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| Freescale Semiconductor, Inc. MOTOROLA SEMICONDUCTOR TECHNICAL DATA Document order number: MC33991/D Rev. 0, 10/2002 Preliminary Information Gauge Driver Integrated Circuit The 33991device is a single packaged, Serial Peripheral Interface (SPI) controlled, dual stepper motor gauge driver Integrated Circuit (IC). This monolithic IC consists of four dual output H-Bridge coil drivers and the associated control logic. Each pair of H-Bridge drivers is used to automatically control the speed, direction and magnitude of current through the two coils of a 2-phase instrumentation stepper motor, similar to an MMT licensed AFIC 6405. 33991 Freescale Semiconductor, Inc... This device is ideal for use in automotive instrumentation systems requiring distributed and flexible stepper motor gauge driving. The device also eases the transition to stepper motors from air core motors by emulating the air core pointer movement with little additional processor bandwidth utilization. The device has many attractive features including: PR EL IM IN A R * MMT-licensed two-phase stepper motor compatible * Minimal processor overhead required * Fully integrated pointer movement and position state machine with air core movement emulation * 4096 possible steady state pointer positions * 340 maximum pointer sweep * * * * * * * Linear 4500 2 Max pointer velocity of 400 Analog micro stepping (12 steps/degree of pointer movement) Pointer calibration and return to zero SPI controlled 16-bit word Calibratable Internal Clock Low Sleep mode current 33991 Simplified Application Schematic 0.1 Y Device PC33991DH/R2 MOTOR 0 MOTOR 1 GAUGE DRIVER INTEGRATED CIRCUIT DW SUFFIX PLASTIC PACKAGE CASE 751E-04 SOICW ORDERING INFORMATION Temperature Range (TA) -40 to 125C Package SOICW SIN0+ SIN0- BATTERY 5V REG VDD 0.1 RTZ 33991 MC33991 GDIC GDIC COS0+ COS0SIN1+ SIN1- MCU RSTB CSB SCLK SI SO MCU COS1+ COS1GND TYPICAL APPLICATION This document contains information on a product under development. Motorola reserves the right to change or discontinue this product without notice. (c) Motorola, Inc. 2002 For More Information On This Product, Go to: www.freescale.com Freescale Semiconductor, Inc. VPWR Internal Reference VDD COS0 CS SCLK SO SI SIN0 SPI COS1 RTZ COS0+ COS0SIN0+ SIN0COS1+ COS1+ RTZ SIN1+ SIN1- Freescale Semiconductor, Inc... RST LOGIC Under & Over Voltage Detect Oscillator ILIM H-BRIDGE & CONTROL Over Temp SIN1 GND Figure 1. 33991 Block Diagram 33991 2 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. COS0+ COS0SIN0+ SIN0GND GND GND GND CS SCLK SO SI 1 2 3 4 5 6 7 8 9 10 11 12 24 23 22 21 20 19 18 17 16 15 14 13 COS1+ COS1SIN1+ SIN1GND GND GND GND VPWR RST VDD RTZ Freescale Semiconductor, Inc... 24 Wide Body SOIC Thermally Enhanced Lead Frame RJ-LEAD = 15 C/W Pin Functions Pin Number 1 2 3 4 5-8 9 Pin Name COS0+ COS0SIN0+ SIN0GND CS Description H-Bridge Output. This is the output pin of a half bridge, designed to source or sink current. The H-Bridge pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant operation. H-Bridge Output. This is the output pin of a half bridge, designed to source or sink current. The H-Bridge pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant operation. H-Bridge Output. This is the output pin of a half bridge, designed to source or sink current. The H-Bridge pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant operation. H-Bridge Output. This is the output pin of a half bridge, designed to source or sink current. The H-Bridge pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant operation. Ground. These pins serve as the ground for the source of the low-side output transistors as well as the logic portion of the device. They also help dissipate heat from the device. Chip Select. This pin is connected to a chip select output of a LSI IC. This IC controls which device is addressed by pulling the CS pin of the desired device low, enabling the SPI communication with the device, while other devices on the serial link keep their serial outputs tri-stated. This input has an internal active pull-up and requires CMOS logic levels. This pin is also used to calibrate the internal clock. Serial Clock. This pin is connected to the SCLK pin of the master device and acts as a bit clock for the SPI port. It transitions one time per bit transferred at an operating frequency, fSPI, defined in the Coil Output Timing Table. It is idle between command transfers. The pin is 50 percent duty cycle, with CMOS logic levels. This signal is used to shift data to and from the device. Serial Output. This pin is connected to the SPI Serial Data Input pin of the master device, or to the SI pin of the next device in a daisy chain. This output will remain tri-stated unless the device is selected by a low CS signal. The output signal generated will have CMOS logic levels and the output data will transition on the rising edges of SCLK. The serial output data provides status feedback and fault information for each output and is returned MSB first when the device is addressed. Serial Input. This pin is connected to the SPI Serial Data Output pin of the master device from which it receives output command data. This input has an internal active pull-down requiring CMOS logic levels. The serial data transmitted on this line is a 16-bit control command sent MSB first, controling the gauge functions. The master ensures data is available on the falling edge of SCLK. Multiplexed Output. This multiplexed output pin of the non-driven coil during an RTZ event. Voltage. This SPI and logic power supply input will work with 5.0 V supplies. 10 SCLK 11 SO 12 SI 13 14 RTZ VDD MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 3 Freescale Semiconductor, Inc. Pin Functions Pin Number 15 16 17-20 21 22 23 24 Pin Name RST VPWR GND SIN1SIN1+ COS1COS1+ Description Reset. If the master decides to reset the device, or place it into a sleep state, the RST pin is driven to a logic 0. A logic 0 on the RST pin will force all internal logic to the known default state. This input has an internal active pull-up. Battery Voltage. Power supply. Ground. These pins serve as the ground for the source of the low-side output transistors as well as the logic portion of the device. They also help dissipate heat from the device. H-Bridge Output. This pin is the output of a half bridge, designed to source or sink current. The H-Bridge pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant operation. H-Bridge Output. This pin is the output of a half bridge, designed to source or sink current. The H-Bridge pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant operation. H-Bridge Output. This pin is the output of a half bridge, designed to source or sink current. The H-Bridge pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant operation. H-Bridge Output. This pin is the output of a half bridge, designed to source or sink current. The H-Bridge pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant operation. Freescale Semiconductor, Inc... 33991 4 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. STATIC ELECTRICAL CHARACTERISTICS (Characteristics noted under conditions 4.75 V < VDD < 5.25 V, -40 C < TJ < 150 C, unless otherwise noted) Characteristic Symbol Min Nom Max Unit Power Input Supply Voltage Range Fully Operational VPWR Supply Current (Gauge 1 & 2 outputs On, no output loads) VPWR Supply Current (all Outputs Disabled) (Reset = logic 0, VDD = 5 V) (Reset = logic 0, VDD = 0 V) IPWRslp1 IPWRslp2 VPWROV VPWRUV VDD VDDUV IDD(off) IDD(on) 26 5.0 4.5 -- -- -- -- 42 15 32 5.6 5.0 -- 40 1 60 25 38 6.2 5.5 4.5 65 1.8 V V V V A mA A IPWR(on) VPWR 6.5 -- -- 26.0 V 4.0 6.0 mA Freescale Semiconductor, Inc... Over voltage Detection Level (Note1) Under voltage Detection Level (Note2) Logic Supply Voltage Range (5 V nominal supply) Under VDD Logic Reset VDD Supply Current (Sleep: Reset logic 0) VDD Supply Current (Outputs Enabled) Notes: 1. Outputs will disable and must be re-enabled via the PECR command. 2. Outputs remain active; however, the reduction in drive voltage may result in a loss of position control. MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 5 Freescale Semiconductor, Inc. STATIC ELECTRICAL CHARACTERISTICS (Characteristics noted under conditions 4.75 V < VDD < 5.25 V, -40 C < TJ < 150 C, unless otherwise noted) Characteristic Symbol Min Norm Max Unit Power Outputs Microstep Output (measured across coil outputs) Sin0,1,+/- (Cos0,1,+/-) (see Pin Functions) Rout = 200 Steps 6,18 (0,12) Steps 5,7,17,19 (1,11,13,23) Steps 4,8.16,20 (2,10,14,22) Steps 3, 9,15,21 (3,9,15,21) Steps 2,10,14,22 (4,8,16,20) Steps 1,11,13,23 (5,7,17,19) Vst6 Vst5 Vst4 Vst3 Vst2 Vst1 Vst0 4.9 0.94xVst6 0.84xVst6 0.69xVst6 0.47xVst6 0.23xVst6 -0.1 5.3 0.97xVst6 0.87xVst6 0.71xVst6 0.50xVst6 0.26xVst6 0 6.0 1.00xVst6 0.94xVst6 0.79xVst6 0.57xVst6 0.31xVst6 0.1 V Freescale Semiconductor, Inc... Steps 0,12 (6,18) Full step Active Output (measured across coil outputs) Sin0,1, (Cos0,1, ) (see 5-4) Steps 1,3 (0,2) Microstep, Full Step Output (measured from coil low side to ground) Sin0,1, (Cos0,1, ) IOUT = 30mA Output Flyback Clamp (Note3) Output Current Limit (Out=Vstp6) Over temperature Shutdown Over temperature Hysteresis (Note3) Notes: 3. Not 100 percent tested. V VFS 4.9 5.3 6.0 VLS VFB ILIM OTSD OTHYS 0 -- 40 155 8 0.1 Vst1+0.5 100 -- -- 0.3 Vst1+1.0 170 180 16 V V mA C C 33991 6 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. STATIC ELECTRICAL CHARACTERISTICS (Characteristics noted under conditions 4.75 V < VDD < 5.25 V, -40 C < TJ < 150 C, unless otherwise noted) Characteristic Symbol Min Typ Max Unit Control I/O Input Logic High Voltage (Note4) Input Logic Low Voltage (Note4) Input Logic Voltage Hysteresis (Note5) Input Logic Pull Down Current (SI, SCLK) Input Logic Pull-Up Current (CS, RST) SO High State Output Voltage (IOH = 1.0 mA) VIH VIL Vin(hyst) Idwn Iup VSOH VSOL SOLK Cin CSO 2.0 -- -- 3 5 0.8VDD -- -5 -- -- -- -- 100 -- -- -- 0.2 0 4 -- -- 0.8 -- 20 20 -- 0.4 5 12 20 V V mV A A V V A pF pF Freescale Semiconductor, Inc... SO Low State Output Voltage (IOL = -1.6 mA) SO Tri-State Leakage Current (CS 3.5 V) Input Capacitance (Note6) SO Tri-State Capacitance (Note6) Notes: 4. VDD = 5V 5. Not Production Tested; guaranteed by design. 