Getting Started with MPC560xB
The Freescale Cup
Steve Mihalik
January 24, 2011
TM
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
Agenda – Getting Started with MPC560xB
Time
Topic
9:00
Overview
3
9:10
System Integration Unit – Pads, Simple I/O
11
9:20
Clocks
20
-
Reference: Clock Management Unit
28
9:30
RUN Modes
34
PLL init, Mode Entry, Toggle Pin
10:00
Timed I/O – PWM, Counter, Input Capture
44
PWM & Counter
10:30
- Break -
10:45
Interrupts – 1 msec Task Scheduler
64
INTC & PIT
11:15
Analog to Digital Conversions (ADC)
73
ADC
11:45
Direct Memory Access (DMA)
86
Noon
- Break -
12:15
Camera Interface
-
12:40
Motor Interface
-
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
Slide #
Exercise
TM
2
MPC5607B Overview
TM
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MPC5607B (1.5MB Flash)
System
Integration
Crossbar
Masters
Debug
JTAG
VReg
PIT 4ch 32b
PowerPCTM
e200z0
Core
Power Mgt
Oscillator
FMPLL
Nexus 2+
DMA
Interrupt
Controller
CROSSBAR SWITCH
Memory Protection Unit (MPU)
I/O
Bridge
1.5M
Flash
64K Data
Flash
Standby RAM
96K SRAM
Boot
Assist
Module
(BAM)
Crossbar Slaves
Communications I/O System
eMIOS
64ch, 16 bit
6
FlexCAN
10
LINFlex
6
DSPI
1
I2C
Up to 52 ch
ADC
16x12bit,
36x10 Bit
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
CORE
• Power Architecture e200z0 core running at 64MHz @ Ta=105C
(48Mhz at 85oC Base)
• VLE ISA instruction set for superior code density
• Memory Protection Unit with 16 regions, 32byte granularity
• 16 channel DMA controller
MEMORY
• 1.5M byte embedded program Flash
• 64K byte embedded data Flash (for EE Emulation)
• Up to 64MHz non-sequential access with 2WS
• ECC-enabled array with error detect/correct
• 96Kbyte SRAM (single cycle access, ECC-enabled)
COMMUNICATIONS
• 6x enhanced FlexCAN
•10 x LINFlex
• 6 x DSPI, 8-16 bits wide & chip selects
• 1 x I²C
ANALOG
• Up to 52 ch 5V ADC (16x12-bit, 36x10-bit) resolution
TIMED I/O
• 16-bit eMIOS module, 64ch.
OTHER
• 32 Channel DMA Controller
• Debug: Nexus 2+
• I/O: 5V I/O, high flexibility with selecting GPIO functionality
• Packages: 100LQFP, 144LQFP, 176LQFP, 208MAPBGA* (TBD)
• Boot Assist Module for production and bench programming
TM
4
Data Organization in Memory
Big Endian - Most
Significant Byte
0
0x0
Big Endian –
Least Significant Byte
0x6
31 32
A
B
C
D
63
E
F
G
H
0x8
0x10
MSb
LSb
0
31
General Purpose Register (GPR)
►
►
►
All MPC560xB instructions are either 16 or 32 bits wide.
Power architecture is naturally Big Endian, but has switch for Little Endian
Examples:
Load word from address 0x0 loads the word “ABCD”
Load half word from address 0x6 loads the half word “GH”
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not available from Freescale for import or sale in the United States prior to September 2010: MPC560xB products in 208 MAPBGA packages
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TM
5
Start-Up Sequence
1.
POR monitors internal voltage
and de-asserts itself
2.
Default clock is the 16MHz IRC
3.
Boot configuration pins are
sampled by the hardware possiblity to go into e.g. serial
boot mode
4.
Hardware checks reset
configuration half word (RCHW)
5.
If hardware finds a valid RCHW
(0x5A) it reads the 32-bit word at
offset 0x04 = address where
Start-Up code is located (reset
boot vector).
•
Device is put in static mode if no
RCHW is found!
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not available from Freescale for import or sale in the United States prior to September 2010: MPC560xB products in 208 MAPBGA packages
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TM
Flash and SRAM Overview
RAM features:
•
•
•
•
User transparent ECC encoding and
decoding for byte, half word, and word
accesses
FLASH features:
•
•
Up to 64k Data Flash on MPC560xB;
same emulated EEPROM concept for most
products of the MPC560xB family
(sectorization; software compatibility;
memory mapping)
•
64-bit programming granularity (can
change value from 10 only)
•
Read-while-write with Code and Data
Flash or by RWW feature
32-bit ECC with single-bit correction (and
visibility), double bit detection for data
integrity
ECC is checked on reads, calculated on
writes
CAUTION: ECC requires SRAM must be
initialized by executing 32-bit write
operations (32-bit word aligned) prior any
read accesses
•
Done in initialization code before main
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Up to 1.5MB Code Flash (MPC5607B)
•
•
Erase granularity is Sector size
64-bit ECC with single-bit correction (and
visibility), double bit detection for data
integrity
TM
Why did I get Reset?
►
Destructive Reset Sources:
• Power On Reset
• Software Watchdog
• 2.7V Low-voltage detected
• 1.2 Low-voltage detected in Power
Domain 1
• 1.2 Low-voltage detected in Power
Domain 2
►
Status flag associated with a given
‘destructive’ reset event is set in the
Destructive Event Status Register
(RGM_DES)
►
Functional Reset Sources:
• External Reset
• Code or Data Flash Fatal Error
• 4.5V low-voltage detected
• CMU clock freq higher/lower than reference
• FXOSC freq. lower than reference
• FMPLL failure
• Checkstop reset
• Software reset
• Core reset
• JTAG initiated reset
► Status flag associated with a given ‘functional’
reset event is set in the
Functional Event Status Register (RGM_FES)
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TM
8
Debug, Software & Tools
RAppID: Rapid Application Initialization and Documentation
►RAppID
PinWizard:
•
Wizard workflow to
allocate pins to peripherals
• Generates spreadsheet
• Inputs to RAppID Init
• Free utility
►RAppID
Init:
•
Generates initialization
code for startup from CRT0
• Generates interrupt
handler code & framework
• Has ability to define
section map and place code
into any desired section
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not available from Freescale for import or sale in the United States prior to September 2010: MPC560xB products in 208 MAPBGA packages
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
Debug, Software & Tools
RAppID PinWizard Screenshot
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
10
System Integration Unit Lite (SIUL)
Pad Configuration, Simple I/O
TM
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
►Pad
Control and IOMux configuration:
Peripherals
SIUL Introduction
•
Intended to configure the electrical parameters and
I/O signal multiplexing of each pad;
• may simplify PCB design by multiple alternate
input / output functions
►General
Purpose I/O (GPIO) ports:
•
Can write to GPIO data output pin or port
• Can read GPIO data input pin or port
►External
•
interrupt management
Allows the enabling and configuration (such as
filtering window, edge and mask setting) of digital
glitch filters on each external interrupt pin
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not available from Freescale for import or sale in the United States prior to September 2010: MPC560xB products in 208 MAPBGA packages
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
Peripherals
SIUL Pad Control and IOMux configuration overview
►Pad
Control is managed through
Pad Configuration Registers (PCRs)
►IOMux
configuration is managed
through:
•
PCR Registers (output functionalities)
• PSMI Registers (input functionalities)
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not available from Freescale for import or sale in the United States prior to September 2010: MPC560xB products in 208 MAPBGA packages
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
SIUL Pad Control and IOMux config
0
R
W
Reset
0
1
2
SMC
APC
0
0
Pad Configuration
PCRn.SMC
Reg. (PCR)
IP 1
0
4
5
6
7
PA
OBE
IBE
0
0
1
8
9
10
11
0
0
0
0
PAD n
PCRn.OBE
PCRn.PA
14
15
SRC
WPE
WPS
0
0
0
PCRn.WPS
PCRn.ODE
ADC ch #…
0
13
PCRn.WPE
a)
b)
PCRn.APC
IP 3
12
ODE
SoC Safe Mode
IP 2
IP 4
3
PCRn.SRC
PCRn.IBE
PAD m
Pad Select Multiplexed
Inputs (PSMI) reg.
