
TPU3 ROM Functions
MPC561/MPC563 Reference Manual, Rev. 1.2
D-2
Freescale Semiconductor
these entry tables the RCPU selects. Though the TPU3 can access either entry table, only one table can be
used at a time and functions from the tables cannot be mixed. The default entry table, located in bank 0, is
identical to the standard microcode ROM in the TPU2, making any RCPU code written for the TPU2
interchangable with the TPU3. The functions in the default entry table in bank 0 are listed in
Table D-1.The functions in the bank 1 entry table are identical to those in bank 0, except in three cases. Function 1,
SPWM in the bank 0 table, has been replaced by RWTPIN, a function that allows a read and write to the
TPU3 timebases and corresponding pin. Function 5, PPWA in the bank 0 table, is an identification (ID)
function in the bank 1 table that provides the microcode ROM revision number. Function 7, MCPWM, has
been replaced by MULTI in later silicon revisions. The functions in the bank 1 entry table are listed in
The RCPU selects which entry table to use by setting the ETBANK field in the TPUMCR2 register. This
register is written once after reset. Although one entry table is specified at start-up, in some cases it is
possible to use functions from both tables without resetting the microcontroller. A customer may, for
example, wish to use the ID function from bank 1 to verify the TPU3 microcode version but then use the
MCPWM function from bank 0. As a customer will typically only run the ID function during system
Table D-1. Bank 0 and Bank 1 Functions
Function
Number
Bank 0 Functions (Default)
Bank 1 Functions
0xF
PTA (Programmable Time Accumulator)
0xE
QOM (Queued Output Match)
0xD
TSM (Table Stepper Motor)
0xC
FQM (Frequency Measurement)
0xB
UART (Universal Asynchronous
Receiver/Transmitter)
UART (Universal Asynchronous
Receiver/Transmitter)
0xA
NITC (New Input Capture/Input Transition
Counter)
NITC (New Input Capture/Input Transition
Counter)
9
COMM (Multiphase Motor Commutation)
8
HALLD (Hall Effect Decode)
7
MCPWM (Multi-Channel Pulse Width Modulation)
MULTI (Multi TPU)1
1 The MULTI functions are only on revision D and later of the MPC561 and not available on revision B and earlier of
the MPC563.
6
FQD (Fast Quadrature Decode)
5
PPWA (Period/Pulse Width Accumulator)
ID (Identification)
4
OC (Output Compare)
3
PWM (Pulse Width Modulation)
2
DIO (Discrete Input/Output)
1
SPWM (Synchronized Pulse Width Modulation)
RWTPIN (Read/Write Timers and Pin)
0
SIOP (Serial Input/Output Port)