_OFF1[6:0] 0 0 0 Reserved Reserved Reserved 0 0 Reserved 0 0 0 0 = Unimplemented or Reserved Figure 9-3. ADC12B_LBA Register Summary (Sheet 3 of 3) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 363 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2 Register Descriptions This section describes in address order all the ADC12B_LBA registers and their individual bits. 9.5.2.1 ADC Control Register 0 (ADCCTL_0) Module Base + 0x0000 1 R W Reset 5 14 13 12 ADC_EN ADC_SR FRZ_MOD SWAI 0 0 0 0 11 10 ACC_CFG[1:0] 0 9 8 STR_SEQA MOD_CFG 0 0 0 = Unimplemented or Reserved Figure 9-4. ADC Control Register 0 (ADCCTL_0) Read: Anytime Write: * Bits ADC_EN, ADC_SR, FRZ_MOD and SWAI writable anytime * Bits MOD_CFG, STR_SEQA and ACC_CFG[1:0] writable if bit ADC_EN clear or bit SMOD_ACC set Table 9-3. ADCCTL_0 Field Descriptions Field Description 15 ADC_EN ADC Enable Bit -- This bit enables the ADC (e.g. sample buffer amplifier etc.) and controls accessibility of ADC register bits. When this bit gets cleared any ongoing conversion sequence will be aborted and pending results or the result of current conversion gets discarded (not stored). The ADC cannot be re-enabled before any pending action or action in process is finished or aborted, which could take up to a maximum latency time of tDISABLE (see device reference manual for more details). Because internal components of the ADC are turned on/off with this bit, the ADC requires a recovery time period (tREC) after ADC is enabled until the first conversion can be launched via a trigger. 0 ADC disabled. 1 ADC enabled. 14 ADC_SR ADC Soft-Reset -- This bit causes an ADC Soft-Reset if set after a severe error occurred (see list of severe errors in Section 9.5.2.9, "ADC Error Interrupt Flag Register (ADCEIF) that causes the ADC to cease operation). It clears all overrun flags and error flags and forces the ADC state machine to its idle state. It also clears the Command Index Register, the Result Index Register, and the CSL_SEL and RVL_SEL bits (to be ready for a new control sequence to load new command and start execution again from top of selected CSL). A severe error occurs if an error flag is set which cause the ADC to cease operation. In order to make the ADC operational again an ADC Soft-Reset must be issued. Once this bit is set it can not be cleared by writing any value. It is cleared only by ADC hardware after the SoftReset has been executed. 0 No ADC Soft-Reset issued. 1 Issue ADC Soft-Reset. 13 FRZ_MOD 12 SWAI Freeze Mode Configuration -- This bit influences conversion flow during Freeze Mode. 0 ADC continues conversion in Freeze Mode. 1 ADC freezes the conversion at next conversion boundary at Freeze Mode entry. Wait Mode Configuration -- This bit influences conversion flow during Wait Mode. 0 ADC continues conversion in Wait Mode. 1 ADC halts the conversion at next conversion boundary at Wait Mode entry. MC9S12ZVM Family Reference Manual Rev. 2.2 364 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Table 9-3. ADCCTL_0 Field Descriptions (continued) Field Description 11-10 ADCFLWCTL Register Access Configuration -- These bits define if the register ADCFLWCTL is controlled ACC_CFG[1:0] via internal interface only or data bus only or both. See Table 9-4. for more details. 9 Control Of Conversion Result Storage and RSTAR_EIF flag setting at Sequence Abort or Restart Event STR_SEQA -- This bit controls conversion result storage and RSTAR_EIF flag setting when a Sequence Abort Event or Restart Event occurs as follows: If STR_SEQA = 1'b0 and if a: * Sequence Abort Event or Restart Event is issued during a conversion the data of this conversion is not stored and the respective conversion complete flag is not set * Restart Event only is issued before the last conversion of a CSL is finished and no Sequence Abort Event is in process (SEQA clear) causes the RSTA_EIF error flag to be asserted and bit SEQA gets set by hardware If STR_SEQA = 1'b1 and if a: * Sequence Abort Event or Restart Event is issued during a conversion the data of this conversion is stored and the respective conversion complete flag is set and Intermediate Result Information Register is updated. * Restart Event only occurs during the last conversion of a CSL and no Sequence Abort Event is in process (SEQA clear) does not set the RSTA_EIF error flag * Restart Event only is issued before the CSL is finished and no Sequence Abort Event is in process (SEQA clear) causes the RSTA_EIF error flag to be asserted and bit SEQA gets set by hardware 8 MOD_CFG (Conversion Flow Control) Mode Configuration -- This bit defines the conversion flow control after a Restart Event and after execution of the "End Of List" command type: - Restart Mode - Trigger Mode (For more details please see also section Section 9.6.3.2, "Introduction of the Programmer's Model and following.) 0 "Restart Mode" selected. 1 "Trigger Mode" selected. Table 9-4. ADCFLWCTL Register Access Configurations ACC_CFG[1] ACC_CFG[0] ADCFLWCTL Access Mode 0 0 None of the access paths is enabled 0 1 Single Access Mode - Internal Interface 1 0 Single Access Mode - Data Bus 1 1 (default / reset configuration) (ADCFLWCTL access via internal interface only) (ADCFLWCTL access via data bus only) Dual Access Mode (ADCFLWCTL register access via internal interface and data bus) NOTE Each conversion flow control bit (SEQA, RSTA, TRIG, LDOK) must be controlled by software or internal interface according to the requirements described in Section 9.6.3.2.4, "The two conversion flow control Mode Configurations and overview summary in Table 9-11. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 365 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.2 ADC Control Register 1 (ADCCTL_1) Module Base + 0x0001 7 R W Reset 6 5 CSL_BMOD RVL_BMOD SMOD_ACC 0 0 4 AUT_RSTA 0 0 3 2 1 0 0 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 9-5. ADC Control Register 1 (ADCCTL_1) Read: Anytime Write: * Bit CSL_BMOD and RVL_BMOD writable if bit ADC_EN clear or bit SMOD_ACC set * Bit SMOD_ACC only writable in MCU Special Mode * Bit AUT_RSTA writable anytime Table 9-5. ADCCTL_1 Field Descriptions Field Description 7 CSL Buffer Mode Select Bit -- This bit defines the CSL buffer mode. This bit is only writable if ADC_EN is clear. CSL_BMOD 0 CSL single buffer mode. 1 CSL double buffer mode. 6 RVL Buffer Mode Select Bit -- This bit defines the RVL buffer mode. RVL_BMOD 0 RVL single buffer mode 1 RVL double buffer mode 5 Special Mode Access Control Bit -- This bit controls register access rights in MCU Special Mode. This bit is SMOD_ACC automatically cleared when leaving MCU Special Mode. Note: When this bit is set also the ADCCMD register is writeable via the data bus to allow modification of the current command for debugging purpose. But this is only possible if the current command is not already processed (conversion not started). Please see access details given for each register. Care must be taken when modifying ADC registers while bit SMOD_ACC is set to not corrupt a possible ongoing conversion. 0 Normal user access - Register write restrictions exist as specified for each bit. 1 Special access - Register write restrictions are lifted. 4 Automatic Restart Event after exit from MCU Stop and Wait Mode (SWAI set) -- This bit controls if a Restart AUT_RSTA Event is automatically generated after exit from MCU Stop Mode or Wait Mode with bit SWAI set. It can be configured for ADC conversion flow control mode "Trigger Mode" and "Restart Mode" (anytime during application runtime). 0 No automatic Restart Event after exit from MCU Stop Mode. 1 Automatic Restart Event occurs after exit from MCU Stop Mode. MC9S12ZVM Family Reference Manual Rev. 2.2 366 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.3 ADC Status Register (ADCSTS) It is important to note that if flag DBECC_ERR is set the ADC ceases operation. In order to make the ADC operational again an ADC Soft-Reset must be issued. An ADC Soft-Reset clears bits CSL_SEL and RVL_SEL. Module Base + 0x0002 7 R W Reset 6 CSL_SEL RVL_SEL 0 0 5 4 3 2 1 0 DBECC_ERR Reserved READY 0 0 0 0 0 1 0 0 0 = Unimplemented or Reserved Figure 9-6. ADC Status Register (ADCSTS) Read: Anytime Write: * Bits CSL_SEL and RVL_SEL anytime if bit ADC_EN is clear or bit SMOD_ACC is set * Bits DBECC_ERR and READY not writable Table 9-6. ADCSTS Field Descriptions Field Description 7 CSL_SEL Command Sequence List Select bit -- This bit controls and indicates which ADC Command List is active. This bit can only be written if ADC_EN bit is clear. This bit toggles in CSL double buffer mode when no conversion or conversion sequence is ongoing and bit LDOK is set and bit RSTA is set. In CSL single buffer mode this bit is forced to 1'b0 by bit CSL_BMOD. 0 ADC Command List 0 is active. 1 ADC Command List 1 is active. 6 RVL_SEL Result Value List Select Bit -- This bit controls and indicates which ADC Result List is active. This bit can only be written if bit ADC_EN is clear. After storage of the initial Result Value List this bit toggles in RVL double buffer mode whenever the conversion result of the first conversion of the current CSL is stored or a CSL got aborted. In RVL single buffer mode this bit is forced to 1'b0 by bit RVL_BMOD. Please see also Section 9.3.1.2, "MCU Operating Modes for information regarding Result List usage in case of Stop or Wait Mode. 0 ADC Result List 0 is active. 1 ADC Result List 1 is active. 5 DBECC_ERR 3 READY Double Bit ECC Error Flag -- This flag indicates that a double bit ECC error occurred during conversion command load or result storage and ADC ceases operation. In order to make the ADC operational again an ADC Soft-Reset must be issued. This bit is cleared if bit ADC_EN is clear. 0 No double bit ECC error occurred. 1 A double bit ECC error occurred. Ready For Restart Event Flag -- This flag indicates that ADC is in its idle state and ready for a Restart Event. It can be used to verify after exit from Wait Mode if a Restart Event can be issued and processed immediately without any latency time due to an ongoing Sequence Abort Event after exit from MCU Wait Mode (see also the Note in Section 9.3.1.2, "MCU Operating Modes). 0 ADC not in idle state. 1 ADC is in idle state. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 367 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.4 ADC Timing Register (ADCTIM) Module Base + 0x0003 7 R 6 5 4 0 0 2 1 0 1 0 1 PRS[6:0] W Reset 3 0 0 0 0 = Unimplemented or Reserved Figure 9-7. ADC Timing Register (ADCTIM)) Read: Anytime Write: These bits are writable if bit ADC_EN is clear or bit SMOD_ACC is set Table 9-7. ADCTIM Field Descriptions Field Description 6-0 PRS[6:0] ADC Clock Prescaler -- These 7bits are the binary prescaler value PRS. The ADC conversion clock frequency is calculated as follows: f BUS f A TD CLK = -----------------------------------2x PRS + 1 Refer to Device Specification for allowed frequency range of fATDCLK. MC9S12ZVM Family Reference Manual Rev. 2.2 368 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.5 ADC Format Register (ADCFMT) Module Base + 0x0004 7 R W Reset 6 DJM 0 5 4 3 0 0 0 0 0 0 0 0 2 1 0 SRES[2:0] 0 0 0 = Unimplemented or Reserved Figure 9-8. ADC Format Register (ADCFMT) Read: Anytime Write: Bits DJM and SRES[2:0] are writable if bit ADC_EN clear or bit SMOD_ACC set Table 9-8. ADCFMT Field Descriptions Field Description 7 DJM Result Register Data Justification -- Conversion result data format is always unsigned. This bit controls justification of conversion result data in the conversion result list. 0 Left justified data in the conversion result list. 1 Right justified data in the conversion result list. 2-0 SRES[2:0] ADC Resolution Select -- These bits select the resolution of conversion results. See Table 9-9 for coding. Table 9-9. Selectable Conversion Resolution SRES[2] SRES[1] SRES[0] ADC Resolution 0 0 0 8-bit data 0 0 1 1. Reserved 0 1 0 10-bit data 0 1 1 1. Reserved 1 0 0 12-bit data 1 x x (1) Reserved 1. Reserved settings cause a severe error at ADC conversion start whereby the CMD_EIF flag is set and ADC ceases operation MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 369 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.6 ADC Conversion Flow Control Register (ADCFLWCTL) Bit set and bit clear instructions should not be used to access this register. When the ADC is enabled the bits of ADCFLWCTL register can be modified after a latency time of three Bus Clock cycles. All bits are cleared if bit ADC_EN is clear or via ADC soft-reset. Module Base + 0x0005 7 R W Reset 6 5 4 SEQA TRIG RSTA LDOK 0 0 0 0 3 2 1 0 0 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 9-9. ADC Conversion Flow Control Register (ADCFLWCTL) Read: Anytime Write: * Bits SEQA, TRIG, RSTA, LDOK can only be set if bit ADC_EN is set. * Writing 1'b0 to any of these bits does not have an effect Timing considerations (Trigger Event - channel sample start) depending on ADC mode configuration: * Restart Mode When the Restart Event has been processed (initial command of current CSL is loaded) it takes two Bus Clock cycles plus two ADC conversion clock cycles (pump phase) from the Trigger Event (bit TRIG set) until the select channel starts to sample. During a conversion sequence (back to back conversions) it takes five Bus Clock cycles plus two ADC conversion clock cycles (pump phase) from current conversion period end until the newly selected channel is sampled in the following conversion period. * Trigger Mode When a Restart Event occurs a Trigger Event is issued simultaneously. The time required to process the Restart Event is mainly defined by the internal read data bus availability and therefore can vary. In this mode the Trigger Event is processed immediately after the Restart Event is finished and both conversion flow control bits are cleared simultaneously. From de-assert of bit TRIG until sampling begins five Bus Clock cycles are required. Hence from occurrence of a Restart Event until channel sampling it takes five Bus Clock cycles plus an uncertainty of a few Bus Clock cycles. For more details regarding the sample phase please refer to Section 9.6.2.2, "Sample and Hold Machine with Sample Buffer Amplifier. MC9S12ZVM Family Reference Manual Rev. 2.2 370 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Table 9-10. ADCFLWCTL Field Descriptions Field Description 7 SEQA Conversion Sequence Abort Event -- This bit indicates that a conversion sequence abort event is in progress. When this bit is set the ongoing conversion sequence and current CSL will be aborted at the next conversion boundary. This bit gets cleared when the ongoing conversion sequence is aborted and ADC is idle. This bit can only be set if bit ADC_EN is set. This bit is cleared if bit ADC_EN is clear. Data Bus Control: This bit can be controlled via the data bus if access control is configured accordingly via ACC_CFG[1:0]. Writing a value of 1'b0 does not clear the flag. Writing a one to this bit does not clear it but causes an overrun if the bit has already been set. See Section 9.6.3.2.6, "Conversion flow control in case of conversion sequence control bit overrun scenarios for more details. Internal Interface Control: This bit can be controlled via the internal interface Signal "Seq_Abort" if access control is configured accordingly via ACC_CFG[1:0]. After being set an additional request via the internal interface Signal "Seq_Abort" causes an overrun. See also conversion flow control in case of overrun situations. General: In both conversion flow control modes (Restart Mode and Trigger Mode) when bit RSTA gets set automatically bit SEQA gets set when the ADC has not reached one of the following scenarios: - A Sequence Abort request is about to be executed or has been executed. - "End Of List" command type has been executed or is about to be executed In case bit SEQA is set automatically the Restart error flag RSTA_EIF is set to indicate an unexpected Restart Request. 0 No conversion sequence abort request. 1 Conversion sequence abort request. 6 TRIG Conversion Sequence Trigger Bit -- This bit starts a conversion sequence if set and no conversion or conversion sequence is ongoing. This bit is cleared when the first conversion of a sequence starts to sample. This bit can only be set if bit ADC_EN is set. This bit is cleared if bit ADC_EN is clear. Data Bus Control: This bit can be controlled via the data bus if access control is configured accordingly via ACC_CFG[1:0]. Writing a value of 1'b0 does not clear the flag. After being set this bit can not be cleared by writing a value of 1'b1 instead the error flag TRIG_EIF is set. See also Section 9.6.3.2.6, "Conversion flow control in case of conversion sequence control bit overrun scenarios for more details. Internal Interface Control: This bit can be controlled via the internal interface Signal "Trigger" if access control is configured accordingly via ACC_CFG[1:0]. After being set an additional request via internal interface Signal "Trigger" causes the flag TRIG_EIF to be set. 0 No conversion sequence trigger. 1 Trigger to start conversion sequence. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 371 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Table 9-10. ADCFLWCTL Field Descriptions (continued) Field Description 5 RSTA Restart Event (Restart from Top of Command Sequence List) -- This bit indicates that a Restart Event is executed. The ADC loads the conversion command from top of the active Sequence Command List when no conversion or conversion sequence is ongoing. This bit is cleared when the first conversion command of the sequence from top of active Sequence Command List has been loaded into the ADCCMD register. This bit can only be set if bit ADC_EN is set. This bit is cleared if bit ADC_EN is clear. Data Bus Control: This bit can be controlled via the data bus if access control is configured accordingly via ACC_CFG[1:0]. Writing a value of 1'b0 does not clear the flag. Writing a one to this bit does not clear it but causes an overrun if the bit has already been set. See also Section 9.6.3.2.6, "Conversion flow control in case of conversion sequence control bit overrun scenarios for more details. Internal Interface Control: This bit can be controlled via the internal interface Signal "Restart" if access control is configured accordingly via ACC_CFG[1:0]. After being set an additional request via internal interface Signal "Restart" causes an overrun. See conversion flow control in case of overrun situations for more details. General: In conversion flow control mode "Trigger Mode" when bit RSTA gets set bit TRIG is set simultaneously if one of the following has been executed: - "End Of List" command type has been executed or is about to be executed - Sequence Abort Event 0 Continue with commands from active Sequence Command List. 1 Restart from top of active Sequence Command List. 4 LDOK Load OK for alternative Command Sequence List -- This bit indicates if the preparation of the alternative Sequence Command List is done and Command Sequence List must be swapped with the Restart Event. This bit is cleared when bit RSTA is set (Restart Event executed) and the Command Sequence List got swapped. This bit can only be set if bit ADC_EN is set. This bit is cleared if bit ADC_EN is clear. This bit is forced to zero if bit CSL_BMOD is clear. Data Bus Control: This bit can be controlled via the data bus if access control is configured accordingly via ACC_CFG[1:0]. Writing a value of 1'b0 does not clear the flag. To set bit LDOK the bits LDOK and RSTA must be written simultaneously. After being set this bit can not be cleared by writing a value of 1'b1. See also Section 9.6.3.2.6, "Conversion flow control in case of conversion sequence control bit overrun scenarios for more details. Internal Interface Control: This bit can be controlled via the internal interface Signal "LoadOK" and "Restart" if access control is configured accordingly via ACC_CFG[1:0]. With the assertion of Interface Signal "Restart" the interface Signal "LoadOK" is evaluated and bit LDOK set accordingly (bit LDOK set if Interface Signal "LoadOK" asserted when Interface Signal "Restart" asserts). General: Only in "Restart Mode" if a Restart Event occurs without bit LDOK being set the error flag LDOK_EIF is set except when the respective Restart Request occurred after or simultaneously with a Sequence Abort Request. The LDOK_EIF error flag is also not set in "Restart Mode" if the first Restart Event occurs after: - ADC got enabled - Exit from Stop Mode - ADC Soft-Reset 0 Load of alternative list done. 1 Load alternative list. MC9S12ZVM Family Reference Manual Rev. 2.2 372 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Table 9-11. Summary of Conversion Flow Control Bit Scenarios RSTA TRIG SEQA LDOK Conversion Flow Conversion Flow Control Control Mode Scenario 0 0 0 0 Both Modes Valid 0 0 0 1 Both Modes Can Not Occur 0 0 1 0 Both Modes 5. Valid 0 0 1 1 Both Modes Can Not Occur 0 1 0 0 Both Modes 2. Valid 0 1 0 1 Both Modes Can Not Occur 0 1 1 0 Both Modes Can Not Occur 0 1 1 1 Both Modes Can Not Occur 1 0 0 0 Both Modes 4. Valid 1 0 0 1 Both Modes 1 0 1 0 Both Modes 1 0 1 1 Both Modes 1 1 0 0 1 1 0 1 1 1 1 0 1 1 1 1 1. Swap CSL buffer 2. Start conversion sequence 3. Prevent RSTA_EIF and LDOK_EIF 4. Load conversion command from top of CSL 5. Abort any ongoing conversion, conversion sequence and CSL 6. Bit TRIG set automatically in Trigger Mode "Restart Mode" Valid Valid Valid 3. 4. 5. 1. 3. 4. 5. Error flag TRIG_EIF set "Trigger Mode" "Restart Mode" 1. 4. Valid 2. 4. 6. Error flag TRIG_EIF set "Trigger Mode" Valid 1. 2. 4. 6. "Restart Mode" Error flag TRIG_EIF set "Trigger Mode" 2. 3. 4. 5. 6. Valid "Restart Mode" Error flag TRIG_EIF set "Trigger Mode" Valid (1) (2) (3) (4) (5) (6) For a detailed description of all conversion flow control bit scenarios please see also Section 9.6.3.2.4, "The two conversion flow control Mode Configurations, Section 9.6.3.2.5, "The four ADC conversion flow control bits and Section 9.6.3.2.6, "Conversion flow control in case of conversion sequence control bit overrun scenarios MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 373 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.7 ADC Error Interrupt Enable Register (ADCEIE) Module Base + 0x0006 7 R W Reset 6 5 4 3 2 1 IA_EIE CMD_EIE EOL_EIE Reserved TRIG_EIE RSTAR_EIE LDOK_EIE 0 0 0 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 9-10. ADC Error Interrupt Enable Register (ADCEIE) Read: Anytime Write: Anytime Table 9-12. ADCEIE Field Descriptions Field 7 IA_EIE Description Illegal Access Error Interrupt Enable Bit -- This bit enables the illegal access error interrupt. 0 Illegal access error interrupt disabled. 1 Illegal access error interrupt enabled. 6 CMD_EIE Command Value Error Interrupt Enable Bit -- This bit enables the command value error interrupt. 0 Command value interrupt disabled. 1 Command value interrupt enabled. 5 EOL_EIE "End Of List" Error Interrupt Enable Bit -- This bit enables the "End Of List" error interrupt. 0 "End Of List" error interrupt disabled. 1 "End Of List" error interrupt enabled. 3 TRIG_EIE Conversion Sequence Trigger Error Interrupt Enable Bit -- This bit enables the conversion sequence trigger error interrupt. 0 Conversion sequence trigger error interrupt disabled. 1 Conversion sequence trigger error interrupt enabled. 2 Restart Request Error Interrupt Enable Bit-- This bit enables the restart request error interrupt. RSTAR_EIE 0 Restart Request error interrupt disabled. 1 Restart Request error interrupt enabled. 1 LDOK_EIE Load OK Error Interrupt Enable Bit -- This bit enables the Load OK error interrupt. 0 Load OK error interrupt disabled. 1 Load OK error interrupt enabled. MC9S12ZVM Family Reference Manual Rev. 2.2 374 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.8 ADC Interrupt Enable Register (ADCIE) Module Base + 0x0007 7 R W 6 5 SEQAD_IE CONIF_OIE Reserved 0 0 0 Reset 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 9-11. ADC Interrupt Enable Register (ADCIE) Read: Anytime Write: Anytime Table 9-13. ADCIE Field Descriptions Field Description 7 SEQAD_IE Conversion Sequence Abort Done Interrupt Enable Bit -- This bit enables the conversion sequence abort event done interrupt. 0 Conversion sequence abort event done interrupt disabled. 1 Conversion sequence abort event done interrupt enabled. 6 CONIF_OIE ADCCONIF Register Flags Overrun Interrupt Enable -- This bit enables the flag which indicates if an overrun situation occurred for one of the CON_IF[15:1] flags or for the EOL_IF flag. 0 No ADCCONIF Register Flag overrun occurred. 1 ADCCONIF Register Flag overrun occurred. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 375 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.9 ADC Error Interrupt Flag Register (ADCEIF) If one of the following error flags is set the ADC ceases operation: * IA_EIF * CMD_EIF * EOL_EIF * TRIG_EIF In order to make the ADC operational again an ADC Soft-Reset must be issued which clears above listed error interrupt flags. The error interrupt flags RSTAR_EIF and LDOK_EIF do not cause the ADC to cease operation. If set the ADC continues operation. Each of the two bits can be cleared by writing a value of 1'b1. Both bits are also cleared if an ADC Soft-Reset is issued. All bits are cleared if bit ADC_EN is clear. Writing any flag with value 1'b0 does not clear a flag. Writing any flag with value 1'b1 does not set the flag. Module Base + 0x0008 7 R W Reset 6 5 4 3 2 1 IA_EIF CMD_EIF EOL_EIF Reserved TRIG_EIF RSTAR_EIF LDOK_EIF 0 0 0 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 9-12. ADC Error Interrupt Flag Register (ADCEIF) Read: Anytime Write: * Bits RSTAR_EIF and LDOK_EIF are writable anytime * Bits IA_EIF, CMD_EIF, EOL_EIF and TRIG_EIF are not writable Table 9-14. ADCEIF Field Descriptions Field 7 IA_EIF Description Illegal Access Error Interrupt Flag -- This flag indicates that storing the conversion result caused an illegal access error or conversion command loading from outside system RAM or NVM area occurred. The ADC ceases operation if this error flag is set (issue of type severe). 0 No illegal access error occurred. 1 An illegal access error occurred. 6 CMD_EIF Command Value Error Interrupt Flag -- This flag indicates that an invalid command is loaded (Any command that contains reserved bit settings) or illegal format setting selected (reserved SRES[2:0] bit settings). The ADC ceases operation if this error flag is set (issue of type severe). 0 Valid conversion command loaded. 1 Invalid conversion command loaded. 5 EOL_EIF "End Of List" Error Interrupt Flag -- This flag indicates a missing "End Of List" command type in current executed CSL. The ADC ceases operation if this error flag is set (issue of type severe). 0 No "End Of List" error. 1 "End Of List" command type missing in current executed CSL. MC9S12ZVM Family Reference Manual Rev. 2.2 376 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Table 9-14. ADCEIF Field Descriptions (continued) Field Description 3 TRIG_EIF Trigger Error Interrupt Flag -- This flag indicates that a trigger error occurred. This flag is set in "Restart" Mode when a conversion sequence got aborted and no Restart Event occurred before the Trigger Event or if the Trigger Event occurred before the Restart Event was finished (conversion command has been loaded). This flag is set in "Trigger" Mode when a Trigger Event occurs before the Restart Event is issued to start conversion of the initial Command Sequence List. In "Trigger" Mode only a Restart Event is required to start conversion of the initial Command Sequence List. This flag is set when a Trigger Event occurs before a conversion sequence got finished. This flag is also set if a Trigger occurs while a Trigger Event is just processed - first conversion command of a sequence is beginning to sample (see also Section 9.6.3.2.6, "Conversion flow control in case of conversion sequence control bit overrun scenarios). This flag is also set if the Trigger Event occurs automatically generated by hardware in "Trigger Mode" due to a Restart Event and simultaneously a Trigger Event is generated via data bus or internal interface. The ADC ceases operation if this error flag is set (issue of type severe). 0 No trigger error occurred. 1 A trigger error occurred. 2 Restart Request Error Interrupt Flag-- This flag indicates a flow control issue. It is set when a Restart Request RSTAR_EIF occurs after a Trigger Event and before one of the following conditions was reached: - The "End Of List" command type has been executed - Depending on bit STR_SEQA if the "End Of List" command type is about to be executed - The current CSL has been aborted or is about to be aborted due to a Sequence Abort Request. The ADC continues operation if this error flag is set. This flag is not set for Restart Request overrun scenarios (see also Section 9.6.3.2.6, "Conversion flow control in case of conversion sequence control bit overrun scenarios). 0 No Restart request error situation occurred. 1 Restart request error situation occurred. 1 LDOK_EIF Load OK Error Interrupt Flag -- This flag can only be set in "Restart Mode". It indicates that a Restart Request occurred without LDOK. This flag is not set if a Sequence Abort Event is already in process (bit SEQA set) when the Restart Request occurs or a Sequence Abort Request occurs simultaneously with the Restart Request. The LDOK_EIF error flag is also not set in "Restart Mode" if the first Restart Event occurs after: - ADC got enabled - Exit from Stop Mode - ADC Soft-Reset - ADC used in CSL single buffer mode The ADC continues operation if this error flag is set. 0 No Load OK error situation occurred. 1 Load OK error situation occurred. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 377 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.10 ADC Interrupt Flag Register (ADCIF) After being set any of these bits can be cleared by writing a value of 1'b1 or via ADC soft-reset (bit ADC_SR). All bits are cleared if bit ADC_EN is clear. Writing any flag with value 1'b0 does not clear the flag. Writing any flag with value 1'b1 does not set the flag. Module Base + 0x0009 7 R W 6 5 SEQAD_IF CONIF_OIF Reserved 0 0 0 Reset 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 9-13. ADC Interrupt Flag Register (ADCIF) Read: Anytime Write: Anytime Table 9-15. ADCIF Field Descriptions Field Description 7 SEQAD_IF Conversion Sequence Abort Done Interrupt Flag -- This flag is set when the Sequence Abort Event has been executed except the Sequence Abort Event occurred by hardware in order to be able to enter MCU Stop Mode or Wait Mode with bit SWAI set.This flag is also not set if the Sequence Abort request occurs during execution of the last conversion command of a CSL and bit STR_SEQA being set. 0 No conversion sequence abort request occurred. 1 A conversion sequence abort request occurred. 6 CONIF_OIF ADCCONIF Register Flags Overrun Interrupt Flag -- This flag indicates if an overrun situation occurred for one of the CON_IF[15:1] flags or for the EOL_IF flag. In RVL single buffer mode (RVL_BMOD clear) an overrun of the EOL_IF flag is not indicated (For more information please see Note below). 0 No ADCCONIF Register Flag overrun occurred. 1 ADCCONIF Register Flag overrun occurred. NOTE In RVL double buffer mode a conversion interrupt flag (CON_IF[15:1]) or End Of List interrupt flag (EOL_IF) overrun is detected if one of these bits is set when it should be set again due to conversion command execution. In RVL single buffer mode a conversion interrupt flag (CON_IF[15:1]) overrun is detected only. The overrun is detected if any of the conversion interrupt flags (CON_IF[15:1]) is set while the first conversion result of a CSL is stored (result of first conversion from top of CSL is stored). MC9S12ZVM Family Reference Manual Rev. 2.2 378 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.11 ADC Conversion Interrupt Enable Register (ADCCONIE) Module Base + 0x000A 15 14 13 12 11 10 R 8 7 6 5 4 3 2 1 CON_IE[15:1] W Reset 9 0 0 0 0 0 0 0 0 0 0 EOL_IE 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 9-14. ADC Conversion Interrupt Enable Register (ADCCONIE) Read: Anytime Write: Anytime Table 9-16. ADCCONIE Field Descriptions Field 15-1 CON_IE[15:1] 0 EOL_IE Description Conversion Interrupt Enable Bits -- These bits enable the individual interrupts which can be triggered via interrupt flags CON_IF[15:1]. 0 ADC conversion interrupt disabled. 1 ADC conversion interrupt enabled. End Of List Interrupt Enable Bit -- This bit enables the end of conversion sequence list interrupt. 0 End of list interrupt disabled. 1 End of list interrupt enabled. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 379 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.12 ADC Conversion Interrupt Flag Register (ADCCONIF) After being set any of these bits can be cleared by writing a value of 1'b1. All bits are cleared if bit ADC_EN is clear or via ADC soft-reset (bit ADC_SR set). Writing any flag with value 1'b0 does not clear the flag. Writing any flag with value 1'b1 does not set the flag. Module Base + 0x000C 15 14 13 12 11 10 R 8 7 6 5 4 3 2 1 CON_IF[15:1] W Reset 9 0 0 0 0 0 0 0 0 0 0 EOL_IF 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 9-15. ADC Conversion Interrupt Flag Register (ADCCONIF) Read: Anytime Write: Anytime Table 9-17. ADCCONIF Field Descriptions Field Description 15-1 CON_IF[15:1] Conversion Interrupt Flags -- These bits could be set by the binary coded interrupt select bits INTFLG_SEL[3:0] when the corresponding conversion command has been processed and related data has been stored to RAM. See also notes below. 0 EOL_IF End Of List Interrupt Flag -- This bit is set by the binary coded conversion command type select bits CMD_SEL[1:0] for "end of list" type of commands and after such a command has been processed and the related data has been stored RAM. See also second note below NOTE These bits can be used to indicate if a certain packet of conversion results is available. Clearing a flag indicates that conversion results have been retrieved by software and the flag can be used again (see also Section 9.9.6, "RVL swapping in RVL double buffer mode and related registers ADCIMDRI and ADCEOLRI. NOTE Overrun situation of a flag CON_IF[15:1] and EOL_IF are indicated by flag CONIF_OIF. MC9S12ZVM Family Reference Manual Rev. 2.2 380 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.13 ADC Intermediate Result Information Register (ADCIMDRI) This register is cleared when bit ADC_SR is set or bit ADC_EN is clear. Module Base + 0x000E 15 14 R CSL_IMD RVL_IMD 13 12 11 10 9 8 7 6 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5 4 3 2 1 0 0 0 RIDX_IMD[5:0] W Reset 0 0 0 0 0 0 = Unimplemented or Reserved Figure 9-16. ADC Intermediate Result Information Register (ADCIMDRI) Read: Anytime Write: Never Table 9-18. ADCIMDRI Field Descriptions Field Description 15 CSL_IMD Active CSL At Intermediate Event -- This bit indicates the active (used) CSL at the occurrence of a conversion interrupt flag (CON_IF[15:1]) (occurrence of an intermediate result buffer fill event) or when a Sequence Abort Event gets executed. 0 CSL_0 active (used) when a conversion interrupt flag (CON_IF[15:1]) got set. 1 CSL_1 active (used) when a conversion interrupt flag (CON_IF[15:1]) got set. 14 RVL_IMD Active RVL At Intermediate Event -- This bit indicates the active (used) RVL buffer at the occurrence of a conversion interrupt flag (CON_IF[15:1]) (occurrence of an intermediate result buffer fill event) or when a Sequence Abort Event gets executed. 0 RVL_0 active (used) when a conversion interrupt flag (CON_IF[15:1]) got set. 1 RVL_1 active (used) when a conversion interrupt flag (CON_IF[15:1]) got set. 5-0 RES_IDX Value At Intermediate Event -- These bits indicate the result index (RES_IDX) value at the RIDX_IMD[5:0] occurrence of a conversion interrupt flag (CON_IF[15:1]) (occurrence of an intermediate result buffer fill event) or occurrence of EOL_IF flag or when a Sequence Abort Event gets executed to abort an ongoing conversion (the result index RES_IDX is captured at the occurrence of a result data store). When a Sequence Abort Event has been processed flag SEQAD_IF is set and the RES_IDX value of the last stored result is provided. Hence in case an ongoing conversion is aborted the RES_IDX value captured in RIDX_IMD bits depends on bit STORE_SEQA: - STORE_SEQA =1: The result index of the aborted conversion is provided - STORE_SEQA =0: The result index of the last stored result at abort execution time is provided In case a CSL is aborted while no conversion is ongoing (ADC waiting for a Trigger Event) the last captured result index is provided. In case a Sequence Abort Event was initiated by hardware due to MCU entering Stop Mode or Wait Mode with bit SWAI set, the result index of the last stored result is captured by bits RIDX_IMD but flag SEQAD_IF is not set. NOTE The register ADCIMDRI is updated and simultaneously a conversion interrupt flag CON_IF[15:1] occurs when the corresponding conversion command (conversion command with INTFLG_SEL[3:0] set) has been processed and related data has been stored to RAM. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 381 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.14 ADC End Of List Result Information Register (ADCEOLRI) This register is cleared when bit ADC_SR is set or bit ADC_EN is clear. Module Base + 0x0010 7 R 6 5 4 3 2 1 0 CSL_EOL RVL_EOL 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset = Unimplemented or Reserved Figure 9-17. ADC End Of List Result Information Register (ADCEOLRI) Read: Anytime Write: Never Table 9-19. ADCEOLRI Field Descriptions Field Description 7 CSL_EOL Active CSL When "End Of List" Command Type Executed -- This bit indicates the active (used) CSL when a "End Of List" command type has been executed and related data has been stored to RAM. 0 CSL_0 active when "End Of List" command type executed. 1 CSL_1 active when "End Of List" command type executed. 6 RVL_EOL Active RVL When "End Of List" Command Type Executed -- This bit indicates the active (used) RVL when a "End Of List" command type has been executed and related data has been stored to RAM. 0 RVL_0 active when "End Of List" command type executed. 1 RVL_1 active when "End Of List" command type executed. NOTE The conversion interrupt EOL_IF occurs and simultaneously the register ADCEOLRI is updated when the "End Of List" conversion command type has been processed and related data has been stored to RAM. MC9S12ZVM Family Reference Manual Rev. 2.2 382 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.15 ADC Command Register 0 (ADCCMD_0) Module Base + 0x0014 3 1 R CMD_SEL W R 29 28 0 0 0 27 0 0 26 25 24 INTFLG_SEL[3:0] OPT[1:0](1) CMD_SEL W Reset 30 INTFLG_SEL[3:0] 0 0 0 0 0 = Unimplemented or Reserved Figure 9-18. ADC Command Register 0 (ADCCMD_0) 1. Only available on ADC12B_LBA V2 and V3 (see Table 9-2 for details) Read: Anytime Write: Only writable if bit SMOD_ACC is set (see also Section 9.5.2.2, "ADC Control Register 1 (ADCCTL_1) bit SMOD_ACC description for more details) Table 9-20. ADCCMD_0 Field Descriptions Field Description 31-30 Conversion Command Select Bits -- These bits define the type of current conversion described in Table 9-21. CMD_SEL[1:0] ADC12B_LBA V2 and V3 (includes OPT[1:0]) 29-28 OPT[1:0] Option Bits -- These two option bits can be used to control a SoC level feature/function. These bits are used together with Option bits OPT[2:3]. Please refer to the device reference manual for details of the feature/functionality controlled by these bits 27-24 Conversion Interrupt Flag Select Bits -- These bits define which interrupt flag is set in the ADCIFH/L register INTFLG_SEL[3:0] at the end of current conversion.The interrupt flags ADCIF[15:1] are selected via binary coded bits INTFLG_SEL[3:0]. See also Table 9-22 NOTE If bit SMOD_ACC is set modifying this register must be done carefully only when no conversion and conversion sequence is ongoing. Table 9-21. Conversion Command Type Select CMD_SEL[1] CMD_SEL[0] Conversion Command Type Description 0 0 Normal Conversion 0 1 End Of Sequence (Wait for Trigger to execute next sequence or for a Restart) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 383 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Table 9-21. Conversion Command Type Select CMD_SEL[1] CMD_SEL[0] Conversion Command Type Description End Of List 1 0 (Automatic wrap to top of CSL and Continue Conversion) End Of List 1 1 (Wrap to top of CSL and: - In "Restart Mode" wait for Restart Event followed by a Trigger - In "Trigger Mode" wait for Trigger or Restart Event) MC9S12ZVM Family Reference Manual Rev. 2.2 384 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Table 9-22. Conversion Interrupt Flag Select CON_IF[15:1] INTFLG_SEL[3] INTFLG_SEL[2] INTFLG_SEL[1] INTFLG_SEL[0] Comment 0x0000 0 0 0 0 No flag set 0x0001 0 0 0 1 0x0002 0 0 1 0 0x0004 0 0 1 1 0x0008 0 1 0 0 0x0010 0 1 0 1 Only one flag can .... ... ... ... ... (one hot coding) 0x0800 1 1 0 0 0x1000 1 1 0 1 0x2000 1 1 1 0 0x4000 1 1 1 1 be set MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 385 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.16 ADC Command Register 1 (ADCCMD_1) A command which contains reserved bit settings causes the error flag CMD_EIF being set and ADC cease operation. Module Base + 0x0015 2 R W 3 22 VRH_SEL(1) VRL_SEL1. R W Reset 21 20 19 0 17 16 0 0 CH_SEL[5:0] VRH_SEL[1:0](2) 0 18 CH_SEL[5:0] 0 0 0 0 = Unimplemented or Reserved Figure 9-19. ADC Command Register 1 (ADCCMD_1) 1. Only available on ADC12B_LBA V1 and V2 (see Table 9-2 for details) 2. Only available on ADC12B_LBA V3 (see Table 9-2 for details) Read: Anytime Write: Only writable if bit SMOD_ACC is set (see also Section 9.5.2.2, "ADC Control Register 1 (ADCCTL_1) bit SMOD_ACC description for more details) Table 9-23. ADCCMD_1 Field Descriptions Field Description ADC12B_LBA V1 and V2 (includes VRH_SEL/VRL_SEL) 23 VRH_SEL Reference High Voltage Select Bit -- This bit selects the high voltage reference for current conversion. 0 VRH_0 input selected as high voltage reference. 1 VRH_1 input selected as high voltage reference. 22 VRL_SEL Reference Low Voltage Select Bit -- This bit selects the low voltage reference for current conversion. 0 VRL_0 input selected as low voltage reference. 1 VRL_1 input selected as low voltage reference. ADC12B_LBA V3 (includes VRH_SEL[1:0]) 23-22 VRH_SEL Reference High Voltage Select Bit -- These bits select the high voltage reference for current conversion. 00 VRH_0 input selected as high voltage reference 01 VRH_1 input selected as high voltage reference 10 VRH_2 input selected as high voltage reference 11 Reserved 21-16 ADC Input Channel Select Bits -- These bits select the input channel for the current conversion. See Table 9CH_SEL[5:0] 24 for channel coding information. NOTE If bit SMOD_ACC is set modifying this register must be done carefully only when no conversion and conversion sequence is ongoing. MC9S12ZVM Family Reference Manual Rev. 2.2 386 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Table 9-24. Analog Input Channel Select CH_SEL[5] CH_SEL[4] CH_SEL[3] CH_SEL[2] CH_SEL[1] CH_SEL[0] Analog Input Channel 0 0 0 0 0 0 VRL_0/1 V1, 2, ee Table ( V9-2)s VRL_0 (V3, see Table 9-2) 0 0 0 0 0 1 VRH_0/1 V1, 2, ee Table ( V9-2)s VRH_0/1/2 (V3, see Table 9-2) 0 0 0 0 1 0 (VRH_0/1 + VRL_0/1) / 2 (V1, V2, see Table 9-2) (VRH_0/1/2 + VRL_0) / 2 (V3, see Table 9-2) 0 0 0 0 1 1 Reserved 0 0 0 1 0 0 Reserved 0 0 0 1 0 1 Reserved 0 0 0 1 1 0 Reserved 0 0 0 1 1 1 Reserved 0 0 1 0 0 0 Internal_0 (ADC temperature sense) 0 0 1 0 0 1 Internal_1 0 0 1 0 1 0 Internal_2 0 0 1 0 1 1 Internal_3 0 0 1 1 0 0 Internal_4 0 0 1 1 0 1 Internal_5 0 0 1 1 1 0 Internal_6 0 0 1 1 1 1 Internal_7 0 1 0 0 0 0 AN0 0 1 0 0 0 1 AN1 0 1 0 0 1 0 AN2 0 1 0 0 1 1 AN3 0 1 0 1 0 0 AN4 0 1 x x x x ANx 1 x x x x x Reserved NOTE ANx in Table 9-24 is the maximum number of implemented analog input channels on the device. Please refer to the device overview of the reference manual for details regarding number of analog input channels. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 387 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.17 ADC Command Register 2 (ADCCMD_2) A command which contains reserved bit settings causes the error flag CMD_EIF being set and ADC cease operation. Module Base + 0x0016 1 5 14 13 R 11 SMP[4:0] W R 10 9 0 0 OPT[3:2](1) SMP[4:0] W Reset 12 0 0 0 0 0 0 8 Reserved Reserved 0 0 = Unimplemented or Reserved Figure 9-20. ADC Command Register 2 (ADCCMD_2) 1. Only available on ADC12B_LBA V2 and V3 (see Table 9-2 for details) Read: Anytime Write: Only writable if bit SMOD_ACC is set (see also Section 9.5.2.2, "ADC Control Register 1 (ADCCTL_1) bit SMOD_ACC description for more details) Table 9-25. ADCCMD_2 Field Descriptions Field Description 15-11 SMP[4:0] Sample Time Select Bits -- These four bits select the length of the sample time in units of ADC conversion clock cycles. Note that the ADC conversion clock period is itself a function of the prescaler value (bits PRS[6:0]). Table 9-26 lists the available sample time lengths. ADC12B_LBA V2 and V3 (includes OPT[3:2]) 10-9 OPT[3:2] Option Bits -- These two option bits can be used to control a SoC level feature/function. These bits are used together with Option bits OPT[1:0]. Please refer to the device reference manual for details of the feature/functionality controlled by these bits. NOTE If bit SMOD_ACC is set modifying this register must be done carefully only when no conversion and conversion sequence is ongoing. Table 9-26. Sample Time Select SMP[4] SMP[3] SMP[2] SMP[1] SMP[0] Sample Time in Number of ADC Clock Cycles 0 0 0 0 0 4 0 0 0 0 1 5 0 0 0 1 0 6 0 0 0 1 1 7 MC9S12ZVM Family Reference Manual Rev. 2.2 388 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Table 9-26. Sample Time Select SMP[4] SMP[3] SMP[2] SMP[1] SMP[0] Sample Time in Number of ADC Clock Cycles 0 0 1 0 0 8 0 0 1 0 1 9 0 0 1 1 0 10 0 0 1 1 1 11 0 1 0 0 0 12 0 1 0 0 1 13 0 1 0 1 0 14 0 1 0 1 1 15 0 1 1 0 0 16 0 1 1 0 1 17 0 1 1 1 0 18 0 1 1 1 1 19 1 0 0 0 0 20 1 0 0 0 1 21 1 0 0 1 0 22 1 0 0 1 1 23 1 0 1 0 0 24 1 0 1 0 1 Reserved 1 0 1 1 0 Reserved 1 0 1 1 1 Reserved 1 1 x x x Reserved MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 389 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.18 ADC Command Register 3 (ADCCMD_3) Module Base + 0x0017 7 R W Reset 6 Reserved Reserved 0 0 5 4 3 2 1 0 0 0 0 Reserved 0 0 0 = Unimplemented or Reserved Figure 9-21. ADC Command Register 3 (ADCCMD_3) MC9S12ZVM Family Reference Manual Rev. 2.2 390 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.19 ADC Command Index Register (ADCCIDX) It is important to note that these bits do not represent absolute addresses instead it is a sample index (object size 32bit). Module Base + 0x001C 7 R 6 0 5 4 0 3 2 1 0 0 0 CMD_IDX[5:0] W Reset 0 0 0 0 0 0 = Unimplemented or Reserved Figure 9-22. ADC Command Index Register (ADCCIDX) Read: Anytime Write: NA Table 9-27. ADCCIDX Field Descriptions Field 5-0 CMD_IDX [5:0] Description ADC Command Index Bits -- These bits represent the command index value for the conversion commands relative to the two CSL start addresses in the memory map. These bits do not represent absolute addresses instead it is a sample index (object size 32bit). See also Section 9.6.3.2.2, "Introduction of the two Command Sequence Lists (CSLs) for more details. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 391 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.20 ADC Command Base Pointer Register (ADCCBP) Module Base + 0x001D 2 3 22 21 R 19 18 17 16 CMD_PTR[23:16] W Reset 20 0 0 0 0 0 0 0 0 14 13 12 11 10 9 8 0 0 Module Base + 0x001E 1 5 R CMD_PTR[15:8] W Reset 0 0 0 0 0 0 5 4 3 2 Module Base + 0x001F 7 6 R CMD_PTR[7:2] W Reset 0 0 0 0 0 0 1 0 0 0 0 0 = Unimplemented or Reserved Figure 9-23. ADC Command Base Pointer Registers (ADCCBP_0, ADCCBP_1, ADCCBP_2)) Read: Anytime Write: Bits CMD_PTR[23:2] writable if bit ADC_EN clear or bit SMOD_ACC set Table 9-28. ADCCBP Field Descriptions Field Description 23-2 ADC Command Base Pointer Address -- These bits define the base address of the two CSL areas inside the CMD_PTR [23:2] system RAM or NVM of the memory map. They are us ed to calculate the final address from which the conversion commands will be loaded depending on which list is active. For more details see Section 9.6.3.2.2, "Introduction of the two Command Sequence Lists (CSLs). MC9S12ZVM Family Reference Manual Rev. 2.2 392 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.21 ADC Result Index Register (ADCRIDX) It is important to note that these bits do not represent absolute addresses instead it is a sample index (object size 16bit). Module Base + 0x0020 7 R 6 0 5 4 0 3 2 1 0 0 0 RES_IDX[5:0] W Reset 0 0 0 0 0 0 = Unimplemented or Reserved Figure 9-24. ADC Result Index Register (ADCRIDX) Read: Anytime Write: NA Table 9-29. ADCRIDX Field Descriptions Field Description 5-0 RES_IDX[5:0] ADC Result Index Bits -- These read only bits represent the index value for the conversion results relative to the two RVL start addresses in the memory map. These bits do not represent absolute addresses instead it is a sample index (object size 16bit). See also Section 9.6.3.2.3, "Introduction of the two Result Value Lists (RVLs) for more details. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 393 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.22 ADC Result Base Pointer Register (ADCRBP) Module Base + 0x0021 2 R 3 22 21 20 19 0 0 0 0 17 16 0 0 0 0 0 0 0 0 14 13 12 11 10 9 8 0 0 RES_PTR[19:16] W Reset 18 Module Base + 0x0022 1 5 R RES_PTR[15:8] W Reset 0 0 0 0 0 0 5 4 3 2 Module Base + 0x0023 7 6 R RES_PTR[7:2] W Reset 0 0 0 0 0 0 1 0 0 0 0 0 = Unimplemented or Reserved Figure 9-25. ADC Result Base Pointer Registers (ADCRBP_0, ADCRBP_1, ADCRBP_2)) Read: Anytime Write: Bits RES_PTR[19:2] writeable if bit ADC_EN clear or bit SMOD_ACC set Table 9-30. ADCRBP Field Descriptions Field Description 19-2 ADC Result Base Pointer Address -- These bits define the base address of the list areas inside the system RES_PTR[19:2] RAM of the memory map to which conversion results will be stored to at the end of a conversion. These bits can only be written if bit ADC_EN is clear. See also Section 9.6.3.2.3, "Introduction of the two Result Value Lists (RVLs). MC9S12ZVM Family Reference Manual Rev. 2.2 394 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.23 ADC Command and Result Offset Register 0 (ADCCROFF0) Module Base + 0x0024 7 R 6 5 4 0 3 2 1 0 0 0 0 CMDRES_OFF0[6:0] W Reset 0 0 0 0 0 = Unimplemented or Reserved Figure 9-26. ADC Command and Result Offset Register 0 (ADCCROFF0) Read: Anytime Write: NA Table 9-31. ADCCROFF0 Field Descriptions Field Description 6-0 ADC Command and Result Offset Value -- These read only bits represent the conversion command and result CMDRES_OFF0 offset value relative to the conversion command base pointer address and result base pointer address in the [6:0] memory map to refer to CSL_0 and RVL_0. It is used to calculate the address inside the system RAM to which the result at the end of the current conversion is stored to and the area (RAM or NVM) from which the conversion commands are loaded from. This is a zero offset (null offset) which can not be modified. These bits do not represent absolute addresses instead it is a sample offset (object size 16bit for RVL, object size 32bit for CSL). See also Section 9.6.3.2.2, "Introduction of the two Command Sequence Lists (CSLs) and Section 9.6.3.2.3, "Introduction of the two Result Value Lists (RVLs) for more details. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 395 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.5.2.24 ADC Command and Result Offset Register 1 (ADCCROFF1) It is important to note that these bits do not represent absolute addresses instead it is an sample offset (object size 16bit for RVL, object size 32bit for CSL). Module Base + 0x0025 7 R 6 5 4 0 0 2 1 0 0 0 0 CMDRES_OFF1[6:0] W Reset 3 0 0 0 0 = Unimplemented or Reserved Figure 9-27. ADC Command and Result Offset Register 1 (ADCCROFF1) Read: Anytime Write: These bits are writable if bit ADC_EN clear or bit SMOD_ACC set Table 9-32. ADCCROFF1 Field Descriptions Field Description 6-0 ADC Result Address Offset Value -- These bits represent the conversion command and result offset value CMDRES_OFF1 relative to the conversion command base pointer address and result base pointer address in the memory map [6:0] to refer to CSL_1 and RVL_1. It is used to calculate the address inside the system RAM to which the result at the end of the current conversion is stored to and the area (RAM or NVM) from which the conversion commands are loaded from. These bits do not represent absolute addresses instead it is an sample offset (object size 16bit for RVL, object size 32bit for CSL).,These bits can only be modified if bit ADC_EN is clear. See also Section 9.6.3.2.2, "Introduction of the two Command Sequence Lists (CSLs) and Section 9.6.3.2.3, "Introduction of the two Result Value Lists (RVLs) for more details. MC9S12ZVM Family Reference Manual Rev. 2.2 396 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.6 Functional Description 9.6.1 Overview The ADC12B_LBA consists of an analog sub-block and a digital sub-block. It is a successive approximation analog-to-digital converter including a sample-and-hold mechanism and an internal charge scaled C-DAC (switched capacitor scaled digital-to-analog converter) with a comparator to realize the successive approximation algorithm. 9.6.2 Analog Sub-Block The analog sub-block contains all analog circuits (sample and hold, C-DAC, analog Comparator, and so on) required to perform a single conversion. Separate power supplies VDDA and VSSA allow noise from the MCU circuitry to be isolated from the analog sub-block for improved accuracy. 9.6.2.1 Analog Input Multiplexer The analog input multiplexers connect one of the external or internal analog input channels to the sample and hold storage node. 9.6.2.2 Sample and Hold Machine with Sample Buffer Amplifier The Sample and Hold Machine controls the storage and charge of the storage node (sample capacitor) to the voltage level of the analog signal at the selected ADC input channel. This architecture employs the advantage of reduced crosstalk between channels. The sample buffer amplifier is used to raise the effective input impedance of the A/D machine, so that external components (higher bandwidth or higher impedance connected as specified) are less significant to accuracy degradation. During the sample phase, the analog input connects first via a sample buffer amplifier with the storage node always for two ADC clock cycles ("Buffer" sample time). For the remaining sample time ("Final" sample time) the storage node is directly connected to the analog input source. Please see also Figure 9-28 for illustration and the Appendix of the device reference manual for more details. The input analog signals are unipolar and must be within the potential range of VSSA to VDDA. During the hold process, the analog input is disconnected from the storage node. 1 2 3 Total Sample Time (N = SMP[4:0]) "Buffer" Sample Time (2 cycles) 4 5 6 7 8 9 10 11 12 13 14 SAR Sequence (Resolution Dependent Length: SRES[2:0]) "Final" Sample Time (N - 2 cycles) Sample CAP hold phase ADC_CLK Figure 9-28. Sampling and Conversion Timing Example (8-bit Resolution, 4 Cycle Sampling) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 397 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Please note that there is always a pump phase of two ADC_CLK cycles before the sample phase begins, hence glitches during the pump phase could impact the conversion accuracy for short sample times. 9.6.3 Digital Sub-Block The digital sub-block contains a list-based programmer's model and the control logic for the analog subblock circuits. 9.6.3.1 Analog-to-Digital (A/D) Machine The A/D machine performs the analog-to-digital conversion. The resolution is program selectable to be either 8- or 10- or 12 bits. The A/D machine uses a successive approximation architecture. It functions by comparing the sampled and stored analog voltage with a series of binary coded discrete voltages. By following a binary search algorithm, the A/D machine identifies the discrete voltage that is nearest to the sampled and stored voltage. Only analog input signals within the potential range of VRL_0/1 to VRH_0/1/3 (availability of VRL_1 and VRH_2 see Table 9-2) (A/D reference potentials) will result in a non-railed digital output code. 9.6.3.2 Introduction of the Programmer's Model The ADC_LBA provides a programmer's model that uses a system memory list-based architecture for definition of the conversion command sequence and conversion result handling. The Command Sequence List (CSL) and Result Value List (RVL) are implemented in double buffered manner and the buffer mode is user selectable for each list (bits CSL_BMOD, RVL_BMOD). The 32-bit wide conversion command is double buffered and the currently active command is visible in the ADC register map at ADCCMD register space. MC9S12ZVM Family Reference Manual Rev. 2.2 398 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.6.3.2.1 Introduction of The Command Sequence List (CSL) Format A Command Sequence List (CSL) contains up to 64 conversion commands. A user selectable number of successive conversion commands in the CSL can be grouped as a command sequence. This sequence of conversion commands is successively executed by the ADC at the occurrence of a Trigger Event. The commands of a sequence are successively executed until an "End Of Sequence" or "End Of List" command type identifier in a command is detected (command type is coded via bits CMD_SEL[1:0]). The number of successive conversion commands that belong to a command sequence and the number of command sequences inside the CSL can be freely defined by the user and is limited by the 64 conversion commands a CSL can contain. A CSL must contain at least one conversion command and one "end of list" command type identifier. The minimum number of command sequences inside a CSL is zero and the maximum number of command sequences is 63. A command sequence is defined with bits CMD_SEL[1:0] in the register ADCCMD_M by defining the end of a conversion sequence. The Figure 929 and Figure 9-30 provides examples of a CSL. CSL_0/1 Waiting for trigger to proceed Waiting for trigger to proceed Command_1 normal conversion Command_2 normal conversion Command_3 normal conversion Command_4 normal conversion Command_5 normal conversion Command_6 normal conversion Command_7 End Of Sequence Command_8 normal conversion Command_9 Waiting for trigger to proceed Wait for RSTA or LDOK+RSTA Command Coding Information normal conversion Command_10 End Of Sequence Command_11 normal conversion Command_12 normal conversion Command_13 End Of List } } } done by bits Sequence_1 Sequence_2 Sequence_3 CMD_SEL[1:0] 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 1 Figure 9-29. Example CSL with sequences and an "End Of List" command type identifier MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 399 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Initial trigger only CSL_0 Command coding information Command_1 normal conversion 0 0 Command_2 normal conversion 0 0 Command_3 normal conversion 0 0 Command_4 normal conversion 0 0 Command_5 normal conversion 0 0 Command_6 normal conversion 0 0 Command_7 normal conversion 0 0 Command_8 normal conversion 0 0 Command_9 normal conversion 0 0 Command_10 normal conversion 0 0 Command_11 normal conversion 0 0 Command_12 normal conversion 0 0 1 0 Command_13 done by bits End Of List, wrap to top, continue continuous conversion CMD_SEL[1:0] Figure 9-30. Example CSL for continues conversion MC9S12ZVM Family Reference Manual Rev. 2.2 400 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.6.3.2.2 Introduction of the two Command Sequence Lists (CSLs) The two Command Sequence Lists (CSLs) can be referred to via the Command Base Pointer Register plus the Command and Result Offset Registers plus the Command Index Register (ADCCBP, ADCCROFF_0/1, ADCCIDX). The final address for conversion command loading is calculated by the sum of these registers (e.g.: ADCCBP+ADCCROFF_0+ADCCIDX or ADCCBP+ADCCROFF_1+ADCCIDX). Bit CSL_BMOD selects if the CSL is used in double buffer or single buffer mode. In double buffer mode, the CSL can be swapped by flow control bits LDOK and RSTA. For detailed information about when and how the CSL is swapped, please refer to Section 9.6.3.2.5, "The four ADC conversion flow control bits description of Restart Event + CSL Swap, Section 9.9.7.1, "Initial Start of a Command Sequence List and Section 9.9.7.3, "Restart CSL execution with new/other CSL (alternative CSL becomes active CSL) -- CSL swapping Which list is actively used for ADC command loading is indicated by bit CSL_SEL. The register to define the CSL start addresses (ADCCBP) can be set to any even location of the system RAM or NVM area. It is the user's responsibility to make sure that the different ADC lists do not overlap or exceed the system RAM or the NVM area, respectively. The error flag IA_EIF will be set for accesses to ranges outside system RAM area and cause an error interrupt if enabled. Scenario with: CSL_SEL = 1'b0 0x00_0000 RAM or NVM start address ADCCBP+(ADCCROFF_0) ADCCBP+(ADCCROFF_0+ ADCCIDX(max)) ADCCBP+(ADCCROFF_1) ADCCBP+(ADCCROFF_1+ ADCCIDX(max)) RAM or NVM end address Memory Map Register Space RAM or NVM Space CSL_0 (active) CSL_1 (alternative) Scenario with: CSL_SEL = 1'b1 0x00_0000 RAM / NVM start address ADCCBP+(ADCCROFF_0) ADCCBP+(ADCCROFF_0+ ADCCIDX(max)) ADCCBP+(ADCCROFF_1) ADCCMDP+(ADCCROFF_1+ ADCCIDX(max)) Memory Map Register Space RAM or NVM Space CSL_0 (alternative) CSL_1 (active) RAM or NVM end address Note: Address register names in () are not absolute addresses instead they are a sample offset or sample index Figure 9-31. Command Sequence List Schema in Double Buffer Mode MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 401 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) CSL_SEL = 1'b0 (forced by CSL_BMOD) 0x00_0000 RAM or NVM start address ADCCBP+(ADCCROFF_0) ADCCBP+(ADCCROFF_0+ ADCCIDX(max)) Memory Map Register Space RAM or NVM Space CSL_0 (active) RAM or NVM end address Note: Address register names in () are not absolute addresses instead they are a sample offset or sample index Figure 9-32. Command Sequence List Schema in Single Buffer Mode While the ADC is enabled, one CSL is active (indicated by bit CSL_SEL) and the corresponding list should not be modified anymore. At the same time the alternative CSL can be modified to prepare the ADC for new conversion sequences in CSL double buffered mode. When the ADC is enabled, the command address registers (ADCCBP, ADCCROFF_0/2, ADCCIDX) are read only and register ADCCIDX is under control of the ADC. MC9S12ZVM Family Reference Manual Rev. 2.2 402 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.6.3.2.3 Introduction of the two Result Value Lists (RVLs) The same list-based architecture as described above for the CSL has been implemented for the Result Value List (RVL) with corresponding address registers (ADCRBP, ADCCROFF_0/1, ADCRIDX). The final address for conversion result storage is calculated by the sum of these registers (e.g.: ADCRBP+ADCCROFF_0+ADCRIDX or ADCRBP+ADCCROFF_1+ADCRIDX). The RVL_BMOD bit selects if the RVL is used in double buffer or single buffer mode. In double buffer mode the RVL is swapped: * Each time an "End Of List" command type got executed followed by the first conversion from top of the next CSL and related (first) result is about to be stored * A CSL got aborted (bit SEQA=1'b1) and ADC enters idle state (becomes ready for new flow control events) Using the RVL in double buffer mode the RVL is not swapped after exit from Stop Mode or Wait Mode with bit SWAI set. Hence the RVL used before entry of Stop or Wait Mode with bit SWAI set is overwritten after exit from the MCU Operating Mode (see also Section 9.3.1.2, "MCU Operating Modes). Which list is actively used for the ADC conversion result storage is indicated by bit RVL_SEL. The register to define the RVL start addresses (ADCRBP) can be set to any even location of the system RAM area. It is the user's responsibility to make sure that the different ADC lists do not overlap or exceed the system RAM area. The error flag IA_EIF will be set for accesses to ranges outside system RAM area and cause an error interrupt if enabled. Scenario with: RVL_SEL = 1'b0 0x00_0000 RAM start address ADCRBP+(ADCCROFF_0) ADCRBP+(ADCCROFF_0+ ADCRIDX(max)) ADCRBP+(ADCCROFF_1) ADCRBP+(ADCCROFF_1+ ADCRIDX(max)) RAM end address Memory Map Register Space RAM Space RVL_0 (active) RVL_1 (alternative) Scenario with: RVL_SEL = 1'b1 0x00_0000 RAM start address ADCRBP+(ADCCROFF_0) ADCRBP+(ADCCROFF_0+ ADCRIDX(max)) ADCRBP+(ADCCROFF_1) ADCRBP+(ADCCROFF_1+ ADCRIDX(max)) Memory Map Register Space RAM Space RVL_0 (alternative) RVL_1 (active) RAM end address Note: Address register names in () are not absolute addresses instead they are a sample offset or sample index Figure 9-33. Result Value List Schema in Double Buffer Mode MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 403 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) RVL_SEL = 1'b0 (forced by bit RVL_BMOD) Memory Map 0x00_0000 Register Space RAM start address RAM Space ADCRBP+(ADCCROFF_0) RVL_0 (active) ADCRBP+(ADCCROFF_0+ ADCRIDX(max)) RAM end address Note: Address register names in () are not absolute addresses instead they are a sample offset or sample index Figure 9-34. Result Value List Schema in Single Buffer Mode While ADC is enabled, one Result Value List is active (indicated by bit RVL_SEL). The conversion Result Value List can be read anytime. When the ADC is enabled the conversion result address registers (ADCRBP, ADCCROFF_0/1, ADCRIDX) are read only and register ADCRIDX is under control of the ADC. A conversion result is always stored as 16bit entity in unsigned data representation. Left and right justification inside the entity is selected via the DJM control bit. Unused bits inside an entity are stored zero. Table 9-33. Conversion Result Justification Overview Conversion Resolution Left Justified Result Right Justified Result (SRES[1:0]) (DJM = 1'b0) (DJM = 1'b1) 8 bit {Result[7:0],8'b00000000} {8'b00000000,Result[7:0]} 10 bit {Result[9:0],6'b000000} {6'b000000,Result[9:0]} 12 bit {Result[11:0],4'b0000} {4'b0000,Result[11:0]} MC9S12ZVM Family Reference Manual Rev. 2.2 404 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.6.3.2.4 The two conversion flow control Mode Configurations The ADC provides two modes ("Trigger Mode" and "Restart Mode") which are different in the conversion control flow. The "Restart Mode" provides precise timing control about the sample start point but is more complex from the flow control perspective, while the "Trigger Mode" is more simple from flow control point of view but is less controllable regarding conversion sample start. Following are the key differences: In "Trigger Mode" configuration, when conversion flow control bit RSTA gets set the bit TRIG gets set automatically. Hence in "Trigger Mode" the applications should not set the bit TRIG and bit RSTA simultaneously (via data bus or internal interface), because it is a flow control failure and the ADC will cease operation. In "Trigger Mode" configuration, after the execution of the initial Restart Event the current CSL can be executed and controlled via Trigger Events only. Hence, if the "End Of List" command is reached a restart of conversion flow from top of current CSL does not require to set bit RSTA because returning to the top of current CSL is done automatically. Therefore the current CSL can be executed again after the "End Of List" command type is executed by a Trigger Event only. In "Restart Mode" configuration, the execution of a CSL is controlled via Trigger Events and Restart Events. After execution of the "End Of List" command the conversion flow must be continued by a Restart Event followed by a Trigger Event and the Trigger Event must not occur before the Restart Event has finished. For more details and examples regarding flow control and application use cases please see following section and Section 9.9.7, "Conversion flow control application information. 9.6.3.2.5 The four ADC conversion flow control bits There are four bits to control conversion flow (execution of a CSL and CSL exchange in double buffer mode). Each bit is controllable via the data bus and internal interface depending on the setting of ACC_CFG[1:0] bits (see also Figure 9-2). In the following the conversion control event to control the conversion flow is given with the related internal interface signal and corresponding register bit name together with information regarding: -- Function of the conversion control event -- How to request the event -- When is the event finished -- Mandatory requirements to executed the event A summary of all event combinations is provided by Table 9-11. * Trigger Event Internal Interface Signal: Trigger Corresponding Bit Name: TRIG MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 405 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) - Function: Start the first conversion of a conversion sequence which is defined in the active Command Sequence List - Requested by: - Positive edge of internal interface signal Trigger - Write Access via data bus to set control bit TRIG - When finished: This bit is cleared by the ADC when the first conversion of the sequence is beginning to sample - Mandatory Requirements: - In all ADC conversion flow control modes bit TRIG is only set (Trigger Event executed) if the Trigger Event occurs while no conversion or conversion sequence is ongoing (ADC idle) - In ADC conversion flow control mode "Restart Mode" with a Restart Event in progress it is not allowed that a Trigger Event occurs before the background command load phase has finished (Restart Event has been executed) else the error flag TRIG_EIF is set - In ADC conversion flow control mode "Trigger Mode" a Restart Event causes bit TRIG being set automatically. Bit TRIG is set when no conversion or conversion sequence is ongoing (ADC idle) and the RVL done condition is reached by one of the following: * A "End Of List" command type has been executed * A Sequence Abort Event is in progress or has been executed The ADC executes the Restart Event followed by the Trigger Event. - In ADC conversion flow control mode "Trigger Mode" a Restart Event and a simultaneous Trigger Event via internal interface or data bus causes the TRIG_EIF bit being set and ADC cease operation. * Restart Event (with current active CSL) Internal Interface Signal: Restart Corresponding Bit Name: RSTA - Function: - Go to top of active CSL (clear index register for CSL) - Load one background command register and wait for Trigger (CSL offset register is not switched independent of bit CSL_BMOD) - Set error flag RSTA_EIF when a Restart Request occurs before one of the following conditions was reached: * The "End Of List" command type has been executed * Depending on bit STR_SEQA if the "End Of List" command type is about to be executed * The current CSL has been aborted or is about to be aborted due to a Sequence Abort Request. - Requested by: - Positive edge of internal interface signal Restart - Write Access via data bus to set control bit RSTA MC9S12ZVM Family Reference Manual Rev. 2.2 406 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) - When finished: This bit is cleared when the first conversion command of the sequence from top of active Sequence Command List is loaded - Mandatory Requirement: - In all ADC conversion flow control modes a Restart Event causes bit RSTA to be set. Bit SEQA is set simultaneously by ADC hardware if: * ADC not idle (a conversion or conversion sequence is ongoing and current CSL not finished) and no Sequence Abort Event in progress (bit SEQA not already set or set simultaneously via internal interface or data bus) * ADC idle but RVL done condition not reached The RVL done condition is reached by one of the following: * A "End Of List" command type has been executed * A Sequence Abort Event is in progress or has been executed (bit SEQA already set or set simultaneously via internal interface or data bus) The ADC executes the Sequence Abort Event followed by the Restart Event for the conditions described before or only a Restart Event. - In ADC conversion flow control mode "Trigger Mode" a Restart Event causes bit TRIG being set automatically. Bit TRIG is set when no conversion or conversion sequence is ongoing (ADC idle) and the RVL done condition is reached by one of the following: * A "End Of List" command type has been executed * A Sequence Abort Event is in progress or has been executed The ADC executes the Restart Event followed by the Trigger Event. - In ADC conversion flow control mode "Trigger Mode" a Restart Event and a simultaneous Trigger Event via internal interface or data bus causes the TRIG_EIF bit being set and ADC cease operation. * Restart Event + CSL Exchange (Swap) Internal Interface Signals: Restart + LoadOK Corresponding Bit Names: RSTA + LDOK - Function: Go to top of active CSL (clear index register for CSL) and switch to other offset register for address calculation if configured for double buffer mode (exchange the CSL list) Requested by: - Internal interface with the assertion of Interface Signal Restart the interface Signal LoadOK is evaluated and bit LDOK is set accordingly (bit LDOK set if Interface Signal LoadOK asserted when Interface Signal Restart asserts). - Write Access via data bus to set control bit RSTA simultaneously with bit LDOK. - When finished: Bit LDOK can only be cleared if it was set as described before and both bits (LDOK, RSTA) are cleared when the first conversion command from top of active Sequence Command List is loaded - Mandatory Requirement: No ongoing conversion or conversion sequence Details if using the internal interface: MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 407 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) If signal Restart is asserted before signal LoadOK is set the conversion starts from top of currently active CSL at the next Trigger Event (no exchange of CSL list). If signal Restart is asserted after or simultaneously with signal LoadOK the conversion starts from top of the other CSL at the next Trigger Event (CSL is switched) if CSL is configured for double buffer mode. * Sequence Abort Event Internal Interface Signal: Seq_Abort Corresponding Bit Name: SEQA - Function: Abort any possible ongoing conversion at next conversion boundary and abort current conversion sequence and active CSL - Requested by: - Positive edge of internal interface signal Seq_Abort - Write Access via data bus to set control bit SEQA - When finished: This bit gets cleared when an ongoing conversion is finished and the result is stored and/or an ongoing conversion sequence is aborted and current active CSL is aborted (ADC idle, RVL done) - Mandatory Requirement: - In all ADC conversion flow control modes bit SEQA can only be set if: * ADC not idle (a conversion or conversion sequence is ongoing) * ADC idle but RVL done condition not reached The RVL done condition is not reached if: * An "End Of List" command type has not been executed * A Sequence Abort Event has not been executed (bit SEQA not already set) - In all ADC conversion flow control modes a Sequence Abort Event can be issued at any time - In ADC conversion flow control mode "Restart Mode" after a conversion sequence abort request has been executed it is mandatory to set bit RSTA. If a Trigger Event occurs before a Restart Event is executed (bit RSTA set and cleared by hardware), bit TRIG is set, error flag TRIG_EIF is set, and the ADC can only be continued by a Soft-Reset. After the Restart Event the ADC accepts new Trigger Events (bit TRIG set) and begins conversion from top of the currently active CSL. - In ADC conversion flow control mode "Restart Mode" after a Sequence Abort Event has been executed, a Restart Event causes only the RSTA bit being set. The ADC executes a Restart Event only. - In both conversion flow control modes ("Restart Mode" and "Trigger Mode") when conversion flow control bit RSTA gets set automatically bit SEQA gets set when the ADC has not reached one of the following scenarios: * An "End Of List" command type has been executed or is about to be executed * A Sequence Abort request is about to be executed or has been executed. In case bit SEQA is set automatically the Restart error flag RSTA_EIF is set to indicate an unexpected Restart Request. MC9S12ZVM Family Reference Manual Rev. 2.2 408 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.6.3.2.6 Conversion flow control in case of conversion sequence control bit overrun scenarios Restart Request Overrun: If a legal Restart Request is detected and no Restart Event is in progress, the RSTA bit is set due to the request. The set RSTA bit indicates that a Restart Request was detected and the Restart Event is in process. In case further Restart Requests occur while the RSTA bit is set, this is defined a overrun situation. This scenario is likely to occur when bit STR_SEQA is set or when a Restart Event causes a Sequence Abort Event. The request overrun is captured in a background register that always stores the last detected overrun request. Hence if the overrun situation occurs more than once while a Restart Event is in progress, only the latest overrun request is pending. When the RSTA bit is cleared, the latest overrun request is processed and RSTA is set again one cycle later. LoadOK Overrun: Simultaneously at any Restart Request overrun situation the LoadOK input is evaluated and the status is captured in a background register which is alternated anytime a Restart Request Overrun occurs while Load OK Request is asserted. The Load OK background register is cleared as soon as the pending Restart Request gets processed. Trigger Overrun: If a Trigger occurs whilst bit TRIG is already set, this is defined as a Trigger overrun situation and causes the ADC to cease conversion at the next conversion boundary and to set bit TRIG_EIF. A overrun is also detected if the Trigger Event occurs automatically generated by hardware in "Trigger Mode" due to a Restart Event and simultaneously a Trigger Event is generated via data bus or internal interface. In this case the ADC ceases operation before conversion begins to sample. In "Trigger Mode" a Restart Request Overrun does not cause a Trigger Overrun (bit TRIG_EIF not set). Sequence Abort Request Overrun: If a Sequence Abort Request occurs whilst bit SEQA is already set, this is defined as a Sequence Abort Request Overrun situation and the overrun request is ignored. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 409 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.6.3.3 ADC List Usage and Conversion/Conversion Sequence Flow Description It is the user's responsibility to make sure that the different lists do not overlap or exceed the system RAM area respectively the CSL does not exceed the NVM area if located in the NVM. The error flag IA_EIF will be set for accesses done outside the system RAM area and will cause an error interrupt if enabled for lists that are located in the system RAM. Generic flow for ADC register load at conversion sequence start/restart: * It is mandatory that the ADC is idle (no ongoing conversion or conversion sequence). * It is mandatory to have at least one CSL with valid entries. See also Section 9.9.7.2, "Restart CSL execution with currently active CSL or Section 9.9.7.3, "Restart CSL execution with new/other CSL (alternative CSL becomes active CSL) -- CSL swapping for more details on possible scenarios. * A Restart Event occurs, which causes the index registers to be cleared (register ADCCIDX and ADCRIDX are cleared) and to point to the top of the corresponding lists (top of active RVL and CSL). * Load conversion command to background conversion command register 1. * The control bit(s) RSTA (and LDOK if set) are cleared. * Wait for Trigger Event to start conversion. Generic flow for ADC register load during conversion: * The index registers ADCCIDX is incremented. * The inactive background command register is loaded with a new conversion command. Generic flow for ADC result storage at end of conversion: * Index register ADCRIDX is incremented and the conversion result is stored in system RAM. As soon as the result is successfully stored, any conversion interrupt flags are set accordingly. * At the conversion boundary the other background command register becomes active and visible in the ADC register map. * If the last executed conversion command was of type "End Of Sequence", the ADC waits for the Trigger Event. * If the last executed conversion command was of type "End Of List" and the ADC is configured in "Restart Mode", the ADC sets all related flags and stays idle awaiting a Restart Event to continue. * If the last executed conversion command was of type "End Of List" and the ADC is configured in "Trigger Mode", the ADC sets all related flags and automatically returns to top of current CSL and is awaiting a Trigger Event to continue. * If the last executed conversion command was of type "Normal Conversion" the ADC continues command execution in the order of the current CSL (continues conversion). MC9S12ZVM Family Reference Manual Rev. 2.2 410 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.7 Resets At reset the ADC12B_LBA is disabled and in a power down state. The reset state of each individual bit is listed within Section 9.5.2, "Register Descriptions" which details the registers and their bit-fields. 9.8 Interrupts The ADC supports three types of interrupts: * Conversion Interrupt * Sequence Abort Interrupt * Error and Conversion Flow Control Issue Interrupt Each of the interrupt types is associated with individual interrupt enable bits and interrupt flags. 9.8.1 ADC Conversion Interrupt The ADC provides one conversion interrupt associated to 16 interrupt enable bits with dedicated interrupt flags. The 16 interrupt flags consist of: * 15 conversion interrupt flags which can be associated to any conversion completion. * One additional interrupt flag which is fixed to the "End Of List" conversion command type within the active CSL. The association of the conversion number with the interrupt flag number is done in the conversion command. 9.8.2 ADC Sequence Abort Done Interrupt The ADC provides one sequence abort done interrupt associated with the sequence abort request for conversion flow control. Hence, there is only one dedicated interrupt flag and interrupt enable bit for conversion sequence abort and it occurs when the sequence abort is done. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 411 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.8.3 ADC Error and Conversion Flow Control Issue Interrupt The ADC provides one error interrupt for four error classes related to conversion interrupt overflow, command validness, DMA access status and Conversion Flow Control issues, and CSL failure. The following error interrupt flags belong to the group of severe issues which cause an error interrupt if enabled and cease ADC operation: * * * * IA_EIF CMD_EIF EOL_EIF TRIG_EIF In order to make the ADC operational again, an ADC Soft-Reset must be issued which clears the above listed error interrupt flags. NOTE It is important to note that if flag DBECC_ERR is set, the ADC ceases operation as well, but does not cause an ADC error interrupt. Instead, a machine exception is issued. In order to make the ADC operational again an ADC Soft-Reset must be issued. Remaining error interrupt flags cause an error interrupt if enabled, but ADC continues operation. The related interrupt flags are: * RSTAR_EIF * LDOK_EIF * CONIF_OIF MC9S12ZVM Family Reference Manual Rev. 2.2 412 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.9 9.9.1 Use Cases and Application Information List Usage -- CSL single buffer mode and RVL single buffer mode In this use case both list types are configured for single buffer mode (CSL_BMOD=1'b0 and RVL_BMOD=1'b0, CSL_SEL and RVL_SEL are forced to 1'b0). The index register for the CSL and RVL are cleared to start from the top of the list with next conversion command and result storage in the following cases: * The conversion flow reaches the command containing the "End-of-List" command type identifier * A Restart Request occurs at a sequence boundary * After an aborted conversion or conversion sequence CSL_0 RVL_0 CSL_1 (unused) RVL_1 (unused) Figure 9-35. CSL Single Buffer Mode -- RVL Single Buffer Mode Diagram 9.9.2 List Usage -- CSL single buffer mode and RVL double buffer mode In this use case the CSL is configured for single buffer mode (CSL_BMOD=1'b0) and the RVL is configured for double buffer mode (RVL_BMOD=1'b1). In this buffer configuration only the result list RVL is switched when the first conversion result of a CSL is stored after a CSL was successfully finished or a CSL got aborted. CSL_0 RVL_0 CSL_1 (unused) RVL_1 Figure 9-36. CSL Single Buffer Mode -- RVL Single Buffer Mode Diagram The last entirely filled RVL (an RVL where the corresponding CSL has been executed including the "End Of List " command type) is shown by register ADCEOLRI. The CSL is used in single buffer mode and bit CSL_SEL is forced to 1'b0. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 413 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.9.3 List Usage -- CSL double buffer mode and RVL double buffer mode In this use case both list types are configured for double buffer mode (CSL_BMOD=1'b1 and RVL_BMOD=1'b1) and whenever a Command Sequence List (CSL) is finished or aborted the command Sequence List is swapped by the simultaneous assertion of bits LDOK and RSTA. CSL_0 RVL_0 CSL_1 RVL_1 Figure 9-37. CSL Double Buffer Mode -- RVL Double Buffer Mode Diagram This use case can be used if the channel order or CSL length varies very frequently in an application. 9.9.4 List Usage -- CSL double buffer mode and RVL single buffer mode In this use case the CSL is configured for double buffer mode (CSL_BMOD=1'b1) and the RVL is configured for single buffer mode (RVL_BMOD=1'b0). The two command lists can be different sizes and the allocated result list memory area in the RAM must be able to hold as many entries as the larger of the two command lists. Each time when the end of a Command Sequence List is reached, if bits LDOK and RSTA are set, the commands list is swapped. CSL_0 RVL_0 CSL_1 RVL_1 (unused) Figure 9-38. CSL Double Buffer Mode -- RVL Single Buffer Mode Diagram MC9S12ZVM Family Reference Manual Rev. 2.2 414 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.9.5 List Usage -- CSL double buffer mode and RVL double buffer mode In this use case both list types are configured for double buffer mode (CSL_BMOD=1'b1) and RVL_BMOD=1'b1). This setup is the same as Section 9.9.3, "List Usage -- CSL double buffer mode and RVL double buffer mode but at the end of a CSL the CSL is not always swapped (bit LDOK not always set with bit RSTA). The Result Value List is swapped whenever a CSL is finished or a CSL got aborted. CSL_0 RVL_0 CSL_1 RVL_1 Figure 9-39. CSL Double Buffer Mode -- RVL Double Buffer Mode Diagram 9.9.6 RVL swapping in RVL double buffer mode and related registers ADCIMDRI and ADCEOLRI When using the RVL in double buffer mode, the registers ADCIMDRI and ADCEOLRI can be used by the application software to identify which RVL holds relevant and latest data and which CSL is related to this data. These registers are updated at the setting of one of the CON_IF[15:1] or the EOL_IF interrupt flags. As described in the register description Section 9.5.2.13, "ADC Intermediate Result Information Register (ADCIMDRI) and Section 9.5.2.14, "ADC End Of List Result Information Register (ADCEOLRI), the register ADCIMDRI, for instance, is always updated at the occurrence of a CON_IF[15:1] interrupt flag amongst other cases. Also each time the last conversion command of a CSL is finished and the corresponding result is stored, the related EOL_IF flag is set and register ADCEOLRI is updated. Hence application software can pick up conversion results, or groups of results, or an entire result list driven fully by interrupts. A use case example diagram is shown in Figure 9-40. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 415 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Stop Mode request while conversion ongoing and before EOL Initial Restart Event CSL Buffer CSL_0 CSL_1 INT_1 EOL CSL_0 INT_2 EOL CSL_0 Stop Mode entry tdelay INT_1 return to execute from top of CSL RVL swap due to EOL followed by first result of next CSL to store RVL_0 RVL Buffer Wake-up Event with AUT_RSTA= 1'b1 RVL_0 RVL_1 bits not valid until first EOL RVL values before Stop Mode entry are overwritten bits are valid RVL_EOL 1'b0 1'b1 CSL_EOL 1'b0 1'b1 EOL_IF 1'b1 set by hardware bits not valid until first INT no RVL swap 1'b1 cleared by software before next EOL should be cleared by software before Stop Mode entry bits are valid RVL_IMD 1'b0 1'b1 1'b0 CSL_IMD 1'b0 1'b1 1'b0 RIDX_IMD[5:0] CON_IF[15:1] 0x00 0x05 0x0000 0x0001 0x0A 0x0000 0x08 0x0B 0x0010 0x05 0x0001 Flag should be cleared by software before it is set again t Comments: EOL: INT_x: tdelay: "End Of List" command type processed One of the CON_IF interrupt flags occurs Delay can vary depending on the DMA performance, and ADC configuration (conversion flow using the Trigger to proceed through the CSL) Figure 9-40. RVL Swapping -- Use Case Diagram MC9S12ZVM Family Reference Manual Rev. 2.2 416 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.9.7 Conversion flow control application information The ADC12B_LBA provides various conversion control scenarios to the user accomplished by the following features. The ADC conversion flow control can be realized via the data bus only, the internal interface only, or by both access methods. The method used is software configurable via bits ACC_CFG[1:0]. The conversion flow is controlled via the four conversion flow control bits: SEQA, TRIG, RSTA, and LDOK. Two different conversion flow control modes can be configured: Trigger Mode or Restart Mode Single or double buffer configuration of CSL and RVL. 9.9.7.1 Initial Start of a Command Sequence List At the initial start of a Command Sequence List after device reset all entries for at least one of the two CSL must have been completed and data must be valid. Depending on if the CSL_0 or the CSL_1 should be executed at the initial start of a Command Sequence List the following conversion control sequence must be applied: If CSL_0 should be executed at the initial conversion start after device reset: A Restart Event and a Trigger Event must occur (depending to the selected conversion flow control mode the events must occur one after the other or simultaneously) which causes the ADC to start conversion with commands loaded from CSL_0. If CSL_1 should be executed at the initial conversion start after device reset: Bit LDOK must be set simultaneously with the Restart Event followed by a Trigger Event (depending on the selected conversion flow control mode the Trigger events must occur simultaneously or after the Restart Event is finished). As soon as the Trigger Event gets executed the ADC starts conversion with commands loaded from CSL_1. As soon as a new valid Restart Event occurs the flow for ADC register load at conversion sequence start as described in Section 9.6.3.3, "ADC List Usage and Conversion/Conversion Sequence Flow Description applies. 9.9.7.2 Restart CSL execution with currently active CSL To restart a Command Sequence List execution it is mandatory that the ADC is idle (no conversion or conversion sequence is ongoing). If necessary, a possible ongoing conversion sequence can be aborted by the Sequence Abort Event (setting bit SEQA). As soon as bit SEQA is cleared by the ADC, the current conversion sequence has been aborted and the ADC is idle (no conversion sequence or conversion ongoing). After a conversion sequence abort is executed it is mandatory to request a Restart Event (bit RSTA set). After the Restart Event is finished (bit RSTA is cleared), the ADC accepts a new Trigger Event (bit TRIG can be set) and begins conversion from the top of the currently active CSL. In conversion flow control MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 417 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) mode "Trigger Mode" only a Restart Event is necessary if ADC is idle to restart Conversion Sequence List execution (the Trigger Event occurs automatically). It is possible to set bit RSTA and SEQA simultaneously, causing a Sequence Abort Event followed by a Restart Event. In this case the error flags behave differently depending on the selected conversion flow control mode: * Setting both flow control bits simultaneously in conversion flow control mode "Restart Mode" prevents the error flags RSTA_EIF and LDOK_EIF from occurring. * Setting both flow control bits simultaneously in conversion flow control mode "Trigger Mode" prevents the error flag RSTA_EIF from occurring. If only a Restart Event occurs while ADC is not idle and bit SEQA is not set already (Sequence Abort Event in progress) a Sequence Abort Event is issued automatically and bit RSTAR_EIF is set. Please see also the detailed conversion flow control bit mandatory requirements and execution information for bit RSTA and SEQA described in Section 9.6.3.2.5, "The four ADC conversion flow control bits. 9.9.7.3 Restart CSL execution with new/other CSL (alternative CSL becomes active CSL) -- CSL swapping After all alternative conversion command list entries are finished the bit LDOK can be set simultaneously with the next Restart Event to swap command buffers. To start conversion command list execution it is mandatory that the ADC is idle (no conversion or conversion sequence is ongoing). If necessary, a possible ongoing conversion sequence can be aborted by the Sequence Abort Event (setting bit SEQA). As soon as bit SEQA is cleared by the ADC, the current conversion sequence has been aborted and the ADC is idle (no conversion sequence or conversion ongoing). After a conversion sequence abort is executed it is mandatory to request a Restart Event (bit RSTA set) and simultaneously set bit LDOK to swap the CSL buffer. After the Restart Event is finished (bit RSTA and LDOK are cleared), the ADC accepts a new Trigger Event (bit TRIG can be set) and begins conversion from the top of the newly selected CSL buffer. In conversion flow control mode "Trigger Mode" only a Restart Event (simultaneously with bit LDOK being set) is necessary to restart conversion command list execution with the newly selected CSL buffer (the Trigger Event occurs automatically). It is possible to set bits RSTA, LDOK and SEQA simultaneously, causing a Sequence Abort Event followed by a Restart Event. In this case the error flags behave differently depending on the selected conversion flow control mode: * Setting these three flow control bits simultaneously in "Restart Mode" prevents the error flags RSTA_EIF and LDOK_EIF from occurring. * Setting these three flow control bits simultaneously in "Trigger Mode" prevents the error flag RSTA_EIF from occurring. If only a Restart Event occurs while ADC is not idle and bit SEQA is not set already (Sequence Abort Event in progress) a Sequence Abort Event is issued automatically and bit RSTAR_EIF is set. MC9S12ZVM Family Reference Manual Rev. 2.2 418 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) Please see also the detailed conversion flow control bit mandatory requirements and execution information for bit RSTA and SEQA described in Section 9.6.3.2.5, "The four ADC conversion flow control bits. 9.9.8 Continuous Conversion Applications that only need to continuously convert a list of channels, without the need for timing control or the ability to perform different sequences of conversions (grouped number of different channels to convert) can make use of the following simple setup: * "Trigger Mode" configuration * Single buffer CSL * Depending on data transfer rate either use single or double buffer RVL configuration * Define a list of conversion commands which only contains the "End Of List" command with automatic wrap to top of CSL After finishing the configuration and enabling the ADC an initial Restart Event is sufficient to launch the continuous conversion until next device reset or low power mode. In case a Low Power Mode is used: If bit AUT_RSTA is set before Low Power Mode is entered the conversion continues automatically as soon as a low power mode (Stop Mode or Wait Mode with bit SWAI set) is exited. Initial Restart Event Wake-up Stop Mode request, Automatic Sequence Abort Event with AUT_RSTA Event AN3 AN1 AN4 IN5 AN3 AN1 AN4 IN5 AN3 AN1 EOL EOL AN3 AN1 AN4 Stop Mode entry Abort CSL_0 Active Idle Idle Active t Figure 9-41. Conversion Flow Control Diagram -- Continuous Conversion (with Stop Mode) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 419 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.9.9 Triggered Conversion -- Single CSL Applications that require the conversion of one or more groups of different channels in a periodic and timed manner can make use of a configuration in "Trigger Mode" with a single CSL containing a list of sequences. This means the CSL consists of several sequences each separated by an "End of Sequence" command. The last command of the CSL uses the "End Of List" command with wrap to top of CSL and waiting for a Trigger (CMD_SEL[1:0] =2'b11). Hence after the initial Restart Event each sequence can be launched via a Trigger Event and repetition of the CSL can be launched via a Trigger after execution of the "End Of List" command. Initial Restart Event Trigger AN3 AN1 AN4 IN5 Trigger Trigger AN2 AN0 AN4 IN3 AN6 AN1 IN1 Sequence_1 Sequence_2 Sequence_0 EOS EOS Repetition of CSL_0 AN3 AN1 AN4 Sequence_0 EOL Active CSL_0 t Figure 9-42. Conversion Flow Control Diagram -- Triggered Conversion (CSL Repetition) initial Restart Event Trigger Stop Mode request, Automatic Sequence Abort Event Trigger AN3 AN1 AN4 IN5 AN21AN0 AN4 IN3 Sequence_1 Sequence_0 EOS Wake-up Event with AUT_RSTA Trigger AN3 AN1 AN4 AN5 AN2 AN0 AN6 AN1 Sequence_2 EOS Begin from top of current CSL Sequence_1 Sequence_0 Stop Mode entry EOS Abort CSL_0 Active Idle Idle Active t Figure 9-43. Conversion Flow Control Diagram -- Triggered Conversion (with Stop Mode) In case a Low Power Mode is used: If bit AUT_RSTA is set before Low Power Mode is entered, the conversion continues automatically as soon as a low power mode (Stop Mode or Wait Mode with bit SWAI set) is exited. MC9S12ZVM Family Reference Manual Rev. 2.2 420 Freescale Semiconductor Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) 9.9.10 Fully Timing Controlled Conversion As described previously, in "Trigger Mode" a Restart Event automatically causes a trigger. To have full and precise timing control of the beginning of any conversion/sequence the "Restart Mode" is available. In "Restart Mode" a Restart Event does not cause a Trigger automatically; instead, the Trigger must be issued separately and with correct timing, which means the Trigger is not allowed before the Restart Event (conversion command loading) is finished (bit RSTA=1'b0 again). The time required from Trigger until sampling phase starts is given (refer to Section 9.5.2.6, "ADC Conversion Flow Control Register (ADCFLWCTL), Timing considerations) and hence timing is fully controllable by the application. Additionally, if a Trigger occurs before a Restart Event is finished, this causes the TRIG_EIF flag being set. This allows detection of false flow control sequences. any Restart Event Trigger Trigger Stop Mode request, Automatic Sequence Abort Event Trigger AN3 AN1 AN4 IN5 AN21AN0 AN4 IN3 Sequence_1 Sequence_0 EOS CSL_0 AN6 AN1 Sequence_2 EOS conversion command load phase Wake-up Event with AUT_RSTA Begin from top of current CSL Trigger AN3 AN1 AN4 AN5 AN2 AN0 Sequence_1 Sequence_0 Stop Mode entry EOS Abort Active Idle Idle Active t Figure 9-44. Conversion Flow Control Diagram -- Fully Timing Controlled Conversion (with Stop Mode) Unlike the Stop Mode entry shown in Figure 9-43 and Figure 9-44 it is recommended to issue the Stop Mode at sequence boundaries (when ADC is idle and no conversion/conversion sequence is ongoing). Any of the Conversion flow control application use cases described above (Continuous, Triggered, or Fully Timing Controlled Conversion) can be used with CSL single buffer mode or with CSL double buffer mode. If using CSL double buffer mode, CSL swapping is performed by issuing a Restart Event with bit LDOK set. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 421 Chapter 9 Analog-to-Digital Converter (ADC12B_LBA) MC9S12ZVM Family Reference Manual Rev. 2.2 422 Freescale Semiconductor Chapter 10 Supply Voltage Sensor - (BATSV3) Table 10-1. Revision History Table Rev. No. (Item No.) Data Sections Affected Substantial Change(s) V01.00 15 Dec 2010 all Initial Version V02.00 16 Mar 2011 10.3.2.1 10.4.2.1 - added BVLS[1] to support four voltage level - moved BVHS to register bit 6 V03.00 26 Apr 2011 all - removed Vsense V03.10 04 Oct 2011 10.4.2.1 and 10.4.2.2 - removed BSESE 10.1 Introduction The BATS module provides the functionality to measure the voltage of the chip supply pin VSUP. 10.1.1 Features The VSUP pin can be routed via an internal divider to the internal Analog to Digital Converter. Independent of the routing to the Analog to Digital Converter, it is possible to route this voltage to a comparator to generate a low or a high voltage interrupt to alert the MCU. 10.1.2 Modes of Operation The BATS module behaves as follows in the system power modes: 1. Run mode The activation of the VSUP Level Sense Enable (BSUSE=1) or ADC connection Enable (BSUAE=1) closes the path from VSUP pin through the resistor chain to ground and enables the associated features if selected. 2. Stop mode During stop mode operation the path from the VSUP pin through the resistor chain to ground is opened and the low and high voltage sense features are disabled. The content of the configuration register is unchanged. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 423 Chapter 10 Supply Voltage Sensor - (BATSV3) 10.1.3 Block Diagram Figure 10-1 shows a block diagram of the BATS module. See device guide for connectivity to ADC channel. Figure 10-1. BATS Block Diagram ... VSUP BVLC BVLS[1:0] BVHS BVHC Comparator BSUSE 1 to ADC BSUAE 1 automatically closed if BSUSE and/or BSUAE is active, open during Stop mode 10.2 External Signal Description This section lists the name and description of all external ports. 10.2.1 VSUP -- Voltage Supply Pin This pin is the chip supply. It can be internally connected for voltage measurement. The voltage present at this input is scaled down by an internal voltage divider, and can be routed to the internal ADC or to a comparator. MC9S12ZVM Family Reference Manual Rev. 2.2 424 Freescale Semiconductor Chapter 10 Supply Voltage Sensor - (BATSV3) 10.3 Memory Map and Register Definition This section provides the detailed information of all registers for the BATS module. 10.3.1 Register Summary Figure 10-2 shows the summary of all implemented registers inside the BATS module. NOTE Register Address = Module Base Address + Address Offset, where the Module Base Address is defined at the MCU level and the Address Offset is defined at the module level. Address Offset Register Name 0x0000 BATE Bit R 0 W 0x0001 BATSR R 67 5 BVHS 4 BVLS[1:0] 3 2 BSUAE BSUSE 1 Bit 0 0 0 BVHC BVLC BVHIE BVLIE BVHIF BVLIF 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved W 0x0002 BATIE R W 0x0003 BATIF R W 0x0004 - 0x0005 Reserved 0x0006 - 0x0007 Reserved R W R W = Unimplemented Figure 10-2. BATS Register Summary 10.3.2 Register Descriptions This section consists of register descriptions in address order. Each description includes a standard register diagram with an associated figure number. Details of register bit and field function follow the register diagrams, in bit order. Unused bits read back zero. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 425 Chapter 10 Supply Voltage Sensor - (BATSV3) 10.3.2.1 BATS Module Enable Register (BATE) Access: User read/write(1) Module Base + 0x0000 7 R 0 W Reset 0 6 5 BVHS 4 BVLS[1:0] 0 0 0 3 2 BSUAE BSUSE 0 0 1 0 0 0 0 0 = Unimplemented Figure 10-3. BATS Module Enable Register (BATE) 1. Read: Anytime Write: Anytime Table 10-2. BATE Field Description Field 6 BVHS Description BATS Voltage High Select -- This bit selects the trigger level for the Voltage Level High Condition (BVHC). 0 Voltage level VHBI1 is selected 1 Voltage level VHBI2 is selected 5:4 BATS Voltage Low Select -- This bit selects the trigger level for the Voltage Level Low Condition (BVLC). BVLS[1:0] 00 Voltage level VLBI1 is selected 01 Voltage level VLBI2 is selected 10 Voltage level VLBI3 is selected 11 Voltage level VLBI4 is selected 3 BSUAE BATS VSUP ADC Connection Enable -- This bit connects the VSUP pin through the resistor chain to ground and connects the ADC channel to the divided down voltage. 0 ADC Channel is disconnected 1 ADC Channel is connected 2 BSUSE BATS VSUP Level Sense Enable -- This bit connects the VSUP pin through the resistor chain to ground and enables the Voltage Level Sense features measuring BVLC and BVHC. 0 Level Sense features disabled 1 Level Sense features enabled NOTE When opening the resistors path to ground by changing BSUSE or BSUAE then for a time TEN_UNC + two bus cycles the measured value is invalid. This is to let internal nodes be charged to correct value. BVHIE, BVLIE might be cleared for this time period to avoid false interrupts. MC9S12ZVM Family Reference Manual Rev. 2.2 426 Freescale Semiconductor Chapter 10 Supply Voltage Sensor - (BATSV3) 10.3.2.2 BATS Module Status Register (BATSR) Access: User read only(1) Module Base + 0x0001 R 7 6 5 4 3 2 1 0 0 0 0 0 0 0 BVHC BVLC 0 0 0 0 0 0 0 0 W Reset = Unimplemented Figure 10-4. BATS Module Status Register (BATSR) 1. Read: Anytime Write: Never Table 10-3. BATSR - Register Field Descriptions Field Description 1 BVHC BATS Voltage Sense High Condition Bit -- This status bit indicates that a high voltage at VSUP, depending on selection, is present. 0 Vmeasured VHBI_A (rising edge) or Vmeasured VHBI_D (falling edge) 1 Vmeasured VHBI_A (rising edge) or Vmeasured VHBI_D (falling edge) 0 BVLC BATS Voltage Sense Low Condition Bit -- This status bit indicates that a low voltage at VSUP, depending on selection, is present. 0 Vmeasured VLBI_A (falling edge) or Vmeasured VLBI_D (rising edge) 1 Vmeasured VLBI_A (falling edge) or Vmeasured VLBI_D (rising edge) Figure 10-5. BATS Voltage Sensing V VHBI_A VHBI_D VLBI_D VLBI_A t MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 427 Chapter 10 Supply Voltage Sensor - (BATSV3) 10.3.2.3 BATS Interrupt Enable Register (BATIE) Access: User read/write(1) Module Base + 0x0002 R 7 6 5 4 3 2 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 1 0 BVHIE BVLIE 0 0 = Unimplemented Figure 10-6. BATS Interrupt Enable Register (BATIE) 1. Read: Anytime Write: Anytime Table 10-4. BATIE Register Field Descriptions Field Description 1 BVHIE BATS Interrupt Enable High -- Enables High Voltage Interrupt . 0 BVLIE BATS Interrupt Enable Low -- Enables Low Voltage Interrupt . 10.3.2.4 0 No interrupt will be requested whenever BVHIF flag is set . 1 Interrupt will be requested whenever BVHIF flag is set 0 No interrupt will be requested whenever BVLIF flag is set . 1 Interrupt will be requested whenever BVLIF flag is set . BATS Interrupt Flag Register (BATIF) Access: User read/write(1) Module Base + 0x0003 R 7 6 5 4 3 2 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 1 0 BVHIF BVLIF 0 0 = Unimplemented Figure 10-7. BATS Interrupt Flag Register (BATIF) 1. Read: Anytime Write: Anytime, write 1 to clear MC9S12ZVM Family Reference Manual Rev. 2.2 428 Freescale Semiconductor Chapter 10 Supply Voltage Sensor - (BATSV3) Table 10-5. BATIF Register Field Descriptions Field Description 1 BVHIF BATS Interrupt Flag High Detect -- The flag is set to 1 when BVHC status bit changes. 0 BVLIF BATS Interrupt Flag Low Detect -- The flag is set to 1 when BVLC status bit changes. 0 No change of the BVHC status bit since the last clearing of the flag. 1 BVHC status bit has changed since the last clearing of the flag. 0 No change of the BVLC status bit since the last clearing of the flag. 1 BVLC status bit has changed since the last clearing of the flag. 10.3.2.5 Reserved Register Access: User read/write(1) Module Base + 0x0006 Module Base + 0x0007 R W Reset 7 6 5 4 3 2 1 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved x x x x x x x x Figure 10-8. Reserved Register 1. Read: Anytime Write: Only in special mode NOTE These reserved registers are designed for factory test purposes only and are not intended for general user access. Writing to these registers when in special mode can alter the module's functionality. 10.4 10.4.1 Functional Description General The BATS module allows measuring the voltage on the VSUP pin. The voltage at the VSUP pin can be routed via an internal voltage divider to an internal Analog to Digital Converter Channel. Also the BATS module can be configured to generate a low and high voltage interrupt based on VSUP. The trigger level of the high and low interrupt are selectable. 10.4.2 Interrupts This section describes the interrupt generated by the BATS module. The interrupt is only available in CPU run mode. Entering and exiting CPU stop mode has no effect on the interrupt flags. To make sure the interrupt generation works properly the bus clock frequency must be higher than the Voltage Warning Low Pass Filter frequency (fVWLP_filter). MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 429 Chapter 10 Supply Voltage Sensor - (BATSV3) The comparator outputs BVLC and BVHC are forced to zero if the comparator is disabled (configuration bit BSUSE is cleared). If the software disables the comparator during a high or low Voltage condition (BVHC or BVLC active), then an additional interrupt is generated. To avoid this behavior the software must disable the interrupt generation before disabling the comparator. The BATS interrupt vector is named in Table 10-6. Vector addresses and interrupt priorities are defined at MCU level. The module internal interrupt sources are combined into one module interrupt signal. Table 10-6. BATS Interrupt Sources Module Interrupt Source Module Internal Interrupt Source Local Enable BATS Interrupt (BATI) BATS Voltage Low Condition Interrupt (BVLI) BVLIE = 1 BATS Voltage High Condition Interrupt (BVHI) BVHIE = 1 10.4.2.1 BATS Voltage Low Condition Interrupt (BVLI) To use the Voltage Low Interrupt the Level Sensing must be enabled (BSUSE =1). If measured when a) VLBI1 selected with BVLS[1:0] = 0x0 Vmeasure VLBI1_A (falling edge) or Vmeasure VLBI1_D (rising edge) or when b) VLBI2 selected with BVLS[1:0] = 0x1 at pin VSUP Vmeasure VLBI2_A (falling edge) or Vmeasure VLBI2_D (rising edge) or when c) VLBI3 selected with BVLS[1:0] = 0x2 Vmeasure VLBI3_A (falling edge) or Vmeasure VLBI3_D (rising edge) or when d) VLBI4 selected with BVLS[1:0] = 0x3 Vmeasure VLBI4_A (falling edge) or Vmeasure VLBI4_D (rising edge) then BVLC is set. BVLC status bit indicates that a low voltage at pin VSUP is present. The Low Voltage Interrupt flag (BVLIF) is set to 1 when the Voltage Low Condition (BVLC) changes state . The Interrupt flag BVLIF can only be cleared by writing a 1. If the interrupt is enabled by bit BVLIE the module requests an interrupt to MCU (BATI). 10.4.2.2 BATS Voltage High Condition Interrupt (BVHI) To use the Voltage High Interrupt the Level Sensing must be enabled (BSUSE=1). MC9S12ZVM Family Reference Manual Rev. 2.2 430 Freescale Semiconductor Chapter 10 Supply Voltage Sensor - (BATSV3) If measured when a) VHBI1 selected with BVHS = 0 Vmeasure VHBI1_A (rising edge) or Vmeasure VHBI1_D (falling edge) or when a) VHBI2 selected with BVHS = 1 Vmeasure VHBI2_A (rising edge) or Vmeasure VHBI2_D (falling edge) then BVHC is set. BVHC status bit indicates that a high voltage at pin VSUP is present. The High Voltage Interrupt flag (BVHIF) is set to 1 when a Voltage High Condition (BVHC) changes state. The Interrupt flag BVHIF can only be cleared by writing a 1. If the interrupt is enabled by bit BVHIE the module requests an interrupt to MCU (BATI). MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 431 Chapter 10 Supply Voltage Sensor - (BATSV3) MC9S12ZVM Family Reference Manual Rev. 2.2 432 Freescale Semiconductor Chapter 11 Timer Module (TIM16B4CV3) Block Description Table 11-1. Revision History V03.03 11.1 Jan,14,2013 -single source generate different channel guide Introduction The basic scalable timer consists of a 16-bit, software-programmable counter driven by a flexible programmable prescaler. This timer can be used for many purposes, including input waveform measurements while simultaneously generating an output waveform. This timer could contain up to 4 input capture/output compare channels . The input capture function is used to detect a selected transition edge and record the time. The output compare function is used for generating output signals or for timer software delays. A full access for the counter registers or the input capture/output compare registers should take place in one clock cycle. Accessing high byte and low byte separately for all of these registers may not yield the same result as accessing them in one word. 11.1.1 Features The TIM16B4CV3 includes these distinctive features: * Up to 4 channels available. (refer to device specification for exact number) * All channels have same input capture/output compare functionality. * Clock prescaling. * 16-bit counter. 11.1.2 Modes of Operation Stop: Timer is off because clocks are stopped. Freeze: Timer counter keeps on running, unless TSFRZ in TSCR1 is set to 1. Wait: Counters keeps on running, unless TSWAI in TSCR1 is set to 1. Normal: Timer counter keep on running, unless TEN in TSCR1 is cleared to 0. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 433 Chapter 11 Timer Module (TIM16B4CV3) Block Description 11.1.3 Block Diagrams Prescaler Bus clock Timer overflow interrupt Channel 0 Input capture Output compare 16-bit Counter Timer channel 0 interrupt Timer channel 1 interrupt Channel 1 Input capture Output compare Channel 2 Input capture Output compare Registers Channel 3 Input capture Output compare Timer channel 2 interrupt IOC0 IOC1 IOC2 IOC3 Timer channel 3 interrupt Figure 11-1. TIM16B4CV3 Block Diagram 16-bit Main Timer IOCn Edge detector Set CnF Interrupt TCn Input Capture Reg. Figure 11-2. Interrupt Flag Setting 11.2 External Signal Description The TIM16B4CV3 module has a selected number of external pins. Refer to device specification for exact number. MC9S12ZVM Family Reference Manual Rev. 2.2 434 Freescale Semiconductor Chapter 11 Timer Module (TIM16B4CV3) Block Description 11.2.1 IOC3 - IOC0 -- Input Capture and Output Compare Channel 3-0 Those pins serve as input capture or output compare for TIM16B4CV3 channel . NOTE For the description of interrupts see Section 11.6, "Interrupts". 11.3 Memory Map and Register Definition This section provides a detailed description of all memory and registers. 11.3.1 Module Memory Map The memory map for the TIM16B4CV3 module is given below in Figure 11-3. The address listed for each register is the address offset. The total address for each register is the sum of the base address for the TIM16B4CV3 module and the address offset for each register. 11.3.2 Register Descriptions This section consists of register descriptions in address order. Each description includes a standard register diagram with an associated figure number. Details of register bit and field function follow the register diagrams, in bit order. Only bits related to implemented channels are valid. Register Name 0x0000 TIOS 0x0001 CFORC 0x0004 TCNTH 0x0005 TCNTL 0x0006 TSCR1 0x0007 TTOV 0x0008 TCTL1 0x0009 TCTL2 0x000A TCTL3 0x000B TCTL4 Bit R RESERV ED W R 0 W RESERV ED R TCNT15 W R TCNT7 W R TEN W R RESERV ED W R RESERV ED W R OM3 W R RESERV ED W R EDG3B W 7 6 5 4 3 2 1 Bit IOS3 IOS2 IOS1 IOS0 0 0 0 0 FOC3 FOC2 FOC1 FOC0 RESERV ED RESERV ED RESERV ED 0 RESERV ED 0 RESERV ED 0 RESERV ED TCNT14 TCNT13 TCNT12 TCNT11 TCNT10 TCNT9 TCNT8 TCNT6 TCNT5 TCNT4 TCNT3 TCNT2 TCNT1 TCNT0 TSWAI TSFRZ TFFCA PRNT 0 0 0 RESERV ED RESERV ED RESERV ED TOV3 TOV2 TOV1 TOV0 RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED OL3 OM2 OL2 OM1 OL1 OM0 OL0 RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED EDG3A EDG2B EDG2A EDG1B EDG1A EDG0B EDG0A 0 Figure 11-3. TIM16B4CV3 Register Summary (Sheet 1 of 2) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 435 Chapter 11 Timer Module (TIM16B4CV3) Block Description Register Name Bit 0x000C TIE 7 R RESERV ED W R TOI W R RESERV ED W R TOF W R Bit 15 W 0x000D TSCR2 0x000E TFLG1 0x000F TFLG2 0x0010-0x001F TCxH-TCxL(1) R Bit 7 W R W R RESERV ED W R 0x0024-0x002B Reserved 0x002C OCPD 0x002D Reserved 0x002E PTPSR R W R W 0x002F Reserved PTPS7 6 5 4 3 2 1 Bit 0 C3I C2I C1I C0I RESERV ED PR2 PR1 PR0 RESERV ED RESERV ED RESERV ED 0 0 0 RESERV ED RESERV ED RESERV ED C3F C2F C1F C0F 0 0 0 0 0 0 0 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 6 it Bit 3 it B 5 it 4 B B 2 it B 1 it 0 RESERV ED RESERV ED RESERV ED OCPD3 OCPD2 OCPD1 OCPD0 PTPS6 PTPS5 PTPS4 PTPS3 PTPS2 PTPS1 PTPS0 B Figure 11-3. TIM16B4CV3 Register Summary (Sheet 2 of 2) 1. The register is available only if corresponding channel exists. 11.3.2.1 Timer Input Capture/Output Compare Select (TIOS) Module Base + 0x0000 7 R W Reset 6 5 4 RESERVED RESERVED RESERVED RESERVED 0 0 0 0 3 2 1 0 IOS3 IOS2 IOS1 IOS0 0 0 0 0 Figure 11-4. Timer Input Capture/Output Compare Select (TIOS) Read: Anytime Write: Anytime MC9S12ZVM Family Reference Manual Rev. 2.2 436 Freescale Semiconductor Chapter 11 Timer Module (TIM16B4CV3) Block Description Table 11-2. TIOS Field Descriptions Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero. Field 3:0 IOS[3:0] 11.3.2.2 Description Input Capture or Output Compare Channel Configuration 0 The corresponding implemented channel acts as an input capture. 1 The corresponding implemented channel acts as an output compare. Timer Compare Force Register (CFORC) Module Base + 0x0001 7 R 0 6 0 5 4 3 2 1 0 0 0 0 0 0 0 FOC3 FOC2 FOC1 FOC0 0 0 0 0 W RESERVED RESERVED RESERVED RESERVED Reset 0 0 0 0 Figure 11-5. Timer Compare Force Register (CFORC) Read: Anytime but will always return 0x0000 (1 state is transient) Write: Anytime Table 11-3. CFORC Field Descriptions Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero. Field Description 3:0 FOC[3:0] Note: Force Output Compare Action for Channel 3:0 -- A write to this register with the corresponding data bit(s) set causes the action which is programmed for output compare "x" to occur immediately. The action taken is the same as if a successful comparison had just taken place with the TCx register except the interrupt flag does not get set. If forced output compare on any channel occurs at the same time as the successful output compare then forced output compare action will take precedence and interrupt flag won't get set. 11.3.2.3 Timer Count Register (TCNT) Module Base + 0x0004 1 R W Reset 5 14 13 12 11 10 9 9 TCNT15 TCNT14 TCNT13 TCNT12 TCNT11 TCNT10 TCNT9 TCNT8 0 0 0 0 0 0 0 0 Figure 11-6. Timer Count Register High (TCNTH) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 437 Chapter 11 Timer Module (TIM16B4CV3) Block Description Module Base + 0x0005 7 R W Reset 6 5 4 3 2 1 0 TCNT7 TCNT6 TCNT5 TCNT4 TCNT3 TCNT2 TCNT1 TCNT0 0 0 0 0 0 0 0 0 Figure 11-7. Timer Count Register Low (TCNTL) The 16-bit main timer is an up counter. A full access for the counter register should take place in one clock cycle. A separate read/write for high byte and low byte will give a different result than accessing them as a word. Read: Anytime Write: Has no meaning or effect in the normal mode; only writable in special mode. The period of the first count after a write to the TCNT registers may be a different size because the write is not synchronized with the prescaler clock. 