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freescale semiconductor, inc. reserves the right to change the detail specifications, as may be required, to permit improvements in the design of its products. document number: mc33976 rev . 3.0, 8/2006 freescale semiconductor technical data ? freescale semiconductor, in c., 2006. all rights reserved. dual gauge driver with configurable response time the 33976 is a single-packaged, serial peripheral interface (spi) controlled, dual step 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, dire ction, and magnitude of current through the two coils of a two-phase instrumentation step motor, similar to an mmt-licensed afic 6405 or switec ms-x15.xxx motor. the 33976 is ideal for use in automotive instrumentation systems requiring distributed and flexible step motor gauge driving. the device also eases the transition to step motors from air core motors by emulating the air core pointer movement with little additional processor bandwidth utilization. features ?mmt-licensed two-phase step motor compatible ?switec ms-x15.xxx st ep motor compatible ?minimal processor overhead required ?fully integrated pointer movement and position state machine with channel-independent configurable pointer movement ?4096 possible steady state pointer positions ?340 maximum pointer sweep ?maximum acceleration of 4500/s 2 ?maximum pointer velocity of 400/s ?analog microstepping (12 step s/degree of pointer movement) ?pointer calibration and return to zero (rtz) ?spi-controlled 16-bit word ?calibratable internal clock ?low sleep mode current ?pb-free packaging designated by suffix code eg figure 1. 33976 simplified application diagram configurable dual gauge driver 33976 ordering information device temperature range (t a ) package mc33976dw/r2 - 40c to 125c 24 soicw MCZ33976eg/r2 dw suffix eg suffix (pb-free) 98asb42344b 24-lead soicw 5.0 v regulator mcu v pwr vpwr 33976 v dd rtz rst cs sclk si so gnd motor 0 sin0+ sin0- cos0+ cos0- motor 1 sin1+ sin1- cos1+ cos1- vdd
analog integrated circuit device data 2 freescale semiconductor 33976 internal block diagram internal block diagram figure 2. 33976 simplifi ed internal block diagram h-bridge cos0+ internal vpwr vdd sin0 cos0 cos0 - sin0+ sin0 - cos1+ cos1 - cos1 regulator rtz logic spi ilim overtemperature and control sin1 oscillator detect under- and overvoltage detect cs sclk so si rst rtz sin1+ sin1 - gnd (8)
analog integrated circuit device data freescale semiconductor 3 33976 pin connections pin connections figure 3. 33976 pin connections table 1. 33976 pin definitions pin number pin name pin function formal name definition 1 2 3 4 (ms motor pin #) cos0+ (ms #4) cos0 ? (ms #3) sin0+(ms #1) sin0 ? (ms #2) output h-bridge outputs 0 each pin is the output pin of a half bridge, designed to source or sink current. 5 ? 8, 17? 20 gnd ground 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. 9cs input chip select this pin is connected to a chip select output of a lsi ic. 10 sclk input serial clock this pin is connected to the sclk pi n of the master device and acts as a bit clock for the spi port. 11 so output 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. 12 si input serial input this pin is connected to the spi serial data output pin of the master device from which it receives output command data. 13 rtz output multiplexed output this is the multiplexed output pin of the non-driven coil during a return to zero (rtz) event. 14 vdd input voltage this spi and logic power supply input will work with 5.0 v supplies. 15 rst input reset this input has an inte rnal active pull-up. 16 vpwr input battery voltage power supply. 21 22 23 24 (ms motor pin #) sin1 ? (ms #2) sin1+ (ms #1) cos1 ? (ms #3) cos1+ (ms #4) output h-bridge outputs 1 each of these pins is the output pin of a half bridge, designed to source or sink current. cos0+ cos0- sin0+ sin0- 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+ cos1- sin1+ sin1- gnd gnd gnd vpwr rst vdd rtz gnd gnd
analog integrated circuit device data 4 freescale semiconductor 33976 electrical characteristics maximum ratings electrical characteristics maximum ratings table 2. maximum ratings all voltages are with respect to ground unless otherwise not ed. exceeding these ratings may cause a malfunction or permanent damage to the device. rating symbol value unit power supply voltage steady state v pwr(sus) -0.3 to 41 v input pin voltage (1) v in -0.3 to 7.0 v sin +/- cos +/- continuous per output current (2) i outmax 40 ma storage temperature t stg -55 to 150 c operating junction temperature t j -40 to 150 c thermal resistance junction to ambient junction to lead r ja r jl 60 20 c/w esd voltage (3) human body model machine model v esd1 v esd2 2000 200 v lead soldering temperature (4) t solder 245 c notes 1. exceeding voltage limits on input pins may cause permanent damage to the device. 2. output continuous output rating so long as maximum junction te mperature is not exceeded. operat ion at 125c ambient temperatu re will require maximum output current computat ion using package thermal resistances. 3. esd1 testing is performed in accor dance with the human body model (c zap = 100 pf, r zap = 1500 ? ), esd2 testing is performed in accordance with the machine model (c zap = 200 pf, r zap = 0 ? ). 4. lead soldering temperature limit is for 10 seconds maximum dur ation. not designed for immersion soldering. exceeding these li mits may cause malfunction or permanent damage to the device.
analog integrated circuit device data freescale semiconductor 5 33976 electrical characteristics static electrical characteristics static electrical characteristics table 3. static electrical characteristics characteristics noted under conditions 4.75 v v dd 5.25 v, - 40 c t j 150 c, gnd = 0 v unless otherwise noted. typical values noted reflect the approximate parameter means at t a = 25c under nominal conditions unless otherwise noted. characteristic symbol min typ max unit power input supply voltage range fully operational limited operational (5) , (6) v pwr 6.5 4.0 ? ? 26 26 v v pwr supply current gauge 1 and 2 outputs on, no output loads i pwr(on) ? 4.0 6.0 ma v pwr supply current (all outputs disabled) reset = logic [0], v dd = 5.0 v reset = logic [0], v dd = 0 v i pwslp1 i pwrslp2 ? ? 42 15 60 25 a overvoltage detection level (7) v pwrov 26 32 38 v undervoltage detection level (8) v pwruv 5.0 5.6 6.2 v logic supply voltage range (5.0 v nominal supply) v dd 4.5 5.0 5.5 v under v dd logic reset v dduv ? ? 4.5 v v dd supply current sleep: reset logic [0] outputs enabled i dd(off) i dd(on) ? ? 40 1.0 65 1.8 a ma power outputs microstep output (measured across coil outputs) sin0,1, (cos0,1, ) (refer to table 1 ) rout = 200 ? , pe6 = 0 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) steps 0, 12 (6, 18) v st6 v st5 v st4 v st3 v st2 v st1 v st0 4.82 0.94 v st6 0.84 v st6 0.68 v st6 0.47 v st6 0.23 v st6 -0.1 5.3 0.97 v st6 0.87 v st6 0.71 v st6 0.50 v st6 0.26 v st6 0 6.0 1.0 v st6 0.96 v st6 0.8 v st6 0.57 v st6 0.31 v st6 0.1 v full step active output (measured across coil outputs) sin0, 1, (cos0, 1, ) (see figure 8 , page 25 ) steps 1, 3 (0, 2) v fs 4.9 5.3 6.0 v microstep, full step output (measured from coil low side to ground) sin0, 1, (cos0, 1, ), i out = 30 ma v ls 0 0.1 0.3 v notes 5. outputs and logic remain active; however, the larger coil volt age levels may be clipped. the reduction in drive voltage may r esult in a loss of position control. 6. the logic will reset at some level below the specified limited operational minimum. 7. outputs will disable and must be re-enabled via the peccr command. 8. outputs remain active; however, the reduction in drive voltage may result in a loss of position control.
analog integrated circuit device data 6 freescale semiconductor 33976 electrical characteristics static electrical characteristics power outputs (continued) output flyback clamp (9) v fb ? v st6 + 0.5 v st6 + 1.0 v output current limit (output = vst6) i lim 40 100 170 ma overtemperature shutdown (12) ot sd 155 ? 180 c overtemperature hysteresis (9) ot hyst 8.0 ? 16 c control i/o input logic high voltage (10) v ih 2.0 ? ? v input logic low voltage (10) v il ? ? 0.8 v input logic voltage hysteresis (11) v in(hyst) ? 100 ? mv input logic pull down current (si, sclk) i dwn 3.0 ? 20 a input logic pull-up current ( cs , rst ) i up 5.0 ? 20 a so high-state output voltage (i oh = 1.0 ma) v soh 0.8 v dd ? ? v so low-state output voltage (i ol = -1.6 ma) v sol ? 0.2 0.4 v so tri-state leakage current ( cs 3.5 v) i solk -5.0 0 5.0 a input capacitance (12) c in ? 4.0 12 pf so tri-state capacitance (12) c so ? ? 20 pf notes 9. not 100 percent tested. 10. v dd = 5.0 v. 11. this parameter is guaranteed by de sign, but it is not production tested. 12. capacitance not measured. this parameter is guar anteed by design, but it is not production tested. table 3. static electrical characteristics (continued) characteristics noted under conditions 4.75 v v dd 5.25 v, - 40 c t j 150 c, gnd = 0 v unless otherwise noted. typical values noted reflect the approximate parameter means at t a = 25c under nominal conditions unless otherwise noted. characteristic symbol min typ max unit
analog integrated circuit device data freescale semiconductor 7 33976 electrical characteristics dynamic electrical characteristics dynamic electrical characteristics table 4. dynamic elect rical characteristics characteristics noted under conditions 4.75 v v dd 5.25 v, - 40 c t j 150 c, gnd = 0 v unless otherwise noted. typical values noted reflect the approximate parameter means at t a = 25c under nominal conditions unless otherwise noted. characteristic symbol min typ max units power output and clock timings sin0,1, (cos0,1, ) output turn on delay time (time from rising cs enabling outputs to steady state coil voltages and currents) (13) t dly (on) ? ? 1.0 ms sin0,1, (cos0,1, ) output turn off delay time (time from rising cs disables outputs to steady state coil voltages and currents) (13) t dly (off) ? ? 1.0 ms uncalibrated oscillator cycle time t clu 0.65 1.0 1.7 s calibrated oscillator cycle time calibration pulse = 8.0 s, peccr d4 = logic [0] calibration pulse = 8.0 s, peccr d4 = logic [1] t clc 1.0 0.9 1.1 1.0 1.2 1.1 s maximum pointer speed (14) v max ? ? 400 /s maximum pointer acceleration (14) a max ? ? 4500 /s 2 notes 13. maximum specified time for t he 33976 is the minimum guaranteed time needed from the microcontroller. 14. the minimum and maximum value will vary proportionally to th e internal clock tolerance. these numbers are based on an ideall y calibrated clock frequency of 1.0 mhz. these are not 100 percent tested.
