SPRUJ53A April   2024  – June 2024 TMS320F28P550SJ , TMS320F28P559SJ-Q1

 

  1.   1
  2.   Read This First
    1.     About This Manual
    2.     Notational Conventions
    3.     Glossary
    4.     Related Documentation From Texas Instruments
    5.     Support Resources
    6.     Trademarks
  3. 1 C2000™ Microcontrollers Software Support
    1. 1.1 Introduction
    2. 1.2 C2000Ware Structure
    3. 1.3 Documentation
    4. 1.4 Devices
    5. 1.5 Libraries
    6. 1.6 Code Composer Studio™ Integrated Development Environment (IDE)
    7. 1.7 SysConfig and PinMUX Tool
  4. 2 C28x Processor
    1. 2.1 Introduction
    2. 2.2 C28X Related Collateral
    3. 2.3 Features
    4. 2.4 Floating-Point Unit
    5. 2.5 Trigonometric Math Unit (TMU)
    6. 2.6 VCRC Unit
  5. 3 System Control and Interrupts
    1. 3.1  Introduction
      1. 3.1.1 SYSCTL Related Collateral
      2. 3.1.2 LOCK Protection on System Configuration Registers
      3. 3.1.3 EALLOW Protection
    2. 3.2  Power Management
    3. 3.3  Device Identification and Configuration Registers
    4. 3.4  Resets
      1. 3.4.1  Reset Sources
      2. 3.4.2  External Reset (XRS)
      3. 3.4.3  Simulate External Reset (SIMRESET. XRS)
      4. 3.4.4  Power-On Reset (POR)
      5. 3.4.5  Brown-Out Reset (BOR)
      6. 3.4.6  Debugger Reset (SYSRS)
      7. 3.4.7  Simulate CPU Reset
      8. 3.4.8  Watchdog Reset (WDRS)
      9. 3.4.9  NMI Watchdog Reset (NMIWDRS)
      10. 3.4.10 DCSM Safe Code Copy Reset (SCCRESET)
    5. 3.5  Peripheral Interrupts
      1. 3.5.1 Interrupt Concepts
      2. 3.5.2 Interrupt Architecture
        1. 3.5.2.1 Peripheral Stage
        2. 3.5.2.2 PIE Stage
        3. 3.5.2.3 CPU Stage
      3. 3.5.3 Interrupt Entry Sequence
      4. 3.5.4 Configuring and Using Interrupts
        1. 3.5.4.1 Enabling Interrupts
        2. 3.5.4.2 Handling Interrupts
        3. 3.5.4.3 Disabling Interrupts
        4. 3.5.4.4 Nesting Interrupts
        5. 3.5.4.5 Vector Address Validity Check
      5. 3.5.5 PIE Channel Mapping
      6. 3.5.6 PIE Interrupt Priority
        1. 3.5.6.1 Channel Priority
        2. 3.5.6.2 Group Priority
      7. 3.5.7 System Error
      8. 3.5.8 Vector Tables
    6. 3.6  Exceptions and Non-Maskable Interrupts
      1. 3.6.1 Configuring and Using NMIs
      2. 3.6.2 Emulation Considerations
      3. 3.6.3 NMI Sources
        1. 3.6.3.1 Missing Clock Detection
        2. 3.6.3.2 RAM Uncorrectable Error
        3. 3.6.3.3 Flash Uncorrectable ECC Error
        4. 3.6.3.4 Software-Forced Error
        5. 3.6.3.5 ERAD NMI
      4. 3.6.4 Illegal Instruction Trap (ITRAP)
      5. 3.6.5 ERRORSTS Pin
    7. 3.7  Clocking
      1. 3.7.1  Clock Sources
        1. 3.7.1.1 Primary Internal Oscillator (INTOSC2)
        2. 3.7.1.2 Backup Internal Oscillator (INTOSC1)
        3. 3.7.1.3 Auxiliary Clock Input (AUXCLKIN)
        4. 3.7.1.4 External Oscillator (XTAL)
      2. 3.7.2  Derived Clocks
        1. 3.7.2.1 Oscillator Clock (OSCCLK)
        2. 3.7.2.2 System PLL Output Clock (PLLRAWCLK)
      3. 3.7.3  Device Clock Domains
        1. 3.7.3.1 System Clock (PLLSYSCLK)
        2. 3.7.3.2 CPU Clock (CPUCLK)
        3. 3.7.3.3 CPU Subsystem Clock (SYSCLK and PERx.SYSCLK)