6. Capacitance not measured; guaranteed by design. MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 7 Freescale Semiconductor, Inc. STATIC ELECTRICAL CHARACTERISTICS (Characteristics noted under conditions 4.75 V < VDD < 5.25 V, -40 C < TJ < 150 C, unless otherwise noted) Characteristic Symbol Min Typ Max Unit Power Output and Clock Timings SIN, COS Output Turn ON delay Time (time from rising CS enabling outputs to steady state coil voltages and currents) (Note7) SIN, COS Output Turn OFF delay Time (time from rising CS disables outputs to steady state coil voltages and currents) (Note7) Uncalibrated Oscillator Cycle Time Calibrated Oscillator Cycle Time (Cal pulse = 8 s, PECR D4 is logic 0) Calibrated Oscillator Cycle Time (Cal pulse = 8 s, PECR D4 is logic 1) TDHY(ON) TDHY(OFF) TCLU TCLO TCLO VMAX AMAX -- -- 1 ms -- -- 1 ms 0.65 1.0 0.9 -- -- 1.0 1.1 1.0 -- -- 1.7 1.2 1.1 400 4500 s s s deg/s deg/s2 Freescale Semiconductor, Inc... Maximum Pointer Speed (Note8) Maximum Pointer Acceleration (Note8) Notes: 7. Maximum specified time for the 33991 is the minimum guaranteed time needed from the micro. 8. The minimum and maximum value will vary proportionally to the internal clock tolerance. These are not 100 percent tested. 33991 8 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. STATIC ELECTRICAL CHARACTERISTICS (Characteristics noted under conditions 4.75 V < VDD < 5.25 V, -40 C < TJ < 150 C, unless otherwise noted) Characteristic Symbol Min Typ Max Unit SPI Timing Interface Recommended Frequency of SPI Operation Falling edge of CS to Rising Edge of SCLK Required Setup Time) (Note9) Falling edge of SCLK to Rising Edge of CS (Required Setup Time)(Note9) SI to Falling Edge of SCLK (Required Setup Time) (Note9) Falling Edge of SCLK to SI (Required Hold Time) (Note9) SO Rise Time (CL = 200 pF) fSPI TLEAD TLAG TSLSU TSI(HOLD) TrSO TfSO TrSI TfSI TwRST TCS TEN TSO(EN) TSO(DIS) TVALID -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 1 50 50 25 25 25 25 -- -- -- -- -- -- 1.3 65 3 167 167 83 83 50 50 50 50 3 5 5 145 4 105 MHz ns ns ns ns ns ns ns ns s s s ns s ns Freescale Semiconductor, Inc... SO Fall Time (CL = 200 pF) SI, CS, SCLK, Incoming Signal Rise Time (Note10) SI, CS, SCLK, Incoming Signal Fall Time (Note10) Falling Edge of RST to Rising Edge of RST (Required Setup Time) (Note9) Rising Edge of CS to Falling Edge of CS (Required Setup Time) (Note9) (Note11) Rising Edge of RST to Falling Edge of CS (Required Setup Time) (Note9) Time from Falling Edge of CS to SO Low Impedance (Note12) Time from Rising Edge of CS to SO High Impedance (Note13) Time from Rising Edge of SCLK to SO Data Valid (Note14) 0.2 VDD < = SO > = 0.8 VDD, CL = 200 pF Notes: 9. 10. 11. 12. 13. 14. The maximum setup times specified for the 33991 is the minimum time needed from the microcontroller to guarantee correct operation. Rise and Fall time of incoming SI, CS, and SCLK signals suggested for design consideration to prevent the occurrence of double pulsing. This value is for a 1 MHz calibrated internal clock; it will change proportionally as the internal clock frequency changes. Time required for output status data to be available for use at SO. 1 K load on SO. Time required for output status data to be terminated at SO. 1 K load on SO. Time required to obtain valid data out from SO following the rise of SCLK. The device shall meet all SPI interface-timing requirements specified in the SPI Interface Timing, over the temperature range specified in the environmental requirements section. Digital Interface timing is based on a symmetrical 50 percent duty cycle SCLK Clock Period of 333 ns. The device shall be fully functional for slower clock speeds. MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 9 Freescale Semiconductor, Inc. MAXIMUM RATING (All voltages are with respect to ground unless otherwise noted) Rating Power Supply Voltage Steady State Input Pin Voltage (Note15) SIN+/- COS +/- Continuous Per Output Current (Note16) Storage Temperature Operating Junction Temperature Symbol VPWR(sus) VIN IOUTMAX Tstg TJunc qJA qJL VESD1 Value -0.3 to 41 -0.3 to 7.0 40 -55 to 150 -40 to 150 60 20 2000 200 Limit V V mA C C C/W C/W V V Freescale Semiconductor, Inc... Thermal Resistance (C/W) Ambient Junction to Lead ESD Voltage Human Body Model (Note17) Machine Model (Note18) VESD2 Notes: 15. Exceeding voltage limits on Input pins may cause permanent damage to the device. 16. Output continuous output rating so long as maximum junction temperature is not exceeded. Operation at 125 C ambient temperature will require maximum output current computation using package thermal resistances 17. VESD1 testing is performed in accordance with the Human Body Model (Czap = 100pF, Rzap = 1500 ) 18. VESD2 testing is performed in accordance with the Machine Model (Czap = 100pF, Rzap = 0 ) 33991 10 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. VIHIH V RSTB RST 0.2 VDD TwRSTB TENBL VIL IL V TCSB 0.7VDD VIH V IH CSB CS 0.7VDD TwSCLKh TrSI Tlag V VILIL Tlead SCLK SCLK 0.7VDD 0.2VDD TSIsu TwSCLKl TSI(hold) TfSI IH VIH VILIL V V Freescale Semiconductor, Inc... VIHIH V SI SI Don't Care 0.7 VDD 0.2VDD Valid Don't Care Valid Don't Care V VIL IL Figure 2. Input Timing Switching Characteristics TrSI 3.5V TfSI VOH VOH 50% 1.0V VOL VOL SCLK SCLK TdlyLH 0.7 VDD OH VOH V SO SO 0.2 VDD TrSO Tvalid VOL VOL Low-to-High SO SO High-to-Low 0.7 VDD TfSO VOH VOH V VOLOL 0.2VDD TdlyHL Figure 3. Valid Data Delay Time and Valid Time Waveforms MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 11 Freescale Semiconductor, Inc. PC33991 SPI INTERFACE AND PROTOCOL DESCRIPTION INTRODUCTION The SPI interface has full duplex, three wire synchronous, 16-bit serial synchronous interface data transfer and four I/O lines associated with it: (SI, SO, SCLK, and CS). The SI/SO pins of the 33991 follows a first in/first out (D15/D0) protocol with both input and output words transferring the most significant bit first. All inputs are compatible with 5.0 V CMOS logic levels. DETAILED SIGNAL DESCRIPTIONS Chip Select (CS) ignored; SO is tri-stated (high impedance). See the Data Transfer Timing diagrams in s 2 and 3. Freescale Semiconductor, Inc... The Chip Select (CS) pin enables communication with the Master device. When this pin is in a logic [0] state, the GDIC is capable of transferring information to, and receiving information from, the Master. The 33991latches data in from the input shift registers to the addressed registers on the rising edge of CS. The output driver on the SO pin is enabled when CS is logic [0]. When CS is logic high, signals at the SCLK and SI pins are ignored; the SO pin is tri-stated (high impedance). CS will only be transitioned from a logic [1] state to a logic [0] state when SCLK is a logic [0]. CS has an internal pull-up (lup) connected to the pin as specified in the Control I/O table. Serial Input (SI) This pin is the input of the Serial Peripheral Interface (SPI). Serial Input (SI) information is read on the falling edge of SCLK. A 16-bit stream of serial data is required on the SI pin, starting with the most significant bit (MSB). Messages not multiples of 16 bits (e.g. daisy chained device messages) are ignored. After transmitting a 16-bit word, the CS pin has to be deasserted (logic [1]) before transmitting a new word. SI information is ignored when CS is in a logic high state. Serial Clock (SCLK) SCLK clocks the internal shift registers of the 33991device. The serial input (SI) pin accepts data into the Input Shift register on the falling edge of the SCLK signal while the serial output pin (SO) shifts data information out of the SO Line Driver on the rising edge of the SCLK signal. It is important the SCLK pin be in a logic [0] state whenever the CS makes any transition. SCLK has an internal pull down (Idwn), specified in the Control I/O table. When CS is logic [1], signals at the SCLK and SI pins are Serial Output (SO) The Serial Output (SO) data pin is a tri-stateable output from the shift register. The status register bits are the first 16-bits shifted out. Those bits are followed by the message bits clocked in FIFO, when the device is in a daisy chain connection, or being sent words multiples of 16 bits. Data is shifted on the rising edge of the SCLK signal. The SO pin remains in a high impedance state until the CS pin is put into a logic low state. SYSTEM APPLICATION INFORMATION This section provides a description of the 33991device SPI behavior. To follow the explanations below, please refer to the timing diagrams illustrated in Figures 4 and 5. Table 1. Data Transfer Timing Pin Description CS (1-to-0) CS (0-to-1) SO SI SO pin is enabled 33991configuration and desired output states are transferred and executed according to the data in the shift registers Will change state on the rising edge of the SCLK pin signal Will accept data on the falling edge of the SCLK pin signal 33991 12 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. TIMING DESCRIPTIONS AND DIAGRAMS In te rn a l r e g is te rs a r e lo a d e d s o m e tim e a fte r th is e d g e CS CSB SCLK SCLK SI SI D15 D14 D 13 D 12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 SO S O O D15 O D14 O D 13 OD12 OD11 O D10 OD9 OD8 OD7 OD6 OD5 OD4 OD3 OD2 OD1 OD0 O u tp u t s h ift re g is te r is lo a d e d h e re NOTES: 1. S O is tri- s ta te d w h e n Ccs B is lo g ic 1 . S Freescale Semiconductor, Inc... Figure 4. Single 16-bit Word SPI Communication CS CSB SCLK SCLK SI SO SI D15 D14 D 13 D2 D1 D0 D15* D 14* D 13* D2* D1* D 0* SO O D15 O D14 O D 13 OD2 OD1 OD0 D15 D14 D13 D2 D1 D0 NOTES: 1. 2. 3. 