analog integrated circuit device data 8 freescale semiconductor 33976 electrical characteristics dynamic electrical characteristics spi interface timing (15) recommended frequency of spi operation f spi ? 1.0 2.0 mhz falling edge of cs to rising edge of sclk (required setup time) (16) t lead ? 50 167 ns falling edge of sclk to rising edge of cs (required setup time) (16) t lag ? 50 167 ns si to falling edge of sclk (required setup time) (16) t s isu ? 25 83 ns required high state duration of sclk (required setup time (16) t w sclk h ? ? 167 ns required low state duration of sclk (required setup time (16) t w sclk l ? ? 167 ns falling edge of sclk to si (required hold time) (16) t si ( hold) ? 25 83 ns so rise time c l = 200 pf t r so ? 25 50 ns so fall time c l = 200 pf t f so ? 25 50 ns si, cs , sclk, incoming signal rise time (17) t r si ? ? 50 ns si, cs , sclk, incoming signal fall time (17) t f si ? ? 50 ns falling edge of rst to rising edge of rst (required setup time) (16) t w rst ? ? 3.0 s rising edge of cs to falling edge of cs (required setup time) (16) , (18) t cs ? ? 5.0 s rising edge of rst to falling edge of cs (required setup time) (16) t en ? ? 5.0 s time from falling edge of cs to so low impedance (19) t so(en) ? ? 145 ns time from rising edge of cs to so high impedance (20) t so(dis) ? 1.3 4.0 s time from rising edge of sclk to so data valid (21) 0.2 v dd so 0.8 v dd , c l = 200 pf t valid ? 90 150 ns notes 15. the 33976 shall meet all spi interface timing requirements specified in the spi interface timing section of this table, over the specified temperature range. digital interface timing is based on a symmetr ical 50 percent duty cycle sclk clock period of 333 ns. the de vice shall be fully functional for slower clock speeds. 16. the maximum setup time specified for the 33976 is the minimu m time needed from the microcontroller to guarantee correct oper ation. 17. rise and fall time of incoming si, cs , and sclk signals suggested for design considerat ion to prevent the occurrence of double pulsing. 18. the value is for a 1.0 mhz calibrated internal clock. the value will change proporti onally as the internal clock frequency c hanges. 19. time required for output status data to be terminated at so. 1.0 k ? load on so 20. time required for output status data to be available for use at so. 1.0 k ? load on so. 21. time required to obtain valid data out from so following the rise of sclk. table 4. dynamic electrical characteristics (continued) characteristics noted under conditions 4.75 v v dd 5.25 v, - 40 c t j 150 c, gnd = 0 v unless otherwise noted. typical values noted reflect the approximate parameter means at t a = 25c under nominal conditions unless otherwise noted. characteristic symbol min typ max units
analog integrated circuit device data freescale semiconductor 9 33976 electrical characteristics timing diagrams timing diagrams figure 4. input timing switching characteristics figure 5. valid data delay time and valid time waveforms rst cs si sclk v in v il v ih v il v ih v il v ih v il don?t care valid valid don?t care don?t care 0.2 v dd 0.2 v dd 0.2 v dd 0.7 v dd 0.7 v dd 0.7 v dd 0.7 v dd t en t wrst t cs t lag t rsi t lead t lead t wsclkh t wsclkl t fsi t si(hold) sclk so so low-to-high high-to-low 3.5 v 0.2 v dd 0.7 v dd 0.2 v dd 1.0 v v oh v ol v oh v ol v oh v ol t fsi t rsi 0.7 v dd 50% t so(en) t rso t fso t so(dis) t valid
analog integrated circuit device data 10 freescale semiconductor 33976 functional description introduction functional description introduction this 33976 is a single-packaged, serial peripheral interface (spi) controlled, dual step 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 two-phase instru mentation step motor, similar to an mmt-licensed afic 6405 or a switec ms-x15.xxx motor. the 33976 is ideal for use in automotive instrumentation systems requiring distributed and flexible step motor gauge driving. the device also eases the transition to step motors from air core motors by emulating the air core pointer movement with little additional processor bandwidth utilization. spi protocol description the spi interface has a full-duplex, three-wire synchronous, 16-bit serial synchronous interface data transfer and four i/o lines associated with it: chip select ( cs ), serial clock (sclk), serial in put (si), and serial output (so). the si/so pins of the 33976 follow a first in/first out (d15/d0) protocol with both input and output words transferring the most signific ant bit first. all inputs are compatible with 5.0 v cmos logic levels. functional pin description h-bridge outputs 0 (cos0+, cos0-, sin0+, sin0-) each pin 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 se parate step motors to provide four-quadrant operation. ground (gnd) these pins serve as the groun d 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 (cs ) the cs pin enables communication with the master device. when this pin is in a logic [0] state, the 33976 is capable of transferring information to, and receiving information from, the master. the 33976 latches data in from the input shift registers to th e 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 and 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 (l up ) connected to the pin, as specified in the section of the static electrical characteristics table entitled control i/o , which is found on page 6 . serial clock (sclk) sclk clocks the internal shift registers of the 33976 device. the 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 si gnal. it is important that the sclk pin be in a logic [0] state whenever the cs makes any transition. sclk has an internal pull down (l dwn ), as specified in the section of the st atic electrical characteristics table entitled control i/o , which is found on page 6 . when cs is logic [1], signals at the sclk and si pins are ignored and so is tri-stated (high im pedance). refer to the data transfer timing diagrams in figure 6 and figure 7 on page 12 . serial output (so) the so data pin is a tri-stat eable 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 that are multiples of 16 bits. data is shifted on the rising edge of the sclk signal. the so pin will remain in a high impedance state until the cs pin is put into a logic low state. serial input (si) the si pin is the input of the spi. serial input information is read on the falling edge of sclk. a 16-bit stream of serial data is required on the si pin, beginning with the most significant bit (msb). messages that are not multiples of 16 bits (e.g., daisy chained device messages) are ignored. after transmitting a 16-bit word, the cs pin must be de-asserted (logic [1]) before transmitting a new word. si information is ignored when cs is in a logic high state. multiplexed output (rtz) this is the multiplexed output pin of the non-driven coil during a return to zero (rtz) event.
analog integrated circuit device data freescale semiconductor 11 33976 functional description functional pin description voltage (vdd) this spi and logic power supply input will work with 5.0 v supplies. reset (rst) 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 (vpwr) power supply. h-bridge outputs 1 (sin1-, sin1+, cos1-, cos1+) each of these pins 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 step motors to provide four-quadrant operation.
analog integrated circuit device data 12 freescale semiconductor 33976 functional device operation operational modes functional device operation operational modes timing description this section provides a description of the 33976 spi beh avior. to follow the explanations below, refer to table 5 and to the timing diagrams shown in figure 6 and figure 7 . figure 6. single 16-bit word spi communication figure 7. multiple 16-bit word spi communication data input the input shift regist er 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 regi ster are transferred to the appropriate internal register addressed in bits 15:13. the minimum time cs should be kept high depends on the internal clock speed, specified in the spi interface timing (15) section of the static electrical characteristics, found on page 6 . 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. table 5. data transfer timing pin description cs (1-to-0) so pin is enabled. cs (0-to-1) 33976 configuration and desired output states are tr ansferred and executed according to the data in the shift registers. so will change state on the rising edge of the sclk pin signal. si will accept data on the fallin g edge of the sclk pin signal. cs sclk si so output shift register is loaded here. d15 d14 d13 d12 d11 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 od15 od14 od13 od12 od11 od10 od9 od8 od7 od6 od5 od4 od3 od2 od1 od0 note so is tri-stated when cs is logic [1]. cs sclk si so d15 d14 d13 d12 d11 d2 d1 d0 d15 * d14 * d13 * d4 d3 d2 * d1 * d0 * od15 od14 od13 od12 od11 od2 od1 od0 d15 d14 d13 od4 od3 d2 d1 d0 notes 2. d15, d14, d13, ..., and d0 refer to the first 16 bits of data into the 33976. 3. d15 * , d14 * , d13 * , ..., and d0 * refer to the most recent entry of program data into the 33976. 4. od15, od14, od13, ..., and od0 refer to the first 16 bits of fault and status data out of the 33976. 1. so is tri-stated when cs is logic [1].
analog integrated circuit device data freescale semiconductor 13 33976 functional device operation communication memory maps and register descriptions data output at the first rising edge of the sclk clock, with cs at logic [0], the contents of the selected status word register are transferred to the output sh ift 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 and register descriptions the 33976 device is capable of interfacing directly with a microcontroller via the 16-bit spi protocol 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 register s control the behavior of this device. a message is transmitted by the master beginning 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 is transferred through daisy-chained devices, as illustrated in figure 7 , page 12 . if an attempt is made to latch in a message smaller than 16 bits wide, it is ignored. table 6 lists the seven registers the 33976 uses to configure the device, control th e state of the four h-bridge outputs, and determine the type of status information that is clocked back to the master. the registers are addressed via d15:d13 of the incoming spi word. module memory map various registers of the 33976 spi module are addressed by the three msbs 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 ? air core motor movement emulation ? status information status reporting includes: ? individual gauge overte mperature condition ? battery overvoltage ? battery undervoltage ? pointer zeroing status ? internal clock status ? confirmation of coil output changes that should result in pointer movement ? real time pointer position information ? real time pointer velocity step information ? pointer movement direction ? command pointer position status ? rtz accumulator value register descriptions the following section descri bes the registers, their addresses, and their impact on device operation. address 000 ? power, enable, calibration, and configuration register (peccr) the power, enable, calibration, and configuration register is illustrated in table 7 , page 14 . a write to the 33976 using this register allows the master to (1) independently enable or disa ble the output drivers of the two-gauge controllers, (2) cali brate the internal clock, (3) disable the air core emulation, (4) select the direction of the pointer movement during point er positioning and zeroing, (5) configure the device for the desired status information to be clocked out into the so pin, or (6) send a null command for the purpose of reading the stat us bits. this register is also used to place the 33976 into a low current consumption mode. each of the gauge drivers can be enabled by writing a logic [1] to their assigned address bits, pe0 and pe1 respectively. this feature could be used to disable a driver if it is failing or is not being used. the device can be placed into a standby current mode by writ ing a logic [0] to both pe0 and pe1. 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 that 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 in ternal clock is temperature table 6. module memory map address [15:13] register name see page 000 power, enable, calibration, and configuration register peccr page 13 001 maximum velocity register velr page 15 010 gauge 0 position register pos0r page 15 011 gauge 1 position register pos1r page 15 100 return to 0 register rtzr page 16 101 return to 0 configuration register rtzcr page 17 110 ramp selection register rmpselr page 19 111 reserved for test ? ?