        4. 3.7.3.4 Low-Speed Peripheral Clock (LSPCLK and PERx.LSPCLK)
        5. 3.7.3.5 USB Bit Clock
        6. 3.7.3.6 CAN Bit Clock
        7. 3.7.3.7 CLB Clock
        8. 3.7.3.8 LIN Clock
        9. 3.7.3.9 CPU Timer2 Clock (TIMER2CLK)
      4. 3.7.4  XCLKOUT
      5. 3.7.5  Clock Connectivity
      6. 3.7.6  Clock Source and PLL Setup
      7. 3.7.7  Using an External Crystal or Resonator
        1. 3.7.7.1 X1/X2 Precondition Circuit
      8. 3.7.8  Using an External Oscillator
      9. 3.7.9  Choosing PLL Settings
      10. 3.7.10 System Clock Setup
      11. 3.7.11 SYS PLL Bypass
      12. 3.7.12 Clock (OSCCLK) Failure Detection
        1. 3.7.12.1 Missing Clock Detection
    8. 3.8  32-Bit CPU Timers 0/1/2
    9. 3.9  Watchdog Timer
      1. 3.9.1 Servicing the Watchdog Timer
      2. 3.9.2 Minimum Window Check
      3. 3.9.3 Watchdog Reset or Watchdog Interrupt Mode
      4. 3.9.4 Watchdog Operation in Low-Power Modes
      5. 3.9.5 Emulation Considerations
    10. 3.10 Low-Power Modes
      1. 3.10.1 Clock-Gating Low-Power Modes
      2. 3.10.2 IDLE
      3. 3.10.3 STANDBY
      4. 3.10.4 HALT
    11. 3.11 Memory Controller Module
      1. 3.11.1 Functional Description
        1. 3.11.1.1  Dedicated RAM (Mx RAM)
        2. 3.11.1.2  Local Shared RAM (LSx RAM)
        3. 3.11.1.3  Global Shared RAM (GSx RAM)
        4. 3.11.1.4  CAN Message RAM
        5. 3.11.1.5  CLA-CPU Message RAM
        6. 3.11.1.6  CLA-DMA Message RAM
        7. 3.11.1.7  Access Arbitration
        8. 3.11.1.8  Access Protection
          1. 3.11.1.8.1 CPU Fetch Protection
          2. 3.11.1.8.2 CPU Write Protection
          3. 3.11.1.8.3 CPU Read Protection
          4. 3.11.1.8.4 CLA Fetch Protection
          5. 3.11.1.8.5 CLA Write Protection
          6. 3.11.1.8.6 CLA Read Protection
          7. 3.11.1.8.7 DMA Write Protection
          8. 3.11.1.8.8 NPU Write Protection
        9. 3.11.1.9  Memory Error Detection, Correction, and Error Handling
          1. 3.11.1.9.1 Error Detection and Correction
          2. 3.11.1.9.2 Error Handling
        10. 3.11.1.10 Application Test Hooks for Error Detection and Correction
        11. 3.11.1.11 RAM Initialization
    12. 3.12 JTAG
      1. 3.12.1 JTAG Noise and TAP_STATUS
    13. 3.13 Live Firmware Update
      1. 3.13.1 LFU Background
      2. 3.13.2 LFU Switchover Steps
      3. 3.13.3 Device Features Supporting LFU
        1. 3.13.3.1 Multi-Bank Flash
        2. 3.13.3.2 PIE Vector Table Swap
        3. 3.13.3.3 LS0/LS1 RAM Memory Swap
          1. 3.13.3.3.1 Applicability to CLA LFU
      4. 3.13.4 LFU Switchover
      5. 3.13.5 LFU Resources
    14. 3.14 System Control Register Configuration Restrictions
    15. 3.15 Software
      1. 3.15.1  SYSCTL Registers to Driverlib Functions
      2. 3.15.2  CPUTIMER Registers to Driverlib Functions
      3. 3.15.3  MEMCFG Registers to Driverlib Functions
      4. 3.15.4  PIE Registers to Driverlib Functions
      5. 3.15.5  NMI Registers to Driverlib Functions
      6. 3.15.6  XINT Registers to Driverlib Functions
      7. 3.15.7  WWD Registers to Driverlib Functions
      8. 3.15.8  SYSCTL Examples