11.3.2.4 Timer System Control Register 1 (TSCR1) Module Base + 0x0006 7 R W Reset 6 5 4 3 TEN TSWAI TSFRZ TFFCA PRNT 0 0 0 0 0 2 1 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 11-8. Timer System Control Register 1 (TSCR1) Read: Anytime Write: Anytime Table 11-4. TSCR1 Field Descriptions Field 7 TEN 6 TSWAI Description Timer Enable 0 Disables the main timer, including the counter. Can be used for reducing power consumption. 1 Allows the timer to function normally. If for any reason the timer is not active, there is no 64 clock for the pulse accumulator because the 64 is generated by the timer prescaler. Timer Module Stops While in Wait 0 Allows the timer module to continue running during wait. 1 Disables the timer module when the MCU is in the wait mode. Timer interrupts cannot be used to get the MCU out of wait. TSWAI also affects pulse accumulator. MC9S12ZVM Family Reference Manual Rev. 2.2 438 Freescale Semiconductor Chapter 11 Timer Module (TIM16B4CV3) Block Description Table 11-4. TSCR1 Field Descriptions (continued) Field Description 5 TSFRZ Timer Stops While in Freeze Mode 0 Allows the timer counter to continue running while in freeze mode. 1 Disables the timer counter whenever the MCU is in freeze mode. This is useful for emulation. TSFRZ does not stop the pulse accumulator. 4 TFFCA Timer Fast Flag Clear All 0 Allows the timer flag clearing to function normally. 1 For TFLG1(0x000E), a read from an input capture or a write to the output compare channel (0x0010-0x001F) causes the corresponding channel flag, CnF, to be cleared. For TFLG2 (0x000F), any access to the TCNT register (0x0004, 0x0005) clears the TOF flag. This has the advantage of eliminating software overhead in a separate clear sequence. Extra care is required to avoid accidental flag clearing due to unintended accesses. 3 PRNT Precision Timer 0 Enables legacy timer. PR0, PR1, and PR2 bits of the TSCR2 register are used for timer counter prescaler selection. 1 Enables precision timer. All bits of the PTPSR register are used for Precision Timer Prescaler Selection, and all bits. This bit is writable only once out of reset. 11.3.2.5 Timer Toggle On Overflow Register 1 (TTOV) Module Base + 0x0007 7 R W 6 5 4 RESERVED RESERVED RESERVED RESERVED Reset 0 0 0 0 3 2 1 0 TOV3 TOV2 TOV1 TOV0 0 0 0 0 Figure 11-9. Timer Toggle On Overflow Register 1 (TTOV) Read: Anytime Write: Anytime Table 11-5. TTOV Field Descriptions Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero. Field Description 3:0 TOV[3:0] Toggle On Overflow Bits -- TOVx toggles output compare pin on overflow. This feature only takes effect when in output compare mode. When set, it takes precedence over forced output compare 0 Toggle output compare pin on overflow feature disabled. 1 Toggle output compare pin on overflow feature enabled. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 439 Chapter 11 Timer Module (TIM16B4CV3) Block Description 11.3.2.6 Timer Control Register 1/Timer Control Register 2 (TCTL1/TCTL2) Module Base + 0x0008 7 R W Reset 6 5 4 3 2 1 0 RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED 0 0 0 0 0 0 0 0 Figure 11-10. Timer Control Register 1 (TCTL1) Module Base + 0x0009 7 R W Reset 6 5 4 3 2 1 0 OM3 OL3 OM2 OL2 OM1 OL1 OM0 OL0 0 0 0 0 0 0 0 0 Figure 11-11. Timer Control Register 2 (TCTL2) Read: Anytime Write: Anytime Table 11-6. TCTL1/TCTL2 Field Descriptions Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero Field Description 3:0 OMx Output Mode -- These four pairs of control bits are encoded to specify the output action to be taken as a result of a successful OCx compare. When either OMx or OLx is 1, the pin associated with OCx becomes an output tied to OCx. Note: For an output line to be driven by an OCx the OCPDx must be cleared. 3:0 OLx Output Level -- These fourpairs of control bits are encoded to specify the output action to be taken as a result of a successful OCx compare. When either OMx or OLx is 1, the pin associated with OCx becomes an output tied to OCx. Note: For an output line to be driven by an OCx the OCPDx must be cleared. Table 11-7. Compare Result Output Action OMx OLx Action 0 0 No output compare action on the timer output signal 0 1 Toggle OCx output line 1 0 Clear OCx output line to zero 1 1 Set OCx output line to one MC9S12ZVM Family Reference Manual Rev. 2.2 440 Freescale Semiconductor Chapter 11 Timer Module (TIM16B4CV3) Block Description 11.3.2.7 Timer Control Register 3/Timer Control Register 4 (TCTL3 and TCTL4) Module Base + 0x000A 7 R W Reset 6 5 4 3 2 1 0 RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED 0 0 0 0 0 0 0 0 Figure 11-12. Timer Control Register 3 (TCTL3) Module Base + 0x000B 7 R W Reset 6 5 4 3 2 1 0 EDG3B EDG3A EDG2B EDG2A EDG1B EDG1A EDG0B EDG0A 0 0 0 0 0 0 0 0 Figure 11-13. Timer Control Register 4 (TCTL4) Read: Anytime Write: Anytime. Table 11-8. TCTL3/TCTL4 Field Descriptions Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero. Field 3:0 EDGnB EDGnA Description Input Capture Edge Control -- These four pairs of control bits configure the input capture edge detector circuits. Table 11-9. Edge Detector Circuit Configuration EDGnB EDGnA Configuration 0 0 Capture disabled 0 1 Capture on rising edges only 1 0 Capture on falling edges only 1 1 Capture on any edge (rising or falling) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 441 Chapter 11 Timer Module (TIM16B4CV3) Block Description 11.3.2.8 Timer Interrupt Enable Register (TIE) Module Base + 0x000C 7 R W 6 5 4 RESERVED RESERVED RESERVED RESERVED Reset 0 0 0 0 3 2 1 0 C3I C2I C1I C0I 0 0 0 0 Figure 11-14. Timer Interrupt Enable Register (TIE) Read: Anytime Write: Anytime. Table 11-10. TIE Field Descriptions Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero Field Description 3:0 C3I:C0I Input Capture/Output Compare "x" Interrupt Enable -- The bits in TIE correspond bit-for-bit with the bits in the TFLG1 status register. If cleared, the corresponding flag is disabled from causing a hardware interrupt. If set, the corresponding flag is enabled to cause a interrupt. 11.3.2.9 Timer System Control Register 2 (TSCR2) Module Base + 0x000D 7 R W Reset TOI 0 6 5 4 0 0 0 0 0 0 3 2 1 0 RESERVED PR2 PR1 PR0 0 0 0 0 = Unimplemented or Reserved Figure 11-15. Timer System Control Register 2 (TSCR2) Read: Anytime Write: Anytime. Table 11-11. TSCR2 Field Descriptions Field 7 TOI 2:0 PR[2:0] Description Timer Overflow Interrupt Enable 0 Interrupt inhibited. 1 Hardware interrupt requested when TOF flag set. Timer Prescaler Select -- These three bits select the frequency of the timer prescaler clock derived from the Bus Clock as shown in Table 11-12. MC9S12ZVM Family Reference Manual Rev. 2.2 442 Freescale Semiconductor Chapter 11 Timer Module (TIM16B4CV3) Block Description Table 11-12. Timer Clock Selection PR2 PR1 PR0 Timer Clock 0 0 0 Bus Clock / 1 0 0 1 Bus Clock / 2 0 1 0 Bus Clock / 4 0 1 1 Bus Clock / 8 1 0 0 Bus Clock / 16 1 0 1 Bus Clock / 32 1 1 0 Bus Clock / 64 1 1 1 Bus Clock / 128 NOTE The newly selected prescale factor will not take effect until the next synchronized edge where all prescale counter stages equal zero. 11.3.2.10 Main Timer Interrupt Flag 1 (TFLG1) Module Base + 0x000E 7 R W Reset 6 5 4 RESERVED RESERVED RESERVED RESERVED 0 0 0 0 3 2 1 0 C3F C2F C1F C0F 0 0 0 0 Figure 11-16. Main Timer Interrupt Flag 1 (TFLG1) Read: Anytime Write: Used in the clearing mechanism (set bits cause corresponding bits to be cleared). Writing a zero will not affect current status of the bit. Table 11-13. TRLG1 Field Descriptions Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero. Field 3:0 C[3:0]F Description Input Capture/Output Compare Channel "x" Flag -- These flags are set when an input capture or output compare event occurs. Clearing requires writing a one to the corresponding flag bit while TEN is set to one. Note: When TFFCA bit in TSCR register is set, a read from an input capture or a write into an output compare channel (0x0010-0x001F) will cause the corresponding channel flag CxF to be cleared. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 443 Chapter 11 Timer Module (TIM16B4CV3) Block Description 11.3.2.11 Main Timer Interrupt Flag 2 (TFLG2) Module Base + 0x000F 7 R W Reset TOF 0 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Unimplemented or Reserved Figure 11-17. Main Timer Interrupt Flag 2 (TFLG2) TFLG2 indicates when interrupt conditions have occurred. To clear a bit in the flag register, write the bit to one while TEN bit of TSCR1 . Read: Anytime Write: Used in clearing mechanism (set bits cause corresponding bits to be cleared). Any access to TCNT will clear TFLG2 register if the TFFCA bit in TSCR register is set. Table 11-14. TRLG2 Field Descriptions Field Description 7 TOF Timer Overflow Flag -- Set when 16-bit free-running timer overflows from 0xFFFF to 0x0000. Clearing this bit requires writing a one to bit 7 of TFLG2 register while the TEN bit of TSCR1 is set to one . MC9S12ZVM Family Reference Manual Rev. 2.2 444 Freescale Semiconductor Chapter 11 Timer Module (TIM16B4CV3) Block Description 11.3.2.12 Timer Input Capture/Output Compare Registers High and Low 0- 3(TCxH and TCxL) Module Base + 0x0010 = TC0H 0x0012 = TC1H 0x0014=TC2H 0x0016=TC3H 15 R W 0x0018=RESERVD 0x001A=RESERVD 0x001C=RESERVD 0x001E=RESERVD 14 13 12 11 10 9 0 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 0 0 0 0 0 0 0 0 Reset Figure 11-18. Timer Input Capture/Output Compare Register x High (TCxH) Module Base + 0x0011 = TC0L 0x0013 = TC1L 0x0015 =TC2L 0x0017=TC3L R W Reset 0x0019 =RESERVD 0x001B=RESERVD 0x001D=RESERVD 0x001F=RESERVD 7 6 5 Bit 7 it 0 0 B 6 it 5 0 4 B Bit 0 3 4 it 3 B 0 2 1 Bit 2Bit 0 0 0 1 it 0 0 Figure 11-19. Timer Input Capture/Output Compare Register x Low (TCxL) 1 This register is available only when the corresponding channel exists and is reserved if that channel does not exist. Writes to a reserved register have no functional effect. Reads from a reserved register return zeroes. Depending on the TIOS bit for the corresponding channel, these registers are used to latch the value of the free-running counter when a defined transition is sensed by the corresponding input capture edge detector or to trigger an output action for output compare. Read: Anytime Write: Anytime for output compare function.Writes to these registers have no meaning or effect during input capture. All timer input capture/output compare registers are reset to 0x0000. NOTE Read/Write access in byte mode for high byte should take place before low byte otherwise it will give a different result. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 445 B Chapter 11 Timer Module (TIM16B4CV3) Block Description 11.3.2.13 Output Compare Pin Disconnect Register(OCPD) Module Base + 0x002C 7 R W 6 5 4 RESERVED RESERVED RESERVED RESERVED Reset 0 0 0 0 3 2 1 0 OCPD3 OCPD2 OCPD1 OCPD0 0 0 0 0 Figure 11-20. Output Compare Pin Disconnect Register (OCPD) Read: Anytime Write: Anytime All bits reset to zero. Table 11-15. OCPD Field Description Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero. Field Description 3:0 OCPD[3:0] Output Compare Pin Disconnect Bits 0 Enables the timer channel port. Output Compare action will occur on the channel pin. These bits do not affect the input capture . 1 Disables the timer channel port. Output Compare action will not occur on the channel pin, but the output compare flag still become set. 11.3.2.14 Precision Timer Prescaler Select Register (PTPSR) Module Base + 0x002E 7 R W Reset 6 5 4 3 2 1 0 PTPS7 PTPS6 PTPS5 PTPS4 PTPS3 PTPS2 PTPS1 PTPS0 0 0 0 0 0 0 0 0 Figure 11-21. Precision Timer Prescaler Select Register (PTPSR) Read: Anytime Write: Anytime All bits reset to zero. MC9S12ZVM Family Reference Manual Rev. 2.2 446 Freescale Semiconductor Chapter 11 Timer Module (TIM16B4CV3) Block Description ... Table 11-16. PTPSR Field Descriptions Field Description 7:0 PTPS[7:0] Precision Timer Prescaler Select Bits -- These eight bits specify the division rate of the main Timer prescaler. These are effective only when the PRNT bit of TSCR1 is set to 1. Table 11-17 shows some selection examples in this case. The newly selected prescale factor will not take effect until the next synchronized edge where all prescale counter stages equal zero. The Prescaler can be calculated as follows depending on logical value of the PTPS[7:0] and PRNT bit: PRNT = 1 : Prescaler = PTPS[7:0] + 1 Table 11-17. Precision Timer Prescaler Selection Examples when PRNT = 1 PTPS7 PTPS6 PTPS5 PTPS4 PTPS3 PTPS2 PTPS1 PTPS0 Prescale Factor 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 2 0 0 0 0 0 0 1 0 3 0 0 0 0 0 0 1 1 4 - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 0 0 1 0 0 1 1 20 0 0 0 1 0 1 0 0 21 0 0 0 1 0 1 0 1 22 - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 1 1 1 1 1 0 0 253 1 1 1 1 1 1 0 1 254 1 1 1 1 1 1 1 0 255 1 1 1 1 1 1 1 1 256 11.4 Functional Description This section provides a complete functional description of the timer TIM16B4CV3 block. Please refer to the detailed timer block diagram in Figure 11-22 as necessary. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 447 Chapter 11 Timer Module (TIM16B4CV3) Block Description PRE-PRESCALER PRNT tim source Clock PTPSR[7:0] PR[2:1:0] 1 MUX 0 PRESCALER CxI TCNT(hi):TCNT(lo) CxF 16-BIT COUNTER TOF CHANNEL 0 16-BIT COMPARATOR C0F TC0 EDG0A EDGE DETECT EDG0B INTERRUPT LOGIC TOI TE C0F OM:OL0 TOF CH. 0 CAPTURE IOC0 PIN LOGIC CH. 0COMPARE TOV0 IOC0 PIN IOC0 CHANNEL 1 16-BIT COMPARATOR C1F TC1 EDG1A EDGE DETECT EDG1B C1F OM:OL1 CH. 1 CAPTURE IOC1 PIN LOGIC CH. 1 COMPARE TOV1 IOC1 PIN IOC1 CHANNEL2 CHANNELn-1 16-BIT COMPARATOR Cn-1F Cn-1F TCn-1 EDG(n-1)A EDG(n-1)B EDGE DETECT CH.n-1 CAPTURE IOCn-1 PIN LOGIC CH. n-1COMPAREIOCn-1 PIN OM:OLn-1 TOVn-1 IOCn-1 n is channels number. Figure 11-22. Detailed Timer Block Diagram 11.4.1 Prescaler The prescaler divides the Bus clock by 1, 2, 4, 8, 16, 32, 64 or 128. The prescaler select bits, PR[2:0], select the prescaler divisor. PR[2:0] are in timer system control register 2 (TSCR2). The prescaler divides the Bus clock by a prescalar value. Prescaler select bits PR[2:0] of in timer system control register 2 (TSCR2) are set to define a prescalar value that generates a divide by 1, 2, 4, 8, 16, 32, 64 and 128 when the PRNT bit in TSCR1 is disabled. MC9S12ZVM Family Reference Manual Rev. 2.2 448 Freescale Semiconductor Chapter 11 Timer Module (TIM16B4CV3) Block Description By enabling the PRNT bit of the TSCR1 register, the performance of the timer can be enhanced. In this case, it is possible to set additional prescaler settings for the main timer counter in the present timer by using PTPSR[7:0] bits of PTPSR register generating divide by 1, 2, 3, 4,....20, 21, 22, 23,......255, or 256. 11.4.2 Input Capture Clearing the I/O (input/output) select bit, IOSx, configures channel x as an input capture channel. The input capture function captures the time at which an external event occurs. When an active edge occurs on the pin of an input capture channel, the timer transfers the value in the timer counter into the timer channel registers, TCx. The minimum pulse width for the input capture input is greater than two Bus clocks. An input capture on channel x sets the CxF flag. The CxI bit enables the CxF flag to generate interrupt requests. Timer module must stay enabled (TEN bit of TSCR1 register must be set to one) while clearing CxF (writing one to CxF). 11.4.3 Output Compare Setting the I/O select bit, IOSx, configures channel x when available as an output compare channel. The output compare function can generate a periodic pulse with a programmable polarity, duration, and frequency. When the timer counter reaches the value in the channel registers of an output compare channel, the timer can set, clear, or toggle the channel pin if the corresponding OCPDx bit is set to zero. An output compare on channel x sets the CxF flag. The CxI bit enables the CxF flag to generate interrupt requests. Timer module must stay enabled (TEN bit of TSCR1 register must be set to one) while clearing CxF (writing one to CxF). The output mode and level bits, OMx and OLx, select set, clear, toggle on output compare. Clearing both OMx and OLx results in no output compare action on the output compare channel pin. Setting a force output compare bit, FOCx, causes an output compare on channel x. A forced output compare does not set the channel flag. Writing to the timer port bit of an output compare pin does not affect the pin state. The value written is stored in an internal latch. When the pin becomes available for general-purpose output, the last value written to the bit appears at the pin. 11.4.3.1 OC Channel Initialization The internal register whose output drives OCx can be programmed before the timer drives OCx. The desired state can be programmed to this internal register by writing a one to CFORCx bit with TIOSx, OCPDx and TEN bits set to one. Set OCx: Write a 1 to FOCx while TEN=1, IOSx=1, OMx=1, OLx=1 and OCPDx=1 Clear OCx: Write a 1 to FOCx while TEN=1, IOSx=1, OMx=1, OLx=0 and OCPDx=1 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 449 Chapter 11 Timer Module (TIM16B4CV3) Block Description Setting OCPDx to zero allows the internal register to drive the programmed state to OCx. This allows a glitch free switch over of port from general purpose I/O to timer output once the OCPDx bit is set to zero. 11.5 Resets The reset state of each individual bit is listed within Section 11.3, "Memory Map and Register Definition" which details the registers and their bit fields 11.6 Interrupts This section describes interrupts originated by the TIM16B4CV3 block. Table 11-18 lists the interrupts generated by the TIM16B4CV3 to communicate with the MCU. Table 11-18. TIM16B4CV3 Interrupts Interrupt Offset Vector Priority Source Description C[3:0]F -- -- -- Timer Channel 3-0 Active high timer channel interrupts 3-0 TOF -- -- -- Timer Overflow Timer Overflow interrupt The TIM16B4CV3 could use up to 5 interrupt vectors. The interrupt vector offsets and interrupt numbers are chip dependent. 11.6.1 Channel [3:0] Interrupt (C[3:0]F) This active high outputs will be asserted by the module to request a timer channel 7 - 0 interrupt. The TIM block only generates the interrupt and does not service it. Only bits related to implemented channels are valid. 11.6.2 Timer Overflow Interrupt (TOF) This active high output will be asserted by the module to request a timer overflow interrupt. The TIM block only generates the interrupt and does not service it. MC9S12ZVM Family Reference Manual Rev. 2.2 450 Freescale Semiconductor Chapter 12 Timer Module (TIM16B2CV3) Block Description Table 12-1. Revision History V03.03 12.1 Jan,14,2013 -single source generate different channel guide Introduction The basic scalable timer consists of a 16-bit, software-programmable counter driven by a flexible programmable prescaler. This timer can be used for many purposes, including input waveform measurements while simultaneously generating an output waveform. This timer could contain up to 2 input capture/output compare channels . The input capture function is used to detect a selected transition edge and record the time. The output compare function is used for generating output signals or for timer software delays. A full access for the counter registers or the input capture/output compare registers should take place in one clock cycle. Accessing high byte and low byte separately for all of these registers may not yield the same result as accessing them in one word. 12.1.1 Features The TIM16B2CV3 includes these distinctive features: * Up to 2 channels available. (refer to device specification for exact number) * All channels have same input capture/output compare functionality. * Clock prescaling. * 16-bit counter. 12.1.2 Modes of Operation Stop: Timer is off because clocks are stopped. Freeze: Timer counter keeps on running, unless TSFRZ in TSCR1 is set to 1. Wait: Counters keeps on running, unless TSWAI in TSCR1 is set to 1. Normal: Timer counter keep on running, unless TEN in TSCR1 is cleared to 0. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 451 Chapter 12 Timer Module (TIM16B2CV3) Block Description 12.1.3 Block Diagrams Prescaler Bus clock Timer overflow interrupt Channel 0 Input capture Output compare 16-bit Counter Channel 1 Input capture Output compare IOC0 IOC1 Timer channel 0 interrupt Registers Timer channel 1 interrupt Figure 12-1. TIM16B2CV3 Block Diagram 16-bit Main Timer IOCn Edge detector Set CnF Interrupt TCn Input Capture Reg. Figure 12-2. Interrupt Flag Setting 12.2 External Signal Description The TIM16B2CV3 module has a selected number of external pins. Refer to device specification for exact number. 12.2.1 IOC1 - IOC0 -- Input Capture and Output Compare Channel 1-0 Those pins serve as input capture or output compare for TIM16B2CV3 channel . NOTE For the description of interrupts see Section 12.6, "Interrupts". MC9S12ZVM Family Reference Manual Rev. 2.2 452 Freescale Semiconductor Chapter 12 Timer Module (TIM16B2CV3) Block Description 12.3 Memory Map and Register Definition This section provides a detailed description of all memory and registers. 12.3.1 Module Memory Map The memory map for the TIM16B2CV3 module is given below in Figure 12-3. The address listed for each register is the address offset. The total address for each register is the sum of the base address for the TIM16B2CV3 module and the address offset for each register. 12.3.2 Register Descriptions This section consists of register descriptions in address order. Each description includes a standard register diagram with an associated figure number. Details of register bit and field function follow the register diagrams, in bit order. Only bits related to implemented channels are valid. Register Name 0x0000 TIOS 0x0001 CFORC 0x0004 TCNTH 0x0005 TCNTL 0x0006 TSCR1 0x0007 TTOV 0x0008 TCTL1 0x0009 TCTL2 0x000A TCTL3 0x000B TCTL4 0x000C TIE 0x000D TSCR2 0x000E TFLG1 Bit R RESERV ED W R 0 W RESERV ED R TCNT15 W R TCNT7 W R TEN W R RESERV ED W R RESERV ED W R W R W R W R W R W R W 7 6 5 4 3 2 1 Bit IOS1 IOS0 0 0 FOC1 FOC0 RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED 0 RESERV ED 0 RESERV ED 0 RESERV ED 0 RESERV ED 0 RESERV ED TCNT14 TCNT13 TCNT12 TCNT11 TCNT10 TCNT9 TCNT8 TCNT6 TCNT5 TCNT4 TCNT3 TCNT2 TCNT1 TCNT0 TSWAI TSFRZ TFFCA PRNT 0 0 0 RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED TOV1 TOV0 RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED OM1 OL1 OM0 OL0 RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED EDG1B EDG1A EDG0B EDG0A RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED C1I C0I 0 0 0 RESERV ED PR2 PR1 PR0 RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED C1F C0F TOI RESERV ED 0 Figure 12-3. TIM16B2CV3 Register Summary (Sheet 1 of 2) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 453 Chapter 12 Timer Module (TIM16B2CV3) Block Description Register Name Bit 0x000F TFLG2 R W R W 0x0010-0x001F TCxH-TCxL(1) 7 TOF Bit 15 R Bit 7 W R W R RESERV ED W R 0x0024-0x002B Reserved 0x002C OCPD 0x002D Reserved 0x002E PTPSR R W R W 0x002F Reserved PTPS7 6 5 4 3 2 1 Bit 0 0 0 0 0 0 0 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 6 it Bit 3 it B 5 it 4 B B 2 it 0 B 1 it 0 RESERV ED RESERV ED RESERV ED RESERV ED RESERV ED OCPD1 OCPD0 PTPS6 PTPS5 PTPS4 PTPS3 PTPS2 PTPS1 PTPS0 B Figure 12-3. TIM16B2CV3 Register Summary (Sheet 2 of 2) 1. The register is available only if corresponding channel exists. 12.3.2.1 Timer Input Capture/Output Compare Select (TIOS) Module Base + 0x0000 7 R W 6 5 4 3 2 RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED Reset 0 0 0 0 0 0 1 0 IOS1 IOS0 0 0 Figure 12-4. Timer Input Capture/Output Compare Select (TIOS) Read: Anytime Write: Anytime Table 12-2. TIOS Field Descriptions Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero. Field 1:0 IOS[1:0] Description Input Capture or Output Compare Channel Configuration 0 The corresponding implemented channel acts as an input capture. 1 The corresponding implemented channel acts as an output compare. MC9S12ZVM Family Reference Manual Rev. 2.2 454 Freescale Semiconductor Chapter 12 Timer Module (TIM16B2CV3) Block Description 12.3.2.2 Timer Compare Force Register (CFORC) Module Base + 0x0001 7 R 0 6 0 5 4 3 2 1 0 0 0 0 0 0 0 FOC1 FOC0 0 0 W RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED Reset 0 0 0 0 0 0 Figure 12-5. Timer Compare Force Register (CFORC) Read: Anytime but will always return 0x0000 (1 state is transient) Write: Anytime Table 12-3. CFORC Field Descriptions Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero. Field Description 1:0 FOC[1:0] Note: Force Output Compare Action for Channel 1:0 -- A write to this register with the corresponding data bit(s) set causes the action which is programmed for output compare "x" to occur immediately. The action taken is the same as if a successful comparison had just taken place with the TCx register except the interrupt flag does not get set. If forced output compare on any channel occurs at the same time as the successful output compare then forced output compare action will take precedence and interrupt flag won't get set. 12.3.2.3 Timer Count Register (TCNT) Module Base + 0x0004 1 R W Reset 5 14 13 12 11 10 9 9 TCNT15 TCNT14 TCNT13 TCNT12 TCNT11 TCNT10 TCNT9 TCNT8 0 0 0 0 0 0 0 0 Figure 12-6. Timer Count Register High (TCNTH) Module Base + 0x0005 7 R W Reset 6 5 4 3 2 1 0 TCNT7 TCNT6 TCNT5 TCNT4 TCNT3 TCNT2 TCNT1 TCNT0 0 0 0 0 0 0 0 0 Figure 12-7. Timer Count Register Low (TCNTL) The 16-bit main timer is an up counter. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 455 Chapter 12 Timer Module (TIM16B2CV3) Block Description A full access for the counter register should take place in one clock cycle. A separate read/write for high byte and low byte will give a different result than accessing them as a word. Read: Anytime Write: Has no meaning or effect in the normal mode; only writable in special mode. The period of the first count after a write to the TCNT registers may be a different size because the write is not synchronized with the prescaler clock. 12.3.2.4 Timer System Control Register 1 (TSCR1) Module Base + 0x0006 7 R W Reset 6 5 4 3 TEN TSWAI TSFRZ TFFCA PRNT 0 0 0 0 0 2 1 0 0 0 0 0 0 0 = Unimplemented or Reserved Figure 12-8. Timer System Control Register 1 (TSCR1) Read: Anytime Write: Anytime Table 12-4. TSCR1 Field Descriptions Field 7 TEN Description Timer Enable 0 Disables the main timer, including the counter. Can be used for reducing power consumption. 1 Allows the timer to function normally. If for any reason the timer is not active, there is no 64 clock for the pulse accumulator because the 64 is generated by the timer prescaler. 6 TSWAI Timer Module Stops While in Wait 0 Allows the timer module to continue running during wait. 1 Disables the timer module when the MCU is in the wait mode. Timer interrupts cannot be used to get the MCU out of wait. TSWAI also affects pulse accumulator. 5 TSFRZ Timer Stops While in Freeze Mode 0 Allows the timer counter to continue running while in freeze mode. 1 Disables the timer counter whenever the MCU is in freeze mode. This is useful for emulation. TSFRZ does not stop the pulse accumulator. MC9S12ZVM Family Reference Manual Rev. 2.2 456 Freescale Semiconductor Chapter 12 Timer Module (TIM16B2CV3) Block Description Table 12-4. TSCR1 Field Descriptions (continued) Field Description 4 TFFCA Timer Fast Flag Clear All 0 Allows the timer flag clearing to function normally. 1 For TFLG1(0x000E), a read from an input capture or a write to the output compare channel (0x0010-0x001F) causes the corresponding channel flag, CnF, to be cleared. For TFLG2 (0x000F), any access to the TCNT register (0x0004, 0x0005) clears the TOF flag. This has the advantage of eliminating software overhead in a separate clear sequence. Extra care is required to avoid accidental flag clearing due to unintended accesses. 3 PRNT Precision Timer 0 Enables legacy timer. PR0, PR1, and PR2 bits of the TSCR2 register are used for timer counter prescaler selection. 1 Enables precision timer. All bits of the PTPSR register are used for Precision Timer Prescaler Selection, and all bits. This bit is writable only once out of reset. 12.3.2.5 Timer Toggle On Overflow Register 1 (TTOV) Module Base + 0x0007 7 R W 6 5 4 3 2 RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED Reset 0 0 0 0 0 0 1 0 TOV1 TOV0 0 0 Figure 12-9. Timer Toggle On Overflow Register 1 (TTOV) Read: Anytime Write: Anytime Table 12-5. TTOV Field Descriptions Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero. Field Description 1:0 TOV[1:0] Toggle On Overflow Bits -- TOVx toggles output compare pin on overflow. This feature only takes effect when in output compare mode. When set, it takes precedence over forced output compare 0 Toggle output compare pin on overflow feature disabled. 1 Toggle output compare pin on overflow feature enabled. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 457 Chapter 12 Timer Module (TIM16B2CV3) Block Description 12.3.2.6 Timer Control Register 1/Timer Control Register 2 (TCTL1/TCTL2) Module Base + 0x0008 7 R W Reset 6 5 4 3 2 1 0 RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED 0 0 0 0 0 0 0 0 Figure 12-10. Timer Control Register 1 (TCTL1) Module Base + 0x0009 7 R W Reset 6 5 4 RESERVED RESERVED RESERVED RESERVED 0 0 0 0 3 2 1 0 OM1 OL1 OM0 OL0 0 0 0 0 Figure 12-11. Timer Control Register 2 (TCTL2) Read: Anytime Write: Anytime Table 12-6. TCTL1/TCTL2 Field Descriptions Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero Field Description 1:0 OMx Output Mode -- These two pairs of control bits are encoded to specify the output action to be taken as a result of a successful OCx compare. When either OMx or OLx is 1, the pin associated with OCx becomes an output tied to OCx. Note: For an output line to be driven by an OCx the OCPDx must be cleared. 1:0 OLx Output Level -- These two pairs of control bits are encoded to specify the output action to be taken as a result of a successful OCx compare. When either OMx or OLx is 1, the pin associated with OCx becomes an output tied to OCx. Note: For an output line to be driven by an OCx the OCPDx must be cleared. Table 12-7. Compare Result Output Action OMx OLx Action 0 0 No output compare action on the timer output signal 0 1 Toggle OCx output line 1 0 Clear OCx output line to zero 1 1 Set OCx output line to one MC9S12ZVM Family Reference Manual Rev. 2.2 458 Freescale Semiconductor Chapter 12 Timer Module (TIM16B2CV3) Block Description 12.3.2.7 Timer Control Register 3/Timer Control Register 4 (TCTL3 and TCTL4) Module Base + 0x000A 7 R W Reset 6 5 4 3 2 1 0 RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED 0 0 0 0 0 0 0 0 Figure 12-12. Timer Control Register 3 (TCTL3) Module Base + 0x000B 7 R W Reset 6 5 4 RESERVED RESERVED RESERVED RESERVED 0 0 0 0 3 2 1 0 EDG1B EDG1A EDG0B EDG0A 0 0 0 0 Figure 12-13. Timer Control Register 4 (TCTL4) Read: Anytime Write: Anytime. Table 12-8. TCTL3/TCTL4 Field Descriptions Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero. Field 1:0 EDGnB EDGnA Description Input Capture Edge Control -- These two pairs of control bits configure the input capture edge detector circuits. Table 12-9. Edge Detector Circuit Configuration EDGnB EDGnA Configuration 0 0 Capture disabled 0 1 Capture on rising edges only 1 0 Capture on falling edges only 1 1 Capture on any edge (rising or falling) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 459 Chapter 12 Timer Module (TIM16B2CV3) Block Description 12.3.2.8 Timer Interrupt Enable Register (TIE) Module Base + 0x000C 7 R W 6 5 4 3 2 RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED Reset 0 0 0 0 0 0 1 0 C1I C0I 0 0 Figure 12-14. Timer Interrupt Enable Register (TIE) Read: Anytime Write: Anytime. Table 12-10. TIE Field Descriptions Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero Field Description 1:0 C1I:C0I Input Capture/Output Compare "x" Interrupt Enable -- The bits in TIE correspond bit-for-bit with the bits in the TFLG1 status register. If cleared, the corresponding flag is disabled from causing a hardware interrupt. If set, the corresponding flag is enabled to cause a interrupt. 12.3.2.9 Timer System Control Register 2 (TSCR2) Module Base + 0x000D 7 R W Reset TOI 0 6 5 4 0 0 0 0 0 0 3 2 1 0 RESERVED PR2 PR1 PR0 0 0 0 0 = Unimplemented or Reserved Figure 12-15. Timer System Control Register 2 (TSCR2) Read: Anytime Write: Anytime. Table 12-11. TSCR2 Field Descriptions Field 7 TOI 2:0 PR[2:0] Description Timer Overflow Interrupt Enable 0 Interrupt inhibited. 1 Hardware interrupt requested when TOF flag set. Timer Prescaler Select -- These three bits select the frequency of the timer prescaler clock derived from the Bus Clock as shown in Table 12-12. MC9S12ZVM Family Reference Manual Rev. 2.2 460 Freescale Semiconductor Chapter 12 Timer Module (TIM16B2CV3) Block Description Table 12-12. Timer Clock Selection PR2 PR1 PR0 Timer Clock 0 0 0 Bus Clock / 1 0 0 1 Bus Clock / 2 0 1 0 Bus Clock / 4 0 1 1 Bus Clock / 8 1 0 0 Bus Clock / 16 1 0 1 Bus Clock / 32 1 1 0 Bus Clock / 64 1 1 1 Bus Clock / 128 NOTE The newly selected prescale factor will not take effect until the next synchronized edge where all prescale counter stages equal zero. 12.3.2.10 Main Timer Interrupt Flag 1 (TFLG1) Module Base + 0x000E 7 R W Reset 6 5 4 3 2 RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED 0 0 0 0 0 0 1 0 C1F C0F 0 0 Figure 12-16. Main Timer Interrupt Flag 1 (TFLG1) Read: Anytime Write: Used in the clearing mechanism (set bits cause corresponding bits to be cleared). Writing a zero will not affect current status of the bit. Table 12-13. TRLG1 Field Descriptions Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero. Field 1:0 C[1:0]F Description Input Capture/Output Compare Channel "x" Flag -- These flags are set when an input capture or output compare event occurs. Clearing requires writing a one to the corresponding flag bit while TEN is set to one. Note: When TFFCA bit in TSCR register is set, a read from an input capture or a write into an output compare channel (0x0010-0x001F) will cause the corresponding channel flag CxF to be cleared. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 461 Chapter 12 Timer Module (TIM16B2CV3) Block Description 12.3.2.11 Main Timer Interrupt Flag 2 (TFLG2) Module Base + 0x000F 7 R W Reset TOF 0 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Unimplemented or Reserved Figure 12-17. Main Timer Interrupt Flag 2 (TFLG2) TFLG2 indicates when interrupt conditions have occurred. To clear a bit in the flag register, write the bit to one while TEN bit of TSCR1 . Read: Anytime Write: Used in clearing mechanism (set bits cause corresponding bits to be cleared). Any access to TCNT will clear TFLG2 register if the TFFCA bit in TSCR register is set. Table 12-14. TRLG2 Field Descriptions Field Description 7 TOF Timer Overflow Flag -- Set when 16-bit free-running timer overflows from 0xFFFF to 0x0000. Clearing this bit requires writing a one to bit 7 of TFLG2 register while the TEN bit of TSCR1 is set to one . MC9S12ZVM Family Reference Manual Rev. 2.2 462 Freescale Semiconductor Chapter 12 Timer Module (TIM16B2CV3) Block Description 12.3.2.12 Timer Input Capture/Output Compare Registers High and Low 0- 1(TCxH and TCxL) Module Base + 0x0010 = TC0H 0x0012 = TC1H 0x0014=RESERVD 0x0016=RESERVD 15 R W 0x0018=RESERVD 0x001A=RESERVD 0x001C=RESERVD 0x001E=RESERVD 14 13 12 11 10 9 0 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 0 0 0 0 0 0 0 0 Reset Figure 12-18. Timer Input Capture/Output Compare Register x High (TCxH) Module Base + 0x0011 = TC0L 0x0013 = TC1L 0x0015 =RESERVD 0x0017=RESERVD R W Reset 7 6 Bit 7 it 0 0 0x0019 =RESERVD 0x001B=RESERVD 0x001D=RESERVD 0x001F=RESERVD 5 B 6 it 5 0 4 B Bit 0 3 4 it 3 B 0 2 1 Bit 2Bit 0 0 0 1 it 0 0 Figure 12-19. Timer Input Capture/Output Compare Register x Low (TCxL) 1 This register is available only when the corresponding channel exists and is reserved if that channel does not exist. Writes to a reserved register have no functional effect. Reads from a reserved register return zeroes. Depending on the TIOS bit for the corresponding channel, these registers are used to latch the value of the free-running counter when a defined transition is sensed by the corresponding input capture edge detector or to trigger an output action for output compare. Read: Anytime Write: Anytime for output compare function.Writes to these registers have no meaning or effect during input capture. All timer input capture/output compare registers are reset to 0x0000. NOTE Read/Write access in byte mode for high byte should take place before low byte otherwise it will give a different result. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 463 B Chapter 12 Timer Module (TIM16B2CV3) Block Description 12.3.2.13 Output Compare Pin Disconnect Register(OCPD) Module Base + 0x002C 7 R W 6 5 4 3 2 RESERVED RESERVED RESERVED RESERVED RESERVED RESERVED Reset 0 0 0 0 0 1 0 OCPD1 OCPD0 0 0 0 Figure 12-20. Output Compare Pin Disconnect Register (OCPD) Read: Anytime Write: Anytime All bits reset to zero. Table 12-15. OCPD Field Description Note: Writing to unavailable bits has no effect. Reading from unavailable bits return a zero. Field Description 1:0 OCPD[1:0] Output Compare Pin Disconnect Bits 0 Enables the timer channel port. Output Compare action will occur on the channel pin. These bits do not affect the input capture . 1 Disables the timer channel port. Output Compare action will not occur on the channel pin, but the output compare flag still become set. 12.3.2.14 Precision Timer Prescaler Select Register (PTPSR) Module Base + 0x002E 7 R W Reset 6 5 4 3 2 1 0 PTPS7 PTPS6 PTPS5 PTPS4 PTPS3 PTPS2 PTPS1 PTPS0 0 0 0 0 0 0 0 0 Figure 12-21. Precision Timer Prescaler Select Register (PTPSR) Read: Anytime Write: Anytime All bits reset to zero. MC9S12ZVM Family Reference Manual Rev. 2.2 464 Freescale Semiconductor Chapter 12 Timer Module (TIM16B2CV3) Block Description ... Table 12-16. PTPSR Field Descriptions Field Description 7:0 PTPS[7:0] Precision Timer Prescaler Select Bits -- These eight bits specify the division rate of the main Timer prescaler. These are effective only when the PRNT bit of TSCR1 is set to 1. Table 12-17 shows some selection examples in this case. The newly selected prescale factor will not take effect until the next synchronized edge where all prescale counter stages equal zero. The Prescaler can be calculated as follows depending on logical value of the PTPS[7:0] and PRNT bit: PRNT = 1 : Prescaler = PTPS[7:0] + 1 Table 12-17. Precision Timer Prescaler Selection Examples when PRNT = 1 PTPS7 PTPS6 PTPS5 PTPS4 PTPS3 PTPS2 PTPS1 PTPS0 Prescale Factor 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 2 0 0 0 0 0 0 1 0 3 0 0 0 0 0 0 1 1 4 - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 0 0 1 0 0 1 1 20 0 0 0 1 0 1 0 0 21 0 0 0 1 0 1 0 1 22 - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 1 1 1 1 1 0 0 253 1 1 1 1 1 1 0 1 254 1 1 1 1 1 1 1 0 255 1 1 1 1 1 1 1 1 256 12.4 Functional Description This section provides a complete functional description of the timer TIM16B2CV3 block. Please refer to the detailed timer block diagram in Figure 12-22 as necessary. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 465 Chapter 12 Timer Module (TIM16B2CV3) Block Description PRE-PRESCALER PRNT tim source Clock PTPSR[7:0] PR[2:1:0] 1 MUX 0 PRESCALER CxI TCNT(hi):TCNT(lo) CxF 16-BIT COUNTER TOF CHANNEL 0 16-BIT COMPARATOR C0F TC0 EDG0A EDGE DETECT EDG0B INTERRUPT LOGIC TOI TE C0F OM:OL0 TOF CH. 0 CAPTURE IOC0 PIN LOGIC CH. 0COMPARE TOV0 IOC0 PIN IOC0 CHANNEL 1 16-BIT COMPARATOR C1F TC1 EDG1A EDGE DETECT EDG1B C1F OM:OL1 CH. 1 CAPTURE IOC1 PIN LOGIC CH. 1 COMPARE TOV1 IOC1 PIN IOC1 CHANNEL2 CHANNELn-1 16-BIT COMPARATOR Cn-1F Cn-1F TCn-1 EDG(n-1)A EDG(n-1)B EDGE DETECT CH.n-1 CAPTURE IOCn-1 PIN LOGIC CH. n-1COMPAREIOCn-1 PIN OM:OLn-1 TOVn-1 IOCn-1 n is channels number. Figure 12-22. Detailed Timer Block Diagram 12.4.1 Prescaler The prescaler divides the Bus clock by 1, 2, 4, 8, 16, 32, 64 or 128. The prescaler select bits, PR[2:0], select the prescaler divisor. PR[2:0] are in timer system control register 2 (TSCR2). The prescaler divides the Bus clock by a prescalar value. Prescaler select bits PR[2:0] of in timer system control register 2 (TSCR2) are set to define a prescalar value that generates a divide by 1, 2, 4, 8, 16, 32, 64 and 128 when the PRNT bit in TSCR1 is disabled. MC9S12ZVM Family Reference Manual Rev. 2.2 466 Freescale Semiconductor Chapter 12 Timer Module (TIM16B2CV3) Block Description By enabling the PRNT bit of the TSCR1 register, the performance of the timer can be enhanced. In this case, it is possible to set additional prescaler settings for the main timer counter in the present timer by using PTPSR[7:0] bits of PTPSR register generating divide by 1, 2, 3, 4,....20, 21, 22, 23,......255, or 256. 12.4.2 Input Capture Clearing the I/O (input/output) select bit, IOSx, configures channel x as an input capture channel. The input capture function captures the time at which an external event occurs. When an active edge occurs on the pin of an input capture channel, the timer transfers the value in the timer counter into the timer channel registers, TCx. The minimum pulse width for the input capture input is greater than two Bus clocks. An input capture on channel x sets the CxF flag. The CxI bit enables the CxF flag to generate interrupt requests. Timer module must stay enabled (TEN bit of TSCR1 register must be set to one) while clearing CxF (writing one to CxF). 12.4.3 Output Compare Setting the I/O select bit, IOSx, configures channel x when available as an output compare channel. The output compare function can generate a periodic pulse with a programmable polarity, duration, and frequency. When the timer counter reaches the value in the channel registers of an output compare channel, the timer can set, clear, or toggle the channel pin if the corresponding OCPDx bit is set to zero. An output compare on channel x sets the CxF flag. The CxI bit enables the CxF flag to generate interrupt requests. Timer module must stay enabled (TEN bit of TSCR1 register must be set to one) while clearing CxF (writing one to CxF). The output mode and level bits, OMx and OLx, select set, clear, toggle on output compare. Clearing both OMx and OLx results in no output compare action on the output compare channel pin. Setting a force output compare bit, FOCx, causes an output compare on channel x. A forced output compare does not set the channel flag. Writing to the timer port bit of an output compare pin does not affect the pin state. The value written is stored in an internal latch. When the pin becomes available for general-purpose output, the last value written to the bit appears at the pin. 12.4.3.1 OC Channel Initialization The internal register whose output drives OCx can be programmed before the timer drives OCx. The desired state can be programmed to this internal register by writing a one to CFORCx bit with TIOSx, OCPDx and TEN bits set to one. Set OCx: Write a 1 to FOCx while TEN=1, IOSx=1, OMx=1, OLx=1 and OCPDx=1 Clear OCx: Write a 1 to FOCx while TEN=1, IOSx=1, OMx=1, OLx=0 and OCPDx=1 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 467 Chapter 12 Timer Module (TIM16B2CV3) Block Description Setting OCPDx to zero allows the internal register to drive the programmed state to OCx. This allows a glitch free switch over of port from general purpose I/O to timer output once the OCPDx bit is set to zero. 12.5 Resets The reset state of each individual bit is listed within Section 12.3, "Memory Map and Register Definition" which details the registers and their bit fields 12.6 Interrupts This section describes interrupts originated by the TIM16B2CV3 block. Table 12-18 lists the interrupts generated by the TIM16B2CV3 to communicate with the MCU. Table 12-18. TIM16B2CV3 Interrupts Interrupt Offset Vector Priority Source Description C[1:0]F -- -- -- Timer Channel 1-0 Active high timer channel interrupts 1-0 TOF -- -- -- Timer Overflow Timer Overflow interrupt The TIM16B2CV3 could use up to 3 interrupt vectors. The interrupt vector offsets and interrupt numbers are chip dependent. 12.6.1 Channel [1:0] Interrupt (C[1:0]F) This active high outputs will be asserted by the module to request a timer channel 7 - 0 interrupt. The TIM block only generates the interrupt and does not service it. Only bits related to implemented channels are valid. 12.6.2 Timer Overflow Interrupt (TOF) This active high output will be asserted by the module to request a timer overflow interrupt. The TIM block only generates the interrupt and does not service it. MC9S12ZVM Family Reference Manual Rev. 2.2 468 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Revision History Revision Number Revision Date Sections Affected V03.14 12 Nov 2012 Table 13-10 V03.15 12 Jan 2013 Table 13-2 Table 13-25 Figure 13-37 13.1/13-469 13.3.2.15/13491 V03.16 08 Aug 2013 13.1 Description of Changes * Corrected RxWRN and TxWRN threshold values * * * * * Updated TIME bit description Added register names to buffer map Updated TSRH and TSRL read conditions Updated introduction Updated CANTXERR and CANRXERR register notes * Corrected typos Introduction Freescale's scalable controller area network (S12MSCANV3) definition is based on the MSCAN12 definition, which is the specific implementation of the MSCAN concept targeted for the S12, S12X and S12Z microcontroller families. The module is a communication controller implementing the CAN 2.0A/B protocol as defined in the Bosch specification dated September 1991. For users to fully understand the MSCAN specification, it is recommended that the Bosch specification be read first to familiarize the reader with the terms and concepts contained within this document. Though not exclusively intended for automotive applications, CAN protocol is designed to meet the specific requirements of a vehicle serial data bus: real-time processing, reliable operation in the EMI environment of a vehicle, cost-effectiveness, and required bandwidth. MSCAN uses an advanced buffer arrangement resulting in predictable real-time behavior and simplified application software. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 469 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.1.1 Glossary Table 13-1. Terminology ACK Acknowledge of CAN message CAN Controller Area Network CRC Cyclic Redundancy Code EOF End of Frame FIFO First-In-First-Out Memory IFS Inter-Frame Sequence SOF Start of Frame CPU bus CPU related read/write data bus CAN bus CAN protocol related serial bus oscillator clock 13.1.2 Direct clock from external oscillator bus clock CPU bus related clock CAN clock CAN protocol related clock Block Diagram MSCAN Oscillator Clock Bus Clock MUX CANCLK Presc. Tq Clk Receive/ Transmit Engine Transmit Interrupt Req. Receive Interrupt Req. Errors Interrupt Req. TXCAN Message Filtering and Buffering Control and Status Wake-Up Interrupt Req. Configuration Registers RXCAN Wake-Up Low Pass Filter Figure 13-1. MSCAN Block Diagram MC9S12ZVM Family Reference Manual Rev. 2.2 470 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.1.3 Features The basic features of the MSCAN are as follows: * Implementation of the CAN protocol -- Version 2.0A/B -- Standard and extended data frames -- Zero to eight bytes data length -- Programmable bit rate up to 1 Mbps1 -- Support for remote frames * Five receive buffers with FIFO storage scheme * Three transmit buffers with internal prioritization using a "local priority" concept * Flexible maskable identifier filter supports two full-size (32-bit) extended identifier filters, or four 16-bit filters, or eight 8-bit filters * Programmable wake-up functionality with integrated low-pass filter * Programmable loopback mode supports self-test operation * Programmable listen-only mode for monitoring of CAN bus * Programmable bus-off recovery functionality * Separate signalling and interrupt capabilities for all CAN receiver and transmitter error states (warning, error passive, bus-off) * Programmable MSCAN clock source either bus clock or oscillator clock * Internal timer for time-stamping of received and transmitted messages * Three low-power modes: sleep, power down, and MSCAN enable * Global initialization of configuration registers 13.1.4 Modes of Operation For a description of the specific MSCAN modes and the module operation related to the system operating modes refer to Section 13.4.4, "Modes of Operation". 1. Depending on the actual bit timing and the clock jitter of the PLL. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 471 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.2 External Signal Description The MSCAN uses two external pins. NOTE On MCUs with an integrated CAN physical interface (transceiver) the MSCAN interface is connected internally to the transceiver interface. In these cases the external availability of signals TXCAN and RXCAN is optional. 13.2.1 RXCAN -- CAN Receiver Input Pin RXCAN is the MSCAN receiver input pin. 13.2.2 TXCAN -- CAN Transmitter Output Pin TXCAN is the MSCAN transmitter output pin. The TXCAN output pin represents the logic level on the CAN bus: 0 = Dominant state 1 = Recessive state 13.2.3 CAN System A typical CAN system with MSCAN is shown in Figure 13-2. Each CAN station is connected physically to the CAN bus lines through a transceiver device. The transceiver is capable of driving the large current needed for the CAN bus and has current protection against defective CAN or defective stations. CAN node 2 CAN node 1 CAN node n MCU CAN Controller (MSCAN) TXCAN RXCAN Transceiver CANH CANL CAN Bus Figure 13-2. CAN System MC9S12ZVM Family Reference Manual Rev. 2.2 472 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.3 Memory Map and Register Definition This section provides a detailed description of all registers accessible in the MSCAN. 13.3.1 Module Memory Map Figure 13-3 gives an overview on all registers and their individual bits in the MSCAN memory map. The register address results from the addition of base address and address offset. The base address is determined at the MCU level and can be found in the MCU memory map description. The address offset is defined at the module level. The MSCAN occupies 64 bytes in the memory space. The base address of the MSCAN module is determined at the MCU level when the MCU is defined. The register decode map is fixed and begins at the first address of the module address offset. The detailed register descriptions follow in the order they appear in the register map. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 473 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Register Name Bit 0x0000 CANCTL0 R 0x0001 CANCTL1 R 0x0002 CANBTR0 R 0x0003 CANBTR1 R 0x0004 CANRFLG R 0x0005 CANRIER R 0x0006 CANTFLG R 0x0007 CANTIER R 0x0008 CANTARQ R 0x0009 CANTAAK R W 0x000A CANTBSEL W W W W W W W RXACT 5 CSWAI 4 SYNCH 3 2 1 TIME WUPE SLPRQ INITRQ SLPAK INITAK CLKSRC LOOPB LISTEN BORM WUPM SJW1 SJW0 BRP5 BRP4 BRP3 BRP2 BRP1 BRP0 SAMP TSEG22 TSEG21 TSEG20 TSEG13 TSEG12 TSEG11 TSEG10 WUPIF CSCIF RSTAT1 RSTAT0 TSTAT1 TSTAT0 OVRIF RXF WUPIE CSCIE RSTATE1 RSTATE0 TSTATE1 TSTATE0 OVRIE RXFIE 0 0 0 0 0 TXE2 TXE1 TXE0 0 0 0 0 0 TXEIE2 TXEIE1 TXEIE0 0 0 0 0 0 ABTRQ2 ABTRQ1 ABTRQ0 0 0 0 0 0 ABTAK2 ABTAK1 ABTAK0 0 0 0 0 0 TX2 TX1 TX0 0 0 IDAM1 IDAM0 0 IDHIT2 IDHIT1 IDHIT0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W W R R 0x000C Reserved R Bit CANE W 0x000B CANIDAC 0x000D CANMISC RXFRM 67 W W R W BOHOLD = Unimplemented or Reserved Figure 13-3. MSCAN Register Summary MC9S12ZVM Family Reference Manual Rev. 2.2 474 Freescale Semiconductor 0 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Register Name Bit 0x000E CANRXERR R 0x000F CANTXERR R 0x0010-0x0013 CANIDAR0-3 R 5 4 3 2 1 Bit 0 RXERR7 RXERR6 RXERR5 RXERR4 RXERR3 RXERR2 RXERR1 RXERR0 TXERR7 TXERR6 TXERR5 TXERR4 TXERR3 TXERR2 TXERR1 TXERR0 AC7 AC6 AC5 AC4 AC3 AC2 AC1 AC0 AM7 AM6 AM5 AM4 AM3 AM2 AM1 AM0 AC7 AC6 AC5 AC4 AC3 AC2 AC1 AC0 AM7 AM6 AM5 AM4 AM3 AM2 AM1 AM0 W W W 0x0014-0x0017 CANIDMRx R 0x0018-0x001B CANIDAR4-7 R 0x001C-0x001F CANIDMR4-7 R 0x0020-0x002F CANRXFG R 0x0030-0x003F CANTXFG 67 W W W W R W See Section 13.3.3, "Programmer's Model of Message Storage" See Section 13.3.3, "Programmer's Model of Message Storage" = Unimplemented or Reserved Figure 13-3. MSCAN Register Summary (continued) 13.3.2 Register Descriptions This section describes in detail all the registers and register bits in the MSCAN module. Each description includes a standard register diagram with an associated figure number. Details of register bit and field function follow the register diagrams, in bit order. All bits of all registers in this module are completely synchronous to internal clocks during a register read. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 475 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.3.2.1 MSCAN Control Register 0 (CANCTL0) The CANCTL0 register provides various control bits of the MSCAN module as described below. Access: User read/write(1) Module Base + 0x0000 7 R W Reset: RXFRM 0 6 5 RXACT CSWAI 0 0 4 SYNCH 3 2 1 0 TIME WUPE SLPRQ INITRQ 0 0 0 1 0 = Unimplemented Figure 13-4. MSCAN Control Register 0 (CANCTL0) 1. Read: Anytime Write: Anytime when out of initialization mode; exceptions are read-only RXACT and SYNCH, RXFRM (which is set by the module only), and INITRQ (which is also writable in initialization mode) NOTE The CANCTL0 register, except WUPE, INITRQ, and SLPRQ, is held in the reset state when the initialization mode is active (INITRQ = 1 and INITAK = 1). This register is writable again as soon as the initialization mode is exited (INITRQ = 0 and INITAK = 0). Table 13-2. CANCTL0 Register Field Descriptions Field Description 7 RXFRM Received Frame Flag -- This bit is read and clear only. It is set when a receiver has received a valid message correctly, independently of the filter configuration. After it is set, it remains set until cleared by software or reset. Clearing is done by writing a 1. Writing a 0 is ignored. This bit is not valid in loopback mode. 0 No valid message was received since last clearing this flag 1 A valid message was received since last clearing of this flag 6 RXACT Receiver Active Status -- This read-only flag indicates the MSCAN is receiving a message(1). The flag is controlled by the receiver front end. This bit is not valid in loopback mode. 0 MSCAN is transmitting or idle 1 MSCAN is receiving a message (including when arbitration is lost) 5 CSWAI(2) CAN Stops in Wait Mode -- Enabling this bit allows for lower power consumption in wait mode by disabling all the clocks at the CPU bus interface to the MSCAN module. 0 The module is not affected during wait mode 1 The module ceases to be clocked during wait mode 4 SYNCH Synchronized Status -- This read-only flag indicates whether the MSCAN is synchronized to the CAN bus and able to participate in the communication process. It is set and cleared by the MSCAN. 0 MSCAN is not synchronized to the CAN bus 1 MSCAN is synchronized to the CAN bus MC9S12ZVM Family Reference Manual Rev. 2.2 476 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Table 13-2. CANCTL0 Register Field Descriptions (continued) Field Description 3 TIME Timer Enable -- This bit activates an internal 16-bit wide free running timer which is clocked by the bit clock rate. If the timer is enabled, a 16-bit time stamp will be assigned to each transmitted/received message within the active TX/RX buffer. Right after the EOF of a valid message on the CAN bus, the time stamp is written to the highest bytes (0x000E, 0x000F) in the appropriate buffer (see Section 13.3.3, "Programmer's Model of Message Storage"). In loopback mode no receive timestamp is generated. The internal timer is reset (all bits set to 0) when disabled. This bit is held low in initialization mode. 0 Disable internal MSCAN timer 1 Enable internal MSCAN timer 2 WUPE(3) Wake-Up Enable -- This configuration bit allows the MSCAN to restart from sleep mode or from power down mode (entered from sleep) when traffic on CAN is detected (see Section 13.4.5.5, "MSCAN Sleep Mode"). This bit must be configured before sleep mode entry for the selected function to take effect. 0 Wake-up disabled -- The MSCAN ignores traffic on CAN 1 Wake-up enabled -- The MSCAN is able to restart 1 SLPRQ(4) Sleep Mode Request -- This bit requests the MSCAN to enter sleep mode, which is an internal power saving mode (see Section 13.4.5.5, "MSCAN Sleep Mode"). The sleep mode request is serviced when the CAN bus is idle, i.e., the module is not receiving a message and all transmit buffers are empty. The module indicates entry to sleep mode by setting SLPAK = 1 (see Section 13.3.2.2, "MSCAN Control Register 1 (CANCTL1)"). SLPRQ cannot be set while the WUPIF flag is set (see Section 13.3.2.5, "MSCAN Receiver Flag Register (CANRFLG)"). Sleep mode will be active until SLPRQ is cleared by the CPU or, depending on the setting of WUPE, the MSCAN detects activity on the CAN bus and clears SLPRQ itself. 0 Running -- The MSCAN functions normally 1 Sleep mode request -- The MSCAN enters sleep mode when CAN bus idle Initialization Mode Request -- When this bit is set by the CPU, the MSCAN skips to initialization mode (see 0 INITRQ(5),(6) Section 13.4.4.5, "MSCAN Initialization Mode"). Any ongoing transmission or reception is aborted and synchronization to the CAN bus is lost. The module indicates entry to initialization mode by setting INITAK = 1 (Section 13.3.2.2, "MSCAN Control Register 1 (CANCTL1)"). The following registers enter their hard reset state and restore their default values: CANCTL0(7), CANRFLG(8), CANRIER(9), CANTFLG, CANTIER, CANTARQ, CANTAAK, and CANTBSEL. The registers CANCTL1, CANBTR0, CANBTR1, CANIDAC, CANIDAR0-7, and CANIDMR0-7 can only be written by the CPU when the MSCAN is in initialization mode (INITRQ = 1 and INITAK = 1). The values of the error counters are not affected by initialization mode. When this bit is cleared by the CPU, the MSCAN restarts and then tries to synchronize to the CAN bus. If the MSCAN is not in bus-off state, it synchronizes after 11 consecutive recessive bits on the CAN bus; if the MSCAN is in bus-off state, it continues to wait for 128 occurrences of 11 consecutive recessive bits. Writing to other bits in CANCTL0, CANRFLG, CANRIER, CANTFLG, or CANTIER must be done only after initialization mode is exited, which is INITRQ = 0 and INITAK = 0. 0 Normal operation 1 MSCAN in initialization mode 1. See the Bosch CAN 2.0A/B specification for a detailed definition of transmitter and receiver states. 2. In order to protect from accidentally violating the CAN protocol, TXCAN is immediately forced to a recessive state when the CPU enters wait (CSWAI = 1) or stop mode (see Section 13.4.5.2, "Operation in Wait Mode" and Section 13.4.5.3, "Operation in Stop Mode"). 3. The CPU has to make sure that the WUPE register and the WUPIE wake-up interrupt enable register (see Section 13.3.2.6, "MSCAN Receiver Interrupt Enable Register (CANRIER)) is enabled, if the recovery mechanism from stop or wait is required. 4. The CPU cannot clear SLPRQ before the MSCAN has entered sleep mode (SLPRQ = 1 and SLPAK = 1). 5. The CPU cannot clear INITRQ before the MSCAN has entered initialization mode (INITRQ = 1 and INITAK = 1). MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 477 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 6. In order to protect from accidentally violating the CAN protocol, TXCAN is immediately forced to a recessive state when the initialization mode is requested by the CPU. Thus, the recommended procedure is to bring the MSCAN into sleep mode (SLPRQ = 1 and SLPAK = 1) before requesting initialization mode. 7. Not including WUPE, INITRQ, and SLPRQ. 8. TSTAT1 and TSTAT0 are not affected by initialization mode. 9. RSTAT1 and RSTAT0 are not affected by initialization mode. 13.3.2.2 MSCAN Control Register 1 (CANCTL1) The CANCTL1 register provides various control bits and handshake status information of the MSCAN module as described below. Access: User read/write(1) Module Base + 0x0001 R W Reset: 7 6 5 4 3 2 CANE CLKSRC LOOPB LISTEN BORM WUPM 0 0 0 1 0 0 1 0 SLPAK INITAK 0 1 = Unimplemented Figure 13-5. MSCAN Control Register 1 (CANCTL1) 1. Read: Anytime Write: Anytime in initialization mode (INITRQ = 1 and INITAK = 1), except CANE which is write once in normal and anytime in special system operation modes when the MSCAN is in initialization mode (INITRQ = 1 and INITAK = 1) Table 13-3. CANCTL1 Register Field Descriptions Field 7 CANE Description MSCAN Enable 0 MSCAN module is disabled 1 MSCAN module is enabled 6 CLKSRC MSCAN Clock Source -- This bit defines theclock source for the MSCAN module (only for systems witha clock generation module; Section 13.4.3.2, "Clock System," and Section Figure 13-43., "MSCAN Clocking Scheme,"). 0 MSCAN clock source is the oscillator clock 1 MSCAN clock source is the bus clock 5 LOOPB Loopback Self Test Mode -- When this bit is set, the MSCAN performs an internal loopback which can be used for self test operation. The bit stream output of the transmitter is fed back to the receiver internally. The RXCAN input is ignored and the TXCAN output goes to the recessive state (logic 1). The MSCAN behaves as it does normally when transmitting and treats its own transmitted message as a message received from a remote node. In this state, the MSCAN ignores the bit sent during the ACK slot in the CAN frame acknowledge field to ensure proper reception of its own message. Both transmit and receive interrupts are generated. 0 Loopback self test disabled 1 Loopback self test enabled MC9S12ZVM Family Reference Manual Rev. 2.2 478 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Table 13-3. CANCTL1 Register Field Descriptions (continued) Field Description 4 LISTEN Listen Only Mode -- This bit configures the MSCAN as a CAN bus monitor. When LISTEN is set, all valid CAN messages with matching ID are received, but no acknowledgement or error frames are sent out (see Section 13.4.4.4, "Listen-Only Mode"). In addition, the error counters are frozen. Listen only mode supports applications which require "hot plugging" or throughput analysis. The MSCAN is unable to transmit any messages when listen only mode is active. 0 Normal operation 1 Listen only mode activated 3 BORM Bus-Off Recovery Mode -- This bit configures the bus-off state recovery mode of the MSCAN. Refer to Section 13.5.2, "Bus-Off Recovery," for details. 0 Automatic bus-off recovery (see Bosch CAN 2.0A/B protocol specification) 1 Bus-off recovery upon user request 2 WUPM Wake-Up Mode -- If WUPE in CANCTL0 is enabled, this bit defines whether the integrated low-pass filter is applied to protect the MSCAN from spurious wake-up (see Section 13.4.5.5, "MSCAN Sleep Mode"). 0 MSCAN wakes up on any dominant level on the CAN bus 1 MSCAN wakes up only in case of a dominant pulse on the CAN bus that has a length of Twup 1 SLPAK Sleep Mode Acknowledge -- This flag indicates whether the MSCAN module has entered sleep mode (see Section 13.4.5.5, "MSCAN Sleep Mode"). It is used as a handshake flag for the SLPRQ sleep mode request. Sleep mode is active when SLPRQ = 1 and SLPAK = 1. Depending on the setting of WUPE, the MSCAN will clear the flag if it detects activity on the CAN bus while in sleep mode. 0 Running -- The MSCAN operates normally 1 Sleep mode active -- The MSCAN has entered sleep mode 0 INITAK Initialization Mode Acknowledge -- This flag indicates whether the MSCAN module is in initialization mode (see Section 13.4.4.5, "MSCAN Initialization Mode"). It is used as a handshake flag for the INITRQ initialization mode request. Initialization mode is active when INITRQ = 1 and INITAK = 1. The registers CANCTL1, CANBTR0, CANBTR1, CANIDAC, CANIDAR0-CANIDAR7, and CANIDMR0-CANIDMR7 can be written only by the CPU when the MSCAN is in initialization mode. 0 Running -- The MSCAN operates normally 1 Initialization mode active -- The MSCAN has entered initialization mode 13.3.2.3 MSCAN Bus Timing Register 0 (CANBTR0) The CANBTR0 register configures various CAN bus timing parameters of the MSCAN module. Access: User read/write(1) Module Base + 0x0002 R W Reset: 7 6 5 4 3 2 1 0 SJW1 SJW0 BRP5 BRP4 BRP3 BRP2 BRP1 BRP0 0 0 0 0 0 0 0 0 Figure 13-6. MSCAN Bus Timing Register 0 (CANBTR0) 1. Read: Anytime Write: Anytime in initialization mode (INITRQ = 1 and INITAK = 1) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 479 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Table 13-4. CANBTR0 Register Field Descriptions Field Description 7-6 SJW[1:0] Synchronization Jump Width -- The synchronization jump width defines the maximum number of time quanta (Tq) clock cycles a bit can be shortened or lengthened to achieve resynchronization to data transitions on the CAN bus (see Table 13-5). 5-0 BRP[5:0] Baud Rate Prescaler -- These bits determine the time quanta (Tq) clock which is used to build up the bit timing (see Table 13-6). Table 13-5. Synchronization Jump Width SJW1 SJW0 Synchronization Jump Width 0 0 1 Tq clock cycle 0 1 2 Tq clock cycles 1 0 3 Tq clock cycles 1 1 4 Tq clock cycles Table 13-6. Baud Rate Prescaler 13.3.2.4 BRP5 BRP4 BRP3 BRP2 BRP1 BRP0 Prescaler value (P) 0 0 0 0 0 0 1 0 0 0 0 0 1 2 0 0 0 0 1 0 3 0 0 0 0 1 1 4 : : : : : : : 1 1 1 1 1 1 64 MSCAN Bus Timing Register 1 (CANBTR1) The CANBTR1 register configures various CAN bus timing parameters of the MSCAN module. Access: User read/write(1) Module Base + 0x0003 R W Reset: 7 6 5 4 3 2 1 0 SAMP TSEG22 TSEG21 TSEG20 TSEG13 TSEG12 TSEG11 TSEG10 0 0 0 0 0 0 0 0 Figure 13-7. MSCAN Bus Timing Register 1 (CANBTR1) 1. Read: Anytime Write: Anytime in initialization mode (INITRQ = 1 and INITAK = 1) MC9S12ZVM Family Reference Manual Rev. 2.2 480 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Table 13-7. CANBTR1 Register Field Descriptions Field Description 7 SAMP Sampling -- This bit determines the number of CAN bus samples taken per bit time. 0 One sample per bit. 1 Three samples per bit(1). If SAMP = 0, the resulting bit value is equal to the value of the single bit positioned at the sample point. If SAMP = 1, the resulting bit value is determined by using majority rule on the three total samples. For higher bit rates, it is recommended that only one sample is taken per bit time (SAMP = 0). 6-4 Time Segment 2 -- Time segments within the bit time fix the number of clock cycles per bit time and the location TSEG2[2:0] of the sample point (see Figure 13-44). Time segment 2 (TSEG2) values are programmable as shown in Table 13-8. 3-0 Time Segment 1 -- Time segments within the bit time fix the number of clock cycles per bit time and the location TSEG1[3:0] of the sample point (see Figure 13-44). Time segment 1 (TSEG1) values are programmable as shown in Table 13-9. 1. In this case, PHASE_SEG1 must be at least 2 time quanta (Tq). Table 13-8. Time Segment 2 Values TSEG22 TSEG21 TSEG20 Time Segment 2 0 0 0 1 Tq clock cycle(1) 0 0 1 2 Tq clock cycles : : : : 1 1 0 7 Tq clock cycles 1 1 1 8 Tq clock cycles 1. This setting is not valid. Please refer to Table 13-36 for valid settings. Table 13-9. Time Segment 1 Values TSEG13 TSEG12 TSEG11 TSEG10 Time segment 1 0 0 0 0 1 Tq clock cycle(1) 0 0 0 1 2 Tq clock cycles1 0 0 1 0 3 Tq clock cycles1 0 0 1 1 4 Tq clock cycles : : : : : 1 1 1 0 15 Tq clock cycles 1 1 1 1 16 Tq clock cycles 1. This setting is not valid. Please refer to Table 13-36 for valid settings. The bit time is determined by the oscillator frequency, the baud rate prescaler, and the number of time quanta (Tq) clock cycles per bit (as shown in Table 13-8 and Table 13-9). MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 481 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Eqn. 13-1 Prescaler value Bit Time = ---------------------------------------------------------- 1 + TimeSegment1 + TimeSegment2 f CANCLK 13.3.2.5 MSCAN Receiver Flag Register (CANRFLG) A flag can be cleared only by software (writing a 1 to the corresponding bit position) when the condition which caused the setting is no longer valid. Every flag has an associated interrupt enable bit in the CANRIER register. Access: User read/write(1) Module Base + 0x0004 R W Reset: 7 6 WUPIF CSCIF 0 0 5 4 3 2 RSTAT1 RSTAT0 TSTAT1 TSTAT0 0 0 0 0 1 0 OVRIF RXF 0 0 = Unimplemented Figure 13-8. MSCAN Receiver Flag Register (CANRFLG) 1. Read: Anytime Write: Anytime when not in initialization mode, except RSTAT[1:0] and TSTAT[1:0] flags which are read-only; write of 1 clears flag; write of 0 is ignored NOTE The CANRFLG register is held in the reset state1 when the initialization mode is active (INITRQ = 1 and INITAK = 1). This register is writable again as soon as the initialization mode is exited (INITRQ = 0 and INITAK = 0). 1. The RSTAT[1:0], TSTAT[1:0] bits are not affected by initialization mode. MC9S12ZVM Family Reference Manual Rev. 2.2 482 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Table 13-10. CANRFLG Register Field Descriptions Field Description 7 WUPIF Wake-Up Interrupt Flag -- If the MSCAN detects CAN bus activity while in sleep mode (see Section 13.4.5.5, "MSCAN Sleep Mode,") and WUPE = 1 in CANTCTL0 (see Section 13.3.2.1, "MSCAN Control Register 0 (CANCTL0)"), the module will set WUPIF. If not masked, a wake-up interrupt is pending while this flag is set. 0 No wake-up activity observed while in sleep mode 1 MSCAN detected activity on the CAN bus and requested wake-up 6 CSCIF CAN Status Change Interrupt Flag -- This flag is set when the MSCAN changes its current CAN bus status due to the actual value of the transmit error counter (TEC) and the receive error counter (REC). An additional 4bit (RSTAT[1:0], TSTAT[1:0]) status register, which is split into separate sections for TEC/REC, informs the system on the actual CAN bus status (see Section 13.3.2.6, "MSCAN Receiver Interrupt Enable Register (CANRIER)"). If not masked, an error interrupt is pending while this flag is set. CSCIF provides a blocking interrupt. That guarantees that the receiver/transmitter status bits (RSTAT/TSTAT) are only updated when no CAN status change interrupt is pending. If the TECs/RECs change their current value after the CSCIF is asserted, which would cause an additional state change in the RSTAT/TSTAT bits, these bits keep their status until the current CSCIF interrupt is cleared again. 0 No change in CAN bus status occurred since last interrupt 1 MSCAN changed current CAN bus status 5-4 RSTAT[1:0] Receiver Status Bits -- The values of the error counters control the actual CAN bus status of the MSCAN. As soon as the status change interrupt flag (CSCIF) is set, these bits indicate the appropriate receiver related CAN bus status of the MSCAN. The coding for the bits RSTAT1, RSTAT0 is: 00 RxOK: 0 receive error counter 96 01 RxWRN: 96 receive error counter 128 10 RxERR: 1 28 receive error counter 11 Bus-off(1): 256transmit error counter 3-2 TSTAT[1:0] Transmitter Status Bits -- The values of the error counters control the actual CAN bus status of the MSCAN. As soon as the status change interrupt flag (CSCIF) is set, these bits indicate the appropriate transmitter related CAN bus status of the MSCAN. The coding for the bits TSTAT1, TSTAT0 is: 00 TxOK: 0 transmit error counter 96 01 TxWRN: 96 transmit error counter 128 10 TxERR: 1 28 transmit error counter 256 11 Bus-Off: 256 transmit error counter 1 OVRIF Overrun Interrupt Flag -- This flag is set when a data overrun condition occurs. If not masked, an error interrupt is pending while this flag is set. 0 No data overrun condition 1 A data overrun detected 0 RXF(2) Receive Buffer Full Flag -- RXF is set by the MSCAN when a new message is shifted in the receiver FIFO. This flag indicates whether the shifted buffer is loaded with a correctly received message (matching identifier, matching cyclic redundancy code (CRC) and no other errors detected). After the CPU has read that message from the RxFG buffer in the receiver FIFO, the RXF flag must be cleared to release the buffer. A set RXF flag prohibits the shifting of the next FIFO entry into the foreground buffer (RxFG). If not masked, a receive interrupt is pending while this flag is set. 0 No new message available within the RxFG 1 The receiver FIFO is not empty. A new message is available in the RxFG 1. Redundant Information for the most critical CAN bus status which is "bus-off". This only occurs if the Tx error counter exceeds a number of 255 errors. Bus-off affects the receiver state. As soon as the transmitter leaves its bus-off state the receiver state skips to RxOK too. Refer also to TSTAT[1:0] coding in this register. 2. To ensure data integrity, do not read the receive buffer registers while the RXF flag is cleared. For MCUs with dual CPUs, reading the receive buffer registers while the RXF flag is cleared may result in a CPU fault condition. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 483 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.3.2.6 MSCAN Receiver Interrupt Enable Register (CANRIER) This register contains the interrupt enable bits for the interrupt flags described in the CANRFLG register. Access: User read/write(1) Module Base + 0x0005 R W Reset: 7 6 5 4 3 2 1 0 WUPIE CSCIE RSTATE1 RSTATE0 TSTATE1 TSTATE0 OVRIE RXFIE 0 0 0 0 0 0 0 0 Figure 13-9. MSCAN Receiver Interrupt Enable Register (CANRIER) 1. Read: Anytime Write: Anytime when not in initialization mode NOTE The CANRIER register is held in the reset state when the initialization mode is active (INITRQ=1 and INITAK=1). This register is writable when not in initialization mode (INITRQ=0 and INITAK=0). The RSTATE[1:0], TSTATE[1:0] bits are not affected by initialization mode. Table 13-11. CANRIER Register Field Descriptions Field 7 WUPIE(1) 6 CSCIE Description Wake-Up Interrupt Enable 0 No interrupt request is generated from this event. 1 A wake-up event causes a Wake-Up interrupt request. CAN Status Change Interrupt Enable 0 No interrupt request is generated from this event. 1 A CAN Status Change event causes an error interrupt request. 5-4 Receiver Status Change Enable -- These RSTAT enable bits control the sensitivity level in which receiver state RSTATE[1:0 changes are causing CSCIF interrupts. Independent of the chosen sensitivity level the RSTAT flags continue to ] indicate the actual receiver state and are only updated if no CSCIF interrupt is pending. 00 Do not generate any CSCIF interrupt caused by receiver state changes. 01 Generate CSCIF interrupt only if the receiver enters or leaves "bus-off" state. Discard other receiver state changes for generating CSCIF interrupt. 10 Generate CSCIF interrupt only if the receiver enters or leaves "RxErr" or "bus-off"(2) state. Discard other receiver state changes for generating CSCIF interrupt. 11 Generate CSCIF interrupt on all state changes. 3-2 Transmitter Status Change Enable -- These TSTAT enable bits control the sensitivity level in which transmitter TSTATE[1:0] state changes are causing CSCIF interrupts. Independent of the chosen sensitivity level, the TSTAT flags continue to indicate the actual transmitter state and are only updated if no CSCIF interrupt is pending. 00 Do not generate any CSCIF interrupt caused by transmitter state changes. 01 Generate CSCIF interrupt only if the transmitter enters or leaves "bus-off" state. Discard other transmitter state changes for generating CSCIF interrupt. 10 Generate CSCIF interrupt only if the transmitter enters or leaves "TxErr" or "bus-off" state. Discard other transmitter state changes for generating CSCIF interrupt. 11 Generate CSCIF interrupt on all state changes. MC9S12ZVM Family Reference Manual Rev. 2.2 484 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Table 13-11. CANRIER Register Field Descriptions (continued) Field Description 1 OVRIE Overrun Interrupt Enable 0 No interrupt request is generated from this event. 1 An overrun event causes an error interrupt request. 0 RXFIE Receiver Full Interrupt Enable 0 No interrupt request is generated from this event. 1 A receive buffer full (successful message reception) event causes a receiver interrupt request. 1. WUPIE and WUPE (see Section 13.3.2.1, "MSCAN Control Register 0 (CANCTL0)") must both be enabled if the recovery mechanism from stop or wait is required. 2. Bus-off state is only defined for transmitters by the CAN standard (see Bosch CAN 2.0A/B protocol specification). Because the only possible state change for the transmitter from bus-off to TxOK also forces the receiver to skip its current state to RxOK, the coding of the RXSTAT[1:0] flags define an additional bus-off state for the receiver (see Section 13.3.2.5, "MSCAN Receiver Flag Register (CANRFLG)"). 13.3.2.7 MSCAN Transmitter Flag Register (CANTFLG) The transmit buffer empty flags each have an associated interrupt enable bit in the CANTIER register. Access: User read/write(1) Module Base + 0x0006 R 7 6 5 4 3 0 0 0 0 0 0 0 0 0 0 W Reset: 2 1 0 TXE2 TXE1 TXE0 1 1 1 = Unimplemented Figure 13-10. MSCAN Transmitter Flag Register (CANTFLG) 1. Read: Anytime Write: Anytime when not in initialization mode; write of 1 clears flag, write of 0 is ignored NOTE The CANTFLG register is held in the reset state when the initialization mode is active (INITRQ = 1 and INITAK = 1). This register is writable when not in initialization mode (INITRQ = 0 and INITAK = 0). MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 485 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Table 13-12. CANTFLG Register Field Descriptions Field Description 2-0 TXE[2:0] Transmitter Buffer Empty -- This flag indicates that the associated transmit message buffer is empty, and thus not scheduled for transmission. The CPU must clear the flag after a message is set up in the transmit buffer and is due for transmission. The MSCAN sets the flag after the message is sent successfully. The flag is also set by the MSCAN when the transmission request is successfully aborted due to a pending abort request (see Section 13.3.2.9, "MSCAN Transmitter Message Abort Request Register (CANTARQ)"). If not masked, a transmit interrupt is pending while this flag is set. Clearing a TXEx flag also clears the corresponding ABTAKx (see Section 13.3.2.10, "MSCAN Transmitter Message Abort Acknowledge Register (CANTAAK)"). When a TXEx flag is set, the corresponding ABTRQx bit is cleared (see Section 13.3.2.9, "MSCAN Transmitter Message Abort Request Register (CANTARQ)"). When listen-mode is active (see Section 13.3.2.2, "MSCAN Control Register 1 (CANCTL1)") the TXEx flags cannot be cleared and no transmission is started. Read and write accesses to the transmit buffer will be blocked, if the corresponding TXEx bit is cleared (TXEx = 0) and the buffer is scheduled for transmission. 0 The associated message buffer is full (loaded with a message due for transmission) 1 The associated message buffer is empty (not scheduled) 13.3.2.8 MSCAN Transmitter Interrupt Enable Register (CANTIER) This register contains the interrupt enable bits for the transmit buffer empty interrupt flags. Access: User read/write(1) Module Base + 0x0007 R 7 6 5 4 3 0 0 0 0 0 0 0 0 0 0 W Reset: 2 1 0 TXEIE2 TXEIE1 TXEIE0 0 0 0 = Unimplemented Figure 13-11. MSCAN Transmitter Interrupt Enable Register (CANTIER) 1. Read: Anytime Write: Anytime when not in initialization mode NOTE The CANTIER register is held in the reset state when the initialization mode is active (INITRQ = 1 and INITAK = 1). This register is writable when not in initialization mode (INITRQ = 0 and INITAK = 0). Table 13-13. CANTIER Register Field Descriptions Field 2-0 TXEIE[2:0] Description Transmitter Empty Interrupt Enable 0 No interrupt request is generated from this event. 1 A transmitter empty (transmit buffer available for transmission) event causes a transmitter empty interrupt request. MC9S12ZVM Family Reference Manual Rev. 2.2 486 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.3.2.9 MSCAN Transmitter Message Abort Request Register (CANTARQ) The CANTARQ register allows abort request of queued messages as described below. Access: User read/write(1) Module Base + 0x0008 R 7 6 5 4 3 0 0 0 0 0 0 0 0 0 0 W Reset: 2 1 0 ABTRQ2 ABTRQ1 ABTRQ0 0 0 0 = Unimplemented Figure 13-12. MSCAN Transmitter Message Abort Request Register (CANTARQ) 1. Read: Anytime Write: Anytime when not in initialization mode NOTE The CANTARQ register is held in the reset state when the initialization mode is active (INITRQ = 1 and INITAK = 1). This register is writable when not in initialization mode (INITRQ = 0 and INITAK = 0). Table 13-14. CANTARQ Register Field Descriptions Field Description 2-0 Abort Request -- The CPU sets the ABTRQx bit to request that a scheduled message buffer (TXEx = 0) be ABTRQ[2:0] aborted. The MSCAN grants the request if the message has not already started transmission, or if the transmission is not successful (lost arbitration or error). When a message is aborted, the associated TXE (see Section 13.3.2.7, "MSCAN Transmitter Flag Register (CANTFLG)") and abort acknowledge flags (ABTAK, see Section 13.3.2.10, "MSCAN Transmitter Message Abort Acknowledge Register (CANTAAK)") are set and a transmit interrupt occurs if enabled. The CPU cannot reset ABTRQx. ABTRQx is reset whenever the associated TXE flag is set. 0 No abort request 1 Abort request pending MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 487 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.3.2.10 MSCAN Transmitter Message Abort Acknowledge Register (CANTAAK) The CANTAAK register indicates the successful abort of a queued message, if requested by the appropriate bits in the CANTARQ register. Access: User read/write(1) Module Base + 0x0009 R 7 6 5 4 3 2 1 0 0 0 0 0 0 ABTAK2 ABTAK1 ABTAK0 0 0 0 0 0 0 0 0 W Reset: = Unimplemented Figure 13-13. MSCAN Transmitter Message Abort Acknowledge Register (CANTAAK) 1. Read: Anytime Write: Unimplemented NOTE The CANTAAK register is held in the reset state when the initialization mode is active (INITRQ = 1 and INITAK = 1). Table 13-15. CANTAAK Register Field Descriptions Field Description 2-0 Abort Acknowledge -- This flag acknowledges that a message was aborted due to a pending abort request ABTAK[2:0] from the CPU. After a particular message buffer is flagged empty, this flag can be used by the application software to identify whether the message was aborted successfully or was sent anyway. The ABTAKx flag is cleared whenever the corresponding TXE flag is cleared. 0 The message was not aborted. 1 The message was aborted. 13.3.2.11 MSCAN Transmit Buffer Selection Register (CANTBSEL) The CANTBSEL register allows the selection of the actual transmit message buffer, which then will be accessible in the CANTXFG register space. Access: User read/write(1) Module Base + 0x000A R 7 6 5 4 3 0 0 0 0 0 0 0 0 0 0 W Reset: 2 1 0 TX2 TX1 TX0 0 0 0 = Unimplemented Figure 13-14. MSCAN Transmit Buffer Selection Register (CANTBSEL) MC9S12ZVM Family Reference Manual Rev. 2.2 488 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 1. Read: Find the lowest ordered bit set to 1, all other bits will be read as 0 Write: Anytime when not in initialization mode NOTE The CANTBSEL register is held in the reset state when the initialization mode is active (INITRQ = 1 and INITAK=1). This register is writable when not in initialization mode (INITRQ = 0 and INITAK = 0). Table 13-16. CANTBSEL Register Field Descriptions Field Description 2-0 TX[2:0] Transmit Buffer Select -- The lowest numbered bit places the respective transmit buffer in the CANTXFG register space (e.g., TX1 = 1 and TX0 = 1 selects transmit buffer TX0; TX1 = 1 and TX0 = 0 selects transmit buffer TX1). Read and write accesses to the selected transmit buffer will be blocked, if the corresponding TXEx bit is cleared and the buffer is scheduled for transmission (see Section 13.3.2.7, "MSCAN Transmitter Flag Register (CANTFLG)"). 0 The associated message buffer is deselected 1 The associated message buffer is selected, if lowest numbered bit The following gives a short programming example of the usage of the CANTBSEL register: To get the next available transmit buffer, application software must read the CANTFLG register and write this value back into the CANTBSEL register. In this example Tx buffers TX1 and TX2 are available. The value read from CANTFLG is therefore 0b0000_0110. When writing this value back to CANTBSEL, the Tx buffer TX1 is selected in the CANTXFG because the lowest numbered bit set to 1 is at bit position 1. Reading back this value out of CANTBSEL results in 0b0000_0010, because only the lowest numbered bit position set to 1 is presented. This mechanism eases the application software's selection of the next available Tx buffer. * LDAA CANTFLG; value read is 0b0000_0110 * STAA CANTBSEL; value written is 0b0000_0110 * LDAA CANTBSEL; value read is 0b0000_0010 If all transmit message buffers are deselected, no accesses are allowed to the CANTXFG registers. 13.3.2.12 MSCAN Identifier Acceptance Control Register (CANIDAC) The CANIDAC register is used for identifier acceptance control as described below. Access: User read/write(1) Module Base + 0x000B R 7 6 0 0 0 0 W Reset: 5 4 IDAM1 IDAM0 0 0 3 2 1 0 0 IDHIT2 IDHIT1 IDHIT0 0 0 0 0 = Unimplemented Figure 13-15. MSCAN Identifier Acceptance Control Register (CANIDAC) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 489 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 1. Read: Anytime Write: Anytime in initialization mode (INITRQ = 1 and INITAK = 1), except bits IDHITx, which are read-only Table 13-17. CANIDAC Register Field Descriptions Field Description 5-4 IDAM[1:0] Identifier Acceptance Mode -- The CPU sets these flags to define the identifier acceptance filter organization (see Section 13.4.3, "Identifier Acceptance Filter"). Table 13-18 summarizes the different settings. In filter closed mode, no message is accepted such that the foreground buffer is never reloaded. 2-0 IDHIT[2:0] Identifier Acceptance Hit Indicator -- The MSCAN sets these flags to indicate an identifier acceptance hit (see Section 13.4.3, "Identifier Acceptance Filter"). Table 13-19 summarizes the different settings. Table 13-18. Identifier Acceptance Mode Settings IDAM1 IDAM0 Identifier Acceptance Mode 0 0 Two 32-bit acceptance filters 0 1 Four 16-bit acceptance filters 1 0 Eight 8-bit acceptance filters 1 1 Filter closed Table 13-19. Identifier Acceptance Hit Indication IDHIT2 IDH IT1 ID HIT0 Identifier Acceptance Hit 0 0 0 Filter 0 hit 0 0 1 Filter 1 hit 0 1 0 Filter 2 hit 0 1 1 Filter 3 hit 1 0 0 Filter 4 hit 1 0 1 Filter 5 hit 1 1 0 Filter 6 hit 1 1 1 Filter 7 hit The IDHITx indicators are always related to the message in the foreground buffer (RxFG). When a message gets shifted into the foreground buffer of the receiver FIFO the indicators are updated as well. 13.3.2.13 MSCAN Reserved Register This register is reserved for factory testing of the MSCAN module and is not available in normal system operating modes. MC9S12ZVM Family Reference Manual Rev. 2.2 490 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Access: User read/write(1) Module Base + 0x000C R 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset: = Unimplemented Figure 13-16. MSCAN Reserved Register 1. Read: Always reads zero in normal system operation modes Write: Unimplemented in normal system operation modes NOTE Writing to this register when in special system operating modes can alter the MSCAN functionality. 13.3.2.14 MSCAN Miscellaneous Register (CANMISC) This register provides additional features. Access: User read/write(1) Module Base + 0x000D R 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset: 0 BOHOLD 0 = Unimplemented Figure 13-17. MSCAN Miscellaneous Register (CANMISC) 1. Read: Anytime Write: Anytime; write of `1' clears flag; write of `0' ignored Table 13-20. CANMISC Register Field Descriptions Field Description 0 BOHOLD Bus-off State Hold Until User Request -- If BORM is set in MSCAN Control Register 1 (CANCTL1), this bit indicates whether the module has entered the bus-off state. Clearing this bit requests the recovery from bus-off. Refer to Section 13.5.2, "Bus-Off Recovery," for details. 0 Module is not bus-off or recovery has been requested by user in bus-off state 1 Module is bus-off and holds this state until user request 13.3.2.15 MSCAN Receive Error Counter (CANRXERR) This register reflects the status of the MSCAN receive error counter. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 491 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Access: User read/write(1) Module Base + 0x000E R 7 6 5 4 3 2 1 0 RXERR7 RXERR6 RXERR5 RXERR4 RXERR3 RXERR2 RXERR1 RXERR0 0 0 0 0 0 0 0 0 W Reset: = Unimplemented Figure 13-18. MSCAN Receive Error Counter (CANRXERR) 1. Read: Only when in sleep mode (SLPRQ = 1 and SLPAK = 1) or initialization mode (INITRQ = 1 and INITAK = 1) Write: Unimplemented NOTE Reading this register when in any other mode other than sleep or initialization mode may return an incorrect value. For MCUs with dual CPUs, this may result in a CPU fault condition. 13.3.2.16 MSCAN Transmit Error Counter (CANTXERR) This register reflects the status of the MSCAN transmit error counter. Access: User read/write(1) Module Base + 0x000F R 7 6 5 4 3 2 1 0 TXERR7 TXERR6 TXERR5 TXERR4 TXERR3 TXERR2 TXERR1 TXERR0 0 0 0 0 0 0 0 0 W Reset: = Unimplemented Figure 13-19. MSCAN Transmit Error Counter (CANTXERR) 1. Read: Only when in sleep mode (SLPRQ = 1 and SLPAK = 1) or initialization mode (INITRQ = 1 and INITAK = 1) Write: Unimplemented NOTE Reading this register when in any other mode other than sleep or initialization mode, may return an incorrect value. For MCUs with dual CPUs, this may result in a CPU fault condition. MC9S12ZVM Family Reference Manual Rev. 2.2 492 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.3.2.17 MSCAN Identifier Acceptance Registers (CANIDAR0-7) On reception, each message is written into the background receive buffer. The CPU is only signalled to read the message if it passes the criteria in the identifier acceptance and identifier mask registers (accepted); otherwise, the message is overwritten by the next message (dropped). The acceptance registers of the MSCAN are applied on the IDR0-IDR3 registers (see Section 13.3.3.1, "Identifier Registers (IDR0-IDR3)") of incoming messages in a bit by bit manner (see Section 13.4.3, "Identifier Acceptance Filter"). For extended identifiers, all four acceptance and mask registers are applied. For standard identifiers, only the first two (CANIDAR0/1, CANIDMR0/1) are applied. Access: User read/write(1) Module Base + 0x0010 to Module Base + 0x0013 R W Reset 7 6 5 4 3 2 1 0 AC7 AC6 AC5 AC4 AC3 AC2 AC1 AC0 0 0 0 0 0 0 0 0 Figure 13-20. MSCAN Identifier Acceptance Registers (First Bank) -- CANIDAR0-CANIDAR3 1. Read: Anytime Write: Anytime in initialization mode (INITRQ = 1 and INITAK = 1) Table 13-21. CANIDAR0-CANIDAR3 Register Field Descriptions Field Description 7-0 AC[7:0] Acceptance Code Bits -- AC[7:0] comprise a user-defined sequence of bits with which the corresponding bits of the related identifier register (IDRn) of the receive message buffer are compared. The result of this comparison is then masked with the corresponding identifier mask register. Access: User read/write(1) Module Base + 0x0018 to Module Base + 0x001B R W Reset 7 6 5 4 3 2 1 0 AC7 AC6 AC5 AC4 AC3 AC2 AC1 AC0 0 0 0 0 0 0 0 0 Figure 13-21. MSCAN Identifier Acceptance Registers (Second Bank) -- CANIDAR4-CANIDAR7 1. Read: Anytime Write: Anytime in initialization mode (INITRQ = 1 and INITAK = 1) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 493 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Table 13-22. CANIDAR4-CANIDAR7 Register Field Descriptions Field Description 7-0 AC[7:0] Acceptance Code Bits -- AC[7:0] comprise a user-defined sequence of bits with which the corresponding bits of the related identifier register (IDRn) of the receive message buffer are compared. The result of this comparison is then masked with the corresponding identifier mask register. 13.3.2.18 MSCAN Identifier Mask Registers (CANIDMR0-CANIDMR7) The identifier mask register specifies which of the corresponding bits in the identifier acceptance register are relevant for acceptance filtering. To receive standard identifiers in 32 bit filter mode, it is required to program the last three bits (AM[2:0]) in the mask registers CANIDMR1 and CANIDMR5 to "don't care." To receive standard identifiers in 16 bit filter mode, it is required to program the last three bits (AM[2:0]) in the mask registers CANIDMR1, CANIDMR3, CANIDMR5, and CANIDMR7 to "don't care." Access: User read/write(1) Module Base + 0x0014 to Module Base + 0x0017 R W Reset 7 6 5 4 3 2 1 0 AM7 AM6 AM5 AM4 AM3 AM2 AM1 AM0 0 0 0 0 0 0 0 0 Figure 13-22. MSCAN Identifier Mask Registers (First Bank) -- CANIDMR0-CANIDMR3 1. Read: Anytime Write: Anytime in initialization mode (INITRQ = 1 and INITAK = 1) Table 13-23. CANIDMR0-CANIDMR3 Register Field Descriptions Field Description 7-0 AM[7:0] Acceptance Mask Bits -- If a particular bit in this register is cleared, this indicates that the corresponding bit in the identifier acceptance register must be the same as its identifier bit before a match is detected. The message is accepted if all such bits match. If a bit is set, it indicates that the state of the corresponding bit in the identifier acceptance register does not affect whether or not the message is accepted. 0 Match corresponding acceptance code register and identifier bits 1 Ignore corresponding acceptance code register bit Access: User read/write(1) Module Base + 0x001C to Module Base + 0x001F R W Reset 7 6 5 4 3 2 1 0 AM7 AM6 AM5 AM4 AM3 AM2 AM1 AM0 0 0 0 0 0 0 0 0 Figure 13-23. MSCAN Identifier Mask Registers (Second Bank) -- CANIDMR4-CANIDMR7 MC9S12ZVM Family Reference Manual Rev. 2.2 494 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 1. Read: Anytime Write: Anytime in initialization mode (INITRQ = 1 and INITAK = 1) Table 13-24. CANIDMR4-CANIDMR7 Register Field Descriptions Field Description 7-0 AM[7:0] Acceptance Mask Bits -- If a particular bit in this register is cleared, this indicates that the corresponding bit in the identifier acceptance register must be the same as its identifier bit before a match is detected. The message is accepted if all such bits match. If a bit is set, it indicates that the state of the corresponding bit in the identifier acceptance register does not affect whether or not the message is accepted. 0 Match corresponding acceptance code register and identifier bits 1 Ignore corresponding acceptance code register bit 13.3.3 Programmer's Model of Message Storage The following section details the organization of the receive and transmit message buffers and the associated control registers. To simplify the programmer interface, the receive and transmit message buffers have the same outline. Each message buffer allocates 16 bytes in the memory map containing a 13 byte data structure. An additional transmit buffer priority register (TBPR) is defined for the transmit buffers. Within the last two bytes of this memory map, the MSCAN stores a special 16-bit time stamp, which is sampled from an internal timer after successful transmission or reception of a message. This feature is only available for transmit and receiver buffers, if the TIME bit is set (see Section 13.3.2.1, "MSCAN Control Register 0 (CANCTL0)"). The time stamp register is written by the MSCAN. The CPU can only read these registers. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 495 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Table 13-25. Message Buffer Organization Offset Address Register Access 0x00X0 IDR0 -- Identifier Register 0 R/W 0x00X1 IDR1 -- Identifier Register 1 R/W 0x00X2 IDR2 -- Identifier Register 2 R/W 0x00X3 IDR3 -- Identifier Register 3 R/W 0x00X4 DSR0 -- Data Segment Register 0 R/W 0x00X5 DSR1 -- Data Segment Register 1 R/W 0x00X6 DSR2 -- Data Segment Register 2 R/W 0x00X7 DSR3 -- Data Segment Register 3 R/W 0x00X8 DSR4 -- Data Segment Register 4 R/W 0x00X9 DSR5 -- Data Segment Register 5 R/W 0x00XA DSR6 -- Data Segment Register 6 R/W 0x00XB DSR7 -- Data Segment Register 7 R/W 0x00XC DLR -- Data Length Register R/W Register(1) 0x00XD TBPR -- Transmit Buffer Priority 0x00XE TSRH -- Time Stamp Register (High Byte) R 0x00XF TSRL -- Time Stamp Register (Low Byte) R R/W 1. Not applicable for receive buffers Figure 13-24 shows the common 13-byte data structure of receive and transmit buffers for extended identifiers. The mapping of standard identifiers into the IDR registers is shown in Figure 13-25. All bits of the receive and transmit buffers are `x' out of reset because of RAM-based implementation1. All reserved or unused bits of the receive and transmit buffers always read `x'. 1. Exception: The transmit buffer priority registers are 0 out of reset. MC9S12ZVM Family Reference Manual Rev. 2.2 496 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Figure 13-24. Receive/Transmit Message Buffer -- Extended Identifier Mapping Register Name 0x00X0 IDR0 0x00X1 IDR1 0x00X2 IDR2 0x00X3 IDR3 0x00X4 DSR0 0x00X5 DSR1 0x00X6 DSR2 0x00X7 DSR3 0x00X8 DSR4 0x00X9 DSR5 0x00XA DSR6 0x00XB DSR7 0x00XC DLR Bit R W R W R W R W R W R W R W R W R W R W R W R W 67 5 4 3 2 1 Bit0 ID28 ID27 ID26 ID25 ID24 ID23 ID22 ID21 ID20 ID19 ID18 SRR (=1) IDE (=1) ID17 ID16 ID15 ID14 ID13 ID12 ID11 ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3 ID2 ID1 ID0 RTR DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 DLC3 DLC2 DLC1 DLC0 R W MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 497 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Figure 13-24. Receive/Transmit Message Buffer -- Extended Identifier Mapping (continued) Register Name Bit 67 5 4 3 2 1 Bit0 = Unused, always read `x' Read: * For transmit buffers, anytime when TXEx flag is set (see Section 13.3.2.7, "MSCAN Transmitter Flag Register (CANTFLG)") and the corresponding transmit buffer is selected in CANTBSEL (see Section 13.3.2.11, "MSCAN Transmit Buffer Selection Register (CANTBSEL)"). * For receive buffers, only when RXF flag is set (see Section 13.3.2.5, "MSCAN Receiver Flag Register (CANRFLG)"). Write: * For transmit buffers, anytime when TXEx flag is set (see Section 13.3.2.7, "MSCAN Transmitter Flag Register (CANTFLG)") and the corresponding transmit buffer is selected in CANTBSEL (see Section 13.3.2.11, "MSCAN Transmit Buffer Selection Register (CANTBSEL)"). * Unimplemented for receive buffers. Reset: Undefined because of RAM-based implementation Figure 13-25. Receive/Transmit Message Buffer -- Standard Identifier Mapping Register Name IDR0 0x00X0 IDR1 0x00X1 IDR2 0x00X2 IDR3 0x00X3 Bit R W R W 67 5 4 3 2 1 ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID2 ID1 ID0 RTR IDE (=0) Bit ID3 R W R W = Unused, always read `x' 13.3.3.1 Identifier Registers (IDR0-IDR3) The identifier registers for an extended format identifier consist of a total of 32 bits: ID[28:0], SRR, IDE, and RTR. The identifier registers for a standard format identifier consist of a total of 13 bits: ID[10:0], RTR, and IDE. MC9S12ZVM Family Reference Manual Rev. 2.2 498 Freescale Semiconductor 0 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.3.3.1.1 IDR0-IDR3 for Extended Identifier Mapping Module Base + 0x00X0 R W Reset: 7 6 5 4 3 2 1 0 ID28 ID27 ID26 ID25 ID24 ID23 ID22 ID21 x x x x x x x x Figure 13-26. Identifier Register 0 (IDR0) -- Extended Identifier Mapping Table 13-26. IDR0 Register Field Descriptions -- Extended Field Description 7-0 ID[28:21] Extended Format Identifier -- The identifiers consist of 29 bits (ID[28:0]) for the extended format. ID28 is the most significant bit and is transmitted first on the CAN bus during the arbitration procedure. The priority of an identifier is defined to be highest for the smallest binary number. Module Base + 0x00X1 R W Reset: 7 6 5 4 3 2 1 0 ID20 ID19 ID18 SRR (=1) IDE (=1) ID17 ID16 ID15 x x x x x x x x Figure 13-27. Identifier Register 1 (IDR1) -- Extended Identifier Mapping Table 13-27. IDR1 Register Field Descriptions -- Extended Field Description 7-5 ID[20:18] Extended Format Identifier -- The identifiers consist of 29 bits (ID[28:0]) for the extended format. ID28 is the most significant bit and is transmitted first on the CAN bus during the arbitration procedure. The priority of an identifier is defined to be highest for the smallest binary number. 4 SRR Substitute Remote Request -- This fixed recessive bit is used only in extended format. It must be set to 1 by the user for transmission buffers and is stored as received on the CAN bus for receive buffers. 3 IDE ID Extended -- This flag indicates whether the extended or standard identifier format is applied in this buffer. In the case of a receive buffer, the flag is set as received and indicates to the CPU how to process the buffer identifier registers. In the case of a transmit buffer, the flag indicates to the MSCAN what type of identifier to send. 0 Standard format (11 bit) 1 Extended format (29 bit) 2-0 ID[17:15] Extended Format Identifier -- The identifiers consist of 29 bits (ID[28:0]) for the extended format. ID28 is the most significant bit and is transmitted first on the CAN bus during the arbitration procedure. The priority of an identifier is defined to be highest for the smallest binary number. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 499 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Module Base + 0x00X2 R W Reset: 7 6 5 4 3 2 1 0 ID14 ID13 ID12 ID11 ID10 ID9 ID8 ID7 x x x x x x x x Figure 13-28. Identifier Register 2 (IDR2) -- Extended Identifier Mapping Table 13-28. IDR2 Register Field Descriptions -- Extended Field Description 7-0 ID[14:7] Extended Format Identifier -- The identifiers consist of 29 bits (ID[28:0]) for the extended format. ID28 is the most significant bit and is transmitted first on the CAN bus during the arbitration procedure. The priority of an identifier is defined to be highest for the smallest binary number. Module Base + 0x00X3 R W Reset: 7 6 5 4 3 2 1 0 ID6 ID5 ID4 ID3 ID2 ID1 ID0 RTR x x x x x x x x Figure 13-29. Identifier Register 3 (IDR3) -- Extended Identifier Mapping Table 13-29. IDR3 Register Field Descriptions -- Extended Field Description 7-1 ID[6:0] Extended Format Identifier -- The identifiers consist of 29 bits (ID[28:0]) for the extended format. ID28 is the most significant bit and is transmitted first on the CAN bus during the arbitration procedure. The priority of an identifier is defined to be highest for the smallest binary number. 0 RTR Remote Transmission Request -- This flag reflects the status of the remote transmission request bit in the CAN frame. In the case of a receive buffer, it indicates the status of the received frame and supports the transmission of an answering frame in software. In the case of a transmit buffer, this flag defines the setting of the RTR bit to be sent. 0 Data frame 1 Remote frame MC9S12ZVM Family Reference Manual Rev. 2.2 500 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.3.3.1.2 IDR0-IDR3 for Standard Identifier Mapping Module Base + 0x00X0 R W Reset: 7 6 5 4 3 2 1 0 ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3 x x x x x x x x Figure 13-30. Identifier Register 0 -- Standard Mapping Table 13-30. IDR0 Register Field Descriptions -- Standard Field Description Standard Format Identifier -- The identifiers consist of 11 bits (ID[10:0]) for the standard format. ID10 is the most significant bit and is transmitted first on the CAN bus during the arbitration procedure. The priority of an identifier is defined to be highest for the smallest binary number. See also ID bits in Table 13-31. 7-0 ID[10:3] Module Base + 0x00X1 R W Reset: 7 6 5 4 3 ID2 ID1 ID0 RTR IDE (=0) x x x x x 2 1 0 x x x = Unused; always read `x' Figure 13-31. Identifier Register 1 -- Standard Mapping Table 13-31. IDR1 Register Field Descriptions Field 7-5 ID[2:0] Description Standard Format Identifier -- The identifiers consist of 11 bits (ID[10:0]) for the standard format. ID10 is the most significant bit and is transmitted first on the CAN bus during the arbitration procedure. The priority of an identifier is defined to be highest for the smallest binary number. See also ID bits in Table 13-30. 4 RTR Remote Transmission Request -- This flag reflects the status of the Remote Transmission Request bit in the CAN frame. In the case of a receive buffer, it indicates the status of the received frame and supports the transmission of an answering frame in software. In the case of a transmit buffer, this flag defines the setting of the RTR bit to be sent. 0 Data frame 1 Remote frame 3 IDE ID Extended -- This flag indicates whether the extended or standard identifier format is applied in this buffer. In the case of a receive buffer, the flag is set as received and indicates to the CPU how to process the buffer identifier registers. In the case of a transmit buffer, the flag indicates to the MSCAN what type of identifier to send. 0 Standard format (11 bit) 1 Extended format (29 bit) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 501 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Module Base + 0x00X2 7 6 5 4 3 2 1 0 x x x x x x x x R W Reset: = Unused; always read `x' Figure 13-32. Identifier Register 2 -- Standard Mapping Module Base + 0x00X3 7 6 5 4 3 2 1 0 x x x x x x x x R W Reset: = Unused; always read `x' Figure 13-33. Identifier Register 3 -- Standard Mapping 13.3.3.2 Data Segment Registers (DSR0-7) The eight data segment registers, each with bits DB[7:0], contain the data to be transmitted or received. The number of bytes to be transmitted or received is determined by the data length code in the corresponding DLR register. Module Base + 0x00X4 to Module Base + 0x00XB R W Reset: 7 6 5 4 3 2 1 0 DB7 DB6 DB5 DB4 DB3 DB2 DB1 DB0 x x x x x x x x Figure 13-34. Data Segment Registers (DSR0-DSR7) -- Extended Identifier Mapping Table 13-32. DSR0-DSR7 Register Field Descriptions Field 7-0 DB[7:0] Description Data bits 7-0 MC9S12ZVM Family Reference Manual Rev. 2.2 502 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.3.3.3 Data Length Register (DLR) This register keeps the data length field of the CAN frame. Module Base + 0x00XC 7 6 5 4 R W Reset: x x x 3 2 1 0 DLC3 DLC2 DLC1 DLC0 x x x x x = Unused; always read "x" Figure 13-35. Data Length Register (DLR) -- Extended Identifier Mapping Table 13-33. DLR Register Field Descriptions Field Description 3-0 DLC[3:0] Data Length Code Bits -- The data length code contains the number of bytes (data byte count) of the respective message. During the transmission of a remote frame, the data length code is transmitted as programmed while the number of transmitted data bytes is always 0. The data byte count ranges from 0 to 8 for a data frame. Table 13-34 shows the effect of setting the DLC bits. Table 13-34. Data Length Codes Data Length Code 13.3.3.4 DLC3 DLC2 DLC1 DLC0 Data Byte Count 0 0 0 0 0 0 0 0 1 1 0 0 1 0 2 0 0 1 1 3 0 1 0 0 4 0 1 0 1 5 0 1 1 0 6 0 1 1 1 7 1 0 0 0 8 Transmit Buffer Priority Register (TBPR) This register defines the local priority of the associated message buffer. The local priority is used for the internal prioritization process of the MSCAN and is defined to be highest for the smallest binary number. The MSCAN implements the following internal prioritization mechanisms: * All transmission buffers with a cleared TXEx flag participate in the prioritization immediately before the SOF (start of frame) is sent. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 503 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) * The transmission buffer with the lowest local priority field wins the prioritization. In cases of more than one buffer having the same lowest priority, the message buffer with the lower index number wins. Access: User read/write(1) Module Base + 0x00XD R W Reset: 7 6 5 4 3 2 1 0 PRIO7 PRIO6 PRIO5 PRIO4 PRIO3 PRIO2 PRIO1 PRIO0 0 0 0 0 0 0 0 0 Figure 13-36. Transmit Buffer Priority Register (TBPR) 1. Read: Anytime when TXEx flag is set (see Section 13.3.2.7, "MSCAN Transmitter Flag Register (CANTFLG)") and the corresponding transmit buffer is selected in CANTBSEL (see Section 13.3.2.11, "MSCAN Transmit Buffer Selection Register (CANTBSEL)") Write: Anytime when TXEx flag is set (see Section 13.3.2.7, "MSCAN Transmitter Flag Register (CANTFLG)") and the corresponding transmit buffer is selected in CANTBSEL (see Section 13.3.2.11, "MSCAN Transmit Buffer Selection Register (CANTBSEL)") 13.3.3.5 Time Stamp Register (TSRH-TSRL) If the TIME bit is enabled, the MSCAN will write a time stamp to the respective registers in the active transmit or receive buffer right after the EOF of a valid message on the CAN bus (see Section 13.3.2.1, "MSCAN Control Register 0 (CANCTL0)"). In case of a transmission, the CPU can only read the time stamp after the respective transmit buffer has been flagged empty. The timer value, which is used for stamping, is taken from a free running internal CAN bit clock. A timer overrun is not indicated by the MSCAN. The timer is reset (all bits set to 0) during initialization mode. The CPU can only read the time stamp registers. Access: User read/write(1) Module Base + 0x00XE R 7 6 5 4 3 2 1 0 TSR15 TSR14 TSR13 TSR12 TSR11 TSR10 TSR9 TSR8 x x x x x x x x W Reset: Figure 13-37. Time Stamp Register -- High Byte (TSRH) 1. Read: For transmit buffers: Anytime when TXEx flag is set (see Section 13.3.2.7, "MSCAN Transmitter Flag Register (CANTFLG)") and the corresponding transmit buffer is selected in CANTBSEL (see Section 13.3.2.11, "MSCAN Transmit Buffer Selection Register (CANTBSEL)"). For receive buffers: Anytime when RXF is set. Write: Unimplemented MC9S12ZVM Family Reference Manual Rev. 2.2 504 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Access: User read/write(1) Module Base + 0x00XF R 7 6 5 4 3 2 1 0 TSR7 TSR6 TSR5 TSR4 TSR3 TSR2 TSR1 TSR0 x x x x x x x x W Reset: Figure 13-38. Time Stamp Register -- Low Byte (TSRL) 1. Read: or transmit buffers: Anytime when TXEx flag is set (see Section 13.3.2.7, "MSCAN Transmitter Flag Register (CANTFLG)") and the corresponding transmit buffer is selected in CANTBSEL (see Section 13.3.2.11, "MSCAN Transmit Buffer Selection Register (CANTBSEL)"). For receive buffers: Anytime when RXF is set. Write: Unimplemented MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 505 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.4 13.4.1 Functional Description General This section provides a complete functional description of the MSCAN. 13.4.2 Message Storage CAN Receive / Transmit Engine Memory Mapped I/O Rx0 RXF CPU bus RxFG RxBG MSCAN Rx1 Rx2 Rx3 Rx4 Receiver TxBG Tx0 MSCAN TxFG Tx1 Transmitter TxBG Tx2 TXE0 PRIO TXE1 CPU bus PRIO TXE2 PRIO Figure 13-39. User Model for Message Buffer Organization MC9S12ZVM Family Reference Manual Rev. 2.2 506 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) The MSCAN facilitates a sophisticated message storage system which addresses the requirements of a broad range of network applications. 13.4.2.1 Message Transmit Background Modern application layer software is built upon two fundamental assumptions: * Any CAN node is able to send out a stream of scheduled messages without releasing the CAN bus between the two messages. Such nodes arbitrate for the CAN bus immediately after sending the previous message and only release the CAN bus in case of lost arbitration. * The internal message queue within any CAN node is organized such that the highest priority message is sent out first, if more than one message is ready to be sent. The behavior described in the bullets above cannot be achieved with a single transmit buffer. That buffer must be reloaded immediately after the previous message is sent. This loading process lasts a finite amount of time and must be completed within the inter-frame sequence (IFS) to be able to send an uninterrupted stream of messages. Even if this is feasible for limited CAN bus speeds, it requires that the CPU reacts with short latencies to the transmit interrupt. A double buffer scheme de-couples the reloading of the transmit buffer from the actual message sending and, therefore, reduces the reactiveness requirements of the CPU. Problems can arise if the sending of a message is finished while the CPU re-loads the second buffer. No buffer would then be ready for transmission, and the CAN bus would be released. At least three transmit buffers are required to meet the first of the above requirements under all circumstances. The MSCAN has three transmit buffers. The second requirement calls for some sort of internal prioritization which the MSCAN implements with the "local priority" concept described in Section 13.4.2.2, "Transmit Structures." 13.4.2.2 Transmit Structures The MSCAN triple transmit buffer scheme optimizes real-time performance by allowing multiple messages to be set up in advance. The three buffers are arranged as shown in Figure 13-39. All three buffers have a 13-byte data structure similar to the outline of the receive buffers (see Section 13.3.3, "Programmer's Model of Message Storage"). An additional Transmit Buffer Priority Register (TBPR) contains an 8-bit local priority field (PRIO) (see Section 13.3.3.4, "Transmit Buffer Priority Register (TBPR)"). The remaining two bytes are used for time stamping of a message, if required (see Section 13.3.3.5, "Time Stamp Register (TSRH-TSRL)"). To transmit a message, the CPU must identify an available transmit buffer, which is indicated by a set transmitter buffer empty (TXEx) flag (see Section 13.3.2.7, "MSCAN Transmitter Flag Register (CANTFLG)"). If a transmit buffer is available, the CPU must set a pointer to this buffer by writing to the CANTBSEL register (see Section 13.3.2.11, "MSCAN Transmit Buffer Selection Register (CANTBSEL)"). This makes the respective buffer accessible within the CANTXFG address space (see Section 13.3.3, "Programmer's Model of Message Storage"). The algorithmic feature associated with the CANTBSEL register simplifies the transmit buffer selection. In addition, this scheme makes the handler MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 507 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) software simpler because only one address area is applicable for the transmit process, and the required address space is minimized. The CPU then stores the identifier, the control bits, and the data content into one of the transmit buffers. Finally, the buffer is flagged as ready for transmission by clearing the associated TXE flag. The MSCAN then schedules the message for transmission and signals the successful transmission of the buffer by setting the associated TXE flag. A transmit interrupt (see Section 13.4.7.2, "Transmit Interrupt") is generated1 when TXEx is set and can be used to drive the application software to re-load the buffer. If more than one buffer is scheduled for transmission when the CAN bus becomes available for arbitration, the MSCAN uses the local priority setting of the three buffers to determine the prioritization. For this purpose, every transmit buffer has an 8-bit local priority field (PRIO). The application software programs this field when the message is set up. The local priority reflects the priority of this particular message relative to the set of messages being transmitted from this node. The lowest binary value of the PRIO field is defined to be the highest priority. The internal scheduling process takes place whenever the MSCAN arbitrates for the CAN bus. This is also the case after the occurrence of a transmission error. When a high priority message is scheduled by the application software, it may become necessary to abort a lower priority message in one of the three transmit buffers. Because messages that are already in transmission cannot be aborted, the user must request the abort by setting the corresponding abort request bit (ABTRQ) (see Section 13.3.2.9, "MSCAN Transmitter Message Abort Request Register (CANTARQ)".) The MSCAN then grants the request, if possible, by: 1. Setting the corresponding abort acknowledge flag (ABTAK) in the CANTAAK register. 2. Setting the associated TXE flag to release the buffer. 3. Generating a transmit interrupt. The transmit interrupt handler software can determine from the setting of the ABTAK flag whether the message was aborted (ABTAK = 1) or sent (ABTAK = 0). 13.4.2.3 Receive Structures The received messages are stored in a five stage input FIFO. The five message buffers are alternately mapped into a single memory area (see Figure 13-39). The background receive buffer (RxBG) is exclusively associated with the MSCAN, but the foreground receive buffer (RxFG) is addressable by the CPU (see Figure 13-39). This scheme simplifies the handler software because only one address area is applicable for the receive process. All receive buffers have a size of 15 bytes to store the CAN control bits, the identifier (standard or extended), the data contents, and a time stamp, if enabled (see Section 13.3.3, "Programmer's Model of Message Storage"). The receiver full flag (RXF) (see Section 13.3.2.5, "MSCAN Receiver Flag Register (CANRFLG)") signals the status of the foreground receive buffer. When the buffer contains a correctly received message with a matching identifier, this flag is set. On reception, each message is checked to see whether it passes the filter (see Section 13.4.3, "Identifier Acceptance Filter") and simultaneously is written into the active RxBG. After successful reception of a valid message, the MSCAN shifts the content of RxBG into the receiver FIFO, sets the RXF flag, and 1. The transmit interrupt occurs only if not masked. A polling scheme can be applied on TXEx also. MC9S12ZVM Family Reference Manual Rev. 2.2 508 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) generates a receive interrupt1 (see Section 13.4.7.3, "Receive Interrupt") to the CPU. The user's receive handler must read the received message from the RxFG and then reset the RXF flag to acknowledge the interrupt and to release the foreground buffer. A new message, which can follow immediately after the IFS field of the CAN frame, is received into the next available RxBG. If the MSCAN receives an invalid message in its RxBG (wrong identifier, transmission errors, etc.) the actual contents of the buffer will be over-written by the next message. The buffer will then not be shifted into the FIFO. When the MSCAN module is transmitting, the MSCAN receives its own transmitted messages into the background receive buffer, RxBG, but does not shift it into the receiver FIFO, generate a receive interrupt, or acknowledge its own messages on the CAN bus. The exception to this rule is in loopback mode (see Section 13.3.2.2, "MSCAN Control Register 1 (CANCTL1)") where the MSCAN treats its own messages exactly like all other incoming messages. The MSCAN receives its own transmitted messages in the event that it loses arbitration. If arbitration is lost, the MSCAN must be prepared to become a receiver. An overrun condition occurs when all receive message buffers in the FIFO are filled with correctly received messages with accepted identifiers and another message is correctly received from the CAN bus with an accepted identifier. The latter message is discarded and an error interrupt with overrun indication is generated if enabled (see Section 13.4.7.5, "Error Interrupt"). The MSCAN remains able to transmit messages while the receiver FIFO is being filled, but all incoming messages are discarded. As soon as a receive buffer in the FIFO is available again, new valid messages will be accepted. 