analog integrated circuit device data 14 freescale semiconductor 33976 functional device operation communication memory maps and register descriptions independent, the non-calibrated tolerance is +70% to -35%. the 33976 was designed with a feature allowing the internal clock to be software calibrated to a tighter tolerance of 10%, using the cs pin and a reference time pulse provided by the microcontroller. calibration of the internal cl ock is initiated by writing a logic [1] to pe3. the calibration pulse, which must be 8.0 s for an internal clock speed of 1.0 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 will be allowed only if the gauges are disabled or the po inters are not moving, as indicated by status bits mov0 and mov1. additional details are provided in the internal clock calibration section, beginning on page 29 . some applications may require a guaranteed maximum pointer velocity and accele ration. guaranteeing these maximums requires that the nominal internal clock frequency fall below 1.0 mhz. the freq uency range of the calibrated clock will always be below 1.0 mhz if bit pe4 is logic [0] when initiating a calibration command, followed by an 8.0 s reference pulse. the frequency will be centered at 1.0 mhz if bit pe4 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 pe2 will slow the internal oscillator by one-third. slowing the clock accommodates a longer calibration pulse without overrunning the internal counter?a condition designed to generate a cal fault indication. for example, calibration for a clock frequency of 667 khz would require a calibration pulse of 12 s. unless the internal oscillator is slowed by writing pe2 to logic [1], a 12 s calibration pulse may overrun the counter and generate a cal fault indication. some applications may require faster pointer positioning than is provided with the air core motor emulation feature. writing logic [1] to bit pe5 will disable the air core emulation for both gauges and provide an acceleration and deceleration at the maximum that the veloci ty position ramp can provide. if the hold counts need to be enabled and disabled dynamically, then the posxr commands could also be used. bit pe6 must always be written as a logic [0] during all peccr writes if the device is being used to drive an mmt style motor. similarly, this bi t must always be written as a logic [1] when being used to control switec style motors. the default pointer position 0 (pe7 = 0) will be the farthest counter-clockwise position. a logic [1] written to bit pe7 will change the location of the posit ion 0, for the gauge selected by bit pe8, to the farthest clockwise position. a change in position 0 of only one, or bot h, of the two coils can be accomplished by using bits pe8 and pe7. performing an rtz will always move the pointer to position 0. exercise care when writing to peccr bits pe8 and pe7 in order to prevent accidental changes of the position 0 locations. bits pe11:pe8 determine the c ontent of the bits clocked out of the so pin. when bit pe11 is at logic [0], the clocked out bits will provide device status. if a logic [1] is written to bit pe11, the bits clocked out of the so pin, depending upon the state of bits pe10:pe8, provides either: ? accumulator information and detection status during the rtz (pe10 logic [0]) ? real time pointer position location at the time cs goes low (pe10 logic [1] and pe9 logic [0]), or ? the real time step position of the pointer as described in the velocity table 30 , page 27 (pe10, pe9, and pe8 logic [1]). additional details are provided in the so communication section beginning on page 21 . if bit pe12 is logic [1] during a peccr command, the state of pe11:pe0 is ignored. this is referred to as the null command and can be used to read device status without affecting device operation. the bits in table 7 are write-only . pe12 (d12) ? null command for status read ? 0 = disable ? 1 = enable pe11 (d11) ? status select bit. this bit selects the information clocked out of the so pin. ? 0 = device status (the logi c states of pe10, pe9, and pe8 don?t cares) ? 1 = rtz accumulator value, gauge 0 or 1 pointer position, or gauge 0 and 1 velocity ramp position (depending upon the logic states of pe10, pe9, and pe8) pe10 (d10) ? rtz accumulator or pointer status select bit. this bit is recognized only when pe11 = 1. ? 0 = rtz accumulator value and status ? 1 = pointer position or speed pe9 (d9) ? pointer position or pointer speed select bit. this bit is recognized only if pe11 and pe10 = 1. ? 0 = gauge 0 or gauge 1 pointer position ? 1 = gauge 0 and gauge 1 pointer speed table 7. power, enable, calibration , and configuration register (peccr) address 000 bits d12 d11 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 read ? ? ? ? ? ? ? ? ? ? ? ? ? write pe12 pe11 pe10 pe9 pe8 pe7 pe6 pe5 pe4 pe3 pe2 pe1 pe0
analog integrated circuit device data freescale semiconductor 15 33976 functional device operation communication memory maps and register descriptions pe8 (d8) ? pointer position gauge select bit. also the position 0 of the selected gauge is determined by the pe7 selection. this bit is recognized only if pe11 and pe10 = 1 and pe9 = 0. ? 0 = gauge 0 position ? 1 = gauge 1 position pe7 (d7) ? position 0 location select bit. this bit determines the position 0 of the gauge selected by pe8. rtz direction will always be to the position 0. ? 0 = position 0 is the most ccw (counterclockwise) position ? 1 = position 0 is the mo st cw (clockwise) position pe6 (d6) ? motor type selection bit. ? 0 = mmt style (coil phase difference = 90) ? 1 = switec style (coil phase difference = 60) pe5 (d5) ? air core motor emulation bit. this bit is enabled or disabled (acceleration and deceleration is constant if disabled). ? 0 = enable ? 1 = disable pe4 (d4) ? clock calibration frequency selector ? 0 = maximum f =1.0 mhz (for 8.0 s calibration pulse) ? 1 = nominal f =1.0 mhz (for 8.0 s calibration pulse) pe3 (d3) ? clock calibration enable bit. this bit enables or disables the clock calibration. ? 0 = disable ? 1 = enable pe2 (d2) ? oscillator adjustment ?0 = t clu ? 1 = 0.66 x t clu pe1 (d1) ? gauge 1 enable bit. this bit enables or disables the output driver of gauge 1. ? 0 = disable ?1 = enable pe0 (d0) ? gauge 0 enable bit. this bit enables or disables the output driver of gauge 0. ? 0 = disable ?1 = enable address 001 ? maximum velocity register (velr) the gauge maximum velocity register is used to set a maximum velocity for each gauge (refer to table 8 ). bits v7:v0 contain a position value from 1? 225 that is representative of the velocity position value described in table 30, velocity table , page 27 . 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 becomes the maximum velocity. if the motor is turning at a speed greater than the new maximum, the motor immediately moves down the velocity ramp until the speed falls equal to or below it. velocity for each motor can be changed simultaneously or independently by writing v8 and/or v9 to a logic [1]. bits v12:v10 must be at logic [0] for valid velr commands. the bits in table 8 are write-only . v12:v10 (d12:d10) ? these bits must be transmitted as logic [0] for valid velr commands v9 (d9) ? gauge 1 velocity. specifies whether the maximum velocity determined in the v7: v0 field will apply to gauge 1. ? 0 = velocity does not apply to gauge 1 ? 1 = velocity applies to gauge 1 v8 (d8) ? gauge 0 velocity. specifies whether the maximum velocity specified in the v7: v0 field will apply to gauge 0. ? 0 = velocity does not apply to gauge 0 ? 1 = velocity applies to gauge 0 v7:v0 (d7:d0) ? maximum velocity. specifies the maximum velocity position from table 30 , page 27 . this velocity will remain the maximum of the intended gauge until changed by command. velocities can range from position 1 (00000001) to position 225 (11111111). addresses 010 and 011 ? gauge 0/1 position registers (pos0r, pos1r) si address 010 (gauge 0 position register) and si address 011 (gauge 1 position register) register bits po 11: po0 are written to when communicating the desired pointer positions. commanded positions can range from 0 to 4095. the d12 bit is used to disable the damping (i.e., hold counts) for each respective gauge. this feature allows the user to easily turn on and off the dam ping that was configured with the rmpselr. disabling t he hold counts allows the pointer to decelerate to the commanded position, as fast as possible down the velocity ramp. when disabled, the acceleration and deceleration of the pointer are symmetrical. table 8. maximum velo city register (velr) address 001 bits d12 d11 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 read ? ? ? ? ? ? ? ? ? ? ? ? ? write 0 0 0 v9 v8 v7 v6 v5 v4 v3 v2 v1 v0
analog integrated circuit device data 16 freescale semiconductor 33976 functional device operation communication memory maps and register descriptions the bits in table 9 are write-only . he0 12 (d12) ? this bit is used to disable the damping (i.e., hold counts) for gauge 0 (1 = damping disabled; 0 = damping enabled). p0 11:p0 0 (d11:d0) ? desired pointer position of gauge 0. pointer positions can range from 0 (000000000000) to position 4095 (111111111111). for a step motor requiring 12 microsteps per degree of pointer movement, the maximum pointer sweep is 341.25 . . the bits in table 10 are write-only . he1 12 (d12) ? this bit is used to disable the damping (i.e., hold counts) for gauge 1 (1 = damping disabled; 0 = damping enabled). p1 11:p1 0 (d11:d0) ? desired pointer position of gauge 1. pointer positions can range from 0 (000000000000) to position 4095 (111111111111). for a step motor requiring 12 microsteps per degree of pointer movement, the maximum pointer sweep is 341.25 (4095 12) . address 100 ? gauge return to zero register (rtzr) gauge return to zero register (rtzr) (refer to table 11 , page 16 ) 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 and its results are stored in an accumulator. a logic [1] written to bit rz1 enables a return to zero for gauge 0 if rz0 is logic [0], and gauge 1 if rz0 is logic [1], respectively. similarly, a logic [0] written to bit rz1 disables a return to zero for gauge 0 when rz0 is logic [0], and gauge 1 when rz0 is logic [1], respectively. bits d12:d5 and d3:d2 must be at logic [0] for valid rtzr commands. bit rz4 is used to enable an unconditional rtz event. a logic [0] results in a typical rtz event, automatically providing a stop when a stall cond ition is detected. a logic [1] will result in rtz movement, causing a stop if a logic [0] is written to bit rz0. this feat ure is useful during development and characterization of rtz requirements. the register bits in table 11 are write-only . rz12:rz5 (d12:d5) ? these bits must be transmitted as logic [0] for valid commands. rz4 (d4) ? this bit is used to enable an unconditional rtz event. table 9. gauge 0 position register (pos0r) address 010 bits d12 d11 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 read ? ? ? ? ? ? ? ? ? ? ? ? ? write he012 p0 11 p0 10 p0 9 p0 8 p0 7 p0 6 p0 5 p0 4 p0 3 p02 p01 p0 0 table 10. gauge 1 posi tion register (pos1r) address 011 bits d12 d11 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 read ? ? ? ? ? ? ? ? ? ? ? ? ? write he112 p1 11 p1 10 p1 9 p1 8 p1 7 p1 6 p1 5 p1 4 p1 3 p1 2 p1 1 p1 0 table 11. return to zero register (rtzr) address 100 bits d12 d11 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 read ? ? ? ? ? ? ? ? ? ? ? ? ? write 0 0 0 0 0 0 0 0 rz4 0 rz2 rz1 rz0
analog integrated circuit device data freescale semiconductor 17 33976 functional device operation communication memory maps and register descriptions ? 0 = automatic return to zero ? 1 = unconditional return to zero rz3 (d3) ? this bit must be transmitted as logic [0] for valid commands. rz2 (d2) ? return to zero direction bit. this bit is used to properly sequence the in tegrator, depending upon the desired zeroing direction. ? 0 = return to zero will occur in the ccw direction (pe7 = 0) ? 1 = return to zero will occur in the cw direction (pe7 = 1) rz1 (d1) ? return to zero direction. this bit commands the selected gauge to return the pointer to zero position. ? 0 = return to zero disabled ? 1 = return to zero enabled rz0 (d0) ? gauge select: gauge 0/gauge 1. this bit selects the gauge to be commanded. ? 0 = selects gauge 0 ? 1 = selects gauge 1 address 101 ? gauge return to zero configuration register gauge return to zero configuration register (rtzcr) is used to configure the return to zero event (refer to table 12 , page 18 ). it is written to modify (1) the step time, or rate at which the pointer moves during an rtz event, (2) the integration blanking time, which is the time immediately following the transition of a coil from a driven state to an open state in the rtz mode, and (3) the threshold of the rtz integration register. the values used for this register should be selected during development to optimize the rt z for each application. selecting an rtz step rate resulting in consistently successful zero detections depends on a clear understanding of the motor characteristi cs. specifically, resonant frequencies exist due to the interaction between the motor and the pointer. this command allows movement of the rtz pointer speed away from these frequencies. also, some motors require a significant amount of time for the pointer to settle to a steady state position when moving from one full step position to the next. consistent and accurate integration values require the pointer be stationary at the end of the full step time. bits rc3:rc0, rc12:rc11, and rc4 determine the time spent at each full step during an rtz event. bits rc3:rc0 are used to select a ? t ranging from 0 ms (0000) to 61.44 ms (1111) in increments of 4.096 ms (refer to table 13 , page 18 ). the ? t is multiplied by the factor m, which is defined by bits rc12:rc11. the product is then added to the blanking time, selected using bit rc4, to generate the full step time. the multiplier selected with rc12:rc11 will be 1 (00), 2 (01), 4 (10), or 8 (11) as illustrated in the equations below. the blanking time that is selected with bit rc4 determines the time that is provided immediately following a full step change, before enablin g the integration of the non- driven coil signal. the blanking time is either 512 s when rc4 is logic [0], or 768 s when it is logic [1].the full step time is generated using the following equations: when d3:d0 (rc3:rc0) 0000 full step (t) = ? t x m + blanking (t) (1) when d3:d0 (rc3:rc0) = 0000 full step (t) = blanking (t) + 2.048 ms (2) note in equation (2), a 2.048 ms offset is added to the full step time when the rc3:rc0 = 0000. the full step time default value after a logic reset is 12.80 ms (rc12:rc11 = 00, rc4 = 0, and rc3:rc0 = 0011). if there are two full steps per degree of pointer movement, the pointer speed is 1/ (fullstep x 2) deg/s. detecting pointer movement is accomplished by integrating the emf present in the non-driven coil during the rtz event. the integration circ uitry is implemented using a sigma-delta converter resulting in the placement of a 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 pointer is moving. values below the threshold indicate a stalled pointer, thereb y resulting in the cessation of the rtz event. the rtz accumulator bits are signed and represented in two?s complement. 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 va lue is negative and the pointer is assumed to be stopped. the integrator and accumulator are initialized after each full step. if the peccr command is written to clock out the rtz accumulator values via the so, the od14 bit corresponds to the sign bit of the rtz accumulator. accurate pointer stall detection depends on a correctly preloaded accumulator for specific gauge, pointer, and full step combinations. bits rc10:rc5 are used to offset the initial rtz accumulator value, properly detecting a stalled motor. the initial a ccumulator value at the start of a full step of integration is negative. if the accumulato r was correctly preloaded, a free-moving pointer will result in a positive value at the end of the integration time, and a stalled pointer will result in a negative value. the preloaded values associated with each combination of bits rc10:rc5 are illustrated in table 14 , page 19 . the accumulator should be loaded with a value resulting in an accumulator msb to a logic [1] when the motor is stalled. for the default mode, after a power-up or any reset, the 33976 device sets the accumulator value to -1.