4. CS S O is tri- s ta te d w h e n C S B is lo g ic 1 . D 1 5 , D 1 4 , D 1 3 , ..., a n d D 0 re fe r to th e firs t 1 6 b its o f d a ta in to th e G D IC . D 1 5 * , D 1 4 * , D 1 3 *, ... , a n d D 0 * re fe r to th e m o s t re c e n t e n try o f p ro g ra m d a ta in to th e G D IC . O D 1 5 , O D 1 4 , O D 1 3 , ..., a n d O D 0 r e fe r to th e firs t 1 6 b its o f fa u lt a n d s ta tu s d a ta o u t o f th e G D IC . Figure 5. Multiple 16-bit Word SPI Communication Data Input The Input Shift register captures data at the falling edge of the SCLK clock. The SCLK clock pulses exactly 16 times only inside the transmission windows (CS in a logic [0] state). By the time the CS signal goes to logic [1] again, the contents of the Input Shift register are transferred to the appropriate internal register, according to the address contained in bits 15-13. The minimum time CS should be kept high depends on the internal clock speed. That data is specified in the SPI Interface Timing table. It must be long enough so the internal clock is able to capture the data from the Input Shift register and transfer it to the internal registers. Data Output At the first rising edge of the SCLK clock, with the CS at logic [0], the contents of the status word register are transferred to the Output Shift register. The first 16 bits clocked out are the status bits. If data continues to clock in before the CS transitions to a logic [1], the device begins to shift out the data previously clocked in FIFO after the CS first transitioned to logic [0]. COMMUNICATION MEMORY MAPS The 33991device is capable of interfacing directly with a microcontroller, via the 16-bit SPI protocol described and specified below. The device is controlled by the microprocessor and reports back status information via the SPI. This section provides a detailed description of all registers accessible via serial interface. The various registers control the behavior of this device. A message is transmitted by the master starting with the MSB (D15) and ending with the LSB (D0). Multiple messages can be transmitted in succession to accommodate those applications where daisy chaining is desirable, or to confirm transmitted data, as long as the messages are all multiples of 16 bits. Data will transfer through daisy chained devices, illustrated in Figure 5. If an attempt is made to latch in a message smaller than 16-bits wide, it is ignored. The 33991uses six registers to con the device and control the state of the four H-bridge outputs. Registers are addressed via D15-D13 of the incoming SPI word. Refer to Table 2. MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 13 Freescale Semiconductor, Inc. Module Memory Map Various registers of the 33991 SPI module are addressed by the three MSB of the 16-bit word received serially. Functions to be controlled include: * Individual gauge drive enabling * Power-up/down * Internal clock calibration * Gauge pointer position and velocity * Gauge pointer zeroing Status reporting includes: * Individual gauge over temperature condition * Battery out of range condition * Pointer zeroing status * Internal clock status * Confirmation of coil output changes should result in pointer movement Table 2 provides the register available to control the above functions. Table 2. Module Memory Map Address [15:13] Use Name Freescale Semiconductor, Inc... 000 001 010 011 100 101 110 111 Power, Enable, and Calibration Register Maximum Velocity Register Gauge 0 Position Register Gauge 1 Position Register Return to Zero Register Return to Zero Configuration Register Not Used Reserved for Test PECR VELR POS0R POS1R RTZR RTZCR Register Descriptions Power, Enable, and Calibration Register (PECR) This register allows the master to independently enable or disable the output drivers of the two gauge controllers. SI Address 000--Power, Enable, and Calibration Register is illustrated in Table 3. A write to the 33991using this register allows the master to independently enable or disable the output drivers of the two gauge controllers as well as to calibrate the internal clock, or send a null command for the purpose of reading the status bits. This register is also used to place the 33991device into a low current consumption mode. Each of the gauge drivers can be enabled by writing a logic [1] to their assigned address bits, D0 and D1 respectively. This feature could be useful to disable a driver if it is failing or not being used. The device can be placed into a standby current mode by writing a logic [0] to both D0 and D1. During this state, most current consuming circuits are biased off. When in the Standby mode, the internal clock will remain on. The internal state machine utilizes a ROM table of step times defining the duration the motor will spend at each microstep as it accelerates or decelerates to a commanded position. The accuracy of the acceleration and velocity of the motor is directly related to the accuracy of the internal clock. Although the accuracy of the internal clock is temperature independent, the non-calibrated tolerance is +70 percent to -35 percent. The 33991 device was designed with a feature allowing the internal clock to be software calibrated to a tighter tolerance of 10 percent, using the CS pin and a reference time pulse provided by the microcontroller. Calibration of the internal clock is initiated by writing a logic [1] to D3. The calibration pulse, must be 8 s for an internal clock speed of 1 MHz, will be sent on the CS pin immediately after the SPI word is sent. No other SPI lines will be toggled. A clock calibration is allowed only if the gauges are disabled or the pointers are not moving, indicated by status bits ST4 and ST5. Some applications may require a guaranteed maximum pointer velocity and acceleration. Guaranteeing these maximums require the nominal internal clock frequency fall below 1 MHz. The frequency range of the calibrated clock is always below 1 MHz if bit D4 is logic [0] when initiating a calibration command followed by an 8 s reference pulse. The frequency is centered at 1MHz if bit D4 is logic [1]. Some applications may require a slower calibrated clock due to a lower motor gear reduction ratio. Writing a logic [1] to bit D2 will slow the internal oscillator by one-third, leading to a situation where it is possible to calibrate at maximum 667 kHz or centered at 667 kHz. In these cases, it may be necessary to provide a longer calibration pulse of exactly 12 s without any indication of a calibration fault at status bit ST7. The preceding description should be the case for 1 MHz if D2 is left logic [0]. If bit D12 is logic [1] during a PECR command, the state of D11: D0 is ignored. This is referred to as the null command and can be used to read device status without affecting device operation. 33991 14 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. Table 3. Power, Enable and Calibration Register (PECR) Address 000 D12 Write D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 PE12 0 0 0 0 0 0 0 PE4 PE3 PE2 PE1 PE0 These bits are write-only. PE12-Null Command for Status Read * 0 = Disable * 1 = Enable PE11-PE5--These bits must be transmitted as logic [0] for valid PECR commands. PE0-Gauge 0 Enable--This bit enables or disables the output driver of Gauge 0. * 0 = Disable * 1 = Enable Maximum Velocity Register (VELR) SI Address 001--Gauge Maximum Velocity Register, is used to set a maximum velocity for each gauge. See Table 4. Bits D7-D0 contain a position value from 1-255 representative of the table position value. The table value becomes the maximum velocity until it is changed to another value. If a maximum value is chosen greater than the maximum velocity in the acceleration table, the maximum table value will become the maximum velocity. If the motor is turning at a value greater than the new maximum, the motor will ignore the new value until the speed falls equal to, or below it. Velocity for each motor can be changed simultaneously, or independently, by writing D8 and/or D9 to a logic [1]. Bits D10 -D12 must be at logic [0] for valid VELR commands. Freescale Semiconductor, Inc... PE4-Clock Calibration Frequency Selector * 0 = Maximum f = 1 MHz (for 8 s calibration pulse) * 1 = Nominal f = 1 MHz (for 8 s calibration pulse) PE3-Clock Calibration Enable--This bit enables or disables the clock calibration. * 0 = Disable * 1 = Enable PE2-Oscillator Adjustment * 0 = Tosc * 1 = 0.66 x Tosc PE1-Gauge 1 Enable--This bit enables or disables the output driver of Gauge 1. * 0 = Disable * 1= Enable Table 4. Maximum Velocity Register (VELR) Address 001 D12 Write D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 0 0 0 V9 V8 V7 V6 V5 V4 V3 V2 V1 V0 These bits are write-only. V12-V10--These bits must be transmitted as logic [0] for valid VELR commands. V9-Gauge 1 Velocity--Specifies whether the maximum velocity determined in the V7-V0 field applies to Gauge 1 * 0 = Velocity does not apply to Gauge 1 * 1 = Velocity applies to Gauge 1 V8-Gauge 0 Velocity--Specifies whether the maximum velocity specified in the V7-V0 field applies to Gauge 0 * 0 = Velocity does not apply to Gauge 0 * 1 = Velocity applies to Gauge 0 V7-V0 Maximum Velocity--Specifies the maximum velocity position from the acceleration table. This velocity will remain the maximum of the intended gauge until changed by command. Velocities can range from position 1 (00000001) to position 255 (11111111). Gauge 0/1 Position Register (POS0R, POS1R) SI Addresses 010--Gauge 0 Position Register receives writing when communicating the desired pointer positions. SI Address 011--Gauge 1 Position Register receives writing when communicating the desired pointer positions. Register bits D11-D0 receives writing when communicating the desired pointer positions. Commanded positions can range from 0 to 4095. The D12 bit must be at logic [0] for valid POS0R and POS1R commands. MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 15 Freescale Semiconductor, Inc. Table 5. Gauge 0 Position Register (POS0R) Address 010 D12 Write D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 0 P011 P010 P09 P08 P07 P06 P05 P04 P03 P02 P01 P00 These bits are write-only. P012--This bit must be transmitted as logic [0] for valid commands. P011--P0 0 Desired pointer position of Gauge 0. Pointer positions can range from 0 (000000000000) to position 4095 (111111111111). For a stepper motor requiring 12 microsteps per degree of pointer movement, the maximum pointer sweep is 341.25. Freescale Semiconductor, Inc... Table 6. Gauge 1 Position Register (POS1R) Address 011 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 Write 0 P011 P010 P09 P08 P07 P06 P05 P04 P03 P02 P01 P00 These bits are write-only. P012--This bit must be transmitted as logic [0] for valid commands. P011--P0 0 Desired pointer position of Gauge 1. Pointer positions can range from 0 (000000000000) to position 4095 (111111111111). For a stepper motor requiring 12 microsteps per degree of pointer movement, the maximum pointer sweep is 341.25. Gauge Return to Zero Register (RTZR) SI Address 100--Gauge Return to Zero Register (RTZR), provided in Table 7, is written to return the gauge pointers to the zero position. During an RTZ event, the pointer is returned to zero, using full steps where only one coil is driven at any point in time. The back ElectroMotive Force (EMF) signal present on the non-driven coil is integrated, its results stored in an accumulator. Contents of this register's 15-bit RTZ accumulator can be read eight bits at a time. A logic [1] written to bit D1 enables a return to zero for Gauge 0 when D0 is logic [0], and Gauge 1 when D0 is 1, respectively. Similarly, a logic [0] written to bit D1 disables a return