13.4.3 Identifier Acceptance Filter The MSCAN identifier acceptance registers (see Section 13.3.2.12, "MSCAN Identifier Acceptance Control Register (CANIDAC)") define the acceptable patterns of the standard or extended identifier (ID[10:0] or ID[28:0]). Any of these bits can be marked `don't care' in the MSCAN identifier mask registers (see Section 13.3.2.18, "MSCAN Identifier Mask Registers (CANIDMR0-CANIDMR7)"). A filter hit is indicated to the application software by a set receive buffer full flag (RXF = 1) and three bits in the CANIDAC register (see Section 13.3.2.12, "MSCAN Identifier Acceptance Control Register (CANIDAC)"). These identifier hit flags (IDHIT[2:0]) clearly identify the filter section that caused the acceptance. They simplify the application software's task to identify the cause of the receiver interrupt. If more than one hit occurs (two or more filters match), the lower hit has priority. A very flexible programmable generic identifier acceptance filter has been introduced to reduce the CPU interrupt loading. The filter is programmable to operate in four different modes: * Two identifier acceptance filters, each to be applied to: -- The full 29 bits of the extended identifier and to the following bits of the CAN 2.0B frame: - Remote transmission request (RTR) - Identifier extension (IDE) - Substitute remote request (SRR) -- The 11 bits of the standard identifier plus the RTR and IDE bits of the CAN 2.0A/B messages. This mode implements two filters for a full length CAN 2.0B compliant extended identifier. Although this mode can be used for standard identifiers, it is recommended to use the four or eight identifier acceptance filters. 1. The receive interrupt occurs only if not masked. A polling scheme can be applied on RXF also. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 509 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) * * * Figure 13-40 shows how the first 32-bit filter bank (CANIDAR0-CANIDAR3, CANIDMR0-CANIDMR3) produces a filter 0 hit. Similarly, the second filter bank (CANIDAR4-CANIDAR7, CANIDMR4-CANIDMR7) produces a filter 1 hit. Four identifier acceptance filters, each to be applied to: -- The 14 most significant bits of the extended identifier plus the SRR and IDE bits of CAN 2.0B messages. -- The 11 bits of the standard identifier, the RTR and IDE bits of CAN 2.0A/B messages. Figure 13-41 shows how the first 32-bit filter bank (CANIDAR0-CANIDAR3, CANIDMR0-CANIDMR3) produces filter 0 and 1 hits. Similarly, the second filter bank (CANIDAR4-CANIDAR7, CANIDMR4-CANIDMR7) produces filter 2 and 3 hits. Eight identifier acceptance filters, each to be applied to the first 8 bits of the identifier. This mode implements eight independent filters for the first 8 bits of a CAN 2.0A/B compliant standard identifier or a CAN 2.0B compliant extended identifier. Figure 13-42 shows how the first 32-bit filter bank (CANIDAR0-CANIDAR3, CANIDMR0-CANIDMR3) produces filter 0 to 3 hits. Similarly, the second filter bank (CANIDAR4-CANIDAR7, CANIDMR4-CANIDMR7) produces filter 4 to 7 hits. Closed filter. No CAN message is copied into the foreground buffer RxFG, and the RXF flag is never set. CAN 2.0B Extended Identifier ID28 IDR0 ID21 ID20 IDR1 CAN 2.0A/B Standard Identifier ID10 IDR0 ID3 ID2 IDR1 ID15 IDE ID14 IDR2 ID7 ID6 IDR3 RTR ID10 IDR2 ID3 ID10 IDR3 ID3 AM7 CANIDMR0 AM0 AM7 CANIDMR1 AM0 AM7 CANIDMR2 AM0 AM7 CANIDMR3 AM0 AC7 CANIDAR0 AC0 AC7 CANIDAR1 AC0 AC7 CANIDAR2 AC0 AC7 CANIDAR3 AC0 ID Accepted (Filter 0 Hit) Figure 13-40. 32-bit Maskable Identifier Acceptance Filter MC9S12ZVM Family Reference Manual Rev. 2.2 510 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) CAN 2.0B Extended Identifier ID28 IDR0 ID21 ID20 IDR1 CAN 2.0A/B Standard Identifier ID10 IDR0 ID3 ID2 IDR1 AM7 CANIDMR0 AM0 AM7 CANIDMR1 AM0 AC7 CANIDAR0 AC0 AC7 CANIDAR1 AC0 ID15 IDE ID14 IDR2 ID7 ID6 IDR3 RTR ID10 IDR2 ID3 ID10 IDR3 ID3 ID Accepted (Filter 0 Hit) AM7 CANIDMR2 AM0 AM7 CANIDMR3 AM0 AC7 CANIDAR2 AC0 AC7 CANIDAR3 AC0 ID Accepted (Filter 1 Hit) Figure 13-41. 16-bit Maskable Identifier Acceptance Filters MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 511 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) CAN 2.0B Extended Identifier ID28 IDR0 ID21 ID20 IDR1 CAN 2.0A/B Standard Identifier ID10 IDR0 ID3 ID2 IDR1 AM7 CIDMR0 AM0 AC7 CIDAR0 AC0 ID15 IDE ID14 IDR2 ID7 ID6 IDR3 RTR ID10 IDR2 ID3 ID10 IDR3 ID3 ID Accepted (Filter 0 Hit) AM7 CIDMR1 AM0 AC7 CIDAR1 AC0 ID Accepted (Filter 1 Hit) AM7 CIDMR2 AM0 AC7 CIDAR2 AC0 ID Accepted (Filter 2 Hit) AM7 CIDMR3 AM0 AC7 CIDAR3 AC0 ID Accepted (Filter 3 Hit) Figure 13-42. 8-bit Maskable Identifier Acceptance Filters MC9S12ZVM Family Reference Manual Rev. 2.2 512 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.4.3.1 Protocol Violation Protection The MSCAN protects the user from accidentally violating the CAN protocol through programming errors. The protection logic implements the following features: * The receive and transmit error counters cannot be written or otherwise manipulated. * All registers which control the configuration of the MSCAN cannot be modified while the MSCAN is on-line. The MSCAN has to be in Initialization Mode. The corresponding INITRQ/INITAK handshake bits in the CANCTL0/CANCTL1 registers (see Section 13.3.2.1, "MSCAN Control Register 0 (CANCTL0)") serve as a lock to protect the following registers: -- MSCAN control 1 register (CANCTL1) -- MSCAN bus timing registers 0 and 1 (CANBTR0, CANBTR1) -- MSCAN identifier acceptance control register (CANIDAC) -- MSCAN identifier acceptance registers (CANIDAR0-CANIDAR7) -- MSCAN identifier mask registers (CANIDMR0-CANIDMR7) * The TXCAN is immediately forced to a recessive state when the MSCAN goes into the power down mode or initialization mode (see Section 13.4.5.6, "MSCAN Power Down Mode," and Section 13.4.4.5, "MSCAN Initialization Mode"). * The MSCAN enable bit (CANE) is writable only once in normal system operation modes, which provides further protection against inadvertently disabling the MSCAN. 13.4.3.2 Clock System Figure 13-43 shows the structure of the MSCAN clock generation circuitry. MSCAN Bus Clock CANCLK CLKSRC Prescaler (1 .. 64) Time quanta clock (Tq) CLKSRC Oscillator Clock Figure 13-43. MSCAN Clocking Scheme The clock source bit (CLKSRC) in the CANCTL1 register (13.3.2.2/13-478) defines whether the internal CANCLK is connected to the output of a crystal oscillator (oscillator clock) or to the bus clock. The clock source has to be chosen such that the tight oscillator tolerance requirements (up to 0.4%) of the CAN protocol are met. Additionally, for high CAN bus rates (1 Mbps), a 45% to 55% duty cycle of the clock is required. If the bus clock is generated from a PLL, it is recommended to select the oscillator clock rather than the bus clock due to jitter considerations, especially at the faster CAN bus rates. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 513 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) For microcontrollers without a clock and reset generator (CRG), CANCLK is driven from the crystal oscillator (oscillator clock). A programmable prescaler generates the time quanta (Tq) clock from CANCLK. A time quantum is the atomic unit of time handled by the MSCAN. Eqn. 13-2 f CANCLK = -------------------------------------------------------Tq Prescaler value A bit time is subdivided into three segments as described in the Bosch CAN 2.0A/B specification. (see Figure 13-44): * SYNC_SEG: This segment has a fixed length of one time quantum. Signal edges are expected to happen within this section. * Time Segment 1: This segment includes the PROP_SEG and the PHASE_SEG1 of the CAN standard. It can be programmed by setting the parameter TSEG1 to consist of 4 to 16 time quanta. * Time Segment 2: This segment represents the PHASE_SEG2 of the CAN standard. It can be programmed by setting the TSEG2 parameter to be 2 to 8 time quanta long. Eqn. 13-3 f Tq Bit Rate = ------------------------------------------------------------------------------------------- number of Time Quanta NRZ Signal SYNC_SEG Time Segment 1 (PROP_SEG + PHASE_SEG1) Time Segment 2 (PHASE_SEG2) 1 4 ... 16 2 ... 8 8 ... 25 Time Quanta = 1 Bit Time Transmit Point Sample Point (single or triple sampling) Figure 13-44. Segments within the Bit Time MC9S12ZVM Family Reference Manual Rev. 2.2 514 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Table 13-35. Time Segment Syntax Syntax Description System expects transitions to occur on the CAN bus during this period. SYNC_SEG Transmit Point A node in transmit mode transfers a new value to the CAN bus at this point. Sample Point A node in receive mode samples the CAN bus at this point. If the three samples per bit option is selected, then this point marks the position of the third sample. The synchronization jump width (see the Bosch CAN 2.0A/B specification for details) can be programmed in a range of 1 to 4 time quanta by setting the SJW parameter. The SYNC_SEG, TSEG1, TSEG2, and SJW parameters are set by programming the MSCAN bus timing registers (CANBTR0, CANBTR1) (see Section 13.3.2.3, "MSCAN Bus Timing Register 0 (CANBTR0)" and Section 13.3.2.4, "MSCAN Bus Timing Register 1 (CANBTR1)"). Table 13-36 gives an overview of the Bosch CAN 2.0A/B specification compliant segment settings and the related parameter values. NOTE It is the user's responsibility to ensure the bit time settings are in compliance with the CAN standard. Table 13-36. Bosch CAN 2.0A/B Compliant Bit Time Segment Settings Synchronization Jump Width Time Segment 1 TSEG1 Time Segment 2 TSEG2 5 .. 10 4 .. 9 2 1 1 .. 2 0 .. 1 4 .. 11 3 .. 10 3 2 1 .. 3 0 .. 2 5 .. 12 4 .. 11 4 3 1 .. 4 0 .. 3 6 .. 13 5 .. 12 5 4 1 .. 4 0 .. 3 7 .. 14 6 .. 13 6 5 1 .. 4 0 .. 3 8 .. 15 7 .. 14 7 6 1 .. 4 0 .. 3 9 .. 16 8 .. 15 8 7 1 .. 4 0 .. 3 13.4.4 13.4.4.1 SJW Modes of Operation Normal System Operating Modes The MSCAN module behaves as described within this specification in all normal system operating modes. Write restrictions exist for some registers. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 515 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.4.4.2 Special System Operating Modes The MSCAN module behaves as described within this specification in all special system operating modes. Write restrictions which exist on specific registers in normal modes are lifted for test purposes in special modes. 13.4.4.3 Emulation Modes In all emulation modes, the MSCAN module behaves just like in normal system operating modes as described within this specification. 13.4.4.4 Listen-Only Mode In an optional CAN bus monitoring mode (listen-only), the CAN node is able to receive valid data frames and valid remote frames, but it sends only "recessive" bits on the CAN bus. In addition, it cannot start a transmission. If the MAC sub-layer is required to send a "dominant" bit (ACK bit, overload flag, or active error flag), the bit is rerouted internally so that the MAC sub-layer monitors this "dominant" bit, although the CAN bus may remain in recessive state externally. 13.4.4.5 MSCAN Initialization Mode The MSCAN enters initialization mode when it is enabled (CANE=1). When entering initialization mode during operation, any on-going transmission or reception is immediately aborted and synchronization to the CAN bus is lost, potentially causing CAN protocol violations. To protect the CAN bus system from fatal consequences of violations, the MSCAN immediately drives TXCAN into a recessive state. NOTE The user is responsible for ensuring that the MSCAN is not active when initialization mode is entered. The recommended procedure is to bring the MSCAN into sleep mode (SLPRQ = 1 and SLPAK = 1) before setting the INITRQ bit in the CANCTL0 register. Otherwise, the abort of an on-going message can cause an error condition and can impact other CAN bus devices. In initialization mode, the MSCAN is stopped. However, interface registers remain accessible. This mode is used to reset the CANCTL0, CANRFLG, CANRIER, CANTFLG, CANTIER, CANTARQ, CANTAAK, and CANTBSEL registers to their default values. In addition, the MSCAN enables the configuration of the CANBTR0, CANBTR1 bit timing registers; CANIDAC; and the CANIDAR, CANIDMR message filters. See Section 13.3.2.1, "MSCAN Control Register 0 (CANCTL0)," for a detailed description of the initialization mode. MC9S12ZVM Family Reference Manual Rev. 2.2 516 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Bus Clock Domain CPU Init Request INITAK Flag CAN Clock Domain INITRQ sync. INITAK SYNC sync. INITRQ SYNC INITAK INIT Flag Figure 13-45. Initialization Request/Acknowledge Cycle Due to independent clock domains within the MSCAN, INITRQ must be synchronized to all domains by using a special handshake mechanism. This handshake causes additional synchronization delay (see Figure 13-45). If there is no message transfer ongoing on the CAN bus, the minimum delay will be two additional bus clocks and three additional CAN clocks. When all parts of the MSCAN are in initialization mode, the INITAK flag is set. The application software must use INITAK as a handshake indication for the request (INITRQ) to go into initialization mode. NOTE The CPU cannot clear INITRQ before initialization mode (INITRQ = 1 and INITAK = 1) is active. 13.4.5 Low-Power Options If the MSCAN is disabled (CANE = 0), the MSCAN clocks are stopped for power saving. If the MSCAN is enabled (CANE = 1), the MSCAN has two additional modes with reduced power consumption, compared to normal mode: sleep and power down mode. In sleep mode, power consumption is reduced by stopping all clocks except those to access the registers from the CPU side. In power down mode, all clocks are stopped and no power is consumed. Table 13-37 summarizes the combinations of MSCAN and CPU modes. A particular combination of modes is entered by the given settings on the CSWAI and SLPRQ/SLPAK bits. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 517 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) Table 13-37. CPU vs. MSCAN Operating Modes MSCAN Mode CPU Mode Reduced Power Consumption Normal Sleep RUN CSWAI = X(1) SLPRQ = 0 SLPAK = 0 CSWAI = X SLPRQ = 1 SLPAK = 1 WAIT CSWAI = 0 SLPRQ = 0 SLPAK = 0 CSWAI = 0 SLPRQ = 1 SLPAK = 1 STOP Power Down Disabled (CANE=0) CSWAI = X SLPRQ = X SLPAK = X CSWAI = 1 SLPRQ = X SLPAK = X CSWAI = X SLPRQ = X SLPAK = X CSWAI = X SLPRQ = X SLPAK = X CSWAI = X SLPRQ = X SLPAK = X 1. `X' means don't care. 13.4.5.1 Operation in Run Mode As shown in Table 13-37, only MSCAN sleep mode is available as low power option when the CPU is in run mode. 13.4.5.2 Operation in Wait Mode The WAI instruction puts the MCU in a low power consumption stand-by mode. If the CSWAI bit is set, additional power can be saved in power down mode because the CPU clocks are stopped. After leaving this power down mode, the MSCAN restarts and enters normal mode again. While the CPU is in wait mode, the MSCAN can be operated in normal mode and generate interrupts (registers can be accessed via background debug mode). 13.4.5.3 Operation in Stop Mode The STOP instruction puts the MCU in a low power consumption stand-by mode. In stop mode, the MSCAN is set in power down mode regardless of the value of the SLPRQ/SLPAK and CSWAI bits (Table 13-37). 13.4.5.4 MSCAN Normal Mode This is a non-power-saving mode. Enabling the MSCAN puts the module from disabled mode into normal mode. In this mode the module can either be in initialization mode or out of initialization mode. See Section 13.4.4.5, "MSCAN Initialization Mode". MC9S12ZVM Family Reference Manual Rev. 2.2 518 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.4.5.5 MSCAN Sleep Mode The CPU can request the MSCAN to enter this low power mode by asserting the SLPRQ bit in the CANCTL0 register. The time when the MSCAN enters sleep mode depends on a fixed synchronization delay and its current activity: * If there are one or more message buffers scheduled for transmission (TXEx = 0), the MSCAN will continue to transmit until all transmit message buffers are empty (TXEx = 1, transmitted successfully or aborted) and then goes into sleep mode. * If the MSCAN is receiving, it continues to receive and goes into sleep mode as soon as the CAN bus next becomes idle. * If the MSCAN is neither transmitting nor receiving, it immediately goes into sleep mode. Bus Clock Domain CPU Sleep Request SLPAK Flag CAN Clock Domain SLPRQ sync. SLPAK SYNC sync. SLPRQ SYNC SLPAK SLPRQ Flag MSCAN in Sleep Mode Figure 13-46. Sleep Request / Acknowledge Cycle NOTE The application software must avoid setting up a transmission (by clearing one or more TXEx flag(s)) and immediately request sleep mode (by setting SLPRQ). Whether the MSCAN starts transmitting or goes into sleep mode directly depends on the exact sequence of operations. If sleep mode is active, the SLPRQ and SLPAK bits are set (Figure 13-46). The application software must use SLPAK as a handshake indication for the request (SLPRQ) to go into sleep mode. When in sleep mode (SLPRQ = 1 and SLPAK = 1), the MSCAN stops its internal clocks. However, clocks that allow register accesses from the CPU side continue to run. If the MSCAN is in bus-off state, it stops counting the 128 occurrences of 11 consecutive recessive bits due to the stopped clocks. TXCAN remains in a recessive state. If RXF = 1, the message can be read and RXF can be cleared. Shifting a new message into the foreground buffer of the receiver FIFO (RxFG) does not take place while in sleep mode. It is possible to access the transmit buffers and to clear the associated TXE flags. No message abort takes place while in sleep mode. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 519 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) If the WUPE bit in CANCTL0 is not asserted, the MSCAN will mask any activity it detects on CAN. RXCAN is therefore held internally in a recessive state. This locks the MSCAN in sleep mode. WUPE must be set before entering sleep mode to take effect. The MSCAN is able to leave sleep mode (wake up) only when: * CAN bus activity occurs and WUPE = 1 or * the CPU clears the SLPRQ bit NOTE The CPU cannot clear the SLPRQ bit before sleep mode (SLPRQ = 1 and SLPAK = 1) is active. After wake-up, the MSCAN waits for 11 consecutive recessive bits to synchronize to the CAN bus. As a consequence, if the MSCAN is woken-up by a CAN frame, this frame is not received. The receive message buffers (RxFG and RxBG) contain messages if they were received before sleep mode was entered. All pending actions will be executed upon wake-up; copying of RxBG into RxFG, message aborts and message transmissions. If the MSCAN remains in bus-off state after sleep mode was exited, it continues counting the 128 occurrences of 11 consecutive recessive bits. 13.4.5.6 MSCAN Power Down Mode The MSCAN is in power down mode (Table 13-37) when * CPU is in stop mode or * CPU is in wait mode and the CSWAI bit is set When entering the power down mode, the MSCAN immediately stops all ongoing transmissions and receptions, potentially causing CAN protocol violations. To protect the CAN bus system from fatal consequences of violations to the above rule, the MSCAN immediately drives TXCAN into a recessive state. NOTE The user is responsible for ensuring that the MSCAN is not active when power down mode is entered. The recommended procedure is to bring the MSCAN into Sleep mode before the STOP or WAI instruction (if CSWAI is set) is executed. Otherwise, the abort of an ongoing message can cause an error condition and impact other CAN bus devices. In power down mode, all clocks are stopped and no registers can be accessed. If the MSCAN was not in sleep mode before power down mode became active, the module performs an internal recovery cycle after powering up. This causes some fixed delay before the module enters normal mode again. MC9S12ZVM Family Reference Manual Rev. 2.2 520 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.4.5.7 Disabled Mode The MSCAN is in disabled mode out of reset (CANE=0). All module clocks are stopped for power saving, however the register map can still be accessed as specified. 13.4.5.8 Programmable Wake-Up Function The MSCAN can be programmed to wake up from sleep or power down mode as soon as CAN bus activity is detected (see control bit WUPE in MSCAN Control Register 0 (CANCTL0). The sensitivity to existing CAN bus action can be modified by applying a low-pass filter function to the RXCAN input line (see control bit WUPM in Section 13.3.2.2, "MSCAN Control Register 1 (CANCTL1)"). This feature can be used to protect the MSCAN from wake-up due to short glitches on the CAN bus lines. Such glitches can result from--for example--electromagnetic interference within noisy environments. 13.4.6 Reset Initialization The reset state of each individual bit is listed in Section 13.3.2, "Register Descriptions," which details all the registers and their bit-fields. 13.4.7 Interrupts This section describes all interrupts originated by the MSCAN. It documents the enable bits and generated flags. Each interrupt is listed and described separately. 13.4.7.1 Description of Interrupt Operation The MSCAN supports four interrupt vectors (see Table 13-38), any of which can be individually masked (for details see Section 13.3.2.6, "MSCAN Receiver Interrupt Enable Register (CANRIER)" to Section 13.3.2.8, "MSCAN Transmitter Interrupt Enable Register (CANTIER)"). Refer to the device overview section to determine the dedicated interrupt vector addresses. Table 13-38. Interrupt Vectors Interrupt Source Wake-Up Interrupt (WUPIF) 13.4.7.2 CCR Mask I bit Local Enable CANRIER (WUPIE) Error Interrupts Interrupt (CSCIF, OVRIF) I bit CANRIER (CSCIE, OVRIE) Receive Interrupt (RXF) I bit CANRIER (RXFIE) Transmit Interrupts (TXE[2:0]) I bit CANTIER (TXEIE[2:0]) Transmit Interrupt At least one of the three transmit buffers is empty (not scheduled) and can be loaded to schedule a message for transmission. The TXEx flag of the empty message buffer is set. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 521 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.4.7.3 Receive Interrupt A message is successfully received and shifted into the foreground buffer (RxFG) of the receiver FIFO. This interrupt is generated immediately after receiving the EOF symbol. The RXF flag is set. If there are multiple messages in the receiver FIFO, the RXF flag is set as soon as the next message is shifted to the foreground buffer. 13.4.7.4 Wake-Up Interrupt A wake-up interrupt is generated if activity on the CAN bus occurs during MSCAN sleep or power-down mode. NOTE This interrupt can only occur if the MSCAN was in sleep mode (SLPRQ = 1 and SLPAK = 1) before entering power down mode, the wake-up option is enabled (WUPE = 1), and the wake-up interrupt is enabled (WUPIE = 1). 13.4.7.5 Error Interrupt An error interrupt is generated if an overrun of the receiver FIFO, error, warning, or bus-off condition occurs. MSCAN Receiver Flag Register (CANRFLG) indicates one of the following conditions: * Overrun -- An overrun condition of the receiver FIFO as described in Section 13.4.2.3, "Receive Structures," occurred. * CAN Status Change -- The actual value of the transmit and receive error counters control the CAN bus state of the MSCAN. As soon as the error counters skip into a critical range (Tx/Rxwarning, Tx/Rx-error, bus-off) the MSCAN flags an error condition. The status change, which caused the error condition, is indicated by the TSTAT and RSTAT flags (see Section 13.3.2.5, "MSCAN Receiver Flag Register (CANRFLG)" and Section 13.3.2.6, "MSCAN Receiver Interrupt Enable Register (CANRIER)"). 13.4.7.6 Interrupt Acknowledge Interrupts are directly associated with one or more status flags in either the MSCAN Receiver Flag Register (CANRFLG) or the MSCAN Transmitter Flag Register (CANTFLG). Interrupts are pending as long as one of the corresponding flags is set. The flags in CANRFLG and CANTFLG must be reset within the interrupt handler to handshake the interrupt. The flags are reset by writing a 1 to the corresponding bit position. A flag cannot be cleared if the respective condition prevails. NOTE It must be guaranteed that the CPU clears only the bit causing the current interrupt. For this reason, bit manipulation instructions (BSET) must not be used to clear interrupt flags. These instructions may cause accidental clearing of interrupt flags which are set after entering the current interrupt service routine. MC9S12ZVM Family Reference Manual Rev. 2.2 522 Freescale Semiconductor Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) 13.5 13.5.1 Initialization/Application Information MSCAN initialization The procedure to initially start up the MSCAN module out of reset is as follows: 1. Assert CANE 2. Write to the configuration registers in initialization mode 3. Clear INITRQ to leave initialization mode If the configuration of registers which are only writable in initialization mode shall be changed: 1. Bring the module into sleep mode by setting SLPRQ and awaiting SLPAK to assert after the CAN bus becomes idle. 2. Enter initialization mode: assert INITRQ and await INITAK 3. Write to the configuration registers in initialization mode 4. Clear INITRQ to leave initialization mode and continue 13.5.2 Bus-Off Recovery The bus-off recovery is user configurable. The bus-off state can either be left automatically or on user request. For reasons of backwards compatibility, the MSCAN defaults to automatic recovery after reset. In this case, the MSCAN will become error active again after counting 128 occurrences of 11 consecutive recessive bits on the CAN bus (see the Bosch CAN 2.0 A/B specification for details). If the MSCAN is configured for user request (BORM set in MSCAN Control Register 1 (CANCTL1)), the recovery from bus-off starts after both independent events have become true: * 128 occurrences of 11 consecutive recessive bits on the CAN bus have been monitored * BOHOLD in MSCAN Miscellaneous Register (CANMISC) has been cleared by the user These two events may occur in any order. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 523 Chapter 13 Freescale's Scalable Controller Area Network (S12MSCANV3) MC9S12ZVM Family Reference Manual Rev. 2.2 524 Freescale Semiconductor Chapter 14 Programmable Trigger Unit (PTUV3) Table 14-1. Revision History Table Rev. No. (Item No.) Data Sections Affected Substantial Change(s) 01.00 21 Oct. 2011 all Initial Version 02.00 22. Mar. 2012 14.3.2.1, 14.3.2.7, 14.3.2.10, 14.3.2.14 14.3.2.17 - removed PTUWP bit (now: PTUPTR is write protected if both TGs are disabled, TGxLxIDX is write protected ifthe associated TG is disabled) - TGxLIST bits are writeable if associated TG is disabled - PTULDOK bit is writable if both TGs are disabled - TGxLIST swap at every reload with LDOK set 3.0 16. Jul. 2013 minor corrections Table 14-2. Terminology Term Meaning TG Trigger Generator EOL End of trigger list 14.1 Introduction In PWM driven systems it is important to schedule the acquisition of the state variables with respect to PWM cycle. The Programmable Trigger Unit (PTU) is intended to completely avoid CPU involvement in the time acquisitions of state variables during the control cycle that can be half, full, multiple PWM cycles. All acquisition time values are stored inside the global memory map, basically inside the system memory; see the MMC section for the supported memory area. In such cases the pre-setting of the acquisition times needs to be completed during the previous control cycle to where the actual acquisitions are to be made. 14.1.1 Features The PTU module includes these distinctive features: * One 16 bit counter as time base for all trigger events * Two independent trigger generators (TG0 and TG1) * Up to 32 trigger events per trigger generator MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 525 Chapter 14 Programmable Trigger Unit (PTUV3) * * * Global Load OK support, to guarantee coherent update of all control loop modules Trigger values stored inside the global memory map, basically inside system memory Software generated reload event and Trigger event generation for debugging 14.1.2 Modes of Operation The PTU module behaves as follows in the system power modes: 1. Run mode All PTU features are available. 2. Wait mode All PTU features are available. 3. Freeze Mode Depends on the PTUFRZ register bit setting the internal counter is stopped and no trigger events will be generated. 4. Stop mode The PTU is disabled and the internal counter is stopped; no trigger events will be generated. The content of the configuration register is unchanged. MC9S12ZVM Family Reference Manual Rev. 2.2 526 Freescale Semiconductor Chapter 14 Programmable Trigger Unit (PTUV3) 14.1.3 Block Diagram Figure 14-1 shows a block diagram of the PTU module. Global Memory Map Trigger 1 Trigger 1 Trigger 2 Trigger 2 ... ... Trigger n Trigger n Module A Trigger Generator (TG0) trigger_0 PTUT0 Trigger Generator (TG1) trigger_1 PTUT1 Time Base Counter Bus Clock Module B reload_is_async Control Logic reload ptu_reload_is_async ptu_reload PTU PTURE glb_ldok Figure 14-1. PTU Block Diagram 14.2 External Signal Description This section lists the name and description of all external ports. 14.2.1 PTUT0 -- PTU Trigger 0 If enabled (PTUT0PE is set) this pin shows the internal trigger_0 event. 14.2.2 PTUT1 -- PTU Trigger 1 If enabled (PTUT1PE is set) this pin shows the internal trigger_1 event. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 527 Chapter 14 Programmable Trigger Unit (PTUV3) 14.2.3 PTURE -- PTUE Reload Event If enabled (PTUREPE is set) this pin shows the internal reload event. 14.3 Memory Map and Register Definition This section provides the detailed information of all registers for the PTU module. 14.3.1 Register Summary Figure 14-2 shows the summary of all implemented registers inside the PTU module. NOTE Register Address = Module Base Address + Address Offset, where the Module Base Address is defined at the MCU level and the Address Offset is defined at the module level. Address Offset Register Name Bit 0x0000 PTUE R 0x0001 PTUC R 0x0002 PTUIEH R 0x0003 PTUIEL R 0x0004 PTUIFH R W 0x0005 PTUIFL W 0 W 67 PTUFRZ 5 4 3 2 0 0 0 0 1 TG1EN 0 0 0 0 0 0 0 0 0 0 0 0 0 TG1AEIE TG1REIE TG1TEIE TG1DIE TG0AEIE TG0REIE TG0TEIE TG0DIE 0 0 0 0 0 0 PTUDEEF PTUROIF TG1AEIF TG1REIF TG1TEIF TG1DIF TG0AEIF TG0REIF TG0TEIF TG0DIF 0 0 0 0 0 0 0 0 0 0 W R 0x0006 TG0LIST R 0x0007 TG0TNUM R 0x0008 TG0TVH R TG0EN 0 W W Bit W PTULDOK PTUROIE TG0LIST TG0TNUM[4:0] W TG0TV[15:8] W = Unimplemented Figure 14-2. PTU Register Summary MC9S12ZVM Family Reference Manual Rev. 2.2 528 Freescale Semiconductor 0 Chapter 14 Programmable Trigger Unit (PTUV3) Address Offset Register Name Bit 0x0009 TG0TVL R 0x000A TG1LIST R 0x000B TG1TNUM R 0x000C TG1TVH R 0x000D TG1TVL R 0x000E PTUCNTH R 0x000F PTUCNTL R 0x0010 Reserved R 0x0011 PTUPTRH R 0x0012 PTUPTRM R 0x0013 PTUPTRL 67 5 4 3 2 1 0 0 Bit 0 TG0TV[7:0] W 0 0 0 0 0 0 0 0 W TG1LIST TG1TNUM[4:0] W TG1TV[15:8] W TG1TV[7:0] W PTUCNT[15:8] W PTUCNT[7:0] W 0 0 0 0 0 0 0 0 W PTUPTR[23:16] W PTUPTR[15:8] W R PTUPTR[7:1] W 0x0014 TG0L0IDX R 0x0015 TG0L1IDX R 0x0016 TG1L0IDX R 0x0017 TG1L1IDX R 0 0 TG0L10DX[6:0] W 0 TG0L1IDX[6:0] W 0 TG1L0IDX[6:0] W 0 TG1L1IDX[6:0] W = Unimplemented Figure 14-2. PTU Register Summary MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 529 Chapter 14 Programmable Trigger Unit (PTUV3) Address Offset Register Name 0x0018 - 0x001E Reserved R 0x001F PTUDEBUG R Bit 67 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 PTUREPE PTUT1PE PTUT0PE 0 0 0 0 PTUFRE TG1FTE TG0FTE W W 0 = Unimplemented Figure 14-2. PTU Register Summary 14.3.2 Register Descriptions This section consists of register descriptions in address order. Each description includes a standard register diagram with an associated figure number. Details of register bit and field function follow the register diagrams, in bit order. Unused bits read back zero. MC9S12ZVM Family Reference Manual Rev. 2.2 530 Freescale Semiconductor 0 Chapter 14 Programmable Trigger Unit (PTUV3) 14.3.2.1 PTU Module Enable Register (PTUE) Access: User read/write(1) Module Base + 0x0000 7 R 6 0 PTUFRZ W Reset 0 0 5 4 3 2 0 0 0 0 0 0 0 0 1 0 TG1EN TG0EN 0 0 = Unimplemented Figure 14-3. PTU Module Enable Register (PTUE) 1. Read: Anytime Write: Anytime Table 14-3. PTUE Register Field Description Field Description 6 PTUFRZ PTU Stop in Freeze Mode -- In freeze mode, there is an option to disable the input clock to the PTU time base counter. If this bit is set, whenever the MCU is in freeze mode, the input clock to the time base counter is disabled. In this way, the counters can be stopped while in freeze mode so that once normal program flow is continued, the counter is re-enabled. 0 Allow time base counter to continue while in freeze mode 1 Disable time base counter clock whenever the part is in freeze mode 1 TG1EN Trigger Generator 1 Enable -- This bit enables trigger generator 1. 0 Trigger generator 1 is disabled 1 Trigger generator 1 is enabled 0 TG0EN Trigger Generator 0 Enable -- This bit enables trigger generator 0. 0 Trigger generator 0 is disabled 1 Trigger generator 0 is enabled 14.3.2.2 PTU Module Control Register (PTUC) Access: User read/write(1) Module Base + 0x0001 R 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 PTULDOK 0 = Unimplemented Figure 14-4. PTU Module Control Register (PTUC) 1. Read: Anytime Write: write 1 anytime, write 0 if TG0EN and TG1EN is cleared MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 531 Chapter 14 Programmable Trigger Unit (PTUV3) Table 14-4. PTUC Register Field Descriptions Field Description 0 PTULDOK Load Okay -- When this bit is set by the software, this allows the trigger generator to switch to the alternative list and load the trigger time values at the next reload event from the new list. If the reload event occurs when the PTULDOK bit is not set then the trigger generator generates a reload overrun event and uses the previously used list. At the next reload event this bit is cleared by control logic. Write 0 is only possible if TG0EN and TG1EN is cleared. The PTULDOK can be used by other module as global load OK (glb_ldok). MC9S12ZVM Family Reference Manual Rev. 2.2 532 Freescale Semiconductor Chapter 14 Programmable Trigger Unit (PTUV3) PTU Interrupt Enable Register High (PTUIEH) 14.3.2.3 Access: User read/write(1) Module Base + 0x0002 R 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 PTUROIE 0 = Unimplemented Figure 14-5. PTU Interrupt Enable Register High (PTUIEH) 1. Read: Anytime Write: Anytime Table 14-5. PTUIEH Register Field Descriptions Field Description PTU Reload Overrun Interrupt Enable -- Enables PTU reload overrun interrupt. 0 No interrupt will be requested whenever PTUROIF is set 1 Interrupt will be requested whenever PTUROIF is set 0 PTUROIE PTU Interrupt Enable Register Low (PTUIEL) 14.3.2.4 Access: User read/write(1) Module Base + 0x0003 R W 7 6 5 4 3 2 1 0 TG1AEIE TG1REIE TG1TEIE TG1DIE TG0AEIE TG0REIE TG0TEIE TG0DIE 0 0 0 0 0 0 0 0 Reset = Unimplemented Figure 14-6. PTU Interrupt Enable Register Low (PTUIEL) 1. Read: Anytime Write: Anytime Table 14-6. PTUIEL Register Field Descriptions Field Description 7 TG1AEIE Trigger Generator 1 Memory Access Error Interrupt Enable -- Enables trigger generator memory access error interrupt. 0 No interrupt will be requested whenever TG1AEIF is set 1 Interrupt will be requested whenever TG1AEIF is set 6 TG1REIE Trigger Generator 1 Reload Error Interrupt Enable -- Enables trigger generator reload error interrupt. 0 No interrupt will be requested whenever TG1REIF is set 1 Interrupt will be requested whenever TG1REIF is set MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 533 Chapter 14 Programmable Trigger Unit (PTUV3) Table 14-6. PTUIEL Register Field Descriptions Field Description 5 TG1TEIE Trigger Generator 1 Timing Error Interrupt Enable -- Enables trigger generator timing error interrupt. 0 No interrupt will be requested whenever TG1TEIF is set 1 Interrupt will be requested whenever TG1TEIF is set 4 TG1DIE Trigger Generator 1 Done Interrupt Enable -- Enables trigger generator done interrupt. 0 No interrupt will be requested whenever TG1DIF is set 1 Interrupt will be requested whenever TG1DIF is set 3 TG0AEIE Trigger Generator 0 Memory Access Error Interrupt Enable -- Enables trigger generator memory access error interrupt. 0 No interrupt will be requested whenever TG0AEIF is set 1 Interrupt will be requested whenever TG0AEIF is set 2 TG0REIE Trigger Generator 0 Reload Error Interrupt Enable -- Enables trigger generator reload error interrupt. 0 No interrupt will be requested whenever TG0REIF is set 1 Interrupt will be requested whenever TG0REIF is set 1 TG0TEIE Trigger Generator 0 Timing Error Interrupt Enable -- Enables trigger generator timing error interrupt. 0 No interrupt will be requested whenever TG0TEIF is set 1 Interrupt will be requested whenever TG0TEIF is set 0 TG0DIE Trigger Generator 0 Done Interrupt Enable -- Enables trigger generator done interrupt. 0 No interrupt will be requested whenever TG0DIF is set 1 Interrupt will be requested whenever TG0DIF is set MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 534 Chapter 14 Programmable Trigger Unit (PTUV3) PTU Interrupt Flag Register High (PTUIFH) 14.3.2.5 Access: User read/write(1) Module Base + 0x0004 R 7 6 5 4 3 2 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 1 0 PTUDEEF PTUROIF 0 0 = Unimplemented Figure 14-7. PTU Interrupt Flag Register High (PTUIFH) 1. Read: Anytime Write: Anytime, write 1 to clear Table 14-7. PTUIFH Register Field Descriptions Field Description 1 PTUDEEF PTU Double bit ECC Error Flag -- This bit is set if the read data from the memory contains double bit ECC errors. While this bit is set the trigger generation of both trigger generators stops. 0 No double bit ECC error occurs 1 Double bit ECC error occurs 0 PTUROIF PTU Reload Overrun Interrupt Flag -- If reload event occurs when the PTULDOK bit is not set then this bit will be set. This bit is not set if the reload event was forced by an asynchronous commutation event. 0 No reload overrun occurs 1 Reload overrun occurs 14.3.2.6 PTU Interrupt Flag Register Low (PTUIFL) Access: User read/write(1) Module Base + 0x0005 R W Reset 7 6 5 4 3 2 1 0 TG1AEIF TG1REIF TG1EIF TG1DIF TG0AEIF TG0REIF TG0EIF TG0DIF 0 0 0 0 0 0 0 0 = Unimplemented Figure 14-8. PTU Interrupt Flag Register Low (PTUIFL) 1. Read: Anytime Write: Anytime, write 1 to clear MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 535 Chapter 14 Programmable Trigger Unit (PTUV3) Table 14-8. PTUIFL Register Field Descriptions Field Description 7 TG1AEIF Trigger Generator 1 Memory Access Error Interrupt Flag -- This bit is set if trigger generator 1 uses a read address outside the memory address range, see the MMC section for the supported memory area. 0 No trigger generator 1 memory access error occurs 1 Trigger generator 1 memory access error occurs 6 TG1REIF Trigger Generator 1 Reload Error Interrupt Flag -- This bit is set if a new reload event occurs when the trigger generator has neither reached the end of list symbol nor the maximum possible triggers. This bit is not set if the reload event was forced by an asynchronous commutation event. 0 No trigger generator 1 reload error occurs 1 Trigger generator 1 reload error occurs 5 TG1TEIF Trigger Generator 1 Timing Error Interrupt Flag -- This bit is set if the trigger generator receives a time value which is below the current counter value. 0 No trigger generator 1 error occurs 1 Trigger generator 1 error occurs 4 TG1DIF Trigger Generator 1 Done Interrupt Flag --This bit is set if the trigger generator receives the end of list symbol or the maximum number of generated trigger events was reached. 0 Trigger generator 1 is running 1 Trigger generator 1 is done 3 TG0AEIF Trigger Generator 0 Memory Access Error Interrupt Flag -- This bit is set if trigger generator 0 uses a read address outside the memory address range, see the MMC section for the supported memory area. 0 No trigger generator 0 memory access error occurred 1 Trigger generator 0 memory access error occurred 2 TG0REIF Trigger Generator 0 Reload Error Interrupt Flag -- This bit is set if a new reload event occurs when the trigger generator has neither reached the end of list symbol nor the maximum possible triggers. This bit is not set if the reload event was forced by an asynchronous commutation event. 0 No trigger generator 0 reload error occurs 1 Trigger generator 0 reload error occurs 1 TG0TEIF Trigger Generator 0 Timing Error Interrupt Flag -- This bit is set if the trigger generator receives a time value which is below the current counter value. 0 No trigger generator 0 error occurs 1 Trigger generator 0 error occurs 0 TG0DIF Trigger Generator 0 Done Interrupt Flag --This bit is set if the trigger generator receives the end of list symbol or the maximum number of generated trigger events was reached. 0 Trigger generator 0 is running 1 Trigger generator 0 is done MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 536 Chapter 14 Programmable Trigger Unit (PTUV3) 14.3.2.7 Trigger Generator 0 List Register (TG0LIST) Access: User read/write(1) Module Base + 0x0006 R 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 TG0LIST 0 = Unimplemented Figure 14-9. Trigger Generator 0 List Register (TG0LIST) 1. Read: Anytime Write: Anytime, if TG0EN bit is cleared Table 14-9. TG0LIST Register Field Descriptions Field Description Trigger Generator 0 List -- This bit shows the number of the current used list. 0 Trigger generator 0 is using list 0 1 Trigger generator 0 is using list 1 0 TG0LIST 14.3.2.8 Trigger Generator 0 Trigger Number Register (TG0TNUM) Access: User read only(1) Module Base + 0x0007 R 7 6 5 0 0 0 0 0 0 4 3 2 1 0 0 0 TG0TNUM[4:0] W Reset 0 0 0 = Unimplemented Figure 14-10. Trigger Generator 0 Trigger Number Register (TG0TNUM) 1. Read: Anytime Write: Never Table 14-10. TG0TNUM Register Field Descriptions Field Description 4:0 Trigger Generator 0 Trigger Number -- This register shows the number of generated triggers since the last TG0TNUM[4:0] reload event. After the generation of 32 triggers this register shows zero. The next reload event clears this register. See also Figure 14-22. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 537 Chapter 14 Programmable Trigger Unit (PTUV3) 14.3.2.9 Trigger Generator 0 Trigger Value (TG0TVH, TG0TVL) Access: User read only(1) Module Base + 0x0008 7 6 5 4 R 3 2 1 0 0 0 0 0 TG0TV[15:8] W Reset 0 0 0 0 Module Base + 0x0009 7 Access: User read only 6 5 4 R 3 2 1 0 0 0 0 0 TG0TV[7:0] W Reset 0 0 0 0 = Unimplemented Figure 14-11. Trigger Generator 0 Trigger Value Register (TG0TVH, TG0TVL) 1. Read: Anytime Write: Never Table 14-11. TG0TV Register Field Descriptions Field Description TG0TV[15:0] Trigger Generator 0 Trigger Value -- This register contains the trigger value to generate the next trigger. If the time base counter reach this value the next trigger event is generated. If the trigger generator reached the end of list (EOL) symbol then this value is visible inside this register. If the last generated trigger was trigger number 32 then the last used trigger value is visible inside this register. See also Figure 14-22. 14.3.2.10 Trigger Generator 1 List Register (TG1LIST) Access: User read/write(1) Module Base + 0x000A R 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 TG1LIST 0 = Unimplemented Figure 14-12. Trigger Generator 1 List Register (TG1LIST) 1. Read: Anytime Write: Anytime, if TG1EN bit is cleared MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 538 Chapter 14 Programmable Trigger Unit (PTUV3) Table 14-12. TG1LIST Register Field Descriptions Field 0 TG1LIST Description Trigger Generator 1 List -- This bit shows the number of the current used list. 0 Trigger generator 1 is using list 0 1 Trigger generator 1 is using list 1 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 539 Chapter 14 Programmable Trigger Unit (PTUV3) 14.3.2.11 Trigger Generator 1 Trigger Number Register (TG1TNUM) Access: User read only(1) Module Base + 0x000B R 7 6 5 0 0 0 0 0 0 4 3 2 1 0 0 0 TG1TNUM[4:0] W Reset 0 0 0 = Unimplemented Figure 14-13. Trigger Generator 1 Trigger Number Register (TG1TNUM) 1. Read: Anytime Write: Never Table 14-13. TG1TNUM Register Field Descriptions Field Description 4:0 TG1TNUM[4:0] Trigger Generator 1 Trigger Number -- This register shows the number of generated triggers since the last reload event. After the generation of 32 triggers this register shows zero. The next reload event clears this register. See also Figure 14-22. 14.3.2.12 Trigger Generator 1 Trigger Value (TG1TVH, TG1TVL) Access: User read only(1) Module Base + 0x000C 7 6 5 4 R 3 2 1 0 0 0 0 0 TG1TV[15:8] W Reset 0 0 0 0 Module Base + 0x000D 7 Access: User read only 6 5 4 R 3 2 1 0 0 0 0 0 TG1TV[7:0] W Reset 0 0 0 0 = Unimplemented Figure 14-14. Trigger Generator 1 Trigger Value Register (TG1TVH, TG1TVL) 1. Read: Anytime Write: Never MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 540 Chapter 14 Programmable Trigger Unit (PTUV3) Table 14-14. TG1TV Register Field Descriptions Field Description TG1TV[15:0] Trigger Generator 1 Next Trigger Value -- This register contains the currently used trigger value to generate the next trigger. If the time base counter reach this value the next trigger event is generated. If the trigger generator reached the end of list (EOL) symbol then this value is visible inside this register. If the last generated trigger was trigger number 32 then the last used trigger value is visible inside this register. See also Figure 1422. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 541 Chapter 14 Programmable Trigger Unit (PTUV3) 14.3.2.13 PTU Counter Register (PTUCNTH, PTUCNTL) Access: User read only(1) Module Base + 0x000E 7 6 5 R 4 3 2 1 0 0 0 0 PTUCNT[15:8] W Reset 0 0 0 0 0 Module Base + 0x000F 7 Access: User read only 6 5 R 4 3 2 1 0 0 0 0 0 PTUCNT[7:0] W Reset 0 0 0 0 = Unimplemented Figure 14-15. PTU Counter Register (PTUCNTH, PTUCNTL) 1. Read: Anytime Write: Never Table 14-15. PTUCNT Register Field Descriptions Field Description PTUCNT[15:0] PTU Time Base Counter value -- This register contains the current status of the internal time base counter. If both TG are done with the execution of the trigger list then the counter also stops. The counter is restarted by the next reload event. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 542 Chapter 14 Programmable Trigger Unit (PTUV3) 14.3.2.14 PTU Pointer Register (PTUPTRH, PTUPTRM, PTUPTRL) Access: User read/write(1) Module Base + 0x0011 7 6 5 R 4 3 2 1 0 0 0 0 PTUPTR[23:16] W Reset 0 0 0 0 0 Module Base + 0x0012 7 Access: User read/write 6 5 R 4 3 2 1 0 0 0 0 PTUPTR[15:8] W Reset 0 0 0 0 0 Module Base + 0x0013 7 Access: User read/write 6 5 R 3 2 1 0 0 0 0 0 0 PTUPTR[7:1] W Reset 4 0 0 0 0 = Unimplemented Figure 14-16. PTU List Add Register (PTUPTRH, PTUPTRM, PTUPTRL) 1. Read: Anytime Write: Anytime, if TG0En and TG1EN bit are cleared Table 14-16. PTUPTR Register Field Descriptions Field Description PTUPTR [23:0] PTU Pointer -- This register cannot be modified if TG0EN or TG1EN bit is set. This register defines the start address of the used list area inside the global memory map. For more information see Section 14.4.2, "Memory based trigger event list". MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 543 Chapter 14 Programmable Trigger Unit (PTUV3) 14.3.2.15 Trigger Generator 0 List 0 Index (TG0L0IDX) Access: User read only(1) Module Base + 0x0014 7 R 6 5 4 0 3 2 1 0 0 0 0 TG0L0IDX[6:0] W Reset 0 0 0 0 0 = Unimplemented Figure 14-17. Trigger Generator 0 List 0 Index (TG0L0IDX) 1. Read: Anytime Write: Never Table 14-17. TG0L0IDX Register Field Descriptions Field Description 6:0 TG0L0IDX [6:0] Trigger Generator 0 List 0 Index Register -- This register defines offset of the start point for the trigger event list 0 used by trigger generator 0. This register is read only, so the list 0 for trigger generator 0 will start at the PTUPTR address. For more information see Section 14.4.2, "Memory based trigger event list". 14.3.2.16 Trigger Generator 0 List 1 Index (TG0L1IDX) Access: User read/write(1) Module Base + 0x0015 7 R 6 5 4 0 2 1 0 0 0 0 TG0L1IDX[6:0] W Reset 3 0 0 0 0 0 = Unimplemented Figure 14-18. Trigger Generator 0 List 1 Index (TG0L1IDX) 1. Read: Anytime Write: Anytime, if TG0EN bit is cleared Table 14-18. TG0L1IDX Register Field Descriptions Field Description 6:0 TG0L1IDX [6:0] Trigger Generator 0 List 1 Index Register -- This register cannot be modified after the TG0EN bit is set. This register defines offset of the start point for the trigger event list 1 used by trigger generator 0. For more information see Section 14.4.2, "Memory based trigger event list". MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 544 Chapter 14 Programmable Trigger Unit (PTUV3) 14.3.2.17 Trigger Generator 1 List 0 Index (TG1L0IDX) Access: User read/write(1) Module Base + 0x0016 7 R 6 5 4 0 2 1 0 0 0 0 TG1L0IDX[6:0] W Reset 3 0 0 0 0 0 = Unimplemented Figure 14-19. Trigger Generator 1 List 0 Index (TG1L0IDX) 1. Read: Anytime Write: Anytime, if TG1EN bit is cleared Table 14-19. TG0L1IDX Register Field Descriptions Field Description 6:0 TG1L0IDX [6:0] Trigger Generator 1 List 0 Index Register -- This register cannot be modified after the TG1EN bit is set. This register defines offset of the start point for the trigger event list 0 used by trigger generator 1. For more information see Section 14.4.2, "Memory based trigger event list". Trigger Generator 1 List 1 Index (TG1L1IDX) Access: User read/write(1) Module Base + 0x0017 7 R 6 5 4 0 2 1 0 0 0 0 TG1L1IDX[6:0] W Reset 3 0 0 0 0 0 = Unimplemented Figure 14-20. Trigger Generator 1 List 1 Index (TG1L1IDX) 1. Read: Anytime Write: Anytime, if TG1EN bit is cleared Table 14-20. TG1L1IDX Register Field Descriptions Field Description 6:0 TG1L1IDX [6:0] Trigger Generator 1 List 1 Index Register -- This register cannot be modified after the TG1EN bit is set. This register defines offset of the start point for the trigger event list 1 used by trigger generator 1. For more information see Section 14.4.2, "Memory based trigger event list". MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 545 Chapter 14 Programmable Trigger Unit (PTUV3) 14.3.2.18 PTU Debug Register (PTUDEBUG) Access: User read/write(1) Module Base + 0x001F 7 R 0 W Reset 6 5 4 PTUREPE PTUT1PE PTUT0PE 0 0 0 0 3 2 1 0 0 0 0 0 PTUFRE TG1FTE TG0FTE 0 0 0 0 = Unimplemented Figure 14-21. PTU Debug Register (PTUDEBUG) 1. Read: Anytime Write: only in special mode Table 14-21. PTUDEBUG Register Field Descriptions Field Description 6 PTUREPE PTURE Pin Enable -- This bit enables the output port for pin PTURE. 0 PTURE output port are disabled 1 PTURE output port are enabled 5 PTUT1PE PTU PTUT1 Pin Enable -- This bit enables the output port for pin PTUT1. 0 PTUT1 output port are disabled 1 PTUT1 output port are enabled 4 PTUT0PE PTU PTUT0 Pin Enable -- This bit enables the output port for pin PTUT0. 0 PTUT0 output port are disabled 1 PTUT0 output port are enabled 2 PTUFRE Force Reload event generation -- If one of the TGs is enabled then writing 1 to this bit will generate a reload event. The reload event forced by PTUFRE does not set the PTUROIF interrupt flag. Also the ptu_reload signal asserts for one bus clock cyclet. Writing 0 to this bit has no effect. Always reads back as 0. This behavior is not available during stop or freeze mode. 1 TG1FTE Trigger Generator 1 Force Trigger Event -- If TG1 is enabled then writing 1 to this bit will generate a trigger event independent on the list based trigger generation. Writing 0 to this bit has no effect. Always reads back as 0.This behavior is not available during stop or freeze mode. 0 TG0FTE Trigger Generator 0 Force Trigger Event -- If TG0 is enabled then writing 1 to this bit will generate a trigger event independent on the list based trigger generation. Writing 0 to this bit has no effect. Always reads back as 0. This behavior is not available during stop or freeze mode. 14.4 14.4.1 Functional Description General The PTU module consists of two trigger generators (TG0 and TG1). For each TG a separate enable bit is available, so that both TGs can be enabled independently. If both trigger generators are disabled then the PTU is disabled, the trigger generation stops and the memory accesses are disabled. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 546 Chapter 14 Programmable Trigger Unit (PTUV3) The trigger generation of the PTU module is synchronized to the incoming reload event. This reload event resets and restarts the internal time base counter and makes sure that the first trigger value from the actual trigger list is loaded. Furthermore the corresponding module is informed that a new control cycle has started. If the counter value matches the current trigger value then a trigger event is generated. In this way, the reload event is delayed by the number of bus clock cycles defined by the current trigger value. After this, a new trigger value is loaded from the memory and the TG waits for the next match. So up to 32 trigger events per control cycle can be generated. If the trigger value is 0x0000 or 32 trigger events have been generated during this control cycle, the TGxDIF bit is set and the TG waits for the next reload event. Figure 14-22 shows an example of the trigger generation using the trigger values shown in Figure 14-23. Figure 14-22. TG0 trigger generation example Control Cycle Delay T2 Delay T1 reload event reload event Delay T0 t outgoing trigger events PTUCNT TG0LIST T0 TG0TV TG0TNUM 0 T1 T2 0x0000 1 2 3 T0 0 TG0DIF NOTE If the trigger list contains less than 32 trigger values a delay between the generation of the last trigger and the assertion of the done interrupt flag will be visible. During this time the PTU loads the next trigger value from the memory to evaluate the EOL symbol. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 547 Chapter 14 Programmable Trigger Unit (PTUV3) 14.4.2 Memory based trigger event list The lists with the trigger values are located inside the global memory map. The location of the trigger lists in the memory map is configured with registers PTUPTR and TGxLxIDX. If one of the TGs is enabled then the PTUPTR register is locked. If the TG is enabled then the associated TGxLxIDX registers are locked. The trigger values inside the trigger list are 16 bit values. Each 16 bit value defines the delay between the reload event and the trigger event in bus clock cycles. A delay value of 0x0000 will be interpreted as End Of trigger List (EOL) symbol. The list must be sorted in ascending order. If a subsequent value is smaller than the previous value or the loaded trigger value is smaller than the current counter value then the TGxTEIF error indication is generated and the trigger generation of this list is stopped until the next reload event. For more information about these error scenario see Section 14.4.5.5, "Trigger Generator Timing Error". The module is not able to access memory area outside the 256 byte window starting at the memory address defined by PTUPTR. Figure 14-23. Global Memory map usage 0x00_0000 PTUPTR + TG0L0IDX PTUPTR + TG0L1IDX PTUPTR + TG1L0IDX PTUPTR + TG1L1IDX Global Memory Map Delay T0 Delay T1 Delay T2 0x0000 (EOL symbol) unused Delay T0 Delay T1 Delay T2 0x0000 (EOL symbol) unused Delay T0 Delay T1 0x0000 (EOL symbol) unused Delay T0 Delay T1 0x0000 (EOL symbol) unused start address TG0 trigger event list 0 start address TG0 trigger event list 1 start address TG1 trigger event list 0 start address TG1 trigger event list 1 max accessible memory area: 256 byte MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 548 Chapter 14 Programmable Trigger Unit (PTUV3) 14.4.3 Reload mechanism Each trigger generator uses two lists to load the trigger values from the memory. One list can be updated by the CPU while the other list is used to generate the trigger events. After enabling, the TG uses the lists in alternate order. When the update of alternate trigger list is done, the SW must set the PTULDOK bit. If the load OK bit is set at the time of reload event, the TG switches to the alternate list and loads the first trigger value from this trigger event list. The reload event clears the PTULDOK bit. The TG0LIST and TG1LIST bits shows the currently use list number. These bits are writeable if the associated TG is disabled. If the PTULDOK bit was not set before the reload event then the reload overrun error flag is set (PTUROIF)and both TGs do not switch to the alternative list. The current trigger list is used to load the trigger values. Figure 14-24 shows an example. The PTULDOK bit can be used by other modules as glb_ldok. To reduce the used memory size, it is also possible to set TG0L0IDX equal to TG0L1IDX or to set TG1L0IDX equal to TG1L1IDX. In this case the trigger generator is using only one physical list of trigger events even if the trigger generator logic is switching between both pointers. The SW must make sure, that the CPU does not update the trigger list before the execution of the trigger list is done. The time window to update the trigger list starts at the trigger generator done interrupt flag (TGxDIF) and ends with the next reload event. Even if only one physical trigger event list is used the TGxLIST shows a swap between list 0 and 1 at every reload event with set PTULDOK bit. Figure 14-24. TG0 Reload behavior with local PTULDOK reload event set by SW PTULDOK bit was not set by CPU PTULDOK TG0LIST switch to new list index PTUROIF TG0DIF 14.4.4 stay at current list index set reload overrun error flag TG0DIF Async reload event If the reload and reload_is_async are active at the same time then an async reload event happens. The PTU behavior on an async reload event is the same like on the reload event described in Section 14.4.3, "Reload MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 549 Chapter 14 Programmable Trigger Unit (PTUV3) mechanism" above. The only difference is, that during an async reload event the error interrupt flags PTUROIF and TGxREIF are not generated. 14.4.5 Interrupts and error handling This section describes the interrupts generated by the PTU module and their individual sources, Vector addresses and interrupt priority are defined by MCU level. Table 14-22. PTU Interrupt Sources Module Interrupt Sources PTU Reload Overrun Error 14.4.5.1 Local Enable PTUIEH[PTUROIE] TG0 Error PTUIEL[TG0AEIE,TG0REIE,TG0TEIE] TG1 Error PTUIEL[TG1AEIE,TG1REIE,TG1TEIE] TG0 Done PTUIEL[TG0DIE] TG1 Done PTUIEL[TG1DIE] PTU Double Bit ECC Error If one trigger generator reads trigger values from the memory which contains double bit ECC errors then the PTUDEEF is set. These read data are ignored and the execution of both trigger generators is stopped until the PTUDEEF flag was cleared. To make sure the trigger generator starts in a define state it is required to execute follow sequence: 1. disable both trigger generators 2. configure the PTU if required 3. clear the PTUDEEF 4. enable the desired trigger generators 14.4.5.2 PTU Reload Overrun Error If the PTULDOK bit is not set during the reload event then the PTUROIF bit is set. If enabled (PTUROIE is set) an interrupt is generated. For more information see Section 14.4.3, "Reload mechanism". During an async reload event the PTUROIF interrupt flag is not set. 14.4.5.3 Trigger Generator Memory Access Error The trigger generator memory access error flag (TGxAEIF) is set if the used read address is outside the accessible memory address area; see the MMC section for the supported memory area. The loaded trigger values are ignored and the execution of this trigger list is stopped until the next reload event. If enabled (TGxAEIE is set) an interrupt will be generated. 14.4.5.4 Trigger Generator Reload Error The trigger generator reload error flag (TGxREIF) is set if a new reload event occurs before the trigger generator reaches the EOL symbol or the maximum number of generated triggers. Independent of this MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 550 Chapter 14 Programmable Trigger Unit (PTUV3) error condition the trigger generator reloads the new data from the trigger list and starts to generate the trigger. During an async reload event the TGxREIF interrupt flag is not set. If the trigger value loaded from the memory contains double bit ECC errors (PTUDEEF flag is set) then the data is ignored and the trigger generator reload error flag (TGxREIF) is not set. 14.4.5.5 Trigger Generator Timing Error The PTU module requires a defined number of bus clock cycle to load the next trigger value from the memory. This load time defines the minimum possible distance between consecutive trigger values within one trigger list or the distance between the reload event and the first trigger value. If a smaller distance is used then it is possible, depending on device conditions, that the TGxTEIF event is generated. To evaluate the TGxTEIF handling a distance of 1 should be used. This value will generate the TGxTEIF condition independent from the device conditions. For the specification of this number, please see the Device Overview chapter. The trigger generator timing error flag (TGxTEIF) is set if the loaded trigger value is smaller than the current counter value. The execution of this trigger list is stopped until the next reload event. There are different reasons for the trigger generator error condition: * reload time exceeds time of next trigger event * reload time exceeds the time between two consecutive trigger values * a subsequent trigger value is smaller than the predecessor trigger value If the trigger value loaded from the memory contains double bit ECC errors (PTUDEEF flag is set) then the data are ignored and the trigger generator timing error flag (TGxTEIF) is not set. If enabled (TGxEIE is set) an interrupt will be generated. 14.4.5.6 Trigger Generator Done The trigger generator done flag (TGxDIF) is set if the loaded trigger value contains 0x0000 or if the number of maximum trigger events (32) was reached. Please note, that the time which is required to load the next trigger value defines the delay between the generation of the last trigger and the assertion of the done flag. If enabled (TGxDIE is set) an interrupt is generated.If the trigger value loaded from the memory contains double bit ECC errors (PTUDEEF flag is set) then the data are ignored and the trigger generator done flag (TGxDIF) is not set. 14.4.6 Debugging To see the internal status of the trigger generator the register TGxLIST, TGxTNUM, and TGxTV can be used. The TGxLIST register shows the number of currently used list. The TGxTNUM shows the number of generated triggers since the last reload event. If the maximum number of triggers was generated then this register shows zero. The trigger value loaded from the memory to generate the next trigger event is visible inside the TGxTV register. If the execution of the trigger list is done then these registers are unchanged until the next reload event. The next PWM reload event clears the TGxTNUM register and toggles the used trigger list if PTULDOK was set. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 551 Chapter 14 Programmable Trigger Unit (PTUV3) To generate a reload event or trigger event independent from the PWM status the debug register bits PTUFRE or TGxFTE can be used. A write one to this bits will generate the associated event.This behavior is not available during stop or freeze mode. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 552 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-1. Revision History Rev. No. Date (Item No.) (Submitted By) Sections Affected Substantial Change(s) V03.22 02 Sep 2013 15.3.2.4/15-567 15.3.2.11/15-572 * Corrected PINVx bit descriptions * Improved read description of PMFOUTB V03.23 10 Oct 2013 15.2.8/15-558 15.3.2.18/15-577 15.3.2.22/15-581 15.8.1.1/15-621 * * * * * Corrected pmf_reload_is_async signal description Enhanced note at PMFCINV register Corrected write value limitations for PMFMODx registers Corrected register write protection bit names Orthographical corrections after review V03.24 08 Nov 2013 15.3.2.8/15-570 Table 15-14 15.4.7/15-605 * * * * * * Updated PMFFIF bit description Updated note to QSMP table Updated Asymmetric PWM output description Replaced `fault clearing' with `fault recovery' to avoid ambiguity with flags Various minor corrections. V03.25 03 Dec 2013 15.3.2.18/15-577 * Updated note at PMFCINV register V04.00 03 Dec 2013 15.3.2.3/15-566 15.3.2.11/15-572 15.3.2.18/15-577 * Added write protection to REV1-0 bits (WP) * Added PWM read through PMFOUTB (generator output read option) * Updated note at CINVn bits Glossary Table 15-2. Glossary of Terms Term Definition Set Discrete signal is in active logic state. Clear A discrete signal is in inactive logic state. Pin External physical connection. Signal Electronic construct whose state or change in state conveys information. PWM active state Normal output Positive polarity PWM logic level high causing external power device to conduct MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 553 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-2. Glossary of Terms Term Definition PWM inactive or disabled state Inverted output Negative polarity PWM logic level low causing external power device not to conduct PWM clock Clock supplied to PWM and deadtime generators. Based on core clock. Rate depends on prescaler setting. PWM cycle PWM period determined by modulus register and PWM clock rate. Note the differences in edge- or centeraligned mode. PWM reload cycle A.k.a. control cycle. Determined by load frequency which is 1 to n-times the PWM cycle. PWM reload cycle triggered double-buffered registers take effect at the next PWM reload event. Commutation cycle For 6-step motor control only. Started by an event external to the PMF module (async_event). This may be a delayed Hall effect or back-EMF zero crossing event determining the rotor position. Commutation cycle triggered double-buffered registers take effect at the next commutation event and optionally the PWM counters are restarted. Index x Related to time bases. x = A, B or C Index n Related to PWM channels. n = 0, 1, 2, 3, 4, or 5 Index m Related to fault inputs. m = 0, 1, 2, 3, 4, or 5 15.1 Introduction The Pulse width Modulator with Fault protection (PMF) module can be configured for one, two, or three complementary pairs. For example: * One complementary pair and four independent PWM outputs * Two complementary pairs and two independent PWM outputs * Three complementary pairs and zero independent PWM outputs * Zero complementary pairs and six independent PWM outputs All PWM outputs can be generated from the same counter, or each pair can have its own counter for three independent PWM frequencies. Complementary operation permits programmable deadtime insertion, distortion correction through current sensing by software, and separate top and bottom output polarity control. Each counter value is programmable to support a continuously variable PWM frequency. Both edge- and center-aligned synchronous pulse width-control and full range modulation from 0 percent to 100 percent, are supported. The PMF is capable of controlling most motor types: AC induction motors (ACIM), both brushless (BLDC) and brush DC motors (BDC), switched (SRM) and variable reluctance motors (VRM), and stepper motors. 15.1.1 * * Features Three complementary PWM signal pairs, or six independent PWM signals Edge-aligned or center-aligned mode MC9S12ZVM Family Reference Manual Rev. 2.2 554 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) * * * * * * * * Features of complementary channel operation: -- Deadtime insertion -- Separate top and bottom pulse width correction via current status inputs or software -- Three variants of PWM output: - Asymmetric in center-aligned mode - Variable edge placement in edge-aligned mode - Double switching in center-aligned mode Three 15-bit counters based on core clock Separate top and bottom polarity control Half-cycle reload capability Integral reload rates from 1 to 16 Programmable fault protection Link to timer output compare for 6-step BLDC commutation support with optional counter restart Reload overrun interrupt PWM compare output polarity control Software-controlled PWM outputs, complementary or independent 15.1.2 Modes of Operation Care must be exercised when using this module in the modes listed in Table 15-3. Some applications require regular software updates for proper operation. Failure to do so could result in destroying the hardware setup. Because of this, PWM outputs are placed in their inactive states in STOP mode, and optionally under WAIT and FREEZE modes. PWM outputs will be reactivated (assuming they were active to begin with) when these modes are exited. Table 15-3. Modes When PWM Operation is Restricted Mode Description STOP PWM outputs are disabled WAIT PWM outputs are disabled as a function of the PMFWAI bit FREEZE PWM outputs are disabled as a function of the PMFFRZ bit MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 555 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.1.3 Block Diagram Figure 15-1 provides an overview of the PMF module. CORE CLOCK PRSC MTG PRESCALER Single-underline denotes buffered registers taking effect at PWM reload (pmf_reloada,b,c) Double-underline denotes buffered registers taking effect at commutation event (async_event) pmf_reloada,b,c (PWM reload) PMFMOD REGISTERS pmf_reload_is_async (PWM reload qualifier) PWMRF PWM GENERATORS A,B,C PMFVAL0-5 REGISTERS RSTRT EDGE PMFCNT REGISTERS HALF LDOK async_event with restart MULTIPLE REGISTERS OR BITS FOR TIMEBASE A, B, OR C PWMEN Reset LDFQ IPOL INDEP OUT0 OUT1 OUT2 OUT3 OUT4 OUT5 OUTCTL0 OUTCTL1 OUTCTL3 OUTCTL2 OUTCTL4 OUTCTL5 DT 0--5 DEADTIME INSERTION MUX, SWAP & CURRENT SENSE PMFDTM REGISTER TOPNEG TOP/BOTTOM GENERATION BOTNEG 6 async_event (Commutation Event) glb_ldok (Global load OK) pmf_reloada,b,c ISENS OUTCTL0-5 OUTC0-5 MSK0-5 IS0 IS1 IS2 PWM0 PWM1 PMFDMAP REGISTERS FAULT PROTECTION POLARITY CONTROL PMFFEN REGISTER PINVA,B,C PRSCA,B,C PECA,B,C PMFMODA,B,C PMFVAL0-5 FAULT0 FAULT1 FMOD1 FAULT PIN FILTERS FMOD2 FMOD3 RELOAD A INTERRUPT REQUEST RELOAD B INTERRUPT REQUEST RELOAD C INTERRUPT REQUEST FIE0-5 FIF0-5 INTERRUPT CONTROL FMOD5 FAULT0-5 INTERRUPT REQUEST PMFROIE PMFROIF RELOAD OVERRUN A or B or C INTERRUPT REQUEST FAULT2 FAULT3 FAULT4 FMOD4 PWMRIE PWM3 PWM4 PWM5 FMOD0 (PWM reload) PWMRF PWM2 FAULT5 FIF0 QSMP0 FIF1 QSMP1 FIF2 QSMP2 FIF3 QSMP3 FIF4 QSMP4 FIF5 QSMP5 Figure 15-1. PMF Block Diagram MC9S12ZVM Family Reference Manual Rev. 2.2 556 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.2 Signal Descriptions If the signals are not used exclusively internally, the PMF has external pins named PWM0-5, FAULT0-5, and IS0-IS2. Refer to device overview section. 15.2.1 PWM0-PWM5 Pins PWM0-PWM5 are the output signals of the six PWM channels. NOTE On MCUs with an integrated gate drive unit the PWM outputs are connected internally to the GDU inputs. In these cases the PWM signals may optionally be available on pins for monitoring purposes. Refer to the device overview section for routing options and pin locations. 15.2.2 FAULT0-FAULT5 Pins FAULT0-FAULT5 are input signals for disabling selected PWM outputs (FAULT0-3) or drive the outputs to a configurable active/inactive state (FAULT4-5). NOTE On MCUs with an integrated gate drive unit (GDU) either one or more FAULT inputs may be connected internally or/and available on an external pin. Refer to the device overview section for availability and pin locations. 15.2.3 IS0-IS2 Pins IS0-IS2 are current status signals for top/bottom pulse width correction in complementary channel operation while deadtime is asserted. NOTE Refer to the device overview section for signal availability on pins. 15.2.4 Global Load OK Signal -- glb_ldok This device-internal PMF input signal is connected to the global load OK bit at integration level. For each of the three PWM generator time bases the use of the global load OK input can be enabled individually (GLDOKA,B,C). 15.2.5 Commutation Event Signal -- async_event This device-internal PMF input signal is connected to the source of the asynchronous event generator (preferably timer output compare channel) at integration level. The commutation event input must be enabled to take effect (ENCE=1). When this bit is set the PMFOUTC, PMFOUT, and MSKx registers switch from non-buffered to async_event triggered double MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 557 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) buffered mode. In addition, if restart is enabled (RSTRTx=1), the commutation event generates both "PWM reload event" and "PWM reload-is-asynchronous event" simultaneously. 15.2.6 Commutation Event Edge Select Signal -- async_event_edge_sel[1:0] These device-internal PMF input signals select the active edge for the async_event input. Refer to the device overview section to determine if the selection is user configurable or tied constant at integration level. Table 15-4. Commutation Event Edge Selection 15.2.7 async_event_edge-sel[1:0] async_event active edge 00 direct input 01 rising edge 10 falling edge 11 both edges PWM Reload Event Signals -- pmf_reloada,b,c These device-internal PMF output signals assert once per control cycle and can serve as triggers for other implemented IP modules. Signal pmf_reloadb and pmf_reloadc are related to time base B and C, respectively, while signal pmf_reloada is off out of reset and can be programmed for time base A, B, or C. Refer to the device overview section to determine the signal connections. 15.2.8 PWM Reload-Is-Asynchronous Signal -- pmf_reload_is_async This device-internal PMF output signal serves as a qualifier to the PMF reload event signal pmf_reloada. Whenever the async_event signal causes pmf_reloada output to assert also the pmf_reload_is_async output asserts for the same duration, except if asynchronous event and generated PWM reload event occur in the same cycle. MC9S12ZVM Family Reference Manual Rev. 2.2 558 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.3 15.3.1 Memory Map and Registers Module Memory Map A summary of the registers associated with the PMF module is shown in Figure 15-2. Detailed descriptions of the registers and bits are given in the subsections that follow. NOTE Register Address = Module Base Address + Address Offset, where the Module Base Address is defined at the MCU level and the Address Offset is defined at the module level. Address Offset Register Name 0x0000 PMFCFG0 0x0001 PMFCFG1 0x0002 PMFCFG2 0x0003 PMFCFG3 0x0004 PMFFEN 0x0005 PMFFMOD 0x0006 PMFFIE 0x0007 PMFFIF 0x0008 PMFQSMP0 0x0009 PMFQSMP1 0x000A0x000B Reserved Bit R W R WP 0 R R W R 1 MTG EDGEC EDGEB EDGEA INDEPC INDEPB PMFFRZ 0 0 0 0 W R 2 PMFWAI W R 3 REV0 W R 4 REV1 W R 5 ENCE W W 67 FEN5 FMOD5 FIE5 FIF5 0 0 MSK5 MSK4 0 0 0 0 0 MSK3 VLMODE R 0 0 MSK2 MSK1 MSK0 PINVC PINVB PINVA FEN3 FEN2 FEN1 FEN0 FMOD4 FMOD3 FMOD2 FMOD1 FMOD0 FIE4 FIE3 FIE2 FIE1 FIE0 FIF4 FIF3 FIF2 FIF1 FIF0 0 QSMP2 0 INDEPA FEN4 0 QSMP3 W 0 BOTNEGC TOPNEGC BOTNEGB TOPNEGB BOTNEGA TOPNEGA W R Bit 0 QSMP5 QSMP4 QSMP1 QSMP0 0 0 0 0 W = Unimplemented or Reserved Figure 15-2. Quick Reference to PMF Registers (Sheet 1 of 5) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 559 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Address Offset Register Name 0x000C PMFOUTC 0x000D PMFOUTB 0x000E PMFDTMS 0x000F PMFCCTL 0x0010 PMFVAL0 0x0011 PMFVAL0 0x0012 PMFVAL1 0x0013 PMFVAL1 0x0014 PMFVAL2 0x0015 PMFVAL2 0x0016 PMFVAL3 0x0017 PMFVAL3 0x0018 PMFVAL4 0x0019 PMFVAL4 0x001A PMFVAL5 R Bit 67 0 0 0 0 0 0 0 0 W R W R 5 4 3 2 1 Bit OUTCTL5 OUTCTL4 OUTCTL3 OUTCTL2 OUTCTL1 OUTCTL0 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0 DT5 DT4 DT3 DT2 DT1 DT0 IPOLC IPOLB IPOLA W R W R W R W R W R W R W R W R W R W R W R W R W 0 ISENS PMFVAL0 PMFVAL0 PMFVAL1 PMFVAL1 PMFVAL2 PMFVAL2 PMFVAL3 PMFVAL3 PMFVAL4 PMFVAL4 PMFVAL5 = Unimplemented or Reserved Figure 15-2. Quick Reference to PMF Registers (Sheet 2 of 5) MC9S12ZVM Family Reference Manual Rev. 2.2 560 Freescale Semiconductor 0 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Address Offset Register Name 0x001B PMFVAL5 0x001C PMFROIE 0x001D PMFROIF 0x001E PMFICCTL 0x001F PMFCINV 0x0020 PMFENCA 0x0021 PMFFQCA 0x0022 PMFCNTA 0x0023 PMFCNTA 0x0024 PMFMODA 0x0025 PMFMODA 0x0026 PMFDTMA 0x0027 PMFDTMA 0x0028 PMFENCB 0x0029 PMFFQCB Bit 67 5 4 R 0 0 PMFROIE PMFROIE PMFROIE C B A 0 0 0 0 0 PMFROIF PMFROIF PMFROIF C B A 0 0 PECC PECB PECA ICCC ICCB ICCA 0 0 CINV5 CINV4 CINV3 CINV2 CINV1 CINV0 PWMENA GLDOKA 0 0 0 RSTRTA LDOKA PWMRIEA W R W R LDFQA W R 0 0 W R Bit 0 W R 1 0 W R 2 PMFVAL5 W R 3 HALFA 0 PRSCA PWMRFA PMFCNTA W R PMFCNTA W R 0 PMFMODA W R PMFMODA W R 0 0 0 0 PMFDTMA W R PMFDTMA W R W R W PWMENB GLDOKB 0 0 LDFQB 0 HALFB RSTRTB LDOKB PRSCB PWMRIEB PWMRFB = Unimplemented or Reserved Figure 15-2. Quick Reference to PMF Registers (Sheet 3 of 5) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 561 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Address Offset Register Name 0x002A PMFCNTB 0x002B PMFCNTB 0x002C PMFMODB 0x002D PMFMODB 0x002E PMFDTMB 0x002F PMFDTMB 0x0030 PMFENCC 0x0031 PMFFQCC Bit R 67 5 4 3 0 2 1 Bit PMFCNTB W R PMFCNTB W R 0 PMFMODB W R PMFMODB W R 0 0 0 0 PMFDTMB W R PMFDTMB W R W R W PWMENC GLDOKC 0 0 LDFQC 0 HALFC RSTRTC LDOKC PRSCC PWMRIEC PWMRFC = Unimplemented or Reserved Figure 15-2. Quick Reference to PMF Registers (Sheet 4 of 5) MC9S12ZVM Family Reference Manual Rev. 2.2 562 Freescale Semiconductor 0 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Address Offset Register Name 0x0032 PMFCNTC 0x0033 PMFCNTC 0x0034 PMFMODC 0x0035 PMFMODC 0x0036 PMFDTMC 0x0037 PMFDTMC 0x0038 PMFDMP0 0x0039 PMFDMP1 0x003A PMFDMP2 0x003B PMFDMP3 0x003C PMFDMP4 0x003D PMFDMP5 0x003E PMFOUTF 0x003F Reserved Bit R 67 5 4 0 3 2 1 Bit 0 PMFCNTC W R PMFCNTC W R 0 PMFMODC W R PMFMODC W R 0 0 0 0 PMFDTMC W R PMFDTMC W R W R W R W R W R W R W R DMP05 DMP04 DMP03 DMP02 DMP01 DMP00 DMP15 DMP14 DMP13 DMP12 DMP11 DMP10 DMP25 DMP24 DMP23 DMP22 DMP21 DMP20 DMP35 DMP34 DMP33 DMP32 DMP31 DMP30 DMP45 DMP44 DMP43 DMP42 DMP41 DMP40 DMP55 DMP54 DMP53 DMP52 DMP51 DMP50 0 0 0 0 W R OUTF5 OUTF4 OUTF3 OUTF2 OUTF1 OUTF0 0 0 0 0 0 0 W = Unimplemented or Reserved Figure 15-2. Quick Reference to PMF Registers (Sheet 5 of 5) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 563 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.3.2 15.3.2.1 Register Descriptions PMF Configure 0 Register (PMFCFG0) Access: User read/write(1) Address: Module Base + 0x0000 7 R W Reset 6 5 4 3 2 1 0 WP MTG EDGEC EDGEB EDGEA INDEPC INDEPB INDEPA 0 0 0 0 0 0 0 0 Figure 15-3. PMF Configure 0 Register (PMFCFG0) 1. Read: Anytime Write: This register cannot be modified after the WP bit is set Table 15-5. PMFCFG0 Field Descriptions Field Description 7 WP Write Protect-- This bit enables write protection to be used for all write-protectable registers. While clear, WP allows write-protected registers to be written. When set, WP prevents any further writes to write-protected registers. Once set, WP can be cleared only by reset. 0 Write-protectable registers may be written 1 Write-protectable registers are write-protected 6 MTG Multiple Timebase Generators -- This bit determines the number of timebase counters used. This bit cannot be modified after the WP bit is set. If MTG is set, PWM generators B and C and registers 0x0028 - 0x0037 are availabled.The three generators have their own variable frequencies and are not synchronized. If MTG is cleared, PMF registers from 0x0028 - 0x0037 can not be written and read zeroes, and bits EDGEC and EDGEB are ignored. Pair A, Pair B, and Pair C PWMs are synchronized to PWM generator A and use registers from 0x0020 - 0x0027. 0 Single timebase generator 1 Multiple timebase generators 5 EDGEC Edge-Aligned or Center-Aligned PWM for Pair C -- This bit determines whether PWM4 and PWM5 channels will use edge-aligned or center-aligned waveforms. This bit has no effect if MTG bit is cleared. This bit cannot be modified after the WP bit is set. 0 PWM4 and PWM5 are center-aligned PWMs 1 PWM4 and PWM5 are edge-aligned PWMs 4 EDGEB Edge-Aligned or Center-Aligned PWM for Pair B -- This bit determines whether PWM2 and PWM3 channels will use edge-aligned or center-aligned waveforms. This bit has no effect if MTG bit is cleared. This bit cannot be modified after the WP bit is set. 0 PWM2 and PWM3 are center-aligned PWMs 1 PWM2 and PWM3 are edge-aligned PWMs 3 EDGEA Edge-Aligned or Center-Aligned PWM for Pair A-- This bit determines whether PWM0 and PWM1 channels will use edge-aligned or center-aligned waveforms. It determines waveforms for Pair B and Pair C if the MTG bit is cleared. This bit cannot be modified after the WP bit is set. 0 PWM0 and PWM1 are center-aligned PWMs 1 PWM0 and PWM1 are edge-aligned PWMs 2 INDEPC Independent or Complementary Operation for Pair C-- This bit determines if the PWM channels 4 and 5 will be independent PWMs or complementary PWMs. This bit cannot be modified after the WP bit is set. 0 PWM4 and PWM5 are complementary PWM pair 1 PWM4 and PWM5 are independent PWMs MC9S12ZVM Family Reference Manual Rev. 2.2 564 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-5. PMFCFG0 Field Descriptions (continued) Field Description 1 INDEPB Independent or Complementary Operation for Pair B-- This bit determines if the PWM channels 2 and 3 will be independent PWMs or complementary PWMs. This bit cannot be modified after the WP bit is set. 0 PWM2 and PWM3 are complementary PWM pair 1 PWM2 and PWM3 are independent PWMs 0 INDEPA Independent or Complementary Operation for Pair A-- This bit determines if the PWM channels 0 and 1 will be independent PWMs or complementary PWMs. This bit cannot be modified after the WP bit is set. 0 PWM0 and PWM1 are complementary PWM pair 1 PWM0 and PWM1 are independent PWMs 15.3.2.2 PMF Configure 1 Register (PMFCFG1) Access: User read/write(1) Address: Module Base + 0x0001 7 R 0 W Reset 0 6 5 4 3 2 1 0 ENCE BOTNEGC TOPNEGC BOTNEGB TOPNEGB BOTNEGA TOPNEGA 0 0 0 0 0 0 0 Figure 15-4. PMF Configure 1 Register (PMFCFG1) 1. Read: Anytime Write: This register cannot be modified after the WP bit is set A normal PWM output or positive polarity means that the PWM channel outputs high when the counter value is smaller than or equal to the pulse width value and outputs low otherwise. An inverted output or negative polarity means that the PWM channel outputs low when the counter value is smaller than or equal to the pulse width value and outputs high otherwise. NOTE The TOPNEGx and BOTNEGx are intended for adapting to the polarity of external predrivers on devices driving the PWM output directly to pins. If an integrated GDU is driven it must be made sure to keep the reset values of these bits in order not to violate the deadtime insertion. Table 15-6. PMFCFG1 Field Descriptions Field Description 6 ENCE Enable Commutation Event -- This bit enables the commutation event input and activates buffering of registers PMFOUTC and PMFOUTB and MSKx bits.This bit cannot be modified after the WP bit is set.If set to zero the commutation event input is ignored and writes to the above registers and bits will take effect immediately. If set to one, the commutation event input is enabled and the value written to the above registers and bits does not take effect until the next commutation event occurs. 0 Commutation event input disabled and PMFOUTC, PMFOUTB and MSKn not buffered 1 Commutation event input enabled and PMFOUTC, PMFOUTB and MSKn buffered 5 BOTNEGC Pair C Bottom-Side PWM Polarity -- This bit determines the polarity for Pair C bottom-side PWM (PWM5). This bit cannot be modified after the WP bit is set. 0 Positive PWM5 polarity 1 Negative PWM5 polarity MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 565 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-6. PMFCFG1 Field Descriptions (continued) Field Description 4 TOPNEGC Pair C Top-Side PWM Polarity -- This bit determines the polarity for Pair C top-side PWM (PWM4). This bit cannot be modified after the WP bit is set. 0 Positive PWM4 polarity 1 Negative PWM4 polarity 3 BOTNEGB Pair B Bottom-Side PWM Polarity -- This bit determines the polarity for Pair B bottom-side PWM (PWM3). This bit cannot be modified after the WP bit is set. 0 Positive PWM3 polarity 1 Negative PWM3 polarity 2 TOPNEGB Pair B Top-Side PWM Polarity -- This bit determines the polarity for Pair B top-side PWM (PWM2). This bit cannot be modified after the WP bit is set. 0 Positive PWM2 polarity 1 Negative PWM2 polarity 1 BOTNEGA Pair A Bottom-Side PWM Polarity -- This bit determines the polarity for Pair A bottom-sidePWM (PWM1). This bit cannot be modified after the WP bit is set. 0 Positive PWM1 polarity 1 Negative PWM1 polarity 0 TOPNEGA Pair A Top-Side PWM Polarity -- This bit determines the polarity for Pair A top-side PWM (PWM0). This bit cannot be modified after the WP bit is set. 0 Positive PWM0 polarity 1 Negative PWM0 polarity 15.3.2.3 PMF Configure 2 Register (PMFCFG2) Access: User read/write(1) Address: Module Base + 0x0002 R W Reset 7 6 5 4 3 2 1 0 REV1 REV0 MSK5 MSK4 MSK3 MSK2 MSK1 MSK0 0 0 0 0 0 0 0 0 Figure 15-5. PMF Configure 2 Register (PMFCFG2) 1. Read: Anytime Write: Anytime except REV[1:0] which cannot be modified after the WP bit is set. Table 15-7. PMFCFG2 Field Descriptions Field 7-6 REV[1:0] Description Select timebase counter to output reload event on pmf_reloada These bits select if timebase generator A, B or C provides the reload event on output signal pmf_reloada. This register cannot be modified after the WP bit is set. 00 Reload event generation disabled 01 PWM generator A generates reload event 10 PWM generator B generates reload event 11 PWM generator C generates reload event MC9S12ZVM Family Reference Manual Rev. 2.2 566 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-7. PMFCFG2 Field Descriptions (continued) Field Description 5-0 MSK[5:0] Mask PWMn -- Note: MSKn are buffered if ENCE is set. The value written does not take effect until the next commutation cycle begins. Reading MSKn returns the value in the buffer and not necessarily the value the output control is currently using. 0 PWMn is unmasked 1 PWMn is masked and the channel is set to a value of 0 percent duty cycle n is 0, 1, 2, 3, 4, and 5. WARNING When using the TOPNEG/BOTNEG bits and the MSKn bits at the same time, when in complementary mode, it is possible to have both PMF channel outputs of a channel pair set to one. 15.3.2.4 PMF Configure 3 Register (PMFCFG3) Access: User read/write(1) Address: Module Base + 0x0003 7 R W Reset 6 PMFWAI PMFFRZ 0 0 5 4 0 0 3 VLMODE 0 2 1 0 PINVC PINVB PINVA 0 0 0 0 Figure 15-6. PMF Configure 3 Register (PMFCFG3) 1. Read: Anytime Write: This register cannot be modified after the WP bit is set, except for bits PINVA, PINVB and PINVC Table 15-8. PMFCFG3 Field Descriptions Field Description 7 PMFWAI PMF Stops While in WAIT Mode -- When set to zero, the PWM generators will continue to run while the chip is in WAIT mode. In this mode, the peripheral clock continues to run but the CPU clock does not. If the device enters WAIT mode and this bit is one, then the PWM outputs will be switched to their inactive state until WAIT mode is exited. At that point the PWM outputs will resume operation as programmed in the PWM registers. This bit cannot be modified after the WP bit is set. 0 PMF continues to run in WAIT mode 1 PMF is disabled in WAIT mode 6 PMFFRZ PMF Stops While in FREEZE Mode -- When set to zero, the PWM generators will continue to run while the chip is in FREEZE mode. If the device enters FREEZE mode and this bit is one, then the PWM outputs will be switched to their inactive state until FREEZE mode is exited. At that point the PWM outputs will resume operation as programmed in the PWM registers. This bit cannot be modified after the WP bit is set. 0 PMF continues to run in FREEZE mode 1 PMF is disabled in FREEZE mode 4-3 VLMODE [1:0] Value Register Load Mode -- This field determines the way the value registers are being loaded. This register cannot be modified after the WP bit is set. 00 Each value register is accessed independently 01 Writing to value register zero also writes to value registers one to five 10 Writing to value register zero also writes to value registers one to three 11 Reserved (defaults to independent access) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 567 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-8. PMFCFG3 Field Descriptions (continued) Field Description 2 PINVC PWM Invert Complement Source Pair C -- This bit controls PWM4/PWM5 pair. When set, this bit inverts the COMPSRCC signal. This bit has no effect in independent mode. Note: PINVC is buffered. The value written does not take effect until the LDOK bit or global load OK is set and the next PWM load cycle begins. Reading PINVC returns the value in the buffer and not necessarily the value in use. 0 No inversion 1 COMPSRCC inverted only in complementary mode 1 PINVB PWM Invert Complement Source Pair B -- This bit controls PWM2/PWM3 pair. When set, this bit inverts the COMPSRCB signal. This bit has no effect in independent mode. Note: PINVB is buffered. The value written does not take effect until the LDOK bit or global load OK is set and the next PWM load cycle begins. Reading PINVB returns the value in the buffer and not necessarily the value in use. 0 No inversion 1 COMPSRCB inverted only in complementary mode 0 PINVA PWM Invert Complement Source Pair A -- This bit controls PWM0/PWM1 pair. When set, this bit inverts the COMPSRCA signal. This bit has no effect on in independent mode. Note: PINVA is buffered. The value written does not take effect until the LDOKA bit or global load OK is set and the next PWM load cycle begins. Reading PINVA returns the value in the buffer and not necessarily the value in use. 0 No inversion 1 COMPSRCA inverted only in complementary mode 15.3.2.5 PMF Fault Enable Register (PMFFEN) Access: User read/write(1) Address: Module Base + 0x0004 7 R 0 W Reset 0 6 FEN5 0 5 0 0 4 3 2 1 0 FEN4 FEN3 FEN2 FEN1 FEN0 0 0 0 0 0 Figure 15-7. PMF Fault Enable Register (PMFFEN) 1. Read: Anytime Write: This register cannot be modified after the WP bit is set Table 15-9. PMFFEN Field Descriptions Field 6,4-0 FEN[5:0] Description Fault m Enable -- This register cannot be modified after the WP bit is set. 0 FAULTm input is disabled 1 FAULTm input is enabled for fault protection m is 0, 1, 2, 3, 4 and 5 MC9S12ZVM Family Reference Manual Rev. 2.2 568 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.3.2.6 PMF Fault Mode Register (PMFFMOD) Access: User read/write(1) Address: Module Base + 0x0005 7 R 0 FMOD5 W Reset 6 0 0 5 0 0 4 3 2 1 0 FMOD4 FMOD3 FMOD2 FMOD1 FMOD0 0 0 0 0 0 Figure 15-8. PMF Fault Mode Register (PMFFMOD) 1. Read: Anytime Write: Anytime Table 15-10. PMFFMOD Field Descriptions Field Description 6,4-0 FMOD[5:0] Fault m Pin Recovery Mode -- This bit selects automatic or manual recovery of FAULTm input faults. See Section 15.4.13.2, "Automatic Fault Recovery" and Section 15.4.13.3, "Manual Fault Recovery" for more details. 0 Manual fault recovery of FAULTm input faults 1 Automatic fault recovery of FAULTm input faults m is 0, 1, 2, 3, 4 and 5. 15.3.2.7 PMF Fault Interrupt Enable Register (PMFFIE) Access: User read/write(1) Address: Module Base + 0x0006 7 R 0 W Reset 0 1. Read: Anytime Write: Anytime 6 FIE5 0 5 0 0 4 3 2 1 0 FIE4 FIE3 FIE2 FIE1 FIE0 0 0 0 0 0 Figure 15-9. PMF Fault Interrupt Enable Register (PMFFIE) Table 15-11. PMFFIE Field Descriptions Field Description 6,4-0 FIE[5:0] Fault m Pin Interrupt Enable -- This bit enables CPU interrupt requests to be generated by the FAULTm input. The fault protection circuit is independent of the FIEm bit and is active when FENm is set. If a fault is detected, the PWM outputs are disabled or switched to output control according to the PMF Disable Mapping registers. 0 FAULTm CPU interrupt requests disabled 1 FAULTm CPU interrupt requests enabled m is 0, 1, 2, 3, 4 and 5. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 569 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.3.2.8 PMF Fault Interrupt Flag Register (PMFFIF) Access: User read/write(1) Address: Module Base + 0x0007 7 R 6 0 FIF5 W Reset 0 0 5 0 0 4 3 2 1 0 FIF4 FIF3 FIF2 FIF1 FIF0 0 0 0 0 0 Figure 15-10. PMF Fault Interrupt Flag Register (PMFFIF) 1. Read: Anytime Write: Anytime. Write 1 to clear. Table 15-12. PMFFIF Field Descriptions Field Description Fault m Interrupt Flag -- This flag is set after the required number of samples have been detected after an edge to the active level(1) on the FAULTm input. Writing a logic one to FIFm clears it. Writing a logic zero hasno effect. If a set flag is attempted to be cleared and a flag setting event occurs in the same cycle, then the flag remains set. The fault protection is enabled when FENm is set even when the PWMs are not enabled; therefore, a fault will be latched in, requiring to be cleared in order to prevent an interrupt. 0 No fault on the FAULTm input 1 Fault on the FAULTm input Note: Clearing FIFm satisfies pending FIFm CPU interrupt requests. m is 0, 1, 2, 3, 4 and 5. 1. The active input level may be defined or programmable at SoC level. The default for internally connected resources is activehigh. For availability and configurability of fault inputs on pins refer to the device overview section. 6,4-0 FIF[5:0] 15.3.2.9 PMF Fault Qualifying Samples Register 0-1 (PMFQSMP0-1) Access: User read/write(1) Address: Module Base + 0x0008 7 R 5 4 0 0 6 0 0 0 0 0 0 3 1 QSMP5 W Reset 2 0 0 QSMP4 0 0 0 Figure 15-11. PMF Fault Qualifying Samples Register (PMFQSMP0) 1. Read: Anytime Write: This register cannot be modified after the WP bit is set. Access: User read/write(1) Address: Module Base + 0x0009 7 R 5 QSMP3 W Reset 6 0 4 3 QSMP2 0 0 2 1 QSMP1 0 0 0 QSMP0 0 0 0 Figure 15-12. PMF Fault Qualifying Samples Register (PMFQSMP1) 1. Read: Anytime Write: This register cannot be modified after the WP bit is set. MC9S12ZVM Family Reference Manual Rev. 2.2 570 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-13. PMFQSMP0-1 Field Descriptions Field Description 7-0 Fault m Qualifying Samples -- This field indicates the number of consecutive samples taken at the FAULTm QSMPm[1:0] input to determine if a fault is detected. The first sample is qualified after two bus cycles from the time the fault is present and each sample after that is taken every four core clock cycles. See Table 15-14. This register cannot be modified after the WP bit is set. m is 0, 1, 2, 3, 4 and 5. Table 15-14. Qualifying Samples QSMPm[1:0] Number of Samples 00 1 sample(1) 01 5 samples 10 10 samples 11 15 samples 1. There is an asynchronous path from fault inputs FAULT3-0, FAULT4 if DMPn4=b10, and FAULT5 if DMPn5=b10 to disable PWMs immediately but the fault is qualified in two bus cycles. 15.3.2.10 PMF Output Control Register (PMFOUTC) Access: User read/write(1) Address: Module Base + 0x000C 7 R 6 0 0 0 0 W Reset 1. Read: Anytime Write: Anytime 5 4 3 2 1 0 OUTCTL5 OUTCTL4 OUTCTL3 OUTCTL2 OUTCTL1 OUTCTL0 0 0 0 0 0 0 Figure 15-13. PMF Output Control Register (PMFOUTC) Table 15-15. PMFOUTC Field Descriptions Field Description 5-0 OUTCTLn Bits -- These bits enable software control of their corresponding PWM output. When OUTCTLn is OUTCTL[5:0] set, the OUTn bit directly controls the level of the PWMn output. Note: OUTCTLn is buffered if ENCE is set. The value written does not take effect until the next commutation cycle begins. Reading OUTCTLn returns the value in the buffer and not necessarily the value the output control is currently using. When operating the PWM in complementary mode, these bits must be switched in pairs for proper operation. That is OUTCTL0 and OUTCTL1 must have the same value; OUTCTL2 and OUTCTL3 must have the same value; and OUTCTL4 and OUTCTL5 must have the same value. 0 Software control disabled 1 Software control enabled n is 0, 1, 2, 3, 4 and 5. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 571 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.3.2.11 PMF Output Control Bit Register (PMFOUTB) Access: User read/write(1) Address: Module Base + 0x000D 7 R 6 0 0 0 0 W Reset 5 4 3 2 1 0 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0 0 0 0 0 0 0 Figure 15-14. PMF Output Control Bit Register (PMFOUTB) 1. Read: Anytime Write: Anytime Table 15-16. PMFOUTB Field Descriptions a Field Description 5-0 OUT[5:0] OUTn Bits -- If the corresponding OUTCTLn bit is set, these bits control the PWM outputs, illustrated in Table 15-17. If the related OUTCTLn=1 a read returns the register contents OUTn else the current PWM output states are returned Note: OUTn is buffered if ENCE is set. The value written does not take effect until the next commutation cycle begins. Reading OUTn (with OUTCTLn=1) returns the value in the buffer and not necessarily the value the output control is currently using. n is 0, 1, 2, 3, 4 and 5. Table 15-17. Software Output Control Complementary Channel Operation OUTn Bit Independent Channel Operation OUT0 1 -- PWM0 is active 0 -- PWM0 is inactive 1 -- PWM0 is active 0 -- PWM0 is inactive OUT1 1 -- PWM1 is complement of PWM0 0 -- PWM1 is inactive 1 -- PWM1 is active 0 -- PWM1 is inactive OUT2 1 -- PWM2 is active 0 -- PWM2 is inactive 1 -- PWM2 is active 0 -- PWM2 is inactive OUT3 1 -- PWM3 is complement of PWM2 0 -- PWM3 is inactive 1 -- PWM3 is active 0 -- PWM3 is inactive OUT4 1 -- PWM4 is active 0 -- PWM4 is inactive 1 -- PWM4 is active 0 -- PWM4 is inactive OUT5 1 -- PWM5 is complement of PWM4 0 -- PWM5 is inactive 1 -- PWM5 is active 0 -- PWM5 is inactive 15.3.2.12 PMF Deadtime Sample Register (PMFDTMS) Access: User read/write(1) Address: Module Base + 0x000E 7 R 5 4 3 2 1 0 0 0 6 DT5 DT4 DT3 DT2 DT1 DT0 0 0 0 0 0 0 0 0 W Reset Figure 15-15. PMF Deadtime Sample Register (PMFDTMS) MC9S12ZVM Family Reference Manual Rev. 2.2 572 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 1. Read: Anytime Write: Never Table 15-18. PMFDTMS Field Descriptions Field Description 5-0 DT[5:0] DTn Bits -- The DTn bits are grouped in pairs, DT0 and DT1, DT2 and DT3, DT4 and DT5. Each pair reflects the corresponding IS input value as sampled at the end of deadtime. n is 0, 1, 2, 3, 4 and 5. 15.3.2.13 PMF Correction Control Register (PMFCCTL) Access: User read/write(1) Address: Module Base + 0x000F 7 R 6 0 0 0 0 5 1. Read: Anytime Write: Anytime 0 3 0 ISENS W Reset 4 0 2 1 0 IPOLC IPOLB IPOLA 0 0 0 0 Figure 15-16. PMF Correction Control Register (PMFCCTL) Table 15-19. PMFCCTL Field Descriptions Field Description 5-4 ISENS[1:0] Current Status Sensing Method -- This field selects the top/bottom correction scheme, illustrated in Table 1520. Note: The user must provide current sensing circuitry causing the voltage at the corresponding input to be low for positive current and high for negative current. The top PWMs are PWM 0, 2, and 4 and the bottom PWMs are PWM 1, 3, and 5. Note: The ISENS bits are not buffered. Changing the current status sensing method can affect the present PWM cycle. 2 IPOLC Current Polarity -- This buffered bit selects the PMF Value register for PWM4 and PWM5 in top/bottom software correction in complementary mode. 0 PMF Value 4 register in next PWM cycle 1 PMF Value 5 register in next PWM cycle 1 IPOLB Current Polarity -- This buffered bit selects the PMF Value register for PWM2 and PWM3 in top/bottom software correction in complementary mode. 0 PMF Value 2 register in next PWM cycle 1 PMF Value 3 register in next PWM cycle 0 IPOLA Current Polarity -- This buffered bit selects the PMF Value register for PWM0 and PWM1 in top/bottom software correction in complementary mode. 0 PMF Value 0 register in next PWM cycle 1 PMF Value 1 register in next PWM cycle MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 573 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-20. Correction Method Selection ISENS Correction Method (1) 00 No correction 01 Manual correction 10 Current status sample correction on inputs IS0, IS1, and IS2 during deadtime(2) Current status sample on inputs IS0, IS1, and IS2(3) At the half cycle in center-aligned operation At the end of the cycle in edge-aligned operation 1. The current status inputs can be used as general purpose input/output ports. 2. The polarity of the related IS input is latched when both the top and bottom PWMs are off. At the 0% and 100% duty cycle boundaries, there is no deadtime, so no new current value is sensed. 3. Current is sensed even with 0% or 100% duty cycle. 11 NOTE The IPOLx bits take effect at the beginning of the next PWM cycle, regardless of the state of the LDOK bit or global load OK. Select top/bottom software correction by writing 01 to the current select bits, ISENS[1:0], in the PWM control register. Reading the IPOLx bits read the buffered value and not necessarily the value currently in effect. 15.3.2.14 PMF Value 0-5 Register (PMFVAL0-PMFVAL5) Access: User read/write(1) Address: Module Base + 0x0010 PMFVAL0 Module Base + 0x0012 PMFVAL1 Module Base + 0x0014 PMFVAL2 Module Base + 0x0016 PMFVAL3 Module Base + 0x0018 PMFVAL4 Module Base + 0x001A PMFVAL5 15 14 13 12 11 10 9 R 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 PMFVALn W Reset 8 0 0 1. Read: Anytime Write: Anytime 0 0 0 0 0 0 0 Figure 15-17. PMF Value n Register (PMFVALn) Table 15-21. PMFVALn Field Descriptions Field Description 15-0 PMFVALn PMF Value n Bits -- The 16-bit signed value in this buffered register is the pulse width in PWM clock periods. A value less than or equal to zero deactivates the PWM output for the entire PWM period. A value greater than, or equal to the modulus, activates the PWM output for the entire PWM period. See Table 15-39. The terms activate and deactivate refer to the high and low logic states of the PWM output. Note: PMFVALn is buffered. The value written does not take effect until the related or global load OK bit is set and the next PWM load cycle begins. Reading PMFVALn returns the value in the buffer and not necessarily the value the PWM generator is currently using. n is 0, 1, 2, 3, 4 and 5. MC9S12ZVM Family Reference Manual Rev. 2.2 574 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.3.2.15 PMF Reload Overrun Interrupt Enable Register (PMFROIE) Access: User read/write(1) Address: Module Base + 0x001C 7 R 6 5 4 3 0 0 0 0 0 0 0 0 0 0 W Reset 2 1 0 PMFROIEC PMFROIEB PMFROIEA 0 0 0 Figure 15-18. PMF Interrupt Enable Register (PMFROIE) 1. Read: Anytime Write: Anytime Table 15-22. PMFROIE Descriptions Field Description 2 Reload Overrun Interrupt Enable C -- PMFROIEC 0 Reload Overrun Interrupt C disabled 1 Reload Overrun Interrupt C enabled 1 Reload Overrun Interrupt Enable B -- PMFROIEB 0 Reload Overrun Interrupt B disabled 1 Reload Overrun Interrupt B enabled 0 Reload Overrun Interrupt Enable A -- PMFROIEA 0 Reload Overrun Interrupt A disabled 1 Reload Overrun Interrupt A enabled 15.3.2.16 PMF Interrupt Flag Register (PMFROIF) Access: User read/write(1) Address: Module Base + 0x001D 7 R 5 4 3 0 0 6 0 0 0 0 0 0 0 0 W Reset 2 1 0 PMFROIFC PMFROIFB PMFROIFA 0 0 0 Figure 15-19. PMF Interrupt Flag Register (PMFROIF) 1. Read: Anytime Write: Anytime. Write 1 to clear. Table 15-23. PMFROIF Field Descriptions Field Description 2 Reload Overrun Interrupt Flag C -- PMFROIFC If a reload event occurs when the LDOKC or global load OK bit is not set then this flag will be set. 0 No Reload Overrun C occurred 1 Reload Overrun C occurred 1 Reload Overrun Interrupt Flag B -- PMFROIFB If a reload event occurs when the LDOKB or global load OK bit is not set then this flag will be set. 0 No Reload Overrun B occurred 1 Reload Overrun B occurred MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 575 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-23. PMFROIF Field Descriptions (continued) Field Description 0 Reload Overrun Interrupt Flag A -- PMFROIFA If PMFCFG2[REV1:REV0]=01 and a reload event occurs when the LDOKA or global load OK bit is not set then this flag will be set. If PMFCFG2[REV1:REV0]=10 and a reload event occurs when the LDOKB or global load OK bit is not set then this flag will be set. If PMFCFG2[REV1:REV0]=11 and a reload event occurs when the LDOKC or global load OK bit is not set then this flag will be set. If PMFCFG2[REV1:REV0]=00 no flag will be generated. 0 No Reload Overrun A occurred 1 Reload Overrun A occurred 15.3.2.17 PMF Internal Correction Control Register (PMFICCTL) Access: User read/write(1) Address: Module Base + 0x001E 7 R 6 0 0 0 0 W Reset 1. Read: Anytime Write: Anytime 5 4 3 2 1 0 PECC PECB PECA ICCC ICCB ICCA 0 0 0 0 0 0 Figure 15-20. PMF Internal Correction Control Register (PMFICCTL) This register is used to control PWM pulse generation for various applications, such as a power-supply phase-shifting application. ICCx bits apply only in center-aligned operation during complementary mode. These control bits determine whether values set in the IPOLx bits control or the whether PWM count direction controls which PWM value register is used. NOTE The ICCx bits are buffered. The value written does not take effect until the next PWM load cycle begins regardless of the state of the LDOK bit or global load OK. Reading ICCx returns the value in a buffer and not necessarily the value the PWM generator is currently using. The PECx bits apply in edge-aligned and center-aligned operation during complementary mode. Setting the PECx bits overrides the ICCx settings. This allows the PWM pulses generated by both the odd and even PWM value registers to be ANDed together prior to the complementary logic and deadtime insertion. NOTE The PECx bits are buffered. The value written does not take effect until the related LDOK bit or global load OK is set and the next PWM load cycle begins. Reading PECn returns the value in a buffer and not necessarily the value the PWM generator is currently using. MC9S12ZVM Family Reference Manual Rev. 2.2 576 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Figure 15-21. PMF Internal Correction Control Register (PMFICCTL) Descriptions Field Description 5 PECC Pulse Edge Control -- This bit controls PWM4/PWM5 pair. 0 Normal operation 1 Allow one of PMFVAL4 and PMFVAL5 to activate the PWM pulse and the other to deactivate the pulse 4 PECB Pulse Edge Control -- This bit controls PWM2/PWM3 pair. 0 Normal operation 1 Allow one of PMFVAL2 and PMFVAL3 to activate the PWM pulse and the other to deactivate the pulse 3 PECA Pulse Edge Control -- This bit controls PWM0/PWM1 pair. 0 Normal operation 1 Allow one of PMFVAL0 and PMFVAL1 to activate the PWM pulse and the other to deactivate the pulse 2 ICCC Internal Correction Control -- This bit controls PWM4/PWM5 pair. 0 IPOLC setting determines whether to use the PMFVAL4 or PMFVAL5 register 1 Use PMFVAL4 register when the PWM counter is counting up. Use PMFVAL5 register when counting down. 1 ICCB Internal Correction Control -- This bit controls PWM2/PWM3 pair. 0 IPOLB setting determines whether to use the PMFVAL2 or PMFVAL3 register 1 Use PMFVAL2 register when the PWM counter is counting up. Use PMFVAL3 register when counting down. 0 ICCA Internal Correction Control -- This bit controls PWM0/PWM1 pair. 0 IPOLA setting determines whether to use the PMFVAL0 or PMFVAL1 register 1 Use PMFVAL0 register when the PWM counter is counting up. Use PMFVAL1 register when counting down. 15.3.2.18 PMF Compare Invert Register (PMFCINV) Access: User read/write(1) Address: Module Base + 0x001F 7 R 6 0 0 0 0 W Reset 5 4 3 2 1 0 CINV5 CINV4 CINV3 CINV2 CINV1 CINV0 0 0 0 0 0 0 Figure 15-22. PMF Compare Invert Register (PMFCINV) 1. Read: Anytime Write: Anytime Figure 15-23. PMF Compare Invert Register (PMFCINV) Descriptions Field Description 5 CINV5 PWM Compare Invert 5 -- This bit controls the polarity of PWM compare output 5. Please see the output operations in Figure 15-42 and Figure 15-43. 0 PWM output 5 is high when PMFCNTC (PMFCNTA if MTG=0) is less than PMFVAL5 1 PWM output 5 is high when PMFCNTC (PMFCNTA if MTG=0) is greater than PMFVAL5 4 CINV4 PWM Compare Invert 4 -- This bit controls the polarity of PWM compare output 4. Please see the output operations in Figure 15-42 and Figure 15-43. 0 PWM output 4 is high when PMFCNTC (PMFCNTA if MTG=0) is less than PMFVAL4 1 PWM output 4 is high when PMFCNTC (PMFCNTA if MTG=0) is greater than PMFVAL4 3 CINV3 PWM Compare Invert 3 -- This bit controls the polarity of PWM compare output 3. Please see the output operations in Figure 15-42 and Figure 15-43. 0 PWM output 3 is high when PMFCNTB (PMFCNTA if MTG=0) is less than PMFVAL3 1 PWM output 3 is high when PMFCNTB (PMFCNTA if MTG=0) is greater than PMFVAL3 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 577 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Figure 15-23. PMF Compare Invert Register (PMFCINV) Descriptions (continued) Field Description 2 CINV2 PWM Compare Invert 2 -- This bit controls the polarity of PWM compare output 2. Please see the output operations in Figure 15-42 and Figure 15-43. 0 PWM output 2 is high when PMFCNTB (PMFCNTA if MTG=0) is less than PMFVAL2 1 PWM output 2 is high when PMFCNTB (PMFCNTA if MTG=0) is greater than PMFVAL2 1 CINV1 PWM Compare Invert 1 -- This bit controls the polarity of PWM compare output 1. Please see the output operations in Figure 15-42 and Figure 15-43. 0 PWM output 1 is high when PMFCNTA is less than PMFVAL1 1 PWM output 1 is high when PMFCNTA is greater than PMFVAL1. 0 CINV0 PWM Compare Invert 0 -- This bit controls the polarity of PWM compare output 0. Please see the output operations in Figure 15-42 and Figure 15-43. 0 PWM output 0 is high when PMFCNTA is less than PMFVAL0. 1 PWM output 0 is high when PMFCNTA is greater than PMFVAL0 NOTE Changing CINVn can affect the present PWM cycle, if the related PMFVALn is zero. 15.3.2.19 PMF Enable Control A Register (PMFENCA) Access: User read/write(1) Address: Module Base + 0x0020 7 R W Reset 6 PWMENA GLDOKA 0 0 5 4 3 0 0 0 0 0 0 2 1 0 RSTRTA LDOKA PWMRIEA 0 0 0 Figure 15-24. PMF Enable Control A Register (PMFENCA) 1. Read: Anytime Write: Anytime except GLDOKA and RSTRTA which cannot be modified after the WP bit is set. Table 15-24. PMFENCA Field Descriptions Field Description 7 PWMENA PWM Generator A Enable -- When MTG is clear, this bit when set enables the PWM generators A, B and C and PWM0-5 outputs. When PWMENA is clear, PWM generators A, B and C are disabled, and the PWM0-5 outputs are in their inactive states unless the corresponding OUTCTL bits are set. When MTG is set, this bit when set enables the PWM generator A and the PWM0 and PWM1 outputs.When PWMENA is clear, the PWM generator A is disabled and PWM0 and PWM1 outputs are in their inactive states unless the OUTCTL0 and OUTCTL1 bits are set. After setting this bit a reload event is generated at the beginning of the PWM cycle. 0 PWM generator A and PWM0-1 (2-5 if MTG = 0) outputs disabled unless the respective OUTCTL bit is set 1 PWM generator A and PWM0-1 (2-5 if MTG = 0) outputs enabled 6 GLDOKA Global Load Okay A -- When this bit is set, a PMF external global load OK defined on device level replaces the function of LDOKA. This bit cannot be modified after the WP bit is set. 0 LDOKA controls reload of double buffered registers 1 PMF external global load OK controls reload of double buffered registers MC9S12ZVM Family Reference Manual Rev. 2.2 578 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-24. PMFENCA Field Descriptions (continued) Field Description 2 RSTRTA Restart Generator A -- When this bit is set, PWM generator A will be restarted at the next commutation event. This bit cannot be modified after the WP bit is set. 0 No PWM generator A restart at the next commutation event. 1 PWM generator A restarts at the next commutation event 1 LDOKA Load Okay A -- When MTG is clear, this bit allows loads of the PRSCA bits, the PMFMODA register, and the PMFVAL0-5 registers into a set of buffers. The buffered prescaler A divisor, PWM counter modulus A value, and all PWM pulse widths take effect at the next PWM reload. When MTG is set, this bit allows loads of the PRSCA bits, the PMFMODA register, and the PMFVAL0-1 registers into a set of buffers. The buffered prescaler divisor A, PWM counter modulus A value, and PWM0-1 pulse widths take effect at the next PWM reload. Set LDOKA by reading it when it is logic zero and then writing a logic one to it. LDOKA is automatically cleared after the new values are loaded, or can be manually cleared before a reload by writing a logic zero to it. Reset clears LDOKA. 0 Do not load new modulus A, prescaler A, and PWM0-1 (2-5 if MTG = 0) values 1 Load prescaler A, modulus A, and PWM0-1 (2-5 if MTG = 0) values Note: Do not set PWMENA bit before setting the LDOKA bit and do not clear the LDOKA bit at the same time as setting the PWMENA bit. 0 PWMRIEA PWM Reload Interrupt Enable A -- This bit enables the PWMRFA flag to generate CPU interrupt requests. 0 PWMRFA CPU interrupt requests disabled 1 PWMRFA CPU interrupt requests enabled 15.3.2.20 PMF Frequency Control A Register (PMFFQCA) Access: User read/write(1) Address: Module Base + 0x0021 7 6 R 4 LDFQA W Reset 5 0 1. Read: Anytime Write: Anytime 0 3 2 HALFA 0 0 0 1 PRSCA 0 0 PWMRFA 0 0 Figure 15-25. PMF Frequency Control A Register (PMFFQCA) Table 15-25. PMFFQCA Field Descriptions Field Description 7-4 Load Frequency A -- This field selects the PWM load frequency according to Table 15-26. See LDFQA[3:0] Section 15.4.12.3, "Load Frequency" for more details. Note: The LDFQA field takes effect when the current load cycle is complete, regardless of the state of the LDOKA bit or global load OK. Reading the LDFQA field reads the buffered value and not necessarily the value currently in effect. 3 HALFA Half Cycle Reload A -- This bit enables half-cycle reloads in center-aligned PWM mode. This bit has no effect on edge-aligned PWMs. It takes effect immediately. When set, reload opportunities occur also when the counter matches the modulus in addition to the start of the PWM period at count zero. See Section 15.4.12.3, "Load Frequency" for more details. 0 Half-cycle reloads disabled 1 Half-cycle reloads enabled MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 579 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-25. PMFFQCA Field Descriptions (continued) Field Description 2-1 Prescaler A -- This buffered field selects the PWM clock frequency illustrated in Table 15-27. PRSCA[1:0] Note: Reading the PRSCA field reads the buffered value and not necessarily the value currently in effect. The PRSCA field takes effect at the beginning of the next PWM cycle and only when the LDOKA bit or global load OK is set. PWM Reload Flag A -- This flag is set at the beginning of every reload cycle regardless of the state of the LDOKA bit or global load OK. Clear PWMRFA by reading PMFFQCA with PWMRFA set and then writing a logic one to the PWMRFA bit. If another reload occurs before the clearing sequence is complete, writing logic one to PWMRFA has no effect. 0 No new reload cycle since last PWMRFA clearing 1 New reload cycle since last PWMRFA clearing Note: Clearing PWMRFA satisfies pending PWMRFA CPU interrupt requests. 0 PWMRFA Table 15-26. PWM Reload Frequency A LDFQA[3:0] PWM Reload Frequency LDFQ[3:0] PWM Reload Frequency 0000 Every PWM opportunity 1000 Every 9 PWM opportunities 0001 Every 2 PWM opportunities 1001 Every 10 PWM opportunities 0010 Every 3 PWM opportunities 1010 Every 11 PWM opportunities 0011 Every 4 PWM opportunities 1011 Every 12 PWM opportunities 0100 Every 5 PWM opportunities 1100 Every 13 PWM opportunities 0101 Every 6 PWM opportunities 1101 Every 14 PWM opportunities 0110 Every 7 PWM opportunities 1110 Every 15 PWM opportunities 0111 Every 8 PWM opportunities 1111 Every 16 PWM opportunities Table 15-27. PWM Prescaler A PRSCA[1:0] Prescaler Value PA PWM Clock Frequency fPWM_A 00 1 fcore 01 2 fcore/2 10 4 fcore/4 11 8 fcore/8 15.3.2.21 PMF Counter A Register (PMFCNTA) Access: User read/write(1) Address: Module Base + 0x0022 15 R 14 13 12 11 10 9 8 0 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 PMFCNTA W Reset 0 1. Read: Anytime Write: Never 0 0 0 0 0 0 0 0 Figure 15-26. PMF Counter A Register (PMFCNTA) This register displays the state of the 15-bit PWM A counter. MC9S12ZVM Family Reference Manual Rev. 2.2 580 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.3.2.22 PMF Counter Modulo A Register (PMFMODA) Access: User read/write(1) Address: Module Base + 0x0024 15 R 14 13 12 11 10 9 8 0 6 5 4 3 2 1 0 0 0 0 0 0 0 0 PMFMODA W Reset 7 0 0 0 0 0 0 0 0 0 Figure 15-27. PMF Counter Modulo A Register (PMFMODA) 1. Read: Anytime Write: Anytime. Do not write a modulus value of zero for center-aligned operation. Do not write a modulus of zero or one in edge-aligned mode. The 15-bit unsigned value written to this register is the PWM period in PWM clock periods. NOTE The PWM counter modulo register is buffered. The value written does not take effect until the LDOKA bit or global load OK is set and the next PWM load cycle begins. Reading PMFMODA returns the value in the buffer. It is not necessarily the value the PWM generator A is currently using. 15.3.2.23 PMF Deadtime A Register (PMFDTMA) Access: User read/write(1) Address: Module Base + 0x0026 R 15 14 13 12 0 0 0 0 0 0 0 0 11 10 9 8 7 6 4 3 2 1 0 1 1 1 1 1 PMFDTMA W Reset 5 1 1 1 1 1 1 1 Figure 15-28. PMF Deadtime A Register (PMFDTMA) 1. Read: Anytime Write: This register cannot be modified after the WP bit is set. The 12-bit value written to this register is the number of PWM clock cycles in complementary channel operation. A reset sets the PWM deadtime register to the maximum value of 0x0FFF, selecting a deadtime of 4095 PWM clock cycles. Deadtime is affected by changes to the prescaler value. The deadtime duration is determined as follows: TDEAD_A = PMFDTMA / fPWM_A = PMFDTMA PA Tcore Eqn. 15-1 15.3.2.24 PMF Enable Control B Register (PMFENCB) Access: User read/write(1) Address: Module Base + 0x0028 7 R W Reset 6 PWMENB GLDOKB 0 0 5 4 3 0 0 0 0 0 0 2 1 0 RSTRTB LDOKB PWMRIEB 0 0 0 Figure 15-29. PMF Enable Control B Register (PMFENCB) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 581 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 1. Read: Anytime. Returns zero if MTG is clear. Write: Anytime if MTG is set.GLDOKB and RSTRTB cannot be modified after the WP bit is set. Table 15-28. PMFENCB Field Descriptions Field Description 7 PWMENB PWM Generator B Enable -- If MTG is clear, this bit reads zero and cannot be written. If MTG is set, this bit when set enables the PWM generator B and the PWM2 and PWM3 outputs. When PWMENB is clear, PWM generator B is disabled, and the PWM2 and PWM3 outputs are in their inactive states unless the corresponding OUTCTL bits are set. After setting this bit a reload event is generated at the beginning of the PWM cycle. 0 PWM generator B and PWM2-3 outputs disabled unless the respective OUTCTL bit is set 1 PWM generator B and PWM2-3 outputs enabled 6 GLDOKB Global Load Okay B -- When this bit is set, a PMF external global load OK defined on device level replaces the function of LDOKB. This bit cannot be modified after the WP bit is set. 0 LDOKB controls double reload of buffered registers 1 PMF external global load OK controls reload of double buffered registers 2 RSTRTB Restart Generator B -- When this bit is set, PWM generator B will be restarted at the next commutation event. This bit cannot be modified after the WP bit is set. 0 No PWM generator B restart at the next commutation event 1 PWM generator B restart at the next commutation event 1 LDOKB Load Okay B -- If MTG is clear, this bit reads zero and cannot be written. If MTG is set, this bit loads the PRSCB bits, the PMFMODB register and the PMFVAL2-3 registers into a set of buffers. The buffered prescaler divisor B, PWM counter modulus B value, PWM2-3 pulse widths take effect at the next PWM reload. Set LDOKB by reading it when it is logic zero and then writing a logic one to it. LDOKB is automatically cleared after the new values are loaded, or can be manually cleared before a reload by writing a logic zero to it. Reset clears LDOKB. 0 Do not load new modulus B, prescaler B, and PWM2-3 values 1 Load prescaler B, modulus B, and PWM2-3 values Note: Do not set PWMENB bit before setting the LDOKB bit and do not clear the LDOKB bit at the same time as setting the PWMENB bit. 0 PWMRIEB PWM Reload Interrupt Enable B -- If MTG is clear, this bit reads zero and cannot be written. If MTG is set, this bit enables the PWMRFB flag to generate CPU interrupt requests. 