IP a
PSMI.PADSEL
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TM
14
Peripherals
SIUL Pad Control and IOMux configuration 2/4
Alternate functions are chosen by
PCR.PA bitfields:
PCR.PA = 00 -> AF0;
PCR.PA = 01 -> AF1;
PCR.PA = 10 -> AF2;
PCR.PA = 11-> AF3.
This is intended to select the output
functions;
For input functions,
PCR.IBE bit must be written to ‘1’,
regardless of the values selected in
PCR.PA bitfields.
For this reason, the value corresponding
to an input only function is reported as “--”.
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TM
15
Peripherals
PSMI SIUL Pad Control and IOMux configuration 3/4
PAD j
PAD k
IP “n+1”
PAD l
PAD m
PSMIn_n+3 Register
0
R
W
1
0
2
0
3
0
4…7
0
PADSELn
8
9
0
0
10 11
0
0
12 … 15
PADSEL(n+1)
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16 17 18 19
0
0
0
0
20 … 23
PADSEL(n+2)
24 25 26 27
0
0
0
0
28 … 31
PADSEL(n+3)
TM
16
Peripherals
SIUL Pad Control and IOMux configuration 4/4
0
R
W
1
0
2
0
3
0
4…7
0
PADSELn
8
9
0
10 11
0
0
0
12 … 15
PADSEL(n+1)
16 17 18 19
0
0
0
0
20 … 23
PADSEL(n+2)
24 25 26 27
0
0
0
0
28 … 31
PADSEL(n+3)
►Different
pads can be chosen as possible inputs for a certain
peripheral function.
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TM
17
SIUL
Peripherals
SIUL GPIO Functionality
PAD Control
PCR Regs
PSMI Regs
GPIO functionality
Data
IOMux &
Pad Inputs
PADs
Ext. Interrupt Mgmt
• Interrupt config
Interrupt
Controller
• Glitch filter
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TM
18
SIUL General Purpose I/O
►GPIO
•
On individual base (R/W access to a single GPIO);

•
pads can be managed two ways:
Access is done on a byte basis
On port base (parallel access).
Code example for writing to individual GPIO pin:
SIU.PCR[68].B.PA = 0; /* Port E4 pin: Pad Assignment is GPIO */
SIU.PCR[68].B.OBE = 1; /* Port E4 pin: Output Buffer Enabled */
SIU.GPDO[68].R
= 1; /* Port E4 pin: write 1 to Data Output */
►Ports
•
•
•
accesses can be:
Data Read: 32-bit, 16-bit or 8-bit accesses
Data Write: 32-bit, 16-bit or 8-bit (only if not masked access)
Masked Access: This mechanism allows support for port accesses or
for bit manipulation without the need to use read-modify-write operations
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TM
19
Clocks
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Platform Overview – Clocks
►Clock Sources for Code Execution, System
• 4-16 MHz External Crystal/Oscillator -> FXOSC
Clock (sysclk)

Input to phase lock loop (FMPLL) to generate up to 64 MHz sysclk
 FMPLL has frequency modulation option to reduce EMC
•
16 MHz Internal RC Oscillator -> FIRC

Default system clock after Reset
 Trimable
►
Low Power Clock Sources
•
32 KHz External Crystal/Oscillator -> SXOSC

Low power oscillator
 Dedicated for RTC/API
•
128 KHz Internal RC Oscillator -> SIRC

Dedicated for RTC/API and watchdog
 Trimable
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21
Platform overview – Clocks
• Clock Monitor Unit (CMU) for
• PLL clock monitoring : detect if PLL leaves an upper or lower frequency
boundary
• Crystal clock monitoring : monitors the external crystal oscillator clock which
must be greater than the internal RC clock divided by a division factor given by
RCDIV[1:0] of CMU_CSR register.
• Frequency meter : measure the frequency of one clock source versus a
reference clock.
• CMU “event” (failure) will cause reset, SAFE mode request or interrupt request
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22
Platform overview – Clocks
MPC560xB CGM Clocking Structure
FXOSC
4-16MHz
FIRC
16MHz
div 1 to 32
FXOSC_DIV
FIRC_DIV
div 1 to 32
SYSCLK
System
Clock
Selector
(ME)
FMPLL
FIRC
FXOSC
32KHz
128KHz
CMU
SXOSC
SIRC
SXOSC
32KHz
div 1 to 32
SIRC
128KHz
div 1 to 32
RESET
SAFE
INT
Core
Platform
div 1 to 16
Peripheral Set 1
div 1 to 16
Peripheral Set 2
div 1 to 16
Peripheral Set 3
FIRC_DIV
SXOSC_DIV
API / RTC
SIRC_DIV
FXOSC
FIRC
FMPLL
SWT
(Watchdog)
CLKOUT
Selector
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div 1/2/4/8
CLOCK OUT
TM
23
Platform overview – Clocks
MPC560xB CGM System Clock
►Provides
the clock (divided or not) to the Core/Peripherals
►Selected by ME_XXX_MC register (XXX is desired mode) in the
Mode Entry (ME) module
SYSCLK
FXOSC
Core
Platform
FXOSC_DIV
FIRC
FIRC_DIV
System
Clock
Selector
(ME)
FMPLL
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Enable &
div 1 to 16
Peripheral Set 1
Enable &
div 1 to 16
Peripheral Set 2
Enable &
div 1 to 16
Peripheral Set 3
TM
24
Platform overview – Clocks
MPC560xB CGM System Clock Divider Configuration Register
Peripheral Set 1
Peripheral Set 2
Peripheral Set 3
All LINFlex modules All FlexCAN modules All eMIOS modules
I2C module
All DSPI modules
CTUL
ADC
DEx:
DIVx:
Peripheral Set x Divider Enable (Default value 1 = ON)
Peripheral Set x Divider x Division Value (1..15)
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TM
25
Platform overview – Clocks
MPC560xB CGM Output Clock Description
►Clock
output on the GPIO[0] (PA[0]) pin
FXOSC
FIRC
FMPLL
CLKOUT
Selector
SELDIV:
SELCTL:
div 1/2/4/8
CLOCK OUT
(GPIO[0])
division by 1, 2, 4, 8
clock source (XOSC, FIRC, PLL) selection
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26
CGM FMPLL
Normal mode
The PLL output clock frequency derives from the relation:
FMPLL =
Input
divider
1..15
4
(FXOSC x NDIV)
(IDF x ODF)
Output
divider
2/4/8/16
4MHz
128MHz
FMPLL
2
16MHz
64MHz
32
Loop divider
32..96
Example: FXOSC = 16MHz
FMPLL = 64MHz
 NDIV = 4 * IDF * ODF  NDIV = 32 , IDF = 4 , ODF = 2
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27
CMU Ref.:
Clock Monitor Unit Tasks
►The
first task of the CMU is to permanently supervise the integrity of
the various product’s clock sources, e.g. FXOSC or FMPLL, if either
•
•
FXOSC clock frequency lower than FIRC / 2n
PLL clock frequency upper or lower frequency boundaries defined in
CMU registers
►If
an integrity problem occurs, the Mode Entry module is notified in
order to switch to SAFE mode with FIRC as clock source.
►The
second task is frequency measurement. It allows to measure
the deviation of a clock (FIRC, SIRC or SXOSC ) by measuring its
frequency versus FXOSC as reference clock.