        1. 3.15.8.1 Missing clock detection (MCD)
        2. 3.15.8.2 XCLKOUT (External Clock Output) Configuration
      9. 3.15.9  TIMER Examples
        1. 3.15.9.1 CPU Timers
        2. 3.15.9.2 CPU Timers
      10. 3.15.10 MEMCFG Examples
        1. 3.15.10.1 Correctable & Uncorrectable Memory Error Handling
      11. 3.15.11 INTERRUPT Examples
        1. 3.15.11.1 External Interrupts (ExternalInterrupt)
        2. 3.15.11.2 Multiple interrupt handling of I2C, SCI & SPI Digital Loopback
        3. 3.15.11.3 CPU Timer Interrupt Software Prioritization
        4. 3.15.11.4 EPWM Real-Time Interrupt
      12. 3.15.12 LPM Examples
        1. 3.15.12.1 Low Power Modes: Device Idle Mode and Wakeup using GPIO
        2. 3.15.12.2 Low Power Modes: Device Idle Mode and Wakeup using Watchdog
        3. 3.15.12.3 Low Power Modes: Device Standby Mode and Wakeup using GPIO
        4. 3.15.12.4 Low Power Modes: Device Standby Mode and Wakeup using Watchdog
        5. 3.15.12.5 Low Power Modes: Halt Mode and Wakeup using GPIO
        6. 3.15.12.6 Low Power Modes: Halt Mode and Wakeup
      13. 3.15.13 WATCHDOG Examples
        1. 3.15.13.1 Watchdog
    16. 3.16 SYSCTRL Registers
      1. 3.16.1  SYSCTRL Base Address Table
      2. 3.16.2  CPUTIMER_REGS Registers
      3. 3.16.3  PIE_CTRL_REGS Registers
      4. 3.16.4  NMI_INTRUPT_REGS Registers
      5. 3.16.5  XINT_REGS Registers
      6. 3.16.6  SYNC_SOC_REGS Registers
      7. 3.16.7  DMA_CLA_SRC_SEL_REGS Registers
      8. 3.16.8  LFU_REGS Registers
      9. 3.16.9  DEV_CFG_REGS Registers
      10. 3.16.10 CLK_CFG_REGS Registers
      11. 3.16.11 CPU_SYS_REGS Registers
      12. 3.16.12 SYS_STATUS_REGS Registers
      13. 3.16.13 PERIPH_AC_REGS Registers
      14. 3.16.14 MEM_CFG_REGS Registers
      15. 3.16.15 ACCESS_PROTECTION_REGS Registers
      16. 3.16.16 MEMORY_ERROR_REGS Registers
      17. 3.16.17 TEST_ERROR_REGS Registers
      18. 3.16.18 UID_REGS Registers
  6. 4 ROM Code and Peripheral Booting
    1. 4.1 Introduction
      1. 4.1.1 ROM Related Collateral
    2. 4.2 Device Boot Sequence
    3. 4.3 Device Boot Modes
      1. 4.3.1 Default Boot Modes
      2. 4.3.2 Custom Boot Modes
    4. 4.4 Device Boot Configurations
      1. 4.4.1 Configuring Boot Mode Pins
      2. 4.4.2 Configuring Boot Mode Table Options
      3. 4.4.3 Boot Mode Example Use Cases
        1. 4.4.3.1 Zero Boot Mode Select Pins
        2. 4.4.3.2 One Boot Mode Select Pin
        3. 4.4.3.3 Three Boot Mode Select Pins
    5. 4.5 Device Boot Flow Diagrams
      1. 4.5.1 Boot Flow
      2. 4.5.2 Emulation Boot Flow
      3. 4.5.3 Standalone Boot Flow
    6. 4.6 Device Reset and Exception Handling
      1. 4.6.1 Reset Causes and Handling
      2. 4.6.2 Exceptions and Interrupts Handling
    7. 4.7 Boot ROM Description
      1. 4.7.1  Boot ROM Configuration Registers
        1. 4.7.1.1 MPOST Configuration
      2. 4.7.2  Entry Points
      3. 4.7.3  Wait Points
      4. 4.7.4  Secure Flash Boot
        1. 4.7.4.1 Secure Flash CPU1 Linker File Example
      5. 4.7.5  Firmware Update (FWU) Flash Boot
      6. 4.7.6  Memory Maps
        1. 4.7.6.1 Boot ROM Memory Maps
        2. 4.7.6.2 CLA Data ROM Memory Maps