0 PWMRFB CPU interrupt requests disabled 1 PWMRFB CPU interrupt requests enabled 15.3.2.25 PMF Frequency Control B Register (PMFFQCB) Access: User read/write(1) Address: Module Base + 0x0029 7 6 R 4 LDFQB W Reset 5 0 0 3 2 HALFB 0 0 0 1 PRSCB 0 0 PWMRFB 0 0 Figure 15-30. PMF Frequency Control B Register (PMFFQCB) 1. Read: Anytime. Returns zero if MTG is clear. Write: Anytime if MTG is set. MC9S12ZVM Family Reference Manual Rev. 2.2 582 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-29. PMFFQCB Field Descriptions Field Description 7-4 Load Frequency B -- This field selects the PWM load frequency according to Table 15-30. See LDFQB[3:0] Section 15.4.12.3, "Load Frequency" for more details. Note: The LDFQB field takes effect when the current load cycle is complete, regardless of the state of the LDOKB bit or global load OK. Reading the LDFQB field reads the buffered value and not necessarily the value currently in effect. Half Cycle Reload B -- This bit enables half-cycle reloads in center-aligned PWM mode. This bit has no effect on edge-aligned PWMs. It takes effect immediately. When set, reload opportunities occur also when the counter matches the modulus in addition to the start of the PWM period at count zero. See Section 15.4.12.3, "Load Frequency" for more details. 0 Half-cycle reloads disabled 1 Half-cycle reloads enabled 3 HALFB 2-1 Prescaler B -- This buffered field selects the PWM clock frequency illustrated in Table 15-31. PRSCB[1:0] Note: Reading the PRSCB field reads the buffered value and not necessarily the value currently in effect. The PRSCB field takes effect at the beginning of the next PWM cycle and only when the LDOKB bit or global load OK is set. 0 PWMRFB PWM Reload Flag B -- This flag is set at the beginning of every reload cycle regardless of the state of the LDOKB bit. Clear PWMRFB by reading PMFFQCB with PWMRFB set and then writing a logic one to the PWMRFB bit. If another reload occurs before the clearing sequence is complete, writing logic one to PWMRFB has no effect. 0 No new reload cycle since last PWMRFB clearing 1 New reload cycle since last PWMRFB clearing Note: Clearing PWMRFB satisfies pending PWMRFB CPU interrupt requests. Table 15-30. PWM Reload Frequency B LDFQB[3:0] PWM Reload Frequency LDFQ[3:0] PWM Reload Frequency 0000 Every PWM opportunity 1000 Every 9 PWM opportunities 0001 Every 2 PWM opportunities 1001 Every 10 PWM opportunities 0010 Every 3 PWM opportunities 1010 Every 11 PWM opportunities 0011 Every 4 PWM opportunities 1011 Every 12 PWM opportunities 0100 Every 5 PWM opportunities 1100 Every 13 PWM opportunities 0101 Every 6 PWM opportunities 1101 Every 14 PWM opportunities 0110 Every 7 PWM opportunities 1110 Every 15 PWM opportunities 0111 Every 8 PWM opportunities 1111 Every 16 PWM opportunities Table 15-31. PWM Prescaler B PRSCB[1:0] Prescaler Value PB PWM Clock Frequency fPWM_B 00 1 fcore 01 2 fcore/2 10 4 fcore/4 11 8 fcore/8 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 583 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.3.2.26 PMF Counter B Register (PMFCNTB) Access: User read/write(1) Address: Module Base + 0x002A 15 R 14 13 12 11 10 9 8 0 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 PMFCNTB W Reset 0 0 0 0 0 0 0 0 0 Figure 15-31. PMF Counter B Register (PMFCNTB) 1. Read: Anytime. Returns zero if MTG is clear. Write: Never This register displays the state of the 15-bit PWM B counter. 15.3.2.27 PMF Counter Modulo B Register (PMFMODB) Access: User read/write(1) Address: Module Base + 0x002C 15 R 14 13 12 11 10 9 8 0 0 6 5 4 3 2 1 0 0 0 0 0 0 0 0 PMFMODB W Reset 7 0 0 0 0 0 0 0 0 Figure 15-32. PMF Counter Modulo B Register (PMFMODB) 1. Read: Anytime. Returns zero if MTG is clear. Write: Anytime if MTG is set.Do not write a modulus value of zero for center-aligned operation. Do not write a modulus of zero or one in edge-aligned mode. The 15-bit unsigned value written to this register is the PWM period in PWM clock periods. NOTE The PWM counter modulo register is buffered. The value written does not take effect until the LDOKB bit or global load OK is set and the next PWM load cycle begins. Reading PMFMODB returns the value in the buffer. It is not necessarily the value the PWM generator B is currently using. 15.3.2.28 PMF Deadtime B Register (PMFDTMB) Access: User read/write(1) Address: Module Base + 0x002E R 15 14 13 12 0 0 0 0 0 0 0 0 11 10 9 8 7 5 4 3 2 1 0 1 1 1 1 1 PMFDTMB W Reset 6 1 1 1 1 1 1 1 Figure 15-33. PMF Deadtime B Register (PMFDTMB) 1. Read: Anytime. Returns zero if MTG is clear. Write: Anytime if MTG is set. This register cannot be modified after the WP bit is set. The 12-bit value written to this register is the number of PWM clock cycles in complementary channel operation. A reset sets the PWM deadtime register to the maximum value of 0x0FFF, selecting a deadtime MC9S12ZVM Family Reference Manual Rev. 2.2 584 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) of 4095 PWM clock cycles. Deadtime is affected by changes to the prescaler value. The deadtime duration is determined as follows: TDEAD_B = PMFDTMB / fPWM_B = PMFDTMB PB Tcore Eqn. 15-2 15.3.2.29 PMF Enable Control C Register (PMFENCC) Access: User read/write(1) Address: Module Base + 0x0030 7 R W 6 PWMENC GLDOKC 0 0 Reset 5 4 3 0 0 0 0 0 0 2 1 0 RSTRTC LDOKC PWMRIEC 0 0 0 Figure 15-34. PMF Enable Control C Register (PMFENCC) 1. Read: Anytime. Returns zero if MTG is clear. Write: Anytime if MTG is set. GLDOKC and RSTRTC cannot be modified after the WP bit is set. Table 15-32. PMFENCC Field Descriptions Field Description 7 PWMENC PWM Generator C Enable -- If MTG is clear, this bit reads zero and cannot be written. If MTG is set, this bit when set enables the PWM generator C and the PWM4 and PWM5 outputs. When PWMENC is clear, PWM generator C is disabled, and the PWM4 and PWM5 outputs are in their inactive states unless the corresponding OUTCTL bits are set. After setting this bit a reload event is generated at the beginning of the PWM cycle. 0 PWM generator C and PWM4-5 outputs disabled unless the respective OUTCTL bit is set 1 PWM generator C and PWM4-5 outputs enabled 6 GLDOKC Global Load Okay C -- When this bit is set, a PMF external global load OK defined on device level replaces the function of LDOKC. This bit cannot be modified after the WP bit is set. 0 LDOKC controls reload of double buffered registers 1 PMF external global load OK controls reload of double buffered registers 2 RSTRTC Restart Generator C -- When this bit is set, PWM generator C will be restarted at the next commutation event. This bit cannot be modified after the WP bit is set. 0 No PWM generator C restart at the next commutation event 1 PWM generator C restart at the next commutation event 1 LDOKC Load Okay C -- If MTG is clear, this bit reads zero and can not be written. If MTG is set, this bit loads the PRSCC bits, the PMFMODC register and the PMFVAL4-5 registers into a set of buffers. The buffered prescaler divisor C, PWM counter modulus C value, PWM4-5 pulse widths take effect at the next PWM reload. Set LDOKC by reading it when it is logic zero and then writing a logic one to it. LDOKC is automatically cleared after the new values are loaded, or can be manually cleared before a reload by writing a logic zero to it. Reset clears LDOKC. 0 Do not load new modulus C, prescaler C, and PWM4-5 values 1 Load prescaler C, modulus C, and PWM4-5 values Note: Do not set PWMENC bit before setting the LDOKC bit and do not clear the LDOKC bit at the same time as setting the PWMENC bit. 0 PWMRIEC PWM Reload Interrupt Enable C -- If MTG is clear, this bit reads zero and cannot be written. If MTG is set, this bit enables the PWMRFC flag to generate CPU interrupt requests. 0 PWMRFC CPU interrupt requests disabled 1 PWMRFC CPU interrupt requests enabled MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 585 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.3.2.30 PMF Frequency Control C Register (PMFFQCC) Access: User read/write(1) Address: Module Base + 0x0031 7 6 R 5 4 LDFQC W Reset 0 0 3 2 HALFC 0 0 1 PRSCC 0 0 0 PWMRFC 0 0 Figure 15-35. PMF Frequency Control C Register (PMFFQCC) 1. Read: Anytime. Returns zero if MTG is clear. Write: Anytime if MTG is set. Table 15-33. PMFFQCC Field Descriptions Field Description 7-4 Load Frequency C -- This field selects the PWM load frequency according to Table 15-34. See LDFQC[3:0] Section 15.4.12.3, "Load Frequency" for more details. Note: The LDFQC field takes effect when the current load cycle is complete, regardless of the state of the LDOKC bit or global load OK. Reading the LDFQC field reads the buffered value and not necessarily the value currently in effect. Half Cycle Reload C -- This bit enables half-cycle reloads in center-aligned PWM mode. This bit has no effect on edge-aligned PWMs. It takes effect immediately. When set, reload opportunities occur also when the counter matches the modulus in addition to the start of the PWM period at count zero. See Section 15.4.12.3, "Load Frequency" for more details. 0 Half-cycle reloads disabled 1 Half-cycle reloads enabled 3 HALFC 2-1 Prescaler C -- This buffered field selects the PWM clock frequency illustrated in Table 15-35. PRSCC[1:0] Note: Reading the PRSCC field reads the buffered value and not necessarily the value currently in effect. The PRSCC field takes effect at the beginning of the next PWM cycle and only when the LDOKC bit or global load OK is set. 0 PWMRFC PWM Reload Flag C -- This flag is set at the beginning of every reload cycle regardless of the state of the LDOKC bit or global load OK. Clear PWMRFC by reading PMFFQCC with PWMRFC set and then writing a logic one to the PWMRFC bit. If another reload occurs before the clearing sequence is complete, writing logic one to PWMRFC has no effect. 0 No new reload cycle since last PWMRFC clearing 1 New reload cycle since last PWMRFC clearing Note: Clearing PWMRFC satisfies pending PWMRFC CPU interrupt requests. Table 15-34. PWM Reload Frequency C LDFQC[3:0] PWM Reload Frequency LDFQ[3:0] PWM Reload Frequency 0000 Every PWM opportunity 1000 Every 9 PWM opportunities 0001 Every 2 PWM opportunities 1001 Every 10 PWM opportunities 0010 Every 3 PWM opportunities 1010 Every 11 PWM opportunities 0011 Every 4 PWM opportunities 1011 Every 12 PWM opportunities 0100 Every 5 PWM opportunities 1100 Every 13 PWM opportunities 0101 Every 6 PWM opportunities 1101 Every 14 PWM opportunities 0110 Every 7 PWM opportunities 1110 Every 15 PWM opportunities 0111 Every 8 PWM opportunities 1111 Every 16 PWM opportunities MC9S12ZVM Family Reference Manual Rev. 2.2 586 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-35. PWM Prescaler C PRSCC[1:0] Prescaler Value PC PWM Clock Frequency fPWM_C 00 1 fcore 01 2 fcore/2 10 4 fcore/4 11 8 fcore/8 15.3.2.31 PMF Counter C Register (PMFCNTC) Access: User read/write(1) Address: Module Base + 0x0032 15 R 14 13 12 11 10 9 8 0 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 PMFCNTC W Reset 0 0 0 0 0 0 0 0 0 Figure 15-36. PMF Counter C Register (PMFCNTC) 1. Read: Anytime. Returns zero if MTG is clear. Write: Never This register displays the state of the 15-bit PWM C counter. 15.3.2.32 PMF Counter Modulo C Register (PMFMODC) Access: User read/write(1) Address: Module Base + 0x0034 15 R 14 13 12 11 10 9 8 0 0 6 5 4 3 2 1 0 0 0 0 0 0 0 0 PMFMODC W Reset 7 0 0 0 0 0 0 0 0 Figure 15-37. PMF Counter Modulo C Register (PMFMODC) 1. Read: Anytime. Returns zero if MTG is clear. Write: Anytime if MTG is set. Do not write a modulus value of zero for center-aligned operation. Do not write a modulus of zero or one in edge-aligned mode. The 15-bit unsigned value written to this register is the PWM period in PWM clock periods. NOTE The PWM counter modulo register is buffered. The value written does not take effect until the LDOKC bit or global load OK is set and the next PWM load cycle begins. Reading PMFMODC returns the value in the buffer. It is not necessarily the value the PWM generator A is currently using. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 587 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.3.2.33 PMF Deadtime C Register (PMFDTMC) Access: User read/write(1) Address: Module Base + 0x0036 R 15 14 13 12 0 0 0 0 0 0 0 0 11 10 9 8 7 6 4 3 2 1 0 1 1 1 1 1 PMFDTMC W Reset 5 1 1 1 1 1 1 1 Figure 15-38. PMF Deadtime C Register (PMFDTMC) 1. Read: Anytime. Returns zero if MTG is clear. Write: Anytime if MTG is set.This register cannot be modified after the WP bit is set. The 12-bit value written to this register is the number of PWM clock cycles in complementary channel operation. A reset sets the PWM deadtime register to the maximum value of 0x0FFF, selecting a deadtime of 4095 PWM clock cycles. Deadtime is affected by changes to the prescaler value. The deadtime duration is determined as follows: TDEAD_C = PMFDTMC / fPWM_C = PMFDTMC PC Tcore Eqn. 15-3 15.3.2.34 PMF Disable Mapping Registers (PMFDMP0-5) Access: User read/write(1) Address: Module Base + 0x0038 PMFDMP0 Module Base + 0x0039 PMFDMP1 Module Base + 0x003A PMFDMP2 Module Base + 0x003B PMFDMP3 Module Base + 0x003C PMFDMP4 Module Base + 0x003D PMFDMP5 7 R 5 DMPn5 W Reset 6 0 4 DMPn4 0 0 0 3 2 1 0 DMPn3 DMPn2 DMPn1 DMPn0 0 0 0 0 Figure 15-39. PMF Disable Mapping Register (PMFDMP0-5) 1. Read: Anytime Write: This register cannot be modified after the WP bit is set. Table 15-36. PMFDMP0-5 Field Descriptions Field Description 7-6 DMPn5 PWM Disable Mapping Channel n FAULT5 -- This bit selects for PWMn whether the output is disabled or forced to OUTFn at a FAULT5 event. Disabling PWMn has priority over forcing PWMn to OUTFn. This register cannot be modified after the WP bit is set. 00 PWMn unaffected by FAULT5 event (interrupt flag setting only) 01 PWMn unaffected by FAULT5 event (interrupt flag setting only) 10 PWMn disabled on FAULT5 event 11 PWMn forced to OUTFn on FAULT5 event n is 0, 1, 2, 3, 4 and 5. MC9S12ZVM Family Reference Manual Rev. 2.2 588 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-36. PMFDMP0-5 Field Descriptions (continued) Field Description 5-4 DMPn4 PWM Disable Mapping Channel n FAULT4 -- This bit selects for PWMn whether the output is disabled or forced to OUTFn at a FAULT4 event. Disabling PWMn has priority over forcing PWMn to OUTFn. This register cannot be modified after the WP bit is set. 00 PWMn unaffected by FAULT4 event (interrupt flag setting only) 01 PWMn unaffected by FAULT4 event (interrupt flag setting only) 10 PWMn disabled on FAULT4 event 11 PWMn forced to OUTFn on FAULT4 event n is 0, 1, 2, 3, 4 and 5. 3-0 DMPn PWM Disable Mapping Channel n FAULT3-0 -- This bitselects for PWMn if the output is disabled at a FAULT30 event. Disabling PWMn has priority over forcing PWMn to OUTFn. This bit cannot be modified after the WP bit is set. FAULT3-0 have priority over FAULT5-4. 0 PWMn unaffected by FAULT3-0 event 1 PWMn disabled on FAULT3-0 event n is 0, 1, 2, 3, 4 and 5. 15.3.2.35 PMF Output Control on Fault Register (PMFOUTF) Access: User read/write(1) Address: Module Base + 0x003E 7 R 6 0 0 0 0 W Reset 5 4 3 2 1 0 OUTF5 OUTF4 OUTF3 OUTF2 OUTF1 OUTF0 0 0 0 0 0 0 Figure 15-40. PMF Output Control on Fault Register (PMFOUTF) 1. Read: Anytime Write: This register cannot be modified after the WP bit is set. Table 15-37. PMFOUTF Field Descriptions Field Description 5-0 OUTF[5:0] OUTF Bits -- When the corresponding DMPn4 or DMPn5 bits are set to switch to output control on a related FAULT4 or FAULT5 event, these bits control the PWM outputs, illustrated in Table 15-38.This register cannot be modified after the WP bit is set. Table 15-38. Software Output Control on FAULT4 or FAULT5 Event OUTFn Bit Complementary Channel Operation Independent Channel Operation OUTF0 1 -- PWM0 is active 0 -- PWM0 is inactive 1 -- PWM0 is active 0 -- PWM0 is inactive OUTF1 1 -- PWM1 is complement of PWM0 0 -- PWM1 is inactive 1 -- PWM1 is active 0 -- PWM1 is inactive OUTF2 1 -- PWM2 is active 0 -- PWM2 is inactive 1 -- PWM2 is active 0 -- PWM2 is inactive OUTF3 1 -- PWM3 is complement of PWM2 0 -- PWM3 is inactive 1 -- PWM3 is active 0 -- PWM3 is inactive MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 589 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) OUTFn Bit Complementary Channel Operation Independent Channel Operation OUTF4 1 -- PWM4 is active 0 -- PWM4 is inactive 1 -- PWM4 is active 0 -- PWM4 is inactive OUTF5 1 -- PWM5 is complement of PWM4 0 -- PWM5 is inactive 1 -- PWM5 is active 0 -- PWM5 is inactive MC9S12ZVM Family Reference Manual Rev. 2.2 590 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.4 15.4.1 Functional Description Block Diagram A block diagram of the PMF is shown in Figure 15-1. The MTG bit allows the use of multiple PWM generators (A, B, and C) or just a single generator (A). PWM0 and PWM1 constitute Pair A, PWM2 and PWM3 constitute Pair B, and PWM4 and PWM5 constitute Pair C. Figure 15-41 depicts Pair A signal paths of PWM0 and PWM1. Pairs B and C have the same structure. Fault4-5 Detect OUTF0 0 IPOLA 1 OUT0 OUTCTL0 IS0 Correction Softw. Output Control Generated PWM Deadtime Dist. Correction and Asymmetric PWM 00 01 1X 1 (A) ICCA ISENS Independent Mode VAL0 (A) Gen. 0 000 CINV0 MODA CINV1 Complementary Mode 1 COMP SRCA x1x 10x 001 PWM0 DTMA in deadtime INDEPA Fault0-3 Detect MSK0 TOPNEGA MSK1 BOTNEGA PINVA Gen. 1 PWM1 1 VAL1 PECA Generated PWM Softw. Output Control (OUTCTL1 & PWMENA) | (~OUTCTL1 & OUT1) 1 OUTCTL1 OUT1 OUTF1 1 Count direction = Functional Block 1 = Configuration Register Bit Fault4-5 Detect Figure 15-41. Detail of PWM0 and PWM1 Signal Paths NOTE It is possible to have both channels of a complementary pair to be high. For example, if the TOPNEGA (negative polarity for PWM0), BOTNEGA (negative polarity for PWM1), MSK0 and MSK1 bits are set, both the PWM complementary outputs of generator A will be high. See Section 15.3.2.2, "PMF Configure 1 Register (PMFCFG1)" for the description of TOPNEG and BOTNEG bits, and Section 15.3.2.3, "PMF Configure 2 Register (PMFCFG2)" for the description of the MSK0 and MSK1 bits. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 591 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.4.2 Prescaler To permit lower PWM frequencies, the prescaler produces the PWM clock frequency by dividing the core clock frequency by one, two, four, and eight. Each PWM generator has its own prescaler divisor. Each prescaler is buffered and will not be used by its PWM generator until the corresponding Load OK bit is set and a new PWM reload cycle begins. 15.4.3 PWM Generator Each PWM generator contains a 15-bit up/down PWM counter producing output signals with softwareselectable * Alignment -- The logic state of each pair EDGE bit determines whether the PWM pair outputs are edge-aligned or center-aligned * Period -- The value written to each pair PWM counter modulo register is used to determine the PWM pair period. The period can also be varied by using the prescaler * With edge-aligned output, the modulus is the period of the PWM output in clock cycles * With center-aligned output, the modulus is one-half of the PWM output period in clock cycles * Pulse width -- The number written to the PWM value register determines the pulse width duty cycle of the PWM output in clock cycles -- With center-aligned output, the pulse width is twice the value written to the PWM value register -- With edge-aligned output, the pulse width is the value written to the PWM value register 15.4.3.1 Alignment and Compare Output Polarity Each edge-align bit, EDGEx, selects either center-aligned or edge-aligned PWM generator outputs. PWM compare output polarity is selected by the CINVn bit field in the source control (PMFCINV) register. Please see the output operations in Figure 15-42 and Figure 15-43. The PWM compare output is driven to a high state when the value of PWM value (PMFVALn) register is greater than the value of PWM counter, and PWM compare is counting downwards if the corresponding channel CINVn=0. Or, the PWM compare output is driven to low state if the corresponding channel CINVn=1. The PWM compare output is driven to low state when the value of PWM value (PMFVALn) register matches the value of PWM counter, and PWM counter is counting upwards if the corresponding channel CINVn=0. Or, the PWM compare output is driven to high state if the corresponding channel CINVn=1. MC9S12ZVM Family Reference Manual Rev. 2.2 592 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Alignment Reference Up/Down Counter Modulus = 4 CINVn= 0 PWM Compare Output Duty Cycle = 50% CINVn = 1 Figure 15-42. Center-Aligned PWM Output Alignment Reference Up Counter Modulus = 4 CINVn = 0 PWM Compare Output Duty Cycle = 50% CINVn = 1 Figure 15-43. Edge-Aligned PWM Output 15.4.3.2 Period A PWM period is determined by the value written to the PWM counter modulo registers PMFMODx. The PWM counter is an up/down counter in center-aligned mode. In this mode the PWM highest output resolution is two core clock cycles. PWM period = (PWM modulus) (PWM clock period) 2 COUNTER 1 2 3 4 3 2 Eqn. 15-4 1 0 UP/DOWN COUNTERER MODULUS = 4 PWM CLOCK PERIOD PWM PERIOD = 8 x PWM CLOCK PERIOD Figure 15-44. Center-Aligned PWM Period MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 593 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) NOTE Because of the equals-comparator architecture of this PMF, the modulus equals zero case is considered illegal in center-aligned mode. Therefore, the modulus register does not return to zero, and a modulus value of zero will result in waveforms inconsistent with the other modulus waveforms. If a modulus of zero is loaded, the counter will continually count down from 0x7FFF. This operation will not be tested or guaranteed. Consider it illegal. However, the deadtime constraints and fault conditions will still be guaranteed. In edge-aligned mode, the PWM counter is an up counter. The PWM output resolution is one core clock cycle. PWM period = PWM modulus PWM clock period COUNTER 1 2 3 Eqn. 15-5 4 1 UP COUNTERER MODULUS = 4 PWM CLOCK PERIOD PWM PERIOD = 4 x PWM CLOCK PERIOD Figure 15-45. Edge-Aligned PWM Period NOTE In edge-aligned mode the modulus equals zero and one cases are considered illegal. 15.4.3.3 Duty Cycle The signed 16-bit number written to the PMF value registers (PMFVALn) is the pulse width in PWM clock periods of the PWM generator output (or period minus the pulse width if CINVn=1). PMFVAL Duty cycle = --------------------------- 100 PMFMOD NOTE A PWM value less than or equal to zero deactivates the PWM output for the entire PWM period. A PWM value greater than or equal to the modulus activates the PWM output for the entire PWM period when CINVn=0, and vice versa if CINVn=1. MC9S12ZVM Family Reference Manual Rev. 2.2 594 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-39. PWM Value and Underflow Conditions PMFVALn Condition PWM Value Used 0x0000-0x7FFF Normal Value in registers 0x8000-0xFFFF Underflow 0x0000 Center-aligned operation is illustrated in Figure 15-46. PWM pulse width = (PWM value) (PWM clock period) 2 1 COUNTER 2 3 4 3 2 1 0 1 2 3 4 Eqn. 15-6 3 2 1 0 P/DOWN COUNTERER MODULUS = 4 PWM VALUE = 0 0/4 = 0% PWM VALUE = 1 1/4 = 25% PWM VALUE = 2 2/4 = 50% PWM VALUE = 3 3/4 = 75% PWM VALUE = 4 4/4 = 100% Figure 15-46. Center-Aligned PWM Pulse Width Edge-aligned operation is illustrated in Figure 15-47. PWM pulse width = (PWM value) (PWM clock period) Eqn. 15-7 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 595 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) COUNTER 1 2 3 4 1 UP COUNTERER MODULUS = 4 PWM VALUE = 0 0/4 = 0% PWM VALUE = 1 1/4 = 25% PWM VALUE = 2 2/4 = 50% PWM VALUE = 3 3/4 = 75% PWM VALUE = 4 4/4 = 100% Figure 15-47. Edge-Aligned PWM Pulse Width 15.4.4 Independent or Complementary Channel Operation Writing a logic one to an INDEPx bit configures a pair of the PWM outputs as two independent PWM channels. Each PWM output has its own PWM value register operating independently of the other channels in independent channel operation. Writing a logic zero to a INDEPx bit configures the PWM output as a pair of complementary channels. The PWM outputs are paired as shown in Figure 15-48 in complementary channel operation. PMFVAL0 REGISTER PMFVAL1 REGISTER PAIR A PWM CHANNELS 0 AND 1 TOP BOTTOM PMFVAL2 REGISTER PMFVAL3 REGISTER PAIR B PWM CHANNELS 2 AND 3 TOP BOTTOM PMFVAL4 REGISTER PMFVAL5 REGISTER PAIR C PWM CHANNELS 4 AND 5 TOP BOTTOM Figure 15-48. Complementary Channel Pairs MC9S12ZVM Family Reference Manual Rev. 2.2 596 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) The complementary channel operation is for driving top and bottom transistors in a motor drive circuit, such as the one in Figure 15-49. PWM 0 PWM 2 PWM 4 PWM 1 PWM 3 PWM 5 AC INPUTS TO MOTOR PHASE A B C Figure 15-49. Typical 3-Phase AC Motor Drive In complementary channel operation following additional features exist: * Deadtime insertion * Separate top and bottom pulse width correction via current status inputs or software * Three variants of PWM output: -- Asymmetric in center-aligned mode -- Variable edge placement in edge-aligned mode -- Double switching in center-aligned mode 15.4.5 Deadtime Generators While in complementary operation, each PWM pair can be used to drive top/bottom transistors, as shown in Figure 15-50. Ideally, the PWM pairs are an inversion of each other. When the top PWM channel is active, the bottom PWM channel is inactive, and vice versa. NOTE To avoid a short-circuit on the DC bus and endangering the transistor, there must be no overlap of conducting intervals between the top and bottom transistor. But the transistor's characteristics make its switching-off time longer than switching-on time. To avoid the conducting overlap of the top and bottom transistors, deadtime needs to be inserted in the switching period. Deadtime generators automatically insert software-selectable activation delays into each pair of PWM outputs. The deadtime register (PMFDTMx) specifies the number of PWM clock cycles to use for deadtime delay. Every time the deadtime generator inputs changes state, deadtime is inserted. Deadtime forces both PWM outputs in the pair to the inactive state. A method of correcting this, adding to or subtracting from the PWM value used, is discussed next. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 597 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) OUT1 OUT0 MUX PWM0 & PWM1 DEADTIME GENERATOR OUTCTL0 OUT3 OUT2 PWM GENERATOR CURRENT STATUS MUX PWM2 & PWM3 OUT5 MUX PWM4 & PWM5 TOP (PWM2) TO FAULT TOP/BOTTOM GENERATOR BOTTOM (PWM3) PROTECTION DEADTIME GENERATOR OUTCTL2 OUT4 TOP (PWM0) TO FAULT TOP/BOTTOM GENERATOR BOTTOM (PWM1) PROTECTION TOP (PWM4) TO FAULT TOP/BOTTOM GENERATOR BOTTOM (PWM5) PROTECTION DEADTIME GENERATOR OUTCTL4 Figure 15-50. Deadtime Generators MODULUS = 4 PWM VALUE = 3,1 PWM0, NO DEADTIME PWM1, NO DEADTIME PWM0, DEADTIME = 1 PWM1, DEADTIME = 1 Figure 15-51. Deadtime Insertion, Center Alignment MC9S12ZVM Family Reference Manual Rev. 2.2 598 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) MODULUS = 3 PWM VALUE = 1 PWM VALUE = 1 PWM VALUE = 1 PWM VALUE = 1 PWM0, NO DEADTIME PWM1, NO DEADTIME PWM0, DEADTIME = 2 PWM1, DEADTIME = 2 Figure 15-52. Deadtime at Duty Cycle Boundaries MODULUS = 3 PWM VALUE 2 PWM Value = 3 PWM Value = 2 PWM Value = 1 PWM0, NO DEADTIME PWM1, NO DEADTIME PWM0, DEADTIME = 3 PWM1, DEADTIME = 3 Figure 15-53. Deadtime and Small Pulse Widths NOTE The waveform at the output is delayed by two core clock cycles for deadtime insertion. 15.4.6 Top/Bottom Correction In complementary mode, either the top or the bottom transistor controls the output voltage. However, deadtime has to be inserted to avoid overlap of conducting interval between the top and bottom transistor. Both transistors in complementary mode are off during deadtime, allowing the output voltage to be determined by the current status of the load and introduce distortion in the output voltage. See Figure 1554. On AC induction motors running open-loop, the distortion typically manifests itself as poor low-speed performance, such as torque ripple and rough operation. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 599 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) V+ DESIRED LOAD VOLTAGE DEADTIME PWM TO TOP TRANSISTOR POSITIVE CURRENT NEGATIVE CURRENT PWM TO BOTTOM TRANSISTOR POSITIVE CURRENT LOAD VOLTAGE NEGATIVE CURRENT LOAD VOLTAGE Figure 15-54. Deadtime Distortion During deadtime, load inductance distorts output voltage by keeping current flowing through the diodes. This deadtime current flow creates a load voltage that varies with current direction. With a positive current flow, the load voltage during deadtime is equal to the bottom supply, putting the top transistor in control. With a negative current flow, the load voltage during deadtime is equal to the top supply putting the bottom transistor in control. Remembering that the original PWM pulse widths were shortened by deadtime insertion, the averaged sinusoidal output will be less than the desired value. However, when deadtime is inserted, it creates a distortion in motor current waveform. This distortion is aggravated by dissimilar turn-on and turn-off delays of each of the transistors. By giving the PWM module information on which transistor is controlling at a given time, this distortion can be corrected. For a typical circuit in complementary channel operation, only one of the transistors will be effective in controlling the output voltage at any given time. This depends on the direction of the motor current for that pair. See Figure 15-54. To correct distortion one of two different factors must be added to the desired PWM value, depending on whether the top or bottom transistor is controlling the output voltage. Therefore, the software is responsible for calculating both compensated PWM values prior to placing them in an oddnumbered/even numbered PWM register pair. Either the odd or the even PMFVAL register controls the pulse width at any given time. For a given PWM pair, whether the odd or even PMFVAL register is active depends on either: * The state of the current status input, IS, for that driver * The state of the odd/even correction bit, IPOLx, for that driver if ICC bits in the PMFICCTL register are set to zeros * The direction of PWM counter if ICC bits in the PMFICCTL register are set to ones To correct deadtime distortion, software can decrease or increase the value in the appropriate PMFVAL register. MC9S12ZVM Family Reference Manual Rev. 2.2 600 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) * * In edge-aligned operation, decreasing or increasing the PWM value by a correction value equal to the deadtime typically compensates for deadtime distortion. In center-aligned operation, decreasing or increasing the PWM value by a correction value equal to one-half the deadtime typically compensates for deadtime distortion. In the complementary channel operation, ISENS selects one of three correction methods: * Manual correction * Automatic current status correction during deadtime * Automatic current status correction when the PWM counter value equals the value in the PWM counter modulus registers Table 15-40. Correction Method Selection ISENS Correction Method correction(1) 00 No 01 Manual correction 10 Current status sample correction on inputs IS0, IS1, and IS2 during deadtime(2) Current status sample on inputs IS0, IS1, and IS2(3) At the half cycle in center-aligned operation At the end of the cycle in edge-aligned operation 1. The current status inputs can be used as general purpose input/output ports. 2. The polarity of the IS input is latched when both the top and bottom PWMs are off. At the 0% and 100% duty cycle boundaries, there is no deadtime, so no new current value is sensed. 3. Current is sensed even with 0% or 100% duty cycle. 11 NOTE External current status sensing circuitry is required at the corresponding inputs which produces a logic zero level for positive current and logic one for negative current. PWM 0, 2, and 4 are considered the top PWMs while the bottom PWMs are PWM 1, 3, and 5. 15.4.6.1 Manual Correction The IPOLx bits select either the odd or the even PWM value registers to use in the next PWM cycle. Table 15-41. Top/Bottom Manual Correction Bit Logic state Output Control IPOLA 0 PMFVAL0 controls PWM0/PWM1 pair 1 PMFVAL1 controls PWM0/PWM1 pair IPOLB 0 PMFVAL2 controls PWM2/PWM3 pair 1 PMFVAL3 controls PWM2/PWM3 pair IPOLC 0 PMFVAL4 controls PWM4/PWM5 pair 1 PMFVAL5 controls PWM4/PWM5 pair MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 601 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) NOTE IPOLx bits are buffered so only one PWM register is used per PWM cycle. If an IPOLx bit changes during a PWM period, the new value does not take effect until the next PWM period. IPOLx bits take effect at the end of each PWM cycle regardless of the state of the related LDOK bit or global load OK. PWM CONTROLLED BY ODD PMFVAL REGISTER A PWM CONTROLLED BY EVEN PMFVAL REGISTER B IPOLx BIT PWM CYCLE START D DEADTIME GENERATOR TOP PWM BOTTOM PWM A/B Q CLK Figure 15-55. Internal Correction Logic when ISENS = 01 To detect the current status, the voltage on each IS input is sampled twice in a PWM period, at the end of each deadtime. The value is stored in the DTn bits in the PMF Deadtime Sample register (PMFDTMS). The DTn bits are a timing marker especially indicating when to toggle between PWM value registers. Software can then set the IPOLx bit to toggle PMFVAL registers according to DTn values. PWM0 D POSITIVE CURRENT NEGATIVE CURRENT PWM1 PWM0 Q DT0 Q DT1 CLK IS0 PIN VOLTAGE SENSOR D PWM1 CLK Figure 15-56. Current Status Sense Scheme for Deadtime Correction Both D flip-flops latch low, DT0 = 0, DT1 = 0, during deadtime periods if current is large and flowing out of the complementary circuit. See Figure 15-56. Both D flip-flops latch the high, DT0 = 1, DT1 = 1, during deadtime periods if current is also large and flowing into the complementary circuit. However, under low-current, the output voltage of the complementary circuit during deadtime is somewhere between the high and low levels. The current cannot free-wheel through the opposition antibody diode, regardless of polarity, giving additional distortion when the current crosses zero. MC9S12ZVM Family Reference Manual Rev. 2.2 602 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Sampled results will be DT0 = 0 and DT1 = 1. Thus, the best time to change one PWM value register to another is just before the current zero crossing. T B T B V+ DEADTIME PWM TO TOP TRANSISTOR POSITIVE CURRENT NEGATIVE CURRENT PWM TO BOTTOM TRANSISTOR LOAD VOLTAGE WITH HIGH POSITIVE CURRENT LOAD VOLTAGE WITH LOW POSITIVE CURRENT LOAD VOLTAGE WITH HIGH NEGATIVE CURRENT LOAD VOLTAGE WITH NEGATIVE CURRENT T = DEADTIME INTERVAL BEFORE ASSERTION OF TOP PWM B = DEADTIME INTERVAL BEFORE ASSERTION OF BOTTOM PWM Figure 15-57. Output Voltage Waveforms 15.4.6.2 Current-Sensing Correction A current sense input, IS, for a PWM pair selects either the odd or the even PWM value registers to use in the next PWM cycle. The selection is based on user-provided current sense circuitry driving the related IS input high for negative current and low for positive current. Table 15-42. Top/Bottom Current Sense Correction Pin Logic State Output Control IS0 0 PMFVAL0 controls PWM0/PWM1 pair 1 PMFVAL1 controls PWM0/PWM1 pair IS1 0 PMFVAL2 controls PWM2/PWM3 pair 1 PMFVAL3 controls PWM2/PWM3 pair 0 PMFVAL4 controls PWM4/PWM5 pair 1 PMFVAL5 controls PWM4/PWM5 pair IS2 Previously shown, the current direction can be determined by the output voltage during deadtime. Thus, a simple external voltage sensor can be used when current status is completed during deadtime, ISENS = 10. Deadtime does not exist at the 100 percent and zero percent duty cycle boundaries. Therefore, the second automatic mode must be used for correction, ISENS = 11, where current status is sampled at the half cycle MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 603 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) in center-aligned operation and at the end of cycle in edge-aligned operation. Using this mode requires external circuitry to sense current direction. PWM CONTROLLED BY ODD PMFVAL REGISTER A PWM CONTROLLED BY EVEN PMFVAL REGISTER B D Q D CLK IN DEADTIME TOP PWM BOTTOM PWM A/B INITIAL VALUE = 0 ISx PIN DEADTIME GENERATOR Q CLK PWM CYCLE START Figure 15-58. Internal Correction Logic when ISENS = 10 PWM CONTROLLED BY ODD PMFVAL REGISTER A PWM CONTROLLED BY EVEN PMFVAL REGISTER B PMFCNT = PMFMOD D Q CLK D TOP PWM BOTTOM PWM A/B INITIAL VALUE = 0 ISx PIN DEADTIME GENERATOR Q CLK PWM CYCLE START Figure 15-59. Internal Correction Logic when ISENS = 11 NOTE Values latched on the ISx inputs are buffered so only one PWM register is used per PWM cycle. If a current status changes during a PWM period, the new value does not take effect until the next PWM period. When initially enabled by setting the PWMEN bit, no current status has previously been sampled. PWM value registers one, three, and five initially control the three PWM pairs when configured for current status correction. DESIRED LOAD VOLTAGE TOP PWM BOTTOM PWM LOAD VOLTAGE Figure 15-60. Correction with Positive Current MC9S12ZVM Family Reference Manual Rev. 2.2 604 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) DESIRED LOAD VOLTAGE TOP PWM BOTTOM PWM LOAD VOLTAGE Figure 15-61. Correction with Negative Current 15.4.7 Asymmetric PWM Output In complementary center-aligned mode, the PWM duty cycle is able to change alternatively at every half cycle. The count direction of the PWM counter selects either the odd or the even PWM value registers to use in the PWM cycle. For counting up, select even PWM value registers to use in the PWM cycle. For counting down, select odd PWM value registers to use in the PWM cycle. The related CINVn bits of the PWM pair must select the same polarity for both generators. Table 15-43. Top/Bottom Corrections Selected by ICCn Bits Bit Logic State ICCA 0 IPOLA Controls PWM0/PWM1 Pair 1 PWM Count Direction Controls PWM0/PWM1 Pair 0 IPOLB Controls PWM2/PWM3 Pair 1 PWM Count Direction Controls PWM2/PWM3 Pair 0 IPOLC Controls PWM4/PWM5 Pair 1 PWM Count Direction Controls PWM4/PWM5 Pair ICCB ICCC Output Control NOTE If an ICCx bit in the PMFICCTL register changes during a PWM period, the new value does not take effect until the next PWM period. ICCx bits take effect at the end of each PWM cycle regardless of the state of the related LDOKx bit or global load OK. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 605 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 4 3 2 Up/Down Counter Modulus = 4 1 0 Even PWM Value Even PWM Value = 1 Odd PWM Value = 3 Odd PWM Value Even PWM Value Odd PWM Value Even PWM Value = 3 Odd PWM Value = 1 Figure 15-62. Asymmetric Waveform - Phase Shift PWM Output 15.4.8 Variable Edge Placement PWM Output In complementary edge-aligned mode, the timing of both edges of the PWM output can be controlled using the PECx bits in the PMFICCTL register and the CINVn bits in the PMFCINV register. The edge-aligned signal created by the even value register and the associated CINVn bit is ANDed with the signal created by the odd value register and its associated CINVn bit. The resulting signal can optionally be negated by PINVx and is then fed into the complement and deadtime logic (Figure 15-63). If the value of the inverted register exceeds the non-inverted register value, no output pulse is generated (0% or 100% duty cycle). See right half of Figure 15-64. In contrast to asymmetric PWM output mode, the PWM phase shift can pass the PWM cycle boundary. CINV0 PECA=1 PINVA PWM GENERATOR 0 CINV1 PWM GENERATOR 1 COMPSRC to complement logic and dead time insertion Figure 15-63. Logic AND Function with Signal Inversions MC9S12ZVM Family Reference Manual Rev. 2.2 606 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 9 8 EDGEA=1 7 PECA=1 6 5 4 3 Up Counter 2 Modulus = 9 1 PMFVAL0 = 3; CINV0 =1 PMFVAL0 = 6; CINV0 =1 PMFVAL1 = 6; CINV1 =0 PMFVAL1 = 3; CINV1 =0 PWM0 (PINVA=0) 0% PWM0 (PINVA=1) 100% Figure 15-64. Variable Edge Placement Waveform - Phase Shift PWM Output (Edge-Aligned) 15.4.9 Double Switching PWM Output By using the AND function in Figure 15-63 in complementary center-aligned mode, the PWM output can be configured for double switching operation (Figure 15-65, Figure 15-66). By setting the non-inverted value register greater or equal to the PWM modulus the output function can be switched to single pulse generation on PWM reload cycle basis. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 607 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 9 8 EDGEA=0 7 PECA=1 6 5 4 3 Up/Down Count- 2 1 er 0 Modulus = 9 PMFVAL0 = 3; CINV0 =1 PMFVAL1 = 6; CINV1 =0 PWM0 (PINV=0) PWM0 (PINV=1) Figure 15-65. Double-Switching PWM Output VAL0<VAL1 (Center-Aligned) EDGEA=0 PECA=1 Up/Down Counter Modulus = 9 9 8 7 6 5 4 3 2 1 0 PMFVAL0 = 6; CINV0 =1 PMFVAL1 = 3; CINV1 =0 PWM0 (PINV=0) 0% PWM0 (PINV=1) 100% Figure 15-66. Double-Switching PWM Output VAL0>VAL1 (Center-Aligned) MC9S12ZVM Family Reference Manual Rev. 2.2 608 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.4.10 Output Polarity Output polarity of the PWMs is determined by two options: TOPNEG and BOTNEG. The top polarity option, TOPNEG, controls the polarity of PWM0, PWM2, and PWM4. The bottom polarity option, BOTNEG, controls the polarity of PWM1, PWM3, and PWM5. Positive polarity means when the PWM is an active level its output is high. Conversely, negative polarity means when the PWM is driving an active level its output is low. If TOPNEG is set, PWM0, PWM2, and PWM4 outputs become active-low. When BOTNEG is set, PWM1, PWM3, and PWM5 outputs are active-low. When these bits are clear, their respective PWM outputs are active-high. See Figure 15-67. UP COUNTERER MODULUS = 4 UP/DOWN COUNTERER MODULUS = 4 PWM = 0 PWM = 0 PWM = 1 CENTER-ALIGNED PWM = 1 POSITIVE POLARITY PWM = 2 EDGE-ALIGNED PWM = 2 POSITIVE POLARITY PWM = 3 PWM = 3 PWM = 4 PWM = 4 UP COUNTERER MODULUS = 4 UP/DOWN COUNTERER MODULUS = 4 PWM = 0 PWM = 0 PWM = 1 PWM = 1 EDGE-ALIGNED PWM = 2 NEGATIVE POLARITY PWM = 3 CENTER-ALIGNED PWM = 2 NEGATIVE POLARITY PWM = 3 PWM = 4 PWM = 4 Figure 15-67. PWM Polarity 15.4.11 Software Output Control Setting output control enable bit, OUTCTLn, enables software to drive the PWM outputs instead of the PWM generator. In independent mode, with OUTCTLn = 1, the output bit OUTn, controls the PWMn channel. In complementary channel operation the even OUTCTLn bit is used to enable software output control for the pair. The OUTCTLn bits must be switched in pairs for proper operation. The OUTCTLn and OUTn bits are in the PWM output control register. NOTE During software output control, TOPNEG and BOTNEG still control output polarity. It will take up to 3 core clock cycles to see the effect of output control on the PWM outputs. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 609 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) In independent PWM operation, setting or clearing the OUTn bit activates or deactivates the PWMn output. In complementary channel operation, the even-numbered OUTn bits replace the PWM generator outputs as inputs to the deadtime generators. Complementary channel pairs still cannot drive active level simultaneously, and the deadtime generators continue to insert deadtime in both channels of that pair, whenever an even OUTn bit toggles. Even OUTn bits control the top PWM signals while the odd OUT bits control the bottom PWM signals with respect to the even OUTn bits. Setting the odd OUTn bit makes its corresponding PWM the complement of its even pair, while clearing the odd OUTn bit deactivates the odd PWM. Setting the OUTCTLn bits does not disable the PWM generators and current status sensing circuitry. They continue to run, but no longer control the outputs. When the OUTCTLn bits are cleared, the outputs of the PWM generator become the inputs to the deadtime generators at the beginning of the next PWM cycle. Software can drive the PWM outputs even when PWM enable bit (PWMENx) is set to zero. NOTE Avoid an unexpected deadtime insertion by clearing the OUTn bits before setting and after clearing the OUTCTLn bits. MODULUS = 4 PWM VALUE = 2 DEADTIME = 2 PWM0 PWM1 PWM0 WITH DEADTIME PWM1 WITH DEADTIME OUTCTL0 OUT0 OUT1 PWM0 PWM1 Figure 15-68. Setting OUT0 with OUTCTL Set in Complementary Mode MC9S12ZVM Family Reference Manual Rev. 2.2 610 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) MODULUS = 4 PWM VALUE = 2 DEADTIME = 2 PWM0 PWM1 PWM0 WITH DEADTIME PWM1 WITH DEADTIME OUTCTL0 OUT0 OUT1 PWM0 PWM1 Figure 15-69. Clearing OUT0 with OUTCTL Set in Complementary Mode MODULUS = 4 PWM VALUE = 2 DEADTIME = 2 PWM0 PWM1 PWM0 WITH DEADTIME PWM1 WITH DEADTIME OUTCTL0 OUT0 OUT1 PWM0 PWM1 Figure 15-70. Setting OUTCTL with OUT0 Set in Complementary Mode MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 611 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.4.12 PWM Generator Loading 15.4.12.1 Load Enable The load okay bit, LDOK, enables loading the PWM generator with: * A prescaler divisor--from the PRSC bits in PMFFQC register * A PWM period--from the PWM counter modulus registers * A PWM pulse width--from the PWM value registers LDOK prevents reloading of these PWM parameters before software is finished calculating them. Setting LDOK allows the prescaler bits, PMFMOD and PMFVAL registers to be loaded into a set of buffers. The loaded buffers are used by the PWM generator at the beginning of the next PWM reload cycle. Set LDOK by reading it when it is a logic zero and then writing a logic one to it. After the PWM reload event, LDOK is automatically cleared. If LDOK is set in the same cycle as the PWM reload event occurs, then the current buffers will be used and the LDOK is valid at the next PWM reload event. See Figure 15-71. If an asserted LDOK bit is attempted to be set again one cycle prior to the PWM reload event, then the buffers will loaded and LDOK will be cleared automatically. Else if the write access to the set LDOK bit occurs in the same cycle with the reload event, the buffers will also be loaded but the LDOK remains valid also for the next PWM reload event. See Figure 15-72. bus clock LDOK write LDOK bit PWM reload bus clock LDOK write LDOK bit PWM reload Figure 15-71. Setting cleared LDOK bit at PWM reload event MC9S12ZVM Family Reference Manual Rev. 2.2 612 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) bus clock LDOK write LDOK bit PWM reload bus clock LDOK write LDOK bit PWM reload Figure 15-72. Setting asserted LDOK bit at PWM reload event 15.4.12.2 Global Load Enable If a global load enable bit GLDOKA, B, or C is set, the global load OK bit defined on device level as input to the PMF replaces the function of the related local LDOKA, B, or C bits. The global load OK signal is typically shared between multiple IP blocks with the same double buffer scheme. Software handling must be transferred to the global load OK bit at the chip level. 15.4.12.3 Load Frequency The LDFQ3, LDFQ2, LDFQ1, and LDFQ0 bits in the PWM control register (PMFFQCx) select an integral loading frequency of 1 to 16-PWM reload opportunities. The LDFQ bits take effect at every PWM reload opportunity, regardless the state of the related load okay bit or global load OK. The half bit in the PMFFQC register controls half-cycle reloads for center-aligned PWMs. If the half bit is set, a reload opportunity occurs at the beginning of every PWM cycle and half cycle when the count equals the modulus. If the half bit is not set, a reload opportunity occurs only at the beginning of every cycle. Reload opportunities can only occur at the beginning of a PWM cycle in edge-aligned mode. NOTE Setting the half bit takes effect immediately. Depending on whether the counter is incrementing or decrementing at this point in time, reloads at even-numbered reload frequencies (every 2, 4, 6,... reload opportunities) will occur only when the counter matches the modulus or only when the counter equals zero, respectively (refer to example of reloading at every two opportunities in Figure 15-74). NOTE Loading a new modulus on a half cycle will force the count to the new modulus value minus one on the next clock cycle. Half cycle reloads are possible only in center-aligned mode. Enabling or disabling half-cycle reloads in edge-aligned mode will have no effect on the reload rate. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 613 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) UP/DOWN COUNTERER RELOAD CHANGE RELOAD FREQUENCY EVERY OPPORTUNITY EVERY FOUR OPPORTUNITIES EVERY TWO OPPORTUNITIES Figure 15-73. Full Cycle Reload Frequency Change UP/DOWN COUNTERER RELOAD CHANGE RELOAD FREQUENCY EVERY EVERY EVERY TWO OPPORTUNITY FOUR OPPORTUNITIES OPPORTUNITIES (HALF bit set (HALF bit set while counting up) (other case not shown) while counting down) EVERY TWO OPPORTUNITIES (HALF bit set while counting up) Figure 15-74. Half Cycle Reload Frequency Change 15.4.12.4 Reload Flag The PWMRF reload flag is set at every reload opportunity, regardless of whether an actual reload occurs (as determined by the related LDOK bit or global load OK). If the PWM reload interrupt enable bit PWMRIE is set, the PWMRF flag generates CPU interrupt requests allowing software to calculate new PWM parameters in real time. When PWMRIE is not set, reloads still occur at the selected reload rate without generating CPU interrupt requests. READ PWMRF AS 1 THEN WRITE 1 TO PWMRF RESET VDD PWMRF D CLR Q CLK PWM RELOAD CPU INTERRUPT REQUEST PWMRIE Figure 15-75. PWMRF Reload Interrupt Request HALF = 0, LDFQ[3:0] = 0000 = RELOAD EVERY CYCLE UP/DOWN COUNTERER LDOK = 1 MODULUS = 3 PWM VALUE = 1 PWMRF = 1 0 3 2 1 1 3 2 1 0 3 1 1 PWM Figure 15-76. Full-Cycle Center-Aligned PWM Value Loading MC9S12ZVM Family Reference Manual Rev. 2.2 614 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) HALF = 0, LDFQ[3:0] = 0000 = RELOAD EVERY CYCLE UP/DOWN COUNTERER 1 3 1 1 LDOK = 1 MODULUS = 2 PWM VALUE = 1 PWMRF = 1 1 2 1 1 0 2 1 1 1 1 1 1 PWM Figure 15-77. Full-Cycle Center-Aligned Modulus Loading HALF = 1, LDFQ[3:0] = 0000 = RELOAD EVERY HALF-CYCLE UP/DOWN COUNTERER LDOK = 1 MODULUS = 3 PWM VALUE = 1 PWMRF = 1 0 3 2 1 1 3 2 1 0 3 2 1 1 3 3 1 1 3 1 1 1 3 1 1 0 3 3 1 PWM Figure 15-78. Half-Cycle Center-Aligned PWM Value Loading HALF = 1, LDFQ[3:0] = 0000 = RELOAD EVERY HALF-CYCLE UP/DOWN COUNTERER LDOK = 1 MODULUS = 2 PWM VALUE = 1 PWMRF = 1 0 2 1 1 0 3 1 1 1 4 1 1 0 4 1 1 1 1 1 1 0 2 1 1 1 4 1 1 PWM Figure 15-79. Half-Cycle Center-Aligned Modulus Loading MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 615 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) LDFQ[3:0] = 0000 = RELOAD EVERY CYCLE UP ONLY COUNTERER LDOK = 1 MODULUS = 3 PWM VALUE = 1 PWMRF = 1 0 3 2 1 1 3 2 1 0 3 1 1 0 3 1 1 PWM Figure 15-80. Edge-Aligned PWM Value Loading LDFQ[3:0] = 0000 = RELOAD EVERY CYCLE UP ONLY COUNTERER LDOK = 1 MODULUS = 3 PWM VALUE = 2 PWMRF = 1 1 4 2 1 1 2 2 1 0 1 2 1 PWM Figure 15-81. Edge-Aligned Modulus Loading 15.4.12.5 Reload Overrun Flag If a LDOK bit was not set before the PWM reload event, then the related reload overrun error flag is set (PMFROIFx). If the PWM reload overrun interrupt enable bit PMFROIEx is set, the PMFROIFx flag generates a CPU interrupt request allowing software to handle the error condition. WRITE 1 TO PMFROIF RESET VDD PMFROIF D PWM RELOAD CLR CLK Q PMFROIE CPU INTERRUPT REQUEST Figure 15-82. PMFROIF Reload Overrun Interrupt Request MC9S12ZVM Family Reference Manual Rev. 2.2 616 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.4.12.6 Synchronization Output (pmf_reload) The PMF uses reload events to output a synchronization pulse, which can be used as an input to the timer module. A high-true pulse occurs for each PWM cycle start of the PWM, regardless of the state of the related LDOK bit or global load OK and load frequency. 15.4.13 Fault Protection Fault protection can disable any combination of PWM outputs (for all FAULT0-5 inputs) or switch to output control register PMFOUTF on a fault event (for FAULT4-5 only). Faults are generated by an active level1 on any of the FAULT inputs. Each FAULT input can be mapped arbitrarily to any of the PWM outputs. In complementary mode, if a FAULT4 or FAULT5 event is programmed to switch to output control on a fault event resulting in a PWM active state on a particular output, then the transition will take place after deadtime insertion. Thus an asynchronous path to disable the PWM output is not available. On a fault event the PWM generator continues to run. The fault decoder affects the PWM outputs selected by the fault logic and the disable mapping register. The fault protection is enabled even when the PWM is not enabled; therefore, a fault will be latched in and will be cleared in order to prevent an interrupt when the PWM is enabled. 15.4.13.1 Fault Input Sample Filter Each fault input has a sample filter to test for fault conditions. After every bus cycle setting the FAULTm input at logic zero, the filter synchronously samples the input once every four bus cycles. QSMP determines the number of consecutive samples that must be logic one for a fault to be detected. When a fault is detected, the corresponding FAULTm flag, FIFm, is set. FIFm can only be cleared by writing a logic one to it. If the FIEm, FAULTm interrupt enable bit is set, the FIFm flag generates a CPU interrupt request. The interrupt request latch remains set until: * Software clears the FIFm flag by writing a logic one to it * Software clears the FIEm bit by writing a logic zero to it * A reset occurs 15.4.13.2 Automatic Fault Recovery Setting a fault mode bit, FMODm, configures faults from the FAULTm input for automatically reenabling the PWM outputs. When FMODm is set, disabled PWM outputs are enabled when the FAULTm input returns to logic zero and a new PWM half cycle begins. See Figure 15-83. Clearing the FIFm flag does not affect disabled PWM outputs when FMODm is set. 1. The active input level may be defined or programmable at SoC level. The default for internally connected resources is activehigh. For availability and configurability of fault inputs on pins refer to the device overview section. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 617 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) FAULT INPUT PWMS ENABLED PWMS DISABLED ENABLED DISABLED PWMS ENABLED Figure 15-83. Automatic Fault Recovery 15.4.13.3 Manual Fault Recovery Clearing a fault mode bit, FMODm, configures faults from the FAULTm input for manually reenabling the PWM outputs: * PWM outputs disabled by the FAULT0 input or the FAULT2 input are enabled by clearing the corresponding FIFm flag. The time at which the PWM outputs are enabled depends on the corresponding QSMP bit setting. If QSMPm = 00, the PWM outputs are enabled on the next IP bus cycle when the logic level detected by the filter at the fault input is logic zero. If QSMPm = 01,10 or 11, the PWMs are enabled when the next PWM half cycle begins regardless of the state of the logic level detected by the filter at the fault. See Figure 15-84 and Figure 15-85. * PWM outputs disabled by the FAULT1 or FAULT3-5 inputs are enabled when -- Software clears the corresponding FIFm flag -- The filter detects a logic zero on the fault input at the start of the next PWM half cycle boundary. See Figure 15-86. FAULT0 OR FAULT2 PWMS ENABLED PWMS DISABLED PWMS ENABLED FIFm CLEARED Figure 15-84. Manual Fault Recovery (Faults 0 and 2) -- QSMP = 00 MC9S12ZVM Family Reference Manual Rev. 2.2 618 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) FAULT0 OR FAULT2 PWMS ENABLED PWMS DISABLED PWMS ENABLED FIFm CLEARED Figure 15-85. Manual Fault Recovery (Faults 0 and 2) -- QSMP = 01, 10, or 11 FAULT1 OR FAULT3 PWMS ENABLED PWMS DISABLED PWMS ENABLED FIFm CLEARED Figure 15-86. Manual Fault Recovery (Faults 1 and 3-5) NOTE PWM half-cycle boundaries occur at both the PWM cycle start and when the counter equals the modulus, so in edge-aligned operation full-cycles and half-cycles are equal. NOTE Fault protection also applies during software output control when the OUTCTLn bits are set. Fault recovery still occurs at half PWM cycle boundaries while the PWM generator is engaged, PWMEN equals one. But the OUTn bits can control the PWM outputs while the PWM generator is off, PWMEN equals zero. Thus, fault recovery occurs at IPbus cycles while the PWM generator is off and at the start of PWM cycles when the generator is engaged. 15.5 Resets All PMF registers are reset to their default values upon any system reset. 15.6 Clocks The gated system core clock is the clock source for all PWM generators. The system clock is used as a clock source for any other logic in this module. The system bus clock is used as clock for specific control registers and flags (LDOKx, PWMRFx, PMFOUTB). MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 619 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) 15.7 Interrupts This section describes the interrupts generated by the PMF and their individual sources. Vector addresses and interrupt priorities are defined at SoC-level. Table 15-44. PMF Interrupt Sources Module Interrupt Sources (Interrupt Vector) PMF reload A PMF reload B(1) Associated Flags PWMRFA PMFENCA[PWMRIEA] PWMRFB PMFENCB[PWMRIEB] PMF reload C1 PWMRFC PMFENCC[PWMRIEC] PMF fault PMFFIF[FIF0] PMFFIF[FIF1] PMFFIF[FIF2] PMFFIF[FIF3] PMFFIE[FIE0] PMFFIE[FIE1] PMFFIE[FIE2] PMFFIE[FIE3] PMF reload overrun PMFROIF[PMFROIFA] PMFROIF[PMFROIFB] PMFROIF[PMFROIFC] 1. If MTG=0: Interrupt mirrors PMF reload A interrupt 15.8 15.8.1 Local Enable PMFROIE[PMFROIEA] PMFROIE[PMFROIEB] PMFROIE[PMFROIEC] Initialization and Application Information Initialization Initialize all registers; read, then set the related LDOK bit or global load OK before setting the PWMEN bit. With LDOK set, setting PWMEN for the first time after reset immediately loads the PWM generator thereby setting the PWMRF flag. PWMRF generates a CPU interrupt request if the PWMRIE bit is set. In complementary channel operation with current-status correction selected, PWM value registers one, three, and five control the outputs for the first PWM cycle. NOTE Even if LDOK is not set, setting PWMEN also sets the PWMRF flag. To prevent a CPU interrupt request, clear the PWMRIE bit before setting PWMEN. Setting PWMEN for the first time after reset without first setting LDOK loads a prescaler divisor of one, a PWM value of 0x0000, and an unknown modulus. The PWM generator uses the last values loaded if PWMEN is cleared and then set while LDOK equals zero. Initializing the deadtime register, after setting PWMEN or OUTCTLn, can cause an improper deadtime insertion. However, the deadtime can never be shorter than the specified value. MC9S12ZVM Family Reference Manual Rev. 2.2 620 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) IPBus CLOCK PWMEN BIT PWM OUTPUTS HI-Z ACTIVE HI-Z Figure 15-87. PWMEN and PWM Outputs in Independent Operation IPBus CLOCK PWMEN BIT PWM OUTPUTS HI-Z HI-Z ACTIVE Figure 15-88. PWMEN and PWM Outputs in Complementary Operation When the PWMEN bit is cleared: * The PWMn outputs lose priority on associated outputs unless OUTCTLn = 1 * The PWM counter is cleared and does not count * The PWM generator forces its outputs to zero * The PWMRF flag and pending CPU interrupt requests are not cleared * All fault circuitry remains active unless FENm = 0 * Software output control remains active * Deadtime insertion continues during software output control 15.8.1.1 Register Write Protection The following configuration registers and bits can be write protected: PMFCFG0, PMFCFG1, PMFCFG3, PMFFEN, PMFQSMP0-1, PMFENCA[RSTRTA,GLDOKA], PMFENCB[RSTRTB,GLDOKB], PMFENCC[RSTRTC,GLDOKC], PMFDTMA,B,C, PMFDMP0-5, PMFOUTF NOTE Make sure to set the write protection bit WP in PMFCFG0 after configuring and prior to enabling PWM outputs and fault inputs. 15.8.2 15.8.2.1 BLDC 6-Step Commutation Unipolar Switching Mode Unipolar switching mode uses registers PMFOUTC and PMFOUTB to perform commutation. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 621 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) Table 15-45. Effects of OUTCTL and OUT Bits on PWM Output Pair in Complementary Mode OUTCTL (odd,even) OUT (odd,even) PWM (odd) PWM (even) 00 xx PWMgen(even) PWMgen(even) 11 10 OUTB(even)=1 OUTB(even)=0 01 x0 0 OUTB(even)=0 The recommended setup is: PMFCFG0[INDEPC,INDEPB,INDEPA] = 0x0; PMFCFG1[ENCE] = 1; PMFOUTB = 0x2A; PMFOUTC = 0x1C; // // // // Complementary mode Enable commutation event Set return path pattern, high-side off, low-side on Branch A->B, "mask" C // 0 // // // // // // Branch Branch Branch Branch Branch Branch The commutation sequence is: PMFOUTC PMFOUTC PMFOUTC PMFOUTC PMFOUTC PMFOUTC = = = = = = 0x34; 0x31; 0x13; 0x07; 0x0D; 0x1C; A->C, B->C, B->A, C->A, C->B, A->B, "mask" "mask" "mask" "mask" "mask" "mask" B A C B A C // // // // // // 60 120 180 240 300 360 Table 15-46. Unipolar Switching Sequence Branch Channel A PWM0 PWMgen 0 0 0 PWM1 PWMgen 0 1 0 B C 15.8.2.2 0 60 120 180 240 300 PWM2 0 0 PWMgen 0 0 PWM3 1 0 PWMgen 0 1 PWM4 0 0 0 PWMgen PWM5 0 1 0 PWMgen Bipolar Switching Mode Bipolar switching mode uses register bits MSK5-0 and PINVA, B, C to perform commutation. The recommended setup is: PMFCFG0[INDEPC,INDEPB,INDEPA] PMFCFG1[ENCE] PMFCFG2[MSK5:MSK0] PMFCFG3[PINVC,PINVB,PINVA] = = = = 0x0; 1; 0x30; 0x2; // // // // Complementary mode Enable commutation event Branch A<->B, mask C // 0 Invert B The commutation sequence is: PMFCFG2[MSK5:MSK0] PMFCFG3[PINVC,PINVB,PINVA] = 0x03; // Branch C<->B, mask A // 60 = 0x2; // Invert B MC9S12ZVM Family Reference Manual Rev. 2.2 622 Freescale Semiconductor Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) PMFCFG2[MSK5:MSK0] PMFCFG3[PINVC,PINVB,PINVA] = 0x0c; // Branch C<->A, mask B // 120 = 0x1; // Invert A PMFCFG2[MSK5:MSK0] PMFCFG3[PINVC,PINVB,PINVA] = 0x30; // Branch B<->A, mask C // 180 = 0x1; // Invert A PMFCFG2[MSK5:MSK0] PMFCFG3[PINVC,PINVB,PINVA] = 0x03; // Branch B<->C, mask A // 240 = 0x4; // Invert C PMFCFG2[MSK5:MSK0] PMFCFG3[PINVC,PINVB,PINVA] = 0x0c; // Branch A<->C, mask B // 300 = 0x4; // Invert C PMFCFG2[MSK5:MSK0] PMFCFG3[PINVC,PINVB,PINVA] = 0x30; // Branch A<->B, mask A // 360 = 0x2; // Invert B Table 15-47. Bipolar Switching Sequence Branch Channel A PWM0 PWMgen Masked PWMgen Masked PWMgen PWM1 PWMgen Masked PWMgen Masked PWMgen PWM2 PWMgen Masked PWMgen Masked PWM3 PWMgen Masked PWMgen Masked B C 0 60 120 180 240 300 PWM4 Masked PWMgen Masked PWMgen PWM5 Masked PWMgen Masked PWMgen MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 623 Chapter 15 Pulse Width Modulator with Fault Protection (PMF15B6CV4) MC9S12ZVM Family Reference Manual Rev. 2.2 624 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) Table 16-1. Revision History Version Number Revision Date 06.01 05/29/2012 update register map, change BD,move IREN to SCIACR2 06.02 10/17/2012 fix typo on page 16-630 and on page 16-630;fix typo of version V6 update fast data tolerance calculation and add notes. 06.03 10/25/2012 fix typo Table 16-2, SBR[15:4],not SBR[15:0] 06.04 12/19/2012 fix typo Table 16-6,16.4.1/16-643 06.05 02/22/2013 fix typo Figure 16-1./16-627 Figure 16-4./16-630 update Table 16-2./16-630 16.4.4/16-645 16.4.6.3/16-652 06.06 03/11/2013 fix typo of BDL reset value,Figure 16-4 fix typo of Table 16-2,Table 16-16,reword 16.4.4/16-645 09/03/2013 update Figure 16-14./16-642 Figure 16-16./16-646 Figure 16-20./16-651 update 16.4.4/16-645,more detail for two baud add note for Table 16-16./16-645 update Figure 16-2./16-629,Figure 16-12./16-640 06.07 16.1 Effective Date Author Description of Changes Introduction This block guide provides an overview of the serial communication interface (SCI) module. The SCI allows asynchronous serial communications with peripheral devices and other CPUs. 16.1.1 Glossary IR: InfraRed IrDA: Infrared Design Associate IRQ: Interrupt Request LIN: Local Interconnect Network LSB: Least Significant Bit MSB: Most Significant Bit NRZ: Non-Return-to-Zero RZI: Return-to-Zero-Inverted MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 625 Chapter 16 Serial Communication Interface (S12SCIV6) RXD: Receive Pin SCI : Serial Communication Interface TXD: Transmit Pin 16.1.2 Features The SCI includes these distinctive features: * Full-duplex or single-wire operation * Standard mark/space non-return-to-zero (NRZ) format * Selectable IrDA 1.4 return-to-zero-inverted (RZI) format with programmable pulse widths * 16-bit baud rate selection * Programmable 8-bit or 9-bit data format * Separately enabled transmitter and receiver * Programmable polarity for transmitter and receiver * Programmable transmitter output parity * Two receiver wakeup methods: -- Idle line wakeup -- Address mark wakeup * Interrupt-driven operation with eight flags: -- Transmitter empty -- Transmission complete -- Receiver full -- Idle receiver input -- Receiver overrun -- Noise error -- Framing error -- Parity error -- Receive wakeup on active edge -- Transmit collision detect supporting LIN -- Break Detect supporting LIN * Receiver framing error detection * Hardware parity checking * 1/16 bit-time noise detection MC9S12ZVM Family Reference Manual Rev. 2.2 626 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) 16.1.3 Modes of Operation The SCI functions the same in normal, special, and emulation modes. It has two low power modes, wait and stop modes. * Run mode * Wait mode * Stop mode 16.1.4 Block Diagram Figure 16-1 is a high level block diagram of the SCI module, showing the interaction of various function blocks. SCI Data Register RXD Data In Bus Clock Infrared Decoder Receive Shift Register Receive Receive & Wakeup Control Baud Rate IDLE Receive RDRF/OR Interrupt Generation BRKD Generator RXEDG BERR Data Format Control Transmit Baud Rate Generator 1/16 Transmit Control Transmit Shift Register SCI Interrupt Request Transmit TDRE Interrupt Generation TC Infrared Encoder Data Out TXD SCI Data Register Figure 16-1. SCI Block Diagram MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 627 Chapter 16 Serial Communication Interface (S12SCIV6) 16.2 External Signal Description The SCI module has a total of two external pins. 16.2.1 TXD -- Transmit Pin The TXD pin transmits SCI (standard or infrared) data. It will idle high in either mode and is high impedance anytime the transmitter is disabled. 16.2.2 RXD -- Receive Pin The RXD pin receives SCI (standard or infrared) data. An idle line is detected as a line high. This input is ignored when the receiver is disabled and should be terminated to a known voltage. 16.3 Memory Map and Register Definition This section provides a detailed description of all the SCI registers. 16.3.1 Module Memory Map and Register Definition The memory map for the SCI module is given below in Figure 16-2. The address listed for each register is the address offset. The total address for each register is the sum of the base address for the SCI module and the address offset for each register. MC9S12ZVM Family Reference Manual Rev. 2.2 628 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) 16.3.2 Register Descriptions This section consists of register descriptions in address order. Each description includes a standard register diagram with an associated figure number. Writes to a reserved register locations do not have any effect and reads of these locations return a zero. Details of register bit and field function follow the register diagrams, in bit order. Register Name 0x0000 SCIBDH1 Bit R W 0x0001 SCIBDL1 W 0x0002 SCICR11 W 0x0000 SCIASR12 R R R W 0x0001 SCIACR12 W 0x0002 SCIACR22 W 0x0003 SCICR2 R R R W 0x0004 SCISR1 W 0x0005 SCISR2 W 0x0006 SCIDRH 0x0007 SCIDRL R R R 67 5 4 3 2 1 SBR15 SBR14 SBR13 SBR12 SBR11 SBR10 SBR9 SBR8 SBR7 SBR6 SBR5 SBR4 SBR3 SBR2 SBR1 SBR0 LOOPS SCISWAI RSRC M WAKE ILT PE PT 0 0 0 0 BERRV BERRIF BKDIF 0 0 0 0 BERRIE BKDIE IREN TNP1 TNP0 0 0 BERRM1 BERRM0 BKDFE TIE TCIE RIE ILIE TE RE RWU SBK TDRE TC RDRF IDLE OR NF FE PF 0 0 TXPOL RXPOL BRK13 TXDIR 0 0 0 Reserved Reserved Reserved RXEDGIF RXEDGIE AMAP R8 W T8 0 Bit 0 RAF R R7 R6 R5 R4 R3 R2 R1 R0 W T7 T6 T5 T4 T3 T2 T1 T0 1.These registers are accessible if the AMAP bit in the SCISR2 register is set to zero. 2,These registers are accessible if the AMAP bit in the SCISR2 register is set to one. = Unimplemented or Reserved Figure 16-2. SCI Register Summary MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 629 Chapter 16 Serial Communication Interface (S12SCIV6) 16.3.2.1 SCI Baud Rate Registers (SCIBDH, SCIBDL) Module Base + 0x0000 7 R W Reset 6 5 4 3 2 1 0 SBR15 SBR14 SBR13 SBR12 SBR11 SBR10 SBR9 SBR8 0 0 0 0 0 0 0 0 Figure 16-3. SCI Baud Rate Register (SCIBDH) Module Base + 0x0001 R W Reset 7 6 5 4 3 2 1 0 SBR7 SBR6 SBR5 SBR4 SBR3 SBR2 SBR1 SBR0 0 1 0 0 0 0 0 0 Figure 16-4. SCI Baud Rate Register (SCIBDL) Read: Anytime, if AMAP = 0. Write: Anytime, if AMAP = 0. NOTE Those two registers are only visible in the memory map if AMAP = 0 (reset condition). The SCI baud rate register is used by to determine the baud rate of the SCI, and to control the infrared modulation/demodulation submodule. Table 16-2. SCIBDH and SCIBDL Field Descriptions Field Description SBR[15:0] SCI Baud Rate Bits -- The baud rate for the SCI is determined by the bits in this register. The baud rate is calculated two different ways depending on the state of the IREN bit. The formulas for calculating the baud rate are: When IREN = 0 then, SCI baud rate = SCI bus clock / (SBR[15:0]) When IREN = 1 then, SCI baud rate = SCI bus clock / (2 x SBR[15:1]) Note: The baud rate generator is disabled after reset and not started until the TE bit or the RE bit is set for the first time. The baud rate generator is disabled when (SBR[15:4] = 0 and IREN = 0) or (SBR[15:5] = 0 and IREN = 1). Note: . User should write SCIBD by word access. The updated SCIBD may take effect until next RT clock start, write SCIBDH or SCIBDL separately may cause baud generator load wrong data at that time,if second write later then RT clock. MC9S12ZVM Family Reference Manual Rev. 2.2 630 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) 16.3.2.2 SCI Control Register 1 (SCICR1) Module Base + 0x0002 7 R W Reset 6 5 4 3 2 1 0 LOOPS SCISWAI RSRC M WAKE ILT PE PT 0 0 0 0 0 0 0 0 Figure 16-5. SCI Control Register 1 (SCICR1) Read: Anytime, if AMAP = 0. Write: Anytime, if AMAP = 0. NOTE This register is only visible in the memory map if AMAP = 0 (reset condition). Table 16-3. SCICR1 Field Descriptions Field Description 7 LOOPS Loop Select Bit -- LOOPS enables loop operation. In loop operation, the RXD pin is disconnected from the SCI and the transmitter output is internally connected to the receiver input. Both the transmitter and the receiver must be enabled to use the loop function. 0 Normal operation enabled 1 Loop operation enabled The receiver input is determined by the RSRC bit. 6 SCISWAI 5 RSRC 4 M SCI Stop in Wait Mode Bit -- SCISWAI disables the SCI in wait mode. 0 SCI enabled in wait mode 1 SCI disabled in wait mode Receiver Source Bit -- When LOOPS = 1, the RSRC bit determines the source for the receiver shift register input. See Table 16-4. 0 Receiver input internally connected to transmitter output 1 Receiver input connected externally to transmitter Data Format Mode Bit -- MODE determines whether data characters are eight or nine bits long. 0 One start bit, eight data bits, one stop bit 1 One start bit, nine data bits, one stop bit 3 WAKE Wakeup Condition Bit -- WAKE determines which condition wakes up the SCI: a logic 1 (address mark) in the most significant bit position of a received data character or an idle condition on the RXD pin. 0 Idle line wakeup 1 Address mark wakeup 2 ILT Idle Line Type Bit -- ILT determines when the receiver starts counting logic 1s as idle character bits. The counting begins either after the start bit or after the stop bit. If the count begins after the start bit, then a string of logic 1s preceding the stop bit may cause false recognition of an idle character. Beginning the count after the stop bit avoids false idle character recognition, but requires properly synchronized transmissions. 0 Idle character bit count begins after start bit 1 Idle character bit count begins after stop bit MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 631 Chapter 16 Serial Communication Interface (S12SCIV6) Table 16-3. SCICR1 Field Descriptions (continued) Field Description 1 PE Parity Enable Bit -- PE enables the parity function. When enabled, the parity function inserts a parity bit in the most significant bit position. 0 Parity function disabled 1 Parity function enabled 0 PT Parity Type Bit -- PT determines whether the SCI generates and checks for even parity or odd parity. With even parity, an even number of 1s clears the parity bit and an odd number of 1s sets the parity bit. With odd parity, an odd number of 1s clears the parity bit and an even number of 1s sets the parity bit. 0 Even parity 1 Odd parity Table 16-4. Loop Functions LOOPS RSRC Function 0 x Normal operation 1 0 Loop mode with transmitter output internally connected to receiver input 1 1 Single-wire mode with TXD pin connected to receiver input MC9S12ZVM Family Reference Manual Rev. 2.2 632 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) 16.3.2.3 SCI Alternative Status Register 1 (SCIASR1) Module Base + 0x0000 7 R W Reset 6 RXEDGIF 0 5 4 3 2 0 0 0 0 BERRV 0 0 0 0 0 1 0 BERRIF BKDIF 0 0 = Unimplemented or Reserved Figure 16-6. SCI Alternative Status Register 1 (SCIASR1) Read: Anytime, if AMAP = 1 Write: Anytime, if AMAP = 1 Table 16-5. SCIASR1 Field Descriptions Field 7 RXEDGIF Description Receive Input Active Edge Interrupt Flag -- RXEDGIF is asserted, if an active edge (falling if RXPOL = 0, rising if RXPOL = 1) on the RXD input occurs. RXEDGIF bit is cleared by writing a "1" to it. 0 No active receive on the receive input has occurred 1 An active edge on the receive input has occurred 2 BERRV Bit Error Value -- BERRV reflects the state of the RXD input when the bit error detect circuitry is enabled and a mismatch to the expected value happened. The value is only meaningful, if BERRIF = 1. 0 A low input was sampled, when a high was expected 1 A high input reassembled, when a low was expected 1 BERRIF Bit Error Interrupt Flag -- BERRIF is asserted, when the bit error detect circuitry is enabled and if the value sampled at the RXD input does not match the transmitted value. If the BERRIE interrupt enable bit is set an interrupt will be generated. The BERRIF bit is cleared by writing a "1" to it. 0 No mismatch detected 1 A mismatch has occurred 0 BKDIF Break Detect Interrupt Flag -- BKDIF is asserted, if the break detect circuitry is enabled and a break signal is received. If the BKDIE interrupt enable bit is set an ni terrupt will be generated. The BKDIF bit is cleared by writing a "1" to it. 0 No break signal was received 1 A break signal was received MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 633 Chapter 16 Serial Communication Interface (S12SCIV6) 16.3.2.4 SCI Alternative Control Register 1 (SCIACR1) Module Base + 0x0001 7 R W Reset RXEDGIE 0 6 5 4 3 2 0 0 0 0 0 0 0 0 0 0 1 0 BERRIE BKDIE 0 0 = Unimplemented or Reserved Figure 16-7. SCI Alternative Control Register 1 (SCIACR1) Read: Anytime, if AMAP = 1 Write: Anytime, if AMAP = 1 Table 16-6. SCIACR1 Field Descriptions Field Description 7 RXEDGIE Receive Input Active Edge Interrupt Enable -- RXEDGIE enables the receive input active edge interrupt flag, RXEDGIF, to generate interrupt requests. 0 RXEDGIF interrupt requests disabled 1 RXEDGIF interrupt requests enabled 1 BERRIE 0 BKDIE Bit Error Interrupt Enable -- BERRIE enables the bit error interrupt flag, BERRIF, to generate interrupt requests. 0 BERRIF interrupt requests disabled 1 BERRIF interrupt requests enabled Break Detect Interrupt Enable -- BKDIE enables the break detect interrupt flag, BKDIF, to generate interrupt requests. 0 BKDIF interrupt requests disabled 1 BKDIF interrupt requests enabled MC9S12ZVM Family Reference Manual Rev. 2.2 634 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) 16.3.2.5 SCI Alternative Control Register 2 (SCIACR2) Module Base + 0x0002 R W Reset 7 6 IREN TNP1 TNP0 0 0 0 5 4 3 0 0 0 0 2 1 0 BERRM1 BERRM0 BKDFE 0 0 0 = Unimplemented or Reserved Figure 16-8. SCI Alternative Control Register 2 (SCIACR2) Read: Anytime, if AMAP = 1 Write: Anytime, if AMAP = 1 Table 16-7. SCIACR2 Field Descriptions Field 7 IREN 6:5 TNP[1:0] Description Infrared Enable Bit -- This bit enables/disables the infrared modulation/demodulation submodule. 0 IR disabled 1 IR enabled Transmitter Narrow Pulse Bits -- These bits enable whether the SCI transmits a 1/16, 3/16, 1/32 or 1/4 narrow pulse. See Table 16-8. 2:1 Bit Error Mode -- Those two bits determines the functionality of the bit error detect feature. See Table 16-9. BERRM[1:0] 0 BKDFE Break Detect Feature Enable -- BKDFE enables the break detect circuitry. 0 Break detect circuit disabled 1 Break detect circuit enabled Table 16-8. IRSCI Transmit Pulse Width TNP[1:0] Narrow Pulse Width 11 1/4 10 1/32 01 1/16 00 3/16 Table 16-9. Bit Error Mode Coding BERRM1 BERRM0 Function 0 0 Bit error detect circuit is disabled 0 1 Receive input sampling occurs during the 9th time tick of a transmitted bit (refer to Figure 16-19) 1 0 Receive input sampling occurs during the 13th time tick of a transmitted bit (refer to Figure 16-19) 1 1 Reserved MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 635 Chapter 16 Serial Communication Interface (S12SCIV6) 16.3.2.6 SCI Control Register 2 (SCICR2) Module Base + 0x0003 7 R W Reset 6 5 4 3 2 1 0 TIE TCIE RIE ILIE TE RE RWU SBK 0 0 0 0 0 0 0 0 Figure 16-9. SCI Control Register 2 (SCICR2) Read: Anytime Write: Anytime Table 16-10. SCICR2 Field Descriptions Field 7 TIE Description Transmitter Interrupt Enable Bit -- TIE enables the transmit data register empty flag, TDRE, to generate interrupt requests. 0 TDRE interrupt requests disabled 1 TDRE interrupt requests enabled 6 TCIE Transmission Complete Interrupt Enable Bit -- TCIE enables the transmission complete flag, TC, to generate interrupt requests. 0 TC interrupt requests disabled 1 TC interrupt requests enabled 5 RIE Receiver Full Interrupt Enable Bit -- RIE enables the receive data register full flag, RDRF, or the overrun flag, OR, to generate interrupt requests. 0 RDRF and OR interrupt requests disabled 1 RDRF and OR interrupt requests enabled 4 ILIE Idle Line Interrupt Enable Bit -- ILIE enables the idle line flag, IDLE, to generate interrupt requests. 0 IDLE interrupt requests disabled 1 IDLE interrupt requests enabled 3 TE Transmitter Enable Bit -- TE enables the SCI transmitter and configures the TXD pin as being controlled by the SCI. The TE bit can be used to queue an idle preamble. 0 Transmitter disabled 1 Transmitter enabled 2 RE Receiver Enable Bit -- RE enables the SCI receiver. 0 Receiver disabled 1 Receiver enabled 1 RWU Receiver Wakeup Bit -- Standby state 0 Normal operation. 1 RWU enables the wakeup function and inhibits further receiver interrupt requests. Normally, hardware wakes the receiver by automatically clearing RWU. 0 SBK Send Break Bit -- Toggling SBK sends one break character (10 or 11 logic 0s, respectively 13 or 14 logics 0s if BRK13 is set). Toggling implies clearing the SBK bit before the break character has finished transmitting. As long as SBK is set, the transmitter continues to send complete break characters (10 or 11 bits, respectively 13 or 14 bits). 0 No break characters 1 Transmit break characters MC9S12ZVM Family Reference Manual Rev. 2.2 636 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) 16.3.2.7 SCI Status Register 1 (SCISR1) The SCISR1 and SCISR2 registers provides inputs to the MCU for generation of SCI interrupts. Also, these registers can be polled by the MCU to check the status of these bits. The flag-clearing procedures require that the status register be read followed by a read or write to the SCI data register.It is permissible to execute other instructions between the two steps as long as it does not compromise the handling of I/O, but the order of operations is important for flag clearing. Module Base + 0x0004 7 R 6 TDRE 5 4 3 2 1 0 TC RDRF IDLE OR NF FE PF 1 0 0 0 0 0 0 W Reset 1 = Unimplemented or Reserved Figure 16-10. SCI Status Register 1 (SCISR1) Read: Anytime Write: Has no meaning or effect Table 16-11. SCISR1 Field Descriptions Field Description 7 TDRE Transmit Data Register Empty Flag -- TDRE is set when the transmit shift register receives a byte from the SCI data register. When TDRE is 1, the transmit data register (SCIDRH/L) is empty and can receive a new value to transmit.Clear TDRE by reading SCI status register 1 (SCISR1), with TDRE set and then writing to SCI data register low (SCIDRL). 0 No byte transferred to transmit shift register 1 Byte transferred to transmit shift register; transmit data register empty 6 TC Transmit Complete Flag -- TC is set low when there is a transmission in progress or when a preamble or break character is loaded. TC is set high when the TDRE flag is set and no data, preamble, or break character is being transmitted.When TC is set, the TXD pin becomes idle (logic 1). Clear TC by reading SCI status register 1 (SCISR1) with TC set and then writing to SCI data register low (SCIDRL). TC is cleared automatically when data, preamble, or break is queued and ready to be sent. TC is cleared in the event of a simultaneous set and clear of the TC flag (transmission not complete). 0 Transmission in progress 1 No transmission in progress 5 RDRF Receive Data Register Full Flag -- RDRF is set when the data in the receive shift register transfers to the SCI data register. Clear RDRF by reading SCI status register 1 (SCISR1) with RDRF set and then reading SCI data register low (SCIDRL). 0 Data not available in SCI data register 1 Received data available in SCI data register 4 IDLE Idle Line Flag -- IDLE is set when 10 consecutive logic 1s (if M = 0) or 11 consecutive logic 1s (if M =1) appear on the receiver input. Once the IDLE flag is cleared, a valid frame must again set the RDRF flag before an idle condition can set the IDLE flag.Clear IDLE by reading SCI status register 1 (SCISR1) with IDLE set and then reading SCI data register low (SCIDRL). 0 Receiver input is either active now or has never become active since the IDLE flag was last cleared 1 Receiver input has become idle Note: When the receiver wakeup bit (RWU) is set, an idle line condition does not set the IDLE flag. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 637 Chapter 16 Serial Communication Interface (S12SCIV6) Table 16-11. SCISR1 Field Descriptions (continued) Field Description 3 OR Overrun Flag -- OR is set when software fails to read the SCI data register before the receive shift register receives the next frame. The OR bit is set immediately after the stop bit has been completely received for the second frame. The data in the shift register is lost, but the data already in the SCI data registers is not affected. Clear OR by reading SCI status register 1 (SCISR1) with OR set and then reading SCI data register low (SCIDRL). 0 No overrun 1 Overrun Note: OR flag may read back as set when RDRF flag is clear. This may happen if the following sequence of events occurs: 1. After the first frame is received, read status register SCISR1 (returns RDRF set and OR flag clear); 2. Receive second frame without reading the first frame in the data register (the second frame is not received and OR flag is set); 3. Read data register SCIDRL (returns first frame and clears RDRF flag in the status register); 4. Read status register SCISR1 (returns RDRF clear and OR set). Event 3 may be at exactly the same time as event 2 or any time after. When this happens, a dummy SCIDRL read following event 4 will be required to clear the OR flag if further frames are to be received. 2 NF Noise Flag -- NF is set when the SCI detects noise on the receiver input. NF bit is set during the same cycle as the RDRF flag but does not get set in the case of an overrun. Clear NF by reading SCI status register 1(SCISR1), and then reading SCI data register low (SCIDRL). 0 No noise 1 Noise 1 FE Framing Error Flag -- FE is set when a logic 0 is accepted as the stop bit. FE bit is set during the same cycle as the RDRF flag but does not get set in the case of an overrun. FE inhibits further data reception until it is cleared. Clear FE by reading SCI status register 1 (SCISR1) with FE set and then reading the SCI data register low (SCIDRL). 0 No framing error 1 Framing error 0 PF Parity Error Flag -- PF is set when the parity enable bit (PE) is set and the parity of the received data does not match the parity type bit (PT). PF bit is set during the same cycle as the RDRF flag but does not get set in the case of an overrun. Clear PF by reading SCI status register 1 (SCISR1), and then reading SCI data register low (SCIDRL). 0 No parity error 1 Parity error MC9S12ZVM Family Reference Manual Rev. 2.2 638 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) 16.3.2.8 SCI Status Register 2 (SCISR2) Module Base + 0x0005 7 R W Reset 6 AMAP 0 5 0 0 0 0 4 3 2 1 TXPOL RXPOL BRK13 TXDIR 0 0 0 0 0 RAF 0 = Unimplemented or Reserved Figure 16-11. SCI Status Register 2 (SCISR2) Read: Anytime Write: Anytime Table 16-12. SCISR2 Field Descriptions Field Description 7 AMAP Alternative Map -- This bit controlswhich registers sharing the same address space are accessible. In the reset condition the SCI behaves as previous versions. Setting AMAP=1 allows the access to another set of control and status registers and hides the baud rate and SCI control Register 1. 0 The registers labelled SCIBDH (0x0000),SCIBDL (0x0001), SCICR1 (0x0002) are accessible 1 The registers labelled SCIASR1 (0x0000),SCIACR1 (0x0001), SCIACR2 (0x00002) are accessible 4 TXPOL Transmit Polarity -- This bit control the polarity of the transmitted data. In NRZ format, a one is represented by a mark and a zero is represented by a space for normal polarity, and the opposite for inverted polarity. In IrDA format, a zero is represented by short high pulse in the middle of a bit time remaining idle low for a one for normal polarity, and a zero is represented by short low pulse in the middle of a bit time remaining idle high for a one for inverted polarity. 0 Normal polarity 1 Inverted polarity 3 RXPOL Receive Polarity -- This bit control the polarity of the received data. In NRZ format, a one is represented by a mark and a zero is represented by a space for normal polarity, and the opposite for inverted polarity. In IrDA format, a zero is represented by short high pulse in the middle of a bit time remaining idle low for a one for normal polarity, and a zero is represented by short low pulse in the middle of a bit time remaining idle high for a one for inverted polarity. 0 Normal polarity 1 Inverted polarity 2 BRK13 Break Transmit Character Length -- This bit determines whether the transmit break character is 10 or 11 bit respectively 13 or 14 bits long. The detection of a framing error is not affected by this bit. 0 Break character is 10 or 11 bit long 1 Break character is 13 or 14 bit long 1 TXDIR Transmitter Pin Data Direction in Single-Wire Mode -- This bit determines whether the TXD pin is going to be used as an input or output, in the single-wire mode of operation. This bit is only relevant in the single-wire mode of operation. 0 TXD pin to be used as an input in single-wire mode 1 TXD pin to be used as an output in single-wire mode 0 RAF Receiver Active Flag -- RAF is set when the receiver detects a logic 0 during the RT1 time period of the start bit search. RAF is cleared when the receiver detects an idle character. 0 No reception in progress 1 Reception in progress MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 639 Chapter 16 Serial Communication Interface (S12SCIV6) 16.3.2.9 SCI Data Registers (SCIDRH, SCIDRL) Module Base + 0x0006 7 R R8 T8 W Reset 6 0 0 5 4 3 0 0 0 0 0 0 2 1 0 Reserved Reserved Reserved 0 0 0 = Unimplemented or Reserved Figure 16-12. SCI Data Registers (SCIDRH) Module Base + 0x0007 7 6 5 4 3 2 1 0 R R7 R6 R5 R4 R3 R2 R1 R0 W T7 T6 T5 T4 T3 T2 T1 T0 0 0 0 0 0 0 0 0 Reset Figure 16-13. SCI Data Registers (SCIDRL) Read: Anytime; reading accesses SCI receive data register Write: Anytime; writing accesses SCI transmit data register; writing to R8 has no effect NOTE The reserved bit SCIDRH[2:0] are designed for factory test purposes only, and are not intended for general user access. Writing to these bit is possible when in special mode and can alter the modules functionality. Table 16-13. SCIDRH and SCIDRL Field Descriptions Field Description SCIDRH 7 R8 Received Bit 8 -- R8 is the ninth data bit received when the SCI is configured for 9-bit data format (M = 1). SCIDRH 6 T8 Transmit Bit 8 -- T8 is the ninth data bit transmitted when the SCI is configured for 9-bit data format (M = 1). SCIDRL 7:0 R[7:0] T[7:0] R7:R0 -- Received bits seven through zero for 9-bit or 8-bit data formats T7:T0 -- Transmit bits seven through zero for 9-bit or 8-bit formats NOTE If the value of T8 is the same as in the previous transmission, T8 does not have to be rewritten.The same value is transmitted until T8 is rewritten In 8-bit data format, only SCI data register low (SCIDRL) needs to be accessed. MC9S12ZVM Family Reference Manual Rev. 2.2 640 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) When transmitting in 9-bit data format and using 8-bit write instructions, write first to SCI data register high (SCIDRH), then SCIDRL. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 641 Chapter 16 Serial Communication Interface (S12SCIV6) 16.4 Functional Description This section provides a complete functional description of the SCI block, detailing the operation of the design from the end user perspective in a number of subsections. Figure 16-14 shows the structure of the SCI module. The SCI allows full duplex, asynchronous, serial communication between the CPU and remote devices, including other CPUs. The SCI transmitter and receiver operate independently, although they use the same baud rate generator. The CPU monitors the status of the SCI, writes the data to be transmitted, and processes received data. R8 IREN SCI Data Register Ir_RXD Bus Clock FE Receive Shift Register SCRXD Receive and Wakeup Control PF RAF RE IDLE RWU RDRF LOOPS OR RSRC M Receive Baud Rate Generator ILT PE SBR15:SBR0 PT 16 TE Transmit Control LOOPS SBK RSRC T8 Transmit Shift Register RXD SCI Data Register TIE TDRE TDRE TC R16XCLK SCI Interrupt Request TC TCIE RXEDGIE Active Edge Detect RXEDGIF BKDIF Break Detect BKDFE SCTXD Infrared Transmit Encoder RIE WAKE Data Format Control Transmit Baud Rate Generator IDLE ILIE RDRF/OR Infrared Receive Decoder R16XCLK RXD NF BKDIE LIN Transmit BERRIF Collision Detect BERRM[1:0] Ir_TXD BERRIE TXD R32XCLK TNP[1:0] IREN Figure 16-14. Detailed SCI Block Diagram MC9S12ZVM Family Reference Manual Rev. 2.2 642 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) 16.4.1 Infrared Interface Submodule This module provides the capability of transmitting narrow pulses to an IR LED and receiving narrow pulses and transforming them to serial bits, which are sent to the SCI. The IrDA physical layer specification defines a half-duplex infrared communication link for exchange data. The full standard includes data rates up to 16 Mbits/s. This design covers only data rates between 2.4 Kbits/s and 115.2 Kbits/s. The infrared submodule consists of two major blocks: the transmit encoder and the receive decoder. The SCI transmits serial bits of data which are encoded by the infrared submodule to transmit a narrow pulse for every zero bit. No pulse is transmitted for every one bit. When receiving data, the IR pulses should be detected using an IR photo diode and transformed to CMOS levels by the IR receive decoder (external from the MCU). The narrow pulses are then stretched by the infrared submodule to get back to a serial bit stream to be received by the SCI.The polarity of transmitted pulses and expected receive pulses can be inverted so that a direct connection can be made to external IrDA transceiver modules that use active low pulses. The infrared submodule receives its clock sources from the SCI. One of these two clocks are selected in the infrared submodule in order to generate either 3/16, 1/16, 1/32 or 1/4 narrow pulses during transmission. The infrared block receives two clock sources from the SCI, R16XCLK and R32XCLK, which are configured to generate the narrow pulse width during transmission. The R16XCLK and R32XCLK are internal clocks with frequencies 16 and 32 times the baud rate respectively. Both R16XCLK and R32XCLK clocks are used for transmitting data. The receive decoder uses only the R16XCLK clock. 16.4.1.1 Infrared Transmit Encoder The infrared transmit encoder converts serial bits of data from transmit shift register to the TXD pin. A narrow pulse is transmitted for a zero bit and no pulse for a one bit. The narrow pulse is sent in the middle of the bit with a duration of 1/32, 1/16, 3/16 or 1/4 of a bit time. A narrow high pulse is transmitted for a zero bit when TXPOL is cleared, while a narrow low pulse is transmitted for a zero bit when TXPOL is set. 16.4.1.2 Infrared Receive Decoder The infrared receive block converts data from the RXD pin to the receive shift register. A narrow pulse is expected for each zero received and no pulse is expected for each one received. A narrow high pulse is expected for a zero bit when RXPOL is cleared, while a narrow low pulse is expected for a zero bit when RXPOL is set. This receive decoder meets the edge jitter requirement as defined by the IrDA serial infrared physical layer specification. 16.4.2 LIN Support This module provides some basic support for the LIN protocol. At first this is a break detect circuitry making it easier for the LIN software to distinguish a break character from an incoming data stream. As a further addition is supports a collision detection at the bit level as well as cancelling pending transmissions. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 643 Chapter 16 Serial Communication Interface (S12SCIV6) 16.4.3 Data Format The SCI uses the standard NRZ mark/space data format. When Infrared is enabled, the SCI uses RZI data format where zeroes are represented by light pulses and ones remain low. See Figure 16-15 below. 8-Bit Data Format (Bit M in SCICR1 Clear) Start Bit Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Possible Parity Bit Bit 6 STOP Bit Bit 7 Next Start Bit Standard SCI Data Infrared SCI Data 9-Bit Data Format (Bit M in SCICR1 Set) Start Bit Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 POSSIBLE PARITY Bit Bit 6 Bit 7 Bit 8 STOP Bit NEXT START Bit Standard SCI Data Infrared SCI Data Figure 16-15. SCI Data Formats Each data character is contained in a frame that includes a start bit, eight or nine data bits, and a stop bit. Clearing the M bit in SCI control register 1 configures the SCI for 8-bit data characters. A frame with eight data bits has a total of 10 bits. Setting the M bit configures the SCI for nine-bit data characters. A frame with nine data bits has a total of 11 bits. Table 16-14. Example of 8-Bit Data Formats Start Bit Data Bits Address Bits Parity Bits Stop Bit 1 8 0 0 1 1 7 0 1 1 7 (1) 0 1 1 1 1. The address bit identifies the frame as an address character. See Section 16.4.6.6, "Receiver Wakeup". When the SCI is configured for 9-bit data characters, the ninth data bit is the T8 bit in SCI data register high (SCIDRH). It remains unchanged after transmission and can be used repeatedly without rewriting it. A frame with nine data bits has a total of 11 bits. Table 16-15. Example of 9-Bit Data Formats Start Bit Data Bits Address Bits Parity Bits Stop Bit 1 9 0 0 1 1 8 0 1 1 8 (1) 0 1 1 1 MC9S12ZVM Family Reference Manual Rev. 2.2 644 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) 1. The address bit identifies the frame as an address character. See Section 16.4.6.6, "Receiver Wakeup". 16.4.4 Baud Rate Generation A 16-bit modulus counter in the two baud rate generator derives the baud rate for both the receiver and the transmitter. The value from 0 to 65535 written to the SBR15:SBR0 bits determines the baud rate. The value from 0 to 4095 written to the SBR15:SBR4 bits determines the baud rate clock with SBR3:SBR0 for fine adjust. The SBR bits are in the SCI baud rate registers (SCIBDH and SCIBDL) for both transmit and receive baud generator. The baud rate clock is synchronized with the bus clock and drives the receiver. The baud rate clock divided by 16 drives the transmitter. The receiver has an acquisition rate of 16 samples per bit time. Baud rate generation is subject to one source of error: * Integer division of the bus clock may not give the exact target frequency. Table 16-16 lists some examples of achieving target baud rates with a bus clock frequency of 25 MHz. When IREN = 0 then, SCI baud rate = SCI bus clock / (SCIBR[15:0]) Table 16-16. Baud Rates (Example: Bus Clock = 25 MHz) Bits SBR[15:0] Receiver(1) Clock (Hz) Transmitter(2) Clock (Hz) Target Baud Rate Error (%) 109 3669724.8 229,357.8 230,400 .452 217 1843318.0 115,207.4 115,200 .006 651 614439.3 38,402.5 38,400 .006 1302 307219.7 19,201.2 19,200 .006 2604 153,609.8 9600.6 9,600 .006 5208 76,804.9 4800.3 4,800 .006 10417 38,398.8 2399.9 2,400 .003 20833 19,200.3 1200.02 1,200 .00 41667 9599.9 600.0 600 .00 65535 6103.6 381.5 1. 16x faster then baud rate 2. divide 1/16 form transmit baud generator MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 645 Chapter 16 Serial Communication Interface (S12SCIV6) 16.4.5 Transmitter Internal Bus Transmit baud generator SBR15:SBR4 16 SCI Data Registers Stop SBR3:SBR0 H 11-Bit Transmit Register 8 7 6 5 4 3 2 1 0 TXPOL SCTXD L MSB M Start Bus Clock LOOP CONTROL TC IRQ TIE To R eceiver LOOPS RSRC TDRE TC Transmitter Control TCIE TE BER IRQ Break (All 0s) TDRE IRQ Parity Generation Preamble (All 1s) PT Shift Enable PE Load from SCIDR T8 BERRIF TCIE SBK BERRM[1:0] Transmit Collision Detect SCTXD SCRXD (From Receiver) Figure 16-16. Transmitter Block Diagram 16.4.5.1 Transmitter Character Length The SCI transmitter can accommodate either 8-bit or 9-bit data characters. The state of the M bit in SCI control register 1 (SCICR1) determines the length of data characters. When transmitting 9-bit data, bit T8 in SCI data register high (SCIDRH) is the ninth bit (bit 8). 16.4.5.2 Character Transmission To transmit data, the MCU writes the data bits to the SCI data registers (SCIDRH/SCIDRL), which in turn are transferred to the transmitter shift register. The transmit shift register then shifts a frame out through the TXD pin, after it has prefaced them with a start bit and appended them with a stop bit. The SCI data registers (SCIDRH and SCIDRL) are the write-only buffers between the internal data bus and the transmit shift register. MC9S12ZVM Family Reference Manual Rev. 2.2 646 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) The SCI also sets a flag, the transmit data register empty flag (TDRE), every time it transfers data from the buffer (SCIDRH/L) to the transmitter shift register.The transmit driver routine may respond to this flag by writing another byte to the Transmitter buffer (SCIDRH/SCIDRL), while the shift register is still shifting out the first byte. To initiate an SCI transmission: 1. Configure the SCI: a) Select a baud rate. Write this value to the SCI baud registers (SCIBDH/L) to begin the baud rate generator. Remember that the baud rate generator is disabled when the baud rate is zero. Writing to the SCIBDH has no effect without also writing to SCIBDL. b) Write to SCICR1 to configure word length, parity, and other configuration bits (LOOPS,RSRC,M,WAKE,ILT,PE,PT). c) Enable the transmitter, interrupts, receive, and wake up as required, by writing to the SCICR2 register bits (TIE,TCIE,RIE,ILIE,TE,RE,RWU,SBK). A preamble or idle character will now be shifted out of the transmitter shift register. 2. Transmit Procedure for each byte: a) Poll the TDRE flag by reading the SCISR1 or responding to the TDRE interrupt. Keep in mind that the TDRE bit resets to one. b) If the TDRE flag is set, write the data to be transmitted to SCIDRH/L, where the ninth bit is written to the T8 bit in SCIDRH if the SCI is in 9-bit data format. A new transmission will not result until the TDRE flag has been cleared. 3. Repeat step 2 for each subsequent transmission. NOTE The TDRE flag is set when the shift register is loaded with the next data to be transmitted from SCIDRH/L, which happens, generally speaking, a little over half-way through the stop bit of the previous frame. Specifically, this transfer occurs 9/16ths of a bit time AFTER the start of the stop bit of the previous frame. Writing the TE bit from 0 to a 1 automatically loads the transmit shift register with a preamble of 10 logic 1s (if M = 0) or 11 logic 1s (if M = 1). After the preamble shifts out, control logic transfers the data from the SCI data register into the transmit shift register. A logic 0 start bit automatically goes into the least significant bit position of the transmit shift register. A logic 1 stop bit goes into the most significant bit position. Hardware supports odd or even parity. When parity is enabled, the most significant bit (MSB) of the data character is the parity bit. The transmit data register empty flag, TDRE, in SCI status register 1 (SCISR1) becomes set when the SCI data register transfers a byte to the transmit shift register. The TDRE flag indicates that the SCI data register can accept new data from the internal data bus. If the transmit interrupt enable bit, TIE, in SCI control register 2 (SCICR2) is also set, the TDRE flag generates a transmitter interrupt request. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 647 Chapter 16 Serial Communication Interface (S12SCIV6) When the transmit shift register is not transmitting a frame, the TXD pin goes to the idle condition, logic 1. If at any time software clears the TE bit in SCI control register 2 (SCICR2), the transmitter enable signal goes low and the transmit signal goes idle. If software clears TE while a transmission is in progress (TC = 0), the frame in the transmit shift register continues to shift out. To avoid accidentally cutting off the last frame in a message, always wait for TDRE to go high after the last frame before clearing TE. To separate messages with preambles with minimum idle line time, use this sequence between messages: 1. Write the last byte of the first message to SCIDRH/L. 2. Wait for the TDRE flag to go high, indicating the transfer of the last frame to the transmit shift register. 3. Queue a preamble by clearing and then setting the TE bit. 4. Write the first byte of the second message to SCIDRH/L. 16.4.5.3 Break Characters Writing a logic 1 to the send break bit, SBK, in SCI control register 2 (SCICR2) loads the transmit shift register with a break character. A break character contains all logic 0s and has no start, stop, or parity bit. Break character length depends on the M bit in SCI control register 1 (SCICR1). As long as SBK is at logic 1, transmitter logic continuously loads break characters into the transmit shift register. After software clears the SBK bit, the shift register finishes transmitting the last break character and then transmits at least one logic 1. The automatic logic 1 at the end of a break character guarantees the recognition of the start bit of the next frame. The SCI recognizes a break character when there are 10 or 11(M = 0 or M = 1) consecutive zero received. Depending if the break detect feature is enabled or not receiving a break character has these effects on SCI registers. If the break detect feature is disabled (BKDFE = 0): * Sets the framing error flag, FE * Sets the receive data register full flag, RDRF * Clears the SCI data registers (SCIDRH/L) * May set the overrun flag, OR, noise flag, NF, parity error flag, PE, or the receiver active flag, RAF (see 3.4.4 and 3.4.5 SCI Status Register 1 and 2) If the break detect feature is enabled (BKDFE = 1) there are two scenarios1 The break is detected right from a start bit or is detected during a byte reception. * Sets the break detect interrupt flag, BKDIF * Does not change the data register full flag, RDRF or overrun flag OR * Does not change the framing error flag FE, parity error flag PE. * Does not clear the SCI data registers (SCIDRH/L) * May set noise flag NF, or receiver active flag RAF. 1. A Break character in this context are either 10 or 11 consecutive zero received bits MC9S12ZVM Family Reference Manual Rev. 2.2 648 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) Figure 16-17 shows two cases of break detect. In trace RXD_1 the break symbol starts with the start bit, while in RXD_2 the break starts in the middle of a transmission. If BRKDFE = 1, in RXD_1 case there will be no byte transferred to the receive buffer and the RDRF flag will not be modified. Also no framing error or parity error will be flagged from this transfer. In RXD_2 case, however the break signal starts later during the transmission. At the expected stop bit position the byte received so far will be transferred to the receive buffer, the receive data register full flag will be set, a framing error and if enabled and appropriate a parity error will be set. Once the break is detected the BRKDIF flag will be set. Start Bit Position Stop Bit Position BRKDIF = 1 RXD_1 Zero Bit Counter 1 2 3 4 5 6 7 8 9 10 . . . BRKDIF = 1 FE = 1 RXD_2 Zero Bit Counter 1 2 3 4 5 6 7 8 9 10 ... Figure 16-17. Break Detection if BRKDFE = 1 (M = 0) 16.4.5.4 Idle Characters An idle character (or preamble) contains all logic 1s and has no start, stop, or parity bit. Idle character length depends on the M bit in SCI control register 1 (SCICR1). The preamble is a synchronizing idle character that begins the first transmission initiated after writing the TE bit from 0 to 1. If the TE bit is cleared during a transmission, the TXD pin becomes idle after completion of the transmission in progress. Clearing and then setting the TE bit during a transmission queues an idle character to be sent after the frame currently being transmitted. NOTE When queueing an idle character, return the TE bit to logic 1 before the stop bit of the current frame shifts out through the TXD pin. Setting TE after the stop bit appears on TXD causes data previously written to the SCI data register to be lost. Toggle the TE bit for a queued idle character while the TDRE flag is set and immediately before writing the next byte to the SCI data register. If the TE bit is clear and the transmission is complete, the SCI is not the master of the TXD pin MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 649 Chapter 16 Serial Communication Interface (S12SCIV6) 16.4.5.5 LIN Transmit Collision Detection This module allows to check for collisions on the LIN bus. LIN Physical Interface Synchronizer Stage Receive Shift Register Compare Bit Error RXD Pin LIN Bus Bus Clock Sample Point Transmit Shift Register TXD Pin Figure 16-18. Collision Detect Principle 3 4 5 6 7 8 9 BERRM[1:0] = 0:1 10 11 12 13 14 15 0 Sampling End Input Receive Shift Register 2 Sampling Begin Output Transmit Shift Register 1 Sampling End 0 Sampling Begin If the bit error circuit is enabled (BERRM[1:0] = 0:1 or = 1:0]), the error detect circuit will compare the transmitted and the received data stream at a point in time and flag any mismatch. The timing checks run when transmitter is active (not idle). As soon as a mismatch between the transmitted data and the received data is detected the following happens: * The next bit transmitted will have a high level (TXPOL = 0) or low level (TXPOL = 1) * The transmission is aborted and the byte in transmit buffer is discarded. * the transmit data register empty and the transmission complete flag will be set * The bit error interrupt flag, BERRIF, will be set. * No further transmissions will take place until the BERRIF is cleared. BERRM[1:0] = 1:1 Compare Sample Points Figure 16-19. Timing Diagram Bit Error Detection If the bit error detect feature is disabled, the bit error interrupt flag is cleared. NOTE The RXPOL and TXPOL bit should be set the same when transmission collision detect feature is enabled, otherwise the bit error interrupt flag may be set incorrectly. MC9S12ZVM Family Reference Manual Rev. 2.2 650 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) 16.4.6 Receiver Internal Bus RXPOL Data Recovery Loop Control H RE RAF LOOPS RSRC 11-Bit Receive Shift Register 8 7 6 5 4 3 2 1 0 L All 1s SCRXD From TXD Pin or Transmitter Stop Receive Baud Generator MSB Bus Clock SCI Data Register SBR3:SBR0 Start SBR15:SBR4 FE M WAKE ILT PE PT RWU NF Wakeup Logic PE R8 Parity Checking Idle IRQ IDLE ILIE BRKDFE OR Break Detect Logic Active Edge Detect Logic RDRF/OR IRQ RDRF BRKDIF BRKDIE RXEDGIF RXEDGIE RIE Break IRQ RX Active Edge IRQ Figure 16-20. SCI Receiver Block Diagram 16.4.6.1 Receiver Character Length The SCI receiver can accommodate either 8-bit or 9-bit data characters. The state of the M bit in SCI control register 1 (SCICR1) determines the length of data characters. When receiving 9-bit data, bit R8 in SCI data register high (SCIDRH) is the ninth bit (bit 8). 16.4.6.2 Character Reception During an SCI reception, the receive shift register shifts a frame in from the RXD pin. The SCI data register is the read-only buffer between the internal data bus and the receive shift register. After a complete frame shifts into the receive shift register, the data portion of the frame transfers to the SCI data register. The receive data register full flag, RDRF, in SCI status register 1 (SCISR1) becomes set, MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 651 Chapter 16 Serial Communication Interface (S12SCIV6) indicating that the received byte can be read. If the receive interrupt enable bit, RIE, in SCI control register 2 (SCICR2) is also set, the RDRF flag generates an RDRF interrupt request. 16.4.6.3 Data Sampling The RT clock rate. The RT clock is an internal signal with a frequency 16 times the baud rate. To adjust for baud rate mismatch, the RT clock (see Figure 16-21) is re-synchronized immediatelly at bus clock edge: * After every start bit * After the receiver detects a data bit change from logic 1 to logic 0 (after the majority of data bit samples at RT8, RT9, and RT10 returns a valid logic 1 and the majority of the next RT8, RT9, and RT10 samples returns a valid logic 0) To locate the start bit, data recovery logic does an asynchronous search for a logic 0 preceded by three logic 1s.When the falling edge of a possible start bit occurs, the RT clock begins to count to 16. Start Bit LSB RXD Samples 1 1 1 1 1 1 1 1 0 0 Start Bit Qualification 0 0 Start Bit Verification 0 0 0 Data Sampling RT4 RT3 RT2 RT1 RT16 RT15 RT14 RT13 RT12 RT11 RT10 RT9 RT8 RT7 RT6 RT5 RT4 RT3 RT2 RT1 RT1 RT1 RT1 RT1 RT1 RT1 RT1 RT CLock Count RT1 RT Clock Reset RT Clock Figure 16-21. Receiver Data Sampling To verify the start bit and to detect noise, data recovery logic takes samples at RT3, RT5, and RT7. Figure 16-17 summarizes the results of the start bit verification samples. Table 16-17. Start Bit Verification RT3, RT5, and RT7 Samples Start Bit Verification Noise Flag 000 Yes 0 001 Yes 1 010 Yes 1 011 No 0 100 Yes 1 101 No 0 110 No 0 111 No 0 If start bit verification is not successful, the RT clock is reset and a new search for a start bit begins. MC9S12ZVM Family Reference Manual Rev. 2.2 652 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) To determine the value of a data bit and to detect noise, recovery logic takes samples at RT8, RT9, and RT10. Table 16-18 summarizes the results of the data bit samples. Table 16-18. Data Bit Recovery RT8, RT9, and RT10 Samples Data Bit Determination Noise Flag 000 0 0 001 0 1 010 0 1 011 1 1 100 0 1 101 1 1 110 1 1 111 1 0 NOTE The RT8, RT9, and RT10 samples do not affect start bit verification. If any or all of the RT8, RT9, and RT10 start bit samples are logic 1s following a successful start bit verification, the noise flag (NF) is set and the receiver assumes that the bit is a start bit (logic 0). To verify a stop bit and to detect noise, recovery logic takes samples at RT8, RT9, and RT10. Table 16-19 summarizes the results of the stop bit samples. Table 16-19. Stop Bit Recovery RT8, RT9, and RT10 Samples Framing Error Flag Noise Flag 000 1 0 001 1 1 010 1 1 011 0 1 100 1 1 101 0 1 110 0 1 111 0 0 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 653 Chapter 16 Serial Communication Interface (S12SCIV6) In Figure 16-22 the verification samples RT3 and RT5 determine that the first low detected was noise and not the beginning of a start bit. The RT clock is reset and the start bit search begins again. The noise flag is not set because the noise occurred before the start bit was found. Start Bit LSB 0 0 0 0 0 0 RT10 RT1 1 RT9 RT1 1 RT8 RT1 1 RT7 0 RT1 1 RT1 1 RT5 1 RT1 RXD Samples 0 RT3 RT2 RT1 RT16 RT15 RT14 RT13 RT12 RT11 RT6 RT5 RT4 RT3 RT2 RT4 RT3 RT Clock Count RT2 RT Clock Reset RT Clock Figure 16-22. Start Bit Search Example 1 In Figure 16-23, verification sample at RT3 is high. The RT3 sample sets the noise flag. Although the perceived bit time is misaligned, the data samples RT8, RT9, and RT10 are within the bit time and data recovery is successful. Perceived Start Bit Actual Start Bit LSB 1 0 RT1 RT1 RT1 RT1 RT1 1 0 0 0 0 0 RT10 1 RT9 1 RT8 1 RT7 1 RT1 RXD Samples RT7 RT6 RT5 RT4 RT3 RT2 RT1 RT16 RT15 RT14 RT13 RT12 RT11 RT6 RT5 RT4 RT3 RT Clock Count RT2 RT Clock Reset RT Clock Figure 16-23. Start Bit Search Example 2 MC9S12ZVM Family Reference Manual Rev. 2.2 654 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) In Figure 16-24, a large burst of noise is perceived as the beginning of a start bit, although the test sample at RT5 is high. The RT5 sample sets the noise flag. Although this is a worst-case misalignment of perceived bit time, the data samples RT8, RT9, and RT10 are within the bit time and data recovery is successful. Perceived Start Bit Actual Start Bit LSB RT1 RT1 0 1 0 0 0 0 RT10 0 RT9 1 RT8 1 RT7 1 RT1 Samples RT1 RXD RT9 RT8 RT7 RT6 RT5 RT4 RT3 RT2 RT1 RT16 RT15 RT14 RT13 RT12 RT11 RT6 RT5 RT4 RT3 RT Clock Count RT2 RT Clock Reset RT Clock Figure 16-24. Start Bit Search Example 3 Figure 16-25 shows the effect of noise early in the start bit time. Although this noise does not affect proper synchronization with the start bit time, it does set the noise flag. Perceived and Actual Start Bit LSB 1 1 1 1 1 1 1 1 1 0 RT1 RT1 RT1 RT1 RT1 RT1 RT1 RT1 RT1 Samples RT1 RXD 1 0 RT3 RT2 RT1 RT16 RT15 RT14 RT13 RT12 RT11 RT9 RT10 RT8 RT7 RT6 RT5 RT4 RT3 RT Clock Count RT2 RT Clock Reset RT Clock Figure 16-25. Start Bit Search Example 4 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 655 Chapter 16 Serial Communication Interface (S12SCIV6) Figure 16-26 shows a burst of noise near the beginning of the start bit that resets the RT clock. The sample after the reset is low but is not preceded by three high samples that would qualify as a falling edge. Depending on the timing of the start bit search and on the data, the frame may be missed entirely or it may set the framing error flag. Start Bit 0 RT1 RT1 RT1 RT1 RT1 RT1 RT1 RT1 RT1 0 1 1 0 0 0 0 0 0 0 0 RT1 1 RT1 1 RT1 1 RT1 1 RT1 1 RT1 1 RT1 1 RT1 1 RT7 1 RT1 Samples LSB No Start Bit Found RXD RT1 RT1 RT1 RT1 RT6 RT5 RT4 RT3 RT Clock Count RT2 RT Clock Reset RT Clock Figure 16-26. Start Bit Search Example 5 In Figure 16-27, a noise burst makes the majority of data samples RT8, RT9, and RT10 high. This sets the noise flag but does not reset the RT clock. In start bits only, the RT8, RT9, and RT10 data samples are ignored. Start Bit LSB 1 1 1 1 1 0 RT1 RT1 RT1 RT1 RT1 RT1 RT1 RT1 0 0 0 1 0 1 RT10 1 RT9 1 RT8 1 RT7 1 RT1 Samples RT1 RXD RT3 RT2 RT1 RT16 RT15 RT14 RT13 RT12 RT11 RT6 RT5 RT4 RT3 RT Clock Count RT2 RT Clock Reset RT Clock Figure 16-27. Start Bit Search Example 6 16.4.6.4 Framing Errors If the data recovery logic does not detect a logic 1 where the stop bit should be in an incoming frame, it sets the framing error flag, FE, in SCI status register 1 (SCISR1). A break character also sets the FE flag because a break character has no stop bit. The FE flag is set at the same time that the RDRF flag is set. MC9S12ZVM Family Reference Manual Rev. 2.2 656 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) 16.4.6.5 Baud Rate Tolerance A transmitting device may be operating at a baud rate below or above the receiver baud rate. Accumulated bit time misalignment can cause one of the three stop bit data samples (RT8, RT9, and RT10) to fall outside the actual stop bit. A noise error will occur if the RT8, RT9, and RT10 samples are not all the same logical values. A framing error will occur if the receiver clock is misaligned in such a way that the majority of the RT8, RT9, and RT10 stop bit samples are a logic zero. As the receiver samples an incoming frame, it re-synchronizes the RT clock on any valid falling edge within the frame. Re synchronization within frames will correct a misalignment between transmitter bit times and receiver bit times. 16.4.6.5.1 Slow Data Tolerance Figure 16-28 shows how much a slow received frame can be misaligned without causing a noise error or a framing error. The slow stop bit begins at RT8 instead of RT1 but arrives in time for the stop bit data samples at RT8, RT9, and RT10. RT16 RT15 RT14 RT13 Data Samples RT12 RT9 RT8 RT7 RT6 RT5 RT4 RT3 RT2 RT1 Receiver RT Clock RT11 Stop RT10 MSB Figure 16-28. Slow Data Let's take RTr as receiver RT clock and RTt as transmitter RT clock. For an 8-bit data character, it takes the receiver 9 bit times x 16 RTr cycles +7 RTr cycles = 151 RTr cycles to start data sampling of the stop bit. With the misaligned character shown in Figure 16-28, the receiver counts 151 RTr cycles at the point when the count of the transmitting device is 9 bit times x 16 RTt cycles = 144 RTt cycles. The maximum percent difference between the receiver count and the transmitter count of a slow 8-bit data character with no errors is: ((151 - 144) / 151) x 100 = 4.63% For a 9-bit data character, it takes the receiver 10 bit times x 16 RTr cycles + 7 RTr cycles = 167 RTr cycles to start data sampling of the stop bit. With the misaligned character shown in Figure 16-28, the receiver counts 167 RTr cycles at the point when the count of the transmitting device is 10 bit times x 16 RTt cycles = 160 RTt cycles. The maximum percent difference between the receiver count and the transmitter count of a slow 9-bit character with no errors is: ((167 - 160) / 167) X 100 = 4.19% MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 657 Chapter 16 Serial Communication Interface (S12SCIV6) 16.4.6.5.2 Fast Data Tolerance Figure 16-29 shows how much a fast received frame can be misaligned. The fast stop bit ends at RT10 instead of RT16 but is still sampled at RT8, RT9, and RT10. RT16 RT15 RT14 RT13 Data Samples RT12 RT9 RT8 RT7 RT6 RT5 RT4 RT3 RT2 RT1 Receiver RT Clock RT11 Idle or Next Frame RT10 Stop Figure 16-29. Fast Data For an 8-bit data character, it takes the receiver 9 bit times x 16 RTr cycles + 9 RTr cycles = 153 RTr cycles to finish data sampling of the stop bit. With the misaligned character shown in Figure 16-29, the receiver counts 153 RTr cycles at the point when the count of the transmitting device is 10 bit times x 16 RTt cycles = 160 RTt cycles. The maximum percent difference between the receiver count and the transmitter count of a fast 8-bit character with no errors is: ((160 - 153) / 160) x 100 = 4.375% For a 9-bit data character, it takes the receiver 10 bit times x 16 RTr cycles + 9 RTr cycles = 169 RTr cycles to finish data sampling of the stop bit. With the misaligned character shown in Figure 16-29, the receiver counts 169 RTr cycles at the point when the count of the transmitting device is 11 bit times x 16 RTt cycles = 176 RTt cycles. The maximum percent difference between the receiver count and the transmitter count of a fast 9-bit character with no errors is: ((176 - 169) /176) x 100 = 3.98% NOTE Due to asynchronous sample and internal logic, there is maximal 2 bus cycles between startbit edge and 1st RT clock, and cause to additional tolerance loss at worst case. The loss should be 2/SBR/10*100%, it is small.For example, for highspeed baud=230400 with 25MHz bus, SBR should be 109, and the tolerance loss is 2/109/10*100=0.18%, and fast data tolerance is 4.375%-0.18%=4.195%. 