to zero for Gauge 0 when D0 is logic [0], and Gauge 1 when D0 is 1, respectively. Bits D3 and D2 are used to determine which eight bits of the 15-bit RTZ accumulator are clocked out of the SO register as the 8 MSBs of the SO word. See Table 12. This feature provides the flexibility to look at 15 bits of content with eight bits of the SO word. This 8-bit window can be dynamically changed while in the RTZ mode. A logic [00], written to bits D3:D2, results in the RTZ accumulator bits 7:0 clocked out as SO bits D15:D8, respectively. Similarly, a logic [01] results in RTZ counter bits 11:4 clocked out, and logic [10] delivers counter bits 14:8 as SO bits D14:D8, respectively. A logic [11] clocks out the same information as logic [10]. This feature allows the master to monitor the RTZ information regardless the size of the signal. Further, this feature is very useful during the determination of the accumulator offset to be loaded in for a motor and pointer combination. It should be noted, RTZ accumulator contents will reflect the data from the previous step. The first accumulator results to be read back during the first step will be 1111111111111111. Bits D12:D5 must be at logic [0] for valid RTZR commands. Bit D4 is used to enable an unconditional RTZ event. A logic [0] results in a typical RTZ event automatically stopping when a stall condition is detected. A logic [1] results in RTZ movement, stopping only if a logic [0] is written to bit D0. This feature is useful during development and characterization of RTZ requirements. The register bits in Table 7 are write-only. Table 7. Return to Zero Register (RTZR) Address 100 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 Write 0 0 0 0 0 0 0 0 RZ4 RZ3 RZ2 RZ1 RZ0 33991 16 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. Table 8. RTZ Accumulator Bit Select D3 D2 RTZ Accumulator Bits to SO Bits ST15:ST8 0 0 1 1 0 1 0 1 [7:0] [11:4] [14:8] [14:8] Bits D3:D0 determine the time spent at each full step during an RTZ event. The step time associated with each bit combination is illustrated in Table 10. The default full step time is 21.25 ms (0101). If there are 2 full steps per degree of pointer movement, the pointer speed is: 1/(FSx2) degrees. Bit D4 determines the provided blanking time immediately following a full step change, and before enabling the integration of the non-driven coil signal. The blanking time is either 512 s, when D4 is logic [0], or 768 s when D4 is logic [1]. Detecting pointer movement is accomplished by integrating the back EMF present in the non-driven coil during the RTZ event. The integration circuitry is implemented using a SigmaDelta converter resulting in a representative value in the 15-bit RTZ accumulator at the end of each full step. The value in the RTZ accumulator represents the change in flux and is compared to a threshold. Values above the threshold indicate a moving pointer. Values below the threshold indicate a stalled pointer, thereby resulting in the cessation of the RTZ event. The RTZ accumulator bits are signed and represented in two's complement. If the RTZR D3:D2 bits were written as 10 or 11, the ST14 bit corresponds to bit D14 of the RTZ accumulator, the sign bit. After a full step of integration, a sign bit of 0 is the indicator of an accumulator exceeding the decision threshold of 0, and the pointer is assumed to still be moving. Similarly, if the sign bit is logic [1] after a full step of integration, the accumulator value is negative and the pointer is assumed to be stopped. The integrator and accumulator are initialized after each full step. Accurate pointer stall detection depends on a correctly preloaded accumulator for specific gauge, pointer, and full step combinations. Bits D12:D5 are used to offset the initial RTZ accumulator value, properly detecting a stalled motor. The initial accumulator value at the start of a full step of integration is negative. If the accumulator was correctly preloaded, a free moving pointer will result in a positive value at the end of the integration time. A stalled pointer results in a negative value. The preloaded values associated with each combination of bits D12:D5 are illustrated in Table 11. The accumulator should be loaded with a negative value resulting in a transition of the accumulator MSB to a logic [1] when the motor is stalled. After a power-up, or any reset in the Default mode, the 33991device sets the accumulator value to -1, resulting in an unconditional RTZ pointer movement. RZ12-RZ5--These bits must be transmitted as logic [0] for valid commands. RZ4--This bit is used to enable an unconditional RTZ event. * 0 = Automatic return to zero * 1 = Unconditional return to zero RZ3-RZ2--These bits are used to determine which eight bits of the RTZ accumulator will be clocked out via the SO pin. See Table 8. RZ1-Return to zero--Commands the selected gauge to return the pointer to zero position. * 1 = Return to zero enabled * 0 = Return to zero disabled RZ0-Gauge Select: Gauge 0/Gauge 1--Selects the gauge to be commanded. * 0 = Selects Gauge 0 * 1 = Selects Gauge 1 Gauge Return to Zero Configuration Register SI Address 101-Gauge Return to Zero Configuration Register (RTZCR) is used to con the Return to Zero Event. See Table 9. It is written to modify the step time, or rate, the pointer moves during an RTZ event. Also, the integration blanking time is adjustable with this command. Integration blanking time is the time immediately following the transition of a coil from a driven state to an open state in the RTZ mode. Finally, this command is used to adjust the threshold of the RTZ integration register. The values used for this register are chosen during development to optimize the RTZ for each application. Various resonance frequencies can occur due to the interaction between the motor and the pointer. This command permits moving the RTZ pointer speed away from these frequencies. Freescale Semiconductor, Inc... Table 9. RTZCR SI Register Assignment Address 101 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 Write RC12 RC11 RC10 RC9 RC8 RC7 RC6 RC5 RC4 RC3 RC2 RC1 RC0 These bits are write-only. RC12-RC5--These bits (D12:D5) determine the preloaded value into the RTZ integration accumulator to adjust the detection threshold. Values range from -1 (00000000) to -4081 (11111111)provided in Table 11. RC4--This bit determines the RTZ blanking time * 0 = 512 s * 1 = 768 s RC3-RC0--These bits (D3:D0) determine the full step time during an RTZ event, determining the pointer moving rate. Step times range from 4.86 ms (0000) to 62.21 ms (1111). Those are illustrated in Table 10. The default time is 21.25 ms (0101). 33991 17 MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com Freescale Semiconductor, Inc. Table 10. RTZCR Full Step Time RC3 RC2 RC1 RC0 Full Step Time (ms) 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 4.86 4.86 8.96 13.06 17.15 21.25 25.34 29.44 33.54 37.63 41.73 45.82 49.92 54.02 58.11 62.21 Freescale Semiconductor, Inc... 1 1 1 1 1 1 1 1 Table 11. RTZCR Accumulator Offset RC 12 RC 11 RC 10 RC 9 RC 8 RC 7 RC 6 RC 5 Preload Value (PV) Initial Accumulator Value = (16xPV)-1 0 0 0 0 0 " " " 1 0 0 0 0 0 " " " 1 0 0 0 0 0 " " " 1 0 0 0 0 0 " " " 1 0 0 0 0 0 " " " 1 0 0 0 0 1 " " " 1 0 0 1 1 0 " " " 1 0 1 0 1 0 " " " 1 0 1 2 3 4 " " " 255 -1 -17 -33 -49 -65 " " " -4081 33991 18 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. SO Communication When the CS pin is pulled low, the internal status word register is loaded into the output register and the fault data is clocked out MSB (OD15) first. Following a CS transition 0 to 1, the device determines if the message shift was a valid length and if so, latches the data into the appropriate registers. A valid message length is greater than 0 bits and a multiple of 16 bits. At this time, the SO pin is tri-stated and the fault status register is now able to accept new fault status information. If the message length is determined to be invalid, the status information is not cleared. It is transmitted again during the next SPI message. Any bits clocked out of the SO pin after the first sixteen, is representative of the initial message bits clocked into the SI pin. That is due to the CS pin first being transitioned to a logic [0]. This feature is useful for daisy chaining devices as well as message verification. Table 12. Status Output Register OD15 OD14 OD13 OD12 OD11 OD10 OD9 OD8 OD7 OD6 OD5 OD4 OD3 OD2 OD1 OD0 Freescale Semiconductor, Inc... Read ST15 ST14 ST13 ST12 ST11 ST10 ST9 ST8 ST7 ST6 ST5 ST4 ST3 ST2 ST1 ST0 These are read-only bits. ST15-ST8--Bits representing the eight bits from the RTZ accumulator as determined by the status of bits RZ2 and RZ3 of the RTZR, defined in Table 8. These bits represent the integrated signal present on the non-driven coil during an RTZ event. These bits will be logic [0] after power-on reset, or after the RST pin transitions from logic [0] to [1]. After an RTZ event, they will represent the last RTZ accumulator result before the RTZ was stopped. ST7-Calibrated Clock out of Specification--A logic [1] on this bit indicates the clock count calibrated to a value outside of the expected range, and given the tolerance specified by TCLC in the SPI Interface Timing table. * 0 = Clock with in spec * 1 = Clock out of spec ST6-Under voltage or over voltage Indication--A logic [1] on this bit indicates the VPWR voltage fell to a level below the VPWRUV, or it exceeded an upper limit of VPWROV, as specified in the Static Electrical Characteristics table, since the last SPI communication. An under voltage event is just flagged, while an * 1 = Gauge 1 pointer position has changed since the last SPI command ST4--Gauge 0--Movement since last SPI communication. A logic [1] on this bit indicates the Gauge 0 pointer position has changed since the last SPI command. The master confirms the pointer is moving as commanded. * 0 = Gauge 0 position has not changed since the last SPI command * 1 = Gauge 0 pointer position has changed since the last SPI command ST3-RTZ1--Enabled successful or disabled. A logic [1] on this bit indicates Gauge 1 is in the process of returning to the zero position as requested with the RTZ command. This bit continues to indicate a logic [1] until the SPI message following a detection of the zero position, or the RTZ feature is commanded off using the RTZ message. * 0 = Return to zero disabled * 1 = Return to zero enabled successful ST2-RTZ0--Enabled successful or disabled. A logic [1] on this bit indicates Gauge 0 is in