        3. 4.7.6.3 Reserved RAM Memory Maps
      7. 4.7.7  ROM Tables
      8. 4.7.8  Boot Modes and Loaders
        1. 4.7.8.1 Boot Modes
          1. 4.7.8.1.1 Flash Boot
          2. 4.7.8.1.2 RAM Boot
          3. 4.7.8.1.3 Wait Boot
        2. 4.7.8.2 Bootloaders
          1. 4.7.8.2.1 SCI Boot Mode
          2. 4.7.8.2.2 SPI Boot Mode
          3. 4.7.8.2.3 I2C Boot Mode
          4. 4.7.8.2.4 Parallel Boot Mode
          5. 4.7.8.2.5 CAN Boot Mode (MCAN in non-FD mode)
          6. 4.7.8.2.6 CAN-FD Boot Mode
          7. 4.7.8.2.7 USB Boot Mode
      9. 4.7.9  GPIO Assignments
      10. 4.7.10 Secure ROM Function APIs
      11. 4.7.11 Clock Initializations
      12. 4.7.12 Boot Status Information
        1. 4.7.12.1 Booting Status
        2. 4.7.12.2 Boot Mode and MPOST (Memory Power On Self-Test) Status
      13. 4.7.13 ROM Version
    8. 4.8 Application Notes for Using the Bootloaders
      1. 4.8.1 Bootloader Data Stream Structure
        1. 4.8.1.1 Data Stream Structure 8-bit
      2. 4.8.2 The C2000 Hex Utility
        1. 4.8.2.1 HEX2000.exe Command Syntax
    9. 4.9 Software
      1. 4.9.1 BOOT Examples
  7. 5 Dual Code Security Module (DCSM)
    1. 5.1 Introduction
      1. 5.1.1 DCSM Related Collateral
    2. 5.2 Functional Description
      1. 5.2.1 CSM Passwords
      2. 5.2.2 Emulation Code Security Logic (ECSL)
      3. 5.2.3 CPU Secure Logic
      4. 5.2.4 Execute-Only Protection
      5. 5.2.5 Password Lock
      6. 5.2.6 JTAGLOCK
      7. 5.2.7 Link Pointer and Zone Select
      8. 5.2.8 C Code Example to Get Zone Select Block Addr for Zone1
    3. 5.3 Flash and OTP Erase/Program
    4. 5.4 Secure Copy Code
    5. 5.5 SecureCRC
    6. 5.6 CSM Impact on Other On-Chip Resources
    7. 5.7 Incorporating Code Security in User Applications
      1. 5.7.1 Environments That Require Security Unlocking
      2. 5.7.2 CSM Password Match Flow
      3. 5.7.3 C Code Example to Unsecure C28x Zone1
      4. 5.7.4 C Code Example to Resecure C28x Zone1
      5. 5.7.5 Environments That Require ECSL Unlocking
      6. 5.7.6 ECSL Password Match Flow
      7. 5.7.7 ECSL Disable Considerations for any Zone
        1. 5.7.7.1 C Code Example to Disable ECSL for C28x Zone1
      8. 5.7.8 Device Unique ID
    8. 5.8 Software
      1. 5.8.1 DCSM Registers to Driverlib Functions
      2. 5.8.2 DCSM Examples
        1. 5.8.2.1 Empty DCSM Tool Example
    9. 5.9 DCSM Registers
      1. 5.9.1 DCSM Base Address Table
      2. 5.9.2 DCSM_Z1_REGS Registers
      3. 5.9.3 DCSM_Z2_REGS Registers
      4. 5.9.4 DCSM_COMMON_REGS Registers
      5. 5.9.5 DCSM_Z1_OTP Registers
      6. 5.9.6 DCSM_Z2_OTP Registers
  8. 6 Flash Module
    1. 6.1  Introduction to Flash and OTP Memory
      1. 6.1.1 FLASH Related Collateral
      2. 6.1.2 Features
      3. 6.1.3 Flash Tools
      4. 6.1.4 Default Flash Configuration
    2. 6.2  Flash Bank, OTP, and Pump
    3. 6.3  Flash Wrapper
    4. 6.4  Flash and OTP Memory Performance
    5. 6.5  Flash Read Interface
      1. 6.5.1 C28x-Flash Read Interface
        1. 6.5.1.1 Standard Read Mode
        2. 6.5.1.2 Prefetch Mode
        3. 6.5.1.3 Data Cache
        4. 6.5.1.4 Flash Read Operation