•
•
Can be used to improve IRC calibration
Can be used for Real Time Counter precision
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28
Crystal Clock Monitor
CMU Ref.:
►Crystal
clock monitor is active only when ME provides the info that
FXOSC is valid
►If FXOSC < FIRC / 2RCDIV (CMU_CSR[RCDIV] bits), then
•
•
an event pending bit CMU_ISR[OLRI] is set.
a failure event is signaled to the RGM which in turn can generate a
RESET, transition to SAFE mode, or generate an interrupt request
FXOSC Failure
FXOSC
FIRC
FXOSC supervisor
FFXOSC < FFIRC / 2
RGM,
ME
RCDIV
FXOSC stable/unstable
CMU_ISR register
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29
CMU Ref.:
Crystal Clock Monitor Reset Default Values
►CAUTION:
Before enabling crystal clock input in a mode
configuration, verify the proper compare frequency divider.
•
MPC560xB, MPC560xS: reset default RCDIV = 3, so
FreqFIRC / 2CMU_CSR[RCDIV] = 16 MHz / 8 = 2 MHz
•
MPC560xP: reset default RCDIV = 0, so
FreqFIRC / 2CMU_CSR[RCDIV] = 16 MHz / 1 = 16 MHz
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30
CMU Ref.:
Crystal Clock Monitor Event Behavior
►Oscillator
Less than Reference event occurs when the FXOSC
appears too slow and sets:
► CMU_ISR[OLRI]
•
►
No interrupt or other automatic action can be generated – just sets the bit
RGM_FES[F_CMU_OLR]
•
Action taken is per table below:
Functional Event
Reset Disable: FXOSC
freq. lower than
reference
Functional Event Alternate
Request:
Alternate Request for FXOSC
freq. lower than reference
RGM_FERD
[D_CMU_OLR]
RGM_FEAR
[AR_CMU_OLR]
0 (reset default)
-
1
0 (reset default)
1
1
Action
Reset sequence
SAFE mode request
Interrupt request – INTC #56
Because of an order from the United States International Trade Commission, BGA-packaged product lines and part numbers indicated here currently are
not available from Freescale for import or sale in the United States prior to September 2010: MPC560xB products in 208 MAPBGA packages
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
CMU Ref.:
►FMPLL
FMPLL Monitor – Frequency Range
monitoring is enabled at CMU_CSR(CME)
►Monitoring
is active only when ME provides the info that FMPLL is
valid.
►Depending
•
•
on the following conditions
If FFMPLL is lower than HLREF[11:0] bits in CMU_LFREFR
If FFMPLL is higher than HFREF[11:0] bits in CMU_HFREFR
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32
CMU Ref.:
►Then
•
•
FMPLL Monitor – Failure Behaviour
for each matching:
a dedicated event pending bit in CMU_ISR is set.
a failure event is output to the RGM & ME which can generate a
transition to SAFE mode, an interrupt or a reset sequence.
CMU_HFREF register
FMPLL
Fpll > LHREF threshold
FIRC
Fpll < LFREF threshold
ME,
RGM
FMPLL Failure
CMU_LFREF register
FMPLL stable/unstable
CMU_ISR register
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33
RUN Modes Introduction
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Use Case: Conserving Power While Software Runs (1 of 2)
►Software
•
runs one of the three following tasks:
Analog Monitor

Uses ADC to look for particular voltages on inputs
 Only requires 16 MHz FIRC, which is also sysclk
 If analog input measurements meet a criteria, software transitions to the
communication task
•
Communication

Uses FlexCAN_0, FlexCAN_1 to transmit analog data and receive response
 Only requires FXOSC, which is also sysclk
 If response is positive, software transitions to the whole chip task
•
Whole Chip

Requires all peripherals active
 Sysclk = 64MHz FMPLL, which also requires FXOSC
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35
Use Case: Conserving Power While Software Runs (2 of 2)
Run Mode
sysclk
Clock Sources Req’d
FIRC XOSC

FMPLL
Mode Configuration
RUN0: AnalogMon
FIRC
RUN1: Comm
XOSC
X
RUN2: WholeChip
FMPLL
X
Peripherals
Peripheral
Control
Reg. #
ADC
32
FlexCAN_0, 1
16, 17
SIU
68
All others
Other #’s
Peripherals Requiring
Enabled Clock

X
 Peripheral Configuration 
ADC, SIU
FlexCAN_0, FlexCAN_1, SIU
X
All
Modes with Enabled Clock
RUN0
RUN1
X
X
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RUN2
RUN3
RUN Mode
Peripheral
Configuration
X
Run PC0
X
X
Run PC1
X
X
Run PC2
X
Run PC3
TM
36
Mode Overview
►The
Mode Entry Module (MC_ME) provides SYSTEM modes and
USER modes :
•
•
SYSTEM: RESET, DRUN (Default RUN), SAFE and TEST
USER: RUN(0..3), HALT, STOP and STANDBY
►For
•
•
•
•
•
each mode the following parameters are configured/controlled
System clock sources (ON/OFF)
System clock source selection
Flash power mode (ON, low power, power down)
Pad output driver state (For low power modes - can disable Pad Output
drivers, enabling high impedance mode)
Peripherals’ clock (gated/clocked)
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TM
37
Device USER
Modes
- Diagram
MODES
LOW POWER
MODES
SYSTEM MODES
Recoverable
HW failure
SW request
RUN 0
SAFE
HALT
RUN 1
RESET
DRUN
STOP
RUN 3
Non
recoverable
HW failure
TEST
STANDBY
HW triggered transition
SW triggered transition
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TM
38
ME_xxx_MC - Mode Configuration Registers
•
Each mode has a Mode Configuration register.
•
•
Example: ME_DRUN_MC
Key RUN mode configurations are circled:
0
1
2
3
4
5
6
7
reserved
16
17
18
19
20
21
22
23
reserved
• PDO: Disable pad outputs (put in hi Z)
• MVRON: control VREG on/off
• CFLAON/DFLAON:
control code / data flash module
8
9
PDO
reserved
24
25
PLL
ON
11
10
MVR
ON
26
27
OSC
ON
IRC
ON
12
13
DFLAON
28
14
15
CFLAON
29
30
31
SYSCLK
• PLLON: control PLL on/off
• OSCON: control XOSC on/off
• IRCON: control IRC16M on/off
• SYSCLK: select system clock
 Normal
 Low Power
 Power Down
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TM
39
Mode Configurations Example
•
It is useful to keep a table of mode configurations used.
• Example below uses two USER modes. (Per AN2865 rev 4)
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TM
40
Peripheral Clock Gating Control
•
•
Each peripheral can be associated with a particular clock gating policy
The policy is determined by two groups of peripheral configuration
registers:
•
ME_RUN_PC0:7 for RUN modes
• ME_LP_PC0:7 for Low Power modes
•
Clocks to peripherals are gated off unless enabled for that mode
•
Example (per AN2865 rev 4):
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TM
41
MC_ME Peripheral Configuration Registers
RUN Modes
Defines a selection of 8 possible RUN mode configurations for a peripheral
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TM
42
Device Start-up:
MC_ME Peripheral Control Registers
For each peripheral, there is a ME_PCTLx register to control clock gating to that
peripheral:
- selects one of the 8 Run peripheral set configurations
- selects one of the 8 Low Power peripheral set configurations
- enables/disables freezing the clock during debug
Peripheral 143
Peripheral 3
Peripheral 2
Peripheral 1
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TM
43
Mode Entry: SW and HW Transitions
►Software
•
•
•
•
•
handled transition
A transition is requested writing a key protected sequence in ME_MCTL
Mode Entry configures the modules according to the ME_xxx_MC
register of the target mode
Once all modules are ready the new mode is entered
Transition completion signalling: status bit/interrupt
Note: Modification of a ME_xxx_MC register (even the current one) is
taken into account on next mode “xxx” entry
►Hardware
•
•
•
triggered transition
Exit from low power mode
SAFE transition caused by HW failure
RESET transition caused by HW failure
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TM
44
►
Review of Key Points
►
RUN mode configurations allow
1.