analog integrated circuit device data 18 freescale semiconductor 33976 functional device operation communication memory maps and register descriptions . the bits in table 12 are write-only . rc12:rc11 (d12:d11) ? these bits, along with rc3:rc0 (d3:d0) and rc4 (d4), determine the full step time and, therefore, the rate at which the pointer will move during an rtz event. the values of d12:d11 determine the multiplier (m) used in equation (1) (refer to page 17 ). rc12:rc11 = m; default value = 00 ? 00 = 1 ? 01 = 2 ? 10 = 4 ? 11 = 8 rc10:rc5 (d10:d5) ? these bits determine the value preloaded into the rtz integrat ion accumulator to adjust the detection threshold. values range from -1 (00000000) to - 1009 (11111111) as shown in table 14 , the default value = 000000. rc4 (d4) ? this bit determines the rtz blanking time ( blanking ( t) ). the default value = 0 ? 0 = 512 s ? 1 = 768 s rc3:rc0 (d3:d0) ? these bits, along with rc12:rc11 (d12:d11) and rc4 (d4), determine the time variables used to calculate the full step times with equations (1) or (2) illustrated above. rc3:rc0 determines the ? t time. the ? t values range from 0 (0000) to 61.440 ms (1111) and are shown in table 13 . the default ? t is 0 (0011). note equation (2) (refer to page 17 ) is only used to calculate the full step ti me if rc3:rc0 = 0000. use equation (1) for all other combinations of rc3:rc0. table 12. rtzcr si register assignment address 101 bits d12 d11 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 read ? ? ? ? ? ? ? ? ? ? ? ? ? write rc12 rc11 rc10 rc9 rc8 rc7 rc6 rc5 rc4 rc3 rc2 rc1 rc0 table 13. rtzcr full step time rc3 rc2 rc1 rc0 ? t (ms) 0 0 0 0 0 0 0 0 1 4.096 0 0 1 0 8.192 0 0 1 1 12.288 0 1 0 0 16.384 0 1 0 1 20.480 0 1 1 0 24.576 0 1 1 1 28.672 1 0 0 0 32.768 1 0 0 1 36.864 1 0 1 0 40.960 1 0 1 1 45.056 1 1 0 0 49.152 1 1 0 1 53.248 1 1 1 0 57.344 1 1 1 1 61.440
analog integrated circuit device data freescale semiconductor 19 33976 functional device operation communication memory maps and register descriptions address 110 ? ramp selection register (rmpselr) si address 110 ramp selection register (rmpselr) (refer to table 15 , page 20 ). a write to the 33976 using this register allows the master to independently modify the pointer movement response characteristics of each gauge driver. the user has three variables that can be configured, during the initialization of the device, to provide quick and responsive pointers (e.g., tachometer applications) or soft landing and less responsive pointers (e.g., speedometer or fuel indicators). these three variables are (1) the ramp zero selection rs (rs3:rs0), (2) the hold count cut-in location offset variable hcp (hcp2: hcp0), and (3) the hold count value hc, (hc3:hc0). each of these variables is described below and an implementation example is shown in figure 10 , page 30 . the state machine uses the velocity ramp (refer to table 30 , page 27 ) to control the acceleration, deceleration and speed of the pointer movement. during an acceleration from a stopped position, the st ate machine will microstep the pointer at each velocity step, starting with step 0, in succession until the desired pointer speed is reached. similarly, as the pointer approaches the commanded position, the state machine will microstep the motor at successive velocity steps dow n the velocity ramp until reaching step 0. the fastest that a pointer can accelerate, decelerate or change directions is limited by the velocity ramp. for example, if a pointer is moving in the clockwise direction and is commanded to a position that is counter clockwise from the current poin ter location, then the state machine must first decelerate the pointer down the ramp to the step 0 location, change directions and then accelerate up the ramp towards the commanded location. in this situation, the state machine will force movement down and then up the ramp as fast as possible by stepping at each velocity position only once for a direction change. the low velocity steps (e.g., velocity position 1 is 27 ms) are significant in that they can limit the speed with which a pointer can change direction. bits rs3:rs0 of the rmpselr are used to truncate as many as 15 velocity steps off of the bottom of the velocity ramp. the value of rs determines the initial velocity ramp position: initial velocity position = rs + 1 for example, writing a value of 4 to these bits truncates the velocity ramp by 4 and would resu lt in a first and last velocity step of 5.86ms (velocity position 5). a pointer will change directions much faster with th is abbreviated ramp than it would if using the default ramp with a velocity position 1 of 27 ms most applications require a sm ooth dynamic pointer as the commanded position is constant ly updated. movement along the ramp at the maximum acceleration and deceleration (only one step at each velocity position) results in a choppy movement because the movement velocity range is large for small changes in position as the pointer quickly reaches commanded locations from command to command. configuring the state machine to repeat velocity steps at several of the last few step locations, when the pointer decelerates to the commanded location, can eliminate this choppy movement. these repetitive steps are referred to as hold counts. bits hcp2: hcp0 of the rm pselr determine the velocity step location at which the hold counts begin during a deceleration to the commanded position. the value written to hcp2: hcp0 (hcp) is multiplied by 8 and added to the rs value. the result is the first velocity position, or the hold count cut-in point, to which the hold counts will apply during a deceleration. first velocity position w/ hold counts = hcp x 8 + rs the exception to this is when the hcp2: hcp0 value is 000. in this case, hcp = 8 and the cut-in point will be 64 steps above the rs value. the default value of the hcp = 2 or a hold count cut-in point of 16 velocity steps above the rs value. table 14. rtzcr accumulator offset rc10 rc9 rc8 rc7 rc6 rc5 preload value (pv) initial accumulator value = (-16 x pv) -1 0 0 0 0 0 0 0 -1 0 0 0 0 0 1 1 -17 0 0 0 0 1 0 2 -33 0 0 0 0 1 1 3 -49 0 0 0 1 0 0 4 -65 . . . . . . . . . . . . . . . . . . . . . . . . 1 1 1 1 1 1 63 -1009
analog integrated circuit device data 20 freescale semiconductor 33976 functional device operation communication memory maps and register descriptions the value of rs also determines the last velocity position step for which the hold counts are applied: last velocity position w/ hold counts = rs + 2 the number of hold counts per applicable velocity step is determined by the value written to hc3:hc0 (hc) and can range from 0 to 15 steps. this number of hold counts will be applied to each step below the hold count cut-in as determined by hcp and rs. the default value of hc is 5. note: the following relationship between the variables must be adhered to for the state machine to work properly: hc x (hcp x 8 - 1) + (225 - rs) < 512 therefore, if rs = 0 and the ho ld count cut-in point is 64, the largest value of hold counts you can choose is 4. 4 * (64 - 1) + (225 - 0) = 477 the gsel bit determines which of the two gauges the rest of the rmpselr bits are applied to. a gsel bit set to logic 1 will apply the rm pselr data to gauge 1 and, logic 0 to gauge 0, respectively. configur ing both gauges requires two writes to this register. the bits in table 15 are write-only . gsel 12 (d12) ? gauge select bit. the value of this bit determines the gauge for which the settings apply (refer to page 17 ): ? 1 = gauge 1 ? 0 = gauge 0 gsel 11 (d11) ? this bit must be transmitted as logic 0 for valid commands. hcp2 : hpc0 (d10 : d8) ? hold count cut-in point variable. these bits determine hcp, which is then multiplied by 8, and added to the rs numbe r, to determine the actual hold count cut-in step value. the values of hcp range from 1 to 8 as shown in table 16 . the default value is 2. . hc3 : hc0 (d7 : d4) ? these bits determine the number of hold counts that will be applied to the steps that are determined by the hcp2:hcp0 and rs3:rs0 bits. the hc values range from 0 to 15 and are shown in table 17 . the default value is 5. rs3 : rs0 (d3 : d0) ? these bits determine the number of velocity steps that are truncat ed from the velocity position ramp. the values range from 0 to 15 and are shown in table 18 . the default value is 0. table 15. ramp selection register (rmpselr) address 101 bits d12 d11 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 read ? ? ? ? ? ? ? ? ? ? ? ? ? write gsel 12 gsel 11 hcp2 hcp1 hcp0 hc3 hc2 hc1 hc0 rs3 rs2 rs1 rs0 table 16. first hold count velocity position hcp2 hcp1 hcp0 velocity step (hcp x 8 + rs) 0 0 0 64 + rs 001 8 + rs 0 1 0 16 + rs 0 1 1 24 + rs 1 0 0 32 + rs 1 0 1 40 + rs 1 1 0 48 + rs 1 1 1 56 + rs table 17. hold counts per step hc3 hc2 hc1 hc0 hold counts / step (hc) 0000 0 0001 1 0010 2 0011 3 0100 4 0101 5 0110 6 0111 7 1000 8 1001 9 1010 10 1011 11 1100 12 1101 13 1110 14 1111 15
analog integrated circuit device data freescale semiconductor 21 33976 functional device operation communication memory maps and register descriptions so communication when the cs pin is pulled low, the internal status register, as configured with the peccr command bits pe11:pe8, is loaded into the output register and the data is clocked out msb (od15) first. following a cs transition 0 to 1, the device determines if the shifted-in me ssage was of a valid length (a valid message length is one that is greater than 0 bits and a multiple of 16 bits) and, if so, latches the incoming data into the appropriate registers. at this time, the so pin is tri- stated and the status register is now able to accept new status information. fault status information will be latched and held until the device status output register is selected and it is clocked out via the so. if the message length was determin ed to be invalid, the fault information will not be cleared and will be transmitted again during the next valid spi message. pointer status information bits (e.g., pointer position, velocity, and commanded position status) will always reflect the real time state of the pointer. any bits clocked out of the so pin after the first 16 are representative of the initial me ssage bits clocked into the si pin since the cs pin first transitioned to a logic [0]. this feature is useful for daisy-chaining devices as well as message verification. as described above, the last valid write to bits pe11:pe8 of the peccr command determines the nature of the status data that is clocked out of the so pin. there are five different types of status information available: 1. device status (refer to table 20 , page 21 ) 2. rtz accumulator status (refer to table 22 , page 23 ) 3. gauge 0 pointer position status (refer to table 24 , page 23 ) 4. gauge 1 pointer position status (refer to table 26 , page 24 ) 5. gauge 1 and 2 pointer velocity status (refer to table 28 , page 24 ) once a specific status type is selected, it will not change until either the peccr command bits pe11:pe8 (d11:d8) are written to select another or th e device is reset. each of the status types and the peccr bit necessary to select them are described in the following paragraphs. device status information most recent valid peccr command resulting in the device status output: the bits in table 20 are read-only bits. dir1 (od15) ? this bit indicates the direction gauge 1 pointer is moving. ? 0 = toward position 0 ? 1 = away from position 0 dir0 (od14) ? this bit indicates the direction gauge 0 pointer is moving. ? 0 = toward position 0 ? 1 = away from position 0 0pos1 (od13) ? this bit indicates the configured position 0 for gauge 1. table 18. truncated velocity steps rs3 rs2 rs1 rs0 zero velocity position # (rs) 0000 0 0001 1 0010 2 0011 3 0100 4 0101 5 0110 6 0111 7 1000 8 1001 9 1010 10 1011 11 1100 12 1101 13 1110 14 1111 15 table 19. d11 d10 d9 d8 0xxx x = don?t care. table 20. device status output register bits od15 od14 od13 od12 od11 od10 od9 od8 od7 od6 od5 od4 od3 od2 od1 od0 read dir1 dir0 0pos1 0pos0 cmd1 cmd0 ov uv cal ovuv mov1 mov0 rtz1 rtz0 ot1 ot0 write ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ?