the process of returning to the zero position as requested with the RTZ command. This bit continues indicating a logic [1] until the SPI message following a detection of the zero position, or the RTZ feature is commanded off, using the RTZ message. * 0 = Return to zero disabled * 1 = Return to zero enabled successful ST1-Gauge 1--Junction over temperature. A logic [1] on this bit indicates coil drive circuitry dedicated to drive Gauge 1 has exceeded the maximum allowable junction temperature since the last SPI communication. Additionally, the same indication signals the circuitry Gauge 1 is disabled. It is recommended the pointer be re-calibrated using the RTZ command after reenabling the gauge using the PECR command. This bit remains logic [1] until the gauge is enabled. * 0 = Temperature within range * 1 = Gauge 1 maximum allowable junction temperature condition has been reached over voltage event automatically disables the driver outputs. Because the pointer may not be in the expected position, the master may want to re-calibrate the pointer position with a RTZ command after the voltage returns to a normal level. For an over voltage event, both gauges must be re-enabled as soon as this flag returns to logic [0]. The state machine continues to operate properly as long as VDD is within the normal range. * 0 = Normal range * 1 = Battery voltage fell below VPWRUV, or exceeded VPWROV ST5-Gauge 1--Movement since last SPI communication. A logic [1] on this bit indicates the Gauge 1 pointer position has changed since the last SPI command. This allows the master to confirm the pointer is moving as commanded. * 0 = Gauge 1 position has not changed since the last SPI command MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 19 Freescale Semiconductor, Inc. ST0-Gauge 0--Junction over temperature. A logic [1] on this bit indicates coil drive circuitry dedicated to drive Gauge 0 has exceeded the maximum allowable junction temperature since the last SPI communication. Additionally, the same indication signals the circuitry Gauge 0 is disabled. It is recommended the pointer be re-calibrated using the RTZ command after re- enabling the gauge, using the PECR command. This bit remains logic [1] until the gauge is re-enabled. * 0 = Temperature within range * 1 = Gauge 0 maximum allowable junction temperature condition has been reached DEVICE FUNCTIONAL DESCRIPTION State Machine Operation The two-phase stepper motor is defined as maximum velocity and acceleration, and deceleration. It is the purpose of the stepper motor state machine to drive the motor with maximum performance while remaining within the motor's velocity and acceleration constraints. When commanded, the motor should accelerate constantly to its maximum velocity then decelerate and stop at the desired position. During the deceleration phase, the motor should not exceed the maximum deceleration. A required function of the state machine is to ensure the deceleration phase begins at the correct time, or position. During normal operation, both stepper motor rotors are microstepped with 24 steps per electrical revolution. See Figure 6. A complete electrical revolution results in 2 degrees of pointer movement. There is a second, and smaller state, machine in the IC controlling these microsteps. This state machine receives clockwise or counter-clockwise index commands at intervals, stepping the motor in the appropriate direction by adjusting the current in each coil. Normalized values can be seen in Table 13. Freescale Semiconductor, Inc... 33991 20 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. Imax + Sine I coil 0 _ Imax 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 Imax Freescale Semiconductor, Inc... + Cosine I coil 0 _ Imax 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 Figure 5-1 Microstepping (CW) Figure 6. Microstepping MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 21 Freescale Semiconductor, Inc. Table 13. Coil Step Value SINE Current STEP# ANGLE SINE Angle* Flow 8-Bit Value (DEC) 8-Bit Value (HEX) COS Current COS Angle* Flow 8-Bit Value (DEC) 8-Bit Value (HEX) 0 1 2 3 4 5 6 0 15 30 45 60 75 90 105 120 135 150 165 180 195 210 225 240 255 270 285 300 315 330 345 0 0.259 0.5 0.707 0.866 0.966 1 0.966 0.866 0.707 0.5 0.259 0 -0.259 -0.5 -0.707 -0.866 -0.966 -1 -0.966 -0.866 -0.707 -0.5 -0.259 + + + + + + + + + + + + + - 0 66 128 181 222 247 255 247 222 181 128 66 0 66 128 181 222 247 255 247 222 181 128 66 0 42 80 B5 DE F7 FF F7 DE B5 80 42 0 42 80 B5 DE F7 FF F7 DE B5 80 42 1 0.965 0.866 0.707 0.5 0.259 0 -0.259 -0.5 -0.707 -0.866 -0.966 -1 -0.966 -0.867 -0.707 -0.5 -0.259 0 0.259 0.5 0.707 0.866 0.966 + + + + + + + + + + + + + 255 247 222 181 128 66 0 66 128 181 222 247 255 247 222 181 128 66 0 66 128 181 222 247 FF F7 DE B5 80 42 0 42 80 B5 DE F7 FF F7 DE B5 80 42 0 42 80 B5 DE F7 Freescale Semiconductor, Inc... 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 Notes: * Denotes Normalized values. The motor is stepped by providing index commands at intervals. The time between steps defines the motor velocity, and the changing time defines the motor acceleration. The state machine uses a table defining the allowed time steps, including the maximum velocity. A useful side effect of the table is, it also allows the direct determination of the position the velocity should reduce to allow the motor to stop at the desired position. The motor equations of motion are generated as follows: The units of position are steps, and velocity and acceleration are in steps/second, and steps/second. From an initial position of 0, with an initial velocity u, the motor position, s at a time t is: t = - u + u 2 + 2a a This defines the time increment between steps when the motor is initially travelling at a velocity . In the ROM, this time is quantized to multiples of the system clock by rounding upwards, ensuring the acceleration never exceeds the allowed value. The actual velocity and acceleration is calculated from the time step actually used. Using v 2 = u 2 + 2as and s = ut + 1 2 at 2 v = u + at For unit steps, the time between steps is: 33991 22 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. and solving for v in terms of u, s and t gives: v = 2 -u t The correct value of t to use in this equation is the quantized value obtained above. From these equations, a set of recursive equations can be generated to give the allowed time step between motor indexes when the motor is accelerating from a stop to its maximum velocity. Starting from a position p of 0, and a velocity v of 0, these equations define the time interval between steps at each position. To drive the motor at maximum performance, index commands are given to the motor at these intervals. A table is generated giving the time step t at an index position n. Note: pn = n pn = n This means: on the nth step, the motor has indexed by n positions, and has been accelerating steadily at the maximum allowed rate. This is critical because, it also indicates the minimum distance the motor must travel while decelerating to a stop. In other words, the stopping distance is also equal to the current value of n. The algorithm to drive the motor is similar to: * While the motor is stopped, wait until a command is received. * Send index pulses to the motor at an ever-increasing rate, according to the time steps in the table above until: * The maximum velocity is reached, at this point the time intervals stop decreasing or, * The distance remaining to travel is less than the current index in the table. At this point, the stopping distance is equal to the remaining distance, ensuring it will stop at the required position, the motor must begin decelerating. An example of the table for a particular motor is provided in Table 14. This motor's maximum speed is 4800 microsteps/s (at 12 microsteps/degree), and its maximum acceleration is 54000 microsteps/s. The table is quantized to a 1 MHz clock. Freescale Semiconductor, Inc... p0 = 0 v0 = 0 2 -v n -1 + v n -1 + 2a t n = a , where indicates rounding up. vn = 2 t n - v n -1 Table 14. Velocity Ramp Velocity Position Time Between Steps (s) Velocity (Steps/s) Velocity Position Time Between Steps (s) Velocity (Steps/s) Velocity Position Time Between Steps (s) Velocity (Steps/s) 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 0 16383 6086 2521 1935 1631 1437 1299 1195 1112 1045 988 940 898 861 0.00 122.08 350.58 480.52 582.15 668.51 744.92 814.19 878.01 937.50 993.43 1046.38 1096.77 1144.95 1191.18 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 363 360 358 355 353 351 348 346 344 342 340 338 336 334 332 2771.81 2791.22 2810.50 2829.65 2848.67 2867.56 2886.33 2904.98 2923.51 2941.92 2960.22 2978.41 2996.48 3014.45 3032.31 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 255 255 254 253 252 251 250 249 249 248 247 246 245 245 244 3931.78 3945.49 3959.15 3972.77 3986.34 3999.86 4013.34 4026.77 4040.16 4053.51 4066.81 4080.06 4093.28 4106.45 4119.58 MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 23 Freescale Semiconductor, Inc. Table 14. Velocity Ramp Velocity Position Time Between Steps (s) Velocity (Steps/s) Velocity Position Time Between Steps (s) Velocity (Steps/s) Velocity Position Time Between Steps (s) Velocity (Steps/s) 15 16 17 18 19 20 21 22 829 800 773 750 728 708 690 673 657 642 628 615 603 592 581 571 561 552 543 534 526 519 511 504 497 491 485 479 473 467 462 457 452 1235.68 1278.63 1320.19 1360.48 1399.61 1437.67 1474.76 1510.93 1546.25 1580.79 1614.59 1647.70 1680.15 1711.99 1743.24 1773.95 1804.13 1833.82 1863.04 1891.80 1920.13 1948.05 1975.58 2002.72 2029.51 2055.94 2082.04 2107.82 2133.28 2158.45 2183.32 2207.92 2232.24 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 330 328 326 324 322 320 319 317 315 314 312 310 309 307 306 304 303 301 300 298 297 295 294 293 291 290 289 287 286 285 284 282 281 3050.07 3067.72 3085.27 3102.73 3120.08 3137.34 3154.51 3171.58 3188.56 3205.45 3222.25 3238.97 3255.60 3272.14 3288.60 3304.98 3321.28 3337.50 3353.64 3369.70 3385.69 3401.60 3417.44 3433.21 3448.90 3464.52 3480.07 3495.55 3510.97 3526.32 3541.60 3556.81 3571.96 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 243 242 241 241 240 239 238 238 237 236 236 235 234 234 233 232 232 231 230 230 229 228 228 227 226 226 225 225 224 223 223 222 222 4132.66 4145.71 4158.71 4171.68 4184.60 4197.49 4210.33 4223.14 4235.91 4248.64 4261.33 4273.98 4286.60 4299.17 4311.72 4324.22 4336.69 4349.13 4361.53 4373.89 4386.22 4398.51 4410.77 4423.00 4435.19 4447.35 4459.47 4471.57 4483.63 4495.65 4507.65 4519.61 4531.55 Freescale Semiconductor, Inc... 