2.
3.
Enabling/disabling system clock sources
Selecting appropriate system clock
Gating clocks to peripherals
►
Peripheral clocks can be divided as needed on a set basis
►
Example PLL: Initializing System Clock
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TM
45
Exercise: Initialize PLL & RUN Mode, Write GPIO Output
1. Open existing CodeWarrior Project, “PLL-sysclk”
1. Navigate to the PLL-sysclk project for MPC560xB. Example path:
C: \ Program Files \ Freescale \ CW for MPC55xx and MPC56xx 2.7
\ (CodeWarrior_Examples) \ 560xB-CW \ PLL-sysclk
2. Double click on the project file “PLL-sysclk.mcp” to open it in CodeWarrior
2. Compile and link RAM project
1. Either a) click: Project – Make – or-- b) click on the make icon
3. Download to target
1. Connect EVB to PC with USB cable
2. Either click: Project – Debug, or, click on the Debug icon
3. Click the “Connect” button
4. Type “gotil main” in the Status Window
4. Initialize registers to turn on LED1 on target board
1. Click the “REG” button at the top
2. Click “SIUL System Integration Unit Lite”
3. Set bit fields for a GPIO output (PCR68: PA=1, OBE=1; GPDO68: PDO=1)
4. Exit register windows then open again to validate the register was altered
Are registers still shown as modified? Execute thru initModesAndClock &re-try.
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TM
46
Timed I/O (Watchdog, PIT & eMIOS)
TM
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
Watchdog Timer – Regular Mode Servicing
►
To prevent the watchdog from interrupting or resetting, the
following sequence must be performed before a timeout
period:
1.
Write 0xA602 to the SWT_SR
2.
Write 0xB480 to the SWT_SR
Note: other instructions, such as an ISR, can occur between above
writes
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
48
Programmable Interrupt Timer (PIT) Features
►
Clocked by system clock
► 32-bit counter
► Independent timeout periods for each timer
► Timer can generate interrupt/DMA request, ADC conversion
PIT #
Interrupt Request
DMA Request
Peripheral Trigger
0
YES
YES
NO
1
YES
YES
NO
2
YES
NO
10-bit ADC
3
YES
NO
CTU ch23 (can trigger ADC)
4
YES
YES
NO
5
YES
YES
NO
6
YES
NO
12-bit ADC
7
YES
NO
CTU ch55 (can trigger ADC)
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not available from Freescale for import or sale in the United States prior to September 2010: MPC560xB products in 208 MAPBGA packages
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TM
eMIOS260
Introduction
•
Provides various modes to
generate or measure timed event
signals.
•
24 to 56 Channels
•
One new channel mode featuring
lighting applications, OPWMT
•
All other channel modes are subset
of the unified channel structure on
previous eMIOS.
•
Consistent user interface with
previous eMIOS implementation.
IRC 16M
OSC 4-16M
Debug
e200z0h Core
IRC 128K
Integer
Execution
Unit
OSC 32K
General Purpose
Registers
(32 x 32-bit)
PLL
Multiply
Unit
Branch
Unit
VREG
Instruction
Unit VLE
Load/Store
Unit
(C)JTAG
INTC
Crossbar Switch (XBAR)
Memory Protection Unit (MPU) 8 regions
FLASH
Controller
RAM
Controller
Code Flash
(ECC)
SRAM
(ECC)
Peripheral Bridge
Data FLASH
(ECC)
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
DSPI
2-4
STM
4 ch
SWT
eMIOS-lite
24 – 56 ch
FlexCAN
1-6
PIT
6 ch
I2C
1
BCTU
LINFlex
3-8
API/RTC
SIU
ADC10
16 – 57 ch
TM
50
eMIOS Channel Modes
Type
Abbr.
Channel Mode
Counter
MCB
Modulus Counter (up or up/down)
Input
SAIC
Single Action Input Capture
IPWM
Input Pulse Width Measurement
IPM
Input Period Measurement
SAOC
Single Action Output Compare
DAOC
Double Action Output Compare
OPWMB
Output Pulse Width Modulation
OPWMT
Output Pulse Width Modulation with Trigger
OPWFMB
Output Pulse Width & Frequency Modulation
Output
OPWMCB Center aligned Output Pulse Width Modulation with dead time
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TM
51
Example: MPC5604B eMIOS channel configuration
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
52
MPC5605/6/7B Block Structure
EMIOS Blocks – EMIOS_A and EMIOS_B
► Each Block contains 32 Unified Channels
► Common System Clock Devider
► Separate Global Prescaler
►2
System Clock (/1,2,4,8,16)
Default /1
EMIOS_B
EMIOS_A
Channel 0
Channel 0
Prescaler (/1, 2, 3, 4)
Prescaler (/1, 2, 3, 4)
Global Prescaler
(/1, 2, 3, … 256)
Global Prescaler
(/1, 2, 3, … 256)
Channel 31
Prescaler (/1, 2, 3, 4)
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Channel 31
Prescaler (/1, 2, 3, 4)
TM
53
eMIOS260
Unified Channel Features
•
Selectable time base for each
counter bus
•
Programmable Clock Prescaler
•
Double buffered data registers and
comparators
•
State Machine (with mode control)
•
Programmable as input or output:
-
•
Input Edge Detect as rising, falling or
toggle.
Programmable digital input filter
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TM
54
eMIOS260
Double Buffered A and B Registers
►A
and B data registers are double buffered to provide a mechanism for safe update
of the A and B register values
•
This also enables very small pulse / period generation or measurement since updates can
happen in current period
► The
channel A user registers are an address mapped link to either the A1 or A2
register (determined automatically by the mode of the unified channel).
•
For output modes, data is typically written to the A2 register
• For input capture modes, data is latched into either A1 or A2 depending on mode.
• All of this is transparent to the user
Comparator A
Note – Same
applies to B set
registers as well!
Register A1
UCAn Register
(User Accessible)
Register A2
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TM
55
Peripherals
EMIOS counter buses
UC[27]
►The
MPC560xB family has 5 shared
counter busses allowing common
counter bus timing across multiple
channels
•
•
•
•
•
Counter Bus A is shared with all channels and
driven from channel 23
Counter bus B is shared with channels
0 to 7 and driven from channel 0
Counter bus C is shared with channels
8 to 15 and driven from channel 8
Counter bus D is shared with channels 16 to 23
and driven from channel 16
Counter bus E is shared with channels 24 to 27
and driven from channel 24
UC[24]
Counter Bus E
UC[23]
Counter Bus A
UC[16]
Counter Bus D
UC[15]
UC[8]
UC[7]
UC[0]
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Counter Bus C
Counter Bus B
TM
56
Peripherals
EMIOS - Single Action Input Capture
Returns the value of the counter bus on an edge match of an input signal .
-
Can use Internal or Modulus counter
- Can match on Rising, Falling or Toggle determined by state of EDPOL, EDSEL
Edge
detect
Edge
detect
Edge
detect
input signal
selected
counter bus
$000500
$001000
$001100
$001250
$001525
$0016A0
FLAG pin /
register
A2 (captured)
$xxxxxx
value
$001000
$001250
$0016A0
Notes:
• When edge is detected, flag is set and counter bus value is captured in register A2. User reads this
value from UCA[n] register.
• UCB[n] = Cleared and cannot be written
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TM
57
Peripherals
EMIOS - Modulus Counter Buffer Mode – UP Counter
Generates a time base which can be shared with other channels through
the internal counter buses
-
Can use Internal or External (input channel pin) counter
Internal Counter
(UCCNTn)
0x001000
0x000800
0x000001
FLAG pin /
register
A1 value $001000
$001000
A2 value $001000
A1 match
$001000
$000800
$000800
write
into A2
A1 match
update
of A1
$000800
A1 match
Notes:
• On a comparator A match, FLAG is set and the internal counter is set to value $1.