analog integrated circuit device data 22 freescale semiconductor 33976 functional device operation communication memory maps and register descriptions ?0 = farthest ccw ?1 = farthest cw 0pos0 (od12) ? this bit indicates the configured position 0 for gauge 0. ? 0 = farthest ccw ?1 = farthest cw cmd1 (od11) ? this bit indicates whether gauge 1 is at the most recently commanded position. ? 0 = at commanded position ? 1 = not at commanded position cmd0 (od10) ? this bit indicates whether gauge 0 is at the most recently commanded position. ? 0 = at commanded position ? 1 = not at commanded position ov (od9) ? overvoltage indicati on. a logic [1] on this bit indicates v pwr voltage exceeded the upper limit of v pwrov since the last spi communication (refer to the static electrical characteristics table under power input , page 5 ). an overvoltage event will automatically disable the driver outputs. because the pointer may not be in the expected position, the master may want to re-calibrate the pointer position with an rtz command after the voltage returns to a normal level. for an overvoltage event, both gauges must be re-enabled as quickly as this flag returns to logic [0]. the state machine will continue to operate properly as long as v dd is within the normal range. ? 0 = normal range ? 1 = battery voltage exceeded v pwrov uv (od8) ? undervoltage indication. a logic [1] on this bit indicates the v pwr voltage fell below v pwruv since the last spi communication (refer to the static electrical characteristics table under power input , page 5 ). an undervoltage event is just flag ged; however, at some voltage level below 4.0 v, the outputs turn off and the state machine resets. because the pointer may not be in the expected position, the master may want to re-calibrate the pointer position with an rtz command after the voltage returns to a normal level. for an undervoltage event, both gauges may need to be re-enabled as quickly as this flag returns to logic [0]. the state machine will continue to operate properly as long as v dd is within the normal range. ? 0 = normal range ? 1 = battery voltage fell below v pwruv cal (od7) ? calibrated clock out of specification. a logic [1] on this bit indicates the clock count calibrated to a value outside the expected range given the tolerance specified by t clc in the dynamic electrical characteristics table under power output and clock timings , page 7 . ? 0 = clock within spec ? 1 = clock out of spec ovuv (od6) ? undervoltage or overvoltage indication. a logic [1] on this bit indicates the v pwr voltage fell to a level below the v pwruv since the last spi communication (refer to the static electrical ch aracteristics table under power input , page 5 ). an undervoltage event is just flagged, while an overvoltage event automati cally disables the drive outputs. because the pointer may not be in the expected position, the master may want to re-calibrate the pointer with an rtz command after the voltage returns to normal level. for an overvoltage event, both gauges must be re-enabled as soon as this flag returns to logic [0]. the state machine will continue to operate properly as long as v dd is within the normal range. ? 0 = normal range ? 1 = battery voltage fell below v pwruv or exceeded v pwrov mov1 (od5) ? this bit identifies gauge 1 movement since last spi communication. a logic [1] on this bit indicates the gauge 1 pointer position changed since the last spi command. this information allows the master to confirm the pointer is moving as commanded. this bit may also be used to determine if gauge 1 is enabled or disabled. ? 0 = gauge 1 position has not changed since the last spi command ? 1 = gauge 1 pointer position has changed since the last spi command mov0 (od4) ? 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. this information allows the mast er to confirm the pointer is moving as commanded. this bit may also be used to determine if gauge 0 is enabled or disabled. ? 0 = gauge 0 position has not changed since the last spi command ? 1 = gauge 0 pointer position has changed since the last spi command rtz1 (od3) ? rtz1 is enabled 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 will continue 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 successfully rtz0 (od2) ? rtz0 is enabled 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 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 successfully ot1 (od1) ? gauge 1 junction overtemperature. a logic [1] on this bit indicate s that the coil drive circuitry dedicated to drive gauge 1 has exceeded the maximum allowable junction temperature since the last spi communication and that gauge 1 has been disabled. it is recommended that the pointer be re-calibrated using the rtz command after re-enabling the gauge using the peccr
analog integrated circuit device data freescale semiconductor 23 33976 functional device operation communication memory maps and register descriptions 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 ot0 (od0) ? gauge 0 junction overtemperature. a logic [1] on this bit indicates that the coil drive circuitry dedicated to drive gauge 0 has exceeded the maximum allowable junction temperature since the last spi communication and that gauge 0 has been disabled. it is recommended that the pointer be re-calibrated using the rtz command after re-enabling the gauge using the peccr command. this bit remains logic [1] until the gauge is re- enabled. ?0 = temperature within range1 = gauge 0 maximum allowable junction temperat ure condition is reached rtz accumulator status information most recent valid peccr command resulting in the rtz accumulator status output: the bits in table 22 are read-only bits. rtz (od15) ? rtz bit is enabled or disabled. a logic [1] on this bit indicates that the gauge is in the process of returning to the zero position as requested with the rtz command. this bit will continue 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 successfully acc14:acc0 (od14:od0) ? th ese 15 bits are from the rtz accumulator. they repr esent the integrated signal present on the non-driven coil during an rtz event. these bits are logic [0] after pow er-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. acc14 is the msb and is the sign bit used for zero detection. negative numbers have msb logic [1] and are coded in two?s complement. gauge 0 pointer position status information most recent valid peccr command resulting in the gauge 0 pointer position status output: the bits in table 24 are read-only bits. enb0 (od15) ? this bit indicates whether gauge 0 is enabled. ? 0 = disabled ? 1 = enabled dir0 (od14) ? this bit indicates the direction gauge 0 is moving. ? 0 = toward position 0 ? 1 = away from position 0 dirc0 (od13) ? this bit is used to determine whether the direction of the most recent po inter movement is toward the last commanded position or away from it. ? 0 = direction of the pointer movement is toward the commanded position ? 1 = direction of the pointer movement is away from the commanded position table 21. d11 d10 d9 d8 10xx x = don?t care. table 22. rtz accumulator status output register bits od15 od14 od13 od12 od11 od10 od9 od8 od7 od6 od5 od4 od3 od2 od1 od0 read rtz acc14 acc13 acc12 acc11 acc10 acc9 acc8 acc7 acc6 acc5 acc4 acc3 ac2c acc1 acc0 write ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? table 23. d11 d10 d9 d8 1100 table 24. gauge 0 pointer posi tion status output register bits od15 od14 od13 od12 od11 od10 od9 od8 od7 od6 od5 od4 od3 od2 od1 od0 read enb0 dir0 dirc0 cmd0 pos11 pos10 pos9 pos8 pos7 pos6 pos5 pos4 pos3 pos2 pos1 pos0 write ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ?
analog integrated circuit device data 24 freescale semiconductor 33976 functional device operation communication memory maps and register descriptions cmd0 (od12) ? this bit indicates whether gauge 0 is at the most recently commanded position. ? 0 = at commanded position ? 1 = not at commanded position pos11:pos0 (od11:od0) ? th ese 12 bits represent the actual position of the pointer at the time cs transitions to a logic [0]. gauge 1 pointer position status information most recent valid peccr command resulting in the gauge 1 pointer velocity status output: the bits in table 26 are read-only bits. enb1 (od15) ? this bit indicates if gauge 1 is enabled. ? 0 = disabled ? 1 = enabled dir1 (od14) ? this bit indicates the direction gauge 1 pointer is moving. ? 0 = toward position 0 ? 1 = away from position 0 dirc1 (od13) ? this bit determ ines if the direction of the most recent pointer movement is toward, or away from, the last commanded position. ? 0 = direction of the pointer movement is toward the commanded position ? 1 = direction of the pointer movement is away from the commanded position cmd1 (od12) ? this bit indicate s if gauge 1 is at the most recently commanded position. ? 0 = at commanded position ? 1 = not at commanded position pos11:pos0 (od11:od0) ? these 12 bits represent the actual position of the pointer at the time cs transitions to a logic [0]. gauge 0 and 1 pointer velocity status information most recent valid peccr command resulting in the gauge 0 and 1 pointer velocity status output: the bits in table 28 are read-only bits. 1v7:1v0 (od15:od8) ? these 8 bits represent the step table value that indicates the actual velocity step location (refer to table 30 , page 27 ) of the gauge 1 pointer at the time that the cs transitions to a logic [0]. note for both sets of bits,1 v7:1v0 and 0v7:0v0, if the ramp is truncated with the rm pselr, the velocity position step that will be read when the pointer is no longer moving will be the velocity position that i dentifies it in the untruncated ramp (e.g., if rs = 2, then the velocity step location will be 3 when the pointer is at the commanded position). 0v7:0v0 (od7:od0) ? these 8 bits represent the step table value that indicates the actual velocity step location (refer to table 30 ) of the gauge 0 pointer at the time that the cs transitions to a logic [0]. table 25. d11 d10 d9 d8 1101 table 26. gauge 1 pointer position status output register bits od15 od14 od13 od12 od11 od10 od9 od8 od7 od6 od5 od4 od3 od2 od1 od0 read enb1 dir1 dirc1 cmd1 pos11 pos10 pos9 pos8 pos7 pos6 pos5 pos4 pos3 pos2 pos1 pos0 write ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? table 27. d11 d10 d9 d8 111x x = don?t care. table 28. gauge 0 and 1 pointer velocity status output register bits od15 od14 od13 od12 od11 od10 od9 od8 od7 od6 od5 od4 od3 od21 od1 od0 read 1v7 1v6 1v5 1v4 1v3 1v2 1v1 1v0 0v7 0v6 0v5 0v4 0v3 0v2 0v1 0v0 write ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ?