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 33991 24 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. Table 14. Velocity Ramp Velocity Position Time Between Steps (s) Velocity (Steps/s) Velocity Position Time Between Steps (s) Velocity (Steps/s) Velocity Position Time Between Steps (s) Velocity (Steps/s) 48 49 50 51 52 53 54 55 447 442 437 433 429 425 420 417 413 409 405 402 398 395 392 389 385 382 379 376 374 371 368 366 2256.30 2280.11 2303.67 2326.99 2350.09 2372.95 2395.60 2418.04 2440.27 2462.30 2484.13 2505.77 2527.23 2548.51 2569.61 2590.54 2611.30 2631.90 2652.34 2672.62 2692.75 2712.73 2732.56 2752.25 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 280 279 278 277 275 274 273 272 271 270 269 268 267 266 265 264 263 262 261 260 259 258 257 256 3587.05 3602.07 3617.03 3631.93 3646.77 3661.54 3676.26 3690.92 3705.52 3720.07 3734.56 3748.99 3763.36 3777.68 3791.95 3806.17 3820.33 3834.44 3848.49 3862.50 3876.45 3890.36 3904.22 3918.02 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 221 220 220 219 219 218 218 217 216 216 215 215 214 214 213 213 212 212 211 211 210 210 209 209 4543.45 4555.32 4567.15 4578.96 4590.74 4602.49 4614.21 4625.89 4637.55 4649.18 4660.78 4672.36 4683.90 4695.41 4706.90 4718.36 4729.79 4741.19 4752.57 4763.92 4775.24 4786.53 4797.80 4800.00 Freescale Semiconductor, Inc... 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 Internal Clock Calibration Timing related functions on the 33991 device (e.g., pointer velocities, acceleration and Return To Zero Pointer speeds) depend upon a precise, consistent time reference to control the pointer accurately and reliably. Generating accurate time references on an Integrated Circuit can be accomplished; however, they tend to be costly due to the large amount of die area required for trim pads and the associated trim procedure. One possibility to reduce cost is an externally generated clock signal. An external generated clock requires a dedicated pin on the device and on the controller. Another inexpensive approach would be to require the use of an additional crystal or resonator. The internal clock in the 33991 is temperature independent and area efficient; however, it can vary by as much as + 70 percent to - 35 percent due to process variation. Using the existing SPI inputs and the precision timing reference already available to the controller, the 33991allows clock calibration to within 10 percent. Calibrating the internal 1 MHz clock is initiated by writing a logic [1] to PECR bit D3. See Figure 7. The 8 s calibration pulse is provided by the controller. It is ideally results in an internal 33991 clock speed of 1 MHz. The pulse is sent on the CS pin immediately after the SPI word is launched. No other SPI lines must be toggled. At the moment the CS pin transitions from logic [1] to [0], an internal 7-bit counter counts the number of cycles of an internal, non-calibrated, and temperature independent, 8 MHz clock. The counter stops when the CS pin transitions from logic [0] to logic [1]. The value in the counter represents the number of cycles of the 8 MHz clock occurring in the 8 s window; it should range from 32 to 119. An offset is added to this number to help center or skew the calibrated result to generate a desired maximum or nominal frequency. The modified counter value is truncated by four bits, generating the calibration divisor, ranging from four to 15. The 8 MHz clock is divided by the calibration divisor, resulting in a calibrated 1 MHz clock. If the calibration divisor lies outside the range of four to 15, then the 33991 device flags the ST7 bit, indicating the MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 25 Freescale Semiconductor, Inc. calibration procedure was not successful. A clock calibration is allowed only if the gauges are disabled or the pointers are not moving, indicated by status bits ST4 and ST5. D15 D0 SI SI SCLK SCLK CSB CS PECR Command 8us Calibration Pulse Freescale Semiconductor, Inc... Figure 7. Gauge Enable & Clock Calibration Example Figure 5-2Gauge Enable and Clock Calibration Example Some applications may require a guaranteed maximum pointer velocity and acceleration. Guaranteeing these maximums requires the nominal internal clock frequency fall below 1 MHz. The frequency range of the calibrated clock is always below 1 MHz if PECR bit D4 is logic [0] when initiating a calibration command, followed by an 8 s reference pulse. The frequency is centered at 1 MHz if bit D4 is logic [1]. The 33991 can be deceived into calibrating faster or slower than the optimal frequency by sending a calibration pulse longer or shorter than the intended 8 s. As long as the count remains between four and 15 there is no clock calibration flag. For applications requiring a slower calibrated clock, i.e., a motor designed with a gear ratio of 120:1 (8 microsteps/degrees), a longer calibration pulse is required. The device allows a SPI selectable slowing of the internal oscillator, using the PECR command so the calibration divisor safely falls within the four to 15 range when calibrating with a longer time reference. For example, for the 120:1 motor the pulse would be 12 s instead of 8 s. The result of this slower calibration results in the longer step times necessary to generate pointer movements meetingthe acceleration and velocity requirements. The resolution of the pointer positioning decreases from 0.083/ microstep (180:1) to 0.125/microstep (120:1). The pointer sweep range increases from approximately 340 to over 500. Note: Be aware a fast calibration could result in violations of the motor acceleration and velocity maximums, resulting in missed steps. Pointer Deceleration Waveshaping Constant acceleration and deceleration of the pointer results in choppy movements when compared to air core movements. Air core behavior can be simulated with appropriate wave shaping during deceleration only. This shaping is achieved by adding repetitive steps at several of the last step values. An example is illustrated in Figure 8. VELOCITY 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 HOLDCNT= 2 ra te De ce ler cc e le at e A 8 7 6 5 4 3 2 1 n= 0 7 2 3 3 3 4 6 6 5 4 3 2 1 0 STEPS Figure 8. Deceleration Waveshaping 33991 26 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. Return to Zero Calibration Many stepper motor applications require the integrated circuit (IC) detect when the motor is stalled after commanded to return to the zero position for calibration purposes. Stalling occurs when the pointer hits the end stop on the gauge bezel, usually at the zero position. It is important when the pointer reaches the end stop it immediately stops without bouncing away from the stop. The 33991device provides the ability to automatically and independently return each of the two pointers to the zero position via the RTZR and RTZCR SPI commands. During an RTZ event, all commands related to the gauge being returned are ignored, except when the RTZR bit D1 is used to disable the event, or when the RTZR bits D3 and D2 are changed in order to look at different RTZ accumulator bits. Once an RTZ event is initiated, the device will report back via the SO pin, indicating an RTZ is underway. The RTZCR command is used to set the RTZ pointer speed, choose an appropriate blanking time and preload the integration accumulator with an appropriate offset. Reaching the end stop, the device reports the RTZ success to the microcontroller via the SO pin. The RTZ automatically disables allowing other commands to be valid. In the event the master determines an RTZ sequence is not working properly, for example the RTZ taking too long, it can disable the command via the RTZR bit D1. RTZCR bits D12:D5 are written to preload the accumulator with a predetermined value assuring an accurate pointer stall detection. This preloaded value is determined during application development by disabling the automatic shutdown feature of the device with the RTZR bit D4. This operating mode allows the master to monitor the RTZ event using the accumulator information available in the SO status bits D15:D8. Once the optimal value is determined, the RTZ event can be turned off using the RTZR bit D1. During an RTZ event, the pointer is returned counter-clockwise (CCW) using full steps at a constant speed determined by the RTZCR D3:D0 bits during RTZ configuration. See Figure 9. Full steps are used because only one coil of the motor is being driven at any time. The coil not being driven is used to determine whether the pointer is moving. If the pointer is moving, a back EMF signal can be processed and detected in the non-driven coil. This is achieved by integrating the signal present on an opened end of the non-driven coil while grounding the opposite end. The IC automatically prepares the non-driven coil at each step, waits for a predetermined blanking time, then processes the signal for the duration of the full step. When the pointer reaches the stop and no longer moves, the dissipating back EMF is detected. The processed results are placed in the RTZ accumulator, then compared to a decision threshold. If the signal exceeds the decision threshold, the pointer is assumed to be moving. When the threshold value is not exceeded, the drive sequence is stopped when RTZR bit D4 is logic [0]. If bit D4 is logic [1], the RTZ movement will continue indefinitely until the RTZR bit D1 is used to stop the RTZ event. A pointer not on a full step location, or in magnetic alignment prior to the RTZ event, may result in a false RTZ detection. More specifically, an RTZ event beginning from a non-full step position may result in an abbreviated integration, interpreted as a stalled pointer. Similarly, if the magnetic fields of the energized coils and the rotor are not aligned prior to initiating the RTZ, the integration results may mistakenly indicate the pointer has stopped moving. Advancing the pointer by at least 24 microsteps clock-wise (CW) to the nearest full step position, e.g., 24,30, 36, 42, 48 ...prior to initiating an RTZ, ensures the magnetic fields are aligned. Doing that increases the chances of a successful pointer stall detection. It is important the pointer be in a static, or commanded position before starting the RTZ event. Since the time duration and the number of steps the pointer moves prior to reaching the commanded position can vary depending on its status at the time a position change is communicated, the master should