• Allowing smooth transitions, a change of the A2 register makes the A1 register be updated when the
internal counter reaches the value $1.
• Caution – If when entering MCB mode the internal counter value is upper than register UCA[n] value, then
it will wrap at the maximum counter value ($FFFFFF) before matching A1.
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TM
58
Peripherals
EMIOS - OPWMFMB
Generates a simple output PWM signal
-
Requires INTERNAL Counter
- EDPOL allows selection between active HIGH or active LOW duty cycle .
output flip-flop
EDPOL=0
output flip-flop
EDPOL=1
Selected counter
bus
0x001000
0x000800
0x000200
B1 value $001000
A1 value $000200
$001000
$000200
$000200
A2 value $000200
A1 match
$001000
B1 match
$000800
write
into A2
A1 match
$000800
B1 match
update
of A1
$001000
$000800
A1 match B1 match
Notes:
•
Duty Cycle = UCA[n] (A1) + 1, Period = UCB[n] (B1) + 1
•
On Comparator A1 match, Output pin is set to value of EDPOL
•
On Comparator B1 match, Output pin is set to complement of EDPOL and Internal counter is reset
• The transfers from register B2[n] to B1[n] and from register A2[n] to A1[n] are performed at the first clock of the next cycle.
•
FLAGS can be generated only on B1 matches or on both A1 and B1 matches depending on MODE[5] bit.
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TM
59
Peripherals
EMIOS - OPWMB
Generates a simple output PWM signal
-
Can use Internal or Modulus counter
- EDPOL allows selection between active HIGH or active LOW duty cycle.
output flip-flop
EDPOL=1
Selected counter
bus
0x001000
0x000800
0x000600
0x000400
0x000200
B1 value $000800
$000800
B2 value $000800
$000600
$000600
$000600
A1 value $000200 $000200
$000400
$000200
A2 value $000200
A1 match
$000800
$000400
$000400
B1 match
write into
A2 & B2
A1 match
update of
A1 & B1
B1 match
Notes:
•
Write UCA[n] (A1) with Leading Edge. Write UCB[n] (B1) with trailing edge
•
On Comparator A1 match, Output pin is set to value of EDPOL
•
On Comparator B1 match, Output pin is set to complement of EDPOL
•
The transfers from register B2[n] to B1[n] and from register A2[n] to A1[n] are performed at the first clock of the next cycle.
•
FLAGS can be generated only on B1 matches or on both A1 and B1 matches depending on MODE[5] bit.
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TM
60
Peripherals
EMIOS - OPWMT
Generates a PWM signal with a fixed offset and a trigger signal
-
Intended to be used with other channels in the same mode with shared common time base
This mode is particularly useful in the generation of lighting PWM control signals.
output flip-flop
EDPOL=1
FLAG pin /
register
Selected counter
bus
0x001000
0x000800
0x000600
0x000400
0x000200
B1 value $000800
$000800
$000800
B2 value $000800
A1
$000600
$000600
A1 value $000200 $000200
A2 value $000400
$000600
$000200
$000400
A2
$000200
$000400
B1
A1
A2
write into
$000400
B1
Update
A1
A2
B1
match match
match
match match
match
match
of B2 match match
B2
Notes:
•
A1[n] defines the Leading Edge, B1[n] the trailing edge, A2[n] the generation of a FLAG event
•
On Comparator A1 match, Output pin is set to value of EDPOL
•
On comparator A2 match, FLAG is set (and can allow to synchronize with other events, ie. AD conversion)
•
On Comparator B1 match, Output pin is set to complement of EDPOL
•
The transfers from register B2[n] to B1[n] is performed at every match of register A1
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TM
61
Peripherals
EMIOS - Programmable Input Filter
•
Filter Consists of a 5 bit programmable upcounter, clocked by either the channel or
peripheral set clock (defined by FCK)
FCK
Prescaled Channel
CLK
•
Input signal is synchronised to system clock.
•
When the synchroniser output changes state,
the counter starts counting up
CLK
If the synchroniser state remains stable for the
desired number of selected clocks, the counter
overflows on next high clock edge, counter
resets and filter output changes
Clock
IF2
IF1
IF0
Filter
Out
5-Bit Up Counter
Peripheral
Set CLK
Synchroniser
PIN
•
IF3
Filter can be set to trigger after 2,4,8 or 16 clocks (or bypassed)
1
1
1
Start
Start
Start
2
3
4
1
Overflow
Start
2
1
1
Start
Start
Input Sig
IF[0:3] = 0010
5-bit counter
Filter Out
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TM
62
►
Review of Key Points
►
eMIOS channels can be configured for desired timing function
•
•
•
►
Global, local or individual channel time bases
•
•
►
Input functions: SAIC, IPM, IPWM, GPIO
Output functions: DAOC, OPWM, OPWMT, OPWMC, OPWFM, GPIO
Modulus counter
Input functions can share common time base
Output functions can be synchronized
Example eMIOS OPWM, Modulus Counter
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TM
63
Interrupts
TM
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
MPC5604B Interrupt Structure
►
►
Interrupt Requests from
Interrupt Controller (INTC)
Interrupt Requests from
Core Exceptions (e200z0)
8 Software
3 MCM
2 Wdog & clock
Critical Input
4 STM
2 RTI/API
Machine Check
5 SIU & WPU
5 Magic Carpet
6 PIT
3 ADC
Data Storage
INTC in
Software
Vector
Mode
54 CAN
1 IIC
28 eMIOS
Instruction Storage
External Input
Alignment
CPU
Interrupt
Program
System Call
Debug
15 DSPI
CPU Core
12 LIN
INTC interrupts are assigned one of 16 priority levels, enabling premption
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TM
65
Interrupt Behavior
Interrupt is recognized
1.
2.
3.
4.
Hardware context switch:
Stores address of next instruction or instruction causing interrupt
•
Stored into special purpose reg. Save & Restore Reg 0 (SRR0)
Stores Machine State (MSR bits 16:31):
•
Stored into special purpose reg. Save & Restore Reg 1 (SRR1)
Alters Machine State: All bits are cleared in MSR except ME
Alters Instruction Pointer: points to unique interrupt vector
Software Interrupt handler (at interrupt vector)
• Execute your handler code, including save/restore registers
• Last instruction, rfi*, (return from interrupt):
- Restores MSR bits 16:31 from SRR1
- Restores instruction pointer from SRR0
* “Critical” and “debug” interrupts use rcfi and rdfi instruction instead of rfi.
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TM
66
e200z0 Core Interrupts
►External
input Exception (EE)
► enables/disables all interrupts
from the interrupt controller.
►Each
exception type can
normally be individually enabled
or disabled in the Machine State
Register (MSR)
Core Interrupt Type
IVOR #
IVPR Offset
Critical Input
IVOR 0
0x000
Machine Check
IVOR 1
0x010
Data Storage
IVOR 2
0x020
Instruction Storage
IVOR 3
0x030
External Input
IVOR 4
0x040
Alignment
IVOR 5
0x050
Program
IVOR 6
0x060
System Call
IVOR 8
0x080
Debug
IVOR 15
0x0E0
Because of an order from the United States International Trade Commission, BGA-packaged product lines and part numbers indicated here currently are
not available from Freescale for import or sale in the United States prior to September 2010: MPC560xB products in 208 MAPBGA packages
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TM
INTC:
INTC’s
IRQ n
taken
MPC560x Software & Hardware Vector Modes
Address
Instructions
IVPR0:19 +
0x40
prolog
Software
Vector Mode
Address
Core’s
VTBA
ISR Vector Table2
ISR_0 address
Address
(including
using IACKR
to get vector
then bl ISR_n)
ISR_1 address
epilog
…
…
ISR_n address
Handler Branch Table
Instructions1
IVPR0:19 + 0x800
b handler_0
IVPR0:19 + 0x804
b handler_1
IVPR0:19 + 0x808
b handler_2
…
INTC’s
IRQ n
taken
IVPR0:19 +
0x0800 + n(0x4)
b handler_n
…
IVPR0:19 + 0x0C8C
b handler_286
ISR_n
ISR
►
ISR_286
handler_0
.