16.4.6.6 Receiver Wakeup To enable the SCI to ignore transmissions intended only for other receivers in multiple-receiver systems, the receiver can be put into a standby state. Setting the receiver wakeup bit, RWU, in SCI control register 2 (SCICR2) puts the receiver into standby state during which receiver interrupts are disabled.The SCI will still load the receive data into the SCIDRH/L registers, but it will not set the RDRF flag. MC9S12ZVM Family Reference Manual Rev. 2.2 658 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) The transmitting device can address messages to selected receivers by including addressing information in the initial frame or frames of each message. The WAKE bit in SCI control register 1 (SCICR1) determines how the SCI is brought out of the standby state to process an incoming message. The WAKE bit enables either idle line wakeup or address mark wakeup. 16.4.6.6.1 Idle Input line Wakeup (WAKE = 0) In this wakeup method, an idle condition on the RXD pin clears the RWU bit and wakes up the SCI. The initial frame or frames of every message contain addressing information. All receivers evaluate the addressing information, and receivers for which the message is addressed process the frames that follow. Any receiver for which a message is not addressed can set its RWU bit and return to the standby state. The RWU bit remains set and the receiver remains on standby until another idle character appears on the RXD pin. Idle line wakeup requires that messages be separated by at least one idle character and that no message contains idle characters. The idle character that wakes a receiver does not set the receiver idle bit, IDLE, or the receive data register full flag, RDRF. The idle line type bit, ILT, determines whether the receiver begins counting logic 1s as idle character bits after the start bit or after the stop bit. ILT is in SCI control register 1 (SCICR1). 16.4.6.6.2 Address Mark Wakeup (WAKE = 1) In this wakeup method, a logic 1 in the most significant bit (MSB) position of a frame clears the RWU bit and wakes up the SCI. The logic 1 in the MSB position marks a frame as an address frame that contains addressing information. All receivers evaluate the addressing information, and the receivers for which the message is addressed process the frames that follow.Any receiver for which a message is not addressed can set its RWU bit and return to the standby state. The RWU bit remains set and the receiver remains on standby until another address frame appears on the RXD pin. The logic 1 MSB of an address frame clears the receiver's RWU bit before the stop bit is received and sets the RDRF flag. Address mark wakeup allows messages to contain idle characters but requires that the MSB be reserved for use in address frames. NOTE With the WAKE bit clear, setting the RWU bit after the RXD pin has been idle can cause the receiver to wake up immediately. 16.4.7 Single-Wire Operation Normally, the SCI uses two pins for transmitting and receiving. In single-wire operation, the RXD pin is disconnected from the SCI. The SCI uses the TXD pin for both receiving and transmitting. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 659 Chapter 16 Serial Communication Interface (S12SCIV6) Transmitter Receiver TXD RXD Figure 16-30. Single-Wire Operation (LOOPS = 1, RSRC = 1) Enable single-wire operation by setting the LOOPS bit and the receiver source bit, RSRC, in SCI control register 1 (SCICR1). Setting the LOOPS bit disables the path from the RXD pin to the receiver. Setting the RSRC bit connects the TXD pin to the receiver. Both the transmitter and receiver must be enabled (TE = 1 and RE = 1).The TXDIR bit (SCISR2[1]) determines whether the TXD pin is going to be used as an input (TXDIR = 0) or an output (TXDIR = 1) in this mode of operation. NOTE In single-wire operation data from the TXD pin is inverted if RXPOL is set. 16.4.8 Loop Operation In loop operation the transmitter output goes to the receiver input. The RXD pin is disconnected from the SCI. Transmitter TXD Receiver RXD Figure 16-31. Loop Operation (LOOPS = 1, RSRC = 0) Enable loop operation by setting the LOOPS bit and clearing the RSRC bit in SCI control register 1 (SCICR1). Setting the LOOPS bit disables the path from the RXD pin to the receiver. Clearing the RSRC bit connects the transmitter output to the receiver input. Both the transmitter and receiver must be enabled (TE = 1 and RE = 1). NOTE In loop operation data from the transmitter is not recognized by the receiver if RXPOL and TXPOL are not the same. 16.5 16.5.1 Initialization/Application Information Reset Initialization See Section 16.3.2, "Register Descriptions". MC9S12ZVM Family Reference Manual Rev. 2.2 660 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) 16.5.2 16.5.2.1 Modes of Operation Run Mode Normal mode of operation. To initialize a SCI transmission, see Section 16.4.5.2, "Character Transmission". 16.5.2.2 Wait Mode SCI operation in wait mode depends on the state of the SCISWAI bit in the SCI control register 1 (SCICR1). * If SCISWAI is clear, the SCI operates normally when the CPU is in wait mode. * If SCISWAI is set, SCI clock generation ceases and the SCI module enters a power-conservation state when the CPU is in wait mode. Setting SCISWAI does not affect the state of the receiver enable bit, RE, or the transmitter enable bit, TE. If SCISWAI is set, any transmission or reception in progress stops at wait mode entry. The transmission or reception resumes when either an internal or external interrupt brings the CPU out of wait mode. Exiting wait mode by reset aborts any transmission or reception in progress and resets the SCI. 16.5.2.3 Stop Mode The SCI is inactive during stop mode for reduced power consumption. The STOP instruction does not affect the SCI register states, but the SCI bus clock will be disabled. The SCI operation resumes from where it left off after an external interrupt brings the CPU out of stop mode. Exiting stop mode by reset aborts any transmission or reception in progress and resets the SCI. The receive input active edge detect circuit is still active in stop mode. An active edge on the receive input can be used to bring the CPU out of stop mode. 16.5.3 Interrupt Operation This section describes the interrupt originated by the SCI block.The MCU must service the interrupt requests. Table 16-20 lists the eight interrupt sources of the SCI. Table 16-20. SCI Interrupt Sources Interrupt Source Local Enable TDRE SCISR1[7] TIE TC SCISR1[6] TCIE RDRF SCISR1[5] RIE OR SCISR1[3] IDLE SCISR1[4] Description Active high level. Indicates that a byte was transferred from SCIDRH/L to the transmit shift register. Active high level. Indicates that a transmit is complete. Active high level. The RDRF interrupt indicates that received data is available in the SCI data register. Active high level. This interrupt indicates that an overrun condition has occurred. ILIE Active high level. Indicates that receiver input has become idle. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 661 Chapter 16 Serial Communication Interface (S12SCIV6) Table 16-20. SCI Interrupt Sources RXEDGIF SCIASR1[7] RXEDGIE Active high level. Indicates that an active edge (falling for RXPOL = 0, rising for RXPOL = 1) was detected. BERRIF SCIASR1[1] BERRIE Active high level. Indicates that a mismatch between transmitted and received data in a single wire application has happened. BKDIF SCIASR1[0] BRKDIE Active high level. Indicates that a break character has been received. MC9S12ZVM Family Reference Manual Rev. 2.2 662 Freescale Semiconductor Chapter 16 Serial Communication Interface (S12SCIV6) 16.5.3.1 Description of Interrupt Operation The SCI only originates interrupt requests. The following is a description of how the SCI makes a request and how the MCU should acknowledge that request. The interrupt vector offset and interrupt number are chip dependent. The SCI only has a single interrupt line (SCI Interrupt Signal, active high operation) and all the following interrupts, when generated, are ORed together and issued through that port. 16.5.3.1.1 TDRE Description The TDRE interrupt is set high by the SCI when the transmit shift register receives a byte from the SCI data register. A TDRE interrupt indicates that the transmit data register (SCIDRH/L) is empty and that a new byte can be written to the SCIDRH/L for transmission.Clear TDRE by reading SCI status register 1 with TDRE set and then writing to SCI data register low (SCIDRL). 16.5.3.1.2 TC Description The TC interrupt is set by the SCI when a transmission has been completed. Transmission is completed when all bits including the stop bit (if transmitted) have been shifted out and no data is queued to be transmitted. No stop bit is transmitted when sending a break character and the TC flag is set (providing there is no more data queued for transmission) when the break character has been shifted out. A TC interrupt indicates that there is no transmission in progress. TC is set high when the TDRE flag is set and no data, preamble, or break character is being transmitted. When TC is set, the TXD pin becomes idle (logic 1). Clear TC by reading SCI status register 1 (SCISR1) with TC set and then writing to SCI data register low (SCIDRL).TC is cleared automatically when data, preamble, or break is queued and ready to be sent. 16.5.3.1.3 RDRF Description The RDRF interrupt is set when the data in the receive shift register transfers to the SCI data register. A RDRF interrupt indicates that the received data has been transferred to the SCI data register and that the byte can now be read by the MCU. The RDRF interrupt is cleared by reading the SCI status register one (SCISR1) and then reading SCI data register low (SCIDRL). 16.5.3.1.4 OR Description The OR interrupt is set when software fails to read the SCI data register before the receive shift register receives the next frame. The newly acquired data in the shift register will be lost in this case, but the data already in the SCI data registers is not affected. The OR interrupt is cleared by reading the SCI status register one (SCISR1) and then reading SCI data register low (SCIDRL). 16.5.3.1.5 IDLE Description The IDLE interrupt is set when 10 consecutive logic 1s (if M = 0) or 11 consecutive logic 1s (if M = 1) appear on the receiver input. Once the IDLE is cleared, a valid frame must again set the RDRF flag before an idle condition can set the IDLE flag. Clear IDLE by reading SCI status register 1 (SCISR1) with IDLE set and then reading SCI data register low (SCIDRL). MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 663 Chapter 16 Serial Communication Interface (S12SCIV6) 16.5.3.1.6 RXEDGIF Description The RXEDGIF interrupt is set when an active edge (falling if RXPOL = 0, rising if RXPOL = 1) on the RXD pin is detected. Clear RXEDGIF by writing a "1" to the SCIASR1 SCI alternative status register 1. 16.5.3.1.7 BERRIF Description The BERRIF interrupt is set when a mismatch between the transmitted and the received data in a single wire application like LIN was detected. Clear BERRIF by writing a "1" to the SCIASR1 SCI alternative status register 1. This flag is also cleared if the bit error detect feature is disabled. 16.5.3.1.8 BKDIF Description The BKDIF interrupt is set when a break signal was received. Clear BKDIF by writing a "1" to the SCIASR1 SCI alternative status register 1. This flag is also cleared if break detect feature is disabled. 16.5.4 Recovery from Wait Mode The SCI interrupt request can be used to bring the CPU out of wait mode. 16.5.5 Recovery from Stop Mode An active edge on the receive input can be used to bring the CPU out of stop mode. MC9S12ZVM Family Reference Manual Rev. 2.2 664 Freescale Semiconductor Chapter 17 Serial Peripheral Interface (S12SPIV5) Table 17-1. Revision History Revision Number Revision Date Sections Affected V05.00 24 Mar 2005 17.3.2/17-669 17.1 Description of Changes - Added 16-bit transfer width feature. Introduction The SPI module allows a duplex, synchronous, serial communication between the MCU and peripheral devices. Software can poll the SPI status flags or the SPI operation can be interrupt driven. 17.1.1 17.1.2 Glossary of Terms SPI Serial Peripheral Interface SS Slave Select SCK Serial Clock MOSI Master Output, Slave Input MISO Master Input, Slave Output MOMI Master Output, Master Input SISO Slave Input, Slave Output Features The SPI includes these distinctive features: * Master mode and slave mode * Selectable 8 or 16-bit transfer width * Bidirectional mode * Slave select output * Mode fault error flag with CPU interrupt capability * Double-buffered data register * Serial clock with programmable polarity and phase * Control of SPI operation during wait mode 17.1.3 Modes of Operation The SPI functions in three modes: run, wait, and stop. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 665 Chapter 17 Serial Peripheral Interface (S12SPIV5) * * * Run mode This is the basic mode of operation. Wait mode SPI operation in wait mode is a configurable low power mode, controlled by the SPISWAI bit located in the SPICR2 register. In wait mode, if the SPISWAI bit is clear, the SPI operates like in run mode. If the SPISWAI bit is set, the SPI goes into a power conservative state, with the SPI clock generation turned off. If the SPI is configured as a master, any transmission in progress stops, but is resumed after CPU goes into run mode. If the SPI is configured as a slave, reception and transmission of data continues, so that the slave stays synchronized to the master. Stop mode The SPI is inactive in stop mode for reduced power consumption. If the SPI is configured as a master, any transmission in progress stops, but is resumed after CPU goes into run mode. If the SPI is configured as a slave, reception and transmission of data continues, so that the slave stays synchronized to the master. For a detailed description of operating modes, please refer to Section 17.4.7, "Low Power Mode Options". 17.1.4 Block Diagram Figure 17-1 gives an overview on the SPI architecture. The main parts of the SPI are status, control and data registers, shifter logic, baud rate generator, master/slave control logic, and port control logic. MC9S12ZVM Family Reference Manual Rev. 2.2 666 Freescale Semiconductor Chapter 17 Serial Peripheral Interface (S12SPIV5) SPI 2 SPI Control Register 1 BIDIROE 2 SPI Control Register 2 SPC0 SPI Status Register SPIF MODF SPTEF SPI Interrupt Request Interrupt Control Baud Rate Generator Slave Control CPOL CPHA Phase + SCK In Slave Baud Rate Polarity Control Master Baud Rate Phase + SCK Out Polarity Control Master Control Counter Bus Clock Prescaler Clock Select SPPR 3 SPR MOSI Port Control Logic SCK SS Baud Rate 3 Shift Sample Clock Clock Shifter SPI Baud Rate Register LSBFE=1 MSB SPI Data Register Data In LSBFE=0 LSBFE=1 LSBFE=0 LSBFE=0 LSB LSBFE=1 Data Out Figure 17-1. SPI Block Diagram 17.2 External Signal Description This section lists the name and description of all ports including inputs and outputs that do, or may, connect off chip. The SPI module has a total of four external pins. 17.2.1 MOSI -- Master Out/Slave In Pin This pin is used to transmit data out of the SPI module when it is configured as a master and receive data when it is configured as slave. 17.2.2 MISO -- Master In/Slave Out Pin This pin is used to transmit data out of the SPI module when it is configured as a slave and receive data when it is configured as master. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 667 Chapter 17 Serial Peripheral Interface (S12SPIV5) 17.2.3 SS -- Slave Select Pin This pin is used to output the select signal from the SPI module to another peripheral with which a data transfer is to take place when it is configured as a master and it is used as an input to receive the slave select signal when the SPI is configured as slave. 17.2.4 SCK -- Serial Clock Pin In master mode, this is the synchronous output clock. In slave mode, this is the synchronous input clock. 17.3 Memory Map and Register Definition This section provides a detailed description of address space and registers used by the SPI. 17.3.1 Module Memory Map The memory map for the SPI is given in Figure 17-2. The address listed for each register is the sum of a base address and an address offset. The base address is defined at the SoC level and the address offset is defined at the module level. Reads from the reserved bits return zeros and writes to the reserved bits have no effect. Register Name Bit 7 6 5 SPIE SPE SPTIE 0x0000 SPICR1 R W 0x0001 SPICR2 R W 0 0x0002 SPIBR R W 0 0x0003 SPISR R W 0x0004 SPIDRH XFRW 0 4 3 2 1 MSTR CPOL CPHA SSOE LSBFE MODFEN BIDIROE SPISWAI SPC0 SPR2 SPR1 SPR0 0 0 Bit SPPR2 SPPR1 SPPR0 SPIF 0 SPTEF MODF 0 0 0 0 R W R15 T15 R14 T14 R13 T13 R12 T12 R11 T11 R10 T10 R9 T9 R8 T8 0x0005 SPIDRL R W R7 T7 R6 T6 R5 T5 R4 T4 R3 T3 R2 T2 R1 T1 R0 T0 0x0006 Reserved R W 0x0007 Reserved R W = Unimplemented or Reserved Figure 17-2. SPI Register Summary MC9S12ZVM Family Reference Manual Rev. 2.2 668 Freescale Semiconductor 0 Chapter 17 Serial Peripheral Interface (S12SPIV5) 17.3.2 Register Descriptions This section consists of register descriptions in address order. Each description includes a standard register diagram with an associated figure number. Details of register bit and field function follow the register diagrams, in bit order. 17.3.2.1 SPI Control Register 1 (SPICR1) Module Base +0x0000 R W Reset 7 6 5 4 3 2 1 0 SPIE SPE SPTIE MSTR CPOL CPHA SSOE LSBFE 0 0 0 0 0 1 0 0 Figure 17-3. SPI Control Register 1 (SPICR1) Read: Anytime Write: Anytime Table 17-2. SPICR1 Field Descriptions Field Description 7 SPIE SPI Interrupt Enable Bit -- This bit enables SPI interrupt requests, if SPIF or MODF status flag is set. 0 SPI interrupts disabled. 1 SPI interrupts enabled. 6 SPE SPI System Enable Bit -- This bit enables the SPI system and dedicates the SPI port pins to SPI system functions. If SPE is cleared, SPI is disabled and forced into idle state, status bits in SPISR register are reset. 0 SPI disabled (lower power consumption). 1 SPI enabled, port pins are dedicated to SPI functions. 5 SPTIE SPI Transmit Interrupt Enable -- This bit enables SPI interrupt requests, if SPTEF flag is set. 0 SPTEF interrupt disabled. 1 SPTEF interrupt enabled. 4 MSTR SPI Master/Slave Mode Select Bit -- This bit selects whether the SPI operates in master or slave mode. Switching the SPI from master to slave or vice versa forces the SPI system into idle state. 0 SPI is in slave mode. 1 SPI is in master mode. 3 CPOL SPI Clock Polarity Bit -- This bit selects an inverted or non-inverted SPI clock. To transmit data between SPI modules, the SPI modules must have identical CPOL values. In master mode, a change of this bit will abort a transmission in progress and force the SPI system into idle state. 0 Active-high clocks selected. In idle state SCK is low. 1 Active-low clocks selected. In idle state SCK is high. 2 CPHA SPI Clock Phase Bit -- This bit is used to select the SPI clock format. In master mode, a change of this bit will abort a transmission in progress and force the SPI system into idle state. 0 Sampling of data occurs at odd edges (1,3,5,...) of the SCK clock. 1 Sampling of data occurs at even edges (2,4,6,...) of the SCK clock. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 669 Chapter 17 Serial Peripheral Interface (S12SPIV5) Table 17-2. SPICR1 Field Descriptions (continued) Field Description 1 SSOE Slave Select Output Enable -- The SS output feature is enabled only in master mode, if MODFEN is set, by asserting the SSOE as shown in Table 17-3. In master mode, a change of this bit will abort a transmission in progress and force the SPI system into idle state. 0 LSBFE LSB-First Enable -- This bit does not affect the position of the MSB and LSB in the data register. Reads and writes of the data register always have the MSB in the highest bit position. In master mode, a change of this bit will abort a transmission in progress and force the SPI system into idle state. 0 Data is transferred most significant bit first. 1 Data is transferred least significant bit first. Table 17-3. SS Input / Output Selection 17.3.2.2 MODFEN SSOE Master Mode Slave Mode 0 0 SS not used by SPI SS input 0 1 SS not used by SPI SS input 1 0 SS input with MODF feature SS input 1 1 S is slave select S output SS input SPI Control Register 2 (SPICR2) Module Base +0x0001 7 R 0 W Reset 0 6 XFRW 0 5 0 0 4 3 MODFEN BIDIROE 0 0 2 0 0 1 0 SPISWAI SPC0 0 0 = Unimplemented or Reserved Figure 17-4. SPI Control Register 2 (SPICR2) Read: Anytime Write: Anytime; writes to the reserved bits have no effect MC9S12ZVM Family Reference Manual Rev. 2.2 670 Freescale Semiconductor Chapter 17 Serial Peripheral Interface (S12SPIV5) Table 17-4. SPICR2 Field Descriptions Field Description 6 XFRW Transfer Width -- This bit is used for selecting the data transfer width. If 8-bit transfer width is selected, SPIDRL becomes the dedicated data register and SPIDRH is unused. If 16-bit transfer width is selected, SPIDRH and SPIDRL form a 16-bit data register. Please refer to Section 17.3.2.4, "SPI Status Register (SPISR) for information about transmit/receive data handling and the interrupt flag clearing mechanism. In master mode, a change of this bit will abort a transmission in progress and force the SPI system into idle state. 0 8-bit Transfer Width (n = 8)(1) 1 16-bit Transfer Width (n = 16)1 4 MODFEN Mode Fault Enable Bit -- This bit allows the MODF failure to be detected. If the SPI is in master mode and MODFEN is cleared, then the SS port pin is not used by the SPI. In slave mode, the SS is available only as an input regardless of the value of MODFEN. For an overview on the impact of the MODFEN bit on the SS port pin configuration, refer to Table 17-3. In master mode, a change of this bit will abort a transmission in progress and force the SPI system into idle state. 0 SS port pin is not used by the SPI. 1 SS port pin with MODF feature. 3 BIDIROE Output Enable in the Bidirectional Mode of Operation -- This bit controls the MOSI and MISO output buffer of the SPI, when in bidirectional mode of operation (SPC0 is set). In master mode, this bit controls the output buffer of the MOSI port, in slave mode it controls the output buffer of the MISO port. In master mode, with SPC0 set, a change of this bit will abort a transmission in progress and force the SPI into idle state. 0 Output buffer disabled. 1 Output buffer enabled. 1 SPISWAI SPI Stop in Wait Mode Bit -- This bit is used for power conservation while in wait mode. 0 SPI clock operates normally in wait mode. 1 Stop SPI clock generation when in wait mode. 0 SPC0 Serial Pin Control Bit 0 -- This bit enables bidirectional pin configurations as shown in Table 17-5. In master mode, a change of this bit will abort a transmission in progress and force the SPI system into idle state. 1. n is used later in this document as a placeholder for the selected transfer width. Table 17-5. Bidirectional Pin Configurations Pin Mode SPC0 BIDIROE MISO MOSI Master Mode of Operation Normal 0 X Master In Bidirectional 1 0 MISO not used by SPI Master Out Master In 1 Master /O Slave Mode of Operation Normal 0 Bidirectional 1 X Slave Out Slave In 0 Slave In MOSI not used by SPI 1 Slave I/O MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 671 Chapter 17 Serial Peripheral Interface (S12SPIV5) 17.3.2.3 SPI Baud Rate Register (SPIBR) Module Base +0x0002 7 R 6 0 W Reset 0 5 4 3 SPPR2 SPPR1 SPPR0 0 0 0 0 2 1 0 SPR2 SPR1 SPR0 0 0 0 0 = Unimplemented or Reserved Figure 17-5. SPI Baud Rate Register (SPIBR) Read: Anytime Write: Anytime; writes to the reserved bits have no effect Table 17-6. SPIBR Field Descriptions Field Description 6-4 SPPR[2:0] SPI Baud Rate Preselection Bits -- These bits specify the SPI baud rates as shown in Table 17-7. In master mode, a change of these bits will abort a transmission in progress and force the SPI system into idle state. 2-0 SPR[2:0] SPI Baud Rate Selection Bits -- These bits specify the SPI baud rates as shown in Table 17-7. In master mode, a change of these bits will abort a transmission in progress and force the SPI system into idle state. The baud rate divisor equation is as follows: BaudRateDivisor = (SPPR + 1) 2(SPR + 1) Eqn. 17-1 The baud rate can be calculated with the following equation: Baud Rate = BusClock / BaudRateDivisor Eqn. 17-2 NOTE For maximum allowed baud rates, please refer to the SPI Electrical Specification in the Electricals chapter of this data sheet. Table 17-7. Example SPI Baud Rate Selection (25 MHz Bus Clock) (Sheet 1 of 3) SPPR2 SPPR1 SPPR0 SPR2 SPR1 SPR0 Baud Rate Divisor 0 0 0 0 0 0 2 12.5 bit/s M 0 0 0 0 0 1 4 6.25 bit/s M Baud Rate 0 0 0 0 1 0 8 3.125 Mbit/s 0 0 0 0 1 1 16 1.5625 Mbit/s 0 0 0 1 0 0 32 781.25 kbit/s 0 0 0 1 0 1 64 390.63 kbit/s 0 0 0 1 1 0 128 195.31 kbit/s 0 0 0 1 1 1 256 97.66 kbit/s 0 0 1 0 0 0 4 6.25 0 0 1 0 0 1 8 3.125 Mbit/s 0 0 1 0 1 0 16 1.5625 Mbit/s bit/s MC9S12ZVM Family Reference Manual Rev. 2.2 672 Freescale Semiconductor M Chapter 17 Serial Peripheral Interface (S12SPIV5) Table 17-7. Example SPI Baud Rate Selection (25 MHz Bus Clock) (Sheet 2 of 3) SPPR2 SPPR1 0 0 0 0 SPPR0 Baud Rate Divisor SPR2 SPR1 SPR0 Baud Rate 1 0 1 1 32 781.25 kbit/s 1 1 0 0 64 390.63 kbit/s 0 0 1 1 0 1 128 195.31 kbit/s 0 0 1 1 1 0 256 97.66 kbit/s 0 0 1 1 1 1 512 48.83 kbit/s 0 1 0 0 0 0 6 4.16667 Mbit/s 0 1 0 0 0 1 12 2.08333 Mbit/s 0 1 0 0 1 0 24 1.04167 Mbit/s 0 1 0 0 1 1 48 520.83 kbit/s 0 1 0 1 0 0 96 260.42 kbit/s 0 1 0 1 0 1 192 130.21 kbit/s 0 1 0 1 1 0 384 65.10 kbit/s 0 1 0 1 1 1 768 32.55 kbit/s 0 1 1 0 0 0 8 3.125 Mbit/s 0 1 1 0 0 1 16 1.5625 Mbit/s 0 1 1 0 1 0 32 781.25 kbit/s 0 1 1 0 1 1 64 390.63 kbit/s 0 1 1 1 0 0 128 195.31 kbit/s 0 1 1 1 0 1 256 97.66 kbit/s 0 1 1 1 1 0 512 48.83 kbit/s 0 1 1 1 1 1 1024 24.41 kbit/s 1 0 0 0 0 0 10 2.5 Mbit/s 1 0 0 0 0 1 20 1.25 Mbit/s 1 0 0 0 1 0 40 625 kbit/s 1 0 0 0 1 1 80 312.5 kbit/s 1 0 0 1 0 0 160 156.25 kbit/s 1 0 0 1 0 1 320 78.13 kbit/s 1 0 0 1 1 0 640 39.06 kbit/s 1 0 0 1 1 1 1280 19.53 kbit/s 1 0 1 0 0 0 12 2.08333 Mbit/s 1 0 1 0 0 1 24 1.04167 Mbit/s 1 0 1 0 1 0 48 520.83 kbit/s 1 0 1 0 1 1 96 260.42 kbit/s 1 0 1 1 0 0 192 130.21 kbit/s 1 0 1 1 0 1 384 65.10 kbit/s 1 0 1 1 1 0 768 32.55 kbit/s 1 0 1 1 1 1 1536 16.28 kbit/s 1 1 0 0 0 0 14 1.78571 Mbit/s 1 1 0 0 0 1 28 892.86 kbit/s 1 1 0 0 1 0 56 446.43 kbit/s 1 1 0 0 1 1 112 223.21 kbit/s 1 1 0 1 0 0 224 111.61 kbit/s MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 673 Chapter 17 Serial Peripheral Interface (S12SPIV5) Table 17-7. Example SPI Baud Rate Selection (25 MHz Bus Clock) (Sheet 3 of 3) SPPR2 SPPR1 SPPR0 SPR2 SPR1 SPR0 Baud Rate Divisor Baud Rate 1 1 0 1 0 1 448 55.80 kbit/s 1 1 0 1 1 0 896 27.90 kbit/s 1 1 0 1 1 1 1792 13.95 kbit/s 1 1 1 0 0 0 16 1.5625 Mbit/s 1 1 1 0 0 1 32 781.25 kbit/s 1 1 1 0 1 0 64 390.63 kbit/s 1 1 1 0 1 1 128 195.31 kbit/s 1 1 1 1 0 0 256 97.66 kbit/s 1 1 1 1 0 1 512 48.83 kbit/s 1 1 1 1 1 0 1024 24.41 kbit/s 1 1 1 1 1 1 2048 12.21 kbit/s 17.3.2.4 SPI Status Register (SPISR) Module Base +0x0003 7 R SPIF 5 4 3 2 1 0 0 6 SPTEF MODF 0 0 0 0 0 1 0 0 0 0 0 W Reset 0 = Unimplemented or Reserved Figure 17-6. SPI Status Register (SPISR) Read: Anytime Write: Has no effect Table 17-8. SPISR Field Descriptions Field Description 7 SPIF SPIF Interrupt Flag -- This bit is set after received data has been transferred into the SPI data register. For information about clearing SPIF Flag, please refer to Table 17-9. 0 Transfer not yet complete. 1 New data copied to SPIDR. 5 SPTEF SPI Transmit Empty Interrupt Flag -- If set, this bit indicates that the transmit data register is empty. For information about clearing this bit and placing data into the transmit data register, please refer to Table 17-10. 0 SPI data register not empty. 1 SPI data register empty. 4 MODF Mode Fault Flag -- This bit is set if the SS input becomes low while the SPI is configured as a master and mode fault detection is enabled, MODFEN bit of SPICR2 register is set. Refer to MODFEN bit description in Section 17.3.2.2, "SPI Control Register 2 (SPICR2)". The flag is cleared automatically by a read of the SPI status register (with MODF set) followed by a write to the SPI control register 1. 0 Mode fault has not occurred. 1 Mode fault has occurred. MC9S12ZVM Family Reference Manual Rev. 2.2 674 Freescale Semiconductor Chapter 17 Serial Peripheral Interface (S12SPIV5) Table 17-9. SPIF Interrupt Flag Clearing Sequence XFRW Bit SPIF Interrupt Flag Clearing Sequence 0 Read SPISR with SPIF == 1 1 Read SPISR with SPIF == 1 then Read SPIDRL Byte Read SPIDRL (1) or then Byte Read SPIDRH (2) Byte Read SPIDRL or Word Read (SPIDRH:SPIDRL) 1. Data in SPIDRH is lost in this case. 2. SPIDRH can be read repeatedly without any effect on SPIF. SPIF Flag is cleared only by the read of SPIDRL after reading SPISR with SPIF == 1. Table 17-10. SPTEF Interrupt Flag Clearing Sequence XFRW Bit SPTEF Interrupt Flag Clearing Sequence 0 Read SPISR with SPTEF == 1 then 1 Read SPISR with SPTEF == 1 Write to SPIDRL (1) Byte Write to SPIDRL 1(2) or then Byte Write to SPIDRH 1(3) Byte Write to SPIDRL 1 or Word Write to (SPIDRH:SPIDRL) 1 1. Any write to SPIDRH or SPIDRL with SPTEF == 0 is effectively ignored. 2. Data in SPIDRH is undefined in this case. 3. SPIDRH can be written repeatedly without any effect on SPTEF. SPTEF Flag is cleared only by writing to SPIDRL after reading SPISR with SPTEF == 1. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 675 Chapter 17 Serial Peripheral Interface (S12SPIV5) 17.3.2.5 SPI Data Register (SPIDR = SPIDRH:SPIDRL) Module Base +0x0004 7 6 5 4 3 2 1 0 R R15 R14 R13 R12 R11 R10 R9 R8 W T15 T14 T13 T12 T11 T10 T9 T8 0 0 0 0 0 0 0 0 Reset Figure 17-7. SPI Data Register High (SPIDRH) Module Base +0x0005 5 4 3 2 1 0 R R7 7 R6 R5 R4 R3 R2 R1 R0 W T7 T6 T5 T4 T3 T2 T1 T0 0 0 0 0 0 0 0 0 Reset 6 Figure 17-8. SPI Data Register Low (SPIDRL) Read: Anytime; read data only valid when SPIF is set Write: Anytime The SPI data register is both the input and output register for SPI data. A write to this register allows data to be queued and transmitted. For an SPI configured as a master, queued data is transmitted immediately after the previous transmission has completed. The SPI transmitter empty flag SPTEF in the SPISR register indicates when the SPI data register is ready to accept new data. Received data in the SPIDR is valid when SPIF is set. If SPIF is cleared and data has been received, the received data is transferred from the receive shift register to the SPIDR and SPIF is set. If SPIF is set and not serviced, and a second data value has been received, the second received data is kept as valid data in the receive shift register until the start of another transmission. The data in the SPIDR does not change. If SPIF is set and valid data is in the receive shift register, and SPIF is serviced before the start of a third transmission, the data in the receive shift register is transferred into the SPIDR and SPIF remains set (see Figure 17-9). If SPIF is set and valid data is in the receive shift register, and SPIF is serviced after the start of a third transmission, the data in the receive shift register has become invalid and is not transferred into the SPIDR (see Figure 17-10). MC9S12ZVM Family Reference Manual Rev. 2.2 676 Freescale Semiconductor Chapter 17 Serial Peripheral Interface (S12SPIV5) Data A Received Data B Received Data C Received SPIF Serviced Receive Shift Register Data B Data A Data C SPIF SPI Data Register Data B Data A = Unspecified Data C = Reception in progress Figure 17-9. Reception with SPIF serviced in Time Data A Received Data B Received Data C Received Data B Lost SPIF Serviced Receive Shift Register Data B Data A Data C SPIF SPI Data Register Data A = Unspecified Data C = Reception in progress Figure 17-10. Reception with SPIF serviced too late 17.4 Functional Description The SPI module allows a duplex, synchronous, serial communication between the MCU and peripheral devices. Software can poll the SPI status flags or SPI operation can be interrupt driven. The SPI system is enabled by setting the SPI enable (SPE) bit in SPI control register 1. While SPE is set, the four associated SPI port pins are dedicated to the SPI function as: * Slave select (SS) * Serial clock (SCK) * Master out/slave in (MOSI) * Master in/slave out (MISO) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 677 Chapter 17 Serial Peripheral Interface (S12SPIV5) The main element of the SPI system is the SPI data register. The n-bit1 data register in the master and the n-bit1 data register in the slave are linked by the MOSI and MISO pins to form a distributed 2n-bit1 register. When a data transfer operation is performed, this 2n-bit1 register is serially shifted n1 bit positions by the S-clock from the master, so data is exchanged between the master and the slave. Data written to the master SPI data register becomes the output data for the slave, and data read from the master SPI data register after a transfer operation is the input data from the slave. A read of SPISR with SPTEF = 1 followed by a write to SPIDR puts data into the transmit data register. When a transfer is complete and SPIF is cleared, received data is moved into the receive data register. This data register acts as the SPI receive data register for reads and as the SPI transmit data register for writes. A common SPI data register address is shared for reading data from the read data buffer and for writing data to the transmit data register. The clock phase control bit (CPHA) and a clock polarity control bit (CPOL) in the SPI control register 1 (SPICR1) select one of four possible clock formats to be used by the SPI system. The CPOL bit simply selects a non-inverted or inverted clock. The CPHA bit is used to accommodate two fundamentally different protocols by sampling data on odd numbered SCK edges or on even numbered SCK edges (see Section 17.4.3, "Transmission Formats"). The SPI can be configured to operate as a master or as a slave. When the MSTR bit in SPI control register1 is set, master mode is selected, when the MSTR bit is clear, slave mode is selected. NOTE A change of CPOL or MSTR bit while there is a received byte pending in the receive shift register will destroy the received byte and must be avoided. 17.4.1 Master Mode The SPI operates in master mode when the MSTR bit is set. Only a master SPI module can initiate transmissions. A transmission begins by writing to the master SPI data register. If the shift register is empty, data immediately transfers to the shift register. Data begins shifting out on the MOSI pin under the control of the serial clock. * Serial clock The SPR2, SPR1, and SPR0 baud rate selection bits, in conjunction with the SPPR2, SPPR1, and SPPR0 baud rate preselection bits in the SPI baud rate register, control the baud rate generator and determine the speed of the transmission. The SCK pin is the SPI clock output. Through the SCK pin, the baud rate generator of the master controls the shift register of the slave peripheral. * MOSI, MISO pin In master mode, the function of the serial data output pin (MOSI) and the serial data input pin (MISO) is determined by the SPC0 and BIDIROE control bits. * SS pin If MODFEN and SSOE are set, the SS pin is configured as slave select output. The SS output becomes low during each transmission and is high when the SPI is in idle state. If MODFEN is set and SSOE is cleared, the SS pin is configured as input for detecting mode fault error. If the SS input becomes low this indicates a mode fault error where another master tries to 1. n depends on the selected transfer width, please refer to Section 17.3.2.2, "SPI Control Register 2 (SPICR2) MC9S12ZVM Family Reference Manual Rev. 2.2 678 Freescale Semiconductor Chapter 17 Serial Peripheral Interface (S12SPIV5) drive the MOSI and SCK lines. In this case, the SPI immediately switches to slave mode, by clearing the MSTR bit and also disables the slave output buffer MISO (or SISO in bidirectional mode). So the result is that all outputs are disabled and SCK, MOSI, and MISO are inputs. If a transmission is in progress when the mode fault occurs, the transmission is aborted and the SPI is forced into idle state. This mode fault error also sets the mode fault (MODF) flag in the SPI status register (SPISR). If the SPI interrupt enable bit (SPIE) is set when the MODF flag becomes set, then an SPI interrupt sequence is also requested. When a write to the SPI data register in the master occurs, there is a half SCK-cycle delay. After the delay, SCK is started within the master. The rest of the transfer operation differs slightly, depending on the clock format specified by the SPI clock phase bit, CPHA, in SPI control register 1 (see Section 17.4.3, "Transmission Formats"). NOTE A change of the bits CPOL, CPHA, SSOE, LSBFE, XFRW, MODFEN, SPC0, or BIDIROE with SPC0 set, SPPR2-SPPR0 and SPR2-SPR0 in master mode will abort a transmission in progress and force the SPI into idle state. The remote slave cannot detect this, therefore the master must ensure that the remote slave is returned to idle state. 17.4.2 Slave Mode The SPI operates in slave mode when the MSTR bit in SPI control register 1 is clear. * Serial clock In slave mode, SCK is the SPI clock input from the master. * MISO, MOSI pin In slave mode, the function of the serial data output pin (MISO) and serial data input pin (MOSI) is determined by the SPC0 bit and BIDIROE bit in SPI control register 2. * SS pin The SS pin is the slave select input. Before a data transmission occurs, the SS pin of the slave SPI must be low. SS must remain low until the transmission is complete. If SS goes high, the SPI is forced into idle state. The SS input also controls the serial data output pin, if SS is high (not selected), the serial data output pin is high impedance, and, if SS is low, the first bit in the SPI data register is driven out of the serial data output pin. Also, if the slave is not selected (SS is high), then the SCK input is ignored and no internal shifting of the SPI shift register occurs. Although the SPI is capable of duplex operation, some SPI peripherals are capable of only receiving SPI data in a slave mode. For these simpler devices, there is no serial data out pin. NOTE When peripherals with duplex capability are used, take care not to simultaneously enable two receivers whose serial outputs drive the same system slave's serial data output line. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 679 Chapter 17 Serial Peripheral Interface (S12SPIV5) As long as no more than one slave device drives the system slave's serial data output line, it is possible for several slaves to receive the same transmission from a master, although the master would not receive return information from all of the receiving slaves. If the CPHA bit in SPI control register 1 is clear, odd numbered edges on the SCK input cause the data at the serial data input pin to be latched. Even numbered edges cause the value previously latched from the serial data input pin to shift into the LSB or MSB of the SPI shift register, depending on the LSBFE bit. If the CPHA bit is set, even numbered edges on the SCK input cause the data at the serial data input pin to be latched. Odd numbered edges cause the value previously latched from the serial data input pin to shift into the LSB or MSB of the SPI shift register, depending on the LSBFE bit. When CPHA is set, the first edge is used to get the first data bit onto the serial data output pin. When CPHA is clear and the SS input is low (slave selected), the first bit of the SPI data is driven out of the serial data output pin. After the nth1 shift, the transfer is considered complete and the received data is transferred into the SPI data register. To indicate transfer is complete, the SPIF flag in the SPI status register is set. NOTE A change of the bits CPOL, CPHA, SSOE, LSBFE, MODFEN, SPC0, or BIDIROE with SPC0 set in slave mode will corrupt a transmission in progress and must be avoided. 17.4.3 Transmission Formats During an SPI transmission, data is transmitted (shifted out serially) and received (shifted in serially) simultaneously. The serial clock (SCK) synchronizes shifting and sampling of the information on the two serial data lines. A slave select line allows selection of an individual slave SPI device; slave devices that are not selected do not interfere with SPI bus activities. Optionally, on a master SPI device, the slave select line can be used to indicate multiple-master bus contention. MASTER SPI SHIFT REGISTER BAUD RATE GENERATOR SLAVE SPI MISO MISO MOSI MOSI SCK SCK SS VDD SHIFT REGISTER SS Figure 17-11. Master/Slave Transfer Block Diagram 17.4.3.1 Clock Phase and Polarity Controls Using two bits in the SPI control register 1, software selects one of four combinations of serial clock phase and polarity. 1. n depends on the selected transfer width, please refer to Section 17.3.2.2, "SPI Control Register 2 (SPICR2) MC9S12ZVM Family Reference Manual Rev. 2.2 680 Freescale Semiconductor Chapter 17 Serial Peripheral Interface (S12SPIV5) The CPOL clock polarity control bit specifies an active high or low clock and has no significant effect on the transmission format. The CPHA clock phase control bit selects one of two fundamentally different transmission formats. Clock phase and polarity should be identical for the master SPI device and the communicating slave device. In some cases, the phase and polarity are changed between transmissions to allow a master device to communicate with peripheral slaves having different requirements. 17.4.3.2 CPHA = 0 Transfer Format The first edge on the SCK line is used to clock the first data bit of the slave into the master and the first data bit of the master into the slave. In some peripherals, the first bit of the slave's data is available at the slave's data out pin as soon as the slave is selected. In this format, the first SCK edge is issued a half cycle after SS has become low. A half SCK cycle later, the second edge appears on the SCK line. When this second edge occurs, the value previously latched from the serial data input pin is shifted into the LSB or MSB of the shift register, depending on LSBFE bit. After this second edge, the next bit of the SPI master data is transmitted out of the serial data output pin of the master to the serial input pin on the slave. This process continues for a total of 16 edges on the SCK line, with data being latched on odd numbered edges and shifted on even numbered edges. Data reception is double buffered. Data is shifted serially into the SPI shift register during the transfer and is transferred to the parallel SPI data register after the last bit is shifted in. After 2n1 (last) SCK edges: * Data that was previously in the master SPI data register should now be in the slave data register and the data that was in the slave data register should be in the master. * The SPIF flag in the SPI status register is set, indicating that the transfer is complete. Figure 17-12 is a timing diagram of an SPI transfer where CPHA = 0. SCK waveforms are shown for CPOL = 0 and CPOL = 1. The diagram may be interpreted as a master or slave timing diagram because the SCK, MISO, and MOSI pins are connected directly between the master and the slave. The MISO signal is the output from the slave and the MOSI signal is the output from the master. The SS pin of the master must be either high or reconfigured as a general-purpose output not affecting the SPI. 1. n depends on the selected transfer width, please refer to Section 17.3.2.2, "SPI Control Register 2 (SPICR2) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 681 Chapter 17 Serial Peripheral Interface (S12SPIV5) End of Idle State Begin 1 SCK Edge Number 2 3 4 5 6 7 8 Begin of Idle State End Transfer 9 10 11 12 13 14 15 16 Bit 1 Bit 6 LSB Minimum 1/2 SCK for tT, tl, tL MSB SCK (CPOL = 0) SCK (CPOL = 1) If next transfer begins here SAMPLE I MOSI/MISO CHANGE O MOSI pin CHANGE O MISO pin SEL SS (O) Master only SEL SS (I) tT tL MSB first (LSBFE = 0): MSB Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 LSB first (LSBFE = 1): LSB Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 tL = Minimum leading time before the first SCK edge tT = Minimum trailing time after the last SCK edge tI = Minimum idling time between transfers (minimum SS high time) tL, tT, and tI are guaranteed for the master mode and required for the slave mode. tI tL Figure 17-12. SPI Clock Format 0 (CPHA = 0), with 8-bit Transfer Width selected (XFRW = 0) MC9S12ZVM Family Reference Manual Rev. 2.2 682 Freescale Semiconductor Chapter 17 Serial Peripheral Interface (S12SPIV5) End of Idle State SCK Edge Number Begin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 Begin of Idle State End Transfer 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 SCK (CPOL = 0) SCK (CPOL = 1) If next transfer begins here SAMPLE I MOSI/MISO CHANGE O MOSI pin CHANGE O MISO pin SEL SS (O) Master only SEL SS (I) MSB first (LSBFE = 0) LSB first (LSBFE = 1) tL tT t I tL MSB Bit 14Bit 13Bit 12Bit 11 Bit 10 Bit 9 B it 8 B it 7Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 LSB Minimum 1/2 SCK LSB Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 Bit 10Bit 11 Bit 12Bit 13Bit 14 MSB for tT, tl, tL tL = Minimum leading time before the first SCK edge tT = Minimum trailing time after the last SCK edge tI = Minimum idling time between transfers (minimum SS high time) tL, tT, and tI are guaranteed for the master mode and required for the slave mode. Figure 17-13. SPI Clock Format 0 (CPHA = 0), with 16-Bit Transfer Width selected (XFRW = 1) In slave mode, if the SS line is not deasserted between the successive transmissions then the content of the SPI data register is not transmitted; instead the last received data is transmitted. If the SS line is deasserted for at least minimum idle time (half SCK cycle) between successive transmissions, then the content of the SPI data register is transmitted. In master mode, with slave select output enabled the SS line is always deasserted and reasserted between successive transfers for at least minimum idle time. 17.4.3.3 CPHA = 1 Transfer Format Some peripherals require the first SCK edge before the first data bit becomes available at the data out pin, the second edge clocks data into the system. In this format, the first SCK edge is issued by setting the CPHA bit at the beginning of the n1-cycle transfer operation. The first edge of SCK occurs immediately after the half SCK clock cycle synchronization delay. This first edge commands the slave to transfer its first data bit to the serial data input pin of the master. A half SCK cycle later, the second edge appears on the SCK pin. This is the latching edge for both the master and slave. 1. n depends on the selected transfer width, please refer to Section 17.3.2.2, "SPI Control Register 2 (SPICR2) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 683 Chapter 17 Serial Peripheral Interface (S12SPIV5) When the third edge occurs, the value previously latched from the serial data input pin is shifted into the LSB or MSB of the SPI shift register, depending on LSBFE bit. After this edge, the next bit of the master data is coupled out of the serial data output pin of the master to the serial input pin on the slave. This process continues for a total of n1 edges on the SCK line with data being latched on even numbered edges and shifting taking place on odd numbered edges. Data reception is double buffered, data is serially shifted into the SPI shift register during the transfer and is transferred to the parallel SPI data register after the last bit is shifted in. After 2n1 SCK edges: * Data that was previously in the SPI data register of the master is now in the data register of the slave, and data that was in the data register of the slave is in the master. * The SPIF flag bit in SPISR is set indicating that the transfer is complete. Figure 17-14 shows two clocking variations for CPHA = 1. The diagram may be interpreted as a master or slave timing diagram because the SCK, MISO, and MOSI pins are connected directly between the master and the slave. The MISO signal is the output from the slave, and the MOSI signal is the output from the master. The SS line is the slave select input to the slave. The SS pin of the master must be either high or reconfigured as a general-purpose output not affecting the SPI. End of Idle State Begin SCK Edge Number 1 2 3 4 End Transfer 5 6 7 8 9 10 11 12 13 14 Begin of Idle State 15 16 SCK (CPOL = 0) SCK (CPOL = 1) If next transfer begins here SAMPLE I MOSI/MISO CHANGE O MOSI pin CHANGE O MISO pin SEL SS (O) Master only SEL SS (I) tT tL MSB first (LSBFE = 0): LSB first (LSBFE = 1): MSB LSB Bit 6 Bit 1 Bit 5 Bit 2 Bit 4 Bit 3 Bit 3 Bit 4 Bit 2 Bit 5 Bit 1 Bit 6 tI tL LSB Minimum 1/2 SCK for tT, tl, tL MSB tL = Minimum leading time before the first SCK edge, not required for back-to-back transfers tT = Minimum trailing time after the last SCK edge tI = Minimum idling time between transfers (minimum SS high time), not required for back-to-back transfers Figure 17-14. SPI Clock Format 1 (CPHA = 1), with 8-Bit Transfer Width selected (XFRW = 0) MC9S12ZVM Family Reference Manual Rev. 2.2 684 Freescale Semiconductor Chapter 17 Serial Peripheral Interface (S12SPIV5) End of Idle State SCK Edge Number Begin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 Begin of Idle State End Transfer 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 SCK (CPOL = 0) SCK (CPOL = 1) If next transfer begins here SAMPLE I MOSI/MISO CHANGE O MOSI pin CHANGE O MISO pin SEL SS (O) Master only SEL SS (I) tL MSB first (LSBFE = 0) LSB first (LSBFE = 1) tT tI tL Minimum 1/2 SCK for tT, tl, tL MSB Bit 14Bit 13Bit 12Bit 11 Bit 10 Bit 9 B it 8 B it 7Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 LSB LSB Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 Bit 10Bit 11 Bit 12Bit 13Bit 14 MSB tL = Minimum leading time before the first SCK edge, not required for back-to-back transfers tT = Minimum trailing time after the last SCK edge tI = Minimum idling time between transfers (minimum SS high time), not required for back-to-back transfers Figure 17-15. SPI Clock Format 1 (CPHA = 1), with 16-Bit Transfer Width selected (XFRW = 1) The SS line can remain active low between successive transfers (can be tied low at all times). This format is sometimes preferred in systems having a single fixed master and a single slave that drive the MISO data line. * Back-to-back transfers in master mode In master mode, if a transmission has completed and new data is available in the SPI data register, this data is sent out immediately without a trailing and minimum idle time. The SPI interrupt request flag (SPIF) is common to both the master and slave modes. SPIF gets set one half SCK cycle after the last SCK edge. 17.4.4 SPI Baud Rate Generation Baud rate generation consists of a series of divider stages. Six bits in the SPI baud rate register (SPPR2, SPPR1, SPPR0, SPR2, SPR1, and SPR0) determine the divisor to the SPI module clock which results in the SPI baud rate. The SPI clock rate is determined by the product of the value in the baud rate preselection bits (SPPR2-SPPR0) and the value in the baud rate selection bits (SPR2-SPR0). The module clock divisor equation is shown in Equation 17-3. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 685 Chapter 17 Serial Peripheral Interface (S12SPIV5) BaudRateDivisor = (SPPR + 1) 2(SPR + 1) Eqn. 17-3 When all bits are clear (the default condition), the SPI module clock is divided by 2. When the selection bits (SPR2-SPR0) are 001 and the preselection bits (SPPR2-SPPR0) are 000, the module clock divisor becomes 4. When the selection bits are 010, the module clock divisor becomes 8, etc. When the preselection bits are 001, the divisor determined by the selection bits is multiplied by 2. When the preselection bits are 010, the divisor is multiplied by 3, etc. See Table 17-7 for baud rate calculations for all bit conditions, based on a 25 MHz bus clock. The two sets of selects allows the clock to be divided by a non-power of two to achieve other baud rates such as divide by 6, divide by 10, etc. The baud rate generator is activated only when the SPI is in master mode and a serial transfer is taking place. In the other cases, the divider is disabled to decrease IDD current. NOTE For maximum allowed baud rates, please refer to the SPI Electrical Specification in the Electricals chapter of this data sheet. 17.4.5 17.4.5.1 Special Features SS Output The SS output feature automatically drives the SS pin low during transmission to select external devices and drives it high during idle to deselect external devices. When SS output is selected, the SS output pin is connected to the SS input pin of the external device. The SS output is available only in master mode during normal SPI operation by asserting SSOE and MODFEN bit as shown in Table 17-3. The mode fault feature is disabled while SS output is enabled. NOTE Care must be taken when using the SS output feature in a multimaster system because the mode fault feature is not available for detecting system errors between masters. 17.4.5.2 Bidirectional Mode (MOMI or SISO) The bidirectional mode is selected when the SPC0 bit is set in SPI control register 2 (see Table 17-11). In this mode, the SPI uses only one serial data pin for the interface with external device(s). The MSTR bit decides which pin to use. The MOSI pin becomes the serial data I/O (MOMI) pin for the master mode, and the MISO pin becomes serial data I/O (SISO) pin for the slave mode. The MISO pin in master mode and MOSI pin in slave mode are not used by the SPI. MC9S12ZVM Family Reference Manual Rev. 2.2 686 Freescale Semiconductor Chapter 17 Serial Peripheral Interface (S12SPIV5) Table 17-11. Normal Mode and Bidirectional Mode When SPE = 1 Normal Mode SPC0 = 0 Master Mode MSTR = 1 Serial Out MOSI MISO Serial Out SPI MOMI BIDIROE Serial In MOSI Serial In SPI SPI Serial In Bidirectional Mode SPC0 = 1 Slave Mode MSTR = 0 Serial Out MISO Serial In SPI BIDIROE Serial Out SISO The direction of each serial I/O pin depends on the BIDIROE bit. If the pin is configured as an output, serial data from the shift register is driven out on the pin. The same pin is also the serial input to the shift register. * The SCK is output for the master mode and input for the slave mode. * The SS is the input or output for the master mode, and it is always the input for the slave mode. * The bidirectional mode does not affect SCK and SS functions. NOTE In bidirectional master mode, with mode fault enabled, both data pins MISO and MOSI can be occupied by the SPI, though MOSI is normally used for transmissions in bidirectional mode and MISO is not used by the SPI. If a mode fault occurs, the SPI is automatically switched to slave mode. In this case MISO becomes occupied by the SPI and MOSI is not used. This must be considered, if the MISO pin is used for another purpose. 17.4.6 Error Conditions The SPI has one error condition: * Mode fault error 17.4.6.1 Mode Fault Error If the SS input becomes low while the SPI is configured as a master, it indicates a system error where more than one master may be trying to drive the MOSI and SCK lines simultaneously. This condition is not permitted in normal operation, the MODF bit in the SPI status register is set automatically, provided the MODFEN bit is set. In the special case where the SPI is in master mode and MODFEN bit is cleared, the SS pin is not used by the SPI. In this special case, the mode fault error function is inhibited and MODF remains cleared. In case MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 687 Chapter 17 Serial Peripheral Interface (S12SPIV5) the SPI system is configured as a slave, the SS pin is a dedicated input pin. Mode fault error doesn't occur in slave mode. If a mode fault error occurs, the SPI is switched to slave mode, with the exception that the slave output buffer is disabled. So SCK, MISO, and MOSI pins are forced to be high impedance inputs to avoid any possibility of conflict with another output driver. A transmission in progress is aborted and the SPI is forced into idle state. If the mode fault error occurs in the bidirectional mode for a SPI system configured in master mode, output enable of the MOMI (MOSI in bidirectional mode) is cleared if it was set. No mode fault error occurs in the bidirectional mode for SPI system configured in slave mode. The mode fault flag is cleared automatically by a read of the SPI status register (with MODF set) followed by a write to SPI control register 1. If the mode fault flag is cleared, the SPI becomes a normal master or slave again. NOTE If a mode fault error occurs and a received data byte is pending in the receive shift register, this data byte will be lost. 17.4.7 17.4.7.1 Low Power Mode Options SPI in Run Mode In run mode with the SPI system enable (SPE) bit in the SPI control register clear, the SPI system is in a low-power, disabled state. SPI registers remain accessible, but clocks to the core of this module are disabled. 17.4.7.2 SPI in Wait Mode SPI operation in wait mode depends upon the state of the SPISWAI bit in SPI control register 2. * If SPISWAI is clear, the SPI operates normally when the CPU is in wait mode * If SPISWAI is set, SPI clock generation ceases and the SPI module enters a power conservation state when the CPU is in wait mode. - If SPISWAI is set and the SPI is configured for master, any transmission and reception in progress stops at wait mode entry. The transmission and reception resumes when the SPI exits wait mode. - If SPISWAI is set and the SPI is configured as a slave, any transmission and reception in progress continues if the SCK continues to be driven from the master. This keeps the slave synchronized to the master and the SCK. If the master transmits several bytes while the slave is in wait mode, the slave will continue to send out bytes consistent with the operation mode at the start of wait mode (i.e., if the slave is currently sending its SPIDR to the master, it will continue to send the same byte. Else if the slave is currently sending the last received byte from the master, it will continue to send each previous master byte). MC9S12ZVM Family Reference Manual Rev. 2.2 688 Freescale Semiconductor Chapter 17 Serial Peripheral Interface (S12SPIV5) NOTE Care must be taken when expecting data from a master while the slave is in wait or stop mode. Even though the shift register will continue to operate, the rest of the SPI is shut down (i.e., a SPIF interrupt will not be generated until exiting stop or wait mode). Also, the byte from the shift register will not be copied into the SPIDR register until after the slave SPI has exited wait or stop mode. In slave mode, a received byte pending in the receive shift register will be lost when entering wait or stop mode. An SPIF flag and SPIDR copy is generated only if wait mode is entered or exited during a tranmission. If the slave enters wait mode in idle mode and exits wait mode in idle mode, neither a SPIF nor a SPIDR copy will occur. 17.4.7.3 SPI in Stop Mode Stop mode is dependent on the system. The SPI enters stop mode when the module clock is disabled (held high or low). If the SPI is in master mode and exchanging data when the CPU enters stop mode, the transmission is frozen until the CPU exits stop mode. After stop, data to and from the external SPI is exchanged correctly. In slave mode, the SPI will stay synchronized with the master. The stop mode is not dependent on the SPISWAI bit. 17.4.7.4 Reset The reset values of registers and signals are described in Section 17.3, "Memory Map and Register Definition", which details the registers and their bit fields. * If a data transmission occurs in slave mode after reset without a write to SPIDR, it will transmit garbage, or the data last received from the master before the reset. * Reading from the SPIDR after reset will always read zeros. 17.4.7.5 Interrupts The SPI only originates interrupt requests when SPI is enabled (SPE bit in SPICR1 set). The following is a description of how the SPI makes a request and how the MCU should acknowledge that request. The interrupt vector offset and interrupt priority are chip dependent. The interrupt flags MODF, SPIF, and SPTEF are logically ORed to generate an interrupt request. 17.4.7.5.1 MODF MODF occurs when the master detects an error on the SS pin. The master SPI must be configured for the MODF feature (see Table 17-3). After MODF is set, the current transfer is aborted and the following bit is changed: * MSTR = 0, The master bit in SPICR1 resets. The MODF interrupt is reflected in the status register MODF flag. Clearing the flag will also clear the interrupt. This interrupt will stay active while the MODF flag is set. MODF has an automatic clearing process which is described in Section 17.3.2.4, "SPI Status Register (SPISR)". MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 689 Chapter 17 Serial Peripheral Interface (S12SPIV5) 17.4.7.5.2 SPIF SPIF occurs when new data has been received and copied to the SPI data register. After SPIF is set, it does not clear until it is serviced. SPIF has an automatic clearing process, which is described in Section 17.3.2.4, "SPI Status Register (SPISR)". 17.4.7.5.3 SPTEF SPTEF occurs when the SPI data register is ready to accept new data. After SPTEF is set, it does not clear until it is serviced. SPTEF has an automatic clearing process, which is described in Section 17.3.2.4, "SPI Status Register (SPISR)". MC9S12ZVM Family Reference Manual Rev. 2.2 690 Freescale Semiconductor Chapter 18 Gate Drive Unit (GDU) Table 18-1. Revision History Table Version Number Revision Date V6 Initial Draft 25-January2015 Draft B 02-February2015 * * * Removed EPRES for all versions GDU startup flag GSUP reset with power on reset Included feedback from shared review Draft C 10-March2015 * Added Reserved bit to GDUCTR1 register Draft D 25-April-2015 * Added EPRES function for GDU V4 because there is an Errata for EPRES function 18.1 Description of Changes Initial Draft based on GDUV4/V5 with following changes for SR Motor support: * additional drain connections LD[2:0] for SR motor drive * GDUCTR1 register with control bits for SR motor drive * Removed EPRES control bit functionality for V5 and V6 * Changed GSUF startup flag functionality for V6 Differences GDUV4 vs GDUV5 vs GDUV6 Table 18-2. GDUV4/V5/V6 Differences(1) Feature GDU V4 Number of Overcurrent threshold GOCT0[3:0] , bits for overcurrent comparator 0/1 GOCT1[3:0] VLS level select control bit GVLSLVL Current sense amplifier offset On chip bootstrap diode GDU V5 GDU V6 GOCT0[4:0] , GOCT1[4:0] GOCT0[4:0], GOCT1[4:0] not available available available adjustable in 5mV steps adjustable in 3mV steps adjustable in 3mV steps not available, off available chip bootstrap diode required not available, off chip bootstrap diode required MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 691 Chapter 18 Gate Drive Unit (GDU) Table 18-2. GDUV4/V5/V6 Differences(1) Feature GDU V4 GDU V5 GDU V6 Desaturation filter bits GDSFLS/GDSFHS not available available available Fault[3] output to PMF driven by GLVLSIF driven by GLVLSF driven by GLVLSF Fault[4] output to PMF driven by GHHDIF driven by GHHDF driven by GHHDF not available not available available additional drain connections not available LD[2:0] to external low-side power FETs not available available Control bits GSRMOD1/0 for SR not available not available motor drive 1. Refer to device overview for maskset / GDU version info. available Low-side drivers on or off out of reset dependant on NVM option The GDU module is a Field Effect Transistor (FET) pre-driver designed for three phase motor control applications. 18.1.1 Features The GDU module includes these distinctive features: * 11V voltage regulator for FET pre-drivers * Boost converter option for low supply voltage condition * 3-phase bridge FET pre-drivers * Bootstrap circuit for high-side FET pre-drivers with external bootstrap capacitor * Charge pump for static high-side driver operation * Phase voltage measurement with internal ADC * Two low-side current measurement amplifiers for DC phase current measurement * Phase comparators for BEMF zero crossing detection in sensorless BLDC applications * Voltage measurement on HD pin (DC-Link voltage) with internal ADC * Desaturation comparator for high-side drivers and low-side drivers protection * Undervoltage detection on FET pre-driver supply pin VLS * Two overcurrent comparators with programmable voltage threshold * Overvoltage detection on 3-phase bridge supply HD pin 18.1.2 Modes of Operation The GDU module behaves as follows in the system power modes: 1. Run mode MC9S12ZVM Family Reference Manual Rev. 2.2 692 Freescale Semiconductor Chapter 18 Gate Drive Unit (GDU) All features are available. 2. Wait mode All features are available. 3. Stop mode The GDU is disabled in stop mode. The high-side drivers, low-side drivers, charge pump, voltage regulator, boost circuit, and current sense amplifier are switched off. The GDU will weakly pull the gates of the MOSFET to their source potential. On entering stop mode the GDUE register bits are cleared. GFDE=0, GCPE=0, GBOE=0, GCSE1=0 and GCSE0=0. NOTE The device does not support putting the MOSFET in specific state during stop mode as GDU charge pump clock is not running. This means device can not be put in stop mode if FETs needs to be in specific state to protect the system from external energy supply (e.g. externally driven motorgenerator). MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 693 Chapter 18 Gate Drive Unit (GDU) 18.1.3 Block Diagram VCP CP BST VSSB Figure shows a block diagram of the GDU module. Boost Converter Option Charge Pump HD VBS[2:0] Control ADC Channels Register Error PWM Channels Level Shifters HG[2:0] FET HS[2:0] Pre-Drivers VLS[2:0] LG[2:0] IP Bus LS[2:0] LD[2:0] (only on GDUV6) AMPP[1:0] AMPM[1:0] AMP[1:0] Two Current Sense Amplifiers VLS_OUT VSUP Voltage Regulator Figure 18-1. GDU Block Diagram MC9S12ZVM Family Reference Manual Rev. 2.2 694 Freescale Semiconductor Chapter 18 Gate Drive Unit (GDU) 18.2 18.2.1 External Signal Description HD -- High-Side Drain Connection This pin is the power supply for the 3-phase bridge (DC-link voltage). NOTE The HD pin should be connected as near as possible to the drain connections of the high-side MOSFETs. 18.2.2 VBS[2:0] -- Bootstrap Capacitor Connection Pins The pins are the bootstrap capacitor connections for phases HS[2:0]. The capacitor is connected between HS[2:0] and this pin. The bootstrap capacitor provides the gate voltage and current to drive the gate of the external power FET. 18.2.3 HG[2:0] -- High-Side Gate Pins The pins are the gate drives for the high-side power FETs. The drivers provide a high current with low impedance to turn on and off the high-side power FETs. 18.2.4 HS[2:0] -- High-Side Source Pins The pins are the source connection for the high-side power FETs and the drain connection for the low-side power FETs. The low voltage end of the bootstrap capacitor is also connected to this pin. 18.2.5 VLS[2:0] -- Voltage Supply for Low-Side Pre-Drivers The pins are the voltage supply pins for the three low-side FET pre-drivers. These pins should be connected to the voltage regulator output pin VLS_OUT. The output voltage on VLS_OUT pin is typically VVLS=11V. NOTE It is recommended to add a 110nF-220nF X7R ceramic capacitor close to each VLS pin. 18.2.6 LG[2:0] -- Low-Side Gate Pins The pins are the gate drives for the low-side power FETs. The drivers provide a high current with low impedance to turn on and off the the low-side power FETs. 18.2.7 LD[2:0] -- Low-Side Gate Pins (only on GDUV6) These pins are the drain connections for the low-side power FETs. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 695 Chapter 18 Gate Drive Unit (GDU) 18.2.7.1 LS[2:0] -- Low-Side Source Pins The pins are the low-side source connections for the low-side power FETs. The pins are the power ground pins used to return the gate currents from the low-side power FETs. 18.2.7.2 AMPP[1:0] -- Current Sense Amplifier Non-Inverting Input Pins These pins are the non-inverting inputs to the current sense amplifiers. 18.2.7.3 AMPM[1:0] -- Current Sense Amplifier Inverting Input Pins These pins are the inverting inputs to the current sense amplifiers. 18.2.7.4 AMP[1:0] -- Current Sense Amplifier Output Pins These pins are the outputs of the current sense amplifiers. At the MCU level these pins are shared with ADC channels. For ADC channel assignment, see MCU pinout section. 18.2.7.5 CP -- Charge Pump Output Pin This pin is the switching node of the charge pump circuit. The supply voltage for charge pump driver is the output of the voltage regulator VVLS. The output voltage of this pin switches typically between 0V and 11V. 18.2.7.6 VCP -- Charge Pump Input for High-Side Driver Supply This pin is the charge pump input for the high-side FET pre-driver supply VBS[2:0]. 18.2.7.7 BST -- Boost Converter Pin This pin provides the basic switching elements required to implement a boost converter for low battery voltage conditions. This requires external diodes, capacitors and a coil. 18.2.7.8 VSSB -- Boost Ground Pin This pin is a separate power ground pin for the on chip boost converter switching device. 18.2.7.9 VSUP -- Battery Voltage Supply Input Pin This pin should be connected to the battery voltage. It is the input voltage to the integrated voltage regulator. The output of the voltage regulator is pin VLS_OUT. 18.2.7.10 VLS_OUT -- Voltage Regulator Output Pin This pin is the output of the integrated voltage regulator. The ouput voltage is typically VVLS=11V. The input voltage to the voltage regulator is the VSUP pin. MC9S12ZVM Family Reference Manual Rev. 2.2 696 Freescale Semiconductor Chapter 18 Gate Drive Unit (GDU) NOTE A 4.7uF or 10uF capacitor should be connected to this pin for stability of the the voltage regulator output. 18.3 Memory Map and Register Definition This section provides the detailed information of all registers for the GDU module. 18.3.1 Register Summary Figure 18-2 shows the summary of all implemented registers inside the GDU module. NOTE Register Address = Module Base Address + Address Offset, where the Module Base Address is defined at the MCU level and the Address Offset is defined at the module level. Address Offset Register Name Bit 7 0x0000 GDUE R 0x0001 GDUCTR R 0x0002 GDUIE 0x0003 GDUDSE GWP W W GHHDLVL R 0 6 0 5 4 3 2 1 Bit 0 EPRES(1) GCSE1 GBOE GCSE0 GCPE GFDE GVLSLVL GBKTIM2[3:0] (2) 0 0 GOCIE[1:0] W R 0 0x0004 GDUSTAT R 0x0005 GDUSRC R 0x0006 GDUF R 0x0007 GDUCLK1 R GDSEIE 0 GDHSIF[2:0] W GBKTIM1[1:0] GPHS[2:0] GHHDIE GLVLSIE GDLSIF[2:0] GOCS[1:0] GHHDS GLVLSS W 0 W GSUF 0 GSRCHS[2:0] W GHHDF GLVLSF 0 GOCIF[1:0] GBOCD[4:0] W GSRCLS[2:0] 0 GHHDIF GLVLSIF GBODC[1:0] = Unimplemented Figure 18-2. GDU Register Summary MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 697 Chapter 18 Gate Drive Unit (GDU) Address Offset Register Name 0x0008 GDUBCL R 0x0009 GDUPHMUX R 0x000A GDUCSO R 0x000B GDUDSLVL 6 5 4 0 0 0 0 0 0 0 0 3 2 1 0 0 GPHMX[1:0] W 0 W R GDSFHS (1) W R 0x000D GDUCLK2 R 0x000E GDUOC0 R 0x000F GDUOC1 R 0 GCSO1[2:0] GCSO0[2:0] GDSFLS GDSLHS[2:0] 0 0 0 0 0 0 0 0 GOCA0 GOCE0 GOCA1 GOCE1 Bit 0 GBCL[3:0] W 0x000C GDUPHL 0x0010 GDUCTR1 Bit 7 (1) GDSLLS[2:0] 0 GPHL[2:0] W GCPCD[3:0] W W W R W GSRMOD[1:0](5) 0 GOCT0[4:0](3) 0 0 GOCT1[4:0](4) 0 0 0 0 Reserved (6) 0x00110x001F = Unimplemented Figure 18-2. GDU Register Summary 1. Only available on GDU V4 2. Not available on GDUV4 3. On GDUV4 only GOCT0[3:0] available 4. On GDUV4 only GOCT1[3:0] available 5. Not available on GDUV4 and V5 6. This bit is implemented on GDUV6. 18.3.2 Register Descriptions This section consists of register descriptions in address order. Each description includes a standard register diagram with an associated figure number. Details of register bit and field function follow the register diagrams, in bit order. Unused bits read back zero. MC9S12ZVM Family Reference Manual Rev. 2.2 698 Freescale Semiconductor Chapter 18 Gate Drive Unit (GDU) 18.3.2.1 GDU Module Enable Register (GDUE) Access: User read/write(1) Module Base + 0x0000 7 R W Reset 6 0 GWP 0 5 4 3 2 1 0 EPRES(2) GCSE1 GBOE GCSE0 GCPE GFDE 0 0 0 0 0 1 0 = Unimplemented Figure 18-3. GDU Module Enable Register (GDUE) 1. Read: Anytime Write: Anytime, write protected bits only if GWP=0. On entry in stop mode bits GCSE0, GCSE1, GBOE, GCPE & GFDE are cleared. After exit from stop mode write protected bits GBOE, GCPE & GFDE can be written once when GWP=1. 2. Only available on GDU V4 Table 18-3. GDUE Register Field Description Field Description 7 GWP GDU Write Protect-- This bit enables write protection to be used for the write protectable bits. While clear, GWP allows write protectable bits to be written. When set GWP prevents any further writes to write protectable bits. Once set , GWP is cleared by reset. 0 Write-protectable bits may be written 1 Write-protectable bits cannot be written 5 EPRES GDU Enable High-Side Driver Preserve Functionality -- This bit controls the bootstrap charge preserve mode of the high-side drivers. If EPRES is set and the high-side driver is switched off the input current of the VBSx pins is reduced by typically 100uA in order to preserve the charge on the bootstrap capacitor. This bit cannot be modified after GWP bit is set. 0 High-side driver preserve functionality disabled 1 High-side driver preserve functionality enabled 4 GCSE1 GDU Current Sense Amplifier 1 Enable-- This bit enables the current sense amplifier. See 18.4.8Section 18.4.8, "Current Sense Amplifier and Overcurrent Comparator 0 Current sense amplifier 1 is disabled 1 Current sense amplifier 1 is enabled 3 GBOE GDU Boost Converter Enable -- This bit enables the boost option. This bit cannot be modified after GWP bit is set. See Section 18.4.10, "Boost Converter 0 Boost option is disabled 1 Boost option is enabled 2 GCSE0 GDU Current Sense Amplifier 0 Enable-- This bit enables the current sense amplifier. See Section 18.4.8, "Current Sense Amplifier and Overcurrent Comparator 0 Current sense amplifier 0 is disabled 1 Current sense amplifier 0 is enabled MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 699 Chapter 18 Gate Drive Unit (GDU) Table 18-3. GDUE Register Field Description Field Description 1 GCPE GDU Charge Pump Enable -- This bit enables the charge pump. This bit cannot be modified after GWP bit is set. See Section 18.4.4, "Charge Pump 0 Charge pump is disabled 1 Charge pump is enabled 0 GFDE GDU FET Pre-Driver Enable -- This bit enables the low-side and high-side FET pre-drivers. This bit cannot be modified after GWP bit is set.See Section 18.4.2, "Low-Side FET Pre-Drivers and Section 18.4.3, "High-Side FET Pre-Driver. 0 Low-side and high-side drivers are disabled 1 Low-side and high-side drivers are enabled NOTE It is not allowed to set and clear GFDE bit periodically in order to switch on and off the FET pre-drivers. In order to switch on and off the FET pre-drivers the PMF module has to be used to mask and un-mask the PWM channels. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 700 Chapter 18 Gate Drive Unit (GDU) 18.3.2.2 GDU Control Register (GDUCTR) Access: User read/write(1) Module Base + 0x0001 R W 7 6 GHHDLVL GVLSLVL 0 1 Reset 5 4 3 2 GBKTIM2[3:0] 0 1 0 1 0 GBKTIM1[1:0] 0 0 0 = Unimplemented 1. Read: Anytime Write: Only if GWP=0 Figure 18-4. GDU Control Register (GDUCTR) Table 18-4. GDUCTR Register Field Descriptions Field Description 7 GHHDLVL GDU High HD Level Select -- Selects the voltage threshold of the overvoltage detection on HD pin. This bit cannot be modified after GWP bit is set. 0 Voltage thresholds of the overvoltage detection on HD pin configured for VHVHDLA and VHVHDLD 1 Voltage thresholds of the overvoltage detection on HD pin configured for VHVHDHA and VHVHDHD 6 GVLSLVL (Not featured on GDUV4) GDU VLS Level Select -- Selects the voltage threshold of the undervoltage detection on VLS pin. This bit cannot be modified after GWP bit is set. 0 Voltage thresholds of the undervoltage detection on VLS pin configured for VLVLSLA and VLVLSLD 1 Voltage thresholds of the undervoltage detection on VLS pin configured for VLVLSHA and VLVLSHD 5-2 GDU Blanking Time -- These bits adjust the blanking time tBLANK of the desaturation error comparators. The GBKTIM2[3:0] resulting blanking time tBLANK can be calculated from the equation below. For GBKTIM2[3:0]=$F no desaturation errors are captured and the drivers are unprotected and the charge pump will not connect to the high-side drivers. These bits cannot be modified after GWP bit is set. * GBKTIM1 + 1 t BLANK = GBKTIM2 + 1 2 + 2 T BUS 1-0 GDU Blanking Time -- These bits adjust the blanking time tBLANK of the desaturation error comparators. The GBKTIM1[1:0] resulting blanking time tBLANK can be calculated from the equation in the field description below.These bits cannot be modified after GWP bit is set. NOTE The register bits GBKTIM1 and GBKTIM2 must be set to the required values before the PWM channel is activated. Once the PWM channel is activated, the value of GBKTIM1 & GBKTIM2 must not change. If a different blanking time is required, the PWM channel has to be turned off before new values to GBKTIM1 & GBKTIM2 are written. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 701 Chapter 18 Gate Drive Unit (GDU) 18.3.2.3 GDU Interrupt Enable Register (GDUIE) Access: User read write(1) Module Base + 0x0002 R 7 6 5 0 0 0 0 0 0 4 GOCIE[1:0] W Reset 3 0 2 1 0 GDSEIE GHHDIE GLVLSIE 0 0 0 0 = Unimplemented Figure 18-5. GDU Interrupt Enable Register (GDUIE) 1. Read: Anytime Write: Anytime Table 18-5. GDUIE Register Field Descriptions Field 4-3 GOCIE[1:0] Description GDU Overcurrent Interrupt Enable -- Enables overcurrent interrupt. 0 No interrupt will be requested if any of the flags GOCIF[1:0] in the GDUF register is set 1 Interrupt will be requested if any of the flags GOCIF[1:0] in the GDUF register is set 2 GDSEIE GDU Desaturation Error Interrupt Enable -- Enables desaturation error interrupt on low-side or high-side drivers 0 No interrupt will be requested if any of the flags in the GDUDSE register is set 1 Interrupt will be requested if any of the flags in the GDUDSE register is set 1 GHHDIE GDU High HD Interrupt Enable -- Enables the high HD interrupt. 0 No interrupt will be requested whenever GHHDIF flag is set 1 Interrupt will be requested whenever GHHDIF flag is set 0 GLVLSIE GDU Low VLS Interrupt Enable -- Enables the interrupt which indicates low VLS supply 0 No interrupt will be requested whenever GLVLSIF flag is set 1 Interrupt will be requested whenever GLVLSIF flag is set 18.3.2.4 GDU Desaturation Error Flag Register (GDUDSE) Access: User read/write(1) Module Base + 0x0003 7 R 6 0 5 4 3 2 0 GDHSIF[2:0] 1 0 GDLSIF[2:0] W Reset 0 0 0 0 0 0 0 0 = Unimplemented Figure 18-6. GDU Desaturation Error Flag Register (GDUDSE) 1. Read: Anytime Write: Anytime, write 1 to clear MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 702 Chapter 18 Gate Drive Unit (GDU) Table 18-6. GDUDSE Register Field Descriptions Field Description 6-4 GDHSIF[2:0] GDU High-Side Driver Desaturation Interrupt Flags -- The flag is set by hardware to "1" when a desaturation error on associated high-side driver pin HS[2:0] occurs. If the GDSEIE bit is set an interrupt is requested. Writing a logic "1" to the bit field clears the flag. 0 No desaturation error on high-side driver 1 Desaturation error on high-side driver 2-0 GDLSIF[2:0] GDU Low-Side Driver Desaturation Interrupt Flag -- The flag is set to "1" when a desaturation error on associated low-side driver pin LS[2:0] occurs. If the GDSEIE bit is set an interrupt is requested. Writing a logic "1" to the bit field clears the flag. 0 No desaturation error on low-side driver 1 Desaturation error on low-side driver MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 703 Chapter 18 Gate Drive Unit (GDU) 18.3.2.5 GDU Status Register (GDUSTAT) Access: User read only(1) Module Base + 0x0004 7 6 R 5 4 GPHS[2:0] 3 GOCS[1:0] 2 1 0 0 GHHDS GLVLSS 0 0 0 W Reset 0 0 0 0 0 = Unimplemented Figure 18-7. GDU Status Register (GDUSTAT) 1. Read: Anytime Write: Never Table 18-7. GDUSTAT Register Field Descriptions Field Description 7-5 GPHS[2:0] GDU Phase Status -- The status bits are set to 1 when the voltage on associated pin HS[2:0] is greater than VHD/2. The flags are cleared when the voltage on associated pin HS[2:0] is less than VHD/2. See Section 18.4.6, "Phase Comparators 0 Voltage on pin HSx is VHSx < VHD/2 1 Voltage on pin HSx is VHSx > VHD/2 4-3 GOCS[1:0] GDU Overcurrent Status -- The status bits are set to 1 when the voltage on the overcurrent comparator input is above the threshold voltage VOCT. The flag is cleared when the voltage on the overcurrent comparator input is less than VOCT.Section 18.4.8, "Current Sense Amplifier and Overcurrent Comparator 0 Voltage on overcurrent comparator input is is less than VOCT 1 Voltage on overcurrent comparator is greater than VOCT 1 GHHDS GDU High HD Supply Status -- The status bit is set to 1 when the voltage on HD pin is above the threshold voltage VHVHDLA or VHVHDHA depending on the value of the GHHDLVL bit. The flag is cleared when the voltage on HD pin is less than VHVHDLD or VHVHDHD depending on the value of the GHHDLVL bit. 0 Voltage on pin HD is less than VHVHDLD or VHVHDHD 1 Voltage on pin HD is greater than VHVHDLA or VHVHDHA 0 GLVLSS GDU Low VLS Status -- The status bit is set to 1 when the voltage on VLS_OUT pin is below the threshold voltage VLVLSA. The flag is cleared when the voltage on VLS_OUT pin is greater than VLVLSD. 0 Voltage on pin VLS_OUT is greater than VLVLSD 1 Voltage on pin VLS_OUT is less than VLVLSA 18.3.2.6 GDU Slew Rate Control Register (GDUSRC) Access: User read/write(1) Module Base + 0x0005 7 R 6 0 4 0 1 0 3 2 0 GSRCHS[2:0] W Reset 5 0 0 1 0 GSRCLS[2:0] 1 0 0 = Unimplemented Figure 18-8. GDU Slew Rate Control Register (GDUSRC) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 704 Chapter 18 Gate Drive Unit (GDU) 1. Read: Anytime Write: Only if GWP=0 Table 18-8. GDU Slew Rate Control Register Field Descriptions Field Description 6:4 GDU Slew Rate Control Bits High-Side FET Pre-Drivers -- These bits control the slew rate on the HG[2:0] GSRCHS[2:0] pins (see FET Pre-Driver Details) .These bits cannot be modified after GWP bit is set. 000 : slowest . . 111 : fastest 3:0 GDU Slew Rate Control Bits Low-Side FET Pre-Drivers -- These bits control the slew rate on the LG[2:0] GSRCLS[2:0] pins (see FET Pre-Driver Details). These bits cannot be modified after GWP bit is set. 000 : slowest . . 111 : fastest MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 705 Chapter 18 Gate Drive Unit (GDU) 18.3.2.7 GDU Flag Register (GDUF) Access: User read/write(1) Module Base + 0x0006 R W Reset 7 6 5 GSUF GHHDF GLVLSF 1/F(2) 0 X(3) 4 3 0 GOCIF[1:0] 0 2 0 0 1 0 GHHDIF GLVLSIF 0 X(3) = Unimplemented Figure 18-9. GDU Flag Register (GDUF) 1. Read: Anytime Write: Anytime, write 1 to clear flag 2. On GDU V4/V5 the startup flag is cleared by reset and set by HW after reset deasserts. On GDU V6 the flag is cleared by reset and loaded from flash option field after reset deasserts. 3. Out of power on reset the flags may be set. Table 18-9. GDUF Register Field Descriptions Field Description GDU V6 7 GSUF GDU Start-up Flag -- The start-up flag is loaded fromthe flash option field after system reset deasserts. Writing a logic "1" to the bit field clears the flag. If the flag is set all high-side FET pre-drivers are turned off and all lowside FET pre-drivers are turned on. If the flagis cleared and there is no error condition present all high-side and low-side FET pre-drivers are driven by the pwm channels. 0 High-side and low-side FET pre-drivers are driven by pwm channels 1 High-side FET pre-drivers turned off and low-side FET pre-drivers are turned on GDU V4 and V5 7 GSUF GDU Start-up Flag -- The start-up flag is set by hardware on the first clock edge after system reset deasserts. Writing a logic "1" to the bit field clears the flag one bus cycle after writing "1". If the flag is set all high-side FET pre-drivers are turned off and all low-side FET pre-drivers are turned on. If the flag is cleared and there is no error condition present all high-side and low-side FET pre-drivers are driven by the pwm channels. 0 High-side and low-side FET pre-drivers are driven by pwm channels 1 High-side FET pre-drivers turned off and low-side FET pre-drivers are turned on 6 GHHDF GDU High VHD Supply Flag -- The flag controls the state of the FET pre-drivers. If the flag is set and GOCA1=0 the high-side pre-drivers are turned off and the low-side pre-drivers are turned on. If GOCA1=1 all high-side and low-side FET pre-drivers are turned off. If the flag is cleared and no other error condition is present the high-side and low-side pre-drivers are driven by the PWM channels. The flag is set by hardware if a high voltage condition on HD pin occurs. The flag is set if the voltage on pin HD is greater than the threshold voltage VHVHDLA or VHVHDHA . Writing a logic "1" to the bit field clears the flag. 0 Voltage on pin HD is less than VHVHDLD or VHVHDHD 1 Voltage on pin HD is greater than VHVHDLA or VHVHDHA 5 GLVLSF GDU Low VLS Supply Flag -- The flag controls the state of the FET pre-drivers. If the flag is set all high-side and low-side pre-drivers are turned off. If the flag is cleared and no other error condition is present the high-side and low-side pre-drivers are driven by the PWM channels. The flag is set by hardware if a low voltage condition on VLS_OUT pin occurs. The flag is set if the voltage on pin VLS drops below the threshold voltage VLVLSA. Writing a logic "1" to the bit field clears the flag. 0 VLS Supply is above VLVLSD 1 VLS Supply is below VLVLSA, all high-side and low-side FET pre-drivers are turned off MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 706 Chapter 18 Gate Drive Unit (GDU) Table 18-9. GDUF Register Field Descriptions Field Description 4-3 GOCIF[1:0] GDU Overcurrent Interrupt Flag -- The interrupt flags are set by hardware if an overcurrent condition occurs. The flags are set if the voltage on the overcurrent comparator input is greater than the threshold voltage VOCT. If the GOCIE bit is set an interrupt is requested. Writing a logic "1" to the bit field clears the flag. If the GOCAx bit is cleared all high-side FET pre-drivers are turned off and fault[4] is asserted. If GOCAx is set all high-side and low-side FET pre-drivers are turned off and fault[2:0] are asserted. 0 Voltage on overcurrent comparator input is less than VOCT 1 Voltage on overcurrent comparator is greater than VOCT 1 GHHDIF GDU High VHD Supply Interrupt Flag-- The interrupt flag is set by hardware if GHHDF is set or if GHHDS is cleared. If the GHHDIE bit is set an interrupt is requested. Writing a logic "1" to the bit field clears the flag. 0 GLVLSIF GDU Low VLS Supply Interrupt Flag-- The interrupt flag is set by hardware if GLVLSF is set or GLVLSS is cleared. If the GLVLSIE bit is set an interrupt is requested.Writing a logic "1" to the bit field clears the flag. NOTE The purpose of the GSUF flag is to allow dissipation of the energy in the motor coils through the low side FETs in case of short reset pulses whilst the motor is spinning. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 707 Chapter 18 Gate Drive Unit (GDU) 18.3.2.8 GDU Clock Control Register 1 (GDUCLK1) Access: User read/write(1) Module Base + 0x0007 7 R 6 5 0 3 2 1 GBOCD[4:0] W Reset 4 0 0 1. Read: Anytime Write: Anytime if GWP=0 0 0 0 GBODC[1:0] 0 0 0 0 Figure 18-10. GDU Clock Control Register 1 (GDUCLK1) Table 18-10. GDUCLK1 Register Field Descriptions Field Description 6-2 GBOCD[4:0] GDU Boost Option Clock Divider -- These bits select the clock divider factor which is used to divide down the bus clock frequency fBUS for the boost converter clock fBOOST. These bits cannot be modified after GWP bit is set. See Table 18-11 for divider factors. See also Section 18.4.10, "Boost Converter 1-0 GBODC[1:0] GDU Boost Option Clock Duty Cycle-- These bits select the duty cycle of the boost option clock fboost. For GBOCD[4]= 0 the duty cycle of the boost option clock is always 50%. These bits cannot be modified after GWP bit is set. 00 Duty Cycle = 50% 01 Duty Cycle = 25% 10 Duty Cycle = 50% 11 Duty Cycle = 75% NOTE The GBODC & GBOCD register bits must be set to the required value before GBOE bit is set. If a different boost clock frequency and duty cycle is required GBOE has to be cleared before new values to GBODC & GBOCD are written. Table 18-11. Boost Option Clock Divider Factors k = fBUS / fBOOST GBOCD[4:0] fBOOST 00000 fBUS / 4 00001 fBUS / 4 00010 fBUS / 4 00011 fBUS / 4 00100 fBUS / 4 00101 fBUS / 4 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 708 Chapter 18 Gate Drive Unit (GDU) Table 18-11. Boost Option Clock Divider Factors k = fBUS / fBOOST GBOCD[4:0] fBOOST 00110 fBUS / 6 00111 fBUS / 6 01000 fBUS / 8 01001 fBUS / 8 01010 fBUS / 10 01011 fBUS / 10 01100 fBUS / 12 01101 fBUS / 12 01110 fBUS / 14 01111 fBUS / 14 10000 fBUS / 16 10001 fBUS / 24 10010 fBUS / 32 10011 fBUS / 48 10100 fBUS / 64 10101 fBUS / 96 10110 fBUS / 100 10111 fBUS / 128 11000 fBUS / 192 11001 fBUS / 200 11010 fBUS / 256 11011 fBUS / 384 11100 fBUS / 400 11101 fBUS / 512 11110 fBUS / 768 11111 fBUS / 800 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 709 Chapter 18 Gate Drive Unit (GDU) 18.3.2.9 GDU Boost Current Limit Register (GDUBCL) Access: User read/write(1) Module Base + 0x0008 R 7 6 5 4 0 0 0 0 0 0 0 0 3 2 1. Read: Anytime Write: Anytime if GWP=0 0 0 0 GBCL[3:0] W Reset 1 0 0 Figure 18-11. GDU Boost Current Limit Register (GDUBCL) Table 18-12. GDU Boost Current Limit Register Field Descriptions Field Description GBCL[3:0] GDU Boost Current Limit Register-- These bits are used to adjust the boost coil current limit ICOIL0,16 on the BST pin. These bits cannot be modified after GWP bit is set. See GDU electrical parameters. 18.3.2.10 GDU Phase Mux Register (GDUPHMUX) Access: User read/write(1) Module Base + 0x0009 R 7 6 5 4 3 2 0 0 0 0 0 0 0 0 0 0 0 0 1 GPHMX[1:0] W Reset 0 0 0 = Unimplemented Figure 18-12. GDU Phase Mux Register (GDUPHMUX) 1. Read: Anytime Write: Anytime Table 18-13. GDU Phase Mux Register Field Descriptions Field Description [1:0] GPHMUX GDU Phase Multiplexer -- These buffered bits are used to select the voltage which is routed to internal ADC channel.The value written to the GDUPHMUX register does not take effect until the LDOK bit is set and the next PWM reload cycle begins. Reading GDUPHMUX register reads the value in the buffer. It is not necessary the value which is currently used. 00 Pin HD selected , VHD / 12 connected to ADC channel 01 Pin HS0 selected , VHS0 / 6 connected to ADC channel 10 Pin HS1 selected , VHS1 / 6 connected to ADC channel 11 Pin HS2 selected, VHS2 / 6 connected to ADC channel MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 710 Chapter 18 Gate Drive Unit (GDU) 18.3.2.11 GDU Current Sense Offset Register (GDUCSO) Access: User read/write(1) Module Base + 0x000A 7 R 6 5 0 0 0 0 3 2 0 GCSO1[2:0] W Reset 4 0 0 1 0 GCSO0[2:0] 0 0 0 = Unimplemented Figure 18-13. GDU Current Sense Offset (GDUCSO) 1. Read: Anytime Write: Anytime Table 18-14. GDUCSO Register Field Descriptions Field Description (See also Section 18.4.8, "Current Sense Amplifier and Overcurrent Comparator) 6:4 GCSO1[2:0] GDU Current Sense Amplifier 1 Offset -- These bits adjust the offset of the current sense amplifier 000 No offset 001 Offset is +3mV (GDUV5 and V6). Offset is +5mV (GDUV4). 010 Offset is +6mV (GDUV5 and V6). Offset is +10mV (GDUV4) 011 Offset is +9mV (GDUV5 and V6). Offset is +15mV (GDUV4) 100 No offset 101 Offset is -9mV (GDUV5 and V6). Offset is -15mV (GDUV4) 110 Offset is -6mV (GDUV5 and V6). Offset is -10mV (GDUV4). 111 Offset is -3mV (GDUV5 and V6). Offset is -5mV (GDUV4). 2:0 GCSO0[2:0] GDU Current Sense Amplifier 0 Offset -- These bits adjust the offset of the current sense amplifier. 000 No offset 001 Offset is +3mV (GDUV5 and V6). Offset is +5mV (GDUV4). 010 Offset is +6mV (GDUV5 and V6). Offset is +10mV (GDUV4) 011 Offset is +9mV (GDUV5 and V6). Offset is +15mV (GDUV4) 100 No offset 101 Offset is -9mV (GDUV5 and V6). Offset is -15mV (GDUV4) 110 Offset is -6mV (GDUV5 and V6). Offset is -10mV (GDUV4). 111 Offset is -3mV (GDUV5 and V6). Offset is -5mV (GDUV4). 18.3.2.12 GDU Desaturation Level Register (GDUDSLVL) Access: User read/write(1) Module Base + 0x000B 7 R W Reset 6 GDSFHS 5 4 GDSLHS[2:0] 0 0 0 3 2 GDSFLS 0 0 1 0 GDSLLS[2:0] 1 1 1 = Unimplemented 1. Read: Anytime Write: Only if GWP=0 Figure 18-14. GDU Desaturation Level Register (GDUDSLVL) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 711 Chapter 18 Gate Drive Unit (GDU) Table 18-15. GDU Desaturation Level Register Field Descriptions Field Description 7 GDSFHS (Not featured on GDUV4) GDU Desaturation Filter Characteristic for High-Side Drivers -- This bit adjusts the desaturation filter characteristic of the three high-side FET pre-drivers. These bits cannot be modified after GWP bit is set. See Section 18.4.5, "Desaturation Error. 6:4 GDSLHS GDU Desaturation Level for High-Side Drivers -- These bits adjust the desaturation levels of the three highside FET pre-drivers. These bits cannot be modified after GWP bit is set. See Section 18.4.5, "Desaturation Error 000 Vdesaths = VHD - 0.35V 001 Vdesaths = VHD - 0.50V 010 Vdesaths = VHD - 0.65V 011 Vdesaths = VHD - 0.80V 100 Vdesaths = VHD - 0.95V 101 Vdesaths = VHD - 1.10V 110 V desaths = VHD - 1.25V 111 V desaths = VHD - 1.40V 3 GDSFLS (Not featured on GDUV4) GDU Desaturation Filter Characteristic for Low-Side Drivers -- This bit adjusts the desaturation filter characteristic of the three low-side FET pre-drivers. These bits cannot be modified after GWP bit is set. See Section 18.4.5, "Desaturation Error. . 2:0 GDSLLS GDU Desaturation Level for Low-Side Drivers -- These bits adjust the desaturation level of the three lowside FET pre-drivers. These bits cannot be modified after GWP bit is set. See Section 18.4.5, "Desaturation Error 000 Vdesatls = 0.35V 001 Vdesatls = 0.50V 010 Vdesatls = 0.65V 011 Vdesatls = 0.80V 100 Vdesatls = 0.95V 101 Vdesatls = 1.10V 110 V desatls = 1.25V 111 V desatls = 1.40V MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 712 Chapter 18 Gate Drive Unit (GDU) 18.3.2.13 GDU Phase Log Register (GDUPHL) Access: User read only(1) Module Base + 0x000C R 7 6 5 4 3 0 0 0 0 0 0 0 0 0 0 2 1 0 GPHL[2:0] W Reset 0 0 0 = Unimplemented Figure 18-15. GDU Phase Log Register (GDUPHL) 1. Read: Anytime Write: never Table 18-16. GDU Phase Log Register Field Descriptions Field 2:0 GPHL Description GDU Phase Log Bits-- If a desaturation error occurs the phase status bits GPHS[2:0] in register GDUSTAT are copied to this register. The GDUPHL register is cleared only on reset. See Section 18.4.5, "Desaturation Error 18.3.2.14 GDU Clock Control Register 2 (GDUCLK2) Access: User read/write(1) Module Base + 0x000D R 7 6 5 4 0 0 0 0 0 0 0 0 3 2 1. Read: Anytime Write: Only if GWP=0 0 0 0 GCPCD[3:0] W Reset 1 0 0 Figure 18-16. GDU Clock Control Register 2 (GDUCLK2) Table 18-17. GDUCLK2 Register Field Descriptions Field Description 3-0 GCPCD[3:0] GDU Charge Pump Clock Divider -- These bits select the clock divider factor which is used to divide down the bus clock frequency fBUS for the charge pump clock fCP. See Table 18-18 for divider factors. These bits cannot be modified after GWP bit is set. See also Section 18.4.4, "Charge Pump NOTE The GCPCD bits must be set to the required value before GCPE bit is set. If a different charge pump clock frequency is required GCPE has to be cleared before new values to GCPCD bits are written. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 713 Chapter 18 Gate Drive Unit (GDU) Table 18-18. Charge Pump Clock Divider Factors k = fBUS / fCP GCPCD[3:0] fCP 0000 fBUS / 16 0001 fBUS / 24 0010 fBUS / 32 0011 fBUS / 48 0100 fBUS / 64 0101 fBUS / 96 0110 fBUS / 100 0111 fBUS / 128 1000 fBUS / 192 1001 fBUS / 200 1010 fBUS / 256 1011 fBUS / 384 1100 fBUS / 400 1101 fBUS / 512 1110 fBUS / 768 1111 fBUS / 800 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 714 Chapter 18 Gate Drive Unit (GDU) 18.3.2.15 GDU Overcurrent Register 0 (GDUOC0) Access: User read/write(1) Module Base + 0x000E R W 7 6 GOCA0 GOCE0 0 0 Reset 5 4 3 0 0 2 1 0 0 0 GOCT0[4:0] 0 0 0 = Unimplemented 1. Read: Anytime Write: Only if GWP=0 Figure 18-17. GDU Overcurrent Register 0 (GDUOC0) Table 18-19. GDUOC0 Register Field Descriptions Field Description 7 GOCA0 GDU Overcurrent Action -- This bit cannot be modified after GWP bit is set. This bit controls the action in case of an overcurrent event. See Table 18-25 and Table 18-24 6 GOCE0 GDU Overcurrent Comparator Enable -- This bit cannot be modified after GWP bit is set. 0 Overcurrent Comparator is disabled 1 Overcurrent Comparator is enabled GDUV4 (includes GOCT0 bits 3:0) 3:0 GOCT0[3:0] GDU Overcurrent Comparator Threshold -- These bits cannot be modified after GWP bit is set. The overcurrent comparator threshold voltage is the output of a 6-bit digital-to-analog converter. The upper two bits of the digital inputs are tied to one. The other bits of the digital inputs are driven by GOCT0. The overcurrent comparator threshold voltage can be calculated from equation below. VDDA Voct0 = 48 + GOCT0 -----------------64 GDUV5 and V6 (includes GOCT0 bits 4:0) 4:0 GOCT0[4:0] GDU Overcurrent Comparator Threshold -- These bits cannot be modified after GWP bit is set. The overcurrent comparator threshold voltage is the output of a 6-bit digital-to-analog converter. The upper bit of the digital inputs is tied to one. The other bits of the digital inputs are driven by GOCT0. The overcurrent comparator threshold voltage can be calculated from equation below. VDDA Voct0 = 32 + GOCT0 -----------------64 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 715 Chapter 18 Gate Drive Unit (GDU) 18.3.2.16 GDU Overcurrent Register 1 (GDUOC1) Access: User read/write(1) Module Base + 0x000F R W 7 6 GOCA1 GOCE1 0 0 Reset 5 4 3 0 0 2 1 0 0 0 GOCT1[4:0] 0 0 0 = Unimplemented 1. Read: Anytime Write: Only if GWP=0 Figure 18-18. GDU Overcurrent Register 1 (GDUOC1) Table 18-20. GDUOC1 Register Field Descriptions Field Description 7 GOCA1 GDU Overcurrent Action -- This bit cannot be modified after GWP bit is set. This bit controls the action in case of an overcurrent event or overvoltage event. See Table 18-25 and Table 18-24 6 GOCE1 GDU Overcurrent Enable -- This bit cannot be modified after GWP bit is set. 0 Overcurrent Comparator 1 is disabled 1 Overcurrent Comparator 1 is enabled GDUV4 (includes GOCT1 bits 3:0) 3:0 GOCT1[3:0] GDU Overcurrent Comparator Threshold -- These bits cannot be modified after GWP bit is set. The overcurrent comparator threshold voltage is the output of a 6-bit digital-to-analog converter. The upper two bits of the digital inputs are tied to one. The other bits of the digital inputs are driven by GOCT1. The overcurrent comparator threshold voltage can be calculated from equation below. VDDA Voct1 = 48 + GOCT1 -----------------64 GDUV5 and V6 (includes GOCT1 bits 4:0) 4:0 GOCT1[4:0] GDU Overcurrent Comparator Threshold -- These bits cannot be modified after GWP bit is set. The overcurrent comparator threshold voltage is the output of a 6-bit digital-to-analog converter. The upper bit of the digital inputs is tied to one. The other bits of the digital inputs are driven by GOCT1. The overcurrent comparator threshold voltage can be calculated from equation below. VDDA Voct1 = 32 + GOCT1 -----------------64 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 716 Chapter 18 Gate Drive Unit (GDU) 18.3.2.17 GDU Control Register 1 (GDUCTR1) Access: User read/write(1) Module Base + 0x0010 R W 7 6 GSRMOD1 GSRMOD0 0 0 Reset 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 Reserved(2) 0 = Unimplemented Figure 18-19. GDU Control Register 1 (GDUCTR1) 1. Read: Anytime Write: Only if GWP=0 2. This reserved bit is implemented on GDUV6. It is not intended for general user access. Don't set this bit. Setting this bit can alter the GDU functionality. Table 18-21. GDUCTR1 Register Field Descriptions(1) Field Description 7 GSRMOD1 GDU Switched Reluctance Motor Mode 1 -- This bit cannot be modified after GWP bit is set. This bit controls the routing of the LDx pins to the low-side desaturation comparators for switched reluctance motor. See Figure 18-23 0 HSx routed to low-side desaturation comparator 1 LDx routed to low-side desaturation comparator 6 GSRMOD0 GDU Switched Reluctance Motor Mode 0 -- This bit cannot be modified after GWP bit is set. 0 BLDC mode. Don't allow HGx and LGx high at the same time. 1 SR mode. Allow HGx and LGx high at the same time. 1. GDUCTR1 register only available on GDUV6. 18.4 18.4.1 Functional Description General The PMF module provides the values to be driven onto the outputs of the low-side and high-side FET predrivers. If the FET pre-drivers are enabled, the PMF channels drive their corresponding high-side or lowside FET pre-drivers according Table 18-22. Table 18-22. PMF Channel Assignment PMF Channel PMF Channel Assignment 0 High-Side Gate and Source Pins HG[0], HS[0] 1 Low-Side Gate and Source Pins LG[0], LS[0] 2 High-Side Gate and Source Pins HG[1], HS[1] MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 717 Chapter 18 Gate Drive Unit (GDU) Table 18-22. PMF Channel Assignment 18.4.2 PMF Channel PMF Channel Assignment 3 Low-Side Gate and Source Pins LG[1], LS[1] 4 High-Side Gate and Source Pins HG[2], HS[2] 5 Low-Side Gate and Source Pins LG[2], LS[2] Low-Side FET Pre-Drivers The three low-side FET pre-drivers turn on and off the external low-side power FETs. The energy required to charge the gate capacitance of the power FET CG is drawn from the output of the voltage regulator VLS. See Figure 18-20. The register bits GSRCLS[2:0] in the GDUSRC Register (see Figure 18-8) control the slew rate of the low-side FET pre-drivers in order to control fast voltage changes dv/dt (see also Section 18.5.1, "FET Pre-Driver Details). 18.4.3 High-Side FET Pre-Driver The three high-side FET pre-drivers turn on and off the external high-side power FETs. The required charge for the gate capacitance of the external power FET is delivered by the bootstrap capacitor. After the supply voltage is applied to the microcontroller or after exit from stop mode, the low-side FET pre-drivers should be activated for a short time in order to charge the bootstrap capacitor CBS. Care must be taken after a long period of inactivity of the low-side FET pre-drivers to verify that the bootstrap capacitor CBS is not discharged. The register bits GSRCHS[2:0] in the GDUSRC Register (see Figure 18-8) control the slew rate of the high-side FET pre-driver in order to control fast voltage changes dv/dt (see also Section 18.5.1, "FET PreDriver Details). NOTE The minimum PWM pulse on & off time must be tminpulse. NOTE If the GFDE bit is cleared the high-side gate and source pins and the lowside gate and source pins are shorted with an internal resistor. The voltage differences are VHGx-VHSx~ 0V and VLGx-VLSx ~ 0V so that the external FETs are turned off. NOTE The PWM channel outputs for high-side and low-side drivers are delayed by two core clock cycles. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 718 Chapter 18 Gate Drive Unit (GDU) VBAT D5 VSUP Reverse Battery Protection + Vref VLS_OUT 10uF optional charge pump filter GCPE CP D4 C1 100 D1 VCP 220nF GCPCD[3:0] GHHDIF Charge Pump Connect C2 HD P2 VBSx GSRCHS[2:0] hs_on Diode only required for GDUV4 and V6 HGx CBS RFILT HSx Bootstrap Transistor on GSRCLS[2:0] ls_on CG CFILT P1 VLSx LGx optional RC filter to VBS pin LDx (only on GDUV6) CG LSx Rsense Figure 18-20. FET Pre-Driver Circuit and Voltage Regulator NOTE Optional charge pump input RC filter can be used to avoid over pumping effect when voltage spikes are present on the high-side drains. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 719 Chapter 18 Gate Drive Unit (GDU) NOTE Optional RC filter to VBS pin should be used to avoid overshoot above maximum voltage on VBS pin. The RC filter needs to be carefully designed in order not to influence the charging time of the bootstrap capacitor CBS. NOTE GDUV4 and V6 does not include Bootstrap Transistor P1. It is only available on GDUV5. An external bootstrap diode is required for GDUV4 and V6. On GDUV5 the bootstrap transistor P1 is turned on when the corresponding low-side driver is turned on and no high voltage condition on HD pin and no desaturation error is flagged. 18.4.4 Charge Pump The GDU module integrates the necessary hardware to build a charge pump with external components.The charge pump is used to maintain the high-side driver gate source voltage VGS when PWM is running at 100% duty cycle. The external components needed are capacitors and diodes The supply voltage of the charge pump driver on pin CP is VVLS. The output voltage on pin CP typically switches between 0 and 11V. The charge pump clock frequency depends on the setting of GCPCD bits. The transistor P2 shown in Figure 18-20 connects VCP pin to VBSx pin. Figure 18-21 shows the timing diagram when transistor P2 connects VCP to VBSx. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 720 Chapter 18 Gate Drive Unit (GDU) Figure 18-21. Timing Diagram Charge Pump Connect tdelon / tdeloff : GDU propagation delay tHGON / tHGOFF : HS driver turn on/off time tBLANK: Blanking Time (see GDUCTR register) GCPE PWM hs_on tdelon charge pump connect tdeloff tBLANK tHGON tHGOFF HG During this time desaturation error flags can be set and charge pump is connected to VBSx MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 721 Chapter 18 Gate Drive Unit (GDU) 18.4.5 Desaturation Error A desaturation error is generated if the output signal at HSx does not properly reflect the drive condition of the low-side and high-side FET pre-drivers. The GDU integrates three desaturation comparators for the low-side FET pre-drivers and three desaturation comparators for the high-side FET pre-drivers. If the low-side power FET T2 (see Figure 18-23) is turned on and the drain source voltage VDS2 of T2 is greater than Vdesatls after the blanking time tBLANK a desaturation error will be flagged. In this case the associated desaturation error flag GDLSIF[2:0] will be set (see Figure 18-6) and the low-side power FET T2 will be turned off. The level of the voltage Vdesatls can be adjusted in the range of 0.35V to 1.40V (see Figure 18-14). If the high-side power FET T1 (see Figure 18-23) is turned on and the drain source voltage VDS1 is greater than Vdesaths after the blanking time tBLANK a desaturation error will be flagged.In this case the associated desaturation error flag GDHSIF[2:0] will be set (see Figure 18-6) and the high-side power FET T1 will be turned off. The level of the voltage Vdesaths can be adjusted in the range of 0.35 to 1.40V (see Figure 1814). NOTE The filter on the output of desaturation comparators described below is only available on GDUV5 and V6. The output of the desaturation comparator of the low-side and high-side drivers are filtered. The filter characteristic is controlled by the GDSFHS and GDSFLS bits as shown in Figure 18-22 and Table 18-23. Figure 18-22. Filter Characteristic of Desaturation Comparator Output Desturation Comparator Output Desaturation Filter output tDSFHS / tDSFLS Table 18-23. Filter Characteristic of Desaturation Comparator Output(1) GDSFHS/GDSFLS tDSFHS tDSFLS 0 200ns 150ns 1 500ns 400ns 1. Table shows typical values which are not production tested.Values are derived from simulation. MC9S12ZVM Family Reference Manual Rev. 2.2 722 Freescale Semiconductor Chapter 18 Gate Drive Unit (GDU) The low-side and high-side desaturation interrupt flags GDHSIF and GDLSIF are cleared by writing a one to the associated flag. After the flag is cleared the associated low-side or high-side FET pre-driver is enabled again and is driven by the source selected in the PMF module. Figure 18-23. Desaturation Comparators and Phase Comparators in BLDC Mode (LDx not connected)1 Desat. Comp. High-Side Driver Desaturation Error High-Side. Filter GDSLHS[2:0] + HD = VHD Vdesaths - High-Side FET Pre-Driver GDSFHS hs_on HGx T1 VDS1 Phase Comp. HSx + Phase Status - LDx VHD/2 GSRMOD1 Desat. Comp. Low-Side Driver Filter Desaturation Error Low-Side. LGx ls_on Low-Side FET Pre-Driver + GDSFLS BLDC Motor T2 VDS2 LSx GDSLLS[2:0] = Vdesatls Rsense 1. LDx pins and the routing option of HSx or LDx to the desaturation comparator of the low-side driver controlled by GSRMOD1 is only available on GDUV6. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 723 Chapter 18 Gate Drive Unit (GDU) Figure 18-24. Desaturation Comparators and Phase Comparators in SR mode (LDx connected)1 Desat. Comp. High-Side Driver Filter Desaturation Error High-Side. GDSLHS[2:0] + HD = VHD Vdesaths - High-Side FET Pre-Driver GDSFHS hs_on HGx T1 VDS1 Phase Comp. HSx + Phase Status - SR Motor VHD/2 LDx GSRMOD1 Desat. Comp. Low-Side Driver Filter Desaturation Error Low-Side. 18.4.6 Low-Side FET Pre-Driver + - T2 VDS2 LSx GDSLLS[2:0] = GDSFLS LGx ls_on Vdesatls Rsense Phase Comparators The GDU module includes three phase comparators. The phase comparators compares the voltage on the HS[2:0] pins with one half voltage on HD pin. If VHSx is greater than 0.5 VHD the associated phase status bit GPHS[2:0] is set. (see Figure 18-7) If the VHSx is less than 0.5 VHD the associated phase status bit GPHS[2:0] is cleared. If a desaturation error is detected the state of the phase status bit GPHS[2:0] are copied to the GDUPHL register. The phase flags get unlocked when the associated desaturation interrupt flag is cleared. 1. LDx pins and the routing option of HSx or LDx to the desaturation comparator of the low-side driver controlled by GSRMOD1 is only available on GDUV6. MC9S12ZVM Family Reference Manual Rev. 2.2 724 Freescale Semiconductor Chapter 18 Gate Drive Unit (GDU) 18.4.7 Fault Protection Features The GDU includes a number of fault protection features against overvoltage, overcurrent, undervoltage and power bridge faults like phase shorted to ground or supply. These fault protection features allow selection of the appropriate low side and high side driver state in case of a fault condition, shown in Table 18-25. In addition five fault outputs are provided to signal detected faults to other modules of the MCU. For connectivity of the fault outputs see the device specific information. Table 18-24 shows the logic equations for the five fault outputs. Table 18-24. Fault Outputs Logic Equations(1) Fault Output Logic Equation Fault[0] (GDLSIF[0] | GDHSIF[0]) | (GOCIF[0] & GOCA0) | (GOCIF[1] & GOCA1) Fault[1] (GDLSIF[1] | GDHSIF[1]) | (GOCIF[0] & GOCA0) | (GOCIF[1] & GOCA1) Fault[2] (GDLSIF[2] | GDHSIF[2]) | (GOCIF[0] & GOCA0) | (GOCIF[1] & GOCA1) GDU V5 and V6 Fault[3] Fault[4] GLVLSF GHHDF | (GOCIF[0] & ~GOCA0) | (GOCIF[1] & ~GOCA1) GDUV4 Fault[3] Fault[4] GLVLSIF GHHDIF | (GOCIF[0] & ~GOCA0) | (GOCIF[1] & ~GOCA1) 1. Logic equations for Fault[3]and Fault[4] are different on GDUV4,V5 and V6. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 725 Freescale Semiconductor Table 18-25. Fault Protection Features Summary Prior ity low Condition GDHSIF GDLSIF [2:0] [2:0] HS2 HS1 HS0 LS2 LS1 LS0 normal operation,no error condition, FET pre-driver driven by PMF module 0 0 0 0 0 000 000 startup condition after reset deassert, no error condition 1 0 0 0 0 000 000 off off off overvoltage on HD pin GOCA1=0 x 1 0 0 0 000 000 off off off on on on overcurrent condition comparator 0 GOCA0=0 x x 1 x 0 000 000 off off off on on on overcurrent condition comparator 1 GOCA1=0 x x x 1 0 000 000 off off off on on on undervoltage condition on VLS_OUT pin x x x x 1 000 000 off off off off off off overcurrent condition comparator 0 GOCA0=1 x x 1 x x 000 000 off off off off off off overcurrent condition comparator 1 GOCA1=1 x x x 1 x 000 000 off off off off off off desaturation error condition on high-side FET pre-drivers x x x x x 001 000 PWM PWM [4] [2] x x x x x 010 000 PWM [4] x x x x x 100 000 off x x x x x 000 001 PWM PWM PWM PWM PWM [4] [2] [0] [5] [3] x x x x x 000 010 PWM PWM PWM PWM [4] [2] [0] [5] x x x x x 000 100 PWM PWM PWM [4] [2] [0] x 1 x x x xxx xxx overvoltage on HD pin GOCA1=1 PWM PWM PWM PWM PWM PWM [4] [2] [0] [5] [3] [1] off off off on/off on/off on/off (1) PWM PWM PWM [5] [3] [1] PWM PWM PWM PWM [0] [5] [3] [1] PWM PWM PWM PWM PWM [2] [0] [5] [3] [1] off off off off 1. Startup condition of the low-side drivers LS[2:0] on GDUV6 depends on the flash option bit. On GDUV4 and V5 the low-side drivers are on out of reset. off off PWM [1] PWM PWM [3] [1] off off 726 Chapter 18 Gate Drive Unit (GDU) desaturation error condition on low-side FET pre-drivers high GSUF GHHDF GOCIF0 GOCIF1 GLVLSF Chapter 18 Gate Drive Unit (GDU) NOTE Since all MOSFET transistors are turned off, VBSX can reach phase voltage plus bootstrap voltage which may exceed allowable levels during high supply voltage conditions. If such operating condition exist the application must make sure that VBSX levels are clamped below maximum ratings for example by using clamping diodes. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 727 Chapter 18 Gate Drive Unit (GDU) Figure 18-25. Short to Supply Detection LGx tBLANK HGx VHD HSx shorted to supply 0.5 VHD HSx correct voltage on HSx fault Phase Status correct Desat. Error Figure 18-26. Short to Ground Detection HGx tBLANK LGx VHD HSx correct voltage on HSx 0.5 VHD HSx shorted to ground correct Phase Status fault Desat. Error MC9S12ZVM Family Reference Manual Rev. 2.2 728 Freescale Semiconductor Chapter 18 Gate Drive Unit (GDU) 18.4.8 Current Sense Amplifier and Overcurrent Comparator The current sense amplifier is usually connected as a differential amplifier ( see Figure 18-27). It senses the current flowing through the external power FET as a voltage across the current sense resistor Rsense. In order to measure both positive and negative currents, an external reference has to be used. The output of the current sense amplifier can be connected to an ADC channel. For more details on ADC channel assignment, refer to Device Overview Internal Signal Mapping Section. The input offset voltage of the current sense amplifier can be adjusted with the GCSO[2:0] bits in the GDUCSO register. (see Figure 1813) The output of the current sense amplifier is connected to the plus input of the overcurrent comparator. The minus input is driven by the output voltage of a 6 Bit DA converter. The digital input of the DA converter is {11,GOCTx[3:0]}. In order to use the overcurrent comparator GOCEx and GCSxE have to be set. NOTE If both overcurrent comparators are used both action bits GOCA0 and GOCA1 must have the same value. For example GOCA0=0 and GOCA1=1 is not allowed. Only GOCA0=GOCA1=1 or GOCA0=GOCA1=0 is allowed. Figure 18-27. Current Sense Amplifier Connected as Differential Amplifier GOCEx GOCTx[4:0] On GDUV4 only GOCTx[3:0] available. Overcurrent Condition a Vsense + Vref > Voct - + Voct 6 bit DAC I + VAMP = a Vsense + Vref - 18.4.9 Rp Voffset AMPM[0] Rn Rp / a AMPP[0] = AMP[0] GCSO0[2:0] = GCSE0 Output Voltage to ADC Vref Vsense Rsense Rn / a GDU DC Link Voltage Monitor In addition to the feature described in Section 18.3.2.10, "GDU Phase Mux Register (GDUPHMUX) the voltage on pin HD divide by 5 is routed to an ADC channel. See device specific information for ADC channel number. This feature is only available if GFDE is set. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 729 Chapter 18 Gate Drive Unit (GDU) 18.4.10 Boost Converter The GDU module integrates the necessary hardware to build a boost converter with external components in case of low voltage condition. The external components needed are two Schottky diodes, one coil, and capacitors. See Figure 18-28. The boost converter clock which is driving the transistor T1 (see Figure 1828) is derived from the bus clock. This clock can be divided down as described in Table 18-10. The boost converter also includes a circuit to limit the current through coil. This current limit can be adjusted with the bits GBCL[3:0] in the GDUBCL register. See GDU electrical parameters. The output voltage of the boost converter on VSUP pin is divided down and compared with a reference voltage Vref . As long as the divided voltage VVSUP is below Vref the boost converter clock is enabled assuming that GBOE (GDU Boost Option Enable) is set. Figure 18-28. Boost Converter Option with external Components1 VBAT L D1 C2 C1 D2 BST VSUP Boost Converter Clock Bus Clock Input ICOIL Current Limitation GBCL[3:0] R + Vrefcl Enable Disable GBOE GBOCD[4:0] Output Voltage Control R2 + R1 = Clock Frequency & Duty Cycle T1 Vref = GBODC[1:0] VSSB 1. Diode D2 shown is optional if coil is connected behind reverse battery protection. MC9S12ZVM Family Reference Manual Rev. 2.2 730 Freescale Semiconductor Chapter 18 Gate Drive Unit (GDU) 18.4.11 Interrupts This section describes the interrupts generated in the GDU module. The interrupts are only available in CPU run mode. Entering and exiting stop mode has no effect on the interrupt flags. The GDU module has two interrupt vectors which are listed in Table 18-26. The low-side and high-side desaturation error flags are combined into one interrupt line and the over and under voltage detection are combined into another interrupt line. (see device specific section interrupt vector table) Table 18-26. GDU Module Interrupt Sources GDU Module Interrupt Source Module Internal Interrupt Source Local Enable 0 GDU desaturation error interrupt GDU low-side and high-side desaturation error flags GDHSF[2:0] and GDLSF[2:0] GDSEIE = 1 1 GDU over/under voltage detection and overcurrent detection interrupt GDU low voltage condition on pin VLS (GLVLSIF) GLVLSIE = 1 GDU high voltage condition on pin HD (GHHDIF) GHHDIE = 1 GDU Overcurrent Condition (GOCIF[1:0]) GOCIE[1:0]=11 # MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 731 Chapter 18 Gate Drive Unit (GDU) 18.5 Application Information 18.5.1 FET Pre-Driver Details The basic concept of the high-side driver is shown in Figure 18-29. If the FET pre-driver is switched on the transistor T2 is driving the output HG. For on resistance Rgduon of transistor T2 refer to GDU electricals. The output current is limited to IOUT which is derived from the reference current IREF. The current source is controlled by the slew rate control bits GSRCHS[2:0]. If the FET pre-driver is switched off transistors T3 and T4 are switched on. For on resistance Rgduoffn and Rgduoffp of transistors T3 and T4 refer to GDU electricals. The reference current IREF is controlled by the slew rate control bits GSRCHS[2:0] : * IREF = 10uA + GSRCHS 10uA, [10uA, 20uA . . . 80uA] Assuming an ideal op-amp the voltage across R1 is equal voltage across R2 and IOUT2 is given by: * * V1 = V2 = IREF R1 = IOUT2 R2 IOUT2 = IREF (R1/R2) With the ratio of the transistor sizes of T1 and T2 k=450, and the ratio of the resistors R1/R2=36, and neglect the current through RHSpul the output current IOUT is: * * * IOUT1 = k IOUT2 IOUT = IOUT1 + IOUT2 = IREF (R1/R2) (1+k) IOUT ~ IREF (R1/R2) k Figure 18-29. FET Pre-Driver Concept for High-Side Driver VBS R1 R2 V1 V2 _ IREF Iout2 Iout1 Rgduon + T2 T1 HG Iout Driver On GSRCHS[2:0] RHSpul Driver Off T3 T4 Rgduoffn Rgduoffp CG HS MC9S12ZVM Family Reference Manual Rev. 2.2 732 Freescale Semiconductor Chapter 18 Gate Drive Unit (GDU) NOTE FET pre-driver concept shown in Figure 18-29 for the high-side driver applies also to low-side driver. The reference current for the low-side driver is controlled by GSRCLS[2:0]. 18.5.2 GDU Intrinsic Dead Time The basic point of dead time is to prevent cross conduction of the high-side and low-side power MOSFETs. The GDU adds an amount of dead time to the PWM signals driving the high-side and low-side power MOSFETs. A PWM signal applied to the input of the GDU does not appear instantly on the output. There is propagation delay (tdelon, tdeloff) through the FET pre-drivers and it takes time to turn on and off the gates of the power MOSFETs (tHGON, tHGOFF) (see Figure 18-30). The propagation delay and the turn on and off time change over temperature. There are differences between propagation delay paths to the high-side MOSFETs and low-side MOSFETs. Worst case must be considered. The turn on time tHGON depends also on the setting of the slew rate control bits GSRCLS[2:0] and GSRCHS[2:0]. Figure 18-30. Driver on/off Delay and on/off Time1 PWMx Channel HGx/LGx tdelon tHGON tdeloff tHGOFF Figure 18-31 shows examples of intrinsic dead times. For example assuming minimum values for tHGON and tdelon for the high side gate HG0 and minimum values for tHGOFF and tdeloff for low-side gate LG0 no additional dead time setting in the PMF module is required and the PWM channels can change at the same time without cross conduction of the power MOSFETs. 