assure sufficient time has elapsed prior to starting an RTZ. If an RTZ is desired after first enabling the outputs, or after forcing a reset of the device, the pointer should first be commanded to move 24 microstep steps clock-wise (CW) to the nearest full step location. Because the pointer was in a static position at default, the master could determine the number of microsteps the device took by monitoring and counting the ST4 (ST5) status bit transitions, confirming the pointer is again in a static position. Only one gauge at a time can be returned to the zero position. An RTZ should not begin until the gauge to be calibrated is at a static position and its pointer is at a full step position. An attempt to calibrate a gauge while the other is in the process of an RTZ event, will be ignored by the device. In most applications of the RTZR command, it is possible to avoid a visually obvious sequential calibration by first bringing the pointer back to the previous zero position and then recalibrating the pointers. After completion of a RTZ, the 33991 automatically assigns the zero step position to the full step position at the end stop location. Because the actual zero position could lie anywhere within the full step where the zero was detected, the assigned zero position could be within a window of 0.5. An RTZ can be used to detect stall, even if the pointer already rests on the end stop when an RTZ sequence is initiated; however, it is recommended the pointer should be advanced by at least 24 microsteps to the nearest full step prior to initiating the RTZ. Freescale Semiconductor, Inc... MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 27 Freescale Semiconductor, Inc. Imax + Icoil 0 SINE _ Imax 0 1 2 3 0 Imax Freescale Semiconductor, Inc... + Icoil 0 COSINE _ Imax 0 1 2 3 0 Figure 9. Full Steps (CCW) RTZ Output The non-driven coil is analyzed determining the state of the motor during an RTZ event. The 33991multiplexes the coil voltages and provides the signal from the non-driven coil to the RTZ pin. Over current faults are not reported directly. It is likely, however, an over current condition will become a thermal issue and be reported. Over Temperature Fault Requirements Default Mode Default mode refers to the state of the 33991after an internal or external reset and prior to SPI communication. An internal reset occurs during VDD power-up. An external reset is initiated by the RST pin driven to a logic [0]. With the exception of the RTZCR full step time, all of the specific pin functions and internal registers will operate as though all of the addressable configuration register bits were set to logic [0]. This means for example, all of the outputs will be disabled after a power-up or external reset, SO flag ST6 is set, indicating an under voltage event. Anytime an external reset is exerted and the default is restored, all configuration parameters, e.g., clock calibration, maximum speed, RTZ parameters, etc. are lost and must be reloaded. The 33991incorporates over temperature protection circuitry, shutting off the affected Gauge Driver when excessive temperatures are measured. In the event of a thermal overload, the affected gauge driver is automatically disabled. The over temperature fault is flagged via ST0 and/or ST1. Its respective flag continues to be set until the affected gauge is successfully re-enabled, provided the junction temperature has fallen below the hysteresis level. Over Voltage Fault Requirements The device is capable of surviving VPWR voltages within the maximum specified in the Maximum Ratings table. VPWR levels resulting in an Over Voltage Shut Down condition can result in uncertain pointer positions. Therefore, the pointer position should be re-calibrated. The master is then notified of an over voltage event via the ST6 flag on the SO pin. Over voltage detection and notification occurs regardless of whether the gauge(s) are enabled or disabled. Note: There is no way to distinguish between an over voltage fault and an under voltage fault from the status bits. If there is no external means for the microcontroller to determine the fault type, the gauges should be routinely enabled following the transition to logic [0] of ST6. Fault Logic Requirements The 33991device indicates each of the following faults as they occur: * Over temperature fault * Out-of-range voltage faults * Clock out of spec 33991 28 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. Over Current Fault Requirements: Output currents are limited to safe levels, then the device will rely on Thermal Shutdown to protect itself. Electrical Requirements All voltages specified are measured relative to the device ground pins, unless otherwise noted. Current flowing into 33991is positive, while current flowing out of the device is negative. Under Voltage Fault Requirements Severe under voltage VPWR conditions may result in uncertain pointer positions; therefore, recalibration of the pointer position may be advisable. During an under voltage event, the state machine and outputs continues to operate, although the outputs may be unable to reach the higher voltage levels. The master is notified of an under voltage event via the SO pin. Under voltage detection occurs regardless whether the gauge(s) are enabled, or disabled. Resets (Sleep Mode) The device can reset internally or externally. If the VDD level falls below the VDDUV level, specified in the Static Electrical Characteristics, the device resets and powers up in the Default mode. Similarly, If the RST pin is driven to a logic [0], the device will reset to its default state. The device will consume the least amount of current (Idd and Ipwr) when the RST pin is logic [0]. This is also referred to as the Sleep mode. Freescale Semiconductor, Inc... Note: There is no way to distinguish between over voltage and under voltage faults from the status bits. If there is no external means for the microcontroller to determine the fault type, the gauges should be routinely enabled following the transition to logic [0] of ST6. APPLICATION INFORMATION The 33991is an extremely versatile device, used in a variety of applications. Table 15, and the following sample code, provides a step-by-step example of configuring using many of the features designed into the IC. This example is intended to give a generic overview of how the device could be used. Further, it is intended to familiarize users with some of its capabilities. In Steps 1-9, the gauges are enabled, the clock is calibrated, the device is configured for RTZ, and the pointers are calibrated with the RTZ command. Steps 1-9 are representative of the first steps after power-up. Maximum velocity is set in Step 10, if necessary. In Steps 11 and 12, pointers are commanded to the desired positions by the master. These steps are the most frequently used during normal operation. Steps 13 -15 place the pointer close to the zero position prior to the initiation of the RTZ commands in Steps 1619. Step 20 disables the gauges, placing them into a Low Quiescent Current mode. Table 15. GDIC SETUP, CONFIGURATION, & USAGE EXAMPLE Step Number Command Description Table/Figure Number a. Enable Gauges. - Bit PE0: Gauge 0. - Bit PE1: Gauge 1. 1 PECR b. Clock Calibration - Bit PE3: enables calibration procedure. - Bit PE4: set clock f =1 MHz maximum or nominal. Send 8 s pulse on CS to calibrate 1 MHz clock. Set RTZ Full Step Time - Bits RC3:RC0. Set RTZ Blanking Time - Bit RC4. 2 RTZCR Preload RTZ Accumulator. - Bits RC12:RC5. Check SO for an Out of Range Clock Calibration. - Is bit ST7 logic level 1? If so, repeat Steps 1 and 2. 3 POS0R a. Move pointer to position 24 prior to RTZ. Table 12 Table 5 Table 11 Tables 9-10 Tables 9-10 Table 3 Figure 7 MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 29 Freescale Semiconductor, Inc. Table 15. GDIC SETUP, CONFIGURATION, & USAGE EXAMPLE (continued) Step Number Command Description Table/Figure Number Table 6 Table 12 Move pointer to position 24 prior to RTZ. 4 POS1R Check SO to see if Gauge 0 has moved. - Is bit ST4 logic level 1? If so, gauge 0 has moved to the first microstep. Send null command to see if gauges have moved. - Bit PE12. 5 PECR Check SO to see if Gauge 0 (Gauge 1) has moved - Is bit ST4 (ST5) logic level 1? If so, Gauge 0 (Gauge 1) has moved another microstep. Keep track of the movement. If 24 steps are finished, and both gauges are at a static position, then RTZ. Otherwise repeat steps a) and b). Table 3 Table 12 Freescale Semiconductor, Inc... a. Return one Gauge at a time to the zero stop using RTZ command bit RZ0 selects the gauge bit RZ1 is used to enable or disable an RTZ. - Bits RZ3:RZ2 are used to select the RTZ accumulator bits clocking out on the SO pin. 6 RTZ b. Select the RTZ accumulator bits clocking out on the SO bits ST15:ST8. These will be used if characterizing the RTZ. - Bits RZ3: RZ2 are used to select the bits. a. Check the Status of the RTZ by sending the null command to monitor SO bit ST2 7 PECR - Bit PE12 is the null command. Is ST2 logic level 0? If not, Gauge 0 is still returning and null command should be resent. 