.
.
Notes:
1. “b handler_n”
handler_n
instruction is
.
technically part of the
.
handlers.
.
2. ISR Vector Table
alignment in software handler_291
vector mode assumes
INTC_MCR[VTES]=0.
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
ISR
►
ISR_286 address
Hardware
Vector Mode
ISR_0
ISR
prolog
ISR
epilog
prolog
ISR
epilog
prolog
ISR
epilog
TM
68
Interrupt Vector
Core Interrupts & INTC Software Vector Mode Interrupts
•
The interrupt vector address is composed of two components:

Vector base address used as a prefix (special purpose register IVPR bits 0:19)
 A fixed offset base on the IVOR #
•
Each interrupt vector address would contain your branch instruction to that
handler.
•
Example: Core interrupt IVOR 4 taken:
Base Address IVPR
Jump to address in
Prefix Register
(IVPR) + offset of
0x40 for IVOR4
IVOR0
IVOR1
IVOR2
IVOR3
IVOR4
Execute branch to
IVOR4 handler
IVOR15
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TM
69
Interrupt controller
INTC Preemption
►
►
Interrupt sources are assigned 1 of 16 priority levels
•
15 is highest priority, 0 is lowest
•
Each interrupt source’s priority is specified in its Priority Select
Register (8 bits wide), INTC_PSRx
The Interrupt Controller records the current interrupt’s priority.
- The current priority is in the Current Priority Register, INTC_CPR
- Only interrupts with a priority higher than current priority can be recognized,
allowing preemption.
►
Preempted priorities are automatically pushed/popped to/from a
LIFO in the interrupt controller.
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TM
70
►
Review of Key Points
►
INTC Software Vector Mode
•
•
►
INTC Hardware Vector Mode
•
•
►
INTC Interrupt vector is fetched by software
Memory efficient due to common prologue, epilogue
INTC Interrupt vector is automatically fetched by hardware
Saves some time
Example INTC SW mode with VLE, or
INTC HW mode with VLE
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TM
71
ADC, CTU
TM
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
ADC:
Overview
Feature
MPC5604B
MPC5605/6/7B
Resolution
10 bit ADC
10 bit ADC &
12 bit ADC
Number of channels
28 or 36 channels
Up to 48 channels:
• 19 12-bit,
• 29 10-bit
(19 channels can be shared)
Add’l channels w. mux.
Up to 28
Up to 44
Accuracy (TUE)
2 LSB internal
3 LSB external (mux.)
Minimum conversion time 1 usec
1 usec
Input range
0 – 5V
0 – 5V
Output
Dedicated result registers
Dedicated result registers
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
73
ADC:
Signal Name
(per Table 2-3)
MPC5607B Mapping: Signals, ADC, CTU
ADC Channel #
(per Fig 23-1)
CTU EVTCFTRx
[CHANNEL_VALUE]
* Not on MPC5604B/C
ADC0
ADC1*
ANP 0:15*
0:15
0:15
0:15
-
-
-
-
ANS 0:7
32:39
32:39
32:39
ANS 8:27*
40:59
-
-
-
-
ANX 0, MA 0:7
64:71
-
32:39
ANX 1, MA 0:7
72:79
-
40:47
ANX 2, MA 0:7
80:87
-
48:55
ANX 3, MA 0:7
88:95
-
56:63
40:59
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
74
ADC:
MPC560xB Trigger Options
Option
Selected Channels
Trigger Initiation
Trigger Enables
Normal
Multiple, as selected
in NCMR (Normal
Conversion Mask
Register)
•
Software sets NSTART
bit
None
Multiple, as selected
in JCMR (inJected
Conversion Mask
Register)
•
Software sets JSTART
bit or
• PIT2 expires
•
Single, as selected in
CTU_EVTCFGRx
[CHANNEL_VALUE]
•
•CTU_EVTCFGRx
•Scan
or
•One shot
modes
Injected
•One
shot
mode only
Cross
Trigger
Unit
(CTU)
PIT3,
• PIT7 or
• eMIOS channels (up to
46)
Software: none
• PIT2: PIT2
configured and
MCR[JTRGEN]
•MCR[CTUEN
&
ADC_SEL]
• EMIOS_CHx_CCR
[DMA, FEN]
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TM
75
ADC:
AIN0
AIN1
Block Diagram
ADC data
registers
SAMPLE
&
HOLD
ANALOG
MUX
10 bit
Converter
D0
D1
.
SUCCESSIVE APPROXIMATION A/D CONVERTER
AINx
.
ANALOG
MUX
.
D94
End of
conversion
End of
injection
Threshold
Violation
Interrupts
D95
EMIOS
Timer channels
Cross triggering
Unit
ADC_PRE-EMPTS
Trigger event for injected conversion
The CTU will automatically signal the
channel to be converted by hardware
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
ADC_CONTROL
Analog
watchdog
TM
76
ADC:
Conversion Modes
Normal conversion mode
one–shot mode or scan mode possible
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
77
ADC:
Programmable Analog Watchdog
►4
to 6 Analog Watchdogs can monitor any ADC channel
►
Number depends on device implementation
►Programmable UPPER and LOWER threshold
►Dedicated ADC (WD) Interrupt on UPPER and/or LOWER threshold
violation
►Can be used in a lighting application to trim SMARTMOS devices to
prolong LED life
•
Use EMIOS (OPWMT mode) -> CTU -> ADC to continually monitor LED voltage
• 0% CPU loading
• Only use CPU in event of ADC watchdog interrupt
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TM
ADC Channel Masks
►Individual
►
►
channel mask bits enable:
Normal conversion
Injected conversion
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
79
ADC – Channel Data Registers
►Each
channel has a data register containing:
►VALID indication of new value written (cleared when read)
►OVERWrite data indication that previous conversion data is
overwritten by a new conversion
►RESULT indication of conversion mode: normal, injected, CTU
►CDATA with channel’s converted data value
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
80
ADC Interrupts
►Each
ADC converter has two interrupt vectors to the INTC:
►ADC_EOC: ADC End of conversion
•
•
•
•
•
End of (normal) chain conversion
End of (normal) channel conversion (channels selected separately)
End of injected chain conversion
End of injected channel conversion
End of CTU conversion
►ADC_WD:
•
•
ADC watchdog
Watchdog0:3 or 5 high thresholds exceeded
Watchdog0:3 or 5 low thresholds exceeded
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
81
CTU:
Purpose
►The
Cross Triggering Unit Lite on the MPC560xB family is a link
between timers (eMIOS or PIT) and the ADC
►The
CTU “Lite” (as on MPC560xB) automatically transforms timer
events into ADC conversions without main CPU intervention
►The
real-time behavior (synchronization) between timer events and
ADC conversions is guaranteed
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
82
CTU:
MPC54605/6/7B Trigger Events
eMIOS A0 Ch0 Trig
eMIOS A22 Ch22 Trig
eMIOS A24 Ch24 Trig
ADC Control
eMIOS
eMIOS A31 Ch31 Trig
ADC Trigger
eMIOS B0 Ch32 Trig
eMIOS B22 Ch54 Trig
ADC Done
CTU
10-bit
ADC
Injection trigger
eMIOS B24 Ch56 Trig
ADC Control
eMIOS B31 Ch63 Trig
PIT3
Ch23 Trig
PIT7
Ch55 Trig
PIT
ADC Trigger
ADC Done
PIT2
Injection trigger
PIT6
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
12-bit
ADC
TM
83
PWM & Diagnosis Timing
tchd
tirsd
Calculations:
200Hz
5ms Period
MDDC = 8% of 5ms = 400us
tdwmin = MDDC – tirsd
tdwmin = 400us -300us = 100us
tdw
ADC
200Hz channels (n+1)
Ch 0
tirsd
tdw
ADC
Ch 1
Ch n-1
Ch n
Definitions:
PWM 200Hz (0.35% resolution, xybit)
MDDC: 8% (Min Diag Duty Cycle: For Duty cycles <8% no diagnosis is required)
tchd:
1ms (Channel Delay to control inrush current as well as EMC on ECU level)
tirsd:
300us (Inrush Delay to ensure ADC measurement takes place once current is stable)
tdwmin:
100us (Diagnosis Window = Min. Diag. Duty Cycle – Inrush Delay)
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TM
84
eMIOS OPWMT Mode: Allows
Match A2
Match A1
Match B1
Period
B1
C1
A1
Output Pin
Period: the period of the PWM is defined by a Modulus Counter channel.