analog integrated circuit device data freescale semiconductor 25 33976 functional device operation state machine state machine state machine operation the two-phase step motor has maximum allowable velocities and acceleration and deceleration.the purpose of the step motor state machine is to drive the motor with maximum performance while re maining within the motor?s voltage, velocity, and acceleration constraints. a requirement of the state machine is to ensure the deceleration phase begins at the correct time and pointer position. when commanded, the motor will accelerate constantly to the maximum velocity, then move toward the commanded position. eventually, the pointer will reach the calculated location where the movement has to decelerate, slowing safely to a stop at the desired position. during the deceleration phase, the motor will not exceed the maximum deceleration. during normal operation, both step motor rotors are microstepped with 24 steps per electrical revolution (see figure 8 ). a complete electrical revolution results in two degrees of pointer movement. there is a second (smaller) state machine in the ic cont rolling 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 are provided in table 29 , page 26 . figure 8. clockwise microsteps 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 21 20 19 18 17 16 22 23 0 1 2 3 4 5 6 7 8 10 11 12 13 14 15 16 17 18 9 23 22 21 20 19 + _ _ + cosx sinx i max i max i max i max i coil i coil 0 0 figure 6b. cw microsteps for pe6=1 cos x sinx clockwise microsteps for pe6 = 0 clockwise microsteps for pe6 = 1 cos x sin x i max i max i max i max i coil i coil i max i coil i max i max i max i max i max i coil + + + + - - - - - 0 0 0 0
analog integrated circuit device data 26 freescale semiconductor 33976 functional device operation state machine 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 tabl e to define the allowed time and also the maximum velocity. a useful side effect of the table is that it also allows the direct determination of the position at which the velocity should reduce to stop the motor 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/second2.) from an initial position of 0 with an initial velocity ( u) , the motor position ( s) at a time ( t) is: for unit steps, the time between steps is: this defines the time incr ement between steps when the motor is initially travelling at a velocity u. in the rom, this time is quantized to multiples of the system clock by rounding upwards, ensuring accelerati on never exceeds the allowed value. the actual velocity and acceleration is calculated from the time step actually used. using v 2 = u 2 + 2 as and v = u + at and solving for v in terms of u , s, and t gives: v = 2 / t - u 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 . where indicates rounding up. p n = n note p n = n . this means on the n th 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. for example, the stopping distance is also equal to the current value of n . the algorithm to drive the motor is similar to: table 29. coil step value step angle sine (angle)* cos (angle)* pe6 = 0 cos (angle - 30)* pe6 = 1 0 0 0 1 0.866 1 15 0.259 0.965 0.966 2 30 0.5 0.866 1 3 45 0.707 0.707 0.966 4 60 0.866 0.5 0.866 5 75 0.966 0.259 0.707 6 90 1 0 0.500 7 105 0.966 -0.259 0.259 8 120 0.866 -0.5 0 9 135 0.707 -0.707 -0.259 10 150 0.5 -0.866 -0.500 11 165 0.259 -0.966 -0.707 12 180 0 -1 -0.866 13 195 -0.259 -0.966 -0.966 14 210 -0.5 -0.867 -1 15 225 -0.707 -0.707 -0.966 16 240 -0.866 -0.5 -0.866 17 255 -0.966 -0.259 -0.707 18 270 -1 0 -0.500 19 285 -0.966 0.259 -0.259 20 300 -0.866 0.5 0 21 315 -0.707 0.707 0.259 22 330 -0.5 0.866 0.500 23 345 -0.259 0.966 0.707 * denotes normalized values. 2 2 1 at ut s + = a a u u t 2 2 + + ? = ? 0 0 0 0 = = v p ?? 1 2 ? ? ? = n n n v t v
analog integrated circuit device data freescale semiconductor 27 33976 functional device operation state machine 1. while the motor is stopped, wait until a command is received. 2. send index pulses to the motor at an ever-increasing rate, according to the time steps in table 30 until: a. the maximum velocity is reached, at which point the time intervals stop decreasing, or b. 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, and to ensure it will stop at the required position, the motor must begin decelerating. an example of the velocity table for a particular motor is provided in table 30 . this motor?s maximum speed is 4800 microsteps/s (at 12 microsteps/degrees), and its maximum acceleration is 54000 microsteps/s 2 . the table is quantized to a 1.0 mhz clock. table 30. velocity table 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 0 0.00 76 380 2631.6 152 257 3891.1 1 27217 36.7 77 377 2652.5 153 256 3906.3 2 13607 73.5 78 374 2673.8 154 255 3921.6 3 11271 88.7 79 372 2688.2 155 254 3937.0 4 7970 125.5 80 369 2710.0 156 254 3937.0 5 5858 170.7 81 366 2732.2 157 253 3952.6 6 4564 219.1 82 364 2747.3 158 252 3968.3 7 3720 268.8 83 361 2770.1 159 251 3984.1 8 3132 319.3 84 358 2793.3 160 250 4000.0 9 2701 370.2 85 356 2809.0 161 249 4016.1 10 2373 421.4 86 354 2824.9 162 248 4032.3 11 2115 472.8 87 351 2849.0 163 248 4032.3 12 1908 524.1 88 349 2865.3 164 247 4048.6 13 1737 575.7 89 347 2881.8 165 246 4065.0 14 1594 627.4 90 344 2907.0 166 245 4081.6 15 1473 678.9 91 342 2924.0 167 244 4098.4 16 1369 730.5 92 340 2941.2 168 244 4098.4 17 1278 782.5 93 338 2958.6 169 243 4115.2 18 1199 834.0 94 336 2976.2 170 242 4132.2 19 1129 885.7 95 334 2994.0 171 241 4149.4 20 1066 938.1 96 332 3012.0 172 241 4149.4 21 1010 990.1 97 330 3030.3 173 240 4166.7 22 960 1041.7 98 328 3048.8 174 239 4184.1 23 916 1091.7 99 326 3067.5 175 238 4201.7 24 877 1140.3 100 324 3086.4 176 238 4201.7 25 842 1187.6 101 322 3105.6 177 237 4219.4 26 812 1231.5 102 321 3115.3 178 236 4237.3
analog integrated circuit device data 28 freescale semiconductor 33976 functional device operation state machine 27 784 1275.5 103 319 3134.8 179 235 4255.3 28 760 1315.8 104 317 3154.6 180 235 4255.3 29 737 1356.9 105 315 3174.6 181 234 4273.5 30 716 1396.6 106 314 3184.7 182 233 4291.8 31 697 1434.7 107 312 3205.1 183 233 4291.8 32 680 1470.6 108 310 3225.8 184 232 4310.3 33 663 1508.3 109 309 3236.2 185 231 4329.0 34 648 1543.2 110 307 3257.3 186 231 4329.0 35 634 1577.3 111 306 3268.0 187 230 4347.8 36 621 1610.3 112 304 3289.5 188 229 4366.8 37 608 1644.7 113 303 3300.3 189 229 4366.8 38 596 1677.9 114 301 3322.3 190 228 4386.0 39 585 1709.4 115 300 3333.3 191 227 4405.3 40 575 1739.1 116 298 3355.7 192 227 4405.3 41 565 1769.9 117 297 3367.0 193 226 4424.8 42 555 1801.8 118 295 3389.8 194 226 4424.8 43 546 1831.5 119 294 3401.4 195 225 4444.4 44 538 1858.7 120 293 3413.0 196 224 4464.3 45 529 1890.4 121 291 3436.4 197 224 4464.3 46 521 1919.4 122 290 3448.3 198 223 4484.3 47 514 1945.5 123 289 3460.2 199 222 4504.5 48 507 1972.4 124 287 3484.3 200 222 4504.5 49 500 2000.0 125 286 3496.5 201 221 4524.9 50 493 2028.4 126 285 3508.8 202 221 4524.9 51 487 2053.4 127 284 3521.1 203 220 4545.5 52 481 2079.0 128 282 3546.1 204 220 4545.5 53 475 2105.3 129 281 3558.7 205 219 4566.2 54 469 2132.2 130 280 3571.4 206 218 4587.2 55 464 2155.2 131 279 3584.2 207 218 4587.2 56 458 2183.4 132 278 3597.1 208 217 4608.3 57 453 2207.5 133 277 3610.1 209 217 4608.3 58 448 2232.1 134 275 3636.4 210 216 4629.6 59 444 2252.3 135 274 3649.6 211 216 4629.6 table 30. velocity table (continued) 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)
analog integrated circuit device data freescale semiconductor 29 33976 functional device operation state machine internal clock calibration timing-related functions on the 33976 (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. for example trimming can be used however, it tends to be costly due to the large amount of di e area required for trim pads. another possibility is an externally generated clock signal; however, this requires a dedicated pin on the device and controller. an alternate approach would require the use of an additional crystal or resonator, which is expensive. the internal clock in the 33976 is temperature independent and area efficient; however, it can vary by up to 70 percent due to process variation. using the existing spi inputs and the precision timing reference already available to the microcontroller, the 33976 allows more accurate clock calibration to within 10 percent. calibrating the internal 1.0 mhz clock is initiated by writing a logic [1] to peccr bit pe3 (see figure 9 , page 30 ). the 8.0 s calibration pulse is then provided by the controller to ideally result in an internal 33976 clock speed of 1.0 mhz. the pulse is sent on the cs pin immediately after the spi word is sent. during the calibration, no other spi lines should be toggled. at the moment the cs pin transitions from logic [1] to logic [0], an internal 7-bit counter counts the number of cycles of an inter nal, 8.0 mhz clock. the counter stops when the cs pin transitions from logic [0] to logic [1]. the value in the counter repres ents the number of cycles of the 8.0 mhz clock occurring in the 8.0 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 4 bits to generate the calibration divisor, which should range from 4 to 15. the 8.0 mhz clock is divided by the calibration divisor, resulting in a calibrated 1.0 mhz clock. if the calibratio n divisor lies outside the range of 4 to 15, the 33976 flags the cal bit in the device status register, indicating the calibration procedure was not successful. a clock calibration is allowed only if the gauges are disabled or the pointers are not moving, as indicated by status bits mov1 and mov0 ( table 20 , page 21 ). 60 439 2277.9 136 273 3663.0 212 215 4651.2 61 434 2304.1 137 272 3676.5 213 215 4651.2 62 430 2325.6 138 271 3690.0 214 214 4672.9 63 426 2347.4 139 270 3703.7 215 214 4672.9 64 422 2369.7 140 269 3717.5 216 213 4694.8 65 418 2392.3 141 268 3731.3 217 212 4717.0 66 414 2415.5 142 267 3745.3 218 212 4717.0 67 410 2439.0 143 266 3759.4 219 211 4739.3 68 406 2463.1 144 265 3773.6 220 211 4739.3 69 403 2481.4 145 264 3787.9 221 210 4761.9 70 399 2506.3 146 263 3802.3 222 210 4761.9 71 396 2525.3 147 262 3816.8 223 209 4784.7 72 393 2544.5 148 261 3831.4 224 209 4784.7 73 389 2570.7 149 260 3846.2 225 208 4807.7 74 386 2590.7 150 259 3861.0 75 383 2611.0 151 258 3876.0 table 30. velocity table (continued) 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)