1. Note that tHGON and tHGOFF is the turn on and turn off time for high-side and low-side gate MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 733 Chapter 18 Gate Drive Unit (GDU) Figure 18-31. Examples of Intrinsic Dead Time PWM0 PWM1 dead time set in PMF HG0 min turn on delay and min turn on time tdelon_min tHGON_min HG0 max turn on delay and max turn on time tdelon_max tHGON_max LG0 min turn off delay and min turn off time dead time = tdelon_min - tdeloff_min - tHGOFF_min tdeloff_min tHGOFF_min dead time = tdelon_max - tdeloff_max - tHGOFF_max LG0 max turn off delay and max turn off time tdeloff_max tHGOFF_max MC9S12ZVM Family Reference Manual Rev. 2.2 734 Freescale Semiconductor Chapter 18 Gate Drive Unit (GDU) 18.5.3 Calculation of Bootstrap Capacitor The size of the bootstrap capacitor CBS depends on the total gate charge QG needed to turn on the power FET used in the application. If the bootstrap capacitor is too small there can be a large voltage drop due to charge sharing between bootstrap capacitor CBS and the total gate capacitance of the power FET CG. The resulting voltage on the gate of the power FET can be calculated as follow: Eqn. 18-1 Q BS V BS - = -------------------V G = -------------------------C BS + C G CG 1 + ----------C BS For example if CBS = 20 CG then the resulting gate voltage is VG = 0.95 VBS. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 735 Chapter 18 Gate Drive Unit (GDU) MC9S12ZVM Family Reference Manual Rev. 2.2 736 Freescale Semiconductor Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) Table 19-1. Revision History Table Rev. No. Date (Item No.) (Submitted By) V02.09 V02.10 V02.11 V02.12 V02.13 V03.01 19.1 Sections Affected 27 Jun 2013 21 Aug 2013 Feature list Substantial Change(s) - Added the SAE J2602-2 LIN compliance. Overcurrent and TxD-dominant - Specified the time after which the interrupt flags are set again after having timeout interrupt been cleared while the error condition is still present. descriptions 19 Sep 2013 All 20 Sep 2013 Standby Mode 8 Oct 2013 All 08 May 2014 All - Removed preliminary note. - Fixed grammar and spelling throughout the document. - Clarified Standby mode behavior. - More grammar, spelling, and formating fixes throughout the document. - Added HV PHY feature. Introduction This chapter provides information for both the LIN physical interface and the HV interface. Devices may include either a LINPHY or HVPHY module. The device overview section specifies the LINPHY/HVPHY to device mapping. The LIN (Local Interconnect Network) bus pin provides a physical layer for single-wire communication in automotive applications. The LIN Physical Layer is designed to meet the LIN Physical Layer 2.2 specification from LIN consortium. The HV physical interface provides a physical layer for single-wire communication. It can be used, among other examples, for PWM applications since it can be connected to an internal timer. NOTE All references to LIN (e.g. names of bits, registers, signals, pins, interrupts, etc.) apply to the HV physical interface as well. The same names have been kept to highlight and facilitate the hardware and software compatibility between both versions. Nevertheless, cases where particular LIN features do not apply to the HV physical interface version are specifically mentioned. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 737 Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) 19.1.1 Features The LIN Physical Layer module includes the following distinctive features: * Compliant with LIN Physical Layer 2.2 specification. * Compliant with the SAE J2602-2 LIN standard. * Standby mode with glitch-filtered wake-up. * Slew rate selection optimized for the baud rates: 10.4 kbit/s, 20 kbit/s and Fast Mode (up to 250 kbit/s). * Switchable 34 k/330 k pullup resistors (in shutdown mode, 330 konly * Current limitation for LIN Bus pin falling edge. * Overcurrent protection. * LIN TxD-dominant timeout feature monitoring the LPTxD signal. * Automatic transmitter shutdown in case of an overcurrent or TxD-dominant timeout. * Fulfills the OEM "Hardware Requirements for LIN (CAN and FlexRay) Interfaces in Automotive Applications" v1.3. The HV Physical Layer module includes the following distinctive features: * Compliant with the ISO9141 (K-line) standard. * Standby mode with glitch-filtered wake-up. * Slew rate selection optimized for: 5.2 kHz, 10 kHz and Fast Mode (up to 125 kHz). * Switchable 34 k/330 k pullup resistors (in shutdown mode, 330 konly * Current limitation for LIN Bus pin falling edge. * Overcurrent protection. The LIN/HV transmitter is a low-side MOSFET with current limitation and overcurrent transmitter shutdown. A selectable internal pullup resistor with a serial diode structure is integrated, so no external pullup components are required for the application in a slave node. To be used as a master node, an external resistor of 1 k must be placed in parallel between VLINSUP and the LIN Bus pin, with a diode between VLINSUP and the resistor. The fall time from recessive to dominant and the rise time from dominant to recessive is selectable and controlled to guarantee communication quality and reduce EMC emissions. The symmetry between both slopes is guaranteed. 19.1.2 Modes of Operation The LIN/HV Physical Layer can operate in the following four modes: 1. Shutdown Mode The LIN/HV Physical Layer is fully disabled. No wake-up functionality is available. The internal pullup resistor is replaced by a high ohmic one (330 k) to maintain the LIN Bus pin in the recessive state. All registers are accessible. MC9S12ZVM Family Reference Manual Rev. 2.2 738 Freescale Semiconductor Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) 2. Normal Mode The full functionality is available. Both receiver and transmitter are enabled. 3. Receive Only Mode The transmitter is disabled and the receiver is running in full performance mode. 4. Standby Mode The transmitter of the LIN/HV Physical Layer is disabled. If the wake-up feature is enabled, the internal pullup resistor can be selected (330 k or 34 k). The receiver enters a low power mode and optionally it can pass wake-up events to the Serial Communication Interface (SCI). If the wake-up feature is enabled and if the LIN Bus pin is driven with a dominant level longer than tWUFR followed by a rising edge, the LIN/HV Physical Layer sends a wake-up pulse to the SCI, which requests a wake-up interrupt. (This feature is only available if the LIN/HV Physical Layer is routed to the SCI). 19.1.3 Block Diagram Figure 19-1 shows the block diagram of the LIN/HV Physical Layer. The module consists of a receiver with wake-up control, a transmitter with slope and timeout control, a current sensor with overcurrent protection as well as a registers control block. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 739 Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) + *, "#$% ! # %+ "#$- , * . * * * ''() * * & Figure 19-1. LIN/HV Physical Layer Block Diagram NOTE The external 220 pF capacitance between LIN and LGND is strongly recommended for correct operation. MC9S12ZVM Family Reference Manual Rev. 2.2 740 Freescale Semiconductor Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) 19.2 External Signal Description This section lists and describes the signals that connect off chip as well as internal supply nodes and special signals. 19.2.1 LIN -- LIN Bus Pin This pad is connected to the single-wire LIN data bus. 19.2.2 LGND -- LIN Ground Pin This pin is the device LIN ground connection. It is used to sink currents related to the LIN Bus pin. A decoupling capacitor external to the device (typically 220 pF, X7R ceramic) between LIN and LGND can further improve the quality of this ground and filter noise. 19.2.3 VLINSUP -- Positive Power Supply External power supply to the chip. The VLINSUP supply mapping is described in device level documentation. 19.2.4 LPTxD -- LIN Transmit Pin This pin can be routed to the SCI, LPDR1 register bit, an external pin, or other options. Please refer to the PIM chapter of the device specification for the available routing options. In the HV Phy version, LPTxD can be used to send diagnostic feedback. This input is only used in normal mode; in other modes the value of this pin is ignored. 19.2.5 LPRxD -- LIN Receive Pin This pin can be routed to the SCI, an external pin, or other options like a timer. Please refer to the PIM chapter of the device specification for the available routing options. In the HV Phy version, LPRxD can be used to receive control information since it can be connected to an internal timer channel. In standby mode this output is disabled, and sends only a short pulse in case the wake-up functionality is enabled and a valid wake-up pulse was received in the LIN Bus. 19.3 Memory Map and Register Definition This section provides a detailed description of all registers accessible in the LIN/HV Physical Layer. 19.3.1 Module Memory Map A summary of the registers associated with the LIN/HV Physical Layer module is shown in Table 19-2. Detailed descriptions of the registers and bits are given in the subsections that follow. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 741 Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) NOTE Register Address = Module Base Address + Address Offset, where the Module Base Address is defined at the MCU level and the Address Offset is defined at the module level. Address Offset Register Name Bit 67 5 4 3 2 1 Bit 0 0 LPE RXONLY LPWUE LPPUE Reserved Reserved LPSLR1 LPSLR0 0x0000 LPDR R W 0 0 0 0 0x0001 LPCR R W 0 0 0 0 Reserved Reserved Reserved Reserved Reserved 0 0 0 0 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved LPDT 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0x0002 Reserved R Reserved W 0x0003 LPSLRM R LPDTDIS W 0x0004 Reserved R Reserved W 0x0005 LPSR R W 0x0006 LPIE R W LPDTIE LPOCIE 0x0007 LPIF R W LPDTIF LPOCIF LPDR1 LPDR0 Figure 19-2. Register Summary MC9S12ZVM Family Reference Manual Rev. 2.2 742 Freescale Semiconductor 0 Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) 19.3.2 Register Descriptions This section describes all the registers of the LIN/HV Physical Layer and their individual bits. 19.3.2.1 Port LP Data Register (LPDR) Access: User read/write(1) Module Base + Address 0x0000 7 R 5 4 3 2 0 0 6 0 0 0 0 0 0 0 0 0 0 W Reset 1 LPDR1 1 0 LPDR0 1 = Unimplemented 1. Read: Anytime Write: Anytime Figure 19-3. Port LP Data Register (LPDR) Table 19-2. LPDR Field Description Field Description 1 LPDR1 Port LP Data Bit 1 -- The LPTxD input of the LIN/HV Physical Layer (see Figure 19-1) can be directly controlled by this register bit. The routing of the LPTxD input is done in the Port Inetrgation Module (PIM). Please refer to the device PIM description for more info.In the HV Phy version, this bit can be use to send diagnostic feedback. 0 LPDR0 Port LP Data Bit 0 -- Read-only bit. The LIN Physical Layer LPRxD output state can be read at any time. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 743 Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) 19.3.2.2 LIN Control Register (LPCR) Access: User read/write(1) Module Base + Address 0x0001 7 R 0 6 5 4 0 0 0 0 0 0 W Reset 0 3 2 1 0 LPE RXONLY LPWUE LPPUE 0 0 0 0 = Unimplemented 1. Read: Anytime Write: Anytime, Figure 19-4. LIN Control Register (LPCR) Table 19-3. LPCR Field Description Field Description 3 LPE LIN Enable Bit -- If set, this bit enables the LIN Physical Layer. 0 The LIN Physical Layer is in shutdown mode. None of the LIN Physical Layer functions are available, except that the bus line is held in its recessive state by a high ohmic (330k) resistor. All registers are normally accessible. 1 The LIN Physical Layer is not in shutdown mode. 2 RXONLY Receive Only Mode bit -- This bit controls RXONLY mode. 0 The LIN Physical Layer is not in receive only mode. 1 The LIN Physical Layer is in receive only mode. 1 LPWUE LIN Wake-Up Enable -- This bit controls the wake-up feature in standby mode. 0 In standby mode the wake-up feature is disabled. 1 In standby mode the wake-up feature is enabled. 0 LPPUE LIN Pullup Resistor Enable -- Selects pullup resistor. 0 The pullup resistor is high ohmic (330 k). 1 The 34 kpullup is switched on (except if LPE=0 or when in standby mode with LPWUE=0) MC9S12ZVM Family Reference Manual Rev. 2.2 744 Freescale Semiconductor Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) 19.3.2.3 Reserved Register Access: User read/write(1) Module Base + Address 0x0002 7 R W Reset 6 Reserved 5 4 3 2 1 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved x x x x x x x x = Unimplemented Figure 19-5. LIN Test register 1. Read: Anytime Write: Only in special mode NOTE This reserved register is designed for factory test purposes only, and is not intended for general user access. Writing to this register when in special mode can alter the module's functionality. Table 19-4. Reserved Register Field Description Field 7-0 Reserved 19.3.2.4 Description These reserved bits are used for test purposes. Writing to these bits can alter the module functionality. LIN Slew Rate Mode Register (LPSLRM) Access: User read/write(1) Module Base + Address 0x0003 7 R W Reset 6 LPDTDIS 0 5 4 3 2 0 0 0 0 0 0 0 0 0 0 1 0 LPSLR1 LPSLR0 0 0 = Unimplemented Figure 19-6. LIN Slew Rate Mode Register (LPSLRM) 1. Read: Anytime Write: Only in shutdown mode (LPE=0) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 745 Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) Table 19-5. LPSLRM Field Description Field Description 7 LPDTDIS TxD-dominant timeout disable Bit -- This bit disables the TxD-dominant timeout feature. Disabling this feature is only recommended for using the LIN Physical Layer for other applications than LIN protocol. It is only writable in shutdown mode (LPE=0). 0 TxD-dominant timeout feature is enabled. 1 TxD-dominant timeout feature is disabled. 1-0 LPSLR[1:0] Slew-Rate Bits -- Please see section 19.4.2 for details on how the slew rate control works. These bits are only writable in shutdown mode (LPE=0). 00 Normal Slew Rate (optimized for 20 kbit/s). 01 Slow Slew Rate (optimized for 10.4 kbit/s). 10 Fast Mode Slew Rate (up to 250 kbit/s). This mode is not compliant with the LIN Protocol (LIN electrical characteristics like duty cycles, reference levels, etc. are not fulfilled). It is only meant to be used for fast data transmission. Please refer to section 19.4.2.2 for more details on fast mode.Please note that an external pullup resistor stronger than 1 k might be necessary for the range 100 kbit/s to 250 kbit/s. 11 Reserved . 19.3.2.5 Reserved Register Access: User read/write(1) Module Base + Address 0x0004 7 R W Reset Reserved 6 5 4 3 2 1 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved x x x x x x x x = Unimplemented 1. Read: Anytime Write: Only in special mode Figure 19-7. Reserved Register NOTE This reserved register is designed for factory test purposes only, and is not intended for general user access. Writing to this register when in special mode can alter the module's functionality. Table 19-6. Reserved Register Field Description Field 7-0 Reserved Description These reserved bits are used for test purposes. Writing to these bits can alter the module functionality. MC9S12ZVM Family Reference Manual Rev. 2.2 746 Freescale Semiconductor Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) 19.3.2.6 LIN Status Register (LPSR) Access: User read/write(1) Module Base + Address 0x0005 7 R 6 LPDT 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 = Unimplemented Figure 19-8. LIN Status Register (LPSR) 1. Read: Anytime Write: Never, writes to this register have no effect Table 19-7. LPSR Field Description Field Description 7 LPDT LIN Transmitter TxD-dominant timeout Status Bit -- This read-only bit signals that the LPTxD pin is still dominant after a TxD-dominant timeout. As long as the LPTxD is dominant after the timeout the LIN transmitter is shut down and the LPTDIF is set again after attempting to clear it. 0 If there was a TxD-dominant timeout, LPTxD has ceased to be dominant after the timeout. 1 LPTxD is still dominant after a TxD-dominant timeout. 19.3.2.7 LIN Interrupt Enable Register (LPIE) Access: User read/write(1) Module Base + Address 0x0006 7 R W Reset 6 LPDTIE LPOCIE 0 0 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 = Unimplemented Figure 19-9. LIN Interrupt Enable Register (LPIE) 1. Read: Anytime Write: Anytime Table 19-8. LPIE Field Description Field Description 7 LPDTIE LIN transmitter TxD-dominant timeout Interrupt Enable -- 0 Interrupt request is disabled. 1 Interrupt is requested if LPDTIF bit is set. 6 LPOCIE LIN transmitter Overcurrent Interrupt Enable -- 0 Interrupt request is disabled. 1 Interrupt is requested if LPOCIF bit is set. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 747 Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) 19.3.2.8 LIN Interrupt Flags Register (LPIF) Access: User read/write(1) Module Base + Address 0x0007 7 R W Reset LPDTIF 0 6 LPOCIF 0 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 = Unimplemented Figure 19-10. LIN Interrupt Flags Register (LPIF) 1. Read: Anytime Write: Writing `1' clears the flags, writing a `0' has no effect Table 19-9. LPIF Field Description Field Description 7 LPDTIF LIN Transmitter TxD-dominant timeout Interrupt Flag -- LPDTIF is set to 1 when LPTxD is still dominant (0) after tTDLIM of the falling edge of LPTxD. For protection, the transmitter is disabled. This flag can only be cleared by writing a 1. Writing a 0 has no effect. Please make sure that LPDTIF=1 before trying to clear it. Clearing LPDTIF is not allowed if LPDTIF=0 already. If the LPTxD is still dominant after clearing the flag, the transmitter stays disabled and this flag is set again (see 19.4.4.2 TxD-dominant timeout Interrupt). If interrupt requests are enabled (LPDTIE= 1), LPDTIF causes an interrupt request. 0 No TxD-dominant timeout has occurred. 1 A TxD-dominant timeout has occurred. 6 LPOCIF LIN Transmitter Overcurrent Interrupt Flag -- LPOCIF is set to 1 when an overcurrent event happens. For protection, the transmitter is disabled. This flag can only be cleared by writing a 1. Writing a 0 has no effect. Please make sure that LPOCIF=1 before trying to clear it. Clearing LPOCIF is not allowed if LPOCIF=0 already. If the overcurrent is still present or LPTxD is dominant after clearing the flag, the transmitter stays disabled and this flag is set again (see19.4.4.1 Overcurrent Interrupt). If interrupt requests are enabled (LPOCIE= 1), LPOCIF causes an interrupt request. 0 No overcurrent event has occurred. 1 Overcurrent event has occurred. MC9S12ZVM Family Reference Manual Rev. 2.2 748 Freescale Semiconductor Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) 19.4 Functional Description 19.4.1 General The LIN/HV Physical Layer module implements the physical layer of the LIN/HV interface. In the LIN version, this physical layer can be driven by the SCI (Serial Communication Interface) module or directly through the LPDR register.In the HV Phy version, the input can be routed to an internal timer to measure the frequency and duty cycle of the PWM input signal. If required, the output can directly be controlled by the LPDR register, e.g. to send diagnostic feedback. 19.4.2 Slew Rate and LIN Mode Selection The slew rate can be selected for Electromagnetic Compatibility (EMC) optimized operation at 10.4 kbit/s and 20 kbit/s as well as at fast baud rate (up to 250 kbit/s) for test and programming. The slew rate can be chosen with the bits LPSLR[1:0] in the LIN Slew Rate Mode Register (LPSLRM). The default slew rate corresponds to 20 kbit/s. In the HV Phy version, the TxD-dominant timeout must be disabled (LPDTDIS=1) in order e.g. to transmit a PWM pulse. Changing the slew rate (LPSLRM Register) during transmission is not allowed in order to avoid unwanted effects. To change the register, the LIN/HV Physical Layer must first be disabled (LPE=0). Once it is updated, the LIN/HV Physical Layer can be enabled again. NOTE For 20 kbit/s and Fast Mode communication speeds, the corresponding slew rate MUST be set; otherwise, the communication is not guaranteed (violation of the specified LIN duty cycles). For 10.4 kbit/s, the 20 kbit/s slew rate can be set but the EMC performance is worse. The up to 250 kbit/s slew rate must be chosen ONLY for fast mode, not for any of the 10.4 kbit/s or 20 kbit/s LIN compliant communication speeds. 19.4.2.1 10.4 kbit/s and 20 kbit/s When the slew rate is chosen for 10.4 kbit/s or 20 kbit/s communication, a control loop is activated within the module to make the rise and fall times of the LIN bus independent from VLINSUP and the load on the bus. 19.4.2.2 Fast Mode (not LIN compliant) Choosing this slew rate allows baud rates up to 250 kbit/s by having much steeper edges (please refer to electricals). As for the 10.4 kbit/s and 20 kbit/s modes, the slope control loop is also engaged. This mode is used for fast communication only, and the LIN electricals are not supported (for example, the LIN duty cycles). MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 749 Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) A stronger external pullup resistor might be necessary to sustain communication speeds up to 250 kbit/s. The signal on the LIN pin and the LPRxD signal might not be symmetrical for high baud rates with high loads on the bus. Please note that if the bit time is smaller than the parameter tOCLIM (please refer to electricals), then no overcurrent is reported nor does an overcurrent shutdown occur. However, the current limitation is always engaged in case of a failure. 19.4.3 Modes Figure 19-11 shows the possible mode transitions depending on control bits, stop mode, and error conditions. 19.4.3.1 Shutdown Mode The LIN/HV Physical Layer is fully disabled. No wake-up functionality is available. The internal pullup resistor is high ohmic only (330 k) to maintain the LIN pin in the recessive state. LPTxD is not monitored in this mode for a TxD-dominant timeout. All the registers are accessible. Setting LPE causes the module to leave the shutdown mode and to enter the normal mode or receive only mode (if RXONLY bit is set). Clearing LPE causes the module to leave the normal or receive only modes and go back to shutdown mode. 19.4.3.2 Normal Mode The full functionality is available. Both receiver and transmitter are enabled. The internal pullup resistor can be chosen to be high ohmic (330 k) if LPPUE = 0, or LIN compliant (34 k if LPPUE = 1. If RXONLY is set, the module leaves normal mode to enter receive only mode. If the MCU enters stop mode, the LIN/HV Physical Layer enters standby mode. 19.4.3.3 Receive Only Mode Entering this mode disables the transmitter and immediately stops any on-going transmission. LPTxD is not monitored in this mode for a TxD-dominant timeout. The receiver is running in full performance mode in all cases. To return to normal mode, the RXONLY bit must be cleared. If the device enters stop mode, the module leaves receive only mode to enter standby mode. 19.4.3.4 Standby Mode with Wake-Up Feature The transmitter of the LIN/HV Physical Layer is disabled and the receiver enters a low power mode. NOTE Before entering standby mode, please ensure that no transmission is ongoing. MC9S12ZVM Family Reference Manual Rev. 2.2 750 Freescale Semiconductor Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) If LPWUE is not set, no wake up feature is available and the standby mode has the same electrical properties as the shutdown mode. This allows a low-power consumption of the device in stop mode if the wake-up feature is not needed. If LPWUE is set, the receiver is able to pass wake-up events to the SCI (Serial Communication Interface). If the LIN/HV Physical Layer receives a dominant level longer than tWUFR followed by a rising edge, it sends a pulse to the SCI which can generate a wake-up interrupt. Once the device exits stop mode, the LIN/HV Physical Layer returns to normal or receive only mode depending on the status of the RXONLY bit. NOTE Since the wake-up interrupt is requested by the SCI, the wake-up feature is not available if LPRxD is not connected to the SCI.. The internal pullup resistor is selectable only if LPWUE = 1 (wake-up enabled). If LPWUE = 0, the internal pullup resistor is not selectable and remains at 330 k regardless of the state of the LPPUE bit. If LPWUE = 1, selecting the 330 k pullup resistor (LPPUE = 0) reduces the current consumption in standby mode. NOTE The use of the LIN wake-up feature in combination with other non-LIN device wake-up features (like a periodic time interrupt) must be handled with care. If the device leaves stop mode while the LIN bus is dominant, the LIN/HV Physical Layer returns to normal or receive only mode and the LPRxD signal is re-routed to the RxD pin of the SCI and triggers the edge detection interrupt (if the interrupt's priority of the hardware that awakes the MCU is less than the priority of the SCI interrupt, then the SCI interrupt will execute first). It is up to the software to decide what to do in this case because the LIN/HV Physical Layer may not determine whether it was a valid wake-up pulse. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 751 Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) & &' # # # # ! "! #$ "! ! "! #$ "! "!%%! "! "! #$ "! Figure 19-11. LIN/HV Physical Layer Mode Transitions MC9S12ZVM Family Reference Manual Rev. 2.2 752 Freescale Semiconductor Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) 19.4.4 Interrupts The interrupt vector requested by the LIN/HV Physical Layer is listed in Table 19-10. Vector address and interrupt priority is defined at the MCU level. The module internal interrupt sources are combined into a single interrupt request at the device level. Table 19-10. Interrupt Vectors Module Interrupt Source LIN Interrupt (LPI) 19.4.4.1 Module Internal Interrupt Source Local Enable LIN Txd-Dominant Timeout Interrupt (LPDTIF) LPDTIE = 1 LIN Overcurrent Interrupt (LPOCIF) LPOCIE = 1 Overcurrent Interrupt The transmitter is protected against overcurrent. In case of an overcurrent condition occurring within a time frame called tOCLIM starting from LPTxD falling edge, the current through the transmitter is limited (the transmitter is not shut down). The masking of an overcurrent event within the time frame tOCLIM is meant to avoid "false" overcurrent conditions that can happen during the discharging of the LIN bus. If an overcurrent event occurs out of this time frame, the transmitter is disabled and the LPOCIF flag is set. In order to re-enable the transmitter again, the following prerequisites must be met: 1) Overcurrent condition is over 2) LPTxD is recessive or the LIN/HV Physical Layer is in shutdown or receive only mode for a minimum of a transmit bit time. To re-enable the transmitter then, the LPOCIF flag must be cleared (by writing a 1). NOTE Please make sure that LPOCIF=1 before trying to clear it. It is not allowed to try to clear LPOCIF if LPOCIF=0 already. After clearing LPOCIF, if the overcurrent condition is still present or the LPTxD pin is dominant while being in normal mode, the transmitter remains disabled and the LPOCIF flag is set again after a time to indicate that the attempt to re-enable has failed. This time is equal to: * minimum 1 IRC period (1 us) + 2 bus periods * maximum 2 IRC periods (2 us) + 3 bus periods If the bit LPOCIE is set in the LPIE register, an interrupt is requested. Figure 19-12 shows the different scenarios for overcurrent interrupt handling. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 753 Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) ! "# ! "# ! "# $ %$ ##& $ %$ # "# $ % Figure 19-12. Overcurrent interrupt handling 19.4.4.2 TxD-dominant timeout Interrupt NOTE In order to perform PWM communication, the TxD-dominant timeout feature must be disabled. To protect the LIN bus from a network lock-up, the LIN Physical Layer implements a TxD-dominant timeout mechanism. When the LPTxD signal has been dominant for more than tDTLIM the transmitter is disabled and the LPDT status flag and the LPDTIF interrupt flag are set. In order to re-enable the transmitter again, the following prerequisites must be met: 1) TxD-dominant condition is over (LPDT=0) 2) LPTxD is recessive or the LIN Physical Layer is in shutdown or receive only mode for a minimum of a transmit bit time MC9S12ZVM Family Reference Manual Rev. 2.2 754 Freescale Semiconductor Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) To re-enable the transmitter then, the LPDTIF flag must be cleared (by writing a 1). NOTE Please make sure that LPDTIF=1 before trying to clear it. It is not allowed to try to clear LPDTIF if LPDTIF=0 already. After clearing LPDTIF, if the TxD-dominant timeout condition is still present or the LPTxD pin is dominant while being in normal mode, the transmitter remains disabled and the LPDTIF flag is set after a time again to indicate that the attempt to re-enable has failed. This time is equal to: * minimum 1 IRC period (1 us) + 2 bus periods * maximum 2 IRC periods (2 us) + 3 bus periods If the bit LPDTIE is set in the LPIE register, an interrupt is requested. Figure 19-13 shows the different scenarios of TxD-dominant timeout interrupt handling. ! "! ! ! # ! "! ! ! "! Figure 19-13. TxD-dominant timeout interrupt handling MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 755 Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) 19.5 19.5.1 Application Information Module Initialization The following steps should be used to configure the module before starting the transmission: * In the LIN version, set the slew rate in the LPSLRM register to the desired transmission baud rate. * In the HV Phy version, de-activate the dominant timeout feature in the LPSLRM register if needed. * In most cases, the internal pullup should be enabled in the LPCR register. * Perform the correct routing settings in the PIM module: -- In the LIN version, select the SCI as source, i.e. connect the TxD pin of the SCI to LPTxD, and the RxD pin of the SCI to LPRxD. -- In the HV Phy version, connect LPRxD to the internal timer (control information) and if required, connect the LPDR1 bit of the LPDR register to LPTxD (diagnostic feedback). If the wake-up feature is required, the RxD pin of the SCI must also be connected to LPRxD. * Select the transmit mode (Receive only mode or Normal mode) in the LPCR register. * If the RxD pin of the SCI is connected to LPRxD, activate the wake-up feature in the LPCR register if needed for the application (SCI active edge interrupt must also be enabled). * Enable the LIN/HV Physical Layer in the LPCR register. * Wait for a minimum of a transmit bit. * Begin transmission if needed. NOTE It is not allowed to try to clear LPOCIF or LPDTIF if they are already cleared. Before trying to clear an error flag, always make sure that it is already set. 19.5.2 Interrupt handling in Interrupt Service Routine (ISR) Both interrupts (TxD-dominant timeout and overcurrent) represent a failure in transmission. To avoid more disturbances on the transmission line, the transmitter is de-activated in both cases. The interrupt subroutine must take care of clearing the error condition and starting the routine that re-enables the transmission. For that purpose, the following steps are recommended: 1. First, the cause of the interrupt must be cleared: -- The overcurrent will be gone after the transmitter has been disabled. -- The TxD-dominant timeout condition will be gone once the selected source for LPTxD has turned recessive. 2. Clear the corresponding enable bit (LPDTIE or LPOCIE) to avoid entering the ISR again until the flags are cleared. 3. Notify the application of the error condition (LIN Error handler) and leave the ISR. In the LIN Error handler, the following sequence is recommended: 1. Disable the LIN/HV Physical Layer (LPCR) while re-configuring the transmission. MC9S12ZVM Family Reference Manual Rev. 2.2 756 Freescale Semiconductor Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) 2. 3. 4. 5. 6. 7. -- If the receiver must remain enabled, set the LIN/HV Physical Layer into receive only mode instead. Do all required configurations (SCI, etc.) to re-enable the transmission. Wait for a transmit bit (this is needed to successfully re-enable the transmitter). Clear the error flag. Enable the interrupts again (LPDTIE and LPOCIE). Enable the LIN/HV Physical Layer or leave the receive only mode (LPCR register). Wait for a minimum of a transmit bit before beginning transmission again. If there is a problem re-enabling the transmitter, then the error flag will be set again during step 3 and the ISR will be called again. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 757 Chapter 19 LIN/HV Physical Layer (S12LINPHYV3) MC9S12ZVM Family Reference Manual Rev. 2.2 758 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Table 20-1. Revision History Revision Number Revision Date Sections Affected V02.03 12 Apr 2012 20.3 Corrected many typo. Changed caution note V02.04 17 May 2012 20.3.2.6 - Removed flag DFDIE V02.05 11 Jul 2012 - Added explanation about when MGSTAT[1:0] bits are cleared, Section 20.3.2.7 - Added note about possibility of reading P-Flash and EEPROM simultaneously, Section 20.4.6 V02.06 18 Mar 2013 - Standardized nomenclature in references to memory sizes V02.07 24 May 2013 - Revised references to NVM Resource Area to improve readability V02.8 12 Jun 2013 - Changed MLOADU Section 20.4.7.12 and MLOADF Section 20.4.7.13 FCCOB1 to FCCOB2 V02.9 15 Oct 2014 Created memory-size independent version of this module description 20.1 Description of Changes Introduction The P-Flash (Program Flash) and EEPROM memory sizes are specified at device level (Reference Manual device overview chapter). The description in the following sections is valid for all P-Flash and EEPROM memory sizes. The Flash memory is ideal for single-supply applications allowing for field reprogramming without requiring external high voltage sources for program or erase operations. The Flash module includes a memory controller that executes commands to modify Flash memory contents. The user interface to the memory controller consists of the indexed Flash Common Command Object (FCCOB) register which is written to with the command, global address, data, and any required command parameters. The memory controller must complete the execution of a command before the FCCOB register can be written to with a new command. CAUTION A Flash word or phrase must be in the erased state before being programmed. Cumulative programming of bits within a Flash word or phrase is not allowed. The Flash memory may be read as bytes and aligned words. Read access time is one bus cycle for bytes and aligned words. For misaligned words access, the CPU has to perform twice the byte read access command. For Flash memory, an erased bit reads 1 and a programmed bit reads 0. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 759 It is possible to read from P-Flash memory while some commands are executing on EEPROM memory. It is not possible to read from EEPROM memory while a command is executing on P-Flash memory from the same block. Simultaneous P-Flash and EEPROM operations are discussed in Section 20.4.6. Both P-Flash and EEPROM memories are implemented with Error Correction Codes (ECC) that can resolve single bit faults and detect double bit faults. For P-Flash memory, the ECC implementation requires that programming be done on an aligned 8 byte basis (a Flash phrase). Since P-Flash memory is always read by half-phrase, only one single bit fault in an aligned 4 byte half-phrase containing the byte or word accessed will be corrected. 20.1.1 Glossary Command Write Sequence -- An MCU instruction sequence to execute built-in algorithms (including program and erase) on the Flash memory. EEPROM Memory -- The EEPROM memory constitutes the nonvolatile memory store for data. EEPROM Sector -- The EEPROM sector is the smallest portion of the EEPROM memory that can be erased. The EEPROM sector consists of 4 bytes. NVM Command Mode -- An NVM mode using the CPU to setup the FCCOB register to pass parameters required for Flash command execution. Phrase -- An aligned group of four 16-bit words within the P-Flash memory. Each phrase includes two sets of aligned double words with each set including 7 ECC bits for single bit fault correction and double bit fault detection within each double word. P-Flash Memory -- The P-Flash memory constitutes the main nonvolatile memory store for applications. P-Flash Sector -- The P-Flash sector is the smallest portion of the P-Flash memory that can be erased. Each P-Flash sector contains 512 bytes. Program IFR -- Nonvolatile information register located in the P-Flash block that contains the Version ID, and the Program Once field. 20.1.2 20.1.2.1 * * * * Features P-Flash Features Derivatives featuring up to and including 128 KB of P-Flash include one P-Flash block Derivatives featuring more than 128 KB of P-Flash include two Flash blocks In each case the P-Flash sector size is 512 bytes Single bit fault correction and double bit fault detection within a 32-bit double word during read operations MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 760 Chapter 20 Flash Module (S12ZFTMRZ) * * * * Automated program and erase algorithm with verify and generation of ECC parity bits Fast sector erase and phrase program operation Ability to read the P-Flash memory while programming a word in the EEPROM memory Flexible protection scheme to prevent accidental program or erase of P-Flash memory 20.1.2.2 * * * * * * The EEPROM memory is composed of one Flash block divided into sectors of 4 bytes Single bit fault correction and double bit fault detection within a word during read operations Automated program and erase algorithm with verify and generation of ECC parity bits Fast sector erase and word program operation Protection scheme to prevent accidental program or erase of EEPROM memory Ability to program up to four words in a burst sequence 20.1.2.3 * * * EEPROM Features Other Flash Module Features No external high-voltage power supply required for Flash memory program and erase operations Interrupt generation on Flash command completion and Flash error detection Security mechanism to prevent unauthorized access to the Flash memory 20.1.3 Block Diagram The block diagrams of the Flash modules are shown in the following figures. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 761 Chapter 20 Flash Module (S12ZFTMRZ) Figure 20-1. FTMRZ Block Diagram (Single P-Flash Block plus EEPROM block) Flash Interface Command Interrupt Request Error Interrupt Request 16bit internal bus Registers P-Flash sector 0 sector 1 Protection final sector Security Bus Clock CPU Clock Divider FCLK Memory Controller EEPROM sector 0 sector 1 final sector MC9S12ZVM Family Reference Manual Rev. 2.2 762 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Table 20-2. FTMRZ Block Diagram (Two P-Flash blocks plus EEPROM block) Flash Interface Command Interrupt Request Error Interrupt Request 16bit internal bus Registers P-Flash sector 0 sector 1 Protection final sector Security HardBlock-0S Bus Clock CPU Clock Divider FCLK Memory Controller EEPROM P-Flash sector 0 sector 1 sector 0 sector 1 final sector final sector HardBlock-0N (P-Flash+EEPROM) 20.2 External Signal Description The Flash module contains no signals that connect off-chip. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 763 Chapter 20 Flash Module (S12ZFTMRZ) 20.3 Memory Map and Registers This section describes the memory map and registers for the Flash module. Read data from unimplemented memory space in the Flash module is undefined. Write access to unimplemented or reserved memory space in the Flash module will be ignored by the Flash module. CAUTION Writing to the Flash registers while a Flash command is executing (that is indicated when the value of flag CCIF reads as '0') is not allowed. If such action is attempted, the result of the write operation will be unpredictable. Writing to the Flash registers is allowed when the Flash is not busy executing commands (CCIF = 1) and during initialization right after reset, despite the value of flag CCIF in that case (refer to Section 20.6 for a complete description of the reset sequence). . Table 20-3. FTMRZ Memory Map Global Address (in Bytes) 0x0_0000 - 0x0_0FFF Description Register Space 0x10_0000 - 0x1F_4000 EEPROM memory range. Allocation is device dependent. 0x1F_4000 - 0x1F_FFFF NVM Resource Area(1) (see Figure 20-3) 0x80_0000 - 0xFD_FFFF P-Flash memory range (Hardblock 0S). Allocation is device dependent. 0xFE_0000 - 0xFF_FFFF P-Flash memory range (Hardblock 0N). Allocation is device dependent. 1. See NVM Resource area description in Section 20.4.4 20.3.1 Module Memory Map The P-Flash memory is located between global addresses 0x80_0000 and 0xFF_FFFF. The P-Flash is high aligned from 0xFF_FFFF. Thus, for example, a 128 KB P-Flash extends from 0xFF_FFFF to 0xFE_0000. The flash configuration field is mapped to the same addresses independent of the P-Flash memory size, as shown in Figure 20-2. The FPROT register, described in Section 20.3.2.9, can be set to protect regions in the Flash memory from accidental program or erase. Three separate memory regions, one growing upward from global address 0xFF_8000 in the Flash memory (called the lower region), one growing downward from global address 0xFF_FFFF in the Flash memory (called the higher region), and the remaining addresses in the Flash memory, can be activated for protection. The Flash memory addresses covered by these protectable regions are shown in the P-Flash memory map. The higher address region is mainly targeted to hold the boot loader code since it covers the vector space. Default protection settings as well as security information that allows the MCU to restrict access to the Flash module are stored in the Flash configuration field as described in Table 20-4. MC9S12ZVM Family Reference Manual Rev. 2.2 764 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Table 20-4. Flash Configuration Field Global Address Size (Bytes) 0xFF_FE00-0xFF_FE07 8 Backdoor Comparison Key Refer to Section 20.4.7.11, "Verify Backdoor Access Key Command," and Section 20.5.1, "Unsecuring the MCU using Backdoor Key Access" 0xFF_FE08-0xFF_FE091 2 Protection Override Comparison Key. Refer to Section 20.4.7.17, "Protection Override Command" 0xFF_FE0A0xFF_FE0B(1) 2 0xFF_FE0C1 1 P-Flash Protection byte. Refer to Section 20.3.2.9, "P-Flash Protection Register (FPROT)" 0xFF_FE0D1 1 EEPROM Protection byte. Refer to Section 20.3.2.10, "EEPROM Protection Register (DFPROT)" 0xFF_FE0E1 1 Flash Nonvolatile byte Refer to Section 20.3.2.11, "Flash Option Register (FOPT)" 0xFF_FE0F1 1 Flash Security byte Refer to Section 20.3.2.2, "Flash Security Register (FSEC)" Description Reserved 1. 0xFF_FE08-0xFF_FE0F form a Flash phrase and must be programmed in a single command write sequence. Each byte in the 0xFF_FE0A - 0xFF_FE0B reserved field should be programmed to 0xFF. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 765 Chapter 20 Flash Module (S12ZFTMRZ) P-Flash START Flash Protected/Unprotected Region Size is device dependent 0xFF_8000 0xFF_8400 0xFF_8800 0xFF_9000 Protection Fixed End Flash Protected/Unprotected Lower Region 1, 2, 4, 8 KB 0xFF_A000 Flash Protected/Unprotected Region 8 KB (up to 29 KB) Protection Movable End 0xFF_C000 Protection Fixed End 0xFF_E000 Flash Protected/Unprotected Higher Region 2, 4, 8, 16 KB 0xFF_F000 0xFF_F800 P-Flash END = 0xFF_FFFF Flash Configuration Field 16 bytes (0xFF_FE00 - 0xFF_FE0F) Figure 20-2. P-Flash Memory Map With Protection Alignment MC9S12ZVM Family Reference Manual Rev. 2.2 766 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Table 20-5. Program IFR Fields Global Address Size (Bytes) 0x1F_C000 - 0x1F_C007 8 Reserved 0x1F_C008 - 0x1F_C0B5 174 Reserved 0x1F_C0B6 - 0x1F_C0B7 2 Version ID(1) 0x1F_C0B8 - 0x1F_C0BF 8 Reserved 0x1F_C0C0 - 0x1F_C0FF 64 Program Once Field Refer to Section 20.4.7.6, "Program Once Command" Field Description 1. Used to track firmware patch versions, see Section 20.4.2 Table 20-6. Memory Controller Resource Fields (NVM Resource Area(1)) Global Address Size (Bytes) 0x1F_4000 - 0x1F_41FF 512 Reserved 0x1F_4200 - 0x1F_7FFF 15,872 Reserved 0x1F_8000 - 0x1F_97FF 6,144 Reserved 0x1F_9800 - 0x1F_BFFF 10,240 Reserved 0x1F_C000 - 0x1F_C0FF 256 P-Flash IFR (see Table 20-5) 0x1F_C100 - 0x1F_C1FF 256 Reserved. 0x1F_C200 - 0x1F_FFFF 15,872 Reserved. Description 1. See Section 20.4.4 for NVM Resources Area description. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 767 Chapter 20 Flash Module (S12ZFTMRZ) 0x1F_4000 Reserved 512 bytes 0x1F_41FF Reserved 15872 bytes 0x1F_8000 Reserved 6 KB 0x1F_97FF Reserved 10 KB 0x1F_C000 P-Flash IFR 256 bytes 0x1F_C100 Reserved 16,128 bytes Figure 20-3. Memory Controller Resource Memory Map (NVM Resources Area) 20.3.2 Register Descriptions The Flash module contains a set of 24 control and status registers located between Flash module base + 0x0000 and 0x0017. In the case of the writable registers, the write accesses are forbidden during Flash command execution (for more detail, see Caution note in Section 20.3). A summary of the Flash module registers is given in Figure 20-4 with detailed descriptions in the following subsections. Address & Name 0x0000 FCLKDIV 0x0001 FSEC 0x0002 FCCOBIX 7 R 6 5 4 3 2 1 0 FDIVLCK FDIV5 FDIV4 FDIV3 FDIV2 FDIV1 FDIV0 KEYEN1 KEYEN0 RNV5 RNV4 RNV3 RNV2 SEC1 SEC0 0 0 0 0 0 CCOBIX2 CCOBIX1 CCOBIX0 FDIVLD W R W R W Figure 20-4. FTMRZ128K512 Register Summary MC9S12ZVM Family Reference Manual Rev. 2.2 768 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Address & Name 0x0003 FPSTAT 0x0004 FCNFG 0x0005 FERCNFG 0x0006 FSTAT 0x0007 FERSTAT 0x0008 FPROT 0x0009 DFPROT(1) 0x000A FOPT 0x000B FRSV1 0x000C FCCOB0HI 0x000D FCCOB0LO 0x000E FCCOB1HI 0x000F FCCOB1LO 0x0010 FCCOB2HI R 7 6 5 4 3 2 1 0 FPOVRD 0 0 0 0 0 0 WSTATACK 0 ERSAREQ FDFD FSFD 0 0 0 ACCERR FPVIOL 0 W R W CCIE R 0 IGNSF WSTAT[1:0] 0 0 0 MGBUSY RSVD MGSTAT1 MGSTAT0 0 0 0 DFDF SFDIF FPHDIS FPHS1 FPHS0 FPLDIS FPLS1 FPLS0 W R W CCIF R 0 0 0 W R W R W R FPOPEN RNV6 SFDIE DPOPEN DPS6 DPS5 DPS4 DPS3 DPS2 DPS1 DPS0 NV7 NV6 NV5 NV4 NV3 NV2 NV1 NV0 0 0 0 0 0 0 0 0 CCOB15 CCOB14 CCOB13 CCOB12 CCOB11 CCOB10 CCOB9 CCOB8 CCOB7 CCOB6 CCOB5 CCOB4 CCOB3 CCOB2 CCOB1 CCOB0 CCOB15 CCOB14 CCOB13 CCOB12 CCOB11 CCOB10 CCOB9 CCOB8 CCOB7 CCOB6 CCOB5 CCOB4 CCOB3 CCOB2 CCOB1 CCOB0 CCOB15 CCOB14 CCOB13 CCOB12 CCOB11 CCOB10 CCOB9 CCOB8 W R W R W R W R W R W R W Figure 20-4. FTMRZ128K512 Register Summary (continued) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 769 Chapter 20 Flash Module (S12ZFTMRZ) Address & Name 0x0011 FCCOB2LO 0x0012 FCCOB3HI 0x0013 FCCOB3LO 0x0014 FCCOB4HI 0x0015 FCCOB4LO 0x0016 FCCOB5HI 0x0017 FCCOB5LO R W R W R W R W R W R W R W 7 6 5 4 3 2 1 0 CCOB7 CCOB6 CCOB5 CCOB4 CCOB3 CCOB2 CCOB1 CCOB0 CCOB15 CCOB14 CCOB13 CCOB12 CCOB11 CCOB10 CCOB9 CCOB8 CCOB7 CCOB6 CCOB5 CCOB4 CCOB3 CCOB2 CCOB1 CCOB0 CCOB15 CCOB14 CCOB13 CCOB12 CCOB11 CCOB10 CCOB9 CCOB8 CCOB7 CCOB6 CCOB5 CCOB4 CCOB3 CCOB2 CCOB1 CCOB0 CCOB15 CCOB14 CCOB13 CCOB12 CCOB11 CCOB10 CCOB9 CCOB8 CCOB7 CCOB6 CCOB5 CCOB4 CCOB3 CCOB2 CCOB1 CCOB0 = Unimplemented or Reserved Figure 20-4. FTMRZ128K512 Register Summary (continued) 1. Number of implemented DPS bits depends on EEPROM memory size. 20.3.2.1 Flash Clock Divider Register (FCLKDIV) The FCLKDIV register is used to control timed events in program and erase algorithms. Offset Module Base + 0x0000 7 R FDIVLD W Reset 0 6 5 4 3 FDIVLCK 0 2 1 0 0 0 0 FDIV[5:0] 0 0 0 = Unimplemented or Reserved Figure 20-5. Flash Clock Divider Register (FCLKDIV) All bits in the FCLKDIV register are readable, bit 7 is not writable, bit 6 is write-once-hi and controls the writability of the FDIV field in normal mode. In special mode, bits 6-0 are writable any number of times but bit 7 remains unwritable. MC9S12ZVM Family Reference Manual Rev. 2.2 770 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) CAUTION The FCLKDIV register should never be written while a Flash command is executing (CCIF=0). Table 20-7. FCLKDIV Field Descriptions Field 7 FDIVLD Description Clock Divider Loaded 0 FCLKDIV register has not been written since the last reset 1 FCLKDIV register has been written since the last reset 6 FDIVLCK Clock Divider Locked 0 FDIV field is open for writing 1 FDIV value is locked and cannot be changed. Once the lock bit is set high, only reset can clear this bit and restore writability to the FDIV field in normal mode. 5-0 FDIV[5:0] Clock Divider Bits -- FDIV[5:0] must be set to effectively divide BUSCLK down to1 MHz to control timed events during Flash program and erase algorithms. Table 20-8 shows recommended values for FDIV[5:0] based on the BUSCLK frequency. Please refer to Section 20.4.5, "Flash Command Operations," for more information. Table 20-8. FDIV values for various BUSCLK Frequencies BUSCLK Frequency (MHz) MIN(1) MAX(2) 1.0 1.6 1.6 FDIV[5:0] BUSCLK Frequency (MHz) FDIV[5:0] MIN1 MAX2 0x00 26.6 27.6 0x1A 2.6 0x01 27.6 28.6 0x1B 2.6 3.6 0x02 28.6 29.6 0x1C 3.6 4.6 0x03 29.6 30.6 0x1D 4.6 5.6 0x04 30.6 31.6 0x1E 5.6 6.6 0x05 31.6 32.6 0x1F 6.6 7.6 0x06 32.6 33.6 0x20 7.6 8.6 0x07 33.6 34.6 0x21 8.6 9.6 0x08 34.6 35.6 0x22 9.6 10.6 0x09 35.6 36.6 0x23 10.6 11.6 0x0A 36.6 37.6 0x24 11.6 12.6 0x0B 37.6 38.6 0x25 12.6 13.6 0x0C 38.6 39.6 0x26 13.6 14.6 0x0D 39.6 40.6 0x27 14.6 15.6 0x0E 40.6 41.6 0x28 15.6 16.6 0x0F 41.6 42.6 0x29 16.6 17.6 0x10 42.6 43.6 0x2A 17.6 18.6 0x11 43.6 44.6 0x2B MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 771 Chapter 20 Flash Module (S12ZFTMRZ) Table 20-8. FDIV values for various BUSCLK Frequencies BUSCLK Frequency (MHz) MIN(1) MAX(2) 18.6 19.6 19.6 BUSCLK Frequency (MHz) FDIV[5:0] FDIV[5:0] MIN1 MAX2 0x12 44.6 45.6 0x2C 20.6 0x13 45.6 46.6 0x2D 20.6 21.6 0x14 46.6 47.6 0x2E 21.6 22.6 0x15 47.6 48.6 0x2F 22.6 23.6 0x16 48.6 49.6 0x30 23.6 24.6 0x17 49.6 50.6 0x31 24.6 25.6 0x18 25.6 26.6 0x19 1. BUSCLK is Greater Than this value. 2. BUSCLK is Less Than or Equal to this value. 20.3.2.2 Flash Security Register (FSEC) The FSEC register holds all bits associated with the security of the MCU and Flash module. Offset Module Base + 0x0001 7 R 6 5 4 KEYEN[1:0] 3 2 1 RNV[5:2] 0 SEC[1:0] W Reset F(1) F1 F1 F1 F1 F1 F1 F1 = Unimplemented or Reserved Figure 20-6. Flash Security Register (FSEC) 1. Loaded from Flash configuration field, during reset sequence. All bits in the FSEC register are readable but not writable. During the reset sequence, the FSEC register is loaded with the contents of the Flash security byte in the Flash configuration field at global address 0xFF_FE0F located in P-Flash memory (see Table 20-4) as indicated by reset condition F in Figure 20-6. If a double bit fault is detected while reading the P-Flash phrase containing the Flash security byte during the reset sequence, all bits in the FSEC register will be set to leave the Flash module in a secured state with backdoor key access disabled. MC9S12ZVM Family Reference Manual Rev. 2.2 772 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Table 20-9. FSEC Field Descriptions Field Description 7-6 Backdoor Key Security Enable Bits -- The KEYEN[1:0] bits define the enabling of backdoor key access to the KEYEN[1:0] Flash module as shown in Table 20-10. 5-2 RNV[5:2] Reserved Nonvolatile Bits -- The RNV bits should remain in the erased state for future enhancements. 1-0 SEC[1:0] Flash Security Bits -- The SEC[1:0] bits define the security state of the MCU as shown in Table 20-11. If the Flash module is unsecured using backdoor key access, the SEC bits are forced to 10. Table 20-10. Flash KEYEN States KEYEN[1:0] Status of Backdoor Key Access 00 DISABLED 01 DISABLED(1) 10 ENABLED 11 DISABLED 1. Preferred KEYEN state to disable backdoor key access. Table 20-11. Flash Security States SEC[1:0] Status of Security 00 SECURED 01 SECURED(1) 10 UNSECURED 11 SECURED 1. Preferred SEC state to set MCU to secured state. The security function in the Flash module is described in Section 20.5. 20.3.2.3 Flash CCOB Index Register (FCCOBIX) The FCCOBIX register is used to indicate the amount of parameters loaded into the FCCOB registers for Flash memory operations. Offset Module Base + 0x0002 7 R 6 5 4 3 0 0 0 0 0 0 0 0 0 0 2 0 CCOBIX[2:0] W Reset 1 0 0 0 = Unimplemented or Reserved Figure 20-7. FCCOB Index Register (FCCOBIX) CCOBIX bits are readable and writable while remaining bits read 0 and are not writable. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 773 Chapter 20 Flash Module (S12ZFTMRZ) Table 20-12. FCCOBIX Field Descriptions Field Description 2-0 CCOBIX[1:0] Common Command Register Index-- The CCOBIX bits are used to indicate how many words of the FCCOB register array are being read or written to. See Section 20.3.2.13, "Flash Common Command Object Registers (FCCOB)"," for more details. 20.3.2.4 Flash Protection Status Register (FPSTAT) This Flash register holds the status of the Protection Override feature. Offset Module Base + 0x0003 7 R 5 4 3 2 1 0 FPOVRD 0 6 0 0 0 0 0 WSTATACK 0 0 0 0 0 0 0 1 W Reset = Unimplemented or Reserved Figure 20-8. Flash Protection Status Register (FPSTAT) All bits in the FPSTAT register are readable but are not writable. Table 20-13. FPSTAT Field Descriptions Field Description 7 FPOVRD Flash Protection Override Status -- The FPOVRD bit indicates if the Protection Override feature is currently enabled. See Section 20.4.7.17, "Protection Override Command" for more details. 0 Protection is not overridden 1 Protection is overridden, contents of registers FPROT and/or DFPROT (and effective protection limits determined by their current contents) were determined during execution of command Protection Override 0 WSTATACK Wait-State Switch Acknowledge -- The WSTATACK bit indicates that the wait-state configuration is effectively set according to the value configured on bits FCNFG[WSTAT] (see Section 20.3.2.5, "Flash Configuration Register (FCNFG)"). WSTATACK bit is cleared when a change in FCNFG[WSTAT] is requested by writing to those bits, and is set when the Flash has effectively switched to the new wait-state configuration. The application must check the status of WSTATACK bit to make sure it reads as 1 before changing the frequency setup (see Section 20.4.3, "Flash Block Read Access"). 0 Wait-State switch is pending, Flash reads are still happening according to the previous value of FCNFG[WSTAT] 1 Wait-State switch is complete, Flash reads are already working according to the value set on FCNFG[WSTAT] 20.3.2.5 Flash Configuration Register (FCNFG) The FCNFG register enables the Flash command complete interrupt, control generation of wait-states and forces ECC faults on Flash array read access from the CPU. MC9S12ZVM Family Reference Manual Rev. 2.2 774 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Offset Module Base + 0x0004 7 R W Reset 6 CCIE 0 5 0 ERSAREQ 0 0 4 3 IGNSF 0 2 WSTAT[1:0] 0 0 1 0 FDFD FSFD 0 0 = Unimplemented or Reserved Figure 20-9. Flash Configuration Register (FCNFG) CCIE, IGNSF, WSTAT, FDFD, and FSFD bits are readable and writable, ERSAREQ bit is read only, and remaining bits read 0 and are not writable. Table 20-14. FCNFG Field Descriptions Field Description 7 CCIE Command Complete Interrupt Enable -- The CCIE bit controls interrupt generation when a Flash command has completed. 0 Command complete interrupt disabled 1 An interrupt will be requested whenever the CCIF flag in the FSTAT register is set (see Section 20.3.2.7) 5 ERSAREQ Erase All Request -- Requests the Memory Controller to execute the Erase All Blocks command and release security. ERSAREQ is not directly writable but is under indirect user control. Refer to the Reference Manual for assertion of the soc_erase_all_req input to the FTMRZ module. 0 No request or request complete 1 Request to: a) run the Erase All Blocks command b) verify the erased state c) program the security byte in the Flash Configuration Field to the unsecure state d) release MCU security by setting the SEC field of the FSEC register to the unsecure state as defined in Table 20-9 of Section 20.3.2.2. The ERSAREQ bit sets to 1 when soc_erase_all_req is asserted, CCIF=1 and the Memory Controller starts executing the sequence. ERSAREQ will be reset to 0 by the Memory Controller when the operation is completed (see Section 20.4.7.7.1). 4 IGNSF Ignore Single Bit Fault -- The IGNSF controls single bit fault reporting in the FERSTAT register (see Section 20.3.2.8). 0 All single bit faults detected during array reads are reported 1 Single bit faults detected during array reads are not reported and the single bit fault interrupt will not be generated 3-2 Wait State control bits -- The WSTAT[1:0] bits define how many wait-states are inserted on each read access WSTAT[1:0] to the Flash as shown on Table 20-15.Right after reset the maximum amount of wait-states is set, to be later reconfigured by the application if needed. Depending on the system operating frequency being used the number of wait-states can be reduced or disabled, please refer to the Data Sheet for details. For additional information regarding the procedure to change this configuration please see Section 20.4.3. The WSTAT[1:0] bits should not be updated while the Flash is executing a command (CCIF=0); if that happens the value of this field will not change and no action will take place. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 775 Chapter 20 Flash Module (S12ZFTMRZ) Table 20-14. FCNFG Field Descriptions (continued) Field Description 1 FDFD Force Double Bit Fault Detect -- The FDFD bit allows the user to simulate a double bit fault during Flash array read operations. The FDFD bit is cleared by writing a 0 to FDFD. 0 Flash array read operations will set the DFDF flag in the FERSTAT register only if a double bit fault is detected 1 Any Flash array read operation will force the DFDF flag in the FERSTAT register to be set (see Section 20.3.2.7) 0 FSFD Force Single Bit Fault Detect -- The FSFD bit allows the user to simulate a single bit fault during Flash array read operations and check the associated interrupt routine. The FSFD bit is cleared by writing a 0 to FSFD. 0 Flash array read operations will set the SFDIF flag in the FERSTAT register only if a single bit fault is detected 1 Flash array read operation will force the SFDIF flag in the FERSTAT register to be set (see Section 20.3.2.7) and an interrupt will be generated as long as the SFDIE interrupt enable in the FERCNFG register is set (see Section 20.3.2.6) Table 20-15. Flash Wait-States control WSTAT[1:0] Wait-State configuration 00 ENABLED, maximum number of cycles(1) 01 reserved(2) 10 reserved2 11 DISABLED 1. Reset condition. For a target of 100MHz core frequency / 50MHz bus frequency the maximum number required is 1 cycle. 2. Value will read as 01 or 10, as written. In the current implementation the Flash will behave the same as 00 (waitstates enabled, maximum number of cycles). 20.3.2.6 Flash Error Configuration Register (FERCNFG) The FERCNFG register enables the Flash error interrupts for the FERSTAT flags. Offset Module Base + 0x0005 7 R 5 4 3 2 1 0 0 6 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 0 SFDIE 0 = Unimplemented or Reserved Figure 20-10. Flash Error Configuration Register (FERCNFG) All assigned bits in the FERCNFG register are readable and writable. MC9S12ZVM Family Reference Manual Rev. 2.2 776 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Table 20-16. FERCNFG Field Descriptions Field Description 0 SFDIE Single Bit Fault Detect Interrupt Enable -- The SFDIE bit controls interrupt generation when a single bit fault is detected during a Flash block read operation. 0 SFDIF interrupt disabled whenever the SFDIF flag is set (see Section 20.3.2.8) 1 An interrupt will be requested whenever the SFDIF flag is set (see Section 20.3.2.8) 20.3.2.7 Flash Status Register (FSTAT) The FSTAT register reports the operational status of the Flash module. Offset Module Base + 0x0006 7 R W Reset 6 0 CCIF 1 0 5 4 ACCERR FPVIOL 0 0 3 2 MGBUSY RSVD 0 0 1 0 MGSTAT[1:0] 0(1) 01 = Unimplemented or Reserved Figure 20-11. Flash Status Register (FSTAT) 1. Reset value can deviate from the value shown if a double bit fault is detected during the reset sequence (see Section 20.6). CCIF, ACCERR, and FPVIOL bits are readable and writable, MGBUSY and MGSTAT bits are readable but not writable, while remaining bits read 0 and are not writable. Table 20-17. FSTAT Field Descriptions Field Description 7 CCIF Command Complete Interrupt Flag -- The CCIF flag indicates that a Flash command has completed. The CCIF flag is cleared by writing a 1 to CCIF to launch a command and CCIF will stay low until command completion or command violation. 0 Flash command in progress 1 Flash command has completed 5 ACCERR Flash Access Error Flag -- The ACCERR bit indicates an illegal access has occurred to the Flash memory caused by either a violation of the command write sequence (see Section 20.4.5.2) or issuing an illegal Flash command. While ACCERR is set, the CCIF flag cannot be cleared to launch a command. The ACCERR bit is cleared by writing a 1 to ACCERR. Writing a 0 to the ACCERR bit has no effect on ACCERR. 0 No access error detected 1 Access error detected 4 FPVIOL Flash Protection Violation Flag --The FPVIOL bit indicates an attempt was made to program or erase an address in a protected area of P-Flash or EEPROM memory during a command write sequence. The FPVIOL bit is cleared by writing a 1 to FPVIOL. Writing a 0 to the FPVIOL bit has no effect on FPVIOL. While FPVIOL is set, it is not possible to launch a command or start a command write sequence. 0 No protection violation detected 1 Protection violation detected 3 MGBUSY Memory Controller Busy Flag -- The MGBUSY flag reflects the active state of the Memory Controller. 0 Memory Controller is idle 1 Memory Controller is busy executing a Flash command (CCIF = 0) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 777 Chapter 20 Flash Module (S12ZFTMRZ) Table 20-17. FSTAT Field Descriptions (continued) Field 2 RSVD Description Reserved Bit -- This bit is reserved and always reads 0. 1-0 Memory Controller Command Completion Status Flag -- One or more MGSTAT flag bits are set if an error MGSTAT[1:0] is detected during execution of a Flash command or during the Flash reset sequence. The MGSTAT bits are cleared automatically at the start of the execution of a Flash command. See Section 20.4.7, "Flash Command Description," and Section 20.6, "Initialization" for details. 20.3.2.8 Flash Error Status Register (FERSTAT) The FERSTAT register reflects the error status of internal Flash operations. Offset Module Base + 0x0007 7 R 6 5 4 3 2 0 0 0 0 0 0 0 0 0 0 0 0 W Reset 1 0 DFDF SFDIF 0 0 = Unimplemented or Reserved Figure 20-12. Flash Error Status Register (FERSTAT) All flags in the FERSTAT register are readable and only writable to clear the flag. Table 20-18. FERSTAT Field Descriptions Field Description 1 DFDF Double Bit Fault Detect Flag -- The setting of the DFDF flag indicates that a double bit fault was detected in the stored parity and data bits during a Flash array read operation or that a Flash array read operation returning invalid data was attempted on a Flash block that was under a Flash command operation.(1) The DFDF flag is cleared by writing a 1 to DFDF. Writing a 0 to DFDF has no effect on DFDF.(2) 0 No double bit fault detected 1 Double bit fault detected or a Flash array read operation returning invalid data was attempted while command running. See Section 20.4.3, "Flash Block Read Access" for details 0 SFDIF Single Bit Fault Detect Interrupt Flag -- With the IGNSF bit in the FCNFG register clear, the SFDIF flag indicates that a single bit fault was detected in the stored parity and data bits during a Flash array read operation or that a Flash array read operation returning invalid data was attempted on a Flash block that was under a Flash command operation. The SFDIF flag is cleared by writing a 1 to SFDIF. Writing a 0 to SFDIF has no effect on SFDIF. 0 No single bit fault detected 1 Single bit fault detected and corrected or a Flash array read operation returning invalid data was attempted while command running 1. In case of ECC errors the corresponding flag must be cleared for the proper setting of any further error, i.e. any new error will only be indicated properly when DFDF and/or SFDIF are clear at the time the error condition is detected. 2. There is a one cycle delay in storing the ECC DFDF and SFDIF fault flags in this register. At least one NOP is required after a flash memory read before checking FERSTAT for the occurrence of ECC errors. MC9S12ZVM Family Reference Manual Rev. 2.2 778 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) 20.3.2.9 P-Flash Protection Register (FPROT) The FPROT register defines which P-Flash sectors are protected against program and erase operations. Offset Module Base + 0x0008 7 R W Reset 6 RNV6 FPOPEN F(1) F1 5 4 FPHDIS F1 3 FPHS[1:0] F1 2 1 FPLDIS F1 F1 0 FPLS[1:0] F1 F1 = Unimplemented or Reserved Figure 20-13. Flash Protection Register (FPROT) 1. Loaded from Flash configuration field, during reset sequence. The (unreserved) bits of the FPROT register are writable Normal Single Chip Mode with the restriction that the size of the protected region can only be increased see Section 20.3.2.9.1, "P-Flash Protection Restrictions," and Table 20-23). All (unreserved) bits of the FPROT register are writable without restriction in Special Single Chip Mode. During the reset sequence, the FPROT register is loaded with the contents of the P-Flash protection byte in the Flash configuration field at global address 0xFF_FE0C located in P-Flash memory (see Table 20-4) as indicated by reset condition `F' in Figure 20-13. To change the P-Flash protection that will be loaded during the reset sequence, the upper sector of the P-Flash memory must be unprotected, then the P-Flash protection byte must be reprogrammed. If a double bit fault is detected while reading the P-Flash phrase containing the P-Flash protection byte during the reset sequence, the FPOPEN bit will be cleared and remaining bits in the FPROT register will be set to leave the P-Flash memory fully protected. Trying to alter data in any protected area in the P-Flash memory will result in a protection violation error and the FPVIOL bit will be set in the FSTAT register. The block erase of a P-Flash block is not possible if any of the P-Flash sectors contained in the same P-Flash block are protected. Table 20-19. FPROT Field Descriptions Field Description 7 FPOPEN Flash Protection Operation Enable -- The FPOPEN bit determines the protection function for program or erase operations as shown in Table 20-20 for the P-Flash block. 0 When FPOPEN is clear, the FPHDIS and FPLDIS bits define unprotected address ranges as specified by the corresponding FPHS and FPLS bits 1 When FPOPEN is set, the FPHDIS and FPLDIS bits enable protection for the address range specified by the corresponding FPHS and FPLS bits 6 RNV[6] Reserved Nonvolatile Bit -- The RNV bit should remain in the erased state for future enhancements. 5 FPHDIS Flash Protection Higher Address Range Disable -- The FPHDIS bit determines whether there is a protected/unprotected area in a specific region of the P-Flash memory ending with global address 0xFF_FFFF. 0 Protection/Unprotection enabled 1 Protection/Unprotection disabled 4-3 FPHS[1:0] Flash Protection Higher Address Size -- The FPHS bits determine the size of the protected/unprotected area in P-Flash memory as shown inTable 20-21. The FPHS bits can only be written to while the FPHDIS bit is set. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 779 Chapter 20 Flash Module (S12ZFTMRZ) Table 20-19. FPROT Field Descriptions (continued) Field 2 FPLDIS 1-0 FPLS[1:0] Description Flash Protection Lower Address Range Disable -- The FPLDIS bit determines whether there is a protected/unprotected area in a specific region of the P-Flash memory beginning with global address 0xFF_8000. 0 Protection/Unprotection enabled 1 Protection/Unprotection disabled Flash Protection Lower Address Size -- The FPLS bits determine the size of the protected/unprotected area in P-Flash memory as shown in Table 20-22. The FPLS bits can only be written to while the FPLDIS bit is set. Table 20-20. P-Flash Protection Function Function(1) FPOPEN FPHDIS FPLDIS 1 1 1 No P-Flash Protection 1 1 0 Protected Low Range 1 0 1 Protected High Range 1 0 0 Protected High and Low Ranges 0 1 1 Full P-Flash Memory Protected 0 1 0 Unprotected Low Range 0 0 1 Unprotected High Range 0 0 0 Unprotected High and Low Ranges 1. For range sizes, refer to Table 20-21 and Table 20-22. Table 20-21. P-Flash Protection Higher Address Range FPHS[1:0] Global Address Range Protected Size 00 0xFF_F800-0xFF_FFFF 2 KB 01 0xFF_F000-0xFF_FFFF 4 KB 10 0xFF_E000-0xFF_FFFF 8 KB 11 0xFF_C000-0xFF_FFFF 16 KB Table 20-22. P-Flash Protection Lower Address Range FPLS[1:0] Global Address Range Protected Size 00 0xFF_8000-0xFF_83FF 1 KB 01 0xFF_8000-0xFF_87FF 2 KB 10 0xFF_8000-0xFF_8FFF 4 KB 11 0xFF_8000-0xFF_9FFF 8 KB All possible P-Flash protection scenarios are shown in Figure 20-14 . Although the protection scheme is loaded from the Flash memory at global address 0xFF_FE0C during the reset sequence, it can be changed by the user. The P-Flash protection scheme can be used by applications requiring reprogramming in normal single chip mode while providing as much protection as possible if reprogramming is not required. MC9S12ZVM Family Reference Manual Rev. 2.2 780 Freescale Semiconductor FPHDIS = 1 FPLDIS = 0 FPHDIS = 0 FPLDIS = 1 FPHDIS = 0 FPLDIS = 0 7 6 5 4 3 2 1 0 Scenario 0xFF_8000 0xFF_FFFF Scenario FPLS[1:0] FLASH START FPHS[1:0] FPLS[1:0] FLASH START FPHS[1:0] 0xFF_8000 FPOPEN = 0 FPHDIS = 1 FPLDIS = 1 FPOPEN = 1 Chapter 20 Flash Module (S12ZFTMRZ) 0xFF_FFFF Unprotected region Protected region with size defined by FPLS Protected region not defined by FPLS, FPHS Protected region with size defined by FPHS Figure 20-14. P-Flash Protection Scenarios MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 781 Chapter 20 Flash Module (S12ZFTMRZ) 20.3.2.9.1 P-Flash Protection Restrictions In Normal Single Chip mode the general guideline is that P-Flash protection can only be added and not removed. Table 20-23 specifies all valid transitions between P-Flash protection scenarios. Any attempt to write an invalid scenario to the FPROT register will be ignored. The contents of the FPROT register reflect the active protection scenario. See the FPHS and FPLS bit descriptions for additional restrictions. Table 20-23. P-Flash Protection Scenario Transitions To Protection Scenario(1) From Protection Scenario 0 1 2 3 0 X X X X X 1 X 4 X X X X X X X X X X 6 X 7 X 6 7 X 3 5 5 X X 2 4 X X X X X X 1. Allowed transitions marked with X, see Figure 20-14 for a definition of the scenarios. 20.3.2.10 EEPROM Protection Register (DFPROT) The DFPROT register defines which EEPROM sectors are protected against program and erase operations. Offset Module Base + 0x0009 7 R W Reset 6 5 4 2 1 0 F2 F2 F2 DPS[6:0](1) DPOPEN F(2) 3 F2 F2 F2 F2 = Unimplemented or Reserved Figure 20-15. EEPROM Protection Register (DFPROT) 1. The number of implemented DPS bits depends on the EEPROM memory size, as explained below. 2. Loaded from IFR Flash configuration field, during reset sequence. The (unreserved) bits of the DFPROT register are writable in Normal Single Chip mode with the restriction that protection can be added but not removed. Writes in Normal Single Chip mode must increase the DPS value and the DPOPEN bit can only be written from 1 (protection disabled) to 0 (protection enabled). If the DPOPEN bit is set, the state of the DPS bits is irrelevant. All DPOPEN/DPS bit registers are writable without restriction in Special Single Chip Mode. MC9S12ZVM Family Reference Manual Rev. 2.2 782 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) During the reset sequence, fields DPOPEN and DPS of the DFPROT register are loaded with the contents of the EEPROM protection byte in the Flash configuration field at global address 0xFF_FE0D located in P-Flash memory (see Table 20-4) as indicated by reset condition F in Table 20-25. To change the EEPROM protection that will be loaded during the reset sequence, the P-Flash sector containing the EEPROM protection byte must be unprotected, then the EEPROM protection byte must be programmed. If a double bit fault is detected while reading the P-Flash phrase containing the EEPROM protection byte during the reset sequence, the DPOPEN bit will be cleared and DPS bits will be set to leave the EEPROM memory fully protected. Trying to alter data in any protected area in the EEPROM memory will result in a protection violation error and the FPVIOL bit will be set in the FSTAT register. Block erase of the EEPROM memory is not possible if any of the EEPROM sectors are protected. Table 20-24. DFPROT Field Descriptions Field Description 7 DPOPEN EEPROM Protection Control 0 Enables EEPROM memory protection from program and erase with protected address range defined by DPS bits 1 Disables EEPROM memory protection from program and erase 6-0 DPS[6:0] EEPROM Protection Size -- The DPS bits determine the size of the protected area in the EEPROM memory as shown inTable 20-25 . Table 20-25. EEPROM Protection Address Range DPS[6:0] Global Address Range Protected Size 0000000 0x10_0000 - 0x10_001F 32 bytes 0000001 0x10_0000 - 0x10_003F 64 bytes 0000010 0x10_0000 - 0x10_005F 96 bytes 0000011 0x10_0000 - 0x10_007F 128 bytes 0000100 0x10_0000 - 0x10_009F 160 bytes The Protection Size goes on enlarging in step of 32 bytes, for each DPS value increment . . 0001111 0x10_0000 - 0x10_01FF 512 bytes 0011111 0x10_0000 - 0x10_03FF 1K byte 0111111 0x10_0000 - 0x10_07FF 2K bytes 1111111 0x10_0000 - 0x10_0FFF 4K bytes The number of DPS bits depends on the size of the implemented EEPROM. The whole implemented EEPROM range can always be protected. Each DPS value increment increases the size of the protected range by 32-bytes. Thus to protect a 1 KB range DPS[4:0] must be set (protected range of 32 x 32 bytes). MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 783 Chapter 20 Flash Module (S12ZFTMRZ) 20.3.2.11 Flash Option Register (FOPT) The FOPT register is the Flash option register. Offset Module Base + 0x000A 7 6 5 4 R 3 2 1 0 F1 F1 F1 F1 NV[7:0] W Reset F(1) F1 F1 F1 = Unimplemented or Reserved Figure 20-16. Flash Option Register (FOPT) 1. Loaded from Flash configuration field, during reset sequence. All bits in the FOPT register are readable but are not writable. During the reset sequence, the FOPT register is loaded from the Flash nonvolatile byte in the Flash configuration field at global address 0xFF_FE0E located in P-Flash memory (see Table 20-4) as indicated by reset condition F in Figure 20-16. If a double bit fault is detected while reading the P-Flash phrase containing the Flash nonvolatile byte during the reset sequence, all bits in the FOPT register will be set. Table 20-26. FOPT Field Descriptions Field 7-0 NV[7:0] Description Nonvolatile Bits -- The NV[7:0] bits are available as nonvolatile bits. Refer to the device overview for proper use of the NV bits. 20.3.2.12 Flash Reserved1 Register (FRSV1) This Flash register is reserved for factory testing. Offset Module Base + 0x000B 7 R 5 4 3 2 1 0 0 0 6 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W Reset = Unimplemented or Reserved Figure 20-17. Flash Reserved1 Register (FRSV1) All bits in the FRSV1 register read 0 and are not writable. 20.3.2.13 Flash Common Command Object Registers (FCCOB) The FCCOB is an array of six words. Byte wide reads and writes are allowed to the FCCOB registers. MC9S12ZVM Family Reference Manual Rev. 2.2 784 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Offset Module Base + 0x000C 7 6 5 4 R 2 1 0 0 0 0 0 CCOB[15:8] W Reset 3 0 0 0 0 Figure 20-18. Flash Common Command Object 0 High Register (FCCOB0HI) Offset Module Base + 0x000D 7 6 5 4 R 2 1 0 0 0 0 0 CCOB[7:0] W Reset 3 0 0 0 0 Figure 20-19. Flash Common Command Object 0 Low Register (FCCOB0LO) Offset Module Base + 0x000E 7 6 5 4 R 2 1 0 0 0 0 0 CCOB[15:8] W Reset 3 0 0 0 0 Figure 20-20. Flash Common Command Object 1 High Register (FCCOB1HI) Offset Module Base + 0x000F 7 6 5 4 R 2 1 0 0 0 0 0 CCOB[7:0] W Reset 3 0 0 0 0 Figure 20-21. Flash Common Command Object 1 Low Register (FCCOB1LO) Offset Module Base + 0x0010 7 6 5 4 R 2 1 0 0 0 0 0 CCOB[15:8] W Reset 3 0 0 0 0 Figure 20-22. Flash Common Command Object 2 High Register (FCCOB2HI) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 785 Chapter 20 Flash Module (S12ZFTMRZ) Offset Module Base + 0x0011 7 6 5 4 R 2 1 0 0 0 0 0 CCOB[7:0] W Reset 3 0 0 0 0 Figure 20-23. Flash Common Command Object 2 Low Register (FCCOB2LO) Offset Module Base + 0x0012 7 6 5 4 R 2 1 0 0 0 0 0 CCOB[15:8] W Reset 3 0 0 0 0 Figure 20-24. Flash Common Command Object 3 High Register (FCCOB3HI) Offset Module Base + 0x0013 7 6 5 4 R 2 1 0 0 0 0 0 CCOB[7:0] W Reset 3 0 0 0 0 Figure 20-25. Flash Common Command Object 3 Low Register (FCCOB3LO) Offset Module Base + 0x0014 7 6 5 4 R 2 1 0 0 0 0 0 CCOB[15:8] W Reset 3 0 0 0 0 Figure 20-26. Flash Common Command Object 4 High Register (FCCOB4HI) Offset Module Base + 0x0015 7 6 5 4 R 2 1 0 0 0 0 0 CCOB[7:0] W Reset 3 0 0 0 0 Figure 20-27. Flash Common Command Object 4 Low Register (FCCOB4LO) MC9S12ZVM Family Reference Manual Rev. 2.2 786 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Offset Module Base + 0x0016 7 6 5 4 R 2 1 0 0 0 0 0 CCOB[15:8] W Reset 3 0 0 0 0 Figure 20-28. Flash Common Command Object 5 High Register (FCCOB5HI) Offset Module Base + 0x0017 7 6 5 4 R 2 1 0 0 0 0 0 CCOB[7:0] W Reset 3 0 0 0 0 Figure 20-29. Flash Common Command Object 5 Low Register (FCCOB5LO) 20.3.2.13.1 FCCOB - NVM Command Mode NVM command mode uses the FCCOB registers to provide a command code and its relevant parameters to the Memory Controller. The user first sets up all required FCCOB fields and then initiates the command's execution by writing a 1 to the CCIF bit in the FSTAT register (a 1 written by the user clears the CCIF command completion flag to 0). When the user clears the CCIF bit in the FSTAT register all FCCOB parameter fields are locked and cannot be changed by the user until the command completes (as evidenced by the Memory Controller returning CCIF to 1). Some commands return information to the FCCOB register array. The generic format for the FCCOB parameter fields in NVM command mode is shown in Table 20-27. The return values are available for reading after the CCIF flag in the FSTAT register has been returned to 1 by the Memory Controller. The value written to the FCCOBIX field must reflect the amount of CCOB words loaded for command execution. Table 20-27 shows the generic Flash command format. The high byte of the first word in the CCOB array contains the command code, followed by the parameters for this specific Flash command. For details on the FCCOB settings required by each command, see the Flash command descriptions in Section 20.4.7. Table 20-27. FCCOB - NVM Command Mode (Typical Usage) CCOBIX[2:0] Register 000 FCCOB0 001 FCCOB1 010 FCCOB2 Byte FCCOB Parameter Fields (NVM Command Mode) HI FCMD[7:0] defining Flash command LO Global address [23:16] HI Global address [15:8] LO Global address [7:0] HI Data 0 [15:8] LO Data 0 [7:0] MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 787 Chapter 20 Flash Module (S12ZFTMRZ) Table 20-27. FCCOB - NVM Command Mode (Typical Usage) 20.4 CCOBIX[2:0] Register 011 FCCOB3 100 FCCOB4 101 FCCOB5 Byte FCCOB Parameter Fields (NVM Command Mode) HI Data 1 [15:8] LO Data 1 [7:0] HI Data 2 [15:8] LO Data 2 [7:0] HI Data 3 [15:8] LO Data 3 [7:0] Functional Description 20.4.1 Modes of Operation The module provides the modes of operation normal and special. The operating mode is determined by module-level inputs and affects the FCLKDIV, FCNFG, and DFPROT registers (see Table 20-29). 20.4.2 IFR Version ID Word The version ID word is stored in the IFR at address 0x1F_C0B6. The contents of the word are defined in Table 20-28. Table 20-28. IFR Version ID Fields * [15:4] [3:0] Reserved VERNUM VERNUM: Version number. The first version is number 0b_0001 with both 0b_0000 and 0b_1111 meaning `none'. 20.4.3 Flash Block Read Access If data read from the Flash block results in a double-bit fault ECC error (meaning that data is detected to be in error and cannot be corrected), the read data will be tagged as invalid during that access (please look into the Reference Manual for details). Forcing the DFDF status bit by setting FDFD (see Section 20.3.2.5) has effect only on the DFDF status bit value and does not result in an invalid access. To guarantee the proper read timing from the Flash array, the Flash will control (i.e. pause) the S12Z core accesses, considering that the MCU can be configured to fetch data at a faster frequency than the Flash MC9S12ZVM Family Reference Manual Rev. 2.2 788 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) block can support. Right after reset the Flash will be configured to run with the maximum amount of waitstates enabled; if the user application is setup to run at a slower frequency the control bits FCNFG[WSTAT] (see Section 20.3.2.5) can be configured by the user to disable the generation of waitstates, so it does not impose a performance penalty to the system if the read timing of the S12Z core is setup to be within the margins of the Flash block. For a definition of the frequency values where wait-states can be disabled please refer to the device electrical parameters. The following sequence must be followed when the transition from a higher frequency to a lower frequency is going to happen: * Flash resets with wait-states enabled; * system frequency must be configured to the lower target; * user writes to FNCNF[WSTAT] to disable wait-states; * user reads the value of FPSTAT[WSTATACK], the new wait-state configuration will be effective when it reads as 1; * user must re-write FCLKDIV to set a new value based on the lower frequency. The following sequence must be followed on the contrary direction, going from a lower frequency to a higher frequency: * user writes to FCNFG[WSTAT] to enable wait-states; * user reads the value of FPSTAT[WSTATACK], the new wait-state configuration will be effective when it reads as 1; * user must re-write FCLKDIV to set a new value based on the higher frequency; * system frequency must be set to the upper target. CAUTION If the application is going to require the frequency setup to change, the value to be loaded on register FCLKDIV will have to be updated according to the new frequency value. In this scenario the application must take care to avoid locking the value of the FCLKDIV register: bit FDIVLCK must not be set if the value to be loaded on FDIV is going to be re-written, otherwise a reset is going to be required. Please refer to Section 20.3.2.1, "Flash Clock Divider Register (FCLKDIV) and Section 20.4.5.1, "Writing the FCLKDIV Register. 20.4.4 Internal NVM resource IFR is an internal NVM resource readable by CPU. The IFR fields are shown in Table 20-5. The NVM Resource Area global address map is shown in Table 20-6. 20.4.5 Flash Command Operations Flash command operations are used to modify Flash memory contents. The next sections describe: MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 789 Chapter 20 Flash Module (S12ZFTMRZ) * * * How to write the FCLKDIV register that is used to generate a time base (FCLK) derived from BUSCLK for Flash program and erase command operations The command write sequence used to set Flash command parameters and launch execution Valid Flash commands available for execution, according to MCU functional mode and MCU security state. 20.4.5.1 Writing the FCLKDIV Register Prior to issuing any Flash program or erase command after a reset, the user is required to write the FCLKDIV register to divide BUSCLK down to a target FCLK of 1 MHz. Table 20-8 shows recommended values for the FDIV field based on BUSCLK frequency. NOTE Programming or erasing the Flash memory cannot be performed if the bus clock runs at less than 0.8 MHz. Setting FDIV too high can destroy the Flash memory due to overstress. Setting FDIV too low can result in incomplete programming or erasure of the Flash memory cells. When the FCLKDIV register is written, the FDIVLD bit is set automatically. If the FDIVLD bit is 0, the FCLKDIV register has not been written since the last reset. If the FCLKDIV register has not been written, any Flash program or erase command loaded during a command write sequence will not execute and the ACCERR bit in the FSTAT register will set. 20.4.5.2 Command Write Sequence The Memory Controller will launch all valid Flash commands entered using a command write sequence. Before launching a command, the ACCERR and FPVIOL bits in the FSTAT register must be clear (see Section 20.3.2.7) and the CCIF flag should be tested to determine the status of the current command write sequence. If CCIF is 0, the previous command write sequence is still active, a new command write sequence cannot be started, and all writes to the FCCOB register are ignored. 20.4.5.2.1 Define FCCOB Contents The FCCOB parameter fields must be loaded with all required parameters for the Flash command being executed. The CCOBIX bits in the FCCOBIX register must reflect the amount of words loaded into the FCCOB registers (see Section 20.3.2.3). The contents of the FCCOB parameter fields are transferred to the Memory Controller when the user clears the CCIF command completion flag in the FSTAT register (writing 1 clears the CCIF to 0). The CCIF flag will remain clear until the Flash command has completed. Upon completion, the Memory Controller will return CCIF to 1 and the FCCOB register will be used to communicate any results. The flow for a generic command write sequence is shown in Figure 20-30. MC9S12ZVM Family Reference Manual Rev. 2.2 790 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) START Read: FCLKDIV register Clock Divider Value Check FDIV Correct? no no Read: FSTAT register yes FCCOB Availability Check CCIF Set? yes Read: FSTAT register Note: FCLKDIV must be set after each reset Write: FCLKDIV register no CCIF Set? yes Results from previous Command Access Error and Protection Violation Check ACCERR/ FPVIOL Set? no yes Write: FSTAT register Clear ACCERR/FPVIOL 0x30 Write to FCCOBIX register to indicate number of parameters to be loaded. Write to FCCOB register to load required command parameter. More Parameters? yes no Write: FSTAT register (to launch command) Clear CCIF 0x80 Read: FSTAT register Bit Polling for Command Completion Check CCIF Set? no yes EXIT Figure 20-30. Generic Flash Command Write Sequence Flowchart MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 791 Chapter 20 Flash Module (S12ZFTMRZ) 20.4.5.3 Valid Flash Module Commands Table 20-29 present the valid Flash commands, as enabled by the combination of the functional MCU mode (Normal SingleChip NS, Special Singlechip SS) with the MCU security state (Unsecured, Secured). + Table 20-29. Flash Commands by Mode and Security State Unsecured FCMD Command Secured NS (1) SS(2) NS (3) SS(4) 0x01 Erase Verify All Blocks 0x02 Erase Verify Block 0x03 Erase Verify P-Flash Section 0x04 Read Once 0x06 Program P-Flash 0x07 Program Once 0x08 Erase All Blocks 0x09 Erase Flash Block 0x0A Erase P-Flash Sector 0x0B Unsecure Flash 0x0C Verify Backdoor Access Key 0x0D Set User Margin Level 0x0E Set Field Margin Level 0x10 Erase Verify EEPROM Section 0x11 Program EEPROM 0x12 Erase EEPROM Sector 0x13 Protection Override 1. Unsecured Normal Single Chip mode 2. Unsecured Special Single Chip mode. 3. Secured Normal Single Chip mode. 4. Secured Special Single Chip mode. MC9S12ZVM Family Reference Manual Rev. 2.2 792 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) 20.4.5.4 P-Flash Commands Table 20-30 summarizes the valid P-Flash commands along with the effects of the commands on the PFlash block and other resources within the Flash module. Table 20-30. P-Flash Commands FCMD Command 0x01 Erase Verify All Blocks 0x02 Erase Verify Block 0x03 Erase Verify PFlash Section 0x04 Read Once 0x06 Program P-Flash 0x07 Program Once Program a dedicated 64 byte field in the nonvolatile information register in P-Flash block that is allowed to be programmed only once. 0x08 Erase All Blocks Erase all P-Flash (and EEPROM) blocks. An erase of all Flash blocks is only possible when the FPLDIS, FPHDIS, and FPOPEN bits in the FPROT register and the DPOPEN bit in the DFPROT register are set prior to launching the command. 0x09 Erase Flash Block Erase a P-Flash (or EEPROM) block. An erase of the full P-Flash block is only possible when FPLDIS, FPHDIS and FPOPEN bits in the FPROT register are set prior to launching the command. 0x0A Erase P-Flash Sector 0x0B Unsecure Flash 0x0C Verify Backdoor Access Key Supports a method of releasing MCU security by verifying a set of security keys. 0x0D Set User Margin Level Specifies a user margin read level for all P-Flash blocks. 0x0E Set Field Margin Level Specifies a field margin read level for all P-Flash blocks (special modes only). 0x13 Protection Override 20.4.5.5 Function on P-Flash Memory Verify that all P-Flash (and EEPROM) blocks are erased. Verify that a P-Flash block is erased. Verify that a given number of words starting at the address provided are erased. Read a dedicated 64 byte field in the nonvolatile information register in P-Flash block that was previously programmed using the Program Once command. Program a phrase in a P-Flash block. Erase all bytes in a P-Flash sector. Supports a method of releasing MCU security by erasing all P-Flash (and EEPROM) blocks and verifying that all P-Flash (and EEPROM) blocks are erased. Supports a mode to temporarily override Protection configuration (for P-Flash and/or EEPROM) by verifying a key. EEPROM Commands Table 20-31 summarizes the valid EEPROM commands along with the effects of the commands on the EEPROM block. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 793 Chapter 20 Flash Module (S12ZFTMRZ) Table 20-31. EEPROM Commands FCMD Command 0x01 Erase Verify All Blocks 0x02 Erase Verify Block Function on EEPROM Memory Verify that all EEPROM (and P-Flash) blocks are erased. Verify that the EEPROM block is erased. 0x08 Erase All Blocks Erase all EEPROM (and P-Flash) blocks. An erase of all Flash blocks is only possible when the FPLDIS, FPHDIS, and FPOPEN bits in the FPROT register and the DPOPEN bit in the DFPROT register are set prior to launching the command. 0x09 Erase Flash Block Erase a EEPROM (or P-Flash) block. An erase of the full EEPROM block is only possible when DPOPEN bit in the DFPROT register is set prior to launching the command. 0x0B Unsecure Flash 0x0D Set User Margin Level Specifies a user margin read level for the EEPROM block. 0x0E Set Field Margin Level Specifies a field margin read level for the EEPROM block (special modes only). 0x10 Erase Verify EEPROM Section Verify that a given number of words starting at the address provided are erased. 0x11 Program EEPROM Program up to four words in the EEPROM block. 0x12 Erase EEPROM Sector Erase all bytes in a sector of the EEPROM block. 0x13 Protection Override 20.4.6 Supports a method of releasing MCU security by erasing all EEPROM (and P-Flash) blocks and verifying that all EEPROM (and P-Flash) blocks are erased. Supports a mode to temporarily override Protection configuration (for P-Flash and/or EEPROM) by verifying a key. Allowed Simultaneous P-Flash and EEPROM Operations Only the operations marked `OK' in Table 20-32 are permitted to be run simultaneously on combined Program Flash and EEPROM blocks. Some operations cannot be executed simultaneously because certain hardware resources are shared by the two memories. The priority has been placed on permitting Program Flash reads while program and erase operations execute on the EEPROM, providing read (P-Flash) while write (EEPROM) functionality. Any attempt to access P-Flash and EEPROM simultaneously when it is not allowed will result in an illegal access that will trigger a machine exception in the CPU (see device information for details). Please note that during the execution of each command there is a period, before the operation in the Flash array actually starts, where reading is allowed and valid data is returned. Even if the simultaneous operation is marked as not allowed the Flash will report an illegal access only in the cycle the read collision actually happens, maximizing the time the array is available for reading. If more than one hardblock exists on a device, then read operations on one hardblock are permitted whilst program or erase operations are executed on the other hardblock. MC9S12ZVM Family Reference Manual Rev. 2.2 794 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Table 20-32. Allowed P-Flash and EEPROM Simultaneous Operations on a single hardblock EEPROM Program Flash Read Margin Read2 Program Sector Erase Read OK(1) OK OK OK Mass Erase2 Margin Read(2) Program Sector Erase Mass Erase(3) OK 1. Strictly speaking, only one read of either the P-Flash or EEPROM can occur at any given instant, but the memory controller will transparently arbitrate PFlash and EEPROM accesses giving uninterrupted read access whenever possible. 2. A `Margin Read' is any read after executing the margin setting commands `Set User Margin Level' or `Set Field Margin Level' with anything but the `normal' level specified. See the Note on margin settings in Section 20.4.7.12 and Section 20.4.7.13. 3. The `Mass Erase' operations are commands `Erase All Blocks' and `Erase Flash Block' 20.4.7 Flash Command Description This section provides details of all available Flash commands launched by a command write sequence. The ACCERR bit in the FSTAT register will be set during the command write sequence if any of the following illegal steps are performed, causing the command not to be processed by the Memory Controller: * Starting any command write sequence that programs or erases Flash memory before initializing the FCLKDIV register * Writing an invalid command as part of the command write sequence * For additional possible errors, refer to the error handling table provided for each command If a Flash block is read during execution of an algorithm (CCIF = 0) on that same block, the read operation may return invalid data resulting in an illegal access (as described on Section 20.4.6). If the ACCERR or FPVIOL bits are set in the FSTAT register, the user must clear these bits before starting any command write sequence (see Section 20.3.2.7). CAUTION A Flash word or phrase must be in the erased state before being programmed. Cumulative programming of bits within a Flash word or phrase is not allowed. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 795 Chapter 20 Flash Module (S12ZFTMRZ) 20.4.7.1 Erase Verify All Blocks Command The Erase Verify All Blocks command will verify that all P-Flash and EEPROM blocks have been erased. Table 20-33. Erase Verify All Blocks Command FCCOB Requirements Register FCCOB Parameters FCCOB0 0x01 Not required Upon clearing CCIF to launch the Erase Verify All Blocks command, the Memory Controller will verify that the entire Flash memory space is erased. The CCIF flag will set after the Erase Verify All Blocks operation has completed. If all blocks are not erased, it means blank check failed, both MGSTAT bits will be set. Table 20-34. Erase Verify All Blocks Command Error Handling Register Error Bit ACCERR FPVIOL FSTAT 20.4.7.2 Error Condition Set if CCOBIX[2:0] != 000 at command launch None MGSTAT1 Set if any errors have been encountered during the reador if blank check failed . MGSTAT0 Set if any non-correctable errors have been encountered during the read or if blank check failed. Erase Verify Block Command The Erase Verify Block command allows the user to verify that an entire P-Flash or EEPROM block has been erased. Table 20-35. Erase Verify Block Command FCCOB Requirements Register FCCOB0 FCCOB1 FCCOB Parameters 0x02 Global address [23:16] to identify Flash block Global address [15:0] to identify Flash block Upon clearing CCIF to launch the Erase Verify Block command, the Memory Controller will verify that the selected P-Flash or EEPROM block is erased. The CCIF flag will set after the Erase Verify Block operation has completed.If the block is not erased, it means blank check failed, both MGSTAT bits will be set. MC9S12ZVM Family Reference Manual Rev. 2.2 796 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Table 20-36. Erase Verify Block Command Error Handling Register Error Bit Error Condition Set if CCOBIX[2:0] != 001 at command launch ACCERR FPVIOL FSTAT 20.4.7.3 Set if an invalid global address [23:0] is supplied see Table 20-3) None MGSTAT1 Set if any errors have been encountered during the read or if blank check failed. MGSTAT0 Set if any non-correctable errors have been encountered during the read or if blank check failed. Erase Verify P-Flash Section Command The Erase Verify P-Flash Section command will verify that a section of code in the P-Flash memory is erased. The Erase Verify P-Flash Section command defines the starting point of the code to be verified and the number of phrases. Table 20-37. Erase Verify P-Flash Section Command FCCOB Requirements Register FCCOB Parameters FCCOB0 0x03 Global address [23:16] of a P-Flash block FCCOB1 Global address [15:0] of the first phrase to be verified FCCOB2 Number of phrases to be verified Upon clearing CCIF to launch the Erase Verify P-Flash Section command, the Memory Controller will verify the selected section of Flash memory is erased. The CCIF flag will set after the Erase Verify P-Flash Section operation has completed. If the section is not erased, it means blank check failed, both MGSTAT bits will be set. Table 20-38. Erase Verify P-Flash Section Command Error Handling Register Error Bit Error Condition Set if CCOBIX[2:0] != 010 at command launch Set if command not available in current mode (see Table 20-29) ACCERR Set if an invalid global address [23:0] is supplied see Table 20-3) Set if a misaligned phrase address is supplied (global address [2:0] != 000) FSTAT Set if the requested section crosses a the P-Flash address boundary FPVIOL None MGSTAT1 Set if any errors have been encountered during the read or if blank check failed. MGSTAT0 Set if any non-correctable errors have been encountered during the read or if blank check failed. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 797 Chapter 20 Flash Module (S12ZFTMRZ) 20.4.7.4 Read Once Command The Read Once command provides read access to a reserved 64 byte field (8 phrases) located in the nonvolatile information register of P-Flash. The Read Once field is programmed using the Program Once command described in Section 20.4.7.6. The Read Once command must not be executed from the Flash block containing the Program Once reserved field to avoid code runaway. Table 20-39. Read Once Command FCCOB Requirements Register FCCOB Parameters FCCOB0 0x04 Not Required FCCOB1 Read Once phrase index (0x0000 - 0x0007) FCCOB2 Read Once word 0 value FCCOB3 Read Once word 1 value FCCOB4 Read Once word 2 value FCCOB5 Read Once word 3 value Upon clearing CCIF to launch the Read Once command, a Read Once phrase is fetched and stored in the FCCOB indexed register. The CCIF flag will set after the Read Once operation has completed. Valid phrase index values for the Read Once command range from 0x0000 to 0x0007. During execution of the Read Once command, any attempt to read addresses within P-Flash block will return invalid data. Table 20-40. Read Once Command Error Handling 8 Register Error Bit Error Condition Set if CCOBIX[2:0] != 001 at command launch ACCERR FSTAT 20.4.7.5 Set if command not available in current mode (see Table 20-29) Set if an invalid phrase index is supplied FPVIOL None MGSTAT1 Set if any errors have been encountered during the read MGSTAT0 Set if any non-correctable errors have been encountered during the read Program P-Flash Command The Program P-Flash operation will program a previously erased phrase in the P-Flash memory using an embedded algorithm. CAUTION A P-Flash phrase must be in the erased state before being programmed. Cumulative programming of bits within a Flash phrase is not allowed. MC9S12ZVM Family Reference Manual Rev. 2.2 798 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Table 20-41. Program P-Flash Command FCCOB Requirements Register FCCOB Parameters FCCOB0 Global address [23:16] to identify P-Flash block 0x06 FCCOB1 Global address [15:0] of phrase location to be programmed(1) FCCOB2 Word 0 program value FCCOB3 Word 1 program value FCCOB4 Word 2 program value FCCOB5 Word 3 program value 1. Global address [2:0] must be 000 Upon clearing CCIF to launch the Program P-Flash command, the Memory Controller will program the data words to the supplied global address and will then proceed to verify the data words read back as expected. The CCIF flag will set after the Program P-Flash operation has completed. Table 20-42. Program P-Flash Command Error Handling Register Error Bit Error Condition Set if CCOBIX[2:0] != 101 at command launch Set if command not available in current mode (see Table 20-29) ACCERR Set if a misaligned phrase address is supplied (global address [2:0] != 000) FSTAT 20.4.7.6 Set if an invalid global address [23:0] is supplied see Table 20-3) FPVIOL Set if the global address [17:0] points to a protected area MGSTAT1 Set if any errors have been encountered during the verify operation MGSTAT0 Set if any non-correctable errors have been encountered during the verify operation Program Once Command The Program Once command restricts programming to a reserved 64 byte field (8 phrases) in the nonvolatile information register located in P-Flash. The Program Once reserved field can be read using the Read Once command as described in Section 20.4.7.4. The Program Once command must only be issued once since the nonvolatile information register in P-Flash cannot be erased. The Program Once command must not be executed from the Flash block containing the Program Once reserved field to avoid code runaway. Table 20-43. Program Once Command FCCOB Requirements CCOBIX[2:0] FCCOB0 FCCOB Parameters 0x07 Not Required FCCOB1 Program Once phrase index (0x0000 - 0x0007) FCCOB2 Program Once word 0 value MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 799 Chapter 20 Flash Module (S12ZFTMRZ) Table 20-43. Program Once Command FCCOB Requirements CCOBIX[2:0] FCCOB Parameters FCCOB3 Program Once word 1 value FCCOB4 Program Once word 2 value FCCOB5 Program Once word 3 value Upon clearing CCIF to launch the Program Once command, the Memory Controller first verifies that the selected phrase is erased. If erased, then the selected phrase will be programmed and then verified with read back. The CCIF flag will remain clear, setting only after the Program Once operation has completed. The reserved nonvolatile information register accessed by the Program Once command cannot be erased and any attempt to program one of these phrases a second time will not be allowed. Valid phrase index values for the Program Once command range from 0x0000 to 0x0007. During execution of the Program Once command, any attempt to read addresses within P-Flash will return invalid data. Table 20-44. Program Once Command Error Handling Register Error Bit Error Condition Set if CCOBIX[2:0] != 101 at command launch ACCERR FSTAT Set if command not available in current mode (see Table 20-29) Set if an invalid phrase index is supplied Set if the requested phrase has already been programmed(1) FPVIOL None MGSTAT1 Set if any errors have been encountered during the verify operation MGSTAT0 Set if any non-correctable errors have been encountered during the verify operation 1. If a Program Once phrase is initially programmed to 0xFFFF_FFFF_FFFF_FFFF, the Program Once command will be allowed to execute again on that same phrase. 20.4.7.7 Erase All Blocks Command The Erase All Blocks operation will erase the entire P-Flash and EEPROM memory space. Table 20-45. Erase All Blocks Command FCCOB Requirements Register FCCOB0 FCCOB Parameters 0x08 Not required Upon clearing CCIF to launch the Erase All Blocks command, the Memory Controller will erase the entire Flash memory space and verify that it is erased. If the Memory Controller verifies that the entire Flash memory space was properly erased, security will be released. During the execution of this command (CCIF=0) the user must not write to any Flash module register. The CCIF flag will set after the Erase All Blocks operation has completed. MC9S12ZVM Family Reference Manual Rev. 2.2 800 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Table 20-46. Erase All Blocks Command Error Handling Register Error Bit ACCERR FPVIOL FSTAT 20.4.7.7.1 Error Condition Set if CCOBIX[2:0] != 000 at command launch Set if command not available in current mode (see Table 20-29) Set if any area of the P-Flash or EEPROM memory is protected MGSTAT1 Set if any errors have been encountered during the verify operation MGSTAT0 Set if any non-correctable errors have been encountered during the verify operation Erase All Pin The functionality of the Erase All Blocks command is also available in an uncommanded fashion from the soc_erase_all_req input pin on the Flash module. Refer to the Reference Manual for information on control of soc_erase_all_req. The erase-all function requires the clock divider register FCLKDIV (see Section 20.3.2.1) to be loaded before invoking this function using soc_erase_all_req input pin. The FCLKDIV configuration for this feature is described at device level. If FCLKDIV is not properly set the erase-all operation will not execute and the ACCERR flag in FSTAT register will set. After the execution of the erase-all function the FCLKDIV register will be reset and the value of register FCLKDIV must be loaded before launching any other command afterwards. Before invoking the erase-all function using the soc_erase_all_req pin, the ACCERR and FPVIOL flags in the FSTAT register must be clear. When invoked from soc_erase_all_req the erase-all function will erase all P-Flash memory and EEPROM memory space regardless of the protection settings. If the posterase verify passes, the routine will then release security by setting the SEC field of the FSEC register to the unsecure state (see Section 20.3.2.2). The security byte in the Flash Configuration Field will be programmed to the unsecure state (see Table 20-9). The status of the erase-all request is reflected in the ERSAREQ bit in the FCNFG register (see Section 20.3.2.5). The ERSAREQ bit in FCNFG will be cleared once the operation has completed and the normal FSTAT error reporting will be available as described inTable 20-47. At the end of the erase-all sequence Protection will remain configured as it was before executing the eraseall function. If the application requires programming P-Flash and/or EEPROM after the erase-all function completes, the existing protection limits must be taken into account. If protection needs to be disabled the user may need to reset the system right after completing the erase-all function. Table 20-47. Erase All Pin Error Handling Register FSTAT Error Bit Error Condition ACCERR Set if command not available in current mode (see Table 20-29) MGSTAT1 Set if any errors have been encountered during the erase verify operation, or during the program verify operation MGSTAT0 Set if any non-correctable errors have been encountered during the erase verify operation, or during the program verify operation MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 801 Chapter 20 Flash Module (S12ZFTMRZ) 20.4.7.8 Erase Flash Block Command The Erase Flash Block operation will erase all addresses in a P-Flash or EEPROM block. Table 20-48. Erase Flash Block Command FCCOB Requirements Register FCCOB0 FCCOB1 FCCOB Parameters Global address [23:16] to identify Flash block 0x09 Global address [15:0] in Flash block to be erased Upon clearing CCIF to launch the Erase Flash Block command, the Memory Controller will erase the selected Flash block and verify that it is erased. The CCIF flag will set after the Erase Flash Block operation has completed. Table 20-49. Erase Flash Block Command Error Handling Register Error Bit Error Condition Set if CCOBIX[2:0] != 001 at command launch Set if command not available in current mode (see Table 20-29) ACCERR Set if the supplied P-Flash address is not phrase-aligned or if the EEPROM address is not word-aligned FSTAT FPVIOL 20.4.7.9 Set if an invalid global address [23:0] is supplied Set if an area of the selected Flash block is protected MGSTAT1 Set if any errors have been encountered during the verify operation MGSTAT0 Set if any non-correctable errors have been encountered during the verify operation Erase P-Flash Sector Command The Erase P-Flash Sector operation will erase all addresses in a P-Flash sector. Table 20-50. Erase P-Flash Sector Command FCCOB Requirements Register FCCOB0 FCCOB1 FCCOB Parameters 0x0A Global address [23:16] to identify P-Flash block to be erased Global address [15:0] anywhere within the sector to be erased. Refer to Section 20.1.2.1 for the P-Flash sector size. Upon clearing CCIF to launch the Erase P-Flash Sector command, the Memory Controller will erase the selected Flash sector and then verify that it is erased. The CCIF flag will be set after the Erase P-Flash Sector operation has completed. MC9S12ZVM Family Reference Manual Rev. 2.2 802 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Table 20-51. Erase P-Flash Sector Command Error Handling Register Error Bit Error Condition Set if CCOBIX[2:0] != 001 at command launch ACCERR FSTAT Set if command not available in current mode (see Table 20-29) Set if an invalid global address [23:0] is supplied see Table 20-3) Set if a misaligned phrase address is supplied (global address [2:0] != 000) FPVIOL Set if the selected P-Flash sector is protected MGSTAT1 Set if any errors have been encountered during the verify operation MGSTAT0 Set if any non-correctable errors have been encountered during the verify operation 20.4.7.10 Unsecure Flash Command The Unsecure Flash command will erase the entire P-Flash and EEPROM memory space and, if the erase is successful, will release security. Table 20-52. Unsecure Flash Command FCCOB Requirements Register FCCOB0 FCCOB Parameters 0x0B Not required Upon clearing CCIF to launch the Unsecure Flash command, the Memory Controller will erase the entire P-Flash and EEPROM memory space and verify that it is erased. If the Memory Controller verifies that the entire Flash memory space was properly erased, security will be released. If the erase verify is not successful, the Unsecure Flash operation sets MGSTAT1 and terminates without changing the security state. During the execution of this command (CCIF=0) the user must not write to any Flash module register. The CCIF flag is set after the Unsecure Flash operation has completed. Table 20-53. Unsecure Flash Command Error Handling Register Error Bit ACCERR FSTAT FPVIOL Error Condition Set if CCOBIX[2:0] != 000 at command launch Set if command not available in current mode (see Table 20-29) Set if any area of the P-Flash or EEPROM memory is protected MGSTAT1 Set if any errors have been encountered during the verify operation MGSTAT0 Set if any non-correctable errors have been encountered during the verify operation 20.4.7.11 Verify Backdoor Access Key Command The Verify Backdoor Access Key command will only execute if it is enabled by the KEYEN bits in the FSEC register (see Table 20-10). The Verify Backdoor Access Key command releases security if usersupplied keys match those stored in the Flash security bytes of the Flash configuration field (see Table 20MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 803 Chapter 20 Flash Module (S12ZFTMRZ) 4). The Verify Backdoor Access Key command must not be executed from the Flash block containing the backdoor comparison key to avoid code runaway. Table 20-54. Verify Backdoor Access Key Command FCCOB Requirements Register FCCOB Parameters FCCOB0 0x0C Not required FCCOB1 Key 0 FCCOB2 Key 1 FCCOB3 Key 2 FCCOB4 Key 3 Upon clearing CCIF to launch the Verify Backdoor Access Key command, the Memory Controller will check the FSEC KEYEN bits to verify that this command is enabled. If not enabled, the Memory Controller sets the ACCERR bit in the FSTAT register and terminates. If the command is enabled, the Memory Controller compares the key provided in FCCOB to the backdoor comparison key in the Flash configuration field with Key 0 compared to 0xFF_FE00, etc. If the backdoor keys match, security will be released. If the backdoor keys do not match, security is not released and all future attempts to execute the Verify Backdoor Access Key command are aborted (set ACCERR) until a reset occurs. The CCIF flag is set after the Verify Backdoor Access Key operation has completed. Table 20-55. Verify Backdoor Access Key Command Error Handling Register Error Bit Error Condition Set if CCOBIX[2:0] != 100 at command launch Set if an incorrect backdoor key is supplied ACCERR FSTAT Set if backdoor key access has not been enabled (KEYEN[1:0] != 10, see Section 20.3.2.2) Set if the backdoor key has mismatched since the last reset FPVIOL None MGSTAT1 None MGSTAT0 None 20.4.7.12 Set User Margin Level Command The Set User Margin Level command causes the Memory Controller to set the margin level for future read operations of the P-Flash or EEPROM block. Table 20-56. Set User Margin Level Command FCCOB Requirements Register FCCOB0 FCCOB1 FCCOB Parameters 0x0D Global address [23:16] to identify Flash block Global address [15:0] to identify Flash block MC9S12ZVM Family Reference Manual Rev. 2.2 804 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Table 20-56. Set User Margin Level Command FCCOB Requirements Register FCCOB Parameters FCCOB2 Margin level setting. Upon clearing CCIF to launch the Set User Margin Level command, the Memory Controller will set the user margin level for the targeted block and then set the CCIF flag. NOTE When the EEPROM block is targeted, the EEPROM user margin levels are applied only to the EEPROM reads. However, when the P-Flash block is targeted, the P-Flash user margin levels are applied to both P-Flash and EEPROM reads. It is not possible to apply user margin levels to the P-Flash block only. Valid margin level settings for the Set User Margin Level command are defined in Table 20-57. Table 20-57. Valid Set User Margin Level Settings FCCOB2 Level Description 0x0000 Return to Normal Level 0x0001 User Margin-1 Level(1) 0x0002 User Margin-0 Level(2) 1. Read margin to the erased state 2. Read margin to the programmed state Table 20-58. Set User Margin Level Command Error Handling Register Error Bit Error Condition Set if CCOBIX[2:0] != 010 at command launch ACCERR FSTAT Set if command not available in current mode (see Table 20-29) Set if an invalid global address [23:0] is supplied see Table 20-3) Set if an invalid margin level setting is supplied FPVIOL None MGSTAT1 None MGSTAT0 None NOTE User margin levels can be used to check that Flash memory contents have adequate margin for normal level read operations. If unexpected results are encountered when checking Flash memory contents at user margin levels, a potential loss of information has been detected. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 805 Chapter 20 Flash Module (S12ZFTMRZ) 20.4.7.13 Set Field Margin Level Command The Set Field Margin Level command, valid in special modes only, causes the Memory Controller to set the margin level specified for future read operations of the P-Flash or EEPROM block. Table 20-59. Set Field Margin Level Command FCCOB Requirements Register FCCOB Parameters FCCOB0 Global address [23:16] to identify Flash block 0x0E FCCOB1 Global address [15:0] to identify Flash block FCCOB2 Margin level setting. Upon clearing CCIF to launch the Set Field Margin Level command, the Memory Controller will set the field margin level for the targeted block and then set the CCIF flag. NOTE When the EEPROM block is targeted, the EEPROM field margin levels are applied only to the EEPROM reads. However, when the P-Flash block is targeted, the P-Flash field margin levels are applied to both P-Flash and EEPROM reads. It is not possible to apply field margin levels to the P-Flash block only. Valid margin level settings for the Set Field Margin Level command are defined in Table 20-60. Table 20-60. Valid Set Field Margin Level Settings FCCOB2 Level Description 0x0000 Return to Normal Level 0x0001 User Margin-1 Level(1) 0x0002 User Margin-0 Level(2) 0x0003 Field Margin-1 Level1 0x0004 Field Margin-0 Level2 1. Read margin to the erased state 2. Read margin to the programmed state MC9S12ZVM Family Reference Manual Rev. 2.2 806 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Table 20-61. Set Field Margin Level Command Error Handling Register Error Bit Error Condition Set if CCOBIX[2:0] != 010 at command launch Set if command not available in current mode (see Table 20-29) ACCERR Set if an invalid global address [23:0] is supplied see Table 20-3) FSTAT Set if an invalid margin level setting is supplied FPVIOL None MGSTAT1 None MGSTAT0 None CAUTION Field margin levels must only be used during verify of the initial factory programming. NOTE Field margin levels can be used to check that Flash memory contents have adequate margin for data retention at the normal level setting. If unexpected results are encountered when checking Flash memory contents at field margin levels, the Flash memory contents should be erased and reprogrammed. 20.4.7.14 Erase Verify EEPROM Section Command The Erase Verify EEPROM Section command will verify that a section of code in the EEPROM is erased. The Erase Verify EEPROM Section command defines the starting point of the data to be verified and the number of words. Table 20-62. Erase Verify EEPROM Section Command FCCOB Requirements Register FCCOB0 FCCOB Parameters 0x10 Global address [23:16] to identify the EEPROM block FCCOB1 Global address [15:0] of the first word to be verified FCCOB2 Number of words to be verified Upon clearing CCIF to launch the Erase Verify EEPROM Section command, the Memory Controller will verify the selected section of EEPROM memory is erased. The CCIF flag will set after the Erase Verify EEPROM Section operation has completed. If the section is not erased, it means blank check failed, both MGSTAT bits will be set. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 807 Chapter 20 Flash Module (S12ZFTMRZ) Table 20-63. Erase Verify EEPROM Section Command Error Handling Register Error Bit Error Condition Set if CCOBIX[2:0] != 010 at command launch Set if command not available in current mode (see Table 20-29) ACCERR Set if an invalid global address [23:0] is supplied Set if a misaligned word address is supplied (global address [0] != 0) FSTAT Set if the requested section breaches the end of the EEPROM block FPVIOL None MGSTAT1 Set if any errors have been encountered during the read or if blank check failed. MGSTAT0 Set if any non-correctable errors have been encountered during the read or if blank check failed. 