A1 Value: define the leading edge (or shift) of the PWM channel. Buffering is not needed as the value of the shift must not
changed on the fly.
B1 Value: define the trailing edge (or duty cycle) of the PWM channel
B2 Value: buffered value of trailing edge
B1 update: transfer from B2 to B1 takes place at A1 match
EDPOL: define the output polarity
A2 Value: define the sampling point for the analog diagnostic. It can be configured anywhere within the PWM period.
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TM
85
eDMA
TM
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
enhanced Direct Memory Access (eDMA)
►
DMA is often an alternative to CPU interrupt
•
•
•
►
Peripheral flag causes DMA request (instead of interrupt request) to
transfer data
Data is transferred from a “source” to a “destination”
DMA channels have a “transfer control descriptor” (TCD) to describe
this transfer
Multiple different transfers can take place with a single DMA
request using “channel linking” or “scatter gather”
•
Allows combining multiple peripherals to a new “super” peripheral
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TM
87
eDMA:
Disabled
Selecting a DMA source
Source # 1
Source # 2
Source # 3
Peripherals
.
.
.
Source # 21
DMA
Channel
Mux
Trigger # 1
Always Enabled
DMA Channel #0
DMA Channel #1
.
.
.
DMA Channel # 15
.
.
Trigger. # 4
• Software selects which DMA sources connect to the 16 DMA channels
• DMA request for channels can be initiated by:
• A peripheral (example: ADC conversion result ready to be put into queue)
• Software (example: set a bit to initiate a block move)
• Periodic Interval Timer (example: enable periodic transmit of latest pending SPI data)
• Periodic Interval Timer available to 4 of the 16 channels (DMA channel 0 to 3)
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TM
88
eDMA Mux:
Channel Mux Source Options
DMA Mux
Source Input #
#
sources
DMA Source
0
1
Channel Disabled
1 – 12
12
6x DSPIs : transmit, receive
13 – 24
12
6x eMIOS_A / 6x eMIOS_B channels
25
1
ADC_0 10-bit converion complete
26
1
ADC_1 12-bit conversion complete
27-28
2
IIC_A receive, transmit
29 - 32
4
Always Enabled
- with PIT to generate periodic DMA
- w/o PIT for continuous DMA transfer
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TM
89
eDMA Mux:
Channel Configuration
Channel Configuration Registers [0:15]
TRIG (PIT generated DMA request) is only available for channels 0:7 (MPC5606B)
• PIT timers 1:8 provide the TRIG for DMA channels 0:7
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TM
90
eDMA:
►Periodic
•
►
DMA channel triggering
Triggering “throttles” DMA by limiting transfers
Peripheral Request gates with Trigger to cause DMA Request
“Always enabled” DMA sources: all Triggers generate DMA
request
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TM
91
eDMA:
►
Transfer Control Descriptor (TCD) Introduction
One Transfer Control Descriptor (TCD) for each channel:
•
Source, Destination addresses
•
Separate Size for each read and write access
•
Number of transfers per DMA request
•
Total number of DMA requests serviced before stop or restart.
•
Signed restart address adjustment
•
Last Source Address Adjustment and Last Destination Address Adjustment
•
Scatter/Gather support
Source Address (saddr)
Signed Source Address Offset
(soff)
Transfer Attributes
(smod, ssize, dmod, dsize)
Inner “Minor” Byte Count (nbytes)
Destination Address (daddr)
Signed Destination Address Offset
(doff)
Current “Major” Iteration Count
(citer)
Last Source Address Adjustment (slast)
Last Destination Address Adjustment (dlast_sga)
“Major” Iteration Counter
(biter)
Channel Control Status
(bwc, linkch, done, active, e_link,
e_sg, dreq, int_half, int_maj, start)
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TM
eDMA:
Example Memory Array
Current “Major” Loop
Iteration Count (citer)
3
DMA Request
.
.
.
Minor
Loop
.
.
.
Minor
Loop
.
.
.
Minor
Loop
TCD Loops
DMA Request
Major
Loop
2
DMA Request
1
►
Each DMA request initiates one minor loop transfer (iteration)
without CPU intervention
• DMA arbitration can occur after each minor loop.
 One level of minor loop DMA preemption is allowed
► The number of minor loops in a major loop = beginning iteration count (biter).
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TM
93
eDMA:
addr:
starting address
size of one
data transfer
Minor
Loop
nbytes in minor
loop (often the
same value as size)
.
.
.
offset: number of bytes added to
current address after each transfer
(often the same value as size)
►
Each DMA source and
destination has their own:
•
.
.
.
•
•
•
►
Minor
Loop
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TCD Terms
addr
size
offset
last
Peripheral queues typically
have size and offset equal to
nbytes.
last: number of bytes added to
current address after major loop
(typically used to loop back)
TM
94
eDMA:
Modulo Feature
►
Provides the ability to easily implement a circular data queue
• Size of queue is a power of 2
► mod, a 5-bit bit field, specifies which lower address bits are allowed to increment from
their original value after the address + offset calculation
•
all upper address bits remain the same as in the original value.
• If mod = 0 disables modulo feature
► Example: source address = 0x12345670; offset is 4 bytes so mod=4, allowing for a
24 byte (16-byte) size queue
Transfer #
Address
1
0x12345670
2
0x12345674
3
0x12345678
4
0x1234567C
5
0x12345670
6
0x12345674
Upper address bits
retain their original
value.
Circular buffer address wraps to
original value
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TM
eDMA:
►
Scatter-Gather Feature
Allows a DMA channel to use multiple TCDs
•
Enables a DMA channel to scatter the DMA data to multiple destinations or
gather it from multiple sources
• Example use: linked list of LIN messages
Example:
TCD B
TCD A
(in flash or SRAM) (in flash or SRAM)
sga
(Scatter Gather Address)
sga
Sequence:
1. Initialization: Load TCD A from flash to DMA channel x’s TCD
2. 1st DMA request or START=1: Executes TCD A; TCD B loads automatically
3. 2nd DMA request or START=1: Executes TCD B; TCD A loads automatically
Option: TCD B could automatically execute with the 1st DMA request if the TCD’s start bit
is set.
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TM
96
eDMA:
►
A DMA channel can “link” to another DMA channel, i.e, set the start bit of a 2nd
TCD
•
•
►
Channel Linking
At the end of every minor loop (except the last one)
And/or, at the end of the major loop
Also enables linked lists
Desired Link
Behavior
Link at end of
Minor Loop
Link at end of
Major Loop
TCD Control
Field Name
Description
citer.e_link
Enable channel-to-channel linking on minor
loop completion (current iteration)
citer.linkch
Link channel number when linking at end of
minor loop (current iteration)
major.e_link
Enable channel-to-channel linking on major
loop completion
major.linkch
Link channel number when linking at end of
major loop
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TM
eDMA:
TCD Control
Field Name
start
Other Control & Status Fields (1 of 2)
Description
Control bit to explicitly start channel when using a software
initiated DMA service.