analog integrated circuit device data 30 freescale semiconductor 33976 functional device operation state machine figure 9. gauge enable and clock calibration example some applications may require a guaranteed maximum pointer velocity and accele ration. guaranteeing these maximums requires that the nominal internal clock frequency falls below 1.0 mhz. the freq uency range of the calibrated clock will always be below 1.0 mhz if peccr bit pe4 is logic [0] prior to initiating a calibration command, followed by an 8.0 s reference pulse. the frequency will be centered at 1.0 mhz if bit d4 is logic [1]. the 33976 can be fooled into calibrating faster or slower than the optimal frequency by sending a calibration pulse longer or shorter than the intended 8.0 s. as long as the calibration divisor remains between 4 and 15 there will be no clock calibration flag. for applications requiring a slower calibrated clock ? e.g., a motor designed with a gear ratio of 120:1 (8 microsteps/deg) ? t he user will have to provide a longer calibration pulse. the de vice allows a spi-selectable slowing of the internal oscillator, using the peccr command, so that the calibration divisor safely falls within the 4-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 8.0 s. the result of this slower calibration results in the longer step times necessary to generate pointer movements meeting acceleration and velocity requirements. the resolution of the pointer positioning decreases from 0.083 deg/microstep (180:1) to 0.125 deg/microstep (120:1) while the pointer sweep range increases from approximately 340 degrees to over 500 degrees. note be aware that a fast calibration could result in violations of the motor acceleration and velocity maximums, resulting in missed steps. pointer deceleration constant acceleration and deceleration of the pointer produces relatively choppy movements when compared to those of an air core gauge. modifying the velocity position ramp during deceleration can create the desired damped movement. this modification is accomplished by adding repetitive steps at several of the last velocity position step values as the pointer decelerates. the 33976 allows the user to tailor the response characteristics to the application with three independent ramp characteristic variables. the rs, hcp and hc variables can be used to change the slowest velocity position steps, the number of hold counts, and the number of ramp positions to which the hold counts apply. more information is available in the rmpsel description and in the example shown in figure 10 . if the maximum acceleration and deceleration of the pointer is desired, the hold counts can be disabled dy namically by either writing a logic [1] to the global hold count disable bit, peccr bit pe5, or to the he0 or he1 bits of the pos0r or pos1r, respectively. figure 10. deceleration ramp d15 si sclk cs peccr command d0 8.0 s calibration pulse first velocity w/ hold counts = hcp 8 + rs = 8 + 0 = 8 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 position = velocity position a c celerate d e c e l e r a t e microsteps for this example: ? rs = 0 ? hc = 3 ? hcp = 1 initial velocity position = rs + 1 = 0 + 1 = 1 last velocity w/ hold counts = rs + 2 = 0 + 2 = 2 hold counts per step = hc = 3 first velocity w/ hold counts = hcp 8 + rs = 8 + 0 = 8 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 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 position = 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 position = velocity position a c celerate d e c e l e r a t e microsteps for this example: ? rs = 0 ? hc = 3 ? hcp = 1 initial velocity position = rs + 1 = 0 + 1 = 1 last velocity w/ hold counts = rs + 2 = 0 + 2 = 2 hold counts per step = hc = 3
analog integrated circuit device data freescale semiconductor 31 33976 functional device operation state machine return to zero calibration many step motor applications require that the ic detect when the motor is stalled afte r commanded to return to the zero position for calibration purposes. the stalling occurs when the pointer hits the end stop on the gauge bezel, which is usually at the zero position. it is important that when the pointer reaches the end stop it immediately stops without bouncing away. the 33976 device provides the ability to automatically and independently return each of the two pointers to the zero position via the rtzr and rtzcr spi commands. an automatic rtz is init iated using the rz0, rz1, and rz2 bits provided the rz4 bit is a logic [0]. unconditional rtz movement is initiated using the rz0, rz1, and rz2 bits provided the rz4 bit is a logic [1]. during an rtz event, all commands related to the gauge being returned are ignored until the pointer has successfully zeroed or the rtzr bit rz1 is written to disable the event. on ce an rtz event is initiated, the device reports back via the so pin that 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. on reaching the end stop, the device reports back to the microcontroller via the stat us message that the rtz was successful. the rtz automatically disables, allowing other commands to be valid. in the event the master determines an rtz sequence is not working properly (i.e., the rtz taking too long), it can disable the command via the rtzr bit rz1. rtzcr bits rc10:rc5 are written to preload the accumulator with a predetermined value that will assure 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 rz4. this operating mode allows the master to monitor the rtz event, using the accumulator information available via the so if the device is configured to provide the rtz accumulator status. the unconditional rtz event can be turned off using the rtzr bit rz1. if the position 0 location bit is in the default logic [0] mode, then during an rtz event the pointer is returned counter- clockwise (ccw) using full steps at a constant speed determined by the rtzcr rc3:rc0 and rc12:rc11 bits during rtz configuration (see figure 11 ). full steps are used during an rtz so that only one coil of the motor is being driven at any time. the coil not being driven is used to determine if the pointer is moving. if the pointer is moving, the emf signal that is present in t he non-driven coil is processed by integrating the signal present on the opened pin of the coil while essentially grounding the other end. figure 11. full steps counterclockwise the ic automatically prepares th e non-driven coil at each step, waits for a predetermined blanking time, then processes the signal for the du ration of the full step. when the pointer reaches the stop and no longer moves, the dissipating flux is detected. the processed results are placed in the rtz accumulator, then compared to a decision threshold. if the sig nal exceeds the decisi on threshold, the pointer is assumed to be moving. if the threshold value is not exceeded, the drive sequence is stopped if rtzr bit rz4 is logic [0]. if bit rz4 is logic [1], the rtz movement will continue indefinitely until the rtzr bit rz1 is used to stop the rtz event. 01 2 30 0 0 cosine sine i max i coil i coil i max i max i max 01 2 30
analog integrated circuit device data 32 freescale semiconductor 33976 functional device operation state machine a pointer that is not on a full step location or that is in magnetic alignment prior to the rtz event may cause a false rtz detection. more specifically, an rtz event beginning from a non-full step position may result in an abbreviated integration value potentially interpreted as a stalled pointer. advancing the pointer by at least 12 microsteps clockwise (if pe7 = 0) to the nearest full step position (e.g., 0, 6, 12, 18, 24, etc.) prior to initiating an rtz ensures the magnetic fields line up and increases the chances of a successful pointer stall detection. it is important th at the pointer be in a static, or commanded, position before starting the rtz event. because the time duration and the number of steps the pointer moves prior to reaching the commanded position can vary depending upon its status at the time a position change is communicated, the master should assure sufficient elapsed time 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 12 microsteps clockwise to the nearest full step location. because the pointer was in a static position at default, the master could determine the num ber of microsteps the device has taken by monitoring and counting the mov0. mov1 device status bit transit ions to confirm the pointer is again in a static position. alternativel y, the user could monitor the device status bits cmd1 and cmd2. it should be pointed out that t he flux value, for an ideal motor with the coils perfectly aligned at 90, will vary little from full step to full step if all other variables (e.g., temperature) are held const ant. the full steps are evenly spaced which results in equidistant movement as the motor is full stepped. in comparison, motors that have coils aligned at a 60 angle will result in two distinct flux values as the coils are driven in the same full step fa shion. this lack of symmetry in the measured flux is due to the difference in the electrical angles between full steps. in ot her words, the distance that the rotor moves changes from full step to full step. this difference can be observed in figure 8 and table 29 . in figure 8 , where pe6 = 0, the difference in microsteps between alternating full steps (one coil at maximum current while the other is at zero) is always six. in contrast, as seen in figure 8 , where pe6 = 1, the difference in microsteps between full steps of the 60 coils alternates between four and eight. these expected differences need to be taken into account when setting the rtz threshold. only one gauge at a time can be returned to the zero position. the gauge not returning to zero can continue to be controlled. 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 calibrat e a gauge while the other is in the process of an rtz event is 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 pointers back close to their previous zero positions, then re- calibrating them sequentially. after completion of an rtz, the 33976 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 degree. 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 be advanced by at least 12 microste ps to the nearest full step prior to initiating the rtz. rtz output during an rtz event the non-driven coil is analyzed to determine the state of the motor. the 33976 multiplexes the coil voltages and provides the signal from the non-driven coil to the rtz pin. default mode default mode refers to the state of the 33976 after an internal or external reset prior to spi communication. an internal reset occurs during v dd power-up or if v pwr falls below 4.0 v. an external reset is initiated by the rst pin driven to a logic [0]. with the exception of the rtzcr full step time and the rmpsel register valu es, all of the specific pin functions and internal register s will operate as though all of the addressable configuration register bits were set to logic [0]. this means, for ex ample, all of the outputs will be disabled after a power-up or external reset, and so flag od6 and od8 are set, indicating an undervoltage 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. fault logic requirements the 33976 device indicates each of the following faults as they occur: ?overtemperature fault ?undervoltage v pwr ?overvoltage v pwr ?clock out of spec these fault bits remain enabled until they are clocked out of the so pin with a valid spi message. overcurrent faults are not report ed directly; however, it is likely an overcurrent condition will become a thermal issue and be reported. overtemperature fault requirements the 33976 incorporates over temperature protection circuitry, which shuts off the affected gauge driver when excessive temperatures are detected. in the event of a thermal overload, the affected gauge driver is automatically disabled. the overtemperature fault is flagged via the ot0 and/or ot1 device status bits. the indicating flag continues to be set until the affected gauge is successfully re-enabled, provided the junction temperature has fallen to a temperature below the hysteresis level.
analog integrated circuit device data freescale semiconductor 33 33976 functional device operation state machine overvoltage fault requirements the device is capable of surviving v pwr voltages within the maximum specified in maximum ratings table, page 4 . v pwr levels resulting in an ov ervoltage shutdown condition can result in uncertain pointer positions. therefore, the pointer position should be re-calibrated. the master will be notified of an overvoltage event via the so pin if the device status is selected. overvoltage detection and notification occurs regardless of whether the gauge(s) are enabled or disabled. overcurrent fault requirements output currents are limited to safe levels allowing the device to rely on thermal shutdown to protect itself. undervoltage fault requirements undervoltage v pwr conditions may result in uncertain pointer positions. therefore, the internal clock and the pointer position may require re-calibration. the state machine continues with v pwr voltage levels as low as 4.0 v; however, the coil voltages may be clipped . the master can be notified of an undervoltage event via the so pin. reset (sleep mode) the device can reset internally or externally. if the v dd level falls below the v dduv level (refer to the static electrical characteristics table under power input , page 5 ), the device resets and powers up in the default mode. similarly, if the rst pin is driven to a logic [0], the device resets to its default state. the device c onsumes the least amount of current (i dd and i pwr ) when the rst pin is logic [0]. this is also referred to as the sleep mode.