20.4.7.15 Program EEPROM Command The Program EEPROM operation programs one to four previously erased words in the EEPROM block. The Program EEPROM operation will confirm that the targeted location(s) were successfully programmed upon completion. CAUTION A Flash word must be in the erased state before being programmed. Cumulative programming of bits within a Flash word is not allowed. Table 20-64. Program EEPROM Command FCCOB Requirements Register FCCOB0 FCCOB Parameters 0x11 Global address [23:16] to identify the EEPROM block FCCOB1 Global address [15:0] of word to be programmed FCCOB2 Word 0 program value FCCOB3 Word 1 program value, if desired FCCOB4 Word 2 program value, if desired FCCOB5 Word 3 program value, if desired Upon clearing CCIF to launch the Program EEPROM command, the user-supplied words will be transferred to the Memory Controller and be programmed if the area is unprotected. The CCOBIX index value at Program EEPROM command launch determines how many words will be programmed in the EEPROM block. The CCIF flag is set when the operation has completed. MC9S12ZVM Family Reference Manual Rev. 2.2 808 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) Table 20-65. Program EEPROM Command Error Handling Register Error Bit Error Condition Set if CCOBIX[2:0] < 010 at command launch Set if CCOBIX[2:0] > 101 at command launch ACCERR Set if command not available in current mode (see Table 20-29) Set if an invalid global address [23:0] is supplied Set if a misaligned word address is supplied (global address [0] != 0) FSTAT Set if the requested group of words breaches the end of the EEPROM block FPVIOL Set if the selected area of the EEPROM memory is protected MGSTAT1 Set if any errors have been encountered during the verify operation MGSTAT0 Set if any non-correctable errors have been encountered during the verify operation 20.4.7.16 Erase EEPROM Sector Command The Erase EEPROM Sector operation will erase all addresses in a sector of the EEPROM block. Table 20-66. Erase EEPROM Sector Command FCCOB Requirements Register FCCOB0 FCCOB1 FCCOB Parameters 0x12 Global address [23:16] to identify EEPROM block Global address [15:0] anywhere within the sector to be erased. See Section 20.1.2.2 for EEPROM sector size. Upon clearing CCIF to launch the Erase EEPROM Sector command, the Memory Controller will erase the selected Flash sector and verify that it is erased. The CCIF flag will set after the Erase EEPROM Sector operation has completed. Table 20-67. Erase EEPROM Sector Command Error Handling Register Error Bit Error Condition Set if CCOBIX[2:0] != 001 at command launch ACCERR FSTAT Set if command not available in current mode (see Table 20-29) Set if an invalid global address [23:0] is supplied see Table 20-3 Set if a misaligned word address is supplied (global address [0] != 0) FPVIOL Set if the selected area of the EEPROM memory is protected MGSTAT1 Set if any errors have been encountered during the verify operation MGSTAT0 Set if any non-correctable errors have been encountered during the verify operation MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 809 Chapter 20 Flash Module (S12ZFTMRZ) 20.4.7.17 Protection Override Command The Protection Override command allows the user to temporarily override the protection limits, either decreasing, increasing or disabling protection limits, on P-Flash and/or EEPROM, if the comparison key provided as a parameter loaded on FCCOB matches the value of the key previously programmed on the Flash Configuration Field (see Table 20-4). The value of the Protection Override Comparison Key must not be 16'hFFFF, that is considered invalid and if used as argument will cause the Protection Override feature to be disabled. Any valid key value that does not match the value programmed in the Flash Configuration Field will cause the Protection Override feature to be disabled. Current status of the Protection Override feature can be observed on FPSTAT FPOVRD bit (see Section 20.3.2.4, "Flash Protection Status Register (FPSTAT)). Table 20-68. Protection Override Command FCCOB Requirements Register FCCOB0 FCCOB Parameters 0x13 FCCOB1 Protection Update Selection [1:0] See Table 20-69 Comparison Key FCCOB2 reserved New FPROT value FCCOB3 reserved New DFPROT value Table 20-69. Protection Override selection description Protection Update Selection code [1:0] Protection register selection bit 0 Update P-Flash protection 0 - keep unchanged (do not update) 1 - update P-Flash protection with new FPROT value loaded on FCCOB bit 1 Update EEPROM protection 0 - keep unchanged (do not update) 1 - update EEPROM protection with new DFPROT value loaded on FCCOB If the comparison key successfully matches the key programmed in the Flash Configuration Field the Protection Override command will preserve the current values of registers FPROT and DFPROT stored in an internal area and will override these registers as selected by the Protection Update Selection field with the value(s) loaded on FCCOB parameters. The new values loaded into FPROT and/or DFPROT can reconfigure protection without any restriction (by increasing, decreasing or disabling protection limits). If the command executes successfully the FPSTAT FPOVRD bit will set. If the comparison key does not match the key programmed in the Flash Configuration Field, or if the key loaded on FCCOB is 16'hFFFF, the value of registers FPROT and DFPROT will be restored to their original contents before executing the Protection Override command and the FPSTAT FPOVRD bit will be cleared. If the contents of the Protection Override Comparison Key in the Flash Configuration Field is left in the erased state (i.e. 16'hFFFF) the Protection Override feature is permanently disabled. If the command execution is flagged as an error (ACCERR being set for incorrect command launch) the values of FPROT and DFPROT will not be modified. MC9S12ZVM Family Reference Manual Rev. 2.2 810 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) The Protection Override command can be called multiple times and every time it is launched it will preserve the current values of registers FPROT and DFPROT in a single-entry buffer to be restored later; when the Protection Override command is launched to restore FPROT and DFPROT these registers will assume the values they had before executing the Protection Override command on the last time. If contents of FPROT and/or DFPROT registers were modified by direct register writes while protection is overridden these modifications will be lost. Running Protection Override command to restore the contents of registers FPROT and DFPROT will not force them to the reset values. Table 20-70. Protection Override Command Error Handling Register Error Bit Error Condition Set if CCOBIX[2:0] != (001, 010 or 011) at command launch. Set if command not available in current mode (see Table 20-29). Set if protection is supposed to be restored (if key does not match or is invalid) and Protection Override command was not run previously (bit FPSTAT FPOVRD is 0), so there are no previous valid values of FPROT and DFPROT to be re-loaded. ACCERR Set if Protection Update Selection[1:0] = 00 (in case of CCOBIX[2:0] = 010 or 011) FSTAT Set if Protection Update Selection[1:0] = 00, CCOBIX[2:0] = 001 and a valid comparison key is loaded as a command parameter. 20.4.8 FPVIOL None MGSTAT1 None MGSTAT0 None Interrupts The Flash module can generate an interrupt when a Flash command operation has completed or when a Flash command operation has detected an ECC fault. Table 20-71. Flash Interrupt Sources Interrupt Source Flash Command Complete ECC Single Bit Fault on Flash Read Global (CCR) Mask Interrupt Flag Local Enable CCIF (FSTAT register) CCIE (FCNFG register) I Bit SFDIF (FERSTAT register) SFDIE (FERCNFG register) I Bit NOTE Vector addresses and their relative interrupt priority are determined at the MCU level. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 811 Chapter 20 Flash Module (S12ZFTMRZ) 20.4.8.1 Description of Flash Interrupt Operation The Flash module uses the CCIF flag in combination with the CCIE interrupt enable bit to generate the Flash command interrupt request. The Flash module uses the SFDIF flag in combination with the SFDIE interrupt enable bits to generate the Flash error interrupt request. For a detailed description of the register bits involved, refer to Section 20.3.2.5, "Flash Configuration Register (FCNFG)", Section 20.3.2.6, "Flash Error Configuration Register (FERCNFG)", Section 20.3.2.7, "Flash Status Register (FSTAT)", and Section 20.3.2.8, "Flash Error Status Register (FERSTAT)". The logic used for generating the Flash module interrupts is shown in Figure 20-31. CCIE CCIF Flash Command Interrupt Request SFDIE SFDIF Flash Error Interrupt Request Figure 20-31. Flash Module Interrupts Implementation 20.4.9 Wait Mode The Flash module is not affected if the MCU enters wait mode. The Flash module can recover the MCU from wait via the CCIF interrupt (see Section 20.4.8, "Interrupts"). 20.4.10 Stop Mode If a Flash command is active (CCIF = 0) when the MCU requests stop mode, the current Flash operation will be completed before the MCU is allowed to enter stop mode. 20.5 Security The Flash module provides security information to the MCU. The Flash security state is defined by the SEC bits of the FSEC register (see Table 20-11). During reset, the Flash module initializes the FSEC register using data read from the security byte of the Flash configuration field at global address 0xFF_FE0F. The security state out of reset can be permanently changed by programming the security byte assuming that the MCU is starting from a mode where the necessary P-Flash erase and program commands are available and that the upper region of the P-Flash is unprotected. If the Flash security byte is successfully programmed, its new value will take affect after the next MCU reset. The following subsections describe these security-related subjects: * Unsecuring the MCU using Backdoor Key Access * Unsecuring the MCU in Special Single Chip Mode using BDM * Mode and Security Effects on Flash Command Availability MC9S12ZVM Family Reference Manual Rev. 2.2 812 Freescale Semiconductor Chapter 20 Flash Module (S12ZFTMRZ) 20.5.1 Unsecuring the MCU using Backdoor Key Access The MCU may be unsecured by using the backdoor key access feature which requires knowledge of the contents of the backdoor keys (four 16-bit words programmed at addresses 0xFF_FE00-0xFF_FE07). If the KEYEN[1:0] bits are in the enabled state (see Section 20.3.2.2), the Verify Backdoor Access Key command (see Section 20.4.7.11) allows the user to present four prospective keys for comparison to the keys stored in the Flash memory via the Memory Controller. If the keys presented in the Verify Backdoor Access Key command match the backdoor keys stored in the Flash memory, the SEC bits in the FSEC register (see Table 20-11) will be changed to unsecure the MCU. Key values of 0x0000 and 0xFFFF are not permitted as backdoor keys. While the Verify Backdoor Access Key command is active, P-Flash memory and EEPROM memory will not be available for read access and will return invalid data. The user code stored in the P-Flash memory must have a method of receiving the backdoor keys from an external stimulus. This external stimulus would typically be through one of the on-chip serial ports. If the KEYEN[1:0] bits are in the enabled state (see Section 20.3.2.2), the MCU can be unsecured by the backdoor key access sequence described below: 1. Follow the command sequence for the Verify Backdoor Access Key command as explained in Section 20.4.7.11 2. If the Verify Backdoor Access Key command is successful, the MCU is unsecured and the SEC[1:0] bits in the FSEC register are forced to the unsecure state of 10 The Verify Backdoor Access Key command is monitored by the Memory Controller and an illegal key will prohibit future use of the Verify Backdoor Access Key command. A reset of the MCU is the only method to re-enable the Verify Backdoor Access Key command. The security as defined in the Flash security byte (0xFF_FE0F) is not changed by using the Verify Backdoor Access Key command sequence. The backdoor keys stored in addresses 0xFF_FE00-0xFF_FE07 are unaffected by the Verify Backdoor Access Key command sequence. The Verify Backdoor Access Key command sequence has no effect on the program and erase protections defined in the Flash protection register, FPROT. After the backdoor keys have been correctly matched, the MCU will be unsecured. After the MCU is unsecured, the sector containing the Flash security byte can be erased and the Flash security byte can be reprogrammed to the unsecure state, if desired. In the unsecure state, the user has full control of the contents of the backdoor keys by programming addresses 0xFF_FE00-0xFF_FE07 in the Flash configuration field. 20.5.2 Unsecuring the MCU in Special Single Chip Mode using BDM A secured MCU can be unsecured in special single chip mode using an automated procedure described in Section 20.4.7.7.1, "Erase All Pin". 20.5.3 Mode and Security Effects on Flash Command Availability The availability of Flash module commands depends on the MCU operating mode and security state as shown in Table 20-29. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 813 Chapter 20 Flash Module (S12ZFTMRZ) 20.6 Initialization On each system reset the flash module executes an initialization sequence which establishes initial values for the Flash Block Configuration Parameters, the FPROT and DFPROT protection registers, and the FOPT and FSEC registers. The initialization routine reverts to built-in default values that leave the module in a fully protected and secured state if errors are encountered during execution of the reset sequence. If a double bit fault is detected during the reset sequence, both MGSTAT bits in the FSTAT register will be set. CCIF is cleared throughout the initialization sequence. The Flash module holds off all CPU access for a portion of the initialization sequence. Flash reads are allowed once the hold is removed. Completion of the initialization sequence is marked by setting CCIF high which enables user commands. If a reset occurs while any Flash command is in progress, that command will be immediately aborted. The state of the word being programmed or the sector/block being erased is not guaranteed. MC9S12ZVM Family Reference Manual Rev. 2.2 814 Freescale Semiconductor Chapter 21 CAN Physical Layer (S12CANPHYV3) Table 21-1. Revision History Table Revision Number Revision Date V02.00 05 Nov 2012 * Added CPTXD-dominant timeout feature 15 Apr 2013 * * * * V03.00 Sections Affected Description of Changes Made transmit driver (CANH & CANL) independent of CPCHVL condition Changed CPCLVL condition to disable CANL only Added mode to cover separation of CANH and CANL drivers Added configurable wake-up filter NOTE The information given in this section are preliminary and should be used as a guide only. Values in this section cannot be guaranteed by Freescale and are subject to change without notice. 21.1 Introduction The CAN Physical Layer provides a physical layer for high speed CAN area network communication in automotive applications. It serves as an integrated interface to the CAN bus lines for the internally connected MSCAN controller through the pins CANH, CANL and SPLIT. The CAN Physical Layer is designed to meet the CAN Physical Layer ISO 11898-2 and ISO 11898-5 standards. 21.1.1 Features The CAN Physical Layer module includes these distinctive features: * High speed CAN interface for baud rates of up to 1 Mbit/s * ISO 11898-2 and ISO 11898-5 compliant for 12 V battery systems * SPLIT pin driver for bus recessive level stabilization * Low power mode with remote CAN wake-up handled by MSCAN module * Configurable wake-up pulse filtering * Over-current shutdown for CANH and CANL * Voltage monitoring on CANH and CANL * CPTXD-dominant timeout feature monitoring the CPTXD signal * Fulfills the OEM "Hardware Requirements for (LIN,) CAN (and FlexRay) Interfaces in Automotive Applications" v1.3 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 815 Chapter 21 CAN Physical Layer (S12CANPHYV3) 21.1.2 Modes of Operation There are five modes the CAN Physical Layer can take (refer to 21.5.2 for details): 1. Shutdown mode In shutdown mode the CAN Physical Layer is fully de-biased including the wake-up receiver. 2. Normal mode In normal mode the transceiver is fully biased and functional. The SPLIT pin drives 2.5 V if enabled. 3. Pseudo-normal mode Same as normal mode with CANL driver disabled. 4. Listen-only mode Same as normal mode with transmitter de-biased. 5. Standby mode with configurable wake-up feature In standby mode the transceiver is fully de-biased. The wake-up receiver is enabled out of reset. * * * CPU Run Mode The CAN Physical Layer is able to operate normally in modes 1 to 4. CPU Wait Mode The CAN Physical Layer operation is the same as in CPU run mode. CPU Stop Mode The CAN Physical Layer enters standby mode when the device voltage regulator switches to reduced performance mode ("RPM") after a CPU stop mode request. If enabled, the wake-up pulse filtering mechanism is activated immediately at CPU stop mode entry. 21.1.3 Block Diagram Figure 21-1 shows a block diagram of the CAN Physical Layer. The module consists of a precision receiver, a low-power wake-up receiver, an output driver and diagnostics. MC9S12ZVM Family Reference Manual Rev. 2.2 816 Freescale Semiconductor Interrupt Generation CPTXD CPDTIF Chapter 21 CAN Physical Layer (S12CANPHYV3) VDDC CHOCIF Time out CHVHIF Status Change CHVH 5V CHVLIF CHVL 0V Status Change Precision Receiver CPRXD Standby Mode Wake-up Receiver 1 Normal/Shutdown/ Standby mode intern. mid point 2.5V high-z 0V SPE SPLIT CANL CAN BUS 0 Wake-up Filter CANH Standby Mode CLVLIF CLVHIF Status Change CLVL Status Change CLVH 0V 5V CLOCIF VSSC Figure 21-1. CAN Physical Layer Block Diagram 21.2 External Signal Description Table 21-2 shows the external pins associated with the CAN Physical Layer. Table 21-2. CAN Physical Layer Signal Properties Name Function CANH CAN Bus High Pin SPLIT 2.5 V Termination Pin CANL CAN Bus Low Pin VDDC Supply Pin for CAN Physical Layer VSSC Ground Pin for CAN Physical Layer MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 817 Chapter 21 CAN Physical Layer (S12CANPHYV3) 21.2.1 CANH -- CAN Bus High Pin The CANH signal either connects directly to CAN bus high line or through an optional external common mode choke. 21.2.2 CANL -- CAN Bus Low Pin The CANL signal either connects directly to CAN bus low line or through an optional external common mode choke. 21.2.3 SPLIT -- CAN Bus Termination Pin The SPLIT pin can drive a 2.5 V bias for bus termination purpose (CAN bus middle point). Usage of this pin is optional and depends on bus termination strategy for a given bus network. 21.2.4 VDDC -- Supply Pin for CAN Physical Layer The VDDC pin is used to supply the CAN Physical Layer with 5 V from an external source. 21.2.5 VSSC -- Ground Pin for CAN Physical Layer The VSSC pin is the return path for the 5 V supply (VDDC). 21.3 21.3.1 Internal Signal Description CPTXD -- TXD Input to CAN Physical Layer CPTXD is the input signal to the CAN Physical Layer. A logic 1 on this input is considered CAN recessive and a logic 0 as dominant level. Per default, CPTXD is connected device-internally to the TXCAN transmitter output of the MSCAN module. For optional routing options consult the device level documentation. 21.3.2 CPRXD -- RXD Output of CAN Physical Layer CPRXD is the output signal of the CAN Physical Layer. A logic 1 on this output represents CAN recessive and a logic 0 a dominant level. In stand-by mode the wake-up receiver is routed to this output. A dominant pulse filter can optionally be enabled to increase robustness against false wake-up pulses. In any other mode this signal defaults to the precision receiver without a pulse filter. Per default, CPRXD is connected device-internally to the RXCAN receiver input of the MSCAN module. For optional routing options consult the device level documentation. MC9S12ZVM Family Reference Manual Rev. 2.2 818 Freescale Semiconductor Chapter 21 CAN Physical Layer (S12CANPHYV3) 21.4 Memory Map and Register Definition This section provides a detailed description of all registers accessible in the CAN Physical Layer. 21.4.1 Module Memory Map A summary of the registers associated with the CAN Physical Layer sub-block is shown in Table 21-3. Detailed descriptions of the registers and bits are given in the following sections. NOTE Register Address = Module Base Address + Address Offset, where the Module Base Address is defined at the MCU level and the Address Offset is defined at the module level. Address Offset Register Name 0x0000 CPDR R W 0x0001 CPCR R W 0x0002 Reserved R Reserved W 0x0003 CPSR R CPCHVH W 0x0004 Reserved 0x0005 Reserved 0x0006 CPIE R W 0x0007 CPIF R W Bit 67 5 4 3 2 CPDR7 0 0 0 0 0 CPE SPE WUPE1-0 0 1 CPDR1 Bit 0 CPDR0 SLR2-0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved CPCHVL CPCLVH CPCLVL CPDT 0 0 0 R Reserved W Reserved Reserved Reserved Reserved Reserved Reserved Reserved R Reserved W Reserved Reserved Reserved Reserved Reserved Reserved Reserved 0 0 0 CPVFIE CPDTIE 0 0 CHVHIF CHVLIF CLVHIF CLVLIF CPDTIF 0 CHOCIF CPOCIE CLOCIF = Unimplemented or Reserved Table 21-3. CAN Physical Layer Register Summary MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 819 Chapter 21 CAN Physical Layer (S12CANPHYV3) 21.4.2 Register Descriptions This section describes all CAN Physical Layer registers and their individual bits. 21.4.2.1 Port CP Data Register (CPDR) Access: User read/write(1) Module Base + 0x0000 7 R 5 4 3 2 CPDR7 0 6 0 0 0 0 1 0 0 0 0 0 W Reset 1. Read: Anytime Write: Anytime 1 CPDR1 0 CPDR0 1 1 Figure 21-2. Port CP Data Register (CPDR) Table 21-4. CPDR Register Field Descriptions Field Description 7 CPDR7 Port CP Data Bit 7 Read-only bit. The synchronized CAN Physical Layer wake-up receiver output can be read at any time. 1 CPDR1 Port CP Data Bit 1 The CAN Physical Layer CPTXD input can be directly controlled through this register bit if routed here (see device-level specification). In this case the register bit value is driven to the pin. 0 CPTXD is driven low (dominant) 1 CPTXD is driven high (recessive) 0 CPDR0 Port CP Data Bit 0 Read-only bit. The synchronized CAN Physical Layer CPRXD output state can be read at any time. MC9S12ZVM Family Reference Manual Rev. 2.2 820 Freescale Semiconductor Chapter 21 CAN Physical Layer (S12CANPHYV3) 21.4.2.2 CAN Physical Layer Control Register (CPCR) Access: User read/write(1) Module Base + 0x0001 R W Reset 7 6 CPE SPE 0 0 5 4 3 0 WUPE1-0 1 2 0 0 1 0 SLR2-0 0 0 0 Figure 21-3. CAN Physical Layer Control Register (CPCR) 1. Read: Anytime Write: Anytime except CPE which is set once Table 21-5. CPCR Register Field Descriptions Field 7 CPE Description CAN Physical Layer Enable Set once. If set to 1, the CAN Physical Layer exits shutdown mode and enters normal mode. 0 CAN Physical Layer is disabled (shutdown mode) 1 CAN Physical Layer is enabled 6 SPE Split Enable If set to 1, the CAN Physical Layer SPLIT pin drives a 2.5 V bias in normal and listen-only mode. 0 SPLIT pin is high-impedance 1 SPLIT pin drives a 2.5 V bias 5-4 WUPE1-0 Wake-Up Receiver Enable and Filter Select If WUPE[1:0]0, the CAN Physical Layer wake-up receiver is enabled when not in shutdown mode. To save additional power, these bits should be set to 00, if the CAN bus is not used to wake up the device. For robustness against false wake-up an optional pulse filter can be enabled. 00 Wake-up receiver is disabled 10 Wake-up receiver is enabled, no filtering 01 Wake-up receiver is enabled, first wake-up event is masked 11 Wake-up receiver is enabled, first two wake-up events are masked 2-0 SLR2-0 Slew Rate The slew rate controls recessive to dominant and dominant to recessive transitions. This affects the delay time from CPTXD to the bus and from the bus to CPRXD. The loop time is thus affected by the slew rate selection. Six slew rates are available: 000 CAN Physical Layer slew rate 0 001 CAN Physical Layer slew rate 1 010 CAN Physical Layer slew rate 2 011 Reserved 100 CAN Physical Layer slew rate 4 101 CAN Physical Layer slew rate 5 110 CAN Physical Layer slew rate 6 111 Reserved MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 821 Chapter 21 CAN Physical Layer (S12CANPHYV3) 21.4.2.3 Reserved Register Access: User read/write(1) Module Base + 0x0002 7 R W Reset 6 5 4 3 2 1 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved x x x x x x x x Figure 21-4. Reserved Register 1. Read: Anytime Write: Only in special mode NOTE This reserved register is designed for factory test purposes only and is not intended for general user access. Writing to this register when in special modes can alter the modules functionality. 21.4.2.4 CAN Physical Layer Status Register (CPSR) Access: User read/write(1) Module Base + 0x0003 7 R 5 4 3 2 1 0 CPCHVH CPCHVL 6 CPCLVH CPCLVL CPDT 0 0 0 0 0 0 0 0 0 0 0 W Reset 1. Read: Anytime Write: Never Figure 21-5. CAN Physical Layer Status Register (CPSR) Table 21-6. CPSR Register Field Descriptions Field 7 CPCHVH Description CANH Voltage Failure High Status Bit This bit reflects the CANH voltage failure high monitor status. 0 Condition VCANH VH5 1 Condition VCANH VH5 6 CPCHVL CANH Voltage Failure Low Status Bit This bit reflects the CANH voltage failure low monitor status. 0 Condition VCANH VH0 1 Condition VCANH VH0 5 CPCLVH CANL Voltage Failure High Status Bit This bit reflects the CANL voltage failure high monitor status. 0 Condition VCANL VL5 1 Condition VCANL VL5 MC9S12ZVM Family Reference Manual Rev. 2.2 822 Freescale Semiconductor Chapter 21 CAN Physical Layer (S12CANPHYV3) Table 21-6. CPSR Register Field Descriptions Field 4 CPCLVL Description CANL Voltage Failure Low Status Bit This bit reflects the CANL voltage failure low monitor status. 0 Condition VCANL VL0 1 Condition VCANL VL0 3 CPDT CPTXD-Dominant Timeout Status Bit This bit is set to 1, if CPTXD is dominant for longer than tCPTXDDT. It signals a timeout event and remains set until CPTXD returns to recessive level for longer than 1 s. 0 No CPTXD-timeout occurred or CPTXD has ceased to be dominant after timeout 1 CPTXD-dominant timeout occurred and CPTXD is still dominant MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 823 Chapter 21 CAN Physical Layer (S12CANPHYV3) 21.4.2.5 Reserved Register Access: User read/write(1) Module Base + 0x0004 7 R W Reset 6 5 4 3 2 1 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved x x x x x x x x Figure 21-6. Reserved Register 1. Read: Anytime Write: Only in special mode NOTE This reserved register is designed for factory test purposes only and is not intended for general user access. Writing to this register when in special modes can alter the modules functionality. 21.4.2.6 Reserved Register Access: User read/write(1) Module Base + 0x0005 7 R W Reset 6 5 4 3 2 1 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved x x x x x x x x Figure 21-7. Reserved Register 1. Read: Anytime Write: Only in special mode NOTE This reserved register is designed for factory test purposes only and is not intended for general user access. Writing to this register when in special modes can alter the modules functionality. 21.4.2.7 CAN Physical Layer Interrupt Enable Register (CPIE) Access: User read/write(1) Module Base + 0x0006 7 R 6 5 0 0 0 0 0 0 W Reset 1. Read: Anytime Write: Anytime 4 3 CPVFIE CPDTIE 0 0 2 1 0 0 0 0 0 CPOCIE 0 Figure 21-8. CAN Physical Layer Interrupt Enable Register (CPIE) MC9S12ZVM Family Reference Manual Rev. 2.2 824 Freescale Semiconductor Chapter 21 CAN Physical Layer (S12CANPHYV3) Table 21-7. CPIE Register Field Descriptions Field 4 CPVFIE Description CAN Physical Layer Voltage-Failure Interrupt Enable If enabled, the CAN Physical Layer generates an interrupt if any of the CAN Physical Layer voltage failure interrupt flags assert. 0 Voltage failure interrupt is disabled 1 Voltage failure interrupt is enabled 3 CPDTIE CPTXD-Dominant Timeout Interrupt Enable If enabled, the CAN Physical Layer generates an interrupt if the CPTXD-dominant timeout interrupt flag asserts. 0 CPTXD-dominant timeout interrupt is disabled 1 CPTXD-dominant timeout interrupt is enabled 0 CPOCIE CAN Physical Layer Over-current Interrupt Enable If enabled, the CAN PhysicalLayer generates an interrupt if any of the CAN PhysicalLayer over-current interrupt flags assert. 0 Over-current interrupt is disabled 1 Over-current interrupt is enabled 21.4.2.8 CAN Physical Layer Interrupt Flag Register (CPIF) Access: User read/write(1) Module Base + 0x0007 7 R W Reset 6 5 4 3 CHVHIF CHVLIF CLVHIF CLVLIF CPDTIF 0 0 0 0 0 2 0 0 1 0 CHOCIF CLOCIF 0 0 Figure 21-9. CAN Physical Layer Interrupt Flag Register (CPIF) 1. Read: Anytime Write: Anytime, write 1 to clear If any of the flags is asserted an error interrupt is pending if enabled. A flag can be cleared by writing a logic level 1 to the corresponding bit location. Writing a 0 has no effect. Table 21-8. CPIF Register Field Descriptions Field 7 CHVHIF Description CANH Voltage Failure High Interrupt Flag This flag is set to 1 when the CPCHVH bit in the CAN Physical Layer Status Register (CPSR) changes. 0 No change in CPCHVH 1 CPCHVH has changed 6 CHVLIF CANH Voltage Failure Low Interrupt Flag This flag is set to 1 when the CPCHVL bit in the CAN Physical Layer Status Register (CPSR) changes. 0 No change in CPCHVL 1 CPCHVL has changed MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 825 Chapter 21 CAN Physical Layer (S12CANPHYV3) Table 21-8. CPIF Register Field Descriptions Field 5 CLVHIF Description CANL Voltage Failure High Interrupt Flag This flag is set to 1 when the CPCLVH bit in the CAN Physical Layer Status Register (CPSR) changes. 0 No change in CPCLVH 1 CPCLVH has changed 4 CLVLIF CANL Voltage Failure Low Interrupt Flag This flag is set to 1 when the CPCLVL bit in the CAN Physical Layer Status Register (CPSR) changes. 0 No change in CPCLVL 1 CPCLVL has changed 3 CPDTIF CAN CPTXD-Dominant Timeout Interrupt Flag This flag is set to 1 when CPTXD is dominant longer than tCPTXDDT. It signals a timeout event and entry of listen-only mode disabling the transmitter. Exit of listen-only mode which was entered at timeout is requested by clearing CPDTIF when CPDT is clear after setting CPTXD to recessive state. It takes 1 to 2 s to return to normal mode. If CPTXD is dominant or dominant timeout status is still active (CPDT=1) when clearing the flag, the CAN Physical Layer remains in listen-only mode and this flag is set again after a delay (see 21.5.4.2, "CPTXDDominant Timeout Interrupt"). 0 No CPTXD-dominant timeout has occurred 1 CPTXD-dominant timeout has occurred 1 CHOCIF CANH Over-Current Interrupt Flag This flag is set to 1 if an over current condition was detected on CANH when driving a dominant bit to the CAN bus. While this flag is asserted the CAN Physical Layer remains in listen-only mode. 0 Normal current level ICANH < ICANHOC 1 Error event ICANH ICANHOC occurred 0 CLOCIF CANL Over-Current Interrupt Flag This flag is set to 1 if an over current condition was detected on CANL when driving a dominant bit to the CAN bus. While this flag is asserted the CAN Physical Layer remains in listen-only mode. 0 Normal current level ICANL < ICANLOC 1 Error event ICANL ICANLOC occurred MC9S12ZVM Family Reference Manual Rev. 2.2 826 Freescale Semiconductor Chapter 21 CAN Physical Layer (S12CANPHYV3) 21.5 Functional Description 21.5.1 General The CAN Physical Layer provides an interface for the SoC-integrated MSCAN controller. 21.5.2 Modes Figure 21-10 shows the possible mode transitions depending on control bit CPE, device reduced performance mode ("RPM"; refer to "Low Power Modes" section in device overview) and bus error conditions. Reset Shutdown TRM: Off, REC: Off, WUP: Off CANH,CANL: 30Kterm. to VSSC SPLIT: High-impedance TRM: Transmitter REC: Receiver WUP: Wake-up receiver RPM: Reduced performance mode A = (CPCHVH| CPCLVH| CHOCIF | CLOCIF| CPDTIF1) CPE = 1 A Normal Listen-only TRM: On, REC: On, WUP: WUPE TRM: Off, REC: On, WUP: WUPE A & CPCLVL & CPTXD=1 CANH, CANL: Driver on SPLIT: SPE CPCLVL A & CPCLVL & CPTXD=1 RPM CPCLVL A Pseudo-Normal TRM: On, REC: On, WUP: WUPE CANH: Driver on, CANL: Driver off SPLIT: SPE CANH, CANL: Driver off SPLIT: SPE RPM RPM & A RPM & A & CPCLVL Standby RPM TRM: Off, REC: Off, WUP: WUPE RPM & A & CPCLVL CANH,CANL: 30K term. to VSSC SPLIT: High-impedance 1: A delay after clearing CPDTIF must be accounted for (see description) Figure 21-10. CAN Physical Layer Mode Transitions 21.5.2.1 Shutdown Mode Shutdown mode is a low power mode and entered out of reset. The transceiver, wake-up, bus error diagnostic, dominant timeout and interrupt functionality are disabled. CANH and CANL lines are pulled MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 827 Chapter 21 CAN Physical Layer (S12CANPHYV3) to VSSC via high-ohmic input resistors of the receiver. The SPLIT pin as well as the internal mid-point reference are set to high-impedance. Shutdown mode cannot be re-entered until reset. 21.5.2.2 Normal Mode In normal mode the full transceiver functionality is available. In this mode, the CAN bus is controlled by the CPTXD input and the CAN bus state (recessive, dominant) is reported on the CPRXD output. The voltage failure, over-current and CPTXD-dominant timeout monitors are enabled. The SPLIT pin is driving a 2.5 V bias if enabled. The internal mid-point reference is set to 2.5 V. If CPTXD is high, the transmit driver is set into recessive state, and CANH and CANL lines are biased to the voltage set at VDDC divided by 2, approx. 2.5 V. If CPTXD is low, the transmit driver is set into dominant state, and CANH and CANL drivers are active. CANL is pulled low and CANH is pulled high. The receiver reports the bus state on CPRXD. If the differential voltage VCANH minus VCANL at CANH and CANL is below the internal threshold, the bus is recessive and CPRXD is set high, otherwise a dominant bus is detected and CPRXD is set low. When detecting a voltage high failure, over-current or CPTXD-dominant timeout event the CAN Physical Layer enters listen-only mode. A voltage low failure on CANL results in entering pseudo-normal mode. A voltage low failure on CANH maintains normal mode. NOTE After entering normal mode from shutdown or standby mode a settling time of tCP_set must have passed until flags can be considered as valid. 21.5.2.3 Pseudo-Normal Mode Pseudo-normal mode is identical to normal mode except for CANL driver being disabled as a result of a voltage low failure that has been detected on the CANL bus line (CPCLVL=1). CANH remains functional in this mode to allow transmission. Normal mode will automatically be re-entered after the error condition has ceased. 21.5.2.4 Listen-only Mode Listen-only mode is entered upon detecting a CAN bus error condition (except for CPCLVL=1) or CPTXD-dominant timeout event. The entire transmitter is forced off. All other functions of the normal mode are maintained. Application software action is required to re-enter normal mode by clearing the related flags if the bus error condition was caused by an over-current (refer to 21.6.3). In case of a voltage failure, normal mode will automatically be re-entered if the condition has passed. If the listen-only mode was caused by CPTXDdominant timeout event, the related flag can only be cleared after the CPTXD has returned to recessive level. MC9S12ZVM Family Reference Manual Rev. 2.2 828 Freescale Semiconductor Chapter 21 CAN Physical Layer (S12CANPHYV3) 21.5.2.5 Standby Mode Standby is a reduced current consumption mode and is entered during RPM following a stop mode request. The transceiver and bus error diagnostics are disabled. The CPTXD-dominant timeout counter is stopped. CANH and CANL lines are pulled to VSSC via high-ohmic input resistors of the receiver. The SPLIT pin is set to high-impedance. The internal mid-point reference is set to 0V. All voltage failure and over-current monitors are disabled. Standby is left as soon as the device returns from RPM. 21.5.3 Configurable Wake-Up If the wake-up function is enabled, the CAN Physical Layer provides an asynchronous path through CPRXD to the MSCAN to support wake-up from stop mode. The CPRXD signal is switched from precision receiver to the low-power wake-up receiver as long as the device resides in RPM. In order to avoid false wake-up after entering stop mode, a pulse filter can be enabled and configured to mask the first or first two wake-up events from the MSCAN input. The CPRXD output is held at recessive level until the selected number of wake-up events have been detected as shown in Figure 21-11. A valid wakeup-event is defined as a dominant level with a length of min. tCPWUP followed by a recessive level of length tCPWUP. The wake-up filter specification tWUP of the MSCAN applies to wake-up the MSCAN from sleep mode. Refer to MSCAN chapter.After wake-up the CAN Physical Layer automatically returns to the mode where stop mode was requested. Refer to 21.6.2, "Wake-up Mechanism" for setup information. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 829 Chapter 21 CAN Physical Layer (S12CANPHYV3) Wake-up Receiver Output DOMINANT CANPHY wake-up pulse specification: RECESSIVE tCPWUP tCPWUP tCPWUP tCPWUP 1. CANPHY Wake-up Event (disables CPRXD mask) 2. Case A: CPRXD (CPCR[WUPE]=b00) Case B: CPRXD (CPCR[WUPE]=b10) Case C: CPRXD (CPCR [WUPE]=b01) Case D: CPRXD (CPCR [WUPE]=b11) MSCAN Wake-up (CANCTL0[WUPE]=1 & CANCTL1[WUPM]=1) B MSCAN wake-up pulse specification: tWUP C tWUP D tWUP Figure 21-11. Wake-up Event Filtering 21.5.4 Interrupts This section describes the interrupt generated by the CAN Physical Layer and its individual sources. Vector addresses and interrupt priorities are defined at MCU level. The module internal interrupt sources are combined (OR-ed) into one module interrupt output CPI with a single local enable bit each for voltage failure and over-current errors. Table 21-9. CAN Physical Layer Interrupt Sources Module Interrupt Source CAN Physical Layer Interrupt (CPI) Module Internal Interrupt Source CANH Voltage Failure High Interrupt (CHVHIF) Local Enable CPVFIE = 1 CANH Voltage Failure Low Interrupt (CHVLIF) CANL Voltage Failure High Interrupt (CLVHIF) CANL Voltage Failure Low Interrupt (CLVLIF) CPTXD-Dominant Timeout Interrupt (CPDTIF) CPDTIE = 1 CANH Over-Current Interrupt (CHOCIF) CPOCIE = 1 CANL Over-Current Interrupt (CLOCIF) MC9S12ZVM Family Reference Manual Rev. 2.2 830 Freescale Semiconductor Chapter 21 CAN Physical Layer (S12CANPHYV3) 21.5.4.1 Voltage Failure Interrupts A voltage failure error is detected if voltage levels on the CAN bus lines exceed the specified limits. The voltages on both lines CANH and CANL are monitored continuously for crossing the lower and higher thresholds, VH0, VH5 and VL0, VL5, respectively. A comparator output transition to error level results in setting the corresponding status bit in CAN Physical Layer Status Register (CPSR). A change of a status bit sets the related interrupt flag in CAN Physical Layer Interrupt Flag Register (CPIF). The flags are used as interrupt sources of which either of the four can generate a CPI interrupt if the common enable bit CPVFIE in CAN Physical Layer Interrupt Enable Register (CPIE) is set. 21.5.4.2 CPTXD-Dominant Timeout Interrupt For network lock-up protection of the CAN bus, the CAN physical layer features a permanent CPTXDdominant timeout monitor. When the CPTXD signal has been dominant for more than tCPTXDDT the transmitter is disabled by entering listen-only mode and the bus is released to recessive state. The CPDT status and CPDTIF interrupt flags are both set. To re-enable the transmitter, the CPDTIF flag must be cleared. If the CPTXD input is dominant or dominant timeout status is still active (CPDT=1), the CAN Physical Layer stays in listen-only mode and CPDTIF is set again after some microseconds to indicate that the attempt has failed. If CPTXD is recessive and CPDT=0 it takes 1 to 2 s after clearing CPDTIF for returning to normal mode. The flag is used as an interrupt source to generate a CPI interrupt if the enable bit CPDTIE in CAN Physical Layer Interrupt Enable Register (CPIE) is set. 21.5.4.3 Over-Current Interrupt An over-current error is detected if current levels on the CAN bus lines exceed the specified limits while driving a dominant bit. The current levels on both lines CANH and CANL are monitored continuously for crossing the thresholds ICANHOC and ICANLOC, respectively. A comparator output transition to error level results in setting the corresponding interrupt flag in CAN Physical Layer Interrupt Flag Register (CPIF). The flags are the direct interrupt sources of which either of the two can generate a CPI interrupt if the common enable bit CPOCIE in CAN Physical Layer Interrupt Enable Register (CPIE) is set. 21.6 21.6.1 Initialization/Application Information Initialization Sequence Setup for immediate CAN communication: 1. Enable and configure MSCAN MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 831 Chapter 21 CAN Physical Layer (S12CANPHYV3) 2. 3. 4. 5. 6. 7. Configure CAN Physical Layer slew rate Enable CAN Physical Layer interrupts Optionally enable SPLIT pin Configure wake-up filter or disable wake-up receiver in case of other wake-up sources Enable CAN Physical Layer to enter normal mode Start CAN communication 21.6.2 Wake-up Mechanism In stop mode the CAN Physical Layer passes CAN bus states to CPRXD if the wake-up function is enabled (CPCR[WUPE1:WUPE0]0). In order to wake up the device from stop mode, the wake-up interrupt of the connected MSCAN module is used. If CPCR[WUPE1:WUPE0]=b10 the CAN Physical Layer is transparent in stop mode and the MSCAN can be used with or without its integrated low-pass filter for wake-up. Refer to the MSCAN chapter for details on configuring and enabling the wake-up function. For increased robustness against false wake-up, a CAN Physical Layer pulse filter can optionally be enabled to mask the first (CPCR[WUPE1:WUPE0]=b01) or first two (CPCR[WUPE1:WUPE0]=b11) wake-up events after entering stop mode. The appropriate number of masked pulses depends on the individual CAN bus network topology. Note that the MSCAN can generate a wake-up interrupt immediately after it acknowledges sleep mode (CANCTL1[SPLAK]=1) whereas the CAN Physical Layer pulse filter takes effect only after entering stop mode. To avoid a false wake-up in between these two events, the MSCAN low-pass filter should also be activated (CANCTL1[WUPM]=1). After sleep mode acknowledge the CPU STOP instruction should be executed before the expiration of tWUP(min) to enable the CAN Physical Layer pulse filter in time. 21.6.3 Bus Error Handling Upon CAN bus error voltage high failures and over-current events listen-only is entered immediately and the transmitter is turned off. This mode is maintained as long as voltage failure conditions persist or, in case of over-current events, application software re-enables the transmit driver by clearing the related flags. All high and low voltage levels for both CAN bus lines are continuously reflected in their related voltage failure status bits. A change in a status bit sets the corresponding flag and generates an interrupt if enabled. As long as any of the voltage failure high status bits is set, the transmit driver remains off. It will be turned on again automatically as soon as all voltage failure conditions have disappeared. In case of a voltage failure low condition on CANL only the CANL driver is disabled. A voltage failure low condition on CANH has no effect on the transmitter. Voltage failure errors have informational purpose. If the application detects frequent CAN protocol errors it is advisable to take the appropriate action. No software action is need to re-enable the transmit driver. An over-current event on either CAN bus line sets the related flag and turns off the transmit driver. This error can only be detected while driving the bus dominant. In contrast to the voltage failure the over-current MC9S12ZVM Family Reference Manual Rev. 2.2 832 Freescale Semiconductor Chapter 21 CAN Physical Layer (S12CANPHYV3) condition instantaneously disappears as soon as the transmit driver is automatically being turned off. This state is locked and the application software must account for re-enabling the driver. The recommended procedure to handle an over-current related bus error is: 1. On interrupt abort any scheduled transmissions 2. Read interrupt flag register to determine over-current source(s) 3. Clear related interrupt flag(s) 4. Retry CAN transmission 5. On interrupt abort any scheduled transmissions 6. Read interrupt flag register to determine over-current source(s) 7. If the same over-current error persists do not retry and run appropriate custom diagnostics 21.6.4 CPTXD-Dominant Timeout Recovery Recovery from a CPTXD-dominant timeout error is attempted with the following sequence: 1. On CPTXD-dominant timeout interrupt set CPTXD input to recessive state 2. Wait until CPDT clear; exit loop if waiting for longer than 3 s and report malfunction 3. Clear CPDTIF 4. Wait for min. 2 s before attempting new transmission MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 833 Chapter 21 CAN Physical Layer (S12CANPHYV3) MC9S12ZVM Family Reference Manual Rev. 2.2 834 Freescale Semiconductor Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Table 22-1. Revision History Revision Number Revision Date Sections Affected v02.00 Feb. 20, 2009 All 22.1 Description of Changes Initial revision of scalable PWM. Started from pwm_8b8c (v01.08). Introduction The Version 2 of S12 PWM module is a channel scalable and optimized implementation of S12 PWM8B8C Version 1. The channel is scalable in pairs from PWM0 to PWM7 and the available channel number is 2, 4, 6 and 8. The shutdown feature has been removed and the flexibility to select one of four clock sources per channel has improved. If the corresponding channels exist and shutdown feature is not used, the Version 2 is fully software compatible to Version 1. 22.1.1 Features The scalable PWM block includes these distinctive features: * Up to eight independent PWM channels, scalable in pairs (PWM0 to PWM7) * Available channel number could be 2, 4, 6, 8 (refer to device specification for exact number) * Programmable period and duty cycle for each channel * Dedicated counter for each PWM channel * Programmable PWM enable/disable for each channel * Software selection of PWM duty pulse polarity for each channel * Period and duty cycle are double buffered. Change takes effect when the end of the effective period is reached (PWM counter reaches zero) or when the channel is disabled. * Programmable center or left aligned outputs on individual channels * Up to eight 8-bit channel or four 16-bit channel PWM resolution * Four clock sources (A, B, SA, and SB) provide for a wide range of frequencies * Programmable clock select logic 22.1.2 Modes of Operation There is a software programmable option for low power consumption in wait mode that disables the input clock to the prescaler. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 835 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) In freeze mode there is a software programmable option to disable the input clock to the prescaler. This is useful for emulation. Wait: The prescaler keeps on running, unless PSWAI in PWMCTL is set to 1. Freeze: The prescaler keeps on running, unless PFRZ in PWMCTL is set to 1. 22.1.3 Block Diagram Figure 22-1 shows the block diagram for the 8-bit up to 8-channel scalable PWM block. PWM8B8C PWM Channels Channel 7 Period and Duty Counter Channel 6 Clock Clock Select PWM Clock Period and Duty Counter Channel 5 Period and Duty Counter PWM7 PWM6 PWM5 Control Channel 4 Period and Duty Counter Channel 3 Period and Duty Enable Counter Channel 2 Polarity Period and Duty Alignment Counter Channel 1 Period and Duty Counter Channel 0 Period and Duty Counter PWM4 PWM3 PWM2 PWM1 PWM0 Maximum possible channels, scalable in pairs from PWM0 to PWM7. Figure 22-1. Scalable PWM Block Diagram 22.2 External Signal Description The scalable PWM module has a selected number of external pins. Refer to device specification for exact number. MC9S12ZVM Family Reference Manual Rev. 2.2 836 Freescale Semiconductor Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) 22.2.1 PWM7 - PWM0 -- PWM Channel 7 - 0 Those pins serve as waveform output of PWM channel 7 - 0. 22.3 Memory Map and Register Definition 22.3.1 Module Memory Map This section describes the content of the registers in the scalable PWM module. The base address of the scalable PWM module is determined at the MCU level when the MCU is defined. The register decode map is fixed and begins at the first address of the module address offset. The figure below shows the registers associated with the scalable PWM and their relative offset from the base address. The register detail description follows the order they appear in the register map. Reserved bits within a register will always read as 0 and the write will be unimplemented. Unimplemented functions are indicated by shading the bit. NOTE Register Address = Base Address + Address Offset, where the Base Address is defined at the MCU level and the Address Offset is defined at the module level. 22.3.2 Register Descriptions This section describes in detail all the registers and register bits in the scalable PWM module. Register Name 0x0000 PWME(1) 0x0001 PWMPOL1 0x0002 PWMCLK1 Bit R W R W R W 0x0003 R PWMPRCLK W 0x0004 R PWMCAE1 W 0x0005 PWMCTL1 R W 67 5 4 3 2 1 Bit 0 PWME7 PWME6 PWME5 PWME4 PWME3 PWME2 PWME1 PWME0 PPOL7 PPOL6 PPOL5 PPOL4 PPOL3 PPOL2 PPOL1 PPOL0 PCLK7 PCLKL6 PCLK5 PCLK4 PCLK3 PCLK2 PCLK1 PCLK0 PCKB2 PCKB1 PCKB0 PCKA2 PCKA1 PCKA0 CAE7 CAE6 CAE5 CAE4 CAE3 CAE2 CAE1 CAE0 CON67 CON45 CON23 CON01 PSWAI PFRZ 0 0 0 0 = Unimplemented or Reserved Figure 22-2. The scalable PWM Register Summary (Sheet 1 of 4) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 837 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Register Name Bit 67 5 4 3 2 1 Bit 0 PCLKAB6 PCLKAB5 PCLKAB4 PCLKAB3 PCLKAB2 PCLKAB1 PCLKAB0 0 0 0 0 0 0 0 0 0x0008 R PWMSCLA W Bit 7 6 5 4 3 2 1 Bit 0 0x0009 R PWMSCLB W Bit 7 6 5 4 3 2 1 Bit 0 0x000A R RESERVED W 0 0 0 0 0 0 0 0 0x000B R RESERVED W 0 0 0 0 0 0 0 0 0x000C R PWMCNT0 W (2) Bit 7 0x000D R PWMCNT12 W Bit 7 R 0x000E PWMCNT22 W Bit 7 R 0x000F PWMCNT32 W Bit 7 R 0x0010 PWMCNT42 W Bit 7 R 0x0011 PWMCNT52 W Bit 7 R 0x0012 PWMCNT62 W Bit 7 R 0x0013 PWMCNT72 W Bit 7 R 0x0006 PWMCLKAB W PCLKAB7 1 0x0007 R RESERVED W 0 0 0 0 0 0 0 0 0 0 0 0 0 3 0 4 3 0 0 4 0 3 0 0 4 0 3 0 0 4 0 3 0 0 0 = Unimplemented or Reserved Figure 22-2. The scalable PWM Register Summary (Sheet 2 of 4) MC9S12ZVM Family Reference Manual Rev. 2.2 838 2 0 Bit 0 0 2 0 Bit 0 0 2 0 Bit 0 0 2 0 Bit 0 0 2 0 Bit 0 0 2 0 Bit 0 0 2 0 Bit 0 0 3 0 0 Bit 0 3 0 0 6 5 0 0 4 6 5 0 0 4 6 5 0 0 0 3 4 0 6 5 0 0 0 6 5 0 0 0 6 5 0 0 0 4 6 5 0 0 0 6 5 Freescale Semiconductor 2 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Register Name Bit 67 5 4 3 2 1 Bit 0 R 0x0014 PWMPER02 W Bit 7 6 5 4 3 2 1 Bit 0 0x0015 R PWMPER12 W Bit 7 6 5 4 3 2 1 Bit 0 0x0016 R PWMPER22 W Bit 7 6 5 4 3 2 1 Bit 0 0x0017 R PWMPER32 W Bit 7 6 5 4 3 2 1 Bit 0 0x0018 R PWMPER42 W Bit 7 6 5 4 3 2 1 Bit 0 0x0019 R PWMPER52 W Bit 7 6 5 4 3 2 1 Bit 0 0x001A R PWMPER62 W Bit 7 6 5 4 3 2 1 Bit 0 0x001B R PWMPER72 W Bit 7 6 5 4 3 2 1 Bit 0 0x001C R PWMDTY02 W Bit 7 6 5 4 3 2 1 Bit 0 0x001D R PWMDTY12 W Bit 7 6 5 4 3 2 1 Bit 0 0x001E R PWMDTY22 W Bit 7 6 5 4 3 2 1 Bit 0 0x001F R PWMDTY32 W Bit 7 6 5 4 3 2 1 Bit 0 0x0010 R PWMDTY42 W Bit 7 6 5 4 3 2 1 Bit 0 0x0021 R PWMDTY52 W Bit 7 6 5 4 3 2 1 Bit 0 0x0022 R PWMDTY62 W Bit 7 6 5 4 3 2 1 Bit 0 = Unimplemented or Reserved Figure 22-2. The scalable PWM Register Summary (Sheet 3 of 4) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 839 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Register Name Bit 67 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 0x0024 R RESERVED W 0 0 0 0 0 0 0 0 0x0025 R RESERVED W 0 0 0 0 0 0 0 0 0x0026 R RESERVED W 0 0 0 0 0 0 0 0 0x0027 R RESERVED W 0 0 0 0 0 0 0 0 0x0023 R PWMDTY72 W = Unimplemented or Reserved Figure 22-2. The scalable PWM Register Summary (Sheet 4 of 4) 1. The related bit is available only if corresponding channel exists. 2. The register is available only if corresponding channel exists. 22.3.2.1 PWM Enable Register (PWME) Each PWM channel has an enable bit (PWMEx) to start its waveform output. When any of the PWMEx bits are set (PWMEx = 1), the associated PWM output is enabled immediately. However, the actual PWM waveform is not available on the associated PWM output until its clock source begins its next cycle due to the synchronization of PWMEx and the clock source. NOTE The first PWM cycle after enabling the channel can be irregular. An exception to this is when channels are concatenated. Once concatenated mode is enabled (CONxx bits set in PWMCTL register), enabling/disabling the corresponding 16-bit PWM channel is controlled by the low order PWMEx bit. In this case, the high order bytes PWMEx bits have no effect and their corresponding PWM output lines are disabled. While in run mode, if all existing PWM channels are disabled (PWMEx-0 = 0), the prescaler counter shuts off for power savings. Module Base + 0x0000 7 R W Reset 6 5 4 3 2 1 0 PWME7 PWME6 PWME5 PWME4 PWME3 PWME2 PWME1 PWME0 0 0 0 0 0 0 0 0 Figure 22-3. PWM Enable Register (PWME) Read: Anytime Write: Anytime MC9S12ZVM Family Reference Manual Rev. 2.2 840 Freescale Semiconductor Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Table 22-2. PWME Field Descriptions Note: Bits related to available channels have functional significance. Writing to unavailable bits has no effect. Read from unavailable bits return a zero Field Description 7 PWME7 Pulse Width Channel 7 Enable 0 Pulse width channel 7 is disabled. 1 Pulse width channel 7 is enabled. The pulse modulated signal becomes available at PWM output bit 7 when its clock source begins its next cycle. 6 PWME6 Pulse Width Channel 6 Enable 0 Pulse width channel 6 is disabled. 1 Pulse width channel 6 is enabled. The pulse modulated signal becomes available at PWM output bit 6 when its clock source begins its next cycle. If CON67=1, then bit has no effect and PWM output line 6 is disabled. 5 PWME5 Pulse Width Channel 5 Enable 0 Pulse width channel 5 is disabled. 1 Pulse width channel 5 is enabled. The pulse modulated signal becomes available at PWM output bit 5 when its clock source begins its next cycle. 4 PWME4 Pulse Width Channel 4 Enable 0 Pulse width channel 4 is disabled. 1 Pulse width channel 4 is enabled. The pulse modulated signal becomes available at PWM, output bit 4 when its clock source begins its next cycle. If CON45 = 1, then bit has no effect and PWM output line 4 is disabled. 3 PWME3 Pulse Width Channel 3 Enable 0 Pulse width channel 3 is disabled. 1 Pulse width channel 3 is enabled. The pulse modulated signal becomes available at PWM, output bit 3 when its clock source begins its next cycle. 2 PWME2 Pulse Width Channel 2 Enable 0 Pulse width channel 2 is disabled. 1 Pulse width channel 2 is enabled. The pulse modulated signal becomes available at PWM, output bit 2 when its clock source begins its next cycle. If CON23 = 1, then bit has no effect and PWM output line 2 is disabled. 1 PWME1 Pulse Width Channel 1 Enable 0 Pulse width channel 1 is disabled. 1 Pulse width channel 1 is enabled. The pulse modulated signal becomes available at PWM, output bit 1 when its clock source begins its next cycle. 0 PWME0 Pulse Width Channel 0 Enable 0 Pulse width channel 0 is disabled. 1 Pulse width channel 0 is enabled. The pulse modulated signal becomes available at PWM, output bit 0 when its clock source begins its next cycle. If CON01 = 1, then bit has no effect and PWM output line 0 is disabled. 22.3.2.2 PWM Polarity Register (PWMPOL) The starting polarity of each PWM channel waveform is determined by the associated PPOLx bit in the PWMPOL register. If the polarity bit is one, the PWM channel output is high at the beginning of the cycle and then goes low when the duty count is reached. Conversely, if the polarity bit is zero, the output starts low and then goes high when the duty count is reached. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 841 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Module Base + 0x0001 7 R W Reset 6 5 4 3 2 1 0 PPOL7 PPOL6 PPOL5 PPOL4 PPOL3 PPOL2 PPOL1 PPOL0 0 0 0 0 0 0 0 0 Figure 22-4. PWM Polarity Register (PWMPOL) Read: Anytime Write: Anytime NOTE PPOLx register bits can be written anytime. If the polarity is changed while a PWM signal is being generated, a truncated or stretched pulse can occur during the transition Table 22-3. PWMPOL Field Descriptions Note: Bits related to available channels have functional significance. Writing to unavailable bits has no effect. Read from unavailable bits return a zero Field Description 7-0 PPOL[7:0] Pulse Width Channel 7-0 Polarity Bits 0 PWM channel 7-0 outputs are low at the beginning of the period, then go high when the duty count is reached. 1 PWM channel 7-0 outputs are high at the beginning of the period, then go low when the duty count is reached. 22.3.2.3 PWM Clock Select Register (PWMCLK) Each PWM channel has a choice of four clocks to use as the clock source for that channel as described below. Module Base + 0x0002 7 R W Reset 6 5 4 3 2 1 0 PCLK7 PCLKL6 PCLK5 PCLK4 PCLK3 PCLK2 PCLK1 PCLK0 0 0 0 0 0 0 0 0 Figure 22-5. PWM Clock Select Register (PWMCLK) Read: Anytime Write: Anytime NOTE Register bits PCLK0 to PCLK7 can be written anytime. If a clock select is changed while a PWM signal is being generated, a truncated or stretched pulse can occur during the transition. MC9S12ZVM Family Reference Manual Rev. 2.2 842 Freescale Semiconductor Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Table 22-4. PWMCLK Field Descriptions Note: Bits related to available channels have functional significance. Writing to unavailable bits has no effect. Read from unavailable bits return a zero Field 7-0 PCLK[7:0] Description Pulse Width Channel 7-0 Clock Select 0 Clock A or B is the clock source for PWM channel 7-0, as shown in Table 22-5 and Table 22-6. 1 Clock SA or SB is the clock source for PWM channel 7-0, as shown in Table 22-5 and Table 22-6. The clock source of each PWM channel is determined by PCLKx bits in PWMCLK and PCLKABx bits in PWMCLKAB (see Section 22.3.2.7, "PWM Clock A/B Select Register (PWMCLKAB)). For Channel 0, 1, 4, 5, the selection is shown in Table 22-5; For Channel 2, 3, 6, 7, the selection is shown in Table 22-6. Table 22-5. PWM Channel 0, 1, 4, 5 Clock Source Selection PCLKAB[0,1,4,5] PCLK[0,1 0 0 1 1 ,4,5] Clock Source Selection 0 1 0 1 Clock A Clock SA Clock B Clock SB Table 22-6. PWM Channel 2, 3, 6, 7 Clock Source Selection PCLKAB[2,3,6,7] PCLK[2,3,6 0 0 1 1 22.3.2.4 ,7] Clock Source Selection 0 1 0 1 Clock B Clock SB Clock A Clock SA PWM Prescale Clock Select Register (PWMPRCLK) This register selects the prescale clock source for clocks A and B independently. Module Base + 0x0003 7 R 6 0 W Reset 0 5 4 PCKB2 PCKB1 PCKB0 0 0 0 3 0 2 1 0 PCKA2 PCKA1 PCKA0 0 0 0 0 = Unimplemented or Reserved Figure 22-6. PWM Prescale Clock Select Register (PWMPRCLK) Read: Anytime Write: Anytime NOTE PCKB2-0 and PCKA2-0 register bits can be written anytime. If the clock pre-scale is changed while a PWM signal is being generated, a truncated or stretched pulse can occur during the transition. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 843 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Table 22-7. PWMPRCLK Field Descriptions Field Description 6-4 PCKB[2:0] Prescaler Select for Clock B -- Clock B is one of two clock sources which can be used for all channels. These three bits determine the rate of clock B, as shown in Table 22-8. 2-0 PCKA[2:0] Prescaler Select for Clock A -- Clock A is one of two clock sources which can be used for all channels. These three bits determine the rate of clock A, as shown in Table 22-8. Table 22-8. Clock A or Clock B Prescaler Selects s 22.3.2.5 PCKA/B2 PCKA/B1 PCKA/B0 Value of Clock A/B 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 bus clock bus clock / 2 bus clock / 4 bus clock / 8 bus clock / 16 bus clock / 32 bus clock / 64 bus clock / 128 PWM Center Align Enable Register (PWMCAE) The PWMCAE register contains eight control bits for the selection of center aligned outputs or left aligned outputs for each PWM channel. If the CAEx bit is set to a one, the corresponding PWM output will be center aligned. If the CAEx bit is cleared, the corresponding PWM output will be left aligned. See Section 22.4.2.5, "Left Aligned Outputs" and Section 22.4.2.6, "Center Aligned Outputs" for a more detailed description of the PWM output modes. Module Base + 0x0004 R W Reset 7 6 5 4 3 2 1 0 CAE7 CAE6 CAE5 CAE4 CAE3 CAE2 CAE1 CAE0 0 0 0 0 0 0 0 0 Figure 22-7. PWM Center Align Enable Register (PWMCAE) Read: Anytime Write: Anytime NOTE Write these bits only when the corresponding channel is disabled. MC9S12ZVM Family Reference Manual Rev. 2.2 844 Freescale Semiconductor Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Table 22-9. PWMCAE Field Descriptions Note: Bits related to available channels have functional significance. Writing to unavailable bits has no effect. Read from unavailable bits return a zero Field 7-0 CAE[7:0] 22.3.2.6 Description Center Aligned Output Modes on Channels 7-0 0 Channels 7-0 operate in left aligned output mode. 1 Channels 7-0 operate in center aligned output mode. PWM Control Register (PWMCTL) The PWMCTL register provides for various control of the PWM module. Module Base + 0x0005 7 R W Reset 6 CON67 0 5 4 3 2 CON45 CON23 CON01 PSWAI PFRZ 0 0 0 0 0 1 0 0 0 0 0 = Unimplemented or Reserved Figure 22-8. PWM Control Register (PWMCTL) Read: Anytime Write: Anytime There are up to four control bits for concatenation, each of which is used to concatenate a pair of PWM channels into one 16-bit channel. If the corresponding channels do not exist on a particular derivative, then writes to these bits have no effect and reads will return zeroes. When channels 6 and 7are concatenated, channel 6 registers become the high order bytes of the double byte channel. When channels 4 and 5 are concatenated, channel 4 registers become the high order bytes of the double byte channel. When channels 2 and 3 are concatenated, channel 2 registers become the high order bytes of the double byte channel. When channels 0 and 1 are concatenated, channel 0 registers become the high order bytes of the double byte channel. See Section 22.4.2.7, "PWM 16-Bit Functions" for a more detailed description of the concatenation PWM Function. NOTE Change these bits only when both corresponding channels are disabled. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 845 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Table 22-10. PWMCTL Field Descriptions Note: Bits related to available channels have functional significance. Writing to unavailable bits has no effect. Read from unavailable bits return a zero Field Description 7 CON67 Concatenate Channels 6 and 7 0 Channels 6 and 7 are separate 8-bit PWMs. 1 Channels 6 and 7 are concatenated to create one 16-bit PWM channel. Channel 6 becomes the high order byte and channel 7 becomes the low order byte. Channel 7 output pin is used as the output for this 16-bit PWM (bit 7 of port PWMP). Channel 7 clock select control-bit determines the clock source, channel 7 polarity bit determines the polarity, channel 7 enable bit enables the output and channel 7 center aligned enable bit determines the output mode. 6 CON45 Concatenate Channels 4 and 5 0 Channels 4 and 5 are separate 8-bit PWMs. 1 Channels 4 and 5 are concatenated to create one 16-bit PWM channel. Channel 4 becomes the high order byte and channel 5 becomes the low order byte. Channel 5 output pin is used as the output for this 16-bit PWM (bit 5 of port PWMP). Channel 5 clock select control-bit determines the clock source, channel 5 polarity bit determines the polarity, channel 5 enable bit enables the output and channel 5 center aligned enable bit determines the output mode. 5 CON23 Concatenate Channels 2 and 3 0 Channels 2 and 3 are separate 8-bit PWMs. 1 Channels 2 and 3 are concatenated to create one 16-bit PWM channel. Channel 2 becomes the high order byte and channel 3 becomes the low order byte. Channel 3 output pin is used as the output for this 16-bit PWM (bit 3 of port PWMP). Channel 3 clock select control-bit determines the clock source, channel 3 polarity bit determines the polarity, channel 3 enable bit enables the output and channel 3 center aligned enable bit determines the output mode. 4 CON01 Concatenate Channels 0 and 1 0 Channels 0 and 1 are separate 8-bit PWMs. 1 Channels 0 and 1 are concatenated to create one 16-bit PWM channel. Channel 0 becomes the high order byte and channel 1 becomes the low order byte. Channel 1 output pin is used as the output for this 16-bit PWM (bit 1 of port PWMP). Channel 1 clock select control-bit determines the clock source, channel 1 polarity bit determines the polarity, channel 1 enable bit enables the output and channel 1 center aligned enable bit determines the output mode. 3 PSWAI PWM Stops in Wait Mode -- Enabling this bit allows for lower power consumption in wait mode by disabling the input clock to the prescaler. 0 Allow the clock to the prescaler to continue while in wait mode. 1 Stop the input clock to the prescaler whenever the MCU is in wait mode. 2 PFRZ PWM Counters Stop in Freeze Mode -- In freeze mode, there is an option to disable the input clock to the prescaler by setting the PFRZ bit in the PWMCTL register. If this bit is set, whenever the MCU is in freeze mode, the input clock to the prescaler is disabled. This feature is useful during emulation as it allows the PWM function to be suspended. In this way, the counters of the PWM can be stopped while in freeze mode so that once normal program flow is continued, the counters are re-enabled to simulate real-time operations. Since the registers can still be accessed in this mode, to re-enable the prescaler clock, either disable the PFRZ bit or exit freeze mode. 0 Allow PWM to continue while in freeze mode. 1 Disable PWM input clock to the prescaler whenever the part is in freeze mode. This is useful for emulation. 22.3.2.7 PWM Clock A/B Select Register (PWMCLKAB) Each PWM channel has a choice of four clocks to use as the clock source for that channel as described below. MC9S12ZVM Family Reference Manual Rev. 2.2 846 Freescale Semiconductor Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Module Base + 0x00006 7 R W 6 5 4 3 2 1 0 PCLKAB7 PCLKAB6 PCLKAB5 PCLKAB4 PCLKAB3 PCLKAB2 PCLKAB1 PCLKAB0 0 0 0 0 0 0 0 0 Reset Figure 22-9. PWM Clock Select Register (PWMCLK) Read: Anytime Write: Anytime NOTE Register bits PCLKAB0 to PCLKAB7 can be written anytime. If a clock select is changed while a PWM signal is being generated, a truncated or stretched pulse can occur during the transition. Table 22-11. PWMCLK Field Descriptions Note: Bits related to available channels have functional significance. Writing to unavailable bits has no effect. Read from unavailable bits return a zero Field Description 7 PCLKAB7 Pulse Width Channel 7 Clock A/B Select 0 Clock B or SB is the clock source for PWM channel 7, as shown in Table 22-6. 1 Clock A or SA is the clock source for PWM channel 7, as shown in Table 22-6. 6 PCLKAB6 Pulse Width Channel 6 Clock A/B Select 0 Clock B or SB is the clock source for PWM channel 6, as shown in Table 22-6. 1 Clock A or SA is the clock source for PWM channel 6, as shown in Table 22-6. 5 PCLKAB5 Pulse Width Channel 5 Clock A/B Select 0 Clock A or SA is the clock source for PWM channel 5, as shown in Table 22-5. 1 Clock B or SB is the clock source for PWM channel 5, as shown in Table 22-5. 4 PCLKAB4 Pulse Width Channel 4 Clock A/B Select 0 Clock A or SA is the clock source for PWM channel 4, as shown in Table 22-5. 1 Clock B or SB is the clock source for PWM channel 4, as shown in Table 22-5. 3 PCLKAB3 Pulse Width Channel 3 Clock A/B Select 0 Clock B or SB is the clock source for PWM channel 3, as shown in Table 22-6. 1 Clock A or SA is the clock source for PWM channel 3, as shown in Table 22-6. 2 PCLKAB2 Pulse Width Channel 2 Clock A/B Select 0 Clock B or SB is the clock source for PWM channel 2, as shown in Table 22-6. 1 Clock A or SA is the clock source for PWM channel 2, as shown in Table 22-6. 1 PCLKAB1 Pulse Width Channel 1 Clock A/B Select 0 Clock A or SA is the clock source for PWM channel 1, as shown in Table 22-5. 1 Clock B or SB is the clock source for PWM channel 1, as shown in Table 22-5. 0 PCLKAB0 Pulse Width Channel 0 Clock A/B Select 0 Clock A or SA is the clock source for PWM channel 0, as shown in Table 22-5. 1 Clock B or SB is the clock source for PWM channel 0, as shown in Table 22-5. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 847 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) The clock source of each PWM channel is determined by PCLKx bits in PWMCLK (see Section 22.3.2.3, "PWM Clock Select Register (PWMCLK)) and PCLKABx bits in PWMCLKAB as shown in Table 22-5 and Table 22-6. 22.3.2.8 PWM Scale A Register (PWMSCLA) PWMSCLA is the programmable scale value used in scaling clock A to generate clock SA. Clock SA is generated by taking clock A, dividing it by the value in the PWMSCLA register and dividing that by two. Clock SA = Clock A / (2 * PWMSCLA) NOTE When PWMSCLA = $00, PWMSCLA value is considered a full scale value of 256. Clock A is thus divided by 512. Any value written to this register will cause the scale counter to load the new scale value (PWMSCLA). Module Base + 0x0008 7 R W Reset 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 0 Figure 22-10. PWM Scale A Register (PWMSCLA) Read: Anytime Write: Anytime (causes the scale counter to load the PWMSCLA value) 22.3.2.9 PWM Scale B Register (PWMSCLB) PWMSCLB is the programmable scale value used in scaling clock B to generate clock SB. Clock SB is generated by taking clock B, dividing it by the value in the PWMSCLB register and dividing that by two. Clock SB = Clock B / (2 * PWMSCLB) NOTE When PWMSCLB = $00, PWMSCLB value is considered a full scale value of 256. Clock B is thus divided by 512. Any value written to this register will cause the scale counter to load the new scale value (PWMSCLB). Module Base + 0x0009 7 R W Reset 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 0 Figure 22-11. PWM Scale B Register (PWMSCLB) Read: Anytime Write: Anytime (causes the scale counter to load the PWMSCLB value). MC9S12ZVM Family Reference Manual Rev. 2.2 848 Freescale Semiconductor Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) 22.3.2.10 PWM Channel Counter Registers (PWMCNTx) Each channel has a dedicated 8-bit up/down counter which runs at the rate of the selected clock source. The counter can be read at any time without affecting the count or the operation of the PWM channel. In left aligned output mode, the counter counts from 0 to the value in the period register - 1. In center aligned output mode, the counter counts from 0 up to the value in the period register and then back down to 0. Any value written to the counter causes the counter to reset to $00, the counter direction to be set to up, the immediate load of both duty and period registers with values from the buffers, and the output to change according to the polarity bit. The counter is also cleared at the end of the effective period (see Section 22.4.2.5, "Left Aligned Outputs" and Section 22.4.2.6, "Center Aligned Outputs" for more details). When the channel is disabled (PWMEx = 0), the PWMCNTx register does not count. When a channel becomes enabled (PWMEx = 1), the associated PWM counter starts at the count in the PWMCNTx register. For more detailed information on the operation of the counters, see Section 22.4.2.4, "PWM Timer Counters". In concatenated mode, writes to the 16-bit counter by using a 16-bit access or writes to either the low or high order byte of the counter will reset the 16-bit counter. Reads of the 16-bit counter must be made by 16-bit access to maintain data coherency. NOTE Writing to the counter while the channel is enabled can cause an irregular PWM cycle to occur. Module Base + 0x000C = PWMCNT0, 0x000D = PWMCNT1, 0x000E = PWMCNT2, 0x000F = PWMCNT3 Module Base + 0x0010 = PWMCNT4, 0x0011 = PWMCNT5, 0x0012 = PWMCNT6, 0x0013 = PWMCNT7 7 6 5 6 4 3 54 2 1 32 0 R Bit 7 1Bit W 0 0 0 0 0 0 0 0 Reset 0 0 0 0 0 0 0 0 0 Figure 22-12. PWM Channel Counter Registers (PWMCNTx) 1 This register is available only when the corresponding channel exists and is reserved if that channel does not exist. Writes to a reserved register have no functional effect. Reads from a reserved register return zeroes. Read: Anytime Write: Anytime (any value written causes PWM counter to be reset to $00). 22.3.2.11 PWM Channel Period Registers (PWMPERx) There is a dedicated period register for each channel. The value in this register determines the period of the associated PWM channel. The period registers for each channel are double buffered so that if they change while the channel is enabled, the change will NOT take effect until one of the following occurs: * The effective period ends MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 849 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) * * The counter is written (counter resets to $00) The channel is disabled In this way, the output of the PWM will always be either the old waveform or the new waveform, not some variation in between. If the channel is not enabled, then writes to the period register will go directly to the latches as well as the buffer. NOTE Reads of this register return the most recent value written. Reads do not necessarily return the value of the currently active period due to the double buffering scheme. See Section 22.4.2.3, "PWM Period and Duty" for more information. To calculate the output period, take the selected clock source period for the channel of interest (A, B, SA, or SB) and multiply it by the value in the period register for that channel: * * Left aligned output (CAEx = 0) PWMx Period = Channel Clock Period * PWMPERx Center Aligned Output (CAEx = 1) PWMx Period = Channel Clock Period * (2 * PWMPERx) For boundary case programming values, please refer to Section 22.4.2.8, "PWM Boundary Cases". Module Base + 0x0014 = PWMPER0, 0x0015 = PWMPER1, 0x0016 = PWMPER2, 0x0017 = PWMPER3 Module Base + 0x0018 = PWMPER4, 0x0019 = PWMPER5, 0x001A = PWMPER6, 0x001B = PWMPER7 7 R W Reset 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 Bit 0 1 1 1 1 1 1 1 1 Figure 22-13. PWM Channel Period Registers (PWMPERx) 1 This register is available only when the corresponding channel exists and is reserved if that channel does not exist. Writes to a reserved register have no functional effect. Reads from a reserved register return zeroes. Read: Anytime Write: Anytime 22.3.2.12 PWM Channel Duty Registers (PWMDTYx) There is a dedicated duty register for each channel. The value in this register determines the duty of the associated PWM channel. The duty value is compared to the counter and if it is equal to the counter value a match occurs and the output changes state. The duty registers for each channel are double buffered so that if they change while the channel is enabled, the change will NOT take effect until one of the following occurs: * The effective period ends * The counter is written (counter resets to $00) MC9S12ZVM Family Reference Manual Rev. 2.2 850 Freescale Semiconductor Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) * The channel is disabled In this way, the output of the PWM will always be either the old duty waveform or the new duty waveform, not some variation in between. If the channel is not enabled, then writes to the duty register will go directly to the latches as well as the buffer. NOTE Reads of this register return the most recent value written. Reads do not necessarily return the value of the currently active duty due to the double buffering scheme. See Section 22.4.2.3, "PWM Period and Duty" for more information. NOTE Depending on the polarity bit, the duty registers will contain the count of either the high time or the low time. If the polarity bit is one, the output starts high and then goes low when the duty count is reached, so the duty registers contain a count of the high time. If the polarity bit is zero, the output starts low and then goes high when the duty count is reached, so the duty registers contain a count of the low time. To calculate the output duty cycle (high time as a% of period) for a particular channel: * Polarity = 0 (PPOL x =0) Duty Cycle = [(PWMPERx-PWMDTYx)/PWMPERx] * 100% * Polarity = 1 (PPOLx = 1) Duty Cycle = [PWMDTYx / PWMPERx] * 100% For boundary case programming values, please refer to Section 22.4.2.8, "PWM Boundary Cases". Module Base + 0x001C = PWMDTY0, 0x001D = PWMDTY1, 0x001E = PWMDTY2, 0x001F = PWMDTY3 Module Base + 0x0020 = PWMDTY4, 0x0021 = PWMDTY5, 0x0022 = PWMDTY6, 0x0023 = PWMDTY7 7 R W Reset 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 Bit 0 1 1 1 1 1 1 1 1 Figure 22-14. PWM Channel Duty Registers (PWMDTYx) 1 This register is available only when the corresponding channel exists and is reserved if that channel does not exist. Writes to a reserved register have no functional effect. Reads from a reserved register return zeroes. Read: Anytime Write: Anytime MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 851 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) 22.4 Functional Description 22.4.1 PWM Clock Select There are four available clocks: clock A, clock B, clock SA (scaled A), and clock SB (scaled B). These four clocks are based on the bus clock. Clock A and B can be software selected to be 1, 1/2, 1/4, 1/8,..., 1/64, 1/128 times the bus clock. Clock SA uses clock A as an input and divides it further with a reloadable counter. Similarly, clock SB uses clock B as an input and divides it further with a reloadable counter. The rates available for clock SA are software selectable to be clock A divided by 2, 4, 6, 8,..., or 512 in increments of divide by 2. Similar rates are available for clock SB. Each PWM channel has the capability of selecting one of four clocks, clock A, Clock B, clock SA or clock SB. The block diagram in Figure 22-15 shows the four different clocks and how the scaled clocks are created. 22.4.1.1 Prescale The input clock to the PWM prescaler is the bus clock. It can be disabled whenever the part is in freeze mode by setting the PFRZ bit in the PWMCTL register. If this bit is set, whenever the MCU is in freeze mode (freeze mode signal active) the input clock to the prescaler is disabled. This is useful for emulation in order to freeze the PWM. The input clock can also be disabled when all available PWM channels are disabled (PWMEx-0 = 0). This is useful for reducing power by disabling the prescale counter. Clock A and clock B are scaled values of the input clock. The value is software selectable for both clock A and clock B and has options of 1, 1/2, 1/4, 1/8, 1/16, 1/32, 1/64, or 1/128 times the bus clock. The value selected for clock A is determined by the PCKA2, PCKA1, PCKA0 bits in the PWMPRCLK register. The value selected for clock B is determined by the PCKB2, PCKB1, PCKB0 bits also in the PWMPRCLK register. 22.4.1.2 Clock Scale The scaled A clock uses clock A as an input and divides it further with a user programmable value and then divides this by 2. The scaled B clock uses clock B as an input and divides it further with a user programmable value and then divides this by 2. The rates available for clock SA are software selectable to be clock A divided by 2, 4, 6, 8,..., or 512 in increments of divide by 2. Similar rates are available for clock SB. MC9S12ZVM Family Reference Manual Rev. 2.2 852 Freescale Semiconductor Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Clock A PCKA2 PCKA1 PCKA0 Clock A/2, A/4, A/6,....A/512 M U X Load PWMSCLA DIV 2 Clock SA U Clock to PWM Ch 2 PCLK2 PCLKAB2 X M U X 2 4 8 16 32 64 128 Divide by Prescaler Taps: Clock to PWM Ch 1 PCLK1 PCLKAB1 M U X M Clock to PWM Ch 3 PCLK3 PCLKAB3 Clock B Clock B/2, B/4, B/6,....B/512 M U M U X Load PWMSCLB M U X DIV 2 Clock to PWM Ch 4 PCLK4 PCLKAB4 Count = 1 8-Bit Down Counter X Clock SB PCKB2 PCKB1 PCKB0 Clock to PWM Ch 5 PCLK5 PCLKAB5 M U X Clock to PWM Ch 6 PCLK6 PCLKAB6 M U X PWME7-0 Clock PFRZ Freeze Mode Signal Clock to PWM Ch 0 PCLK0 PCLKAB0 Count = 1 8-Bit Down Counter M U X Clock to PWM Ch 7 PCLK7 PCLKAB7 Prescale Scale Clock Select Maximum possible channels, scalable in pairs from PWM0 to PWM7. Figure 22-15. PWM Clock Select Block Diagram MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 853 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Clock A is used as an input to an 8-bit down counter. This down counter loads a user programmable scale value from the scale register (PWMSCLA). When the down counter reaches one, a pulse is output and the 8-bit counter is re-loaded. The output signal from this circuit is further divided by two. This gives a greater range with only a slight reduction in granularity. Clock SA equals clock A divided by two times the value in the PWMSCLA register. NOTE Clock SA = Clock A / (2 * PWMSCLA) When PWMSCLA = $00, PWMSCLA value is considered a full scale value of 256. Clock A is thus divided by 512. Similarly, clock B is used as an input to an 8-bit down counter followed by a divide by two producing clock SB. Thus, clock SB equals clock B divided by two times the value in the PWMSCLB register. NOTE Clock SB = Clock B / (2 * PWMSCLB) When PWMSCLB = $00, PWMSCLB value is considered a full scale value of 256. Clock B is thus divided by 512. As an example, consider the case in which the user writes $FF into the PWMSCLA register. Clock A for this case will be bus clock divided by 4. A pulse will occur at a rate of once every 255x4 bus cycles. Passing this through the divide by two circuit produces a clock signal at an bus clock divided by 2040 rate. Similarly, a value of $01 in the PWMSCLA register when clock A is bus clock divided by 4 will produce a clock at an bus clock divided by 8 rate. Writing to PWMSCLA or PWMSCLB causes the associated 8-bit down counter to be re-loaded. Otherwise, when changing rates the counter would have to count down to $01 before counting at the proper rate. Forcing the associated counter to re-load the scale register value every time PWMSCLA or PWMSCLB is written prevents this. NOTE Writing to the scale registers while channels are operating can cause irregularities in the PWM outputs. 22.4.1.3 Clock Select Each PWM channel has the capability of selecting one of four clocks, clock A, clock SA, clock B or clock SB. The clock selection is done with the PCLKx control bits in the PWMCLK register and PCLKABx control bits in PWMCLKAB register. For backward compatibility consideration, the reset value of PWMCLK and PWMCLKAB configures following default clock selection. For channels 0, 1, 4, and 5 the clock choices are clock A. For channels 2, 3, 6, and 7 the clock choices are clock B. NOTE Changing clock control bits while channels are operating can cause irregularities in the PWM outputs. MC9S12ZVM Family Reference Manual Rev. 2.2 854 Freescale Semiconductor Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) 22.4.2 PWM Channel Timers The main part of the PWM module are the actual timers. Each of the timer channels has a counter, a period register and a duty register (each are 8-bit). The waveform output period is controlled by a match between the period register and the value in the counter. The duty is controlled by a match between the duty register and the counter value and causes the state of the output to change during the period. The starting polarity of the output is also selectable on a per channel basis. Shown below in Figure 22-16 is the block diagram for the PWM timer. Clock Source From Port PWMP Data Register 8-Bit Counter Gate PWMCNTx (Clock Edge Sync) Up/Down Reset 8-bit Compare = PWMDTYx T M U X Q R Q M U X To P in Driver 8-bit Compare = PWMPERx Q Q T PPOLx CAEx R PWMEx Figure 22-16. PWM Timer Channel Block Diagram 22.4.2.1 PWM Enable Each PWM channel has an enable bit (PWMEx) to start its waveform output. When any of the PWMEx bits are set (PWMEx = 1), the associated PWM output signal is enabled immediately. However, the actual PWM waveform is not available on the associated PWM output until its clock source begins its next cycle due to the synchronization of PWMEx and the clock source. An exception to this is when channels are concatenated. Refer to Section 22.4.2.7, "PWM 16-Bit Functions" for more detail. NOTE The first PWM cycle after enabling the channel can be irregular. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 855 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) On the front end of the PWM timer, the clock is enabled to the PWM circuit by the PWMEx bit being high. There is an edge-synchronizing circuit to guarantee that the clock will only be enabled or disabled at an edge. When the channel is disabled (PWMEx = 0), the counter for the channel does not count. 22.4.2.2 PWM Polarity Each channel has a polarity bit to allow starting a waveform cycle with a high or low signal. This is shown on the block diagram Figure 22-16 as a mux select of either the Q output or the Q output of the PWM output flip flop. When one of the bits in the PWMPOL register is set, the associated PWM channel output is high at the beginning of the waveform, then goes low when the duty count is reached. Conversely, if the polarity bit is zero, the output starts low and then goes high when the duty count is reached. 22.4.2.3 PWM Period and Duty Dedicated period and duty registers exist for each channel and are double buffered so that if they change while the channel is enabled, the change will NOT take effect until one of the following occurs: * The effective period ends * The counter is written (counter resets to $00) * The channel is disabled In this way, the output of the PWM will always be either the old waveform or the new waveform, not some variation in between. If the channel is not enabled, then writes to the period and duty registers will go directly to the latches as well as the buffer. A change in duty or period can be forced into effect "immediately" by writing the new value to the duty and/or period registers and then writing to the counter. This forces the counter to reset and the new duty and/or period values to be latched. In addition, since the counter is readable, it is possible to know where the count is with respect to the duty value and software can be used to make adjustments NOTE When forcing a new period or duty into effect immediately, an irregular PWM cycle can occur. Depending on the polarity bit, the duty registers will contain the count of either the high time or the low time. 22.4.2.4 PWM Timer Counters Each channel has a dedicated 8-bit up/down counter which runs at the rate of the selected clock source (see Section 22.4.1, "PWM Clock Select" for the available clock sources and rates). The counter compares to two registers, a duty register and a period register as shown in Figure 22-16. When the PWM counter matches the duty register, the output flip-flop changes state, causing the PWM waveform to also change state. A match between the PWM counter and the period register behaves differently depending on what output mode is selected as shown in Figure 22-16 and described in Section 22.4.2.5, "Left Aligned Outputs" and Section 22.4.2.6, "Center Aligned Outputs". MC9S12ZVM Family Reference Manual Rev. 2.2 856 Freescale Semiconductor Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Each channel counter can be read at anytime without affecting the count or the operation of the PWM channel. Any value written to the counter causes the counter to reset to $00, the counter direction to be set to up, the immediate load of both duty and period registers with values from the buffers, and the output to change according to the polarity bit. When the channel is disabled (PWMEx = 0), the counter stops. When a channel becomes enabled (PWMEx = 1), the associated PWM counter continues from the count in the PWMCNTx register. This allows the waveform to continue where it left off when the channel is reenabled. When the channel is disabled, writing "0" to the period register will cause the counter to reset on the next selected clock. NOTE If the user wants to start a new "clean" PWM waveform without any "history" from the old waveform, the user must write to channel counter (PWMCNTx) prior to enabling the PWM channel (PWMEx = 1). Generally, writes to the counter are done prior to enabling a channel in order to start from a known state. However, writing a counter can also be done while the PWM channel is enabled (counting). The effect is similar to writing the counter when the channel is disabled, except that the new period is started immediately with the output set according to the polarity bit. NOTE Writing to the counter while the channel is enabled can cause an irregular PWM cycle to occur. The counter is cleared at the end of the effective period (see Section 22.4.2.5, "Left Aligned Outputs" and Section 22.4.2.6, "Center Aligned Outputs" for more details). Table 22-12. PWM Timer Counter Conditions Counter Clears ($00) Counter Counts Counter Stops When PWMCNTx register written to any value When PWM channel is enabled (PWMEx = 1). Counts from last value in PWMCNTx. When PWM channel is disabled (PWMEx = 0) Effective period ends 22.4.2.5 Left Aligned Outputs The PWM timer provides the choice of two types of outputs, left aligned or center aligned. They are selected with the CAEx bits in the PWMCAE register. If the CAEx bit is cleared (CAEx = 0), the corresponding PWM output will be left aligned. In left aligned output mode, the 8-bit counter is configured as an up counter only. It compares to two registers, a duty register and a period register as shown in the block diagram in Figure 22-16. When the PWM counter matches the duty register the output flip-flop changes state causing the PWM waveform to also change state. A match between the PWM counter and the period register resets the counter and the output flip-flop, as shown in Figure 22-16, as well as performing a load from the double buffer period and duty register to the associated registers, as described in Section 22.4.2.3, "PWM Period and Duty". The counter counts from 0 to the value in the period register - 1. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 857 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) NOTE Changing the PWM output mode from left aligned to center aligned output (or vice versa) while channels are operating can cause irregularities in the PWM output. It is recommended to program the output mode before enabling the PWM channel. PPOLx = 0 PPOLx = 1 PWMDTYx Period = PWMPERx Figure 22-17. PWM Left Aligned Output Waveform To calculate the output frequency in left aligned output mode for a particular channel, take the selected clock source frequency for the channel (A, B, SA, or SB) and divide it by the value in the period register for that channel. * PWMx Frequency = Clock (A, B, SA, or SB) / PWMPERx * PWMx Duty Cycle (high time as a% of period): -- Polarity = 0 (PPOLx = 0) Duty Cycle = [(PWMPERx-PWMDTYx)/PWMPERx] * 100% -- Polarity = 1 (PPOLx = 1) Duty Cycle = [PWMDTYx / PWMPERx] * 100% As an example of a left aligned output, consider the following case: Clock Source = bus clock, where bus clock = 10 MHz (100 ns period) PPOLx = 0 PWMPERx = 4 PWMDTYx = 1 PWMx Frequency = 10 MHz/4 = 2.5 MHz PWMx Period = 400 ns PWMx Duty Cycle = 3/4 *100% = 75% The output waveform generated is shown in Figure 22-18. MC9S12ZVM Family Reference Manual Rev. 2.2 858 Freescale Semiconductor Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) E = 100 ns Duty Cycle = 75% Period = 400 ns Figure 22-18. PWM Left Aligned Output Example Waveform 22.4.2.6 Center Aligned Outputs For center aligned output mode selection, set the CAEx bit (CAEx = 1) in the PWMCAE register and the corresponding PWM output will be center aligned. The 8-bit counter operates as an up/down counter in this mode and is set to up whenever the counter is equal to $00. The counter compares to two registers, a duty register and a period register as shown in the block diagram in Figure 22-16. When the PWM counter matches the duty register, the output flip-flop changes state, causing the PWM waveform to also change state. A match between the PWM counter and the period register changes the counter direction from an up-count to a down-count. When the PWM counter decrements and matches the duty register again, the output flip-flop changes state causing the PWM output to also change state. When the PWM counter decrements and reaches zero, the counter direction changes from a down-count back to an up-count and a load from the double buffer period and duty registers to the associated registers is performed, as described in Section 22.4.2.3, "PWM Period and Duty". The counter counts from 0 up to the value in the period register and then back down to 0. Thus the effective period is PWMPERx*2. NOTE Changing the PWM output mode from left aligned to center aligned output (or vice versa) while channels are operating can cause irregularities in the PWM output. It is recommended to program the output mode before enabling the PWM channel. PPOLx = 0 PPOLx = 1 PWMDTYx PWMDTYx PWMPERx PWMPERx Period = PWMPERx*2 Figure 22-19. PWM Center Aligned Output Waveform MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 859 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) To calculate the output frequency in center aligned output mode for a particular channel, take the selected clock source frequency for the channel (A, B, SA, or SB) and divide it by twice the value in the period register for that channel. * PWMx Frequency = Clock (A, B, SA, or SB) / (2*PWMPERx) * PWMx Duty Cycle (high time as a% of period): -- Polarity = 0 (PPOLx = 0) Duty Cycle = [(PWMPERx-PWMDTYx)/PWMPERx] * 100% -- Polarity = 1 (PPOLx = 1) Duty Cycle = [PWMDTYx / PWMPERx] * 100% As an example of a center aligned output, consider the following case: Clock Source = bus clock, where bus clock= 10 MHz (100 ns period) PPOLx = 0 PWMPERx = 4 PWMDTYx = 1 PWMx Frequency = 10 MHz/8 = 1.25 MHz PWMx Period = 800 ns PWMx Duty Cycle = 3/4 *100% = 75% Shown in Figure 22-20 is the output waveform generated. E = 100 ns E = 100 ns DUTY CYCLE = 75% PERIOD = 800 ns Figure 22-20. PWM Center Aligned Output Example Waveform 22.4.2.7 PWM 16-Bit Functions The scalable PWM timer also has the option of generating up to 8-channels of 8-bits or 4-channels of 16bits for greater PWM resolution. This 16-bit channel option is achieved through the concatenation of two 8-bit channels. The PWMCTL register contains four control bits, each of which is used to concatenate a pair of PWM channels into one 16-bit channel. Channels 6 and 7 are concatenated with the CON67 bit, channels 4 and 5 are concatenated with the CON45 bit, channels 2 and 3 are concatenated with the CON23 bit, and channels 0 and 1 are concatenated with the CON01 bit. NOTE Change these bits only when both corresponding channels are disabled. When channels 6 and 7 are concatenated, channel 6 registers become the high order bytes of the double byte channel, as shown in Figure 22-21. Similarly, when channels 4 and 5 are concatenated, channel 4 MC9S12ZVM Family Reference Manual Rev. 2.2 860 Freescale Semiconductor Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) registers become the high order bytes of the double byte channel. When channels 2 and 3 are concatenated, channel 2 registers become the high order bytes of the double byte channel. When channels 0 and 1 are concatenated, channel 0 registers become the high order bytes of the double byte channel. When using the 16-bit concatenated mode, the clock source is determined by the low order 8-bit channel clock select control bits. That is channel 7 when channels 6 and 7 are concatenated, channel 5 when channels 4 and 5 are concatenated, channel 3 when channels 2 and 3 are concatenated, and channel 1 when channels 0 and 1 are concatenated. The resulting PWM is output to the pins of the corresponding low order 8-bit channel as also shown in Figure 22-21. The polarity of the resulting PWM output is controlled by the PPOLx bit of the corresponding low order 8-bit channel as well. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 861 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) Clock Source 7 High Low PWMCNT6 PWMCNT7 Period/Duty Compare PWM7 Clock Source 5 High Low PWMCNT4 PWMCNT5 Period/Duty Compare PWM5 Clock Source 3 High Low PWMCNT2 PWMCNT3 Period/Duty Compare PWM3 Clock Source 1 High Low PWMCNT0 PWMCNT1 Period/Duty Compare PWM1 Maximum possible 16-bit channels Figure 22-21. PWM 16-Bit Mode Once concatenated mode is enabled (CONxx bits set in PWMCTL register), enabling/disabling the corresponding 16-bit PWM channel is controlled by the low order PWMEx bit. In this case, the high order bytes PWMEx bits have no effect and their corresponding PWM output is disabled. MC9S12ZVM Family Reference Manual Rev. 2.2 862 Freescale Semiconductor Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) In concatenated mode, writes to the 16-bit counter by using a 16-bit access or writes to either the low or high order byte of the counter will reset the 16-bit counter. Reads of the 16-bit counter must be made by 16-bit access to maintain data coherency. Either left aligned or center aligned output mode can be used in concatenated mode and is controlled by the low order CAEx bit. The high order CAEx bit has no effect. Table 22-13 is used to summarize which channels are used to set the various control bits when in 16-bit mode. Table 22-13. 16-bit Concatenation Mode Summary Note: Bits related to available channels have functional significance. 22.4.2.8 CONxx PWMEx PPOLx PCLKx CAEx PWMx Output CON67 PWME7 PPOL7 PCLK7 CAE7 PWM7 CON45 PWME5 PPOL5 PCLK5 CAE5 PWM5 CON23 PWME3 PPOL3 PCLK3 CAE3 PWM3 CON01 PWME1 PPOL1 PCLK1 CAE1 PWM1 PWM Boundary Cases Table 22-14 summarizes the boundary conditions for the PWM regardless of the output mode (left aligned or center aligned) and 8-bit (normal) or 16-bit (concatenation). Table 22-14. PWM Boundary Cases 22.5 PWMDTYx PWMPERx PPOLx PWMx Output $00 (indicates no duty) >$00 1 Always low $00 (indicates no duty) >$00 0 Always high XX $00(1) (indicates no period) 1 Always high XX $001 (indicates no period) 0 Always low >= PWMPERx XX 1 Always high >= PWMPERx XX 1. Counter = $00 and does not count. 0 Always low Resets The reset state of each individual bit is listed within the Section 22.3.2, "Register Descriptions" which details the registers and their bit-fields. All special functions or modes which are initialized during or just following reset are described within this section. * The 8-bit up/down counter is configured as an up counter out of reset. * All the channels are disabled and all the counters do not count. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 863 Chapter 22 Pulse-Width Modulator (S12PWM8B8CV2) * * 22.6 For channels 0, 1, 4, and 5 the clock choices are clock A. For channels 2, 3, 6, and 7 the clock choices are clock B. Interrupts The PWM module has no interrupt. MC9S12ZVM Family Reference Manual Rev. 2.2 864 Freescale Semiconductor Appendix A MCU Electrical Specifications A.1 General This section contains the most accurate electrical information for the qualified derivatives S12ZVML128, S12ZVMC128, S12ZVML64, S12ZVMC64 and S12ZVML32 available at the time of publication. The specifications relating to the ZVMC256, ZVML31, ZVM32 and ZVM16 are preliminary. A.1.1 Parameter Classification The electrical parameters shown in the appendices are guaranteed by various methods. The parameter classification is documented in the PPAP. The parameter classification columns are for Freescale internal use only. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 865 Appendix A MCU Electrical Specifications Table A-1. Power Supplies Mnemonic Nominal Voltage Description VDD 1.8 V VSS1 0V Ground pin for 2.8V flash supply voltage generated by on chip voltage regulator VSS2 0V Ground pin for 1.8V core supply voltage generated by on chip voltage regulator VDDF 2.8 V 2.8V flash supply voltage generated by on chip voltage regulator VDDX1 (1) 5.0 V 5V power supply output for I/O drivers generated by on chip voltage regulator VSSX1 0V Ground pin for I/O drivers VDDX2 5.0 V 5V power supply output for I/O drivers generated by on chip voltage regulator VDDA 5.0 V 5V Power supply for the analog-to-digital converter and for the reference circuit of the internal voltage regulator VSSA 0V Ground pin for VDDA analog supply LGND 0V Ground pin for LIN physical interface HD 12 V GDU Highside Drain. Also used as LIN supply, VLINSUP. VSUP 12 V/18 V VDDC 5V Power supply output for CANPHY VDDS2 5V Power supply output (5V) for external sensors VDDS1 5V Power supply output (5V) for external sensors VLS_OUT 11 V GDU voltage regulator output for low side FET-predriver power supply. VSSB 0V Ground pin for boost supply. 1.8V core supply voltage generated by on chip voltage regulator External power supply for voltage regulator 1. All VDDX pins are internally connected by metal NOTE VDDA is connected to VDDX pins by diodes for ESD protection such that VDDX must not exceed VDDA by more than a diode voltage drop. VSSA and VSSX are connected by anti-parallel diodes for ESD protection. A.1.2 Pins There are 4 groups of functional pins. A.1.2.1 General Purpose I/O Pins (GPIO) The I/O pins have a level in the range of 4.5V to 5.5V. This class of pins is comprised of all port I/O pins, BKGD and the RESET pins. A.1.2.2 High Voltage Pins These consist of the LIN, BST, HD, VCP, CP, VLS_OUT, VLS[2:0], VBS[2:0], HG[2:0], HS[2:0], LG[2:0], LD[2:0], PL0, CANH0, CANL0, SPLIT0, VDDS1, VDDS2, BCTLS1, BCTLS2, SNPS1, MC9S12ZVM Family Reference Manual Rev. 2.2 866 Freescale Semiconductor Appendix A MCU Electrical Specifications SNPS2 pins. These pins are intended to interface to external components operating in the automotive battery range. They have nominal voltages above the standard 5V I/O voltage range. A.1.2.3 Oscillator If the designated EXTAL and XTAL pins are configured for external oscillator operation then these pins have a nominal voltage of 1.8 V. A.1.2.4 TEST This pin is used for production testing only. The TEST pin must be tied to ground in all applications. A.1.3 Current Injection Power supply must maintain regulation within operating VDDX or VDD range during instantaneous and operating maximum current conditions. Figure A-1. shows a 5 V GPIO pad driver and the on chip voltage regulator with VDDX output. It shows also the power and ground pins VSUP, VDDX, VSSX and VSSA. Px represents any 5 V GPIO pin. Assume Px is configured as an input. The pad driver transistors P1 and N1 are switched off (high impedance). If the voltage Vin on Px is greater than VDDX a positive injection current Iin will flow through diode D1 into VDDX node. If this injection current Iin is greater than ILoad, the internal power supply VDDX may go out of regulation. Ensure the external VDDX load will shunt current greater than maximum injection current. This is the greatest risk when the MCU is not consuming MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 867 Appendix A MCU Electrical Specifications power; e.g., if no system clock is present, or if the clock rate is very low which would reduce overall power consumption. Figure A-1. Current Injection on GPIO Port if Vin > VDDX VSUP Voltage Regulator VBG + _ ISUP Pad Driver P2 IDDX VDDX ILoad C Load Iin D1 P1 Iin Px Vin > VDDX N1 VSSX VSSA A.1.4 Absolute Maximum Ratings Absolute maximum ratings are stress ratings only. A functional operation outside these ranges is not guaranteed. Stress beyond these limits may affect the reliability or cause permanent damage of the device. This device contains circuitry protecting against damage due to high static voltage or electrical fields; however, it is advised that normal precautions be taken to avoid application of any voltages higher than maximum-rated voltages to this high-impedance circuit. Reliability of operation is enhanced if unused inputs are tied to an appropriate logic voltage level. The CANPHY maximum ratings are specified in Appendix H.1 Table A-2. Absolute Maximum Ratings Num Rating Symbol Min Max Unit 1 Voltage regulator and LINPHY supply voltage VSUP -0.3 42 V 2 DC voltage on LIN VLIN -32 42 V 3 DC voltage on HVI pin PL0 VHVI -27 42 V 4 Core logic supply voltage VDD -0.3 2.16 V MC9S12ZVM Family Reference Manual Rev. 2.2 868 Freescale Semiconductor Appendix A MCU Electrical Specifications Table A-2. Absolute Maximum Ratings 5 Flash supply voltage VDDF -0.3 3.6 V 6 FET-Predriver High-Side Drain VHD -0.3 42 V 7 FET-Predriver Bootstrap Capacitor Connection VVBS -0.3 42 V 8 FET-Predriver High-Side Gate(1) VHG -5 42 V VHS -5 42 V VVLS_OUT -0.3 42 V (1) 9 FET-Predriver High-Side Source 10 Generated FET-Predriver Low-Side Supply 11 FET-Predriver Low-Side Supply Inputs VVLS -0.3 42 V 12 FET-Predriver Low-Side Gate(1) VLG -5 42 V VLS -5 42 V Source(1) 13 FET-Predriver Low-Side 14 FET-Predriver Low-Side Drain VLD -5 42 V 15 FET-Predriver Charge Pump Output VCP -0.3 42 V 16 FET-Predriver Charge Pump Input VVCP -0.3 42 V 17 FET-Predriver Boost Converter Connection VBST -0.3 42 V 18 FET-Predriver Boost Converter Ground VVSSB -0.3 0.3 V 19 Voltage Regulator Ballast Connection VBCTL -0.3 42 V 20 Supplies VDDA, VDDC, VDDX, VDDS1, VDDS2 VVDDACX -0.3 6 V 21 Base connection of bipolar for CANPHY supply VBCTLC -0.3 42 V VDDX -0.3 0.3 V VSSX -0.3 0.3 V VIN -0.3 6.0 V VILV -0.3 2.16 V VTEST -0.3 10.0 V ID -25 +25 mA IEVDD1 -80 +25 mA IDL -25 +25 mA 30 Storage temperature range Tstg 1. Negative limit for pulsed operation only 2. VDDX and VDDA must be shorted 3. EXTAL, XTAL pins configured for external oscillator operation only 4. All digital I/O pins are internally clamped to VSSX and VDDX, or VSSA and VDDA. -65 155 C VDDA(2) 22 Voltage difference VDDX to 23 Voltage difference VSSX to VSSA 24 Digital I/O input voltage 25 EXTAL, XTAL 26 TEST input (3) (4) 27 Instantaneous current. Single pin limit for all digital I/O pins 28 Instantaneous maximum current on EVDD1 29 Instantaneous maximum current. Single pin limit for EXTAL, XTAL A.1.5 ESD Protection and Latch-up Immunity All ESD testing is in conformity with CDF-AEC-Q100 stress test qualification for automotive grade integrated circuits. During the device qualification ESD stresses were performed for the Human Body Model (HBM) and the Charged-Device Model. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 869 Appendix A MCU Electrical Specifications A device will be defined as a failure if after exposure to ESD pulses the device no longer meets the device specification. Complete DC parametric and functional testing is performed per the applicable device specification at room temperature followed by hot temperature, unless specified otherwise. For better immunity to ESD events, the PCB test point for the BST pin should be located at a distance from the device to increase the track length to the BST pin, but the diode should be located close to the device. This may require a track branch on the PCB to ensure that the test point is further away from the device than the diode. Table A-3. ESD and Latch-up Test Conditions Model Human Body ChargedDevice Spec JESD22-A114 JESD22-C101 Description Symbol Value Unit Series Resistance R 1500 Storage Capacitance C 100 pF Number of Pulses per pin positive negative - 1 1 Series Resistance R 0 Storage Capacitance C 4 pF Latch-up for 5V GPIOs Minimum Input Voltage Limit -2.5 V Maximum Input Voltage Limit +7.5 V Latch-up for HD, VCP, BST, LIN, BCTL, BCTLC Minimum Input Voltage Limit -7 V Maximum Input Voltage Limit +27 V Latch-up for CANH,CANL, SPLIT Minimum Input Voltage Limit -7 V Maximum Input Voltage Limit +21 V Latch-up for HG,HS Minimum Input Voltage Limit -5 V Maximum Input Voltage Limit (VBS=10V) 15 V Latch-up for LG,LS, LD Minimum Input Voltage Limit -5 V Maximum Input Voltage Limit (VLS=10V) 15 V Table A-4. ESD Protection and Latch-up Characteristics Num Symbol Min Max Unit Human Body Model (HBM): - LIN versus LGND - CANH, CANL, SPLIT, PL0 - All other pins VHBM VHBM VHBM +/-6 +/-4 +/-2 - KV 2 Charged-Device Model (CDM): Corner Pins VCDM +/-750 - V 3 Charged-Device Model (CDM): All other pins VCDM +/-500 - V 4 Direct Contact Discharge IEC61000-4-2 with and with out 220pF capacitor (R=330, C=150pF): LIN versus LGND, CANH, CANL +/-6 - KV 1 C Rating VESDIEC MC9S12ZVM Family Reference Manual Rev. 2.2 870 Freescale Semiconductor Appendix A MCU Electrical Specifications Table A-4. ESD Protection and Latch-up Characteristics 5 Latch-up Current of 5V GPIOs at T=125C positive negative ILAT 6 Latch-up Current (VCP, BST, LIN, HD, HS, HG, LG, LS, LD) T=125C positive negative ILAT 7 Latch-up Current of 5V GPIOs at 27C positive negative ILAT 8 Latch-up Current (VCP, BST, LIN, HD, HS, HG, LG, LS, LD) T= 27C positive negative ILAT A.1.6 +100 -100 - mA +100 -100 - mA +200 -200 - mA +200 -200 - mA Recommended Capacitor Values Table A-5. Recommended Capacitor Values (nominal component values) Num Characteristic Symbol Typical Unit CVDDX1,2 100-220 nF 1 VDDX decoupling capacitor (1) (2) 2 VDDA decoupling capacitor (1) CVDDA 100-220 nF 3 VDDX stability capacitor (3) (4) CVDD5 4.7-10 F 4 VDDC stability capacitor CVDDC 4.7-10 F 5 VDDS[2:1] stability capacitor CVDDS 4.7-10 F CVLS0,1,2 100-220 nF CVLS 4.7-10 F CVDD 100-220 nF CVDDF 100-220 nF CLIN 220 pF (1) (5) 6 VLS decoupling capacitor 7 VLS stability capacitor (3) (6) 8 VDD decoupling capacitor (1) 9 VDDF decoupling capacitor 10 LIN decoupling capacitor (1) (1) 1. X7R ceramic 2. One capacitor per VDDX pin 3. 4.7F ceramic or 10F tantalum 4. Can be placed anywhere on the 5V supply node (VDDA, VDDX) 5. One capacitor per each VLS[2:0] pin 6. Can be placed anywhere on the VLS node A.1.7 Operating Conditions This section describes the operating conditions of the device. Unless otherwise noted these conditions apply to the following electrical parameters. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 871 Appendix A MCU Electrical Specifications NOTE Please refer to the temperature rating of the device with regards to the ambient temperature TA and the junction temperature TJ. For power dissipation calculations refer to Section A.1.8, "Power Dissipation and Thermal Characteristics". Table A-6. Operating Conditions Num Rating Symbol Min Typ Max Unit 1 Voltage regulator and LINPHY supply voltage(1) VSUP 3.5 12 40 V 2 Voltage difference VDDX to VDDA VDDX -0.1 -- 0.1 V 3 Voltage difference VSSX to VSSA VSSX -0.1 -- 0.1 V Digital logic supply voltage VDD 1.72 1.8 1.98 V Oscillator fosc 4 -- 20 MHz 4 frequency(2) 5 Bus -40C < Tj < 150C 150C < Tj < 175C (Temp option W only) fbus (4) -- -- 50 40 MHz 6 Bus frequency without flash wait states -40C < Tj < 150C 150C < Tj < 175C (Temp option W only) fWSTAT -- -- -- -- 25 20 MHz 7a Operating junction temperature range Operating ambient temperature range(3) (option V) T J TA -40 -40 -- -- 125 105 C 7b Operating junction temperature range Operating ambient temperature range(3) (option M) T J TA -40 -40 -- -- 150 125 C 7c Operating junction temperature range Operating ambient temperature range(3) (option W) TJ TA -40 -40 -- -- 175 150 C 1. Normal operating range is 5.5 V - 18 V. Continuous operation at 40 V is not allowed. Only Transient Conditions (Load Dump) single pulse tmax<400 ms. Operation down to 3.5V is guaranteed without reset, however some electrical parameters are specified only in the range above 4.5 V. Operation in the range 20V<VSUP<26.5V is limited to 1 hour over lifetime of the device. In this range the device continues to function but electrical parameters are degraded. 2. The flash program and erase operations must configure fNVMOP as specified in the NVM electrical section. 3. Please refer to Section A.1.8, "Power Dissipation and Thermal Characteristics" for more details about the relation between ambient temperature TA and device junction temperature TJ. 4. Refer to fATDCLK for minimum ADC operating frequency. This is derived from the bus clock. NOTE Operation is guaranteed when powering down until low voltage reset assertion. A.1.8 Power Dissipation and Thermal Characteristics Power dissipation and thermal characteristics are closely related. The user must assure that the maximum operating junction temperature is not exceeded. The average chip-junction temperature (TJ) in C can be obtained from: MC9S12ZVM Family Reference Manual Rev. 2.2 872 Freescale Semiconductor Appendix A MCU Electrical Specifications T T J J = T + P A D JA = Junction Temperature, [C T = Ambient Temperature, [C A P = Total Chip Power Dissipation, [W] D JA = Package Thermal Resistance, [ C/W] The total power dissipation PD can be calculated from the equation below. Table A-7 below lists the power dissipation components. Figure A-2 provides an overview of power pin connectivity. PD = PVSUP + PBCTL + PINT - PGPIO + PLIN - PEVDD1 + PGDU Table A-7. Power Dissipation Components PGDU Power Component Description PVSUP = VSUP ISUP Internal Power through VSUP pin PBCTL = VBCTL IBCTL Internal Power through BCTL pin PINT = VDDX IVDDX + VDDA IVDDA Internal Power through VDDX/A pins. PGPIO = VI/O II/O Power dissipation of external load driven by GPIO Port. Assuming the load is connected between GPIO and ground. This power component is included in PINT and is subtracted from overall MCU power dissipation PD PLIN = VLIN ILIN Power dissipation of LINPHY (1) = (-VVLS_OUT IVLS_OUT) + (VVBS IVBS) + (VVCPIVCP) + (VVLSn IVLSn) Power dissipation of FET-Predriver without the outputs switching 1. No switching. GDU power consumption is very load dependent. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 873 Appendix A MCU Electrical Specifications Figure A-2. Supply Currents Overview ILIN VBAT ISUP IRBATP GND MC9S12ZVM-Family L Package Option LIN VSUP VLS_OUT BCTL VDDA IVDDX VLS[2:0] VDDX1 VDDX2 VBS[2:0] VCP VSSX1 IEVDD VDDX II/O GPIO EVDD1 RL2 RL1 VI/O Table A-8. 80LQFP-EP Thermal Package Characteristics Num C(1) Rating Symbol Min Typ Max Unit 1 Thermal resistance, single sided PCB(2) Natural Convection JA -- TBD -- C/W 2 Thermal resistance, double sided PCB(3) with 2 internal planes. Natural Convection. JA -- TBD -- C/W 3 Thermal resistance, single sided PCB(3) (@200 ft./min) JA -- TBD -- C/W 4 Thermal resistance, double sided PCB(3) with 2 internal planes (@200 ft./min). JA -- TBD -- C/W 5 Junction to Board (4) JB -- TBD -- C/W JCtop -- TBD -- C/W JCbottom -- TBD -- C/W JT -- TBD -- C/W 6 Junction to Case Top (5) (6) 7 Junction to Case Bottom 8 Junction to Package Top (7) 1. The values for thermal resistance are achieved by package simulations 2. Junction to ambient thermal resistance, JA was simulated to be equivalent to JEDEC JESD51-2 with the single layer board (JESD51-3) horizontal. 3. Junction to ambient thermal resistance, JA was simulated to be equivalent to the JEDEC specification JESD51-6 with the board (JESD51-7) horizontal. 4. Thermal resistance between the die and the printed circuit board per JEDEC JESD51-8. Board temperature is measured on the top surface of the board near the package. MC9S12ZVM Family Reference Manual Rev. 2.2 874 Freescale Semiconductor Appendix A MCU Electrical Specifications 5. Thermal resistance between the die and the case top surface as measured by the cold plate method (MIL SPEC-883 Method 1012.1). 6. Thermal resistance between the die and the solder pad on the bottom of the package based on simulation without any interface resistance 7. Thermal characterization parameter indicating the temperature difference between package top and the junction temperature per JEDEC JESD51-2. A single layer board is used for this simulation. Table A-9. 64LQFP-EP Thermal Package Characteristics (ZVML31, ZVM32, ZVM16 devices) Num C(1) Rating Symbol Min Typ Max Unit 1 Thermal resistance 64LQFP-EP, single sided PCB(2) Natural Convection JA -- 71 -- C/W 2 Thermal resistance 64LQFP-EP, double sided PCB(3) with 2 internal planes. Natural Convection. JA -- 32 -- C/W 3 Thermal resistance 64LQFP-EP, single sided PCB(3) (@200 ft./min) JA -- 58 -- C/W 4 Thermal resistance 64LQFP-EP, double sided PCB(3) with 2 internal planes (@200 ft./min). JA -- 27 -- C/W 5 Junction to Board 64LQFP-EP(4) JB -- 16 -- C/W JCtop -- 19 -- C/W JCbottom -- 1.8 -- C/W JT -- 4 -- C/W 6 Junction to Case Top 64LQFP-EP (5) (6) 7 Junction to Case Bottom 64LQFP-EP 8 Junction to Package Top 64LQFP-EP(7) 1. The values for thermal resistance are achieved by package simulations 2. Junction to ambient thermal resistance, JA was simulated to be equivalent to JEDEC JESD51-2 with the single layer board (JESD51-3) horizontal. 3. Junction to ambient thermal resistance, JA was simulated to be equivalent to the JEDEC specification JESD51-6 with the board (JESD51-7) horizontal. 4. Thermal resistance between the die and the printed circuit board per JEDEC JESD51-8. Board temperature is measured on the top surface of the board near the package. 5. Thermal resistance between the die and the case top surface as measured by the cold plate method (MIL SPEC-883 Method 1012.1). 6. Thermal resistance between the die and the solder pad on the bottom of the package based on simulation without any interface resistance 7. Thermal characterization parameter indicating the temperature difference between package top and the junction temperature per JEDEC JESD51-2. A single layer board is used for this simulation. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 875 Appendix A MCU Electrical Specifications Table A-10. 64LQFP-EP Thermal Package Characteristics (All other devices) Num C(1) Rating Symbol Min Typ Max Unit 1 Thermal resistance 64LQFP-EP, single sided PCB(2) Natural Convection JA -- 64 -- C/W 2 Thermal resistance 64LQFP-EP, double sided PCB(3) with 2 internal planes. Natural Convection. JA -- 30 -- C/W 3 Thermal resistance 64LQFP-EP, single sided PCB(3) (@200 ft./min) JA -- 51 -- C/W 4 Thermal resistance 64LQFP-EP, double sided PCB(3) with 2 internal planes (@200 ft./min). JA -- 24 -- C/W 5 Junction to Board 64LQFP-EP(4) JB -- 13 -- C/W JCtop -- 16 -- C/W (5) 6 Junction to Case Top 64LQFP-EP 7 Junction to Case Bottom 64LQFP-EP(6) JCbottom -- 1.6 -- C/W 8 Junction to Package Top 64LQFP-EP(7) JT -- 4 -- C/W 1. The values for thermal resistance are achieved by package simulations 2. Junction to ambient thermal resistance, JA was simulated to be equivalent to JEDEC JESD51-2 with the single layer board (JESD51-3) horizontal. 3. Junction to ambient thermal resistance, JA was simulated to be equivalent to the JEDEC specification JESD51-6 with the board (JESD51-7) horizontal. 4. Thermal resistance between the die and the printed circuit board per JEDEC JESD51-8. Board temperature is measured on the top surface of the board near the package. 5. Thermal resistance between the die and the case top surface as measured by the cold plate method (MIL SPEC-883 Method 1012.1). 6. Thermal resistance between the die and the solder pad on the bottom of the package based on simulation without any interface resistance 7. Thermal characterization parameter indicating the temperature difference between package top and the junction temperature per JEDEC JESD51-2. A single layer board is used for this simulation. Table A-11. 48LQFP-EP Thermal Package Characteristics Num C(1) Rating Symbol Min Typ Max Unit 1 Thermal resistance 48LQFP-EP, single sided PCB(2) Natural Convection JA -- 74 -- C/W 2 Thermal resistance 48LQFP-EP, double sided PCB(2) with 2 internal planes. Natural Convection. JA -- 35 -- C/W 3 Thermal resistance 48LQFP-EP, single sided PCB(3) (@200 ft./min) JA -- 61 -- C/W 4 Thermal resistance 48LQFP-EP, double sided PCB(3) with 2 internal planes (@200 ft./min). JA -- 29 -- C/W 5 Junction to Board 48LQFP-EP(4) JB -- 15 -- C/W JCtop -- 25 -- C/W JCbottom -- 1.9 -- C/W JT -- 4.8 -- C/W 6 7 8 Junction to Case Top 48LQFP-EP Junction to Case Bottom (5) 48LQFP-EP(6) (7) Junction to Package Top 48LQFP-EP 1. The values for thermal resistance are achieved by package simulations MC9S12ZVM Family Reference Manual Rev. 2.2 876 Freescale Semiconductor Appendix A MCU Electrical Specifications 2. Per JEDEC JESD51-2 with natural convection for horizontally orientated board. Board meets JESD51-9 specification for 1s or 2s2p board, respectively. 