8 RTZ Return the other gauge to the zero stop. If the second gauge is driving a different pointer than the first, a new RTZCR command may be required to change the Full Step time. a. Check the Status of the RTZ by sending the null command to monitor SO bit ST3 9 PECR - Bit PE12 is the null command. Is ST3 logic level 0? If not, Gauge 1 is still returning. Null command should be resent. Change the maximum velocity of the gauge bits V8:V9. Determine which gauge(s) will change the maximum velocity bits V7:V0. Determine the maximum velocity position from the acceleration table. Position Gauge 0 pointer - Bits P0 11: P0 0: Desired Pointer Position. Check SO for Out of Range VPWR 11 POS0R - Bit ST6 logic level 1. If so, RTZ after valid VPWR. Check SO for Over Temperature bit ST0 logic level 1. If so, enable driver again. If ST0 continues to indicate Over Temperature, shut down Gauge 0. If ST2 returns to normal, reestablish the zero reference by RTZ command. Position Gauge 1 pointer - Bits P1 11:P1 0: Desired Pointer Position 12 POS1R Check SO for Out of Range VPWR bit ST6 logic level 1. If so, RTZ after valid VPWR. Check SO for Over Temperature bit ST1 logic level 1. If so, enable driver again. If ST1 continues to indicate over temperature, shut down Gauge 1. If ST1 returns to normal, reestablish the zero reference by RTZ command. a. Return the pointers close to zero position using POS0R 13 POS0R b. Move pointer position at least 24 microsteps CW to the nearest full step prior to RTZ. Table 7 Table 8 Table 3 Table 12 Tables 7-8 Table 3 Table 12 10 VELR Table 4 Table 5 Table 12 Table 6 Table 12 Table 5 33991 30 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. Table 15. GDIC SETUP, CONFIGURATION, & USAGE EXAMPLE (continued) Step Number Command Description Table/Figure Number Return the pointers close to zero position using POS1R Move pointer position at least 24 microsteps CW to the nearest full step position prior to RTZ. Check SO to see if Gauge 0 has moved. - Is bit ST4 logic level 1? If so, Gauge 0 has moved to the first microstep. Send null command to see if gauges have moved. - Bits PE12 15 PECR Check SO to see if Gauge 0 (Gauge 1) has moved. - Is bit ST4 (ST5) logic level 1? If so, Gauge 0 (Gauge 1) has moved another microstep. Keep track of movement. If 24 steps are finished and both gauges are at a static position, then RTZ. Otherwise repeat steps a) and b). a. Return one gauge at a time to the zero stop using RTZ. Command bit RZ0 selects the gauge bit RZ1 used to enable or disable an RTZ. - Bits RZ3:RZ2 are used to select the RTZ accumulator bits clocking out on the SO pin. 16 RTZ b. Select the RTZ accumulator bits clocking out on the SO bits ST15:ST8. These will be used if characterizing the RTZ. - Bits RZ3:RZ2 are used to select the bits. a. Check the status of the RTZ by sending the null command to monitor SO bit ST2 17 PECR - Bit PE12 is the null command. Is ST2 logic level 0? If not, Gauge 0 is still returning. Null command should be resent. 18 RTZ Return the other Gauge to the zero stop. If the second gauge is driving a different pointer than the first, a new RTZCR command may be required to change the Full Step time. a. Check the Status of the RTZ by sending the null command to monitor SO bit ST3 19 PECR Disable both gauges and go to standby bit PE0:PE1 are used to disable the gauges 20 Put the device to sleep. - RST pin is pulled to logic 0. Table 3 Table 3 Table 12 Tables 7-8 Tables 7-8 Table 12 Table 3 Table 12 Table 6 14 POS1R Freescale Semiconductor, Inc... - Bit PE12 is the null command. Is ST3 logic level 0? If not, Gauge 1 is still returning. Null command should be resent. Table 3 Table 12 MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 31 Freescale Semiconductor, Inc. SAMPLE CODE /* The following example code demonstrates a typical set up configuration for a M68HC912B32. */ /* This code is intended for instructional use only. Motorola assumes no liability for use or */ /* modification of this code. It is the responsibility of the user to verify all parameters, variables,*/ /* timings, etc. */ void InitGauges(void) { /* Step 1 */ Command_Gauge(0x00,0x03); Command_Gauge(0x00,0x08); /* 8 uSec calibration */ PORTS = 0x00; For (cnt = 0; cnt < 5; cnt++) { NOP; } PORTS = 0x04; /* Enable Gauges */ /* Clock Cal bit set */ /* Enable GDIC CS pin - PORTS2 */ /* Wait for 8 uSec calibration */ Freescale Semiconductor, Inc... /* Disable GDIC CS pin - PORTS2 */ /* Step 2 */ Command_Gauge(0xA0,0x21); /* Send RTZCR values */ Command_Gauge(0x10,0x00); /* Null Read to get SO status */ /*Check SO bits for Out of Range Clock Calibration */ If ((status & 0x80) != 0) /*If Clock is out of range then recalibrate 8 uSec pulse */ /* Step 3 */ Command_Gauge(0x40,0x18); /* Send position to gauge0 */ /* Step 4 */ Command_Gauge(0x60,0x18); /* Send position to gauge1 */ /* Check SO bit ST4 to see if Gauge 0 has moved */ If((status & 0x10) != 0) /* If ST4 is logic 1 then Gauge 0 has moved to the first microstep */ /* Step 5 */ Command_Gauge(0x10,0x00); /* Null Read to get SO status */ /* Check SO bit ST4 to see if Gauge 0 has moved */ If((status & 0x10) != 0) /* If it has moved, then keep track of position */ /* Wait until 24 steps are finished then send a RTZ command (Step 7) */ /* Step 6 */ Command_Gauge(0x80,0x02); /* Send RTZ to Gauge 0 */ /* Step 7 */ Command_Gauge(0x10,0x00); /* Null Read to get status */ /* Read Status until RTZ is done */ While ((status & 0x04) != 0) {Command_Gauge(0x10,0x00);} 33991 32 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. /* Step 8 */ Command_Gauge(0x80,0x03); /* Send RTZ to Gauge 1 */ /* Step 9 */ Command_Gauge(0x10,0x00); /* Null Read to get status */ /* Read Status until RTZ is done */ While ((status & 0x08) != 0) {Command_Gauge(0x10,0x00);} /* Step 10 */ Command_Gauge(0x23,0xFF); /* Send velocity */ Freescale Semiconductor, Inc... /* Step 11 */ Command_Gauge(0x4F,0xFF); /* Send position to gauge0 */ /*Check SO bits for Out of Range Vpwr and Overtemperature */ If((status & 0x40) != 0) /* If bit ST6 is logic 1 then RTZ after valid Vpwr */ If((status & 0x01) != 0) /* If bit ST0 is logic 1 then enable driver again. /* If ST0 continues to indicate over temperature, then shut down Gauge 0. */ /* If ST2 returns to normal, then reestablish the zero reference by RTZ command. */ /* Step 12 */ Command_Gauge(0x6F,0xFF); /* Send position to gauge1 */ /*Check SO bits for Out of Range Vpwr and Over-Temperature */ If((status & 0x40) != 0) /* If bit ST6 is logic 1 then RTZ after valid Vpwr */ If((status & 0x01) != 0) /* If bit ST0 is logic 1 then enable driver again. /* If ST0 continues to indicate Over-Temperature, then shut down Gauge 1. */ /* If ST2 returns to normal, then reestablish the zero reference by RTZ command. */ /* Step 13 */ Command_Gauge(0x40,0x00); /* Send position to Gauge 0 */ /* Return the pointers close to zero position */ Command_Gauge(0x40,0x18); /* Send position to Gauge 0 */ /* Move the pointer at least 24 microsteps CW to the nearest full step */ /* Step 14 */ Command_Gauge(0x60,0x00); /* Send position to Gauge 1 */ /* Return the pointers close to zero position */ Command_Gauge(0x60,0x18); /* Send position to Gauge 1 */ /* Move the pointer at least 24 microsteps CW to the nearest full step */ /* Check SO bit ST4 to see if Gauge 0 has moved */ If((status & 0x10) != 0) /* If ST4 is logic 1 then Gauge 0 has moved to the first microstep */ MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 33 Freescale Semiconductor, Inc. /* Step 15 */ Command_Gauge(0x10,0x00); /* Null Read to get status */ /* Check SO bit ST4 to see if Gauge 0 has moved */ If((status & 0x10) != 0) /* If it has moved, then keep track of position */ /* Wait until 24 steps are finished then send a RTZ command (Step 17) */ /* Step 16 */ Command_Gauge(0x80,0x02); /* Send RTZ to Gauge 0 */ Freescale Semiconductor, Inc... /* Step 17 */ Command_Gauge(0x10,0x00); /* Null Read to get status */ /* Read Status until RTZ is done */ While ((status & 0x04) != 0) {Command_Gauge(0x10,0x00);} /* Step 18 */ Command_Gauge(0x80,0x03); /* Send RTZ to Gauge 1 */ /* Step 19 */ Command_Gauge(0x10,0x00); /* Null Read to get status */ /* Read Status until RTZ is done */ While ((status & 0x08) != 0) {Command_Gauge(0x01,0x00);} /* Step 20 */ Command_Gauge(0x00,0x00); /* Disable Gauges and go into Standby */ /* Put device to sleep by setting RSTB to logic 0 */ } void Command_Gauge(char MSB, char LSB) /*This subroutine sends the GDIC commands on the SPI port */ { PORTS = 0x00; /* Chip select low (active) */ SP0DR = MSB; /* send first byte of gauge command */ While ((SP0SR & 0x80) == 0); /* wait for Rxflag (first byte) */ RTZdata = SP0DR; /* Read status MSB */ SP0DR = LSB; /* send second byte of command */ While ((SP0SR & 0x80) == 0); /* wait for Rxflag (second byte) */ status = SP0DR; /* read status LSB */ PORTS = 0x04; /* Chip select high (deactivated) */ } /* Motorola Semiconductor Products Sector */ /* October 4, 2002 */ 33991 34 For More Information On This Product, Go to: www.freescale.com MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA Freescale Semiconductor, Inc. PACKAGE DRAWING DW SUFFIX PLASTIC PACKAGE CASE 751E-04 SOICW Issue E -A24 13 -B- 12X P 0.010 (0.25) M B M 1 12 Freescale Semiconductor, Inc... NOTES: 1. DIMENSIONING AND TOLERANCING PER ANSI Y14.5M, 1982. 2. CONTROLLING DIMENSION: MILLIMETER. 3. DIMENSIONS A AND B DO NOT INCLUDE MOLD PROTRUSION. 4. MAXIMUM MOLD PROTRUSION 0.15 (0.006) PER SIDE. 5. DIMENSION D DOES NOT INCLUDE DAMBAR PROTRUSION. ALLOWABLE DAMBAR PROTRUSION SHALL BE 0.13 (0.005) TOTAL IN EXCESS OF D DIMENSION 24X D 0.010 (0.25) M T A S J B S MILLIMETERS MIN 15.25 7.40 2.35 0.35 0.41 0.23 0.13 0 10.05 0.25 MAX 15.54 7.60 2.65 0.49 0.90 0.32 0.29 8 10.55 0.75 INCHES MIN 0.601 0.292 0.093 0.014 0.016 0.009 0.005 0 0.395 0.010 MAX 0.612 0.299 0.104 0.019 0.035 0.013 0.011 8 0.415 0.029 F R C -TSEATING PLANE X 45 DIM A B C D F M 22X G J K M P R 1.27 BSC 0.050 BSC G K MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA For More Information On This Product, Go to: www.freescale.com 33991 35 Freescale Semiconductor, Inc. Freescale Semiconductor, Inc... Motorola reserves the right to make changes without further notice to any products herein. Motorola makes no warranty, representation or guarantee regarding the suitability of its products for any particular purpose, nor does Motorola 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 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. Motorola does not convey any license under its patent rights nor the rights of others. Motorola 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 appl ication in which the failure of the Motorola product could create a situation where personal injury or death may occur. Should Buyer purchase or use Motorola products for any such unintended or unauthorized application, Buyer shall indemnify and hold Motorola 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 Motorola was negligent regarding the design or manufacture of the part. Motorola and are registered trademarks of Motorola, Inc. Motorola, Inc. is an Equal Opportunity/Affirmative Action Employer. MOTOROLA and the Stylized M Logo are registered in the US Patent and Trademark Office. All other product or service names are the property of their respective owners. (c) Motorola, Inc. 2002 HOW TO REACH US: USA/EUROPE/LOCATIONS NOT LISTED: Motorola Literature Distribution: P.O. Box 5405, Denver, Colorado 80217. 1-303-675-2140 or 1-800-441-2447 JAPAN: Motorola Japan Ltd.; SPS, Technical Information Center, 3-20-1 Minami-Azabu. Minato-ku, Tokyo 106-8573 Japan. 81-3-3440-3569 ASIA/PACIFIC: Motorola Semiconductors H.K. Ltd.; Silicon Harbour Centre, 2 Dai King Street, Tai Po Industrial Estate, Tao Po, N.T., Hong Kong. 852-26668334 TECHNICAL INFORMATION CENTER: 1-800-521-6274 For More Information On This Product, Go to: www.freescale.com MC33991/D |
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