analog integrated circuit device data 34 freescale semiconductor 33976 typical applications state machine typical applications the 33976 is an extremely versatile device that can be used in a variety of applicat ions. the flexibility has been significantly improved, over th at of the older mc33991 and mc33970 devices, with the addition of the velocity ramp configuration featur es that are available in the rmpsel register (see table 31 ). some applications (e.g., high performance tachometers) require responsive pointers that change directions quickly. figure 10 shows some characteristics of the ramp modifications that are possible with the rmpselr rs bit. figure 12. start / stop response characteristics other applications (e.g., speedometers and fuel indicators) require smooth, low speed movement. for these applications, the damping of th e pointer can be optimized with the hc and hcp bits of the rmpselr. figure 13 , page 35 , gives several examples of different damping characteristics that are possi ble with the device. once configured, the damping c an be dynamically enabled and disabled using the he bits of the position registers. 0.0 1000.0 2000.0 3000.0 4000.0 5000.0 6000.0 0 20000 40000 60000 80000 100000 120000 140000 160000 180000 time (us) speed (usteps / s) gdic mc33991 gdic mc33970 or mc33976 default ideal acceleration (4500 deg/s^2) gdic mc33976 ramp w/first step = 5 ideal acceleration (4500 deg/s^2) 33991 33970 or 33976 default 13ms 63ms 33976 (rs = 4) time ( s) 33991
analog integrated circuit device data freescale semiconductor 35 33976 typical applications state machine figure 13. 33976 damping response examples table 31 provides a step-by-step example of configuring and using many of the features designed into the ic. this example is intended to give a generic overview how the device could be used. further, it is intended to familiarize users with some of its capabilities. 800 850 900 950 1000 1050 1100 1150 1200 1250 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 time (s) position (usteps) no holds gdic1.5 64,4 32-4 16-5 8-4 33976 default (16, 5 hcp 8, hc) 33976 33970 64, 4 32, 4 16, 5 8, 4 position (microsteps) 33970 table 31. 33976 setup, configuration, and usage example step command description reference table and/or figure 1 peccr enable gauges bit pe0: gauge 0 bit pe1: gauge 1 table 7 (page 14 ), figure 9 (page 30 ) clock calibration bit pe3: enables calibration procedure bit pe4: set clock f = 1.0 mhz maximum or nominal send 8.0 s pulse on cs to calibrate 1.0 mhz clock 2 rtzcr set rtz full step time bits rc3:rc0 table 12 (page 18 ), table 13 (page 18 ) set rtz blanking time bit rc4 preload rtz accumulator bits rc12:rc11 and rc10:rc5 table 14 (page 19 ) check so for an out-of-range clock calibration is bit cal logic [1]? if so, then repeat steps 1 and 2 table 7 (page 14 ), table 20 (page 21 )
analog integrated circuit device data 36 freescale semiconductor 33976 typical applications state machine 3 pos0r move pointer to position 12 prior to rtz table 9 (page 16 ) 4 pos1r move pointer to position 12 prior to rtz table 10 (page 16 ) check so to see if gauge 0 has moved is bit mov0 (od4) logic [1]? if so, then the gauge 0 has moved to the first microstep table 7 (page 14 ), table 20 (page 21 ) 5 peccr send null command to see if gauges have moved bit pe12 table 7 (page 14 ) check so to see if gauge 0 (gauge 1) has moved is bit mov0 (od4) (mov1 (od5)) logic [1]? if so, then gauge 0 (gauge 1) moved another microstep. keep track of movement and if 12 steps are finished and both gauges are at a static position, then rtz. otherwise, repeat steps (a) and (b) bit cmd0 (od10) (cmd1 (od11)) could also be monitored to determine that the pointer is static table 7 (page 14 ), table 20 (page 21 ) 6 rtz 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 rz2 is used to select the direction (along with pe7) table 11 (page 16 ) select the rtz accumulator bits to clock out on the so bits using bits pe11:pe10. these will be used if characterizing the rtz. table 7 (page 14 ), table 22 (page 23 ) 7 peccr check the status of the rtz by sending the nul l command to monitor so bit rtz0, rtz1 of device status so bit pe12 is the null command table 7 (page 14 ), table 20 (page 21 ) is rtz0 (od2) logic [0]? if not, gauge 0 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 table 11 (page 16 ) 9 peccr check the status of the rtz by sending the null command to monitor so, bit rtz1 (od3) bit pe12 is the null command table 7 (page 14 ), table 20 (page 21 ) is rtz1 (od3) logic [0]? if not, gauge 1 still returning and null command should be resent 10 velr 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 table 30, velocity table table 7 (page 15 ), table 30 (page 27 ) 11 pos0r position gauge 0 pointer bits p011:p00: desired pointer position table 9 (page 16 ), table 30 (page 27 ) check so for out-of-range v pwr bit ovuv (od6) logic [1]? if so, use uv (od8) and ov (od9) to decide whether to rtz after valid v pwr check so for overtemperature bit ot0 logic [1]? if so, enable driver again. if ot0 continues to indicate overtemperature, shut down gauge 0 if rtz0 returns to normal, re-establish the zero reference by rtz command table 31. 33976 setup, configurat ion, and usage example (continued) step command description reference table and/or figure
analog integrated circuit device data freescale semiconductor 37 33976 typical applications state machine 12 pos1r position gauge 1 pointer bits p1 11:p1 0: desired pointer position table 10 (page 16 ), table 30 (page 27 ) check so for out-of-range v pwr bit ovuv logic [1]? if so, use uv (od8) and ov (od9) to decided whether to rtz after valid v pwr check so for overtemperature bit ot1 logic [1]? if so, enable driver again. if ot1 continues to indicate overtemperature, shut down gauge 1. if ot1 returns to normal, re-establish the zero reference by rtz command 13 pos0r return the pointers close to zero position using pos0r table 9 (page 16 ) move pointer position at least 12 microsteps cw to the nearest full step prior to rtz 14 pos1r return the pointers close to zero position using pos1r table 10 (page 16 ) move pointer position at least 12 microsteps cw to the nearest full step position prior to rtz check so to see if gauge 0 has moved bit mov0 logic [1]? if so, gauge 0 moved to the first microstep table 10 (page 16 ), table 20 (page 21 ) 15 peccr send null command to see if gauges have moved bits pe12 table 7 (page 14 ), table 20 (page 21 ) check so to see if gauge 0 (gauge 1) moved bit mov0 (mov1) logic [1]? if so, gauge 0 (gauge 1) moved another microstep. keep track of movement. if 12 steps are finished, and both gauges are at a static position, then rtz. otherwise repeat steps (a) and (b) bit cmd0 (od10) (cmd1 (od1)) could also be monitored to determine that the pointer is static 16 rtz 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 bit rz2 is used to select the direction (along with pe7) table 7 (page 14 ), table 11 (page 16 ), table 22 (page 23 ) select the rtz accumulator bits clocking out on the so bits using bits pe11:pe10. these will be used if characterizing the rtz 17 peccr check the status of the rtz by sending the null command to monitor so bit rtz0 bit pe12 is the null command table 7 (page 14 ), table 20 (page 21 ) is rtz0 logic [0]? if not, gauge 0 still returning and 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 table 11 (page 16 ), table 14 (page 19 ) 19 peccr check the status of the rtz by sending the null command to monitor so bit rtz1 bit pe12 is the null command table 7 (page 14 ), table 20 (page 21 ) is rtz1 logic [0]? if not, gauge 1 still returning and null command should be resent table 11 (page 16 ) 20 peccr disable both gauges and go to standby bit pe0:pe1 are used to disable the gauges table 7 (page 14 ) put the device to sleep rst pin is pulled to logic [0] table 31. 33976 setup, configurat ion, and usage example (continued) step command description reference table and/or figure
analog integrated circuit device data 38 freescale semiconductor 33976 packaging package dimensions packaging package dimensions dw suffix eg suffix (pb-free) 24-lead soicw plastic package 98asb42344b issue f
analog integrated circuit device data freescale semiconductor 39 33976 revision history revision history revision date description of changes 3.0 8/2006 ? implemented revision history page ? converted to freescale format ? updated packaging drawing ? corrected symbol labels on microstep output (measured across coil outputs) and output flyback clamp (9) ? added maximum pointer calculation on page 17 ? corrected detect threshold upper range from 4081 to 1009 ? changed internal clock variation from 35% to 70% ? changed emf to flux on page 30 ? added MCZ33976eg/r2 to the ordering information block
mc33976 rev 3.0 8/2006 information in this document is provided solely to enable system and software implementers to use freescale semiconduc tor products. there are no express or implied copyright licenses granted hereunder to design or fabricate any integrated circuits or integrated circuits based on the information in this document. freescale semiconductor reserves the right to make changes without further notice to any products herein. freescale semiconductor makes no warranty, representation or guarantee regarding the suitability of its produ cts for any particular purpose, nor does freescale semiconductor assume any liability ar ising out of the application or use of any product or circuit, and specifically discla ims any and all liability, including without limitation consequential or incidental damages. ?typical? parameters that may be provided in freescale semiconductor data s heets and/or specifications can and do vary in different applications and actual performance may vary over time. all operating parameters, including ?typicals?, must be validated for each customer application by customer?s technical experts. freescale se miconductor does not convey any license under its patent rights nor the rights of others. freescale semiconductor products are not designed, intended, or authorized for use as components in systems intended for surgical implant into the body, or other applications intended to support or sustain life, or for any other application in which the fa ilure of the freescale semiconductor product could create a situation where personal injury or death may occur. should buyer purchase or use freescale semiconductor products for any such unintended or unauthorized application, buyer shall indemni fy and hold freescale semiconductor and its officers, employees, subsidiaries, affili ates, and distributors harmless against all claims, costs, damages, and expenses, and reasonable attorney fees arising out of, directly or indirectly, any claim of personal injury or death associated with such unintended or unauthorized use, even if such claim alleges that freescale semiconductor was negligent regarding the design or manufacture of the part. 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., 2006. all rights reserved. how to reach us: home page: www.freescale.com e-mail: support@freescale.com usa/europe or locations not listed: freescale semiconductor technical information center, ch370 1300 n. alma school road chandler, arizona 85224 +1-800-521-6274 or +1-480-768-2130 support@freescale.com europe, middle east, and africa: freescale halbleiter deutschland gmbh technical information center schatzbogen 7 81829 muenchen, germany +44 1296 380 456 (english) +46 8 52200080 (english) +49 89 92103 559 (german) +33 1 69 35 48 48 (french) support@freescale.com japan: freescale semiconductor japan ltd. headquarters arco tower 15f 1-8-1, shimo-meguro, meguro-ku, tokyo 153-0064 japan 0120 191014 or +81 3 5437 9125 support.japan@freescale.com asia/pacific: freescale semiconductor hong kong ltd. technical information center 2 dai king street tai po industrial estate tai po, n.t., hong kong +800 2666 8080 support.asia@freescale.com for literature requests only: freescale semiconductor literature distribution center p.o. box 5405 denver, colorado 80217 1-800-441-2447 or 303-675-2140 fax: 303-675-2150 ldcforfreescalesemiconductor@hibbertgroup.com rohs-compliant and/or pb-free versions of freescale products have the functionality and electrical characteristics of their non-rohs-compliant and/or non-pb-free counterparts. for further information, see http://www.freescale.com or contact your freescale sales representative. for information on freescale?s environmental products program, go to http:// www.freescale.com/epp .

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