3. Per JEDEC JESD51-6 with natural convection for horizontally orientated board. Board meets JESD51-9 specification for 1s or 2s2p board, respectively. 4. Thermal resistance between the die and the printed circuit board per JEDEC JESD51-8. Board temperature is measured on the top surface of the board near the package. 5. Thermal resistance between the die and the case top surface as measured by the cold plate method (MIL SPEC-883 Method 1012.1). 6. Thermal resistance between the die and the solder pad on the bottom of the package based on simulation without any interface resistance 7. Thermal characterization parameter indicating the temperature difference between package top and the junction temperature per JEDEC JESD51-2. A single layer board is used for this simulation. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 877 Appendix A MCU Electrical Specifications A.1.9 General Purpose I/O Characteristics Table A-12. 5V I/O Characteristics Conditions are 4.5 V < VDDX< 5.5 V , -40C < Tj < 175C for all GPIO pins (defined in A.1.2.1/A-866) unless otherwise noted. Num C Rating Symbol Min Typ Max Unit 0.65*VDDX -- -- V 1 Input high voltage, 3.13 V < VDDX< 5.5 V V 2 Input high voltage VIH -- -- VDDX+0.3 V 3 Input low voltage, 3.13 V < VDDX< 5.5 V VIL -- -- 0.35*VDDX V 4 Input low voltage VIL VSSX-0.3 -- -- V 5 Input hysteresis -- 250 -- mV 6a Input leakage current. All pins except PAD8 , PP0. (1) Vin = VDDX or VSSX VHYS Iin -1 -- 1 A Iin -2.5 -- 2.5 A -1 -- 1 A 6b Input leakage current. PAD8, PP0 (1) Vin = VDDX or VSSX IH 6c Input leakage current. PAD8, PP0 (1) -40C < Tj < 150C, Vin = VDDX or VSSX 7 Output high voltage (All GPIO except EVDD1) IOH = -4 mA VOH VDDX - 0.8 -- -- V 8a Output high voltage (EVDD1), VDDX > 4.85V Partial Drive IOH = -2 mA Full Drive IOH = -20mA VOH VDDX - 0.8 -- -- V 8b Output high voltage (EVDD1), VDDX > 4.85V Full Drive IOH = -10mA VOH VDDX - 0.1 -- -- V 9 Output low voltage (All GPIO except EVDD1) IOL = +4mA V -- -- 0.8 V 10 Output low voltage (EVDD1) Partial drive IOL = +2mA or Full drive IOL = +20mA VOL -- -- 0.8 V 11 Maximum allowed continuous current on EVDD1 IEVDD1 -20 -- 10 mA 12 Over-current Detect Threshold EVDD1 IOCD -80 -- -40 mA 13 Internal pull up current (All GPIO except RESET) VIH min > input voltage > VIL max IPUL -10 -- -130 A 14 Internal pull up resistance (RESET pin) RPUL 2.5 5 10 K 15 Internal pull down current, VIH min > Vin > VIL max IPDH 10 -- 130 A 16 Input capacitance Cin -- 7 -- pF 17a Injection current(2) Single pin limit (all GPIO pins) Total device limit, sum of all injected currents IICS IICP -2.5 -25 -- 2.5 25 mA 17b Injection current single pin (HG,HS,LG,LS pins)(3) IICS -2.5 -- 2.5 mA I in OL 1. Pins in high impedance input mode. Maximum leakage current occurs at maximum operating temperature. Current decreases by approximately one-half for each 8C to 12C in the temperature range from 50C to 125C. 2. For better ADC accuracy, the application should avoid current injection into pin PAD8/VREFH. Refer to Section A.1.3, "Current Injection" for more details MC9S12ZVM Family Reference Manual Rev. 2.2 878 Freescale Semiconductor Appendix A MCU Electrical Specifications 3. For better ADC accuracy, the application should avoid current injection into pin HS0 and HG0 during ADC conversions. This can be achieved by correct synchronization of ADC and FET switching.. Table A-13. Pin Timing Characteristics (Junction Temperature From -40C To +175C) Conditions are 4.5 V < VDDX< 5.5 V unless otherwise noted. I/O Characteristics for all GPIO pins (defined in A.1.2.1/A-866). Num C Rating Symbol Min Typ Max Unit 1 Port P, S, AD interrupt input pulse filtered (STOP mode ) tP_MASK -- -- 3 s 2 Port P, S, AD interrupt input pulse passed (STOP mode ) tP_PASS 10 -- -- s 3 Port P, S, AD interrupt input pulse filtered (STOP) in number of bus clock cycles of period 1/fbus nP_MASK -- -- 3 -- 4 Port P, S, AD interrupt input pulse passed (STOP) in number of bus clock cycles of period 1/fbus nP_PASS 4 -- -- -- 5 IRQ pulse width, edge-sensitive mode (STOP) in number of bus clock cycles of period 1/fbus nIRQ 1 -- -- -- 6 RESET pin input pulse filtered RP_MASK -- -- 12 ns 7 RESET pin input pulse passed RP_PASS 18 -- -- ns A.1.10 High Voltage Input Electrical Characteristics Table A-14. High Voltage Input Electrical Characteristics (Junction Temperature From -40C To +175C) Conditions are 5.5V < VSUP< 18V unless otherwise noted. Num C Rating Symbol Min Typ Max Unit 2.8 2.0 3.5 2.5 4.5 3.8 V V 1 Digital Input Threshold * VSUP >6.5V * 5.5V< VSUP < 6.5V VTH_HVI 2 Input Hysteresis VHYS_HVI -- 250 -- mV 3 Pin Input Divider Ratio with external series REXT_HVI Ratio = VHVI / VInternal(ADC) RatioL_HVI RatioH_HVI -- -- 2 6 -- -- -- -- 4 Analog Input Matching Absolute Error on VADC * Compared to VHVI / RatioL_HVI, (1V < VHVI < 7V) * Compared to VHVI / RatioH_HVI, (3V < VHVI < 21V) * Direct Mode (PTADIRL=1), (0.5V < VHVI < 3.5V) AIML_HVI AIMH_HVI AIMD_HVI -- -- -- +/- 2 +/- 2 +/- 2 +/- 5 +/- 5 +/- 5 % % % 5 High Voltage Input Series Resistor REXT_HVI -- 10 -- K 6 Enable Uncertainty Time tUNC_HVI -- 1 -- s 7 Input capacitance CIN_HVI -- 8 -- pF A.1.11 HV Physical Interface Characteristics The HV Physical Interface specification is included in the LINPHY electrical section. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 879 Appendix A MCU Electrical Specifications A.1.12 Supply Currents This section describes the current consumption characteristics of the device as well as the conditions for the measurements. A.1.12.1 Measurement Conditions Current is measured on VSUP. VDDX is connected to VDDA. It does not include the current to drive external loads. Unless otherwise noted the currents are measured in special single chip mode and the CPU code is executed from RAM. For Run and Wait current measurements PLL is on and the reference clock is the IRC1M trimmed to 1MHz. For the junction temperature range from -40C to +150C the bus frequency is 50MHz. For the temperature range from +150C to +175C, the bus frequency is 40MHz. Table A-15, Table A-16 and Table A-17 show the configuration of the CPMU module and the peripherals for Run, Wait and Stop current measurement. Table A-15. CPMU Configuration for Pseudo Stop Current Measurement CPMU REGISTER Bit settings/Conditions CPMUCLKS PLLSEL=0, PSTP=1, CSAD=0, PRE=PCE=RTIOSCSEL=1 COPOSCSEL[1:0]=01 CPMUOSC OSCE=1, Quartz oscillator fEXTAL=4MHz CPMURTI RTDEC=0, RTR[6:4]=111, RTR[3:0]=1111 CPMUCOP WCOP=1, CR[2:0]=111 Table A-16. CPMU Configuration for Run/Wait and Full Stop Current Measurement CPMU REGISTER Bit settings/Conditions CPMUSYNR VCOFRQ[1:0]= 3,SYNDIV[5:0] = 49 CPMUPOSTDIV POSTDIV[4:0]=0 CPMUCLKS PLLSEL=1, CSAD=0 CPMUOSC OSCE=0, Reference clock for PLL is fref=firc1m trimmed to 1MHz API settings for STOP current measurement CPMUAPICTL APIEA=0, APIFE=1, APIE=0 CPMUACLKTR trimmed to >=20Khz CPMUAPIRH/RL set to 0xFFFF MC9S12ZVM Family Reference Manual Rev. 2.2 880 Freescale Semiconductor Appendix A MCU Electrical Specifications Table A-17. Peripheral Configurations for Run & Wait Current Measurement Peripheral Co nfiguration SCI Continuously transmit data (0x55) at speed of 19200 baud SPI Configured to master mode, continuously transmit data (0x55) at 1Mbit/s ADC The peripheral is configured to operate at its maximum specified frequency and to continuously convert voltages on a single input channel MSCAN Configured in loop back mode with a bit rate of 500kbit/s. DBG The module is disabled, as in typical final applications PTU The module is enabled, bits TG1EN and TG0EN are set. PTUFRE is also set to generate automatic reload events. PMF The module is configured with a modulus rate of 10 kHz TIM The peripheral is configured to output compare mode, GDU LDO enabled. Charge pump enabled. Current sense0 enabled. Boost disabled. No output activity (too load dependent) COP & RTI Enabled BATS Enabled LINPHY CANPHY (ZVMC256) Connected to SCI and continuously transmit data (0x55) at speed of 19200 baud Enabled and connected to MSCAN module Table A-18. Run and Wait Current Characteristics Conditions see Table A-16 and Table A-17, VSUP=18 V Num C Rating Symbol Min Typ Max Unit 1 Run Current, -40C < TJ < 150C, fbus= 50MHz ZVMC256 Other devices ISUPR -- -- 64 53 80 66 mA 2 Wait Current, -40C < TJ < 150C, fbus= 50MHz ZVMC256 Other devices ISUPW -- -- 50 42 66 55 mA 3 Run Current, TJ =175C, fbus= 40MHz ZVMC256 Other devices ISUPR -- -- TBD 45 TBD 55 mA 4 Wait Current, TJ = 175C, fbus= 40MHz ZVMC256 Other devices ISUPW -- -- TBD 36 TBD 45 mA Typ Max Unit Table A-19. Stop Current Characteristics Conditions are: VSUP=12 V(1) (2) Num C Rating(3) Symbol Min Stop Current all modules off MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 881 Appendix A MCU Electrical Specifications Table A-19. Stop Current Characteristics Conditions are: VSUP=12 V(1) (2) 1 TA J= -40C = T ZVMC256 Other devices ISUPS -- -- 25 20 40 35 A 2 TA = TJ= 150C ZVMC256 Other devices ISUPS -- -- 800 350 2400 1050 A 3 TA = TJ = 25C ZVMC256 Other devices ISUPS -- -- 32 25 50 40 A 4 TA = TJ = 85C ZVMC256 Other devices ISUPS -- -- 120 95 -- -- A 5 TA = TJ = 105C ZVMC256 Other devices ISUPS -- -- 140 105 -- 250 A 6 TA = TJ = 25C ZVMC256 Other devices TBD 35 TBD 45 A Stop Current API enabled & LINPHY in standby ISUPS -- -- 1. This is the total current flowing into the VSUP and HD pins. HD is the LINPHY supply on masksets 0N95G, 1N95G 2. Stop current values for ZVMC256 are subject to change following characterization. 3. If MCU is in Stop mode long enough then TA = TJ . Die self heating due to stop current can be ignored. Table A-20. Pseudo Stop Current Characteristics Conditions are: VSUP=12V, API, COP & RTI enabled Num 1 A.1.13 C Rating TJ = 25C ZVMC256 Other devices Symbol Min Typ Max Unit ISUPPS -- -- TBD 265 TBD 300 A ADC Calibration Configuration The reference voltage VBG is measured under the conditions shown in Table A-21. The values stored in the IFR are the average of eight consecutive conversions at Tj=150 C and eight consecutive conversions at Tj=-40 C. The code is executed from RAM. The result is programmed to the IFR, otherwise there is no flash activity. MC9S12ZVM Family Reference Manual Rev. 2.2 882 Freescale Semiconductor Appendix A MCU Electrical Specifications Table A-21. Measurement Conditions Description Symbol Value Unit Regulator Supply Voltage at VSUP VSUP 5 V Supply Voltage at VDDX and VDDA VDDX,A 5 V ADC reference voltage high VRH 5 V ADC reference voltage low VRL 0 V ADC clock fATDCLK 2 MHz ADC sample time tSMP 4 ADC clock cycles Bus clock frequency fbus 48 MHz Junction temperature Tj -40 and 150 C MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 883 Appendix A MCU Electrical Specifications MC9S12ZVM Family Reference Manual Rev. 2.2 884 Freescale Semiconductor Appendix B CPMU Electrical Specifications (VREG, OSC, IRC, PLL) B.1 VREG Electrical Specifications Table B-1. Voltage Regulator Electrical Characteristics (Junction Temperature From -40C To +175C unless otherwise stated) Note: VDDA and VDDX must be shorted on the application board. Num C Characteristic Symbol Min Typical --4 Max Unit 0 V 1 Input Voltages VSUP 3.5 2 Output Voltage Core Full Performance Mode Reduced Power Mode (stop mode) VDD 1.72 -- 1.84 1.6 1.98 -- V V 3 Output Voltage Flash Full Performance Mode Reduced Power Mode (stop mode) VDDF 2.6 -- 2.82 1.6 2.9 -- V V 4a Output Voltage VDDX (with external PNP, ZVMC256) Full Performance Mode VSUP > =6V Full Performance Mode 5.5V <= VSUP <=6V Full Performance Mode 3.5V <= VSUP <=5.5V Reduced Performance Mode (stop) VSUP > =3.5V VDDX 4.90 4.50 3.13 2.5 5.0 5.0 -- 5.5 5.10 5.10 5.10 5.75 V V V V 4b Output Voltage VDDX (with external PNP, other parts) Full Performance Mode VSUP > =6V Full Performance Mode 5.5V <= VSUP <=6V Full Performance Mode 3.5V <= VSUP <=5.5V Reduced Performance Mode (stop) VSUP > =3.5V VDDX 4.85 4.50 3.13 2.5 5.0 5.0 -- 5.5 5.15 5.15 5.15 5.75 V V V V 4c Output Voltage VDDX (without external PNP)(1) Full Performance Mode VSUP > =6V Full Performance Mode 5.5V <= VSUP <=6V Full Performance Mode 3.5V <= VSUP <=5.5V Reduced Performance Mode (stop) VSUP > =3.5V VDDX 4.80 4.50 3.13 2.5 4.95 4.95 -- 5.5 5.10 5.10 5.10 5.75 V V V V 4d VDDX dependence on temperature and VSUP input VSUP > 6V. No external PNP. VDDX -- 50 80 mV 5a Load Current VDDX(2)(3) without external PNP Full Performance Mode, VSUP > 6V, -40C < TJ < 150C IDDX 0 -- 70 mA 5b Load Current VDDX(2)(3) without external PNP Full Performance Mode VSUP > 6V Full Performance Mode 3.5V <= VSUP <=6V Reduced Performance Mode (stop) VSUP > =3.5V IDDX 0 0 0 -- -- -- 55 20 5 mA mA mA MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 885 Appendix B CPMU Electrical Specifications (VREG, OSC, IRC, PLL) Table B-1. Voltage Regulator Electrical Characteristics (Junction Temperature From -40C To +175C unless otherwise stated) Note: VDDA and VDDX must be shorted on the application board. Num C Characteristic Symbol Min Typical Max Unit 5c Load Current VDDX(2)(3) without external PNP Full Performance Mode 3.5V <= VSUP <=6V -40C < TJ < 150C IDDX 0 -- 25 mA 5d Short Circuit VDDX fall back current VDDX <=0.5V IDDX -- 100 -- mA 6 Output Voltage VDDC with external PNP(4) Full Performance Mode VSUP > =6V Full Performance Mode 5.5V <= VSUP <=6V Full Performance Mode 3.5V <= VSUP <=5.5V Reduced Performance Mode (stop) VSUP > =3.5V VDDC 4.85 4.50 3.13 2.5 5.0 5.0 -- 5.5 5.15 5.15 5.15 5.75 V V V V 7 Load Current VDDC Reduced Performance Mode (stop mode) IDDC 0 -- 2.5 mA 8 Low Voltage Interrupt Assert Level(5) Low Voltage Interrupt Deassert Level VLVIA VLVID 4.04 4.19 4.23 4.38 4.40 4.49 V V 9a VDDX Low Voltage Reset deassert(6) VLVRXD -- 3.05 3.13 V 9b VDDX Low Voltage Reset assert (7) VLVRXA 2.95 3.02 -- V 10 Trimmed ACLK output frequency fACLK -- 20 -- KHz 11 Trimmed ACLK internal clock f / fnominal (8) dfACLK - 6% -- + 6% -- 12 The first period after enabling the counter by APIFE might be reduced by API start up delay tsdel -- -- 100 s 13 Temperature Sensor Slope dVHT 4.8 5.05 5.3 mV/oC 14 Temperature Sensor output voltage (150oC) untrimmed VHT -- 2.33 -- V 15 High Temperature Interrupt Assert(9) High Temperature Interrupt Deassert THTIA THTID 120 110 132 122 144 134 oC 16 Bandgap output voltage VBG 1.14 1.20 1.28 V 17 Bandgap output voltage VSUP dependency 3.5 < VSUP < 18V VBGV -5(10) -- 5(10) mV 18 Bandgap output voltage temperature dependency VSUP =12V, -40C < TJ < 150C VBGT -20(10) -- 20(10) mV 19a Max. Base Current For External PNP (VDDX)(11) -40C < TJ < 150C IBCTLMAX 2.3 -- -- mA 19b Max. Base Current For External PNP (VDDX)(11) 150C < TJ < 175C IBCTLMAX 1.5 -- -- mA 20a Max. Base Current For External PNP (VDDC)(11) -40C < TJ < 150C IBCTLCMAX 2.3 -- -- mA 20b Max. Base Current For External PNP (VDDC)(11) 150C < TJ < 175C IBCTLCMAX 1.5 -- -- mA oC MC9S12ZVM Family Reference Manual Rev. 2.2 886 Freescale Semiconductor Appendix B CPMU Electrical Specifications (VREG, OSC, IRC, PLL) 1. External PNP regulator has a higher regulation point to ensure that the current flows through the PNP when the application fails to disable the internal regulator by clearing INTXON. 2. Please note that the core current is derived from VDDX 3. Further limitation may apply due to maximum allowable TJ 4. Maximum load current depends on the current gain of the external PNP and available base current 5. LVI is monitored on the VDDA supply domain 6. LVRX is monitored on the VDDX supply domain only active during full performance mode. During reduced performance mode (stop mode) voltage supervision is solely performed by the POR block monitoring core VDD. 7. For the given maximum load currents and VSUP input voltages, the MCU will stay out of reset. 8. The ACLK trimming must be set that the minimum period equals to 0.2ms 9. CPMUHTTR=0x88 10. This parameter value is subject to change following further characterization. 11. This is the minimum base current that can be guaranteed when the external PNP is delivering maximum current. Table B-2. VDDS Regulators (ZVMC256 only. Preliminary until characterized) Num C Characteristic Symbol Min Typ Max Unit VDDS -- 0 75 mV PNP)(1) 1 VDDS to VDDA differential (with external Full Performance Mode only (disabled in RPM) -40C < TJ < 150C 2a Max. Base Current For External PNP (VDDS)(2) -40C < TJ < 150C IBCTLSMAX 2.3 -- -- mA 2b Max. Base Current For External PNP (VDDS) 150C < TJ < 175C IBCTLSMAX 1.5 -- -- mA 3 VDDS monitor under voltage assert VDDSMA -- VDDS -0.2 -- V 4 VDDS monitor under voltage de-assert VDDSMD -- VDDS -0.2 -- V 5 SNPS monitor threshold (VSNPS - VDDS) VSNPSM 80 100 140 mV 1. Measured directly at VDDS/VDDA pins. Static load current on VDDS. 2. This is the minimum base current that can be guaranteed when the external PNP is delivering maximum current. B.2 Reset and Stop Timing Characteristics Table B-3. Reset and Stop Timing Characteristics Num C Rating Symbol Min Typ Max Unit 1a Startup from Reset (normal mode). ZVMC256 nSTARTUP 402 -- 510 tbus 1a Startup from Reset (normal mode). All devices except ZVMC256 nSTARTUP 396 -- 504 tbus 1b Startup from Reset (special mode) nSTARTUP 555 -- 555 tbus 2 Recovery time from STOP tSTP_REC -- 23 -- s MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 887 Appendix B CPMU Electrical Specifications (VREG, OSC, IRC, PLL) B.3 IRC and OSC Electrical Specifications Table B-4. IRC electrical characteristics Num C Rating Symbol Min Typ Max Unit 1a Junction Temperature - 40 to 150 Celsius Internal Reference Frequency, factory trimmed fIRC1M_TRIM 0.9895 1.002 1.0145 MHz 1b Junction Temperature 150 to 175 Celsius Internal Reference Frequency, factory trimmed fIRC1M_TRIM 0.9855 -- 1.0145 MHz Table B-5. OSC electrical characteristics (Junction Temperature From -40C To +175C) Num C Rating 1 Nominal crystal or resonator frequency 2 Startup Current 3a Oscillator start-up time (4MHz)(1) 3b Oscillator start-up time (8MHz)1 3c Oscillator start-up time (16MHz)1 3d Oscillator start-up time (20MHz)1 4 Clock Monitor Failure Assert Frequency 5 Input Capacitance (EXTAL, XTAL pins) 6 EXTAL Pin Input Hysteresis 7 8 Symbol Min Typ Max Unit fOSC 4.0 -- 20 MHz iOSC 100 -- -- A tUPOSC -- 2 10 ms tUPOSC -- 1.6 8 ms tUPOSC -- 1 5 ms tUPOSC -- 1 4 ms fCMFA 200 450 1200 KHz CIN -- 7 -- pF VHYS,EXTAL -- 120 -- mV EXTAL Pin oscillation amplitude (loop controlled Pierce) VPP,EXTAL -- 1.0 -- V EXTAL Pin oscillation required amplitude(2) VPP,EXTAL 0.8 -- 1.5 V 1. These values apply for carefully designed PCB layouts with capacitors that match the crystal/resonator requirements. 2. Needs to be measured at room temperature on the application board using a probe with very low (<=5pF) input capacitance. B.4 B.4.1 Phase Locked Loop Jitter Information With each transition of the feedback clock, the deviation from the reference clock is measured and the input voltage to the VCO is adjusted accordingly.The adjustment is done continuously with no abrupt changes in the VCOCLK frequency. Noise, voltage, temperature and other factors cause slight variations in the control loop resulting in a clock jitter. This jitter affects the real minimum and maximum clock periods as illustrated in Figure B-1.. MC9S12ZVM Family Reference Manual Rev. 2.2 888 Freescale Semiconductor Appendix B CPMU Electrical Specifications (VREG, OSC, IRC, PLL) 1 0 2 3 N-1 N tmin1 tnom tmax1 tminN tmaxN Figure B-1. Jitter Definitions The relative deviation of tnom is at its maximum for one clock period, and decreases towards zero for larger number of clock periods (N). Defining the jitter as: t N t N max min J N = max 1 - ----------------------- , 1 - ----------------------- Nt Nt nom nom The following equation is a good fit for the maximum jitter: j1 J N = -------------------------------------------------N POSTDIV + 1 J(N) 1 5 10 20 N Figure B-2. Maximum Bus Clock Jitter Approximation (N = number of bus cycles) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 889 Appendix B CPMU Electrical Specifications (VREG, OSC, IRC, PLL) NOTE Peripheral module prescalers eliminate the effect of jitter to a large extent. Table B-6. PLL Characteristics (Junction Temperature From -40C To +175C) Conditions are 4.5 V < VDDX< 5.5 V unless otherwise noted Num C Rating Symbol Min Typ Max Unit fVCORST 8 -- 32 MHz 1 VCO frequency during system reset 2 VCO locking range fVCO 32 -- 100 MHz 3 Reference Clock fREF 1 -- -- MHz 4 Lock Detection Threshold Lock| 0 -- 1.5 %(1) 5 Un-Lock Detection Threshold unl| 0.5 -- 2.5 %1 6 Time to lock tlock -- -- 150 + 256/fREF s 7a Jitter fit parameter 1(2), 40C < TJ < 150C j1 -- -- 2 % 7b Jitter fit parameter 1, 150C < TJ < 175C j1 -- -- 2 % 8 PLL Clock Monitor Failure assert frequency fPMFA 0.45 1.1 1.6 MHz 1. % deviation from target frequency 2. fREF = 1MHz, fBUS = 50MHz MC9S12ZVM Family Reference Manual Rev. 2.2 890 Freescale Semiconductor Appendix C ADC Electrical Specifications Appendix C ADC Electrical Specifications This section describes the characteristics of the analog-to-digital converter. NOTE: ADC1 is only tested to 10-bit accuracy in the 48LQFP-EP package options. NOTE: VRL_0 is the preferred reference for low noise. C.1 ADC Operating Characteristics The Table C-1 shows conditions under which the ADC operates. The following constraints exist to obtain full-scale, full range results: VSSA VRLVINVRHVDDA This constraint exists since the sample buffer amplifier can not drive beyond the power supply levels that it ties to. If the input level goes outside of this range it will effectively be clipped. Table C-1. ADC Operating Characteristics Supply voltage 4.5 V < VDDA < 5.5 V, Junction Temperature From -40xoC To +175oC Num C Rating Symbol Min Typ Max Unit VRL VRH VSSA VDDA/2 -- -- VDDA/2 VDDA V V 1 Reference potential Low High 2 Voltage difference VDDX to VDDA VDDX -0.1 0 0.1 V 3 Voltage difference VSSX to VSSA VSSX -0.1 0 0.1 V 4 Differential reference voltage(1) VRH-VRL 3.13 5.0 5.5 V 5 ADC Clock Frequency (derived from bus clock via the prescaler). fATDCLK 0.25 -- 8.33 MHz 6 Buffer amplifier turn on time (delay after module start/recovery from Stop mode) tREC -- -- 1 s 7 ADC disable time tDISABLE -- -- 3 bus clock cycles 8 ADC Conversion Period (2) 12 bit resolution: 10 bit resolution: 8 bit resolution: NCONV12 NCONV10 NCONV8 19 18 16 -- -- -- 39 38 36 ADC clock cycles 1. Full accuracy is not guaranteed when differential voltage is less than 4.50 V 2. The minimum time assumes a sample time of 4 ATD clock cycles. The maximum time assumes a sample time of 24 ATD clock cycles. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 891 Appendix C ADC Electrical Specifications C.1.1 Factors Influencing Accuracy Source resistance, source capacitance and current injection have an influence on the accuracy of the ADC .Figure C-1. A further factor is that PortAD pins that are configured as output drivers switching. C.1.1.1 Port AD Output Drivers Switching PortAD output drivers switching can adversely affect the ADC accuracy whilst converting the analog voltage on other PortAD pins because the output drivers are supplied from the VDDA/VSSA ADC supply pins. Although internal design measures are implemented to minimize the effect of output driver noise, it is recommended to configure PortAD pins as outputs only for low frequency, low load outputs. The impact on ADC accuracy is load dependent and not specified. The values specified are valid under condition that no PortAD output drivers switch during conversion. C.1.1.2 Source Resistance Due to the input pin leakage current as specified in conjunction with the source resistance there will be a voltage drop from the signal source to the ADC input. The maximum source resistance RS specifies results in an error (10-bit resolution) of less than 1/2 LSB (2.5 mV) at the maximum leakage current. If device or operating conditions are less than worst case or leakage induced error is acceptable, larger values of source resistance of up to 10Kohm are allowed. C.1.1.3 Source Capacitance When sampling an additional internal capacitor is switched to the input. This can cause a voltage drop due to charge sharing with the external and the pin capacitance. For a maximum sampling error of the input voltage 1LSB (10-bit resolution), then the external filter capacitor, Cf 1024 * (CINS-CINN). C.1.1.4 Current Injection There are two cases to consider. 1. A current is injected into the channel being converted. The channel being stressed has conversion values of 0x3FF (in 10-bit mode) for analog inputs greater than VRH and 0x000 for values less than VRL unless the current is higher than specified as a disruptive condition. 2. Current is injected into pins in the neighborhood of the channel being converted. A portion of this current is picked up by the channel (coupling ratio K), This additional current impacts the accuracy of the conversion depending on the source resistance. The additional input voltage error on the converted channel can be calculated as: VERR = K * RS * IINJ with IINJ being the sum of the currents injected into the two pins adjacent to the converted channel. MC9S12ZVM Family Reference Manual Rev. 2.2 892 Freescale Semiconductor Appendix C ADC Electrical Specifications Table C-2. ADC Electrical Characteristics (Junction Temperature From -40C To +175C) Supply voltage 3.13 V < VDDA < 5.5 V Num C Rating Symbol Min Typ Max Unit RS -- -- 1 K 1 Max input source resistance 2 Total input capacitance Non sampling Total input capacitance Sampling CINN CINS -- -- -- -- 10 16 pF 3a Input internal Resistance Junction temperature from -40xoC to +150oC RINA -- 5 9.9 k 3b Input internal Resistance Junction temperature from 150oC to +175oC RINA -- -- 12 k 4 Disruptive analog input current INA -2.5 -- 2.5 mA 5 Coupling ratio positive current injection Kp -- -- 1E-4 A/A 6 Coupling ratio negative current injection Kn -- -- 5E-3 A/A direct sampling time is 2 to 22 adc clock cycles of 0.25MHz to 8.34MHz -> 88s >= tsample >= 240ns VDDA sampling via buffer amp 2 adc clock cycles Ileakp < 1A 920 < RINA < 12K (incl parasitics) PADn + Ileakn < 1A VSSA Cstray < 1.8pF Ctop 3.7pF < S/H Cap < 6.2pF (incl parasitics) Cbottom connected to low ohmic supply during sampling Switch resistance depends on input voltage, corner ranges are shown. Tjmax=150oC Leakage current is guaranteed by specification. Figure C-1. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 893 Appendix C ADC Electrical Specifications C.1.2 ADC Accuracy Table C-3. specifies the ADC conversion performance excluding any errors due to current injection, input capacitance and source resistance. C.1.2.1 ADC Accuracy Definitions For the following definitions see also Figure C-2.. Differential non-linearity (DNL) is defined as the difference between two adjacent switching steps. V -V i i-1 DNL i = -------------------------- - 1 1LSB The integral non-linearity (INL) is defined as the sum of all DNLs: n INL n = V -V n 0 DNL i = --------------------- - n 1LSB i=1 MC9S12ZVM Family Reference Manual Rev. 2.2 894 Freescale Semiconductor Appendix C ADC Electrical Specifications DNL Vi-1 LSB 10-Bit Absolute Error Boundary Vi $3FF 8-Bit Absolute Error Boundary $3FE $3FD $FF $3FC $3FB $3FA $3F9 $FE $3F8 $3F7 $3F6 $3F5 10-Bit Resolution $3F3 9 Ideal Transfer Curve 2 8 8-Bit Resolution $FD $3F4 7 10-Bit Transfer Curve 6 5 1 4 3 8-Bit Transfer Curve 2 1 0 5 10 15 20 25 30 35 40 45 55 60 65 70 75 80 85 90 5000 + 95 100 105 110 115 120 Vin mV Figure C-2. ADC Accuracy Definitions MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 895 Appendix C ADC Electrical Specifications Table C-3. ADC Conversion Performance 5 V range (Junction Temperature From -40C To +150C) Supply voltage 4.5 V < VDDA < 5.5 V, 4.5V < VREF < 5.5 V. ( VREF= VRH - VRL ). fADCCLK = 8.0 MHz The values are tested to be valid with no PortAD output drivers switching simultaneous with conversions. Num Rating(1) C Symbol Min Typ Max Unit 1 Resolution (VREF = 5.12V) 12-Bit LSB -- 1.25 -- mV 2 Differential Nonlinearity 12-Bit DNL -4 2 4 counts 3 Integral Nonlinearity 12-Bit INL -5 2.5 5 counts 4 Absolute Error(2) 12-Bit AE -7 4 7 counts 5 Resolution (VREF = 5.12V) 10-Bit LSB -- 5 -- mV 6 Differential Nonlinearity 10-Bit DNL -1 0.5 1 counts 7 Integral Nonlinearity 10-Bit INL -2 1 2 counts 8 Absolute Error 10-Bit AE -3 2 3 counts 9 Resolution (VREF = 5.12V) 8-Bit LSB -- 20 -- mV 10 Differential Nonlinearity 8-Bit DNL -0.5 0.3 0.5 counts 11 Integral Nonlinearity 8-Bit INL -1 0.5 1 counts 12 Absolute Error 8-Bit AE -1.5 1 1.5 counts 1. The 8-bit and 10-bit mode operation is structurally tested in production test. Absolute values are tested in 12-bit mode. 2. These values include the quantization error which is inherently 1/2 count for any A/D converter. Table C-4. ADC Conversion Performance 5 V range (Junction Temperature From 150C To +175C) Supply voltage 4.5 V < VDDA < 5.5 V, 4.5V < VREF < 5.5 V. ( VREF= VRH - VRL ). fADCCLK = 8.0 MHz The values are tested to be valid with no PortAD output drivers switching simultaneous with conversions. Num Rating(1) C Symbol Min Typ Max Unit 1 Resolution (VREF = 5.12V) 12-Bit LSB -- 1.25 -- mV 2 Differential Nonlinearity 12-Bit DNL -4 2 4 counts 3 Integral Nonlinearity 12-Bit INL -5 2.5 5 counts 4 Absolute Error(2) 12-Bit AE -7 4 7 counts 5 Resolution (VREF = 5.12V) 10-Bit LSB -- 5 -- mV 6 Differential Nonlinearity 10-Bit DNL -1 0.5 1 counts 7 Integral Nonlinearity 10-Bit INL -2 1 2 counts 8 Absolute Error 10-Bit AE -3 2 3 counts 9 Resolution (VREF = 5.12V) 8-Bit LSB -- 20 -- mV 10 Differential Nonlinearity 8-Bit DNL -0.5 0.3 0.5 counts 11 Integral Nonlinearity 8-Bit INL -1 0.5 1 counts 12 Absolute Error 8-Bit AE -1.5 1 1.5 counts 1. The 8-bit and 10-bit mode operation is structurally tested in production test. Absolute values are tested in 12-bit mode. 2. These values include the quantization error which is inherently 1/2 count for any A/D converter. MC9S12ZVM Family Reference Manual Rev. 2.2 896 Freescale Semiconductor Appendix D LIN/HV PHY Electrical Specifications Appendix D LIN/HV PHY Electrical Specifications D.1 Static Electrical Characteristics Table D-1. Static electrical characteristics of the LIN/HV PHY (Junction Temperature From -40C To +175C) Characteristics noted under conditions 5.5V <= VLINSUP <= 18V unless otherwise noted(1) (2) (3). Typical values noted reflect the approximate parameter mean at TA = 25C under nominal conditions unless otherwise noted. Num C Ratings Symbol Min Typ Max Unit VLINSUP_LIN 5.51 2 12 18 V ILIN_LIM 40 -- 200 mA 1 VLINSUP range for LIN compliant electrical characteristics 2 Current limitation into the LIN pin in dominant state(4) VLIN = VLINSUP_LIN_MAX 3 Input leakage current in dominant state, driver off, internal pull-up on (VLIN = 0V, VLINSUP = 12V) ILIN_PAS_dom -1 -- -- mA 4 Input leakage current in recessive state, driver off (5V<VLINSUP<18V, 5V<VLIN<18V, VLIN => VLINSUP ) ILIN_PAS_rec -- -- 20 A 5 Input leakage current when ground disconnected (GNDDevice = VLINSUP, 0V<VLIN<18V, VLINSUP = 12V) ILIN_NO_GND -1 -- 1 mA 6 Input leakage current when battery disconnected (VLINSUP = GND, 0<VLIN<18V) ILIN_NO_BAT -- -- 30 A 7 Receiver dominant state VLINdom -- -- 0.4 VLINSUP 8 Receiver recessive state VLINrec 0.6 -- -- VLINSUP 9 VLIN_CNT =(Vth_dom+ Vth_rec)/2 VLIN_CNT 0.475 0.5 0.525 VLINSUP 10 VHYS = Vth_rec -Vth_dom VHYS -- -- 0.175 VLINSUP 11 Maximum capacitance allowed on slave node Cslave -- 220 250 pF 12a Capacitance of LIN pin -40C < TJ < 150C, Recessive state Cint -- 20 -- pF 12b Capacitance of LIN pin -40C < TJ < 150C, Recessive state Cint -- -- 45 pF 12c Capacitance of LIN pin 150C < TJ < 175C, Recessive state Cint -- -- 39 pF 13 Internal pull-up (slave) Rslave 27 34 40 k 1. For 3.5V<= VLINSUP <5V, the LIN/HV PHY is still working but with degraded parametrics. 2. For 5V<= VLINSUP <5.5V, characterization showed that all parameters generally stay within the indicated specification, except the duty cycles D2 and D4 which may increase and potentially go beyond their maximum limits for highly loaded buses. 3. The VLINSUP voltage is provided by the VLINSUP supply. This supply mapping is described in device level documentation. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 897 Appendix D LIN/HV PHY Electrical Specifications 4. At temperatures above 25C the current may be naturally limited by the driver, in this case the limitation circuit is not engaged and the flag is not set. D.2 Dynamic Electrical Characteristics Table D-2. Dynamic electrical characteristics of the LIN/HV PHY Characteristics noted under conditions 5.5V V LINSUP 18 V unless otherwise noted(1) (2) (3). Typical values noted reflect the approximate parameter mean at TA = 25C under nominal conditions unless otherwise noted. Num C Ratings Symbol Min Typ Max Unit 1 Minimum duration of wake-up pulse generating a wake-up interrupt tWUFR 56 72 120 s 2 TxD-dominant timeout (in IRC clock periods) (4) tDTLIM 16388 -- 16389 tIRC 3 Propagation delay of receiver trx_pd -- -- 6 s 4 Symmetry of receiver propagation delay rising edge w.r.t. falling edge trx_sym -2 -- 2 s LIN PHYSICAL LAYER: DRIVER CHARACTERISTICS FOR NOMINAL SLEW RATE - 20.0KBIT/S 5 Rising/falling edge time (min to max / max to min) 6 Over-current masking window (IRC trimmed at 1MHz) 7 M Duty cycle 1 8 M Duty cycle 2 THRec(max) = 0.744 x VLINSUP THDom(max) = 0.581 x VLINSUP VLINSUP = 5.5V...18V tBit = 50us D1 = tBus_rec(min) / (2 x tBit) THRec(min) = 0.422 x VLINSUP THDom(min) = 0.284 x VLINSUP VLINSUP = 5.5V...18V tBit = 50us D2 = tBus_rec(max) / (2 x tBit) trise -- 6.5 -- s tOCLIM 15 -- 16 s D1 0.396 -- -- D2 -- -- 0.5815 (5) LIN PHYSICAL LAYER: DRIVER CHARACTERISTICS FOR SLOW SLEW RATE - 10.4KBIT/S 9 Rising/falling edge time (min to max / max to min) 10 Over-current masking window (IRC trimmed at 1MHz) 11 M Duty cycle 3 THRec(max) = 0.778 x VLINSUP THDom(max) = 0.616 x VLINSUP VLINSUP = 5.5V...18V tBit = 96us D3 = tBus_rec(min) / (2 x tBit) trise -- 13 -- s tOCLIM 31 -- 32 s D3 0.4175 -- -- MC9S12ZVM Family Reference Manual Rev. 2.2 898 Freescale Semiconductor Appendix D LIN/HV PHY Electrical Specifications Characteristics noted under conditions 5.5V V LINSUP 18 V unless otherwise noted(1) (2) (3). Typical values noted reflect the approximate parameter mean at TA = 25C under nominal conditions unless otherwise noted. Num C 12 M Ratings Duty cycle 4 THRec(min) = 0.389 x VLINSUP THDom(min) = 0.251 x VLINSUP VLINSUP = 5.5V...18V tBit = 96us D4 = tBus_rec(max) / (2 x tBit) Symbol Min Typ Max D4 -- -- 0.5905 Unit LIN PHYSICAL LAYER: DRIVER CHARACTERISTICS FOR FAST MODE SLEW RATE - 100KBIT/S UP TO 250KBIT/S 13 Rising/falling edge time (min to max / max to min) 14 Over-current masking window (IRC trimmed at 1MHz) trise -- 0.5 -- s tOCLIM 5 -- 6 s 1. For 3.5V<= VLINSUP <5V, the LIN/HV PHY is still working but with degraded parametrics. 2. For 5V<= VLINSUP <5.5V, characterization showed that all parameters generally stay within the indicated specification, except the duty cycles D2 and D4 which may increase and potentially go beyond their maximum limits for highly loaded buses. 3. The VLINSUP voltage is provided by the VLINSUP supply. This supply mapping is described in device level documentation. 4. Can be disabled for the HV Phy version. 5. Does not apply to the HV Phy version. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 899 Appendix D LIN/HV PHY Electrical Specifications MC9S12ZVM Family Reference Manual Rev. 2.2 900 Freescale Semiconductor Appendix E GDU Electrical Specifications Appendix E GDU Electrical Specifications NOTE It is necessary to consider the power dissipation of the FET channel versus the power dissipation in the FET-Predriver. FET-Predriver dissipation is Power VSUP x f(PWM) x C(FET-GATE) FET channel power dissipation is a function of channel current and voltage. Reducing the RDSON of the external FET to reduce the FET power dissipation increases the FET gate capacitance. At a certain FET level, further reduction of FET RDSON actually increases overall power consumption because the increased charging and discharging power dissipation due to increased gate capacitance outweighs the FET power reduction due to RDSON reduction. E.1 GDU specifications for devices featuring GDU V4 or V6 Table E-1. GDU Electrical Characteristics (Junction Temperature From -40C To +175C) 4.85V<=VDDX,VDDA<=5.15V Num C Characteristic Symbol Min Typ Max Unit 1 VSUP Supply range -0.3 -- 40 V VSUP, HD Supply range FETs can be turned on(1) (normal range) VVSUP 2a VVSUP/VHD 7 14 20 V 2b VSUP, HD Supply range FETs can be turned on(2) (extended range) VVSUP/VHD 7 14 26.6 V 3 External FET Vgs drive with boost(3) (7V < VRBATP < 20V) VVGS 9 9.6 12 V VVGS 5 9.6 12 V 4 External FET Vgs drive without boost(4) 10V(5) QG -- 75 -- nC Vdesaths HD - 1.4 -- HD - 0.35 V Lowside desaturation threshold (8 steps of 0.15V) Vdesatls 0.35 -- 1.4 V LD pin desaturation threshold (8 steps of 0.15V) (GDUV6 only) Vdesatls 0.35 -- 1.4 V 8 Pull resistance between HGx and HSx RHSpul 60 80 120 9 Pull resistance between LGx and LSx RLSpul 60 80 120 5 External FET total gate charge @ 6 Highside desaturation threshold (8 steps of 0.15V) 7a 7b 10a VLS output voltage for Vsup >=12.5V, Iout=30mA -40C < Tj < 150C VVLS_OUT 10.5 11 11.5 V 10b VLS output voltage for Vsup >=12.5V, Iout=30mA 150C < Tj < 175C VVLS_OUT 10.0 10.6 11.5 V VLS current limit threshold ILIMVLS 60 77 100 mA 12a VLS low voltage monitor trippoint assert (GDUV6 with GVLSLVL=1 or GDUV4) VLVLSHA 6.2 6.5 7 V 12b VLS low voltage monitor trippoint deassert (GDUV6 with GVLSLVL=1 or GDUV4) VLVLSHD 6.2 6.58 7 V 12c VLS low voltage monitor trippoint assert (GDUV6 with GVLSLVL=0) VLVLSLA 5.2 5.5 6 V 11 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 901 Appendix E GDU Electrical Specifications Table E-1. GDU Electrical Characteristics (Junction Temperature From -40C To +175C) 4.85V<=VDDX,VDDA<=5.15V 12d VLS low voltage monitor trippoint deassert (GDUV6 with GVLSLVL=0) VLVLSLD 5.2 5.55 6 V 13a HD high voltage monitor assert trippoint low VHVHDLA 20 21 22 V 13b HD high voltage monitor deassert trippoint low VHVHDLD 19.5 20.5 21.6 V 14a HD high voltage monitor assert trippoint high VHVHDHA 26.6 28.3 29.4 V 14b HD high voltage monitor deassert trippoint high 26.2 27.9 29 V HD high voltage monitor filter time constant(6) VHVHDHD 15 -- 2.7 4 s 16 HG/LG turn on time vs 10nF load (fastest slew)(7) HVHD 120 190 340 ns HG/LG turn on time vs 10nF load (slowest slew)(7) tHGON 17 tHGON 350 560 980 ns load(8) 18a HG/LG turn off time vs 10nF 18b HG/LG turn off time vs 10nF load(8) , 150C < Tj < 175C , -40C < Tj < 150C tHGOFF 55 90 180 ns tHGOFF 55 90 190 ns 19 PMF control to HG/LG start of turn on delay tdelon 0.52 0.75 0.98 s 20 PMF control to HG/LG start of turn off delay tdeloff 0.31 0.45 0.59 s 21 Minimum PMF driver on/off pulse width (fastest slew) 22a VBS to HG, VLSx to LGx RDSon (driver on state)(9) -40C < Tj < 150C 22b 23a 23b 24a VBS to HG, VLSx to LGx RDSon (driver on state)(9) 150C < Tj < 175C HGx to HSx, LGx to LSx RDSon (driver off state)(10) nmos part, -40C < Tj < 150C HGx to HSx, LGx to LSx RDSon (driver off state)(10) nmos part, 150C < Tj < 175C HGx to HSx, LGx to LSx RDSon (driveroff state)(11) pmos part, -40C < Tj < 150C tminpulse 2 -- -- s Rgduon -- 6.3 11.6 Rgduon -- 8.4 13.6 Rgduoffn -- 4 9 Rgduoffn -- 7 11 Rgduoffp -- 16 22 Rgduoffp -- 20 26 24b HGx to HSx, LGx to LSx RDSon (driver off state)(11) pmos part, 150C < Tj < 175C 25 VSUP boost turn on trip point VBSTON 9.5 10.1 10.6 V 26 VSUP boost turn off trip point VBSTOFF 9.75 10.3 10.8 V 27a Boost coil current limit (GDUBCL=0x0), -40C < Tj < 150C ICOIL0 80 190 350 mA 27b Boost coil current limit (GDUBCL=0x0), 150C < Tj < 175C ICOIL0 70 160 250 mA 28a Boost coil current limit (GDUBCL=0x8), -40C < Tj < 150C ICOIL8 230 380 640 mA 28b Boost coil current limit (GDUBCL=0x8), 150C < Tj < 175C ICOIL8 210 330 450 mA 29a Boost coil current limit (GDUBCL=0xF), -40C < Tj < 150C ICOIL15 370 530 870 mA 29b Boost coil current limit (GDUBCL=0xF), 150C < Tj < 175C ICOIL15 350 485 620 mA 30 Phase signal division ratio 3V < VHSx < 20V AHSDIV 5.7 6 6.3 -- 31a HD signal division ratio 6V < VHD < 20V AHDDIV 4.9 5 5.1 -- 31b HD signal division ratio through phase mux. -- 12 -- -- CP driver RDSon highside(12), -40C < Tj < 150C AHDDIV 32a RCPHS -- 44 90 RCPHS -- 71 100 RCPLS -- 11.5 30 (12), 150C < Tj < 175C 32b CP driver RDSon highside 33a CP driver RDSon lowside(12), -40C < Tj < 150C (12) 33b CP driver RDSon lowside RCPLS -- 20 35 34 Current Sense Amplifier input voltage range (AMPP/AMPM) VCSAin 0 -- VDDA 1.2 V 35 Current Sense Amplifier output voltage range VCSAout 0 -- VDDA V , 150C < Tj < 175C MC9S12ZVM Family Reference Manual Rev. 2.2 902 Freescale Semiconductor Appendix E GDU Electrical Specifications Table E-1. GDU Electrical Characteristics (Junction Temperature From -40C To +175C) 4.85V<=VDDX,VDDA<=5.15V 36 Current Sense Amplifier open loop gain 37 Current Sense Amplifier common mode rejection ratio AVCSA -- 100000 -- -- CMRRCSA -- 400 -- -- 38 Current Sense Amplifier input offset VCSAoff -15 -- 15 mV 39 Max effective Current Sense Amplifier output resistance [0.1V .. VDDA - 0.2V] RCSAout -- -- 2 40 Min Current Sense Amplifier output current [0.1V .. VDDA - 0.2V](13) ICSAout -750 -- 750 tcslsst -- 2.9 -- s OCC 3 5 10 s VOCCtt -75 -- 75 mV IHD -- 130 + VHD/63K -- A 41 Current Sense Amplifier large signal settling time 42 Over Current Comparator filter time constant(14) 43 Over Current Comparator threshold tolerance 44 HD input current when GDU is enabled 45 VLS regulator minimum RDSon (VSUP >= 6V) RVLSmin -- -- 40 46 VCP to VBSx switch resistance RVCPVBS -- 600 1000 -- -- 310 47 VBSx current whilst high side inactive IVBS 1. Without using the boost option. The minimum level can be relaxed when the boost option is used. The lower limit is sensed on VLS, the upper limit is sensed on HD. 2. Without using the boost option. The minimum level can be relaxed when the boost option is used. The lower limit is sensed on VLS, the upper limit is sensed on HD. Operation beyond 20V is limited to 1 hour over lifetime of the device 3. For high side, the performance of external diodes may influence this parameter. 4. If VSUP is lower than 11.2V, external FET gate drive will diminish and roughly follow VSUP - 2* Vbe 5. Total gate charge spec is only a recommendation. FETs with higher gate charge can be used when resulting slew rates are tolerable by the application and resulting power dissipation does not lead to thermal overload. 6. Blanking time for assert (maskset 1N95G) 7. (VBSx - HSx) = 10V respectively VLSx=10V, measured from 1V to 9V HGx/LGx vs HSx/LSx 8. (VBSx - HSx) = 10V respectively VLSx=10V, measured from 9V to 1V HGx/LGx vs HSx/LSx 9. V(VBSx) - V(VLSx) > 9V, resp VLSx > 9V 10. V(VBSx) - V(VLSx) > 9V, resp VLSx > 9V, nmos branch only 11. V(VBSx) - V(VLSx) > 9V, resp VLSx > 9V, pmos branch only 12. VLS > 6V 13. Output current range for which the effective output resistance specification applies 14. Av=10, no frequency compensation in feedback network, 90% output swing E.2 Preliminary GDU specifications for devices featuring GDU V5 Table E-2. GDU Electrical Characteristics (Junction Temperature From -40C To +175C) 4.85V<=VDDX,VDDA<=5.15V Num C 1 Characteristic Min Typ Max Unit VVSUP -0.3 -- 40 V 2a (1) VSUP, HD Supply range FETs can be turned on (normal range) VVSUP/VHD 7 14 20 V 2b VSUP, HD Supply range FETs can be turned on(2) (extended range) VVSUP/VHD 7 14 26.6 V 3 External FET Vgs drive with boost(3) (7V < VRBATP < 20V) VVGS 9 9.6 12 V External FET Vgs drive without VVGS 5 9.6 12 V 4 VSUP Supply range Symbol boost(4) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 903 Appendix E GDU Electrical Specifications Table E-2. GDU Electrical Characteristics (Junction Temperature From -40C To +175C) 4.85V<=VDDX,VDDA<=5.15V 5 External FET total gate charge @ 10V(5) QG -- 50 -- nC 6 Highside desaturation threshold (8 steps of 0.15V) Vdesaths HD - 1.4 -- HD - 0.35 V 7 Lowside desaturation threshold (8 steps of 0.15V) Vdesatls 0.35 -- 1.4 V 8 Pull resistance between HGx and HSx RHSpul 60 80 120 9 Pull resistance between LGx and LSx RLSpul 60 80 120 10a VLS output voltage for Vsup >=12.5V, Iout=30mA -40C < Tj < 150C VVLS_OUT 10.5 11 11.5 V 10b VLS output voltage for Vsup >=12.5V, Iout=30mA 150C < Tj < 175C VVLS_OUT 10.0 10.6 11.5 V 11 VLS current limit threshold ILIMVLS 60 77 100 mA VLS low voltage monitor trippoint assert (GVLSLVL=1) VLVLSHA 6.2 6.5 7 V 12b VLS low voltage monitor trippoint deassert (GVLSLVL=1) VLVLSHD 6.2 6.58 7 V 12c VLS low voltage monitor trippoint assert (GVLSLVL=0) VLVLSLA 5.2 5.5 6 V 12a 12d VLS low voltage monitor trippoint deassert (GVLSLVL=0) VLVLSLD 5.2 5.55 6 V 13a HD high voltage monitor assert trippoint low VHVHDLA 20 21 22 V 13b HD high voltage monitor deassert trippoint low VHVHDLD 19.5 20.5 21.6 V 14a HD high voltage monitor assert trippoint high VHVHDHA 26.6 28.3 29.4 V 14b HD high voltage monitor deassert trippoint high 26.2 27.9 29 V HD high voltage monitor filter time constant(6) VHVHDHD 15 -- 2.7 4 s 16 HG/LG turn on time vs 10nF load (fastest slew)(7) HVHD 150 275 550 ns HG/LG turn on time vs 10nF load (slowest slew)(7) tHGON 17 740 1170 1800 ns 18a HG/LG turn off time vs 10nF load(8), -40C < Tj < 150C tHGON tHGOFF 60 120 230 ns tHGOFF 130 190 250 ns 18b HG/LG turn off time vs 10nF load(8) , 150C < Tj < 175C 19 PMF control to HG/LG start of turn on delay tdelon 0.350 0.8 1.26 s 20 PMF control to HG/LG start of turn off delay tdeloff 0.125 0.185 0.275 s 21 Minimum PMF driver on/off pulse width (fastest slew) 22a VBS to HG, VLSx to LGx RDSon (driver on state)(9) -40C < Tj < 150C 22b 23a 23b 24a VBS to HG, VLSx to LGx RDSon (driver on state)(9) 150C < Tj < 175C HGx to HSx, LGx to LSx RDSon (driver off state)(10) nmos part, -40C < Tj < 150C HGx to HSx, LGx to LSx RDSon (driver off state)(10) nmos part, 150C < Tj < 175C HGx to HSx, LGx to LSx RDSon (driver off state)(11) pmos part, -40C < Tj < 150C tminpulse 2 -- -- s Rgduon -- 9.5 17.4 Rgduon -- 12.6 20.5 Rgduoffn -- 6 14 Rgduoffn -- 10.5 17 Rgduoffp -- 24 35 Rgduoffp -- 30 39.5 24b HGx to HSx, LGx to LSx RDSon (driver off state)(11) pmos part, 150C < Tj < 175C 25 VSUP boost turn on trip point VBSTON 9.5 10.1 10.6 V 26 VSUP boost turn off trip point VBSTOFF 9.75 10.3 10.8 V 27a Boost coil current limit (GDUBCL=0x0), -40C < Tj < 150C ICOIL0 80 190 350 mA 27b Boost coil current limit (GDUBCL=0x0), 150C < Tj < 175C ICOIL0 70 160 250 mA 28a Boost coil current limit (GDUBCL=0x8), -40C < Tj < 150C ICOIL8 230 380 640 mA 28b Boost coil current limit (GDUBCL=0x8), 150C < Tj < 175C ICOIL8 210 330 450 mA MC9S12ZVM Family Reference Manual Rev. 2.2 904 Freescale Semiconductor Appendix E GDU Electrical Specifications Table E-2. GDU Electrical Characteristics (Junction Temperature From -40C To +175C) 4.85V<=VDDX,VDDA<=5.15V 29a Boost coil current limit (GDUBCL=0xF), -40C < Tj < 150C ICOIL15 370 530 870 mA 29b Boost coil current limit (GDUBCL=0xF), 150C < Tj < 175C ICOIL15 350 485 620 mA 30 Phase signal division ratio 3V < VHSx < 20V AHSDIV 5.7 6 6.3 -- 31a HD signal division ratio 6V < VHD < 20V AHDDIV 4.9 5 5.1 -- 31b HD signal division ratio through phase mux. -- 12 -- -- CP driver RDSon highside(12), -40C < Tj < 150C AHDDIV 32a RCPHS -- 44 90 RCPHS -- 71 100 RCPLS -- 11.5 30 highside(12) 32b CP driver RDSon 33a CP driver RDSon lowside(12), -40C < Tj < 150C (12) , 150C < Tj < 175C 33b CP driver RDSon lowside RCPLS -- 20 35 34 Current Sense Amplifier input voltage range (AMPP/AMPM) , 150C < Tj < 175C VCSAin 0 -- VDDA 1.2 V 35 Current Sense Amplifier output voltage range VCSAout 0 -- VDDA V 36 Current Sense Amplifier open loop gain AVCSA -- 100000 -- -- 37 Current Sense Amplifier common mode rejection ratio CMRRCSA -- 400 -- -- 38 Current Sense Amplifier input offset VCSAoff -15 -- 15 mV 39 Max effective Current Sense Amplifier output resistance [0.1V .. VDDA - 0.2V] RCSAout -- -- 2 40 Min Current Sense Amplifier output current [0.1V .. VDDA - 0.2V](13) ICSAout -750 -- 750 41 Current Sense Amplifier large signal settling time tcslsst -- 2.9 -- s constant(14) OCC 3 5 10 s VOCCtt -75 -- 75 mV IHD -- 130 + VHD/63K -- A VLS regulator minimum RDSon (VSUP >= 6V) RVLSmin -- -- 40 VCP to VBSx switch resistance RVCPVBS -- 600 1000 42 Over Current Comparator filter time 43 Over Current Comparator threshold tolerance 44 HD input current when GDU is enabled 45 46 TBD 260 TBD 47 VBSx current whilst high side inactive IVBS 1. Without using the boost option. The minimum level can be relaxed when the boost option is used. The lower limit is sensed on VLS, the upper limit is sensed on HD. 2. Without using the boost option. The minimum level can be relaxed when the boost option is used. The lower limit is sensed on VLS, the upper limit is sensed on HD. Operation beyond 20V is limited to 1 hour over lifetime of the device 3. For high side, the performance of external diodes may influence this parameter. 4. If VSUP is lower than 11.2V, external FET gate drive will diminish and roughly follow VSUP - 2* Vbe 5. Total gate charge spec is only a recommendation. FETs with higher gate charge can be used when resulting slew rates are tolerable by the application and resulting power dissipation does not lead to thermal overload. 6. Blanking time for assert (maskset 1N95G) 7. (VBSx - HSx) = 10V respectively VLSx=10V, measured from 1V to 9V HGx/LGx vs HSx/LSx 8. (VBSx - HSx) = 10V respectively VLSx=10V, measured from 9V to 1V HGx/LGx vs HSx/LSx 9. V(VBSx) - V(VLSx) > 9V, resp VLSx > 9V 10. V(VBSx) - V(VLSx) > 9V, resp VLSx > 9V, nmos branch only 11. V(VBSx) - V(VLSx) > 9V, resp VLSx > 9V, pmos branch only 12. VLS > 6V 13. Output current range for which the effective output resistance specification applies 14. Av=10, no frequency compensation in feedback network, 90% output swing MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 905 Appendix E GDU Electrical Specifications MC9S12ZVM Family Reference Manual Rev. 2.2 906 Freescale Semiconductor Appendix F NVM Electrical Parameters Appendix F NVM Electrical Parameters F.1 NVM Timing Parameters The time base for all NVM program or erase operations is derived from the bus clock using the FCLKDIV register. The frequency of this derived clock must be set within the limits specified as fNVMOP. The NVM module does not have any means to monitor the frequency and will not prevent program or erase operation at frequencies above or below the specified minimum. When attempting to program or erase the NVM module at a lower frequency, a full program or erase transition is not assured. The device bus frequency, below which the flash wait states can be disabled, fWSTAT, is specified in the device operating conditions table in Table A-6. The following sections provide equations which can be used to determine the time required to execute specific flash commands. All timing parameters are a function of the bus clock frequency, fNVMBUS. All program and erase times are also a function of the NVM operating frequency, fNVMOP. Timing parameters for the ZVMC128, ZVML128, ZVMC64, ZVML64 and ZVML32 devices are specified in Table F-1 and Table F-2. Timing parameters for the ZVML31, ZVM32 and ZVM16 are specified in Table F-3 and Table F-4. Timing parameters for the ZVMC256 are specified in Table F-5 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 907 Appendix F NVM Electrical Parameters Table F-1. FTMRZ128K512 NVM Timing Characteristics (Junction Temperature From -40C To +150C) Derivatives ZVML128, ZVMC128, ZVML64, ZVMC64, ZVML32 Num C Command fNVMOP cycle fNVMBUS cycle Symbol Min(1) Typ(2) Max(3) Worst (4) Unit 1 Bus frequency -- 1 fNVMBUS 1 50 50 50 MHz 2 NVM Operating frequency 1 -- fNVMOP 0.8 1.0 1.05 1.05 MHz 3 Erase Verify All Blocks 0 33760 tRD1ALL 0.68 0.68 1.35 67.52 ms 4 Erase Verify Block (Pflash) 0 33320 tRD1BLK_P 0.67 0.67 1.33 66.64 ms 5 Erase Verify Block (EEPROM) 0 823 tRD1BLK_D 0.02 0.02 0.03 1.65 ms 6 Erase Verify P-Flash Section 0 505 tRD1SEC 0.01 0.01 0.04 2.02 ms 7 Read Once 0 481 tRDONCE 9.62 9.62 9.62 481.00 us 8 Program P-Flash (4 Word) 164 3077 tPGM_4 0.22 0.23 0.41 12.51 ms 9 Program Once 164 3054 tPGMONCE 0.22 0.23 0.23 3.26 ms 10 Erase All Blocks 100066 34223 tERSALL 95.99 100.75 101.43 193.53 ms 11 Erase Flash Block (Pflash) 100060 33681 tERSBLK_P 95.97 100.73 101.41 192.44 ms 12 Erase Flash Block (EEPROM) 100060 1154 tERSBLK_D 95.32 100.08 100.11 127.38 ms 13 Erase P-Flash Sector 20015 914 tERSPG 19.08 20.03 20.05 26.85 ms 14 Unsecure Flash 100066 34288 tUNSECU 95.99 100.75 101.44 193.66 ms 15 Verify Backdoor Access Key 0 493 tVFYKEY 9.86 9.86 9.86 493.00 us 16 Set User Margin Level 0 427 tMLOADU 8.54 8.54 8.54 427.00 us 17 Set Factory Margin Level 0 436 tMLOADF 8.72 8.72 8.72 436.00 us 18 Erase Verify EEPROM Sector 0 583 tDRD1SEC 0.01 0.01 0.05 2.33 ms 19 Program EEPROM (1 Word) 68 1657 tDPGM_1 0.10 0.10 0.20 6.71 ms 20 Program EEPROM (2 Word) 136 2660 tDPGM_2 0.18 0.19 0.35 10.81 ms 21 Program EEPROM (3 Word) 204 3663 tDPGM_3 0.27 0.28 0.50 14.91 ms 22 Program EEPROM (4 Word) 272 4666 tDPGM_4 0.35 0.37 0.65 19.00 ms 23 Erase EEPROM Sector 5015 810 tDERSPG 4.79 5.03 20.34 38.85 ms 24 Protection Override 0 475 tPRTOVRD 9.50 9.50 9.50 475.00 us 1. Minimum times are based on maximum fNVMOP and maximum fNVMBUS 2. Typical times are based on typical fNVMOP and typical fNVMBUS 3. Maximum times are based on typical fNVMOP and typical fNVMBUS plus aging 4. Worst times are based on minimum fNVMOP and minimum fNVMBUS plus aging MC9S12ZVM Family Reference Manual Rev. 2.2 908 Freescale Semiconductor Appendix F NVM Electrical Parameters Table F-2. FTMRZ128K512 NVM Timing Characteristics (Junction Temperature From 150C To 175C) Derivatives ZVML128, ZVMC128, ZVML64, ZVMC64, ZVML32 Num C Command fNVMOP cycle fNVMBUS cycle Symbol Min(1) Typ(2) Max(3) Worst (4) Unit 1 Bus frequency -- 1 fNVMBUS 1 40 40 40 MHz 2 NVM Operating frequency 1 -- fNVMOP 0.8 1.0 1.05 1.05 MHz 3 Erase Verify All Blocks 0 33760 tRD1ALL 0.84 0.84 1.69 67.52 ms 4 Erase Verify Block (Pflash) 0 33320 tRD1BLK_P 0.83 0.83 1.67 66.64 ms 5 Erase Verify Block (EEPROM) 0 823 tRD1BLK_D 0.02 0.02 0.04 1.65 ms 6 Erase Verify P-Flash Section 0 505 tRD1SEC 0.01 0.01 0.03 1.01 ms 7 Read Once 0 481 tRDONCE 12.03 12.03 12.03 481.00 us 8 Program P-Flash (4 Word) 164 3077 tPGM_4 0.23 0.24 0.47 12.51 ms 9 Program Once 164 3054 tPGMONCE 0.23 0.24 0.24 3.26 ms 10 Erase All Blocks 100066 34223 tERSALL 96.16 100.92 101.78 193.53 ms 11 Erase Flash Block (Pflash) 100060 33681 tERSBLK_P 96.14 100.90 101.74 192.44 ms 12 Erase Flash Block (EEPROM) 100060 1154 tERSBLK_D 95.32 100.09 100.12 127.38 ms 13 Erase P-Flash Sector 20015 914 tERSPG 19.08 20.04 20.06 26.85 ms 14 Unsecure Flash 100066 34288 tUNSECU 96.16 100.92 101.78 193.66 ms 15 Verify Backdoor Access Key 0 493 tVFYKEY 12.33 12.33 12.33 493.00 us 16 Set User Margin Level 0 427 tMLOADU 10.68 10.68 10.68 427.00 us 17 Set Factory Margin Level 0 436 tMLOADF 10.90 10.90 10.90 436.00 us 18 Erase Verify EEPROM Sector 0 583 tDRD1SEC 0.01 0.01 0.03 1.17 ms 19 Program EEPROM (1 Word) 68 1657 tDPGM_1 0.11 0.11 0.23 6.71 ms 20 Program EEPROM (2 Word) 136 2660 tDPGM_2 0.20 0.20 0.40 10.81 ms 21 Program EEPROM (3 Word) 204 3663 tDPGM_3 0.29 0.30 0.57 14.91 ms 22 Program EEPROM (4 Word) 272 4666 tDPGM_4 0.38 0.39 0.74 19.00 ms 23 Erase EEPROM Sector 5015 810 tDERSPG 4.80 5.04 20.40 38.85 ms 24 Protection Override 0 475 tPRTOVRD 11.88 11.88 11.88 475.00 us 1. Minimum times are based on maximum fNVMOP and maximum fNVMBUS 2. Typical times are based on typical fNVMOP and typical fNVMBUS 3. Maximum times are based on typical fNVMOP and typical fNVMBUS plus aging 4. Worst times are based on minimum fNVMOP and minimum fNVMBUS plus aging MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 909 Appendix F NVM Electrical Parameters Table F-3. FTMRZ32K128 NVM Timing Characteristics (Junction Temperature From -40C To +150C) Derivatives ZVML31, ZVM32, ZVM16 Num C Command fNVMOP cycle fNVMBUS cycle Symbol Min(1) Typ(2) Max(3) Worst (4) Unit 1 Bus frequency -- 1 fNVMBUS 1 50 50 50 MHz 2 NVM Operating frequency 1 -- fNVMOP 0.8 1.0 1.05 1.05 MHz 3 Erase Verify All Blocks 0 8992 tRD1ALL 0.18 0.18 0.36 17.98 ms 4 Erase Verify Block (Pflash) 0 8750 tRD1BLK_P 0.18 0.18 0.35 17.50 ms 5 Erase Verify Block (EEPROM) 0 631 tRD1BLK_D 0.01 0.01 0.03 1.26 ms 6 Erase Verify P-Flash Section 0 511 tRD1SEC 0.01 0.01 0.02 1.02 ms 7 Read Once 0 481 tRDONCE 9.62 9.62 9.62 481.00 us 8 Program P-Flash (4 Word) 164 3136 tPGM_4 0.22 0.23 0.41 12.75 ms 9 Program Once 164 3107 tPGMONCE 0.22 0.23 0.23 3.31 ms 10 Erase All Blocks 100066 9455 tERSALL 95.49 100.26 100.44 143.99 ms 11 Erase Flash Block (Pflash) 100060 9119 tERSBLK_P 95.48 100.24 100.42 143.31 ms 12 Erase Flash Block (EEPROM) 100060 970 tERSBLK_D 95.31 100.08 100.10 127.02 ms 13 Erase P-Flash Sector 20015 927 tERSPG 19.08 20.03 20.05 26.87 ms 14 Unsecure Flash 100066 9533 tUNSECU 95.49 100.26 100.45 144.15 ms 15 Verify Backdoor Access Key 0 493 tVFYKEY 9.86 9.86 9.86 493.00 us 16 Set User Margin Level 0 439 tMLOADU 8.78 8.78 8.78 439.00 us 17 Set Factory Margin Level 0 448 tMLOADF 8.96 8.96 8.96 448.00 us 18 Erase Verify EEPROM Sector 0 583 tDRD1SEC 0.01 0.01 0.02 1.17 ms 19 Program EEPROM (1 Word) 68 1678 tDPGM_1 0.10 0.10 0.20 6.80 ms 20 Program EEPROM (2 Word) 136 2702 tDPGM_2 0.18 0.19 0.35 10.98 ms 21 Program EEPROM (3 Word) 204 3726 tDPGM_3 0.27 0.28 0.50 15.16 ms 22 Program EEPROM (4 Word) 272 4750 tDPGM_4 0.35 0.37 0.65 19.34 ms 23 Erase EEPROM Sector 5015 817 tDERSPG 4.79 5.03 20.34 38.96 ms 24 Protection Override 0 475 tPRTOVRD 9.50 9.50 9.50 475.00 us 1. Minimum times are based on maximum fNVMOP and maximum fNVMBUS 2. Typical times are based on typical fNVMOP and typical fNVMBUS 3. Maximum times are based on typical fNVMOP and typical fNVMBUS plus aging 4. Worst times are based on minimum fNVMOP and minimum fNVMBUS plus aging MC9S12ZVM Family Reference Manual Rev. 2.2 910 Freescale Semiconductor Appendix F NVM Electrical Parameters Table F-4. FTMRZ32K128 NVM Timing Characteristics (Junction Temperature From 150C To +175C) Derivatives ZVML31, ZVM32, ZVM16 Num C Command fNVMOP cycle fNVMBUS cycle Symbol Min(1) Typ(2) Max(3) Worst (4) Unit 1 Bus frequency -- 1 fNVMBUS 1 40 40 40 MHz 2 NVM Operating frequency 1 -- fNVMOP 0.8 1.0 1.05 1.05 MHz 3 Erase Verify All Blocks 0 8992 tRD1ALL 0.22 0.22 0.45 17.98 ms 4 Erase Verify Block (Pflash) 0 8750 tRD1BLK_P 0.22 0.22 0.44 17.50 ms 5 Erase Verify Block (EEPROM) 0 631 tRD1BLK_D 0.02 0.02 0.03 1.26 ms 6 Erase Verify P-Flash Section 0 511 tRD1SEC 0.01 0.01 0.03 1.02 ms 7 Read Once 0 481 tRDONCE 12.03 12.03 12.03 481.00 us 8 Program P-Flash (4 Word) 164 3136 tPGM_4 0.23 0.24 0.48 12.75 ms 9 Program Once 164 3107 tPGMONCE 0.23 0.24 0.24 3.31 ms 10 Erase All Blocks 100066 9455 tERSALL 95.54 100.30 100.54 143.99 ms 11 Erase Flash Block (Pflash) 100060 9119 tERSBLK_P 95.52 100.29 100.52 143.31 ms 12 Erase Flash Block (EEPROM) 100060 970 tERSBLK_D 95.32 100.08 100.11 127.02 ms 13 Erase P-Flash Sector 20015 927 tERSPG 19.09 20.04 20.06 26.87 ms 14 Unsecure Flash 100066 9533 tUNSECU 95.54 100.30 100.54 144.15 ms 15 Verify Backdoor Access Key 0 493 tVFYKEY 12.33 12.33 12.33 493.00 us 16 Set User Margin Level 0 439 tMLOADU 10.98 10.98 10.98 439.00 us 17 Set Factory Margin Level 0 448 tMLOADF 11.20 11.20 11.20 448.00 us 18 Erase Verify EEPROM Sector 0 583 tDRD1SEC 0.01 0.01 0.03 1.17 ms 19 Program EEPROM (1 Word) 68 1678 tDPGM_1 0.11 0.11 0.24 6.80 ms 20 Program EEPROM (2 Word) 136 2702 tDPGM_2 0.20 0.20 0.41 10.98 ms 21 Program EEPROM (3 Word) 204 3726 tDPGM_3 0.29 0.30 0.58 15.16 ms 22 Program EEPROM (4 Word) 272 4750 tDPGM_4 0.38 0.39 0.75 19.34 ms 23 Erase EEPROM Sector 5015 817 tDERSPG 4.80 5.04 20.41 38.96 ms 24 Protection Override 0 475 tPRTOVRD 11.88 11.88 11.88 475.00 us 1. Minimum times are based on maximum fNVMOP and maximum fNVMBUS 2. Typical times are based on typical fNVMOP and typical fNVMBUS 3. Maximum times are based on typical fNVMOP and typical fNVMBUS plus aging 4. Worst times are based on minimum fNVMOP and minimum fNVMBUS plus aging MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 911 Appendix F NVM Electrical Parameters Table F-5. FTMRZ256K1KNVM Timing Characteristics (Junction Temperature From -40C To +150C) Derivative ZVMC256 Num C Command fNVMOP cycle fNVMBUS cycle Symbol Min(1) Typ(2) Max(3) Worst (4) Unit 1 Bus frequency -- 1 fNVMBUS 1 50 50 50 MHz 2 NVM Operating frequency 1 -- fNVMOP 0.8 1.0 1.05 1.05 MHz 3 Erase Verify All Blocks 0 66973 tRD1ALL 1.34 1.34 2.68 133.95 ms 4 Erase Verify Block (Pflash) 0 66284 tRD1BLK_P 1.33 1.33 2.65 132.57 ms 5 Erase Verify Block (EEPROM) 0 1101 tRD1BLK_D 0.02 0.02 0.04 2.20 ms 6 Erase Verify P-Flash Section 0 640 tRD1SEC 0.01 0.01 0.03 1.28 ms 7 Read Once 0 512 tRDONCE 10.24 10.24 10.24 512.00 us 8 Program P-Flash (4 Word) 164 3221 tPGM_4 0.22 0.23 0.42 13.09 ms 9 Program Once 164 3138 tPGMONCE 0.22 0.23 0.23 3.34 ms 10 Erase All Blocks 200126 67786 tERSALL 191.95 201.48 202.84 385.73 ms 11 Erase Flash Block (Pflash) 200120 66855 tERSBLK_P 191.93 201.46 202.79 383.86 ms 12 Erase Flash Block (EEPROM) 100060 1401 tERSBLK_D 95.32 100.09 100.12 127.88 ms 13 Erase P-Flash Sector 20015 1022 tERSPG 19.08 20.04 20.06 27.06 ms 14 Unsecure Flash 200126 67864 tUNSECU 191.95 201.48 202.84 385.89 ms 15 Verify Backdoor Access Key 0 524 tVFYKEY 10.48 10.48 10.48 524.00 us 16 Set User Margin Level 0 477 tMLOADU 9.54 9.54 9.54 477.00 us 17 Set Factory Margin Level 0 486 tMLOADF 9.72 9.72 9.72 486.00 us 18 Erase Verify EEPROM Sector 0 613 tDRD1SEC 0.01 0.01 0.02 1.23 ms 19 Program EEPROM (1 Word) 68 1694 tDPGM_1 0.10 0.10 0.20 6.86 ms 20 Program EEPROM (2 Word) 136 2718 tDPGM_2 0.18 0.19 0.35 11.04 ms 21 Program EEPROM (3 Word) 204 3742 tDPGM_3 0.27 0.28 0.50 15.22 ms 22 Program EEPROM (4 Word) 272 4766 tDPGM_4 0.35 0.37 0.65 19.40 ms 23 Erase EEPROM Sector 5015 839 tDERSPG 4.79 5.03 20.35 39.34 ms 24 Protection Override 0 506 tPRTOVRD 10.12 10.12 10.12 506.00 us 1. Minimum times are based on maximum fNVMOP and maximum fNVMBUS 2. Typical times are based on typical fNVMOP and typical fNVMBUS 3. Maximum times are based on typical fNVMOP and typical fNVMBUS plus aging 4. Worst times are based on minimum fNVMOP and minimum fNVMBUS plus aging MC9S12ZVM Family Reference Manual Rev. 2.2 912 Freescale Semiconductor Appendix F NVM Electrical Parameters Table F-6. FTMRZ256K1KNVM Timing Characteristics (Junction Temperature From +150C To +175C) Derivative ZVMC256 Num C Command fNVMOP cycle fNVMBUS cycle Symbol Min(1) Typ(2) Max(3) Worst (4) Unit 1 Bus frequency -- 1 fNVMBUS 1 40 40 40 MHz 2 NVM Operating frequency 1 -- fNVMOP 0.8 1.0 1.05 1.05 MHz 3 Erase Verify All Blocks 0 66973 tRD1ALL 1.67 1.67 3.35 133.95 ms 4 Erase Verify Block (Pflash) 0 66284 tRD1BLK_P 1.66 1.66 3.31 132.57 ms 5 Erase Verify Block (EEPROM) 0 1101 tRD1BLK_D 0.03 0.03 0.06 2.20 ms 6 Erase Verify P-Flash Section 0 640 tRD1SEC 0.02 0.02 0.03 1.28 ms 7 Read Once 0 512 tRDONCE 12.80 12.80 12.80 512.00 us 8 Program P-Flash (4 Word) 164 3221 tPGM_4 0.24 0.24 0.49 13.09 ms 9 Program Once 164 3138 tPGMONCE 0.23 0.24 0.24 3.34 ms 10 Erase All Blocks 200126 67786 tERSALL 192.29 201.82 203.52 385.73 ms 11 Erase Flash Block (Pflash) 200120 66855 tERSBLK_P 192.26 201.79 203.46 383.86 ms 12 Erase Flash Block (EEPROM) 100060 1401 tERSBLK_D 95.33 100.10 100.13 127.88 ms 13 Erase P-Flash Sector 20015 1022 tERSPG 19.09 20.04 20.07 27.06 ms 14 Unsecure Flash 200126 67864 tUNSECU 192.29 201.82 203.52 385.89 ms 15 Verify Backdoor Access Key 0 524 tVFYKEY 13.10 13.10 13.10 524.00 us 16 Set User Margin Level 0 477 tMLOADU 11.93 11.93 11.93 477.00 us 17 Set Factory Margin Level 0 486 tMLOADF 12.15 12.15 12.15 486.00 us 18 Erase Verify EEPROM Sector 0 613 tDRD1SEC 0.02 0.02 0.03 1.23 ms 19 Program EEPROM (1 Word) 68 1694 tDPGM_1 0.11 0.11 0.24 6.86 ms 20 Program EEPROM (2 Word) 136 2718 tDPGM_2 0.20 0.20 0.41 11.04 ms 21 Program EEPROM (3 Word) 204 3742 tDPGM_3 0.29 0.29 0.58 15.22 ms 22 Program EEPROM (4 Word) 272 4766 tDPGM_4 0.38 0.39 0.75 19.40 ms 23 Erase EEPROM Sector 5015 839 tDERSPG 4.80 5.04 20.42 39.34 ms 24 Protection Override 0 506 tPRTOVRD 12.65 12.65 12.65 506.00 us 1. Minimum times are based on maximum fNVMOP and maximum fNVMBUS 2. Typical times are based on typical fNVMOP and typical fNVMBUS 3. Maximum times are based on typical fNVMOP and typical fNVMBUS plus aging 4. Worst times are based on minimum fNVMOP and minimum fNVMBUS plus aging MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 913 Appendix F NVM Electrical Parameters F.2 NVM Reliability Parameters The reliability of the NVM blocks is guaranteed by stress test during qualification, constant process monitors and burn-in to screen early life failures. The data retention and program/erase cycling failure rates are specified at the operating conditions noted. The program/erase cycle count on the sector is incremented every time a sector or mass erase event is executed. Table F-7. NVM Reliability Characteristics NUM C Rating Symbol Min Typ Max Unit 20 100(2) -- Years nFLPE 10K 100K(3) -- Cycles Program Flash Arrays 1 Data retention at an average junction temperature of TJavg = 85C(1) tNVMRET after up to 10,000 program/erase cycles 2 Program Flash number of program/erase cycles (-40C Tj 175C EEPROM Array 3 Data retention at an average junction temperature of TJavg = 85C1 after up to 100,000 program/erase cycles tNVMRET 5 1002 -- Years 4 Data retention at an average junction temperature of TJavg = 85C1 after up to 10,000 program/erase cycles tNVMRET 10 1002 -- Years 5 Data retention at an average junction temperature of TJavg = 85C1 after less than 100 program/erase cycles tNVMRET 20 1002 -- Years 6 EEPROM number of program/erase cycles (-40C Tj 175C nFLPE 100K 500K3 -- Cycles 1. TJavg does not exceed 85C in a typical temperature profile over the lifetime of a consumer, industrial or automotive application. 2. Typical data retention values are based on intrinsic capability of the technology measured at high temperature and de-rated to 25C using the Arrhenius equation. For additional information on how Freescale defines Typical Data Retention, please refer to Engineering Bulletin EB618 3. Spec table quotes typical endurance evaluated at 25C for this product family. For additional information on how Freescale defines Typical Endurance, please refer to Engineering Bulletin EB619. F.3 NVM Factory Shipping Condition Devices are shipped from the factory with flash and EEPROM in the erased state. Data retention specifications begin at time of this erase operation. For additional information on how Freescale defines Typical Data Retention, please refer to Engineering Bulletin EB618. MC9S12ZVM Family Reference Manual Rev. 2.2 914 Freescale Semiconductor Appendix G BATS Electrical Specifications Appendix G BATS Electrical Specifications G.1 Static Electrical Characteristics Table G-1. Static Electrical Characteristics - BATS (Junction Temperature From -40C To +175C) Characteristics noted under conditions 5.5V VSUP 18 V, unless otherwise noted. Typical values noted reflect the approximate parameter mean at TA = 25C(1) under nominal conditions unless otherwise noted. Num C Ratings Symbol Min Typ Max Unit 1 Low Voltage Warning (LBI 1) Assert (Measured on VSUP pin, falling edge) Deassert (Measured on VSUP pin, rising edge) Hysteresis (measured on VSUP pin) VLBI1_A VLBI1_D VLBI1_H 4.75 - - 5.5 - 0.4 6 6.5 - V V V 2 Low Voltage Warning (LBI 2) Assert (Measured on VSUP pin, falling edge) Deassert (Measured on VSUP pin, rising edge) Hysteresis (measured on VSUP pin) VLBI2_A VLBI2_D VLBI2_H 6 - - 6.75 - 0.4 7.25 7.75 - V V V 3 Low Voltage Warning (LBI 3) Assert (Measured on VSUP pin, falling edge) Deassert (Measured on VSUP pin, rising edge) Hysteresis (measured on VSUP pin) VLBI3_A VLBI3_D VLBI3_H 7 - - 7.75 - 0.4 8.5 9 - V V V 4 Low Voltage Warning (LBI 4) Assert (Measured on VSUP pin, falling edge) Deassert (Measured on VSUP pin, rising edge) Hysteresis (measured on VSUP pin) VLBI4_A VLBI4_D VLBI4_H 8 - - 9 - 0.4 10 10.5 - V V V 5 High Voltage Warning (HBI 1) Assert (Measured on VSUP pin, rising edge) Deassert (Measured on VSUP pin, falling edge) Hysteresis (measured on VSUP pin) VHBI1_A VHBI1_D VHBI1_H 14.5 14 - 16.5 - 1.0 18 - - V V V 6 High Voltage Warning (HBI 2) Assert (Measured on VSUP pin, rising edge) Deassert (Measured on VSUP pin, falling edge) Hysteresis (measured on VSUP pin) VHBI2_A VHBI2_D VHBI2_H 25 24 - 27.5 - 1.0 30 - - V V V 7 Pin Input Divider Ratio(2) RatioVSUP = VSUP / VADC 5.5V < VSUP < 29 V RatioVSUP - 9 - - 8 Analog Input Matching Absolute Error on VADC - compared to VSUP / RatioVSUP AIMatching - +-2% +-5% - 1. TA: Ambient Temperature 2. VADC: Voltage accessible at the ADC input channel MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 915 Appendix G BATS Electrical Specifications G.2 Dynamic Electrical Characteristics Table G-2. Dynamic Electrical Characteristics - (BATS). Characteristics noted under conditions 5.5V VSUP 18 V, unless otherwise noted. Typical values noted reflect the approximate parameter mean at TA = 25C(1) under nominal conditions.. Num C Ratings 1 Enable Uncertainty Time 2 Voltage Warning Low Pass Filter Symbol Min Typ Max Unit TEN_UNC - 1 - us fVWLP_filter - 0.5 - Mhz 1. TA: Ambient Temperature MC9S12ZVM Family Reference Manual Rev. 2.2 916 Freescale Semiconductor Appendix H S12CANPHY Electrical Specifications H.1 Maximum Ratings Table H-1. Maximum Ratings Characteristics noted under conditions 5.5V VSUP 18 V, -40C TJ 150C unless otherwise noted. Typical values noted reflect the approximate parameter mean at TA = 25C under nominal conditions unless otherwise noted. Num Ratings Symbol Value Unit VBUS -32 to +40 V 1 DC voltage on CANL, CANH, SPLIT 2 Continuous current on CANH and CANL ILH 200 mA 3 ESD on CANH, CANL and SPLIT (HBM) VESDCH 4000 V 4 ESD on CANH, CANL (IEC61000-4, Czap = 150 pF, Rzap = 330 ) VESDIEC 6000 V H.2 Static Electrical Characteristics Table H-2. Static Electrical Characteristics Characteristics noted under conditions 5.5V VSUP 18 V, -40C TJ 150C unless otherwise noted. Typical values noted reflect the approximate parameter mean at TA = 25C under nominal conditions unless otherwise noted. Num Ratings Symbol Min Typ Max Unit IRES IDOM ISTB ISDN -- 1.7 3.8 0.022 0 -- mA -12 -- 12 V -1.0 0.9 -- 0.5 5.0 -1.0 1.1 -- 0.4 5.0 -- 175 -- CAN TRANSCEIVER CURRENT 1 Supply Current of CANPHY Normal mode, Bus Recessive State Normal mode, Bus Dominant State without Bus Load Standby mode Shutdown mode PINS (CANH AND CANL) 2 Bus Pin Common Mode Voltage VCOM 3a Differential Input Voltage (Normal mode) Recessive State at RXD Dominant State at RXD VCANH VCANL 3b Differential Input Voltage (Standby mode) Recessive State at RXD Dominant State at RXD VCANH VCANL 4 Differential Input Hysteresis VHYS V V mV MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 917 Appendix H S12CANPHY Electrical Specifications Table H-2. Static Electrical Characteristics Characteristics noted under conditions 5.5V VSUP 18 V, -40C TJ 150C unless otherwise noted. Typical values noted reflect the approximate parameter mean at TA = 25C under nominal conditions unless otherwise noted. Num Ratings Symbol Min Typ Max Unit 5 Input Resistance RIN 5 32.5 50 k 6 Differential Input Resistance RIND 10 65 100 k 7 Common mode input resistance matching RINM -3 0 +3 % 8 CANH Output Voltage (RL = 60), (Normal mode) TXD Dominant State TXD Recessive State 2.75 2.0 3.5 2.5 4.5 3.0 V V 9 CANL Output Voltage (RL = 60), (Normal mode) TXD Dominant State TXD Recessive State VCANL 0.5 2.0 1.5 2.5 2.25 3.0 V V 10 Differential Output Voltage (RL = 60), (Normal mode) TXD Dominant State TXD Recessive State VOH VOL 1.5 -0.5 2.0 0 3.0 0.05 V V 11 CANH, CANL driver symmetry (Normal mode) (VCANH + VCANL) / VDDC VSYM 0.9 1 1.1 -- 12 Output Current Capability (Dominant State) CANH CANL ICANH ICANL -- 55 55 -- mA mA 13 CANH, CANL Overcurrent Detection (Tj >=25oC) CANH CANL ICANHOC ICANLOC 70 70 85 85 100 100 mA mA 14 CANH, CANL Output Voltage (no load, Standby mode) CANH CANL VCANH VCANL -0.1 -0.1 0 0 0.1 0.1 V V 15 CANH and CANL Input Current (Standby mode) VCANH, VCANL from 0 V to 5.0 V VCANH, VCANL = - 2.0 V VCANH, VCANL = 7.0 V ICAN1 -- -- 20 -75 250 uA uA uA 16 CANH and CANL Input Current (Device unsupplied) (VSUP tied to ground or left open) VCANH, VCANL from 0V to 5 V VCANH, VCANL = - 2.0 V VCANH, VCANL = 7.0 V ICAN2 -- -- 10 -75 250 uA uA uA VCANH 17 CANH, CANL Input capacitance (Normal mode) CANH CANL CCANH CCANL -- 14 16 -- pF pF 18 CANH to CANL differential capacitance (Normal mode) CHLDIFF -- 6 -- pF DIAGNOSTIC INFORMATION (CANH AND CANL) 15 CANL to 0 V Threshold VL0 -0.75 -0.15 0 V 16 CANH to 0 V Threshold VH0 -0.75 -0.15 0 V MC9S12ZVM Family Reference Manual Rev. 2.2 918 Freescale Semiconductor Appendix H S12CANPHY Electrical Specifications Table H-2. Static Electrical Characteristics Characteristics noted under conditions 5.5V VSUP 18 V, -40C TJ 150C unless otherwise noted. Typical values noted reflect the approximate parameter mean at TA = 25C under nominal conditions unless otherwise noted. Num Ratings Symbol Min Typ Max Unit 17 CANL to 5.0 V Threshold VL5 VDDC VDDC +0.15 VDDC + 0.75 V 18 CANH to 5.0 V Threshold VH5 VDDC VDDC +0.15 VDDC +0.75 V 0.3 0.45 0.5 0.5 0.7 0.55 - 0 - 5 25 SPLIT 19 Output voltage Loaded condition ISPLIT= +/- 500 uA Unloaded condition Rmeasure > 1 M VSPLIT 20 Leakage current -12 V < VSPLIT < +12 V -22 V < VSPLIT < +35 V ILSPLIT VDDC uA uA MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 919 Appendix H S12CANPHY Electrical Specifications H.3 Dynamic Electrical Characteristics Table H-3. Dynamic Electrical Characteristics Characteristics noted under conditions 5.5V VSUP 18 V, -40C TJ 150C unless otherwise noted. Typical values noted reflect the approximate parameter mean at TA = 25C under nominal conditions unless otherwise noted. Num Ratings Symbol Min Typ Max Unit SIGNAL EDGE RISE AND FALL TIMES (CANH, CANL) 1 Propagation Loop Delay TXD to RXD (Recessive to Dominant) Slew Rate 6 Slew Rate 5 Slew Rate 4 Slew Rate 2 Slew Rate 1 Slew Rate 0 tLRD Propagation Delay TXD to CAN (Recessive to Dominant) Slew Rate 6 Slew Rate 5 Slew Rate 4 Slew Rate 2 Slew Rate 1 Slew Rate 0 tTRD 3 Propagation Delay CAN to RXD (Recessive to Dominant, using slew rate 0) tRRD 4 Propagation Loop Delay TXD to RXD (Dominant to Recessive) Slew Rate 6 Slew Rate 5 Slew Rate 4 Slew Rate 2 Slew Rate 1 Slew Rate 0 tLDR Propagation Delay TXD to CAN (Dominant to Recessive) Slew Rate 6 Slew Rate 5 Slew Rate 4 Slew Rate 2 Slew Rate 1 Slew Rate 0 tTDR Propagation Delay CAN to RXD (Dominant to Recessive, using slew rate 0) tRDR 2 5 6 ns -- 146 112 89 83 72 64 (255) ns -- 98 63 43 38 28 23 -- -- 42 -- ns ns -- 366 224 153 139 114 102 (255) ns -- 280 152 90 81 56 46 -- -- 56 -- ns MC9S12ZVM Family Reference Manual Rev. 2.2 920 Freescale Semiconductor Appendix H S12CANPHY Electrical Specifications Table H-3. Dynamic Electrical Characteristics Characteristics noted under conditions 5.5V VSUP 18 V, -40C TJ 150C unless otherwise noted. Typical values noted reflect the approximate parameter mean at TA = 25C under nominal conditions unless otherwise noted. Num Ratings Symbol Min Typ Max Unit 7 Non-Differential Slew Rate (CANL or CANH) Slew Rate 6 Slew Rate 5 Slew Rate 4 Slew Rate 2 Slew Rate 1 Slew Rate 0 tSL6 tSL5 tSL4 tSL2 tSL1 tSL0 -- 6 10 19 23 35 55 -- V/s 8 Bus Communication Rate tBUS -- -- 1.0 M bps 9 Settling time after entering Normal mode tCP_set -- -- 10 s 10 CPTXD-dominant timeout tCPTXDDT -- 2 -- ms 11 CANPHY wake-up dominant pulse filtered tCPWUP -- -- 1.5 s 12 CANPHY wake-up dominant pulse pass tCPWUP 5 -- -- s MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 921 Appendix H S12CANPHY Electrical Specifications MC9S12ZVM Family Reference Manual Rev. 2.2 922 Freescale Semiconductor Appendix I SPI Electrical Specifications Appendix I SPI Electrical Specifications This section provides electrical parametrics and ratings for the SPI. In Figure I-1. the measurement conditions are listed. Figure I-1. Measurement Conditions Description Value Unit full drive mode -- 50 pF (35% / 65%) VDDX V Drive mode Load capacitance CLOAD(1), on all outputs Thresholds for delay measurement points 1. Timing specified for equal load on all SPI output pins. Avoid asymmetric load. I.1 Master Mode In Figure I-2. the timing diagram for master mode with transmission format CPHA=0 is depicted. SS1 (OUTPUT) 2 1 SCK (CPOL 0) (OUTPUT) 5 12 13 3 6 MSB IN2 10 MOSI (OUTPUT) 13 4 SCK (CPOL 1) (OUTPUT) MISO (INPUT) 12 4 BIT 6 . . . 1 LSB IN 9 MSB OUT2 BIT 6 . . . 1 11 LSB OUT 1. If enabled. 2. LSBFE = 0. For LSBFE = 1, bit order is LSB, bit 1, ..., bit 6, MSB. Figure I-2. SPI Master Timing (CPHA=0) In Figure I-3. the timing diagram for master mode with transmission format CPHA=1 is depicted. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 923 Appendix I SPI Electrical Specifications SS1 (OUTPUT) 1 2 SCK (CPOL 0) (OUTPUT) 4 SCK (CPOL 1) (OUTPUT) 4 5 MISO (INPUT) 12 13 12 13 3 6 MSB IN2 BIT 6 . . . 1 LSB IN 11 9 MOSI (OUTPUT) MASTER MSB OUT2 BIT 6 . . . 1 MASTER LSB OUT 1. If enabled. 2. LSBFE = 0. For LSBFE = 1, bit order is LSB, bit 1, ..., bit 6, MSB. Figure I-3. SPI Master Timing (CPHA=1) Table I-1. SPI Master Mode Timing Characteristics (Junction Temperature From -40C To +175C) Num C Characteristic Symbol Max Unit Min Typ fsck 1/2048 -- 12(1)(2) fbus 1 SCK Frequency 1 SCK eriod P tsck 2 -- 2048 tbus 2 Enable Lead Time tlead -- 1/2 -- tsck 3 Enable Lag Time tlag -- 1/2 -- tsck 4 Clock (SCK) High or Low Time twsck -- 1/2 -- tsck 5 Data Setup Time (Inputs) tsu 4 -- -- ns 6 Data Hold Time (Inputs) thi 5 -- -- ns 9 Data Valid after SCK Edge tvsck -- -- 10 ns 10 Data Valid after SS fall (CPHA=0) tvss -- -- 9 ns 11 Data Hold Time (Outputs) tho -1.2 -- -- ns 12 Rise and Fall Time Inputs trfi -- -- 8 ns 13 Rise and Fall Time Outputs trfo -- -- 8 ns 1. See Figure I-4. 2. fbus max is 40MHz at temperatures above 150C MC9S12ZVM Family Reference Manual Rev. 2.2 924 Freescale Semiconductor Appendix I SPI Electrical Specifications fSCK/fbus 1/2 1/4 5 10 15 25 20 30 35 fbus [MHz] 40 Figure I-4. Derating of maximum fSCK to fbus ratio in Master Mode In Master Mode the allowed maximum fSCK to fbus ratio (= minimum Baud Rate Divisor, pls. see SPI Block Guide) derates with increasing fbus, please see Figure I-4.. I.1.1 Slave Mode In Figure I-1. the timing diagram for slave mode with transmission format CPHA=0 is depicted. SS (INPUT) 1 12 13 12 13 3 SCK (CPOL 0) (INPUT) SCK (CPOL 1) (INPUT) 10 4 2 8 7 MISO (OUTPUT) 9 see note SLAVE MSB 5 MOSI (INPUT) 4 BIT 6 . . . 1 11 11 SLAVE LSB OUT see note 6 MSB IN BIT 6 . . . 1 LSB IN NOTE: Not defined! Figure I-5. SPI Slave Timing (CPHA=0) In Figure I-6. the timing diagram for slave mode with transmission format CPHA=1 is depicted. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 925 Appendix I SPI Electrical Specifications SS (INPUT) 3 1 2 SCK (CPOL 0) (INPUT) 4 SCK (CPOL 1) (INPUT) 4 12 13 12 13 11 9 MISO (OUTPUT) see note SLAVE 7 MSB OUT 5 MOSI (INPUT) 8 BIT 6 . . . 1 SLAVE LSB OUT 6 MSB IN BIT 6 . . . 1 LSB IN NOTE: Not defined! Figure I-6. SPI Slave Timing (CPHA=1) Table I-2. SPI Slave Mode Timing Characteristics -40C to 175C Num C Characteristic Symbol Typ fsck DC -- 14(1) fbus P tsck 4 -- tbus 2 Enable Lead Time tlead 4 -- -- tbus 3 Enable Lag Time tlag 4 -- -- tbus 4 Clock (SCK) High or Low Time twsck 2tbus (trfi + trfo) -- -- ns 5 Data Setup Time (Inputs) tsu 3 -- -- ns 6 Data Hold Time (Inputs) thi 2 -- -- ns 7 Slave Access Time (time to data active) ta -- -- 28 ns 8 Slave MISO Disable Time tdis -- -- 26 ns 9a Data Valid after SCK Edge (-40C < Tj < 150C) tvsck -- -- 23 + 0.5 t bus ns 9b Data Valid after SCK Edge (150C <Tj < 175C)(1) tvsck -- -- 25 + 0.5 t bus (2 ns 10a Data Valid after SS fall (-40C < Tj < 150C) tvss -- -- 23 + 0.5 t bus (2 ns 10b Data Valid after SS fall (150C < Tj < 175C)(1) tvss -- -- 25 + 0.5 t bus (2 ns 1 SCK Frequency 1 SCK eriod Max Unit Min (2) ) ) ) 11 Data Hold Time (Outputs) tho 22 -- -- ns 12 Rise and Fall Time Inputs trfi -- -- 8 ns 13 Rise and Fall Time Outputs trfo -- -- 8 ns 1. fbus max is 40MHz at temperatures above 150C 2. 0.5tbus added due to internal synchronization delay MC9S12ZVM Family Reference Manual Rev. 2.2 926 Freescale Semiconductor Appendix J MSCAN Electrical Specifications J.1 MSCAN Wake-up Pulse Timing Table J-1. MSCAN Wake-up Pulse Characteristics (Junction Temperature From -40C To +175C) Conditions are 4.5 V < VDDX< 5.5 V, unless otherwise noted. Num C Rating Symbol Min Typ Max Unit 1 MSCAN wake-up dominant pulse filtered tWUP -- -- 1.5 s 2 MSCAN wake-up dominant pulse pass tWUP 5 -- -- s MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 927 Appendix J MSCAN Electrical Specifications MC9S12ZVM Family Reference Manual Rev. 2.2 928 Freescale Semiconductor Appendix K Package Information Appendix K Package Information Freescale's Package Reflow capability meets Pb-free requirements for JEDEC standard J-STD-020C. For Peak Package Reflow Temperature and Moisture Sensitivity Levels (MSL), Go to www.freescale.com, search by part number and review parametrics. K.1 48LQFP-EP Mechanical Information Figure K-1. 48LQFP-EP Mechanical Information MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 929 Appendix K Package Information MC9S12ZVM Family Reference Manual Rev. 2.2 930 Freescale Semiconductor Appendix K Package Information MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 931 Appendix K Package Information K.2 64LQFP-EP Mechanical Information Figure K-2. 64LQFP-EP Mechanical Information MC9S12ZVM Family Reference Manual Rev. 2.2 932 Freescale Semiconductor Appendix K Package Information MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 933 Appendix K Package Information MC9S12ZVM Family Reference Manual Rev. 2.2 934 Freescale Semiconductor Appendix K Package Information K.3 80LQFP-EP Mechanical Information Figure K-3. 80LQFP-EP MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 935 Appendix K Package Information MC9S12ZVM Family Reference Manual Rev. 2.2 936 Freescale Semiconductor Appendix K Package Information MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 937 Appendix K Package Information MC9S12ZVM Family Reference Manual Rev. 2.2 938 Freescale Semiconductor Appendix L Ordering Information Appendix L Ordering Information Customers can choose either the mask-specific partnumber or the generic, mask-independent partnumber. Ordering a mask-specific partnumber enables the customer to specify which particular maskset they receive whereas ordering the generic partnumber means that the currently preferred maskset (which may change over time) is shipped. In either case, the marking on the device always shows the generic, maskindependent partnumber and the mask set number. The below figure illustrates the structure of a typical mask-specific ordering number. NOTES Not every combination is offered. Table 1.2.1 lists available derivatives. The mask identifier suffix and the Tape & Reel suffix are always both omitted from the partnumber which is actually marked on the device. S 9 12Z VM L 12 F0 M KH R Tape & Reel: R = Tape & Reel No R = No Tape & Reel Package Option: KH = 64LQFP-EP KF = 48LQFP-EP Temperature Option: V = -40C to 105C M = -40C to 125C W = -40C to 150C Maskset identifier Suffix: First digit usually references wafer fab Second digit usually differentiates mask rev (This suffix is omitted in generic partnumbers) Memory Size 25 = 256K Flash 12 = 128K Flash 64 = 64K Flash 31, 32 = 32K Flash 16 = 16K Flash Bondout Option: L = LINPHY C = CAN VREG No letter = HV PHY Device Title Controller Family Main Memory Type: 9 = Flash Status / Partnumber type: S or SC = Maskset specific partnumber MC = Generic / mask-independent partnumber P or PC = prototype status (pre qualification) MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 939 Appendix L Ordering Information MC9S12ZVM Family Reference Manual Rev. 2.2 940 Freescale Semiconductor Appendix M Detailed Register Address Map Appendix M Detailed Register Address Map Registers listed are a superset of all registers in the S12ZVM-Family. The device overview section specifies module (version) assignment to individual devices. M.1 Address 0x0000-0x0003 Part ID Name 0x0000 PARTID0 0x0001 PARTID1 0x0002 PARTID2 0x0003 PARTID3 R W R W R W R W Bit 7 0 Bit 6 0 Bit 5 0 Bit 4 0 Bit 3 0 Bit 2 0 0 0 0 1 Derivative ependentD(see Table 1-6) 0 0 0 0 0 0 Bit 1 0 0 Bit 0 0 0 Revision Dependent MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 941 Appendix M Detailed Register Address Map M.2 Address 0x0010-0x001F S12ZINT Name Bit 7 R W R W R W 0x0010 IVBR 0x0011 0x00120x0016 Reserved 6 5 4 3 Bit 0 0 IVB_ADDR[7:1] 0 0 0 0 0 INT_CFADDR R W 0 0x0018 INT_CFDATA0 R W 0 0 0 0 0 0x0019 INT_CFDATA1 R W 0 0 0 0 0 0x001A INT_CFDATA2 R W 0 0 0 0 0 0x001B INT_CFDATA3 R W 0 0 0 0 0 0x001C INT_CFDATA4 R W 0 0 0 0 0 0x001D INT_CFDATA5 R W 0 0 0 0 0 0x001E INT_CFDATA6 R W 0 0 0 0 0 0x001F INT_CFDATA7 R W 0 0 0 0 0 INT_CFADDR[6:3] 0 0 0 0 0 0 PRIOLVL[2:0] PRIOLVL[2:0] PRIOLVL[2:0] PRIOLVL[2:0] PRIOLVL[2:0] PRIOLVL[2:0] PRIOLVL[2:0] PRIOLVL[2:0] 0x0070-0x00FF S12ZMMC Address Name 0x0070 MODE Bit 7 R W 0x00710x007F Reserved 0x0080 MMCECH R MODC 0 6 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W R W 0x0081 1 IVB_ADDR[15:8] 0x0017 M.3 2 MMCECL R W ITR[3:0] TGT[3:0] ACC[3:0] ERR[3:0] MC9S12ZVM Family Reference Manual Rev. 2.2 942 Freescale Semiconductor Appendix M Detailed Register Address Map Address Name 0x0082 MMCCCRH R Bit 7 6 5 4 3 2 1 Bit 0 CPUU 0 0 0 0 0 0 0 0 CPUX 0 CPUI 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W 0x0083 MMCCCRL R W 0x0084 Reserved R W 0x0085 MMCPCH R CPUPC[23:16] W 0x0086 MMCPCM R CPUPC[15:8] W 0x0087 MMCPCL R CPUPC[7:0] W 0x00880x00FF M.4 Address Reserved R Name Bit DBGC1 0x0101 DBGC2 R W 0x0102 DBGTCRH R (2) W 0x0103 DBGTCRL R (2) W 0x0106 0x0107 0 0 0x0100-0x017F S12ZDBG 0x0100 0x0105 0 W R W 0x0104 0 67 0 TRIG ARM 5 4 3 2 1 Bit 0 reserved BDMBP BRKCPU reserved EEVE1 EEVE0(2) 0 0 0 0 reserved TSOURCE 0 0 0 TRANGE DBGTBH R W Bit 15 Bit 14 Bit 13 DBGTBL R W Bit 7 Bit 6 it DBGCNT (2) R W 0 DBGSCR1 R W (2) (2) CDCM(2) ABCM TRCMOD TALIGN PREND(1) DSTAMP PDOE PROFILE STAMP Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 3 it 2 B 5 it 4 B B Bit 1 it B 0 CNT C3SC1 C3SC0 C2SC1(2) C2SC0(2) C1SC1 C1SC0 C0SC1 C0SC0 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 943 Appendix M Detailed Register Address Map M.4 Address 0x0100-0x017F S12ZDBG Name Bit 67 5 4 3 2 1 Bit 0 C3SC1 C3SC0 C2SC1(2) C2SC0(2) C1SC1 C1SC0 C0SC1 C0SC0 C3SC1 C3SC0 C2SC1(2) C2SC0(2) C1SC1 C1SC0 C0SC1 C0SC0 TRIGF 0 EEVF ME3 ME2(2) ME1 ME0 TBF(2) 0 0 PTACT(2) 0 SSF2 SSF1 SSF0 R W 0 0 0 0 0 0 0 0 DBGACTL R W 0 NDB INST RW RWE reserved COMPE 0x01110x0114 Reserved R W 0 0 0 0 0 0 0 0x0115 DBGAAH R W DBGAA[23:16] 0x0116 DBGAAM R W DBGAA[15:8] 0x0117 DBGAAL R W DBGAA[7:0] 0x0118 DBGAD0 R W Bit 31 30 29 28 27 26 25 Bit 24 0x0119 DBGAD1 R W Bit 23 22 21 20 19 18 17 Bit 16 0x011A DBGAD2 R W Bit 15 14 13 12 11 10 9 Bit 8 0x011B DBGAD3 R W Bit 67 5 4 3 2 1 Bit 0 0x011C DBGADM0 R W Bit 31 30 29 28 27 26 25 Bit 24 0x011D DBGADM1 R W Bit 23 22 21 20 19 18 17 Bit 16 0x011E DBGADM2 R W Bit 15 14 13 12 11 10 9 Bit 8 0x011F DBGADM3 R W Bit 67 5 4 3 2 1 Bit 0 0x0120 DBGBCTL R W 0 0 RW RWE reserved COMPE 0x0108 R DBGSCR2 W 0x0109 DBGSCR3 R W 0x010A DBGEFR 0x010B DBGSR R W 0x010C0x010F Reserved 0x0110 R PTBOVF(2) W INST 0 0 0 MC9S12ZVM Family Reference Manual Rev. 2.2 944 Freescale Semiconductor Appendix M Detailed Register Address Map M.4 Address 0x0100-0x017F S12ZDBG Name Bit 0 67 0 5 0 4 0 3 0 2 0 1 0 Bit 0 0 0 0 0 0 RW RWE reserved COMPE 0 0 0 0 0x01210x0124 Reserved R W 0x0125 DBGBAH R W DBGBA[23:16] 0x0126 DBGBAM R W DBGBA[15:8] 0x0127 DBGBAL R W DBGBA[7:0] 0x01280x012F Reserved R W 0 0x0130 DBGCCTL R (2) W 0 0x01310x0134 Reserved R W 0 0x0135 0x0136 0x0137 0x0138 0x0139 0x013A 0x013B 0 0 NDB INST 0 0 0 0 0 DBGCAH R W DBGCA[23:16] DBGCAM R W DBGCA[15:8] DBGCAL R W DBGCA[7:0] DBGCD0 R W Bit 31 30 29 28 27 26 25 Bit 24 DBGCD1 R W Bit 23 22 21 20 19 18 17 Bit 16 DBGCD2 R W Bit 15 14 13 12 11 10 9 Bit 8 DBGCD3 R W Bit 67 5 4 3 2 1 Bit 0 (2) (2) (2) (2) (2) (2) (2) 0x013C DBGCDM0 R (2) W Bit 31 30 29 28 27 26 25 Bit 24 0x013D DBGCDM1 R (2) W Bit 23 22 21 20 19 18 17 Bit 16 0x013E DBGCDM2 R (2) W Bit 15 14 13 12 11 10 9 Bit 8 0x013F DBGCDM3 R (2) W Bit 67 5 4 3 2 1 Bit 0 0x0140 DBGDCTL 0 0 RW RWE reserved COMPE R W INST 0 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 945 Appendix M Detailed Register Address Map M.4 Address 0x0100-0x017F S12ZDBG Name Bit 0 67 0 5 0 4 0 3 0 0x01410x0144 Reserved R W 0x0145 DBGDAH R W DBGDA[23:16] 0x0146 DBGDAM R W DBGDA[15:8] 0x0147 DBGDAL R W DBGDA[7:0] 0x01480x017F Reserved R W 0 0 0 0 0 2 0 1 0 Bit 0 0 0 0 0 1. Only included on S12ZVM256 2. Not included on S12ZVM32 or S12ZVM16 devices MC9S12ZVM Family Reference Manual Rev. 2.2 946 Freescale Semiconductor Appendix M Detailed Register Address Map M.5 0x0200-0x02FF PIM (See footnotes for part specific information) Global Address Register Name 0x0200 MODRR0 0x0201 MODRR1 0x0202 MODRR2 0x0203- 0x0207 Reserved 0x0208 ECLKCTL 0x0209 IRQCR 0x020A PIMMISC 0x020B- 0x020C Reserved 0x020D Reserved 0x020E Reserved 0x020F Reserved 0x0210- 0x025F Reserved 0x0260 PTE R Bit 67 0 0 W R W R 4 3 SPI0SSRR SPI0RR SCI1RR M0C0RR2-0(2) W R 5 T0C2RR1-0(4) 0 PWMPRR1-0(3) T0C1RR(4) RESERVED 2 1 Bit 0 S0L0RR2-0(1) PWM54RR PWM32RR PWM10RR T0IC3RR1-0 T0IC1RR (4) T0IC1RR0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W R W R W R NECLK IRQE IRQEN 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PTE1 PTE0 W R OCPE1 0 W R W R W R W R W R W MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 947 Appendix M Detailed Register Address Map Global Address Register Name 0x0261 Reserved 0x0262 PTIE 0x0263 Reserved 0x0264 DDRE 0x0265 Reserved 0x0266 PERE 0x0267 Reserved 0x0268 PPSE 0x0269- 0x027F Reserved 0x0280 PTADH 0x0281 PTADL 0x0282 PTIADH 0x0283 PTIADL R Bit 67 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PTIE1 PTIE0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 DDRE1 DDRE0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PERE1 PERE0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PPSE1 PPSE0 0 0 0 0 0 0 0 0 PTADH72 PTADH62 PTADH52 PTADH42 PTADH32 PTADH22 PTADH12 PTADH0 PTADL7 PTADL6 PTADL5 PTADL4 PTADL3 PTADL2 PTADL1 PTADL0 W R W R W R W R W R W R W R W R W R W R W R PTIADH72 PTIADH62 PTIADH52 PTIADH42 PTIADH32 PTIADH22 PTIADH1(2) PTIADH0 W R PTIADL7 PTIADL6 PTIADL5 PTIADL4 PTIADL3 PTIADL2 PTIADL1 PTIADL0 W MC9S12ZVM Family Reference Manual Rev. 2.2 948 Freescale Semiconductor Appendix M Detailed Register Address Map Global Address Register Name 0x0284 DDRADH 0x0285 DDRADL 0x0286 PERADH 0x0287 PERADL 0x0288 PPSADH 0x0289 PPSADL 0x028A- 0x028B Reserved 0x028C PIEADH 0x028D PIEADL 0x028E PIFADH 0x028F PIFADL 0x0290- 0x0297 Reserved 0x0298 DIENADH 0x0299 DIENADL Bit R W R W R W R W R W R W R 67 5 4 3 2 1 Bit 0 DDRADH72 DDRADH62 DDRADH52 DDRADH42 DDRADH32 DDRADH22 DDRADL12 DDRADH0 DDRADL7 DDRADL6 DDRADL5 DDRADL4 DDRADL3 DDRADL2 DDRADL1 DDRADL0 PERADH72 PERADH62 PERADH52 PERADH42 PERADH32 PERADH22 PERADH12 PERADH0 PERADL7 PERADL6 PERADL5 PERADL4 PERADL3 PERADL2 PERADL1 PERADL0 PPSADH72 PPSADH62 PPSADH52 PPSADH42 PPSADH32 PPSADH22 PPSADH12 PPSADH0 PPSADL7 PPSADL6 PPSADL5 PPSADL4 PPSADL3 PPSADL2 PPSADL1 PPSADL0 0 0 0 0 0 0 0 0 W R W R W R W R W R PIEADH72 PIEADH62 PIEADH52 PIEADH42 PIEADH32 PIEADH22 PIEADH12 PIEADH0 PIEADL7 PIEADL6 PIEADL5 PIEADL4 PIEADL3 PIEADL2 PIEADL1 PIEADL0 PIFADH72 PIFADH62 PIFADH52 PIFADH42 PIFADH32 PIFADH22 PIFADH12 PIFADH0 PIFADL7 PIFADL6 PIFADL5 PIFADL4 PIFADL3 PIFADL2 PIFADL1 PIFADL0 0 0 0 0 0 0 0 0 W R W R W DIENADH72 DIENADH62 DIENADH52 DIENADH42 DIENADH32 DIENADH22 DIENADH12 DIENADH0 DIENADL7 DIENADL6 DIENADL5 DIENADL4 DIENADL3 DIENADL2 DIENADL1 DIENADL0 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 949 Appendix M Detailed Register Address Map Global Address Register Name 0x029A- 0x02BF Reserved 0x02C0 PTT 0x02C1 PTIT 0x02C2 DDRT 0x02C3 PERT 0x02C4 PPST 0x02C5- 0x02CF Reserved 0x02D0 PTS 0x02D1 PTIS 0x02D2 DDRS 0x02D3 PERS 0x02D4 PPSS 0x02D5 Reserved R Bit 67 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 0 0 0 0 0 PTT3 PTT2 PTT1 PTT0 0 0 0 0 PTIT3 PTIT2 PTIT1 PTIT0 0 0 0 0 DDRT3 DDRT2 DDRT1 DDRT0 0 0 0 0 PERT3 PERT2 PERT1 PERT0 0 0 0 0 PPST3 PPST2 PPST1 PPST0 0 0 0 0 0 0 0 0 0 0 PTS5(5) PTS4(5) PTS3 PTS2 PTS1 PTS0 0 0 PTIS5(5) PTIS4(5) PTIS3 PTIS2 PTIS1 PTIS0 0 0 DDRS5(5) DDRS4(5) DDRS3 DDRS2 DDRS1 DDRS0 0 0 PERS5(5) PERS4(5) PERS3 PERS2 PERS1 PERS0 0 0 PPSS5(5) PPSS4(5) PPSS3 PPSS2 PPSS1 PPSS0 0 0 0 0 0 0 0 0 W R W R W R W R W R W R W R W R W R W R W R W R W MC9S12ZVM Family Reference Manual Rev. 2.2 950 Freescale Semiconductor Appendix M Detailed Register Address Map Global Address Register Name 0x02D6 PIES 0x02D7 PIFS 0x02D8- 0x02DE Reserved 0x02DF WOMS 0x02E0- 0x02EF Reserved 0x02F0 PTP 0x02F1 PTIP 0x02F2 DDRP 0x02F3 PERP 0x02F4 PPSP 0x02F5 Reserved 0x02F6 PIEP 0x02F7 PIFP R Bit 67 5 4 3 2 1 Bit 0 0 0 PIES5(5) PIES4(5) PIES3 PIES2 PIES1 PIES0 0 0 PIFS5(5) PIFS4(5) PIFS3 PIFS2 PIFS1 PIFS0 0 0 0 0 0 0 0 0 0 0 WOMS3 WOMS2 WOMS1 WOMS0 0 0 0 0 0 0 0 0 0 0 0 0 0 PTP2(5) PTP1 PTP0 0 0 0 0 0 PTIP2(5) PTIP1 PTIP0 0 0 0 0 0 DDRP2(5) DDRP1 DDRP0 0 0 0 0 0 PERP2(5) PERP1 PERP0 0 0 0 0 0 PPSP2(5) PPSP1 PPSP0 0 0 0 0 0 0 0 0 0 0 0 0 PIEP2(5) PIEP1 PIEP0 0 0 0 0 PIFP2(5) PIFP1 PIFP0 W R W R W R W R WOMS5(5) WOMS4(5) W R W R W R W R W R W R W R W R W OCIE1 OCIF1 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 951 Appendix M Detailed Register Address Map Global Address Register Name 0x02F8- 0x02FC Reserved 0x02FD RDRP 0x02FE- 0x0330 Reserved 0x0331 PTIL2 0x0332 Reserved 0x0333 PTPSL2 0x0334 PPSL2 0x0335 Reserved 0x0336 PIEL2 0x0337 PIFL2 R Bit 67 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PTIL0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W R W R RDRP0 W R W R W R W R W R PTPSL0 PPSL0 0 W R W R W PIEL0 PIFL0 MC9S12ZVM Family Reference Manual Rev. 2.2 952 Freescale Semiconductor Appendix M Detailed Register Address Map Global Address Register Name 0x0338- 0x0339 Reserved 0x033A PTABYPL2 0x033B PTADIRL2 0x033C DIENL2 0x033D PTAENL2 0x033E PIRL2 0x033F PTTEL2 R Bit 67 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 W R W R W R W R W R W R W PTABYPL0 PTADIRL0 DIENL0 PTAENL0 PIRL0 PTTEL0 1. Only available for ZVML128, ZVML64, ZVML32, and ZVML31 2. Only available for ZVMC256 3. PWMPRR[1] only writable for ZVMC256 4. Only available for ZVMC256, ZVML31, ZVM32, ZVM16 5. Not available for ZVMC256 M.6 0x0380-0x039F FTMRZ128K512 Address Name 0x0380 FCLKDIV R W 0x0381 FSEC R W 0x0382 FCCOBIX 0x0383 FPSTAT 7 FDIVLD 6 5 4 3 2 1 0 FDIVLCK FDIV5 FDIV4 FDIV3 FDIV2 FDIV1 FDIV0 KEYEN1 KEYEN0 RNV5 RNV4 RNV3 RNV2 SEC1 SEC0 R W 0 0 0 0 0 R FPOVRD 0 0 0 0 0 ERSAREQ CCOBIX2 CCOBIX1 CCOBIX0 0 0 WSTAT ACK FDFD FSFD W 0x0384 FCNFG R W CCIE IGNSF WSTAT[1:0] MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 953 Appendix M Detailed Register Address Map M.6 Address 0x0380-0x039F FTMRZ128K512 (continued) Name 7 0 6 0 5 0 4 0 3 0 2 0 ACCERR FPVIOL MGBUSY RSVD 0 0 0 0 FPHDIS FPHS1 FPHS0 0x0385 FERCNFG R W 0x0386 FSTAT R W 0x0387 FERSTAT R W 0x0388 FPROT R FPOPEN W RNV6 0x0389 DFPROT R DPOPEN W 0 0 0 0x038A FOPT R W NV7 NV6 NV5 0x038B FRSV1 R W 0 0 0x038C FCCOB0HI R W CCOB15 0x038D FCCOB0LO R W 0x038E FCCOB1HI 0x038F CCIF 0 0 0 1 0 0 SFDIE MGSTAT1 MGSTAT0 DFDF SFDIF FPLDIS FPLS1 FPLS0 DPS3 DPS2 DPS1 DPS0 NV4 NV3 NV2 NV1 NV0 0 0 0 0 0 0 CCOB14 CCOB13 CCOB12 CCOB11 CCOB10 CCOB9 CCOB8 CCOB7 CCOB6 CCOB5 CCOB4 CCOB3 CCOB2 CCOB1 CCOB0 R W CCOB15 CCOB14 CCOB13 CCOB12 CCOB11 CCOB10 CCOB9 CCOB8 FCCOB1LO R W CCOB7 CCOB6 CCOB5 CCOB4 CCOB3 CCOB2 CCOB1 CCOB0 0x0390 FCCOB2HI R W CCOB15 CCOB14 CCOB13 CCOB12 CCOB11 CCOB10 CCOB9 CCOB8 0x0391 FCCOB2LO R W CCOB7 CCOB6 CCOB5 CCOB4 CCOB3 CCOB2 CCOB1 CCOB0 0x0392 FCCOB3HI R W CCOB15 CCOB14 CCOB13 CCOB12 CCOB11 CCOB10 CCOB9 CCOB8 0x0393 FCCOB3LO R W CCOB7 CCOB6 CCOB5 CCOB4 CCOB3 CCOB2 CCOB1 CCOB0 0x0394 FCCOB4HI R W CCOB15 CCOB14 CCOB13 CCOB12 CCOB11 CCOB10 CCOB9 CCOB8 0x0395 FCCOB4LO R W CCOB7 CCOB6 CCOB5 CCOB4 CCOB3 CCOB2 CCOB1 CCOB0 MC9S12ZVM Family Reference Manual Rev. 2.2 954 Freescale Semiconductor Appendix M Detailed Register Address Map M.6 Address 0x0380-0x039F FTMRZ128K512 (continued) Name 7 6 5 4 3 2 1 0 CCOB15 CCOB14 CCOB13 CCOB12 CCOB11 CCOB10 CCOB9 CCOB8 CCOB7 CCOB6 CCOB5 CCOB4 CCOB3 CCOB2 CCOB1 CCOB0 0x0396 FCCOB5HI R W 0x0397 FCCOB5LO R W M.7 0x03C0-0x03CF SRAM_ECC_32D7P Address ameN Bit 7 6 5 4 3 2 1 Bit 0 RDY 0x03C0 ECCSTAT R W 0 0 0 0 0 0 0 0x03C1 ECCIE R W 0 0 0 0 0 0 0 0x03C2 ECCIF R W 0 0 0 0 0 0 0 0x03C3 0x03C6 Reserved R W 0 0 0 0 0 0 0 ECCDPTRH R W DPTR[23:16] 0x03C8 ECCDPTRM R W DPTR[15:8] 0x03C9 ECCDPTRL R W 0x03CA 0x03CB Reserved R W 0x03CC ECCDDH R W DDATA[15:8] 0x03CD ECCDDL R W DDATA[7:0] 0x03CE ECCDE R W 0x03C7 0x03CF ECCDCMD 0 0 0 0 0 0 R ECCDRR W 0 SBEEIF 0 0 DPTR[7:1] 0 SBEEIE 0 0 0 ECCDW ECCDR DECC[5:0] 0 0 0 0 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 955 Appendix M Detailed Register Address Map M.8 0x0400-0x042F TIM1 Address Name 0x0400 TIM1TIOS 0x0401 1 Bit 0 R W IOS1 IOS0 TIM1CFORC R W 0 FOC1 0 FOC0 0x0402 Reserved R W 0x0403 Reserved R W 0x0404 TIM1TCNTH R W TCNT15 TCNT14 TCNT13 TCNT12 TCNT11 TCNT10 TCNT9 TCNT8 0x0405 TIM1TCNTL R W TCNT7 TCNT6 TCNT5 TCNT4 TCNT3 TCNT2 TCNT1 TCNT0 0x0406 TIM1TSCR1 R W TEN TSWAI TSFRZ TFFCA PRNT 0 0 0 0x0407 TIM1TTOV R W TOV1 TOV0 0x0408 TIM1TCTL1 R W 0x0409 TIM1TCTL2 R W 0x040A TIM1TCTL3 R W 0x040B TIM1TCTL4 R W 0x040C TIM1TIE R W 0x040D TIM1TSCR2 R W 0x040E TIM1TFLG1 R W 0x040F TIM1TFLG2 R W TOF 0H R W TIM1TC0L R W 0x0410 TIM1TC 0x0411 Bit 7 6 0 TOI 5 0 4 3 2 OM1 OL1 OM0 OL0 EDG1B EDG1A EDG0B EDG0A C1I C0I PR1 PR0 C1F C0F 0 PR2 0 0 0 0 0 0 0 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 MC9S12ZVM Family Reference Manual Rev. 2.2 956 Freescale Semiconductor Appendix M Detailed Register Address Map Address Name Bit 7 6 5 4 3 2 1 Bit 0 1H R W Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 0x0413 TIM1TC1L R W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x0414- 0x042B Reserved R W 0x042C TIM1OCPD R W OCPD1 OCPD0 0x042D Reserved R W 0x042E TIM1PTPSR R W 0x042F Reserved R W 0x0412 TIM1TC M.9 Address PTPS7 PTPS6 PTPS5 PTPS4 PTPS3 PTPS2 PTPS1 PTPS0 0x0480-0x04AF PWM0 ameN 0x0480 PWME 0x0481 PWMPOL 0x0482 PWMCLK 0x0483 PWMPRCLK 0x0484 PWMCAE 0x0485 PWMCTL 0x0486 PWMCLKAB 0x0487 RESERVED 0x0488 PWMSCLA R W R W R W R Bit 7 6 5 4 3 2 1 Bit 0 PWME7 PWME6 PWME5 PWME4 PWME3 PWME2 PWME1 PWME0 PPOL7 PPOL6 PPOL5 PPOL4 PPOL3 PPOL2 PPOL1 PPOL0 PCLK7 PCLKL6 PCLK5 PCLK4 PCLK3 PCLK2 PCLK1 PCLK0 PCKB2 PCKB1 PCKB0 PCKA2 PCKA1 PCKA0 CAE7 CAE6 CAE5 CAE4 CAE3 CAE2 CAE1 CAE0 CON67 CON45 CON23 CON01 PSWAI PFRZ 0 0 0 W R W R W R W R 0 PCLKAB7 PCLKAB6 PCLKAB5 PCLKAB4 PCLKAB3 PCLKAB2 PCLKAB1 PCLKAB0 0 0 0 0 0 0 0 0 Bit 7 6 5 4 3 2 1 Bit 0 W R W MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 957 Appendix M Detailed Register Address Map M.9 Address 0x0480-0x04AF PWM0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 R 0x048A RESERVED 0x048B W 0 0 0 0 0 0 0 0 0x0489 ameN PWMSCLB 0x048C PWMCNT0 0x048D PWMCNT1 0x048E PWMCNT2 0x048F PWMCNT3 0x0490 PWMCNT4 0x0491 PWMCNT5 0x0492 PWMCNT6 0x0493 PWMCNT7 0x0494 PWMPER0 0x0495 PWMPER1 0x0496 PWMPER2 0x0497 PWMPER3 0x0498 PWMPER4 0x0499 PWMPER5 0x049A PWMPER6 R W R Bit 7 65 4 W 0 0 0 0 R Bit 7 65 4 W 0 0 0 0 R Bit 7 65 4 W 0 0 0 0 R Bit 7 65 4 W 0 0 0 0 R Bit 7 65 4 W 0 0 0 0 32 0 0 1 it 0 0 32 0 0 1 it 0 0 32 0 0 32 0 0 32 0 0 R Bit 7 65 4 0 0 0 0 R Bit 7 65 4 W 0 0 0 0 R Bit 7 65 4 W 0 0 0 0 0 0 0 0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 R W R W R W R W R W R W R W 32 0 1 it 0 0 32 0 0 32 B 0 1 it 0 MC9S12ZVM Family Reference Manual Rev. 2.2 958 B 0 1 it 0 0 B 0 W 0 B 0 1 it 0 0 B 0 1 it 0 0 B 0 1 it 0 0 B 0 Freescale Semiconductor B Appendix M Detailed Register Address Map M.9 Address 0x0480-0x04AF PWM0 ameN 0x049B PWMPER7 0x049C PWMDTY0 0x049D PWMDTY1 0x049E PWMDTY2 0x049F PWMDTY32 0x04A0 PWMDTY42 0x04A1 PWMDTY52 0x04A2 PWMDTY62 0x04A3 PWMDTY72 R W R W R W R W R W R W R W R W R W R 0x04A4 RESERVED 0x04AF W Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 Bit 7 6 5 4 3 2 1 Bit 0 0 0 0 0 0 0 0 0 M.10 0x0500-x053F PMF15B6C Address ameN 0x0500 PMFCFG0 0x0501 PMFCFG1 0x0502 PMFCFG2 0x0503 PMFCFG3 0x0504 PMFFEN 0x0505 PMFFMOD R W R Bit 7 6 5 4 3 2 1 Bit 0 WP MTG EDGEC EDGEB EDGEA INDEPC INDEPB INDEPA 0 ENCE W R W R W R REV1 REV0 PMFWAI PMFFRZ 0 W R W 0 FEN5 FMOD5 BOTNEGC TOPNEGC BOTNEGB TOPNEGB BOTNEGA TOPNEGA MSK5 0 0 0 MSK4 MSK3 VLMODE MSK2 MSK1 MSK0 PINVC PINVB PINVA FEN4 FEN3 FEN2 FEN1 FEN0 FMOD4 FMOD3 FMOD2 FMOD1 FMOD0 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 959 Appendix M Detailed Register Address Map M.10 0x0500-x053F PMF15B6C Address ameN 0x0506 PMFFIE 0x0507 PMFFIF 0x0508 PMFQSMP0 0x0509 PMFQSMP1 0x050A0x050B Reserved 0x050C PMFOUTC 0x050D PMFOUTB 0x050E PMFDTMS 0x050F PMFCCTL 0x0510 PMFVAL0 0x0511 PMFVAL0 0x0512 PMFVAL1 0x0513 PMFVAL1 0x0514 PMFVAL2 0x0515 PMFVAL2 0x0516 PMFVAL3 0x0517 PMFVAL3 Bit 7 R 0 W R 0 W R 6 FIE5 FIF5 0 0 5 0 0 4 3 2 1 Bit 0 FIE4 FIE3 FIE2 FIE1 FIE0 FIF4 FIF3 FIF2 FIF1 FIF0 0 0 W R QSMP3 W R QSMP2 0 0 0 0 0 0 0 0 0 0 0 0 QSMP5 QSMP4 QSMP1 QSMP0 0 0 0 0 W R W R W R OUTCTL5 OUTCTL4 OUTCTL3 OUTCTL2 OUTCTL1 OUTCTL0 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0 DT5 DT4 DT3 DT2 DT1 DT0 IPOLC IPOLB IPOLA W R W R W R W R W R W R W R W R W R W 0 ISENS PMFVAL0 PMFVAL0 PMFVAL1 PMFVAL1 PMFVAL2 PMFVAL2 PMFVAL3 PMFVAL3 MC9S12ZVM Family Reference Manual Rev. 2.2 960 Freescale Semiconductor Appendix M Detailed Register Address Map M.10 0x0500-x053F PMF15B6C Address ameN 0x0518 PMFVAL4 0x0519 PMFVAL4 0x051A PMFVAL5 0x051B PMFVAL5 0x051C PMFROIE 0x051D PMFROIF 0x051E PMFICCTL 0x051F PMFCINV 0x0520 PMFENCA 0x0521 PMFFQCA 0x0522 PMFCNTA 0x0523 PMFCNTA 0x0524 PMFMODA 0x0525 PMFMODA 0x0526 PMFDTMA 0x0527 PMFDTMA 0x0528 PMFENCB Bit 7 6 5 4 R R R R PMFVAL5 W 0 0 0 0 0 PMFROIE PMFROIE PMFROIE C B A 0 0 0 0 0 PMFROIF PMFROIF PMFROIF C B A 0 0 PECC PECB PECA ICCC ICCB ICCA 0 0 CINV5 CINV4 CINV3 CINV2 CINV1 CINV0 PWMENA GLDOKA 0 0 0 RSTRTA LDOKA PWMRIEA W W W R W R W R LDFQA W R Bit 0 PMFVAL5 W R 1 PMFVAL4 W R 2 PMFVAL4 W R 3 HALFA 0 PRSCA PWMRFA PMFCNTA W R PMFCNTA W R 0 PMFMODA W R PMFMODA W R 0 0 0 0 PMFDTMA W R PMFDTMA W R W PWMENB GLDOKB 0 0 0 RSTRTB LDOKB PWMRIEB MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 961 Appendix M Detailed Register Address Map M.10 0x0500-x053F PMF15B6C Address ameN 0x0529 PMFFQCB 0x052A PMFCNTB 0x052B PMFCNTB 0x052C PMFMODB 0x052D PMFMODB 0x052E PMFDTMB 0x052F PMFDTMB 0x0530 PMFENCC 0x0531 PMFFQCC 0x0532 PMFCNTC 0x0533 PMFCNTC 0x0534 PMFMODC 0x0535 PMFMODC 0x0536 PMFDTMC 0x0537 PMFDTMC 0x0538 PMFDMP0 0x0539 PMFDMP1 Bit 7 6 R 4 LDFQB W R 5 3 HALFB 0 2 1 PRSCB Bit 0 PWMRFB PMFCNTB W R PMFCNTB W R 0 PMFMODB W R PMFMODB W R 0 0 0 0 PMFDTMB W R PMFDTMB W R W PWMENC GLDOKC R 0 LDFQC W R 0 0 HALFC 0 RSTRTC LDOKC PRSCC PWMRIEC PWMRFC PMFCNTC W R PMFCNTC W R 0 PMFMODC W R PMFMODC W R 0 0 0 0 PMFDTMC W R PMFDTMC W R W R W DMP05 DMP04 DMP03 DMP02 DMP01 DMP00 DMP15 DMP14 DMP13 DMP12 DMP11 DMP10 MC9S12ZVM Family Reference Manual Rev. 2.2 962 Freescale Semiconductor Appendix M Detailed Register Address Map M.10 0x0500-x053F PMF15B6C Address ameN 0x053A PMFDMP2 0x053B PMFDMP3 0x053C PMFDMP4 0x053D PMFDMP5 0x053E PMFOUTF 0x053F Reserved Bit 7 R W R W R W R W R 6 4 3 2 1 Bit 0 DMP25 DMP24 DMP23 DMP22 DMP21 DMP20 DMP35 DMP34 DMP33 DMP32 DMP31 DMP30 DMP45 DMP44 DMP43 DMP42 DMP41 DMP40 DMP55 DMP54 DMP53 DMP52 DMP51 DMP50 0 0 0 0 W R 5 OUTF5 OUTF4 OUTF3 OUTF2 OUTF1 OUTF0 0 0 0 0 0 0 5 4 3 2 1 Bit 0 0 0 0 0 TG1EN TG0EN W M.11 0x0580-0x059F PTU Address ameN Bit 7 6 0x0580 PTUE R W 0 0x0581 PTUC R W 0 0 0 0 0 0 0 0x0582 PTUIEH R W 0 0 0 0 0 0 0 0x0583 PTUIEL R TG1AEIE W TG1REIE TG1TEIE TG1DIE TG0AEIE TG0REIE TG0TEIE 0x0584 PTUIFH R W 0 0 0 0 0 0x0585 PTUIFL R TG1AEIF W TG1REIF TG1TEIF TG1DIF TG0AEIF TG0REIF TG0TEIF 0x0586 TG0LIST R W 0 0 0 0 0 0 0 0x0587 TG0TNUM R W 0 0 0 0x0588 TG0TVH R W PTUFRZ 0 PTULDOK PTUROIE TG0DIE PTUDEEF PTUROIF TG0DIF TG0LIST TG0TNUM[4:0] TG0TV[15:8] MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 963 Appendix M Detailed Register Address Map M.11 0x0580-0x059F PTU Address ameN Bit 7 6 5 4 3 TG0TV[7:0] 2 1 0 0 0 0x0589 TG0TVL R W 0x058A TG1LIST R W 0 0 0 0x058B TG1TNUM R W 0 0 0 0x058C TG1TVH R W TG1TV[15:8] 0x058D TG1TVL R W TG1TV[7:0] 0x058E PTUCNTH R W PTUCNT[15:8] 0x058F PTUCNTL R W PTUCNT[7:0] 0x0590 Reserved R W 0x0591 PTUPTRH R W PTUPTR[23:16] 0x0592 PTUPTRM R W PTUPTR[15:8] 0x0593 PTUPTRL R W 0x0594 TG0L0IDX R W 0 0x0595 TG0L1IDX R W 0 0x0596 TG1L0IDX R W 0 0x0597 TG1L1IDX R W 0 0x0598 0x059E Reserved R W 0 0x059F PTUDEBUG R W 0 0 0 0 0 0 TG1LIST TG1TNUM4:0] 0 0 0 0 0 0 0 PTUPTR[7:1] 0 Bit 0 0 0 0 0 0 0 0 0 0 0 PTUFRE 0 TG1FTE 0 TG0FTE TG0L1IDX[6:0] TG1L0IDX[6:0] TG1L1IDX[6:0] 0 0 0 PTUREPE PTUT1PE PTUT0PE MC9S12ZVM Family Reference Manual Rev. 2.2 964 Freescale Semiconductor Appendix M Detailed Register Address Map M.12 0x05C0-0x05FF TIM0 Address Name Bit 7 0x05C0 TIM0TIOS R W 0x05C1 TIM0CFORC R W 0x05C2 Reserved R W 0x05C3 Reserved R W 0x05C4 TIM0TCNTH 0x05C5 6 5 4 3 2 1 Bit 0 IOS3 IOS2 IOS1 IOS0 0 0 0 0 0 FOC3 0 FOC2 0 FOC1 0 FOC0 R W TCNT15 TCNT14 TCNT13 TCNT12 TCNT11 TCNT10 TCNT9 TCNT8 TIM0TCNTL R W TCNT7 TCNT6 TCNT5 TCNT4 TCNT3 TCNT2 TCNT1 TCNT0 0x05C6 TIM0TSCR1 R W TEN TSWAI TSFRZ TFFCA PRNT 0 0 0 0x05C7 TIM0TTOV R W TOV3 TOV2 TOV1 TOV0 0x05C8 TIM0TCTL1 R W 0x05C9 TIM0TCTL2 R W 0x05CA TIM0TCTL3 R W 0x05CB TIM0TCTL4 R W 0x05CC TIM0TIE R W 0x05CD TIM0TSCR2 R W 0x05CE TIM0TFLG1 R W 0x05CF TIM0TFLG2 R W TOF 0H R W TIM0TC0L R W 0x05D0 TIM0TC 0x05D1 OM3 OL3 OM2 OL2 OM1 OL1 OM0 OL0 EDG3B EDG3A EDG2B EDG2A EDG1B EDG1A EDG0B EDG0A C3I C2I C1I C0I PR2 PR1 PR0 C3F C2F C1F C0F 0 TOI 0 0 0 0 0 0 0 0 0 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 965 Appendix M Detailed Register Address Map M.12 0x05C0-0x05FF TIM0 Address Name Bit 7 6 5 4 3 2 1 Bit 0 1H R W Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 TIM0TC1L R W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 2H R W Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 0x05D5 TIM0TC2L R W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x05D6 TIM0TC3H R W Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 0x05D7 TIM0TC3L R W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x05D8- 0x05DF Reserved R W 0x05E0 Reserved R W 0x05E1 Reserved R W 0x05E2 Reserved R W 0x05E3 Reserved R W 0x05E4- 0x05EB Reserved R W 0x05EC TIM0OCPD R W OCPD3 OCPD2 OCPD1 OCPD0 0x05ED Reserved R W 0x05EE TIM0PTPSR R W PTPS3 PTPS2 PTPS1 PTPS0 0x05EF Reserved R W 0x05D2 TIM0TC 0x05D3 0x05D4 TIM0TC PTPS7 PTPS6 PTPS5 PTPS4 MC9S12ZVM Family Reference Manual Rev. 2.2 966 Freescale Semiconductor Appendix M Detailed Register Address Map M.13 0x0600-0x063F ADC0 Address Name 0x0600 ADC0CTL_0 0x0601 ADC0CTL_1 0x0602 ADC0STS 0x0603 ADC0TIM 0x0604 ADC0FMT 0x0605 ADC0FLWCTL 0x0606 ADC0EIE 0x0607 ADC0IE 0x0608 ADC0EiF 0x0609 ADC0IF 0x060A ADC0CONIE_0 0x060B ADC0CONIE_1 0x060C ADC0CONIF_0 0x060D ADC0CONIF_1 0x060E ADC0IMDRI_0 Bit 7 6 5 4 3 2 R ADC_EN ADC_SR FRZ_MOD SWAI ACC_CFG[1:0] W R CSL_BMO RVL_BMO SMOD_A AUT_RST 0 0 D D CC A W DBECC_E R Reserved READY 0 RR CSL_SEL RVL_SEL W R 0 PRS[6:0] W R 0 0 0 0 DJM W R 0 0 SEQA TRIG RSTA LDOK W R RSTAR_EI IA_EIE CMD_EIE EOL_EIE Reserved TRIG_EIE E W R SEQAD_I CONIF_OI 0 0 0 Reserved E E W R RSTAR_EI IA_EIF CMD_EIF EOL_EIF Reserved TRIG_EIF F W R SEQAD_I CONIF_OI 0 0 0 Reserved F F W R CON_IE[15:8] W R CON_IE[7:1] W R CON_IF[15:8] W R CON_IF[7:1] W R CSL_IMD RVL_IMD 0 0 0 0 R 0 0 W R CSL_EOL RVL_EOL ADC0EOLRI W R 0 0 Reserved W R 0 0 Reserved W R Reserved W R ADC0CMD_0 CMD_SEL W R ADC0CMD_1 VRH_SEL VRL_SEL W R ADC0CMD_2 W 0x0611 0x0612 0x0613 0x0614 0x0615 0x0616 0 0 SRES[2:0] 0 LDOK_EIE 0 LDOK_EIF 0 0 0 0 0 0 EOL_IE EOL_IF 0 0 RIDX_IMD 0x060F ADC0IMDRI_1 0x0610 1 Bit 0 STR_SEQ MOD_CF A G 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reserved 0 0 INTFLG_SEL[3:0] CH_SEL[5:0] SMP[4:0] 0 0 Reserved MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 967 Appendix M Detailed Register Address Map M.13 0x0600-0x063F ADC0 Address 0x0617 0x0618 0x0619 0x061A 0x061B 0x061C 0x061D 0x061E 0x061F 0x0620 0x0621 0x0622 0x0623 0x0624 0x0625 0x0626 0x0627 0x0628 0x0629 0x062A0x063F Name Bit 7 R Reserved ADC0CMD_3 W R Reserved W R Reserved W R Reserved W R Reserved W R 0 ADC0CIDX W R ADC0CBP_0 W R ADC0CBP_1 W R ADC0CBP_2 W R 0 ADC0RIDX W R 0 ADC0RBP_0 W R ADC0RBP_1 W R ADC0RBP_2 W R 0 ADC0CROFF0 W R 0 ADC0CROFF1 W R 0 Reserved W R Reserved W R Reserved W R Reserved Reserved W R 0 Reserved W 6 Reserved 5 4 3 2 1 Bit 0 0 0 Reserved Reserved Reserved Reserved Reserved 0 CMD_IDX[5:0] CMD_PTR[23:16] CMD_PTR[15:8] CMD_PTR[7:2] 0 0 RES_IDX[5:0] 0 0 RES_PTR[19:16] RES_PTR[15:8] RES_PTR[7:2] 0 0 0 0 0 0 CMDRES_OFF0[6:0] CMDRES_OFF1[6:0] 0 0 0 Reserved Reserved Reserved 0 0 Reserved 0 0 0 0 MC9S12ZVM Family Reference Manual Rev. 2.2 968 Freescale Semiconductor Appendix M Detailed Register Address Map M.14 0x0640-0x067F ADC1 Address Name 0x0640 ADC1CTL_0 0x0641 ADC1CTL_1 0x0642 ADC1STS 0x0643 ADC1TIM 0x0644 ADC1FMT 0x0645 ADC1FLWCTL 0x0646 ADC1EIE 0x0647 ADC1IE 0x0648 ADC1EiF 0x0649 ADC1IF 0x064A ADC1CONIE_0 0x064B ADC1CONIE_1 0x064C ADC1CONIF_0 0x064D ADC1CONIF_1 0x064E ADC1IMDRI_0 Bit 7 6 5 4 3 2 R ADC_EN ADC_SR FRZ_MOD SWAI ACC_CFG[1:0] W R CSL_BMO RVL_BMO SMOD_A AUT_RST 0 0 D D CC A W DBECC_E R Reserved READY 0 RR CSL_SEL RVL_SEL W R 0 PRS[6:0] W R 0 0 0 0 DJM W R 0 0 SEQA TRIG RSTA LDOK W R RSTAR_EI IA_EIE CMD_EIE EOL_EIE Reserved TRIG_EIE E W R SEQAD_I CONIF_OI 0 0 0 Reserved E E W R RSTAR_EI IA_EIF CMD_EIF EOL_EIF Reserved TRIG_EIF F W R SEQAD_I CONIF_OI 0 0 0 Reserved F F W R CON_IE[15:8] W R CON_IE[7:1] W R CON_IF[15:8] W R CON_IF[7:1] W R CSL_IMD RVL_IMD 0 0 0 0 R 0 0 W R CSL_EOL RVL_EOL ADC1EOLRI W R 0 0 Reserved W R 0 0 Reserved W R 0 0 Reserved W R ADC1CMD_0 CMD_SEL W R ADC1CMD_1 VRH_SEL VRL_SEL W R ADC1CMD_2 W 0x0651 0x0652 0x0653 0x0654 0x0655 0x0656 0 0 SRES[2:0] 0 LDOK_EIE 0 LDOK_EIF 0 0 0 0 0 0 EOL_IE EOL_IF 0 0 RIDX_IMD 0x064F ADC1IMDRI_1 0x0650 1 Bit 0 STR_SEQ MOD_CF A G 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 INTFLG_SEL[3:0] CH_SEL[5:0] SMP[4:0] 0 0 Reserved MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 969 Appendix M Detailed Register Address Map M.14 0x0640-0x067F ADC1 Address 0x0657 0x0658 0x0659 0x065A 0x065B 0x065C 0x065D 0x065E 0x065F 0x0660 0x0661 0x0662 0x0663 0x0664 0x0665 0x0666 0x0667 0x0668 0x0669 0x066A0x067F Name Bit 7 R Reserved ADC1CMD_3 W R Reserved W R Reserved W R Reserved W R Reserved W R 0 ADC1CIDX W R ADC1CBP_0 W R ADC1CBP_1 W R ADC1CBP_2 W R 0 ADC1RIDX W R 0 ADC1RBP_0 W R ADC1RBP_1 W R ADC1RBP_2 W R 0 ADC1CROFF0 W R 0 ADC1CROFF1 W R 0 Reserved W R Reserved W R Reserved W R Reserved Reserved W R 0 Reserved W 6 Reserved 5 Reserved 4 Reserved 3 Reserved 2 Reserved 1 Reserved Bit 0 Reserved 0 0 Reserved Reserved Reserved Reserved 0 CMD_IDX[5:0] CMD_PTR[23:16] CMD_PTR[15:8] CMD_PTR[7:2] 0 0 RES_IDX[5:0] 0 0 RES_PTR[19:16] RES_PTR[15:8] RES_PTR[7:2] 0 0 0 0 0 0 CMDRES_OFF0[6:0] CMDRES_OFF1[6:0] 0 0 0 Reserved Reserved Reserved 0 0 Reserved 0 0 0 0 MC9S12ZVM Family Reference Manual Rev. 2.2 970 Freescale Semiconductor Appendix M Detailed Register Address Map M.15 0x06A0-0x06BF GDU Address ame N Bit 7 6 0x06A0 GDUE R W GWP 0x06A1 GDUCTR 0x06A2 GDUIE R W 0 0x06A3 GDUDSE R W 0 0x06A4 GDUSTAT R W 0x06A5 GDUSRC R W 0x06A6 GDUF R W 0x06A7 GDUCLK1 R W 0 0x06A8 GDUBCL R W 0 0 0 0 0x06A9 GDUPHMUX R W 0 0 0 0 0x06AA GDUCSO R W 0 0x06AB GDUDSLVL(1) 0x06AC GDUPHL R W 0 0 0 0 0x06AD GDUCLK2 R W 0 0 0 0 0x06AE GDUOC0 GOCA0 GOCE0 0x06AF GDUOC1 R W GOCA1 GOCE1 0x06B0 GDUCTR1 R W 0 5 4 3 2 1 EPRES(1) GCS1E GBOE GCS0E GCPE R GVLSLVL GHHDLVL (2) W 0 R 0 GOCIE[1:0] GPHS[2:0] 0 GSUF GHHDF GDSEIE GHHDIE GLVLSF GHHDS 0 GOCIF[1:0] 0 GSRMOD[1:0](5) GHHDIF GLVLSIF GBCL[3:0] 0 0 GPHMX[1:0] GCSO0[2:0] GDSFLS (2) GDSLLS[2:0] 0 GPHL[2:0] GCPCD[3:0] 0 GOCT0[4:0](3) 0 0 GLVLSS GBODC[1:0] 0 GDSLHS[2:0] GLVLSIE GSRCLS[2:0] GBOCD[4:0] GCSO1[2:0] GFDE GDLSIF[2:0] GOCS[1:0] GSRCHS[2:0] 0 GBKTIM1[1:0] 0 GDHSIF[2:0] R GDSFHS (2) W W GBKTIM2[3:0] Bit GOCT1[4:0](4) 0 0 0 0 0 MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 971 Appendix M Detailed Register Address Map M.15 0x06A0-0x06BF GDU Address 0x06B10x06BF ame Reserved N Bit 7 6 5 4 3 2 1 Bit R W 1. Only on GDU V4 2. Not available on GDUV4 3. On GDUV4 only GOCT0[3:0] available 4. On GDUV4 only GOCT1[3:0] available 5. Not available on GDUV4 and V5 M.16 0x06C0-0x06DF CPMU Address Name Bit 67 5 4 3 2 1 Bit 0 0x06C0 R CPMU RESERVED00 W 0 0 0 0 0 0 0 0 0x06C1 R CPMU RESERVED01 W 0 0 0 0 0 0 0 0 0x06C2 R CPMU RESERVED02 W 0 0 0 0 0 0 0 0 R 0 PORF LVRF OMRF PMRF 0x06C3 CPMURFLG 0x06C4 CPMU SYNR 0x06C5 CPMU REFDIV W 0x06C6 CPMU POSTDIV W 0x06C7 CPMUIFLG 0x06C8 CPMUINT 0x06C9 CPMUCLKS 0x06CA CPMUPLL 0x06CB CPMURTI 0x06CC CPMUCOP W R W R R R W R W R W R VCOFRQ[1:0] REFFRQ[1:0] 0 W 0x06CD RESERVED R CPMUTEST0 W 0 0 0 0 0 PLLSEL PSTP CSAD COP OSCSEL1 0 0 FM1 FM0 RTDEC RTR6 RTR5 0 WCOP RSBCK WRTMAS K 0 0 0 RTIE R W 0 0 RTIF COPRF 0 SYNDIV[5:0] 0 W R 0 REFDIV[3:0] POSTDIV[4:0] LOCK 0 0 0 PRE PCE RTI OSCSEL COP OSCSEL0 0 0 0 0 RTR4 RTR3 RTR2 RTR1 RTR0 0 0 CR2 CR1 CR0 0 0 0 LOCKIF LOCKIE 0 0 OSCIF OSCIE UPOSC 0 MC9S12ZVM Family Reference Manual Rev. 2.2 972 Freescale Semiconductor 0 Appendix M Detailed Register Address Map M.16 0x06C0-0x06DF CPMU Address 0x06CE Name Bit 67 5 4 3 2 1 Bit 0 RESERVED R CPMUTEST1 W 0 0 0 0 0 0 0 0 0x06CF CPMU ARMCOP R 0 0 0 0 0 0 0 0 W Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x06D0 CPMU HTCTL R 0 0 W HTIE HTIF 0x06D1 CPMU LVCTL 0 0 W LVIE LVIF 0x06D2 CPMU APICTL W APIE APIF 0 0 R R APICLK 0 0 VSEL 0 0 0 APIES HTE VDDSIE APIEA HTDS LVDS APIFE 0x06D3 CPMUACLKT R ACLKTR5 ACLKTR4 ACLKTR3 ACLKTR2 ACLKTR1 ACLKTR0 R W 0x06D4 CPMUAPIRH 0x06D5 CPMUAPIRL 0x06D6 RESERVED R CPMUTEST3 W 0x06D7 CPMUHTTR 0x06D8 CPMU IRCTRIMH 0x06D9 CPMU IRCTRIML 0x06DA CPMUOSC 0x06DB CPMUPROT 0x06DC RESERVED R CPMUTEST2 W 0x06DD CPMU VREGCTL 0x06DE CPMUOSC2 0x06DF CPMUVDDS R W R W R W APIR15 APIR14 APIR13 APIR12 APIR11 APIR10 APIR9 APIR8 APIR7 APIR6 APIR5 APIR4 APIR3 APIR2 APIR1 APIR0 00 HTOE 00000 0 R 0 R R HTTR3 HTTR2 0 HTTR1 IRCTRIM[9:8] OSCE Reserved Reserved 0 0 0 0 0 Reserved 0 0 0 0 W R W R VRH2EN 0 0000 0 VRH1EN EXTS2ON EXTS1ON 0 0 0 VDS2 LVDS1 0 EXTCON 0 0 SCS2IF SCS1IF W R W HTTR0 IRCTRIM[7:0] W R 0 TCTRIM[4:0] W W 0 SCS2 SCS1 L PROT 0 EXTXON INTXON OMRE OSCMOD LVS2IF LVS1IF MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 973 Appendix M Detailed Register Address Map M.17 0x06F0-0x06F7 BATS Address ame N Bit 7 6 5 0x06F0 BATE R W 0 3 2 BSUAE BSUSE 0x06F1 BATSR R W 0 0 0 0 0 0 0x06F2 BATIE R W 0 0 0 0 0 0 0x06F3 BATIF R W 0 0 0 0 0 0 0x06F4 0x06F5 Reserved R W 0 0 0 0 0 0x06F6 0x06F7 Reserved R Reserved W Reserved Reserved Reserved BVHS 4 BVLS[1:0] 1 Bit 0 0 BVHC BVLC BVHIE BVLIE BVHIF BVLIF 0 0 0 Reserved Reserved Reserved Reserved M.18 0x0700-0x0707 SCI0 Address Name Bit 7 6 5 4 3 2 1 Bit 0 SBR15 SBR14 SBR13 SBR12 SBR11 SBR10 SBR9 SBR8 0x0700 SCI0BDH1 R W 0x0701 SCI0BDL1 R W SBR7 SBR6 SBR5 SBR4 SBR3 SBR2 SBR1 SBR0 0x0702 SCI0CR11 R W LOOPS SCISWAI RSRC M WAKE ILT PE PT 0x0700 SCI0ASR12 R RXEDGIF W 0 0 0 0 BERRV BERRIF BKDIF 0x0701 SCI0ACR12 R RXEDGIE W 0 0 0 0 0 BERRIE BKDIE 0x0702 SCI0ACR22 R W IREN TNP1 TNP0 0 0 BERRM1 BERRM0 BKDFE 0x0703 SCI0CR2 R W TIE TCIE RIE ILIE TE RE RWU SBK 0x0704 SCI0SR1 R W TDRE TC RDRF IDLE OR NF FE PF 0x0705 SCI0SR2 R W 0 0 TXPOL RXPOL BRK13 TXDIR AMAP RAF MC9S12ZVM Family Reference Manual Rev. 2.2 974 Freescale Semiconductor 0 Appendix M Detailed Register Address Map M.18 0x0700-0x0707 SCI0 Address Name 0x0706 SCI0DRH R W 0x0707 SCI0DRL R W Bit 7 R8 R7 T7 6 T8 R6 T6 5 0 4 0 3 0 2 0 1 0 Bit 0 0 R5 T5 R4 T4 R3 T3 R2 T2 R1 T1 R0 T0 1 These registers are accessible if the AMAP bit in the SCISR2 register is set to zero. 2 These registers are accessible if the AMAP bit in the SCISR2 register is set to one. M.19 0x0710-0x0717 SCI1 Address Name Bit 7 6 5 4 3 2 1 Bit 0 SBR15 SBR14 SBR13 SBR12 SBR11 SBR10 SBR9 SBR8 0x0710 SCI1BDH1 R W 0x0711 SCI1BDL1 R W SBR7 SBR6 SBR5 SBR4 SBR3 SBR2 SBR1 SBR0 0x0712 SCI1CR11 R W LOOPS SCISWAI RSRC M WAKE ILT PE PT 0x0710 SCI1ASR12 R RXEDGIF W 0 0 0 0 BERRV BERRIF BKDIF 0x0711 SCI1ACR12 R RXEDGIE W 0 0 0 0 0 BERRIE BKDIE 0x0712 SCI1ACR22 R W IREN TNP1 TNP0 0 0 BERRM1 BERRM0 BKDFE 0x0713 SCI1CR2 R W TIE TCIE RIE ILIE TE RE RWU SBK 0x0714 SCI1SR1 R W TDRE TC RDRF IDLE OR NF FE PF 0x0715 SCI1SR2 R W 0 0 TXPOL RXPOL BRK13 TXDIR 0x0716 SCI1DRH R W R8 0 0 0 0 0 0 0x0717 SCI1DRL R W R7 T7 R5 T5 R4 T4 R3 T3 R2 T2 R1 T1 R0 T0 AMAP T8 R6 T6 RAF 1 These registers are accessible if the AMAP bit in the SCISR2 register is set to zero. 2 These registers are accessible if the AMAP bit in the SCISR2 register is set to one. MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 975 Appendix M Detailed Register Address Map M.20 0x0780-0x0787 SPI0 Address Register Name 0x0780 SPI0CR1 R W 0x0781 SPI0CR2 R W 0 0x0782 SPI0BR R W 0 0x0783 SPI0SR R W 0x0784 SPI0DRH 0x0785 Bit SPIE 67 5 4 3 2 1 Bit 0 SPE SPTIE MSTR CPOL CPHA SSOE LSBFE MODFEN BIDIROE SPISWAI SPC0 SPR2 SPR1 SPR0 XFRW 0 0 0 SPPR2 SPPR1 SPPR0 SPIF 0 SPTEF MODF 0 0 0 0 R W R15 T15 R14 T14 R13 T13 R12 T12 R11 T11 R10 T10 R9 T9 R8 T8 SPI0DRL R W R7 T7 R6 T6 R5 T5 R4 T4 R3 T3 R2 T2 R1 T1 R0 T0 0x0786 Reserved R W 0x0787 Reserved R W Bit 5 Bit 4 SYNCH Bit 3 Bit 2 Bit 1 Bit 0 TIME WUPE SLPRQ INITRQ SLPAK INITAK M.21 0x0800-0x083F CAN0 Address Name 0x0800 CAN0CTL0 0x0801 CAN0CTL1 0x0802 CAN0BTR0 0x0803 CAN0BTR1 0x0804 CAN0RFLG 0x0805 CAN0RIER 0x0806 CAN0TFLG 0x0807 CAN0TIER 0x0808 CAN0TARQ 0x0809 CAN0TAAK Bit 7 R RXFRM W R CANE W R SJW1 W R SAMP W R WUPIF W R WUPIE W R 0 W R 0 W R 0 W R 0 W Bit 6 RXACT CSWAI CLKSRC LOOPB LISTEN BORM WUPM SJW0 BRP5 BRP4 BRP3 BRP2 BRP1 BRP0 TSEG22 TSEG21 TSEG20 TSEG13 TSEG12 TSEG11 TSEG10 RSTAT1 RSTAT0 TSTAT1 TSTAT0 OVRIF RXF CSCIE RSTATE1 RSTATE0 TSTATE1 TSTATE0 OVRIE RXFIE 0 0 0 0 TXE2 TXE1 TXE0 0 0 0 0 TXEIE2 TXEIE1 TXEIE0 0 0 0 0 ABTRQ2 ABTRQ1 ABTRQ0 0 0 0 0 ABTAK2 ABTAK1 ABTAK0 CSCIF MC9S12ZVM Family Reference Manual Rev. 2.2 976 Freescale Semiconductor Appendix M Detailed Register Address Map M.21 0x0800-0x083F CAN0 Address Name 0x080A CAN0TBSEL 0x080B CAN0IDAC 0x080C Reserved 0x080D CAN0MISC 0x080E CAN0RXERR 0x080F CAN0TXERR 0x0810- CAN0IDAR0- 0x0813 CAN0IDAR3 0x0814- CAN0IDMR0- 0x0817 CAN0IDMR3 0x0818- CAN0IDAR4- 0x081B CAN0IDAR7 0x081C- CAN0IDMR4- 0x081F CAN0IDMR7 0x0820- 0x082F CAN0RXFG 0x0830- 0x083F CAN0TXFG Bit 7 R 0 W R 0 W R 0 W R 0 W R RXERR7 W R TXERR7 W R AC7 W R AM7 W R AC7 W R AM7 W R W R W Bit 6 0 Bit 5 0 Bit 4 0 Bit 3 0 Bit 2 Bit 1 Bit 0 TX2 TX1 TX0 IDAM1 IDAM0 0 IDHIT2 IDHIT1 IDHIT0 0 0 0 0 0 0 0 0 0 0 0 0 0 RXERR6 RXERR5 RXERR4 RXERR3 RXERR2 RXERR1 RXERR0 TXERR6 TXERR5 TXERR4 TXERR3 TXERR2 TXERR1 TXERR0 AC6 AC5 AC4 AC3 AC2 AC1 AC0 AM6 AM5 AM4 AM3 AM2 AM1 AM0 AC6 AC5 AC4 AC3 AC2 AC1 AC0 AM6 AM5 AM4 AM3 AM2 AM1 AM0 0 BOHOLD FOREGROUND RECEIVE BUFFER FOREGROUND TRANSMIT BUFFER MC9S12ZVM Family Reference Manual Rev. 2.2 Freescale Semiconductor 977 Appendix M Detailed Register Address Map M.22 0x0980-0x0987 LINPHY0 Address ameN Bit 7 0 6 0 5 0 4 0 3 0 2 0 0 0 0 0 LPE RXONLY LPWUE LPPUE Reserved Reserved Reserved Reserved Reserved Reserved Reserved 0 0 0 0 0 LPSLR1 LPSLR0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved LPDT 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 Bit 0 0x0980 LP0DR R W 0x0981 LP0CR R W 0x0982 Reserved R Reserved W 0x0983 LP0SLRM R LPDTDIS W 0x0984 Reserved R Reserved W 0x0985 LP0SR R W 0x0986 LP0IE R W LPDTIE LPOCIE 0x0987 LP0IF R W LPDTIF LPOCIF 1 LPDR1 Bit 0 LPDR0 M.23 0x0990-0x0997 CANPHY Address Register Name 0x0990 CPDR R W 0x0991 CPCR R W 0x0992 Reserved R Reserved W 0x0993 CPSR R CPCHVH W 0x0994 Reserved 0x0995 Reserved 0x0996 CPIE R W 0x0997 CPIF R W Bit 67 5 4 3 2 CPDR7 0 0 0 0 0 CPE SPE WUPE1-0 0 CPDR1 CPDR0 SLR2-0 Reserved Reserved Reserved Reserved Reserved Reserved Reserved CPCHVL CPCLVH CPCLVL CPDT 0 0 0 R Reserved W Reserved Reserved Reserved Reserved Reserved Reserved Reserved R Reserved W Reserved Reserved Reserved Reserved Reserved Reserved Reserved 0 0 0 CPVFIE CPDTIE 0 0 CHVHIF CHVLIF CLVHIF CLVLIF CPDTIF 0 CHOCIF CPOCIE CLOCIF = Unimplemented or Reserved MC9S12ZVM Family Reference Manual Rev. 2.2 978 Freescale Semiconductor How to Reach Us: Information in this document is provided solely to enable system and software Home Page: freescale.com implementers to use Freescale products. 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