AN2364 Freescale Semiconductor / Motorola, AN2364 Datasheet - Page 4

Manufacturer Part Number

AN2364

Description

Using the Table Stepper Motor TPU Function (TSM) with the MPC500 Family

Manufacturer

Freescale Semiconductor / Motorola

Datasheet

1.AN2364.pdf (44 pages)

TSM Function Parameters Address Maps

In both cases when the table size exceeds 48 parameters the remainder is obtained from the contiguous

parameter RAM of channels 14, 15, and 0, starting in the lower byte of parameter 0 of channel 14. In this

configuration the maximum table length including the 48 ‘local’ parameters is 96 bytes, giving 98 step rates

including start/stop and slew.

Total TPU function code size determines what combination of functions can fit into a given ROM or

emulation memory microcode space. TSM function code size is:

4.1

This section provides detailed descriptions of TSM function parameters stored in channel parameter RAM.

Table 1 shows TPU parameter RAM address mapping. In the diagrams, Y = M111, where M is the value of

the module mapping bit (MM) in the system integration module configuration register (Y = $7 or $F).

Channel

Number

Function Code Size

TSM Function Structure

TSM Function Parameters Address Maps

97 µ instructions + 8 entries = 105 long words

$YFFF##

Address

Base

Table 1. TPU Parameter RAM Address Mapping

Freescale Semiconductor, Inc.

Using the Table Stepper Motor TPU Function

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