(Automatically cleared by hardware after service begins.)
(Note: Do not set START if DMA request comes from HW)
active
Status bit indicating the channel is currently in execution.
done
Status bit indicating major loop completion.
(Set by hardware as CITER reaches 0. Cleared by
software if using software initiated DMA service request.)
d_req
Control bit to disable DMA request at end of major loop
completion.
• Clears channel enable bit, DMAERQ, at major loop
completion so no additional DMA requests are recognized
until channel is enabled again (Important for FIFOs – later)
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TM
eDMA:
Other Control & Status Fields (2 of 2)
TCD Control Description
Field Name
BWC[0:1]
e_sg
int_half
int_major
Control bits for “throttling” bandwidth control of a channel.
Control bit to enable scatter-gather feature.
Control bit to enable interrupt when major loop is half
complete (DONE = 0)
Control bit to enable interrupt when major loop completes
(DONE = 1)
BWC - Bandwidth Control
Forces the eDMA to stall after the completion of each read/write access to control
the bus request bandwidth seen by the crossbar.
00 No DMA_Engine stalls (for inner loop)
01 reserved
10 DMA_Engine stalls for 4 cycles after each R/W
11 DMA_Engine stalls for 8 cycles after each R/W
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TM
99
eDMA:
Summary
Source Address (saddr)
• Transfer Control Descriptor -
Signed Source Address
Offset
(soff)
32-bytes of local memory.
• 32-bit Source and Destination
addresses
Inner “Minor” Byte Count (nbytes)
Last Source Address Adjustment (slast)
• Transfer attributes selects the
size increment/decrement
options.
Destination Address (daddr)
Current Iteration Count (citer)
and optional channel link
control (citer.e_link,
citer.linkch)
• Iteration (minor loop) counter –
runs to zero every activation.
To initiate a software DMA transfer,
software must:
• set the “start” bit in TCD
• later clear the “done” bit in TCD
0
0
0
0
0
0
Signed Destination Address
Offset (doff)
Last Destination Address Adjustment (dlast_sga)
“Major” Iteration Count (biter)
and optional channel link
control (biter.e_link,
biter.linkch)
Channel Control & Status
(bwc, linkch, done, active,
e_link, e_sg, dreq, int_half,
int_maj, start)
DMASSTRT – DMA Set Start Request
0
Transfer Attributes
(smod, ssize, dmod, dsize)
0
DMACDONE – DMA Clear Done Status
0
0
SSTRTQ[6:0]
0
0
0
0
0
0
CDONE[6:0]
A write value of 15, sets corresponding
A write value of 15, clears corresponding
A value greater than 63 written will
Start bit in TCD_15 descriptor
Done bit in TCD_15 descriptor
Set or clear Start and Done Bits, respectively
Because of an order from the United States International Trade Commission, BGA-packaged product lines and part numbers indicated here currently are
not available from Freescale for import or sale in the United States prior to September 2010: MPC560xB products in 208 MAPBGA packages
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
100
eDMA:
Fixed-Priority Arbitration
•
•
Preemption:
•
Chan0
Chan1
•
Normally transfers must complete before another channel can initiate a
transfer
Fixed priority allows one level of preemption
Example: Fixed Chan. Arbitration
Chan11
Chan12
Chan13
Chan14
Chan15
►
Pro: Fastest latency for higher priorities. Prevents lower priority tasks
from using too much DMA bandwidth in case of a high priority
deadline.
Con: Potential to use up DMA bandwidth if a channel is always active
in highest priority group.
Chan2
Chan3
Chan4
Chan5
Chan6
Chan7
Chan8
Chan9
Chan10
►
Channel Arbitration
4 7 8 5 9 14 2 10 6 15 0 13 11 3 1 12
Note:
0 is lowest
priority
Channel Linking Note: When the DMA executes a channel link, it sets the START bit
of the target (link) channel. Then, the arbitration pipeline is flushed. At this point, the
target channel is in the arbitration pool with all other channels requesting service.
Arbitration occurs and the highest priority channel requesting service is selected to
execute. Thus higher priority channels will not be starved.
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the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
101
Capture waveforms using eMIOS and DMA
• Input Pulse-Width Measurement (IPWM) Mode – CBDR captures rising adges, CADR captures falling edges
• DMA is triggered on falling edges at CADR capture)
• DMA stores timing values (timebase is i.e internal counter) from CADR/CBDR into RAM
• Interrupt generation at the end of major loop
PWM C1 Falling
PWM C1 Rising
Source
16 bit register
PWM C2 Falling
saddr (source address) = eMIOS CADR register
daddr (destination addr.) = start of memory queue
nbytes = 4 bytes (minor loop size; # bytes per request)
biter = citer = 8 (# minor loops in major loop)
d_req = 0 (keep channel enabled after major loop)
ssize = 16 bits (read 1 halfword per transfer)
soff = 4 bytes (src. addr. increment after transfer)
slast = 0 (no src. addr. adjustment when done)
smod = 3 (wrap address after each minor loop)
dsize = 16 bits (write 1 half word per transfer)
doff = 2 bytes (add 4 to dest. addr after each transfer)
dlast = -32 bytes (restart daddr to start when done)
dmod = 0 (disbaled)
PWM C2 Rising
eMIOS
CADR register
eMIOS
CBDR register
PWM C3 Falling
.
.
.
PWM C3 Rising
PWM C4 Falling
PWM C4 Rising
PWM C5 Falling
PWM C5 Rising
PWM C6 Falling
PWM C6 Rising
INT_MAJ
Enable an
interrupt when
major iteration
count completes.
PWM C7 Falling
PWM C7 Rising
PWM C8 Falling
PWM C8 Rising
Because of an order from the United States International Trade Commission, BGA-packaged product lines and part numbers indicated here currently are
not available from Freescale for import or sale in the United States prior to September 2010: MPC560xB products in 208 MAPBGA packages
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
102
Generate waveforms using eMIOS and DMA
• Waveform Period is defined by timebase – Unified Channel in MCB period
• eMIOS is working in Double Action Output Compare Mode (DAOC) – CADR is programmed to trigger rising
edge on timebase match, CBDR is programmed to trigger falling edge on timebase match
• FLAG is set on second match and triggers DMA to write next waveform falling & rising edges to
CADR/CBDR
• Interrupt generation at the end of major loop
PWM C1 Rising
Destination
16 bit register
PWM C1 Falling
saddr (source address) = start of memory queue
daddr (destination addr.) = eMIOS CADR register
nbytes = 4 bytes (minor loop size; # bytes per request)
biter = citer = 8 (# minor loops in major loop)
d_req = 0 (keep channel enabled after major loop)
ssize = 16 bits (read 1 halfword per transfer)
soff = 2 bytes (src. addr. increment after transfer)
slast = -32 (restart saddr to start when done)
smod = 0 (disbaled)
dsize = 16 bits (write 1 half word per transfer)
doff = 4 bytes (add 4 to dest. addr after each transfer)
dlast = 0 bytes (disable)
dmod = 3 (wrap address after each minor loop)
PWM C2 Rising
eMIOS
CADR register
PWM C2 Falling
PWM C3 Rising
PWM C3 Falling
PWM C4 Rising
PWM C4 Falling
PWM C5 Rising
.
.
.
eMIOS
CBDR register
PWM C5 Falling
PWM C6 Rising
PWM C6 Falling
PWM C7 Rising
PWM C7 Falling
PWM C8 Rising
PWM C8 Falling
INT_MAJ
Enable an
interrupt when
major iteration
count completes.
Because of an order from the United States International Trade Commission, BGA-packaged product lines and part numbers indicated here currently are
not available from Freescale for import or sale in the United States prior to September 2010: MPC560xB products in 208 MAPBGA packages
Freescale™ and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. © Freescale Semiconductor, Inc. 2009.
TM
103
TM