    6. 6.6  Flash Erase and Program
      1. 6.6.1 Erase
      2. 6.6.2 Program
      3. 6.6.3 Verify
    7. 6.7  Error Correction Code (ECC) Protection
      1. 6.7.1 Single-Bit Data Error
      2. 6.7.2 Uncorrectable Error
      3. 6.7.3 Mechanism to Check the Correctness of ECC Logic
    8. 6.8  Reserved Locations Within Flash and OTP
    9. 6.9  Migrating an Application from RAM to Flash
    10. 6.10 Procedure to Change the Flash Control Registers
    11. 6.11 Software
      1. 6.11.1 FLASH Registers to Driverlib Functions
      2. 6.11.2 FLASH Examples
        1. 6.11.2.1 Flash Programming with AutoECC, DataAndECC, DataOnly and EccOnly
        2. 6.11.2.2 Flash Programming with AutoECC, DataAndECC, DataOnly and EccOnly
    12. 6.12 FLASH Registers
      1. 6.12.1 FLASH Base Address Table
      2. 6.12.2 FLASH_CTRL_REGS Registers
      3. 6.12.3 FLASH_ECC_REGS Registers
  9. 7 Control Law Accelerator (CLA)
    1. 7.1 Introduction
      1. 7.1.1 Features
      2. 7.1.2 CLA Related Collateral
      3. 7.1.3 Block Diagram
    2. 7.2 CLA Interface
      1. 7.2.1 CLA Memory
      2. 7.2.2 CLA Memory Bus
      3. 7.2.3 Shared Peripherals and EALLOW Protection
      4. 7.2.4 CLA Tasks and Interrupt Vectors
    3. 7.3 CLA, DMA, and CPU Arbitration
      1. 7.3.1 CLA Message RAM
      2. 7.3.2 CLA Program Memory
      3. 7.3.3 CLA Data Memory
      4. 7.3.4 Peripheral Registers (ePWM, HRPWM, Comparator)
    4. 7.4 CLA Configuration and Debug
      1. 7.4.1 Building a CLA Application
      2. 7.4.2 Typical CLA Initialization Sequence
      3. 7.4.3 Debugging CLA Code
        1. 7.4.3.1 Breakpoint Support (MDEBUGSTOP)
      4. 7.4.4 CLA Illegal Opcode Behavior
      5. 7.4.5 Resetting the CLA
    5. 7.5 Pipeline
      1. 7.5.1 Pipeline Overview
      2. 7.5.2 CLA Pipeline Alignment
        1. 7.5.2.1 Code Fragment For MBCNDD, MCCNDD, or MRCNDD
        2.       358
        3. 7.5.2.2 Code Fragment for Loading MAR0 or MAR1
        4.       360
        5. 7.5.2.3 ADC Early Interrupt to CLA Response
      3. 7.5.3 Parallel Instructions
        1. 7.5.3.1 Math Operation with Parallel Load
        2. 7.5.3.2 Multiply with Parallel Add
      4. 7.5.4 CLA Task Execution Latency
    6. 7.6 Software
      1. 7.6.1 CLA Registers to Driverlib Functions
      2. 7.6.2 CLA Examples
        1. 7.6.2.1 CLA arcsine(x) using a lookup table (cla_asin_cpu01)
        2. 7.6.2.2 CLA arcsine(x) using a lookup table (cla_asin_cpu01)
        3. 7.6.2.3 CLA arctangent(x) using a lookup table (cla_atan_cpu01)
        4. 7.6.2.4 CLA background nesting task
        5. 7.6.2.5 Controlling PWM output using CLA
        6. 7.6.2.6 Just-in-time ADC sampling with CLA
        7. 7.6.2.7 Optimal offloading of control algorithms to CLA
        8. 7.6.2.8 Handling shared resources across C28x and CLA
    7. 7.7 Instruction Set
      1. 7.7.1 Instruction Descriptions
      2. 7.7.2 Addressing Modes and Encoding
      3. 7.7.3 Instructions
        1.       MABSF32 MRa, MRb
        2.       MADD32 MRa, MRb, MRc
        3.       MADDF32 MRa, #16FHi, MRb
        4.       MADDF32 MRa, MRb, #16FHi
        5.       MADDF32 MRa, MRb, MRc
        6.       MADDF32 MRd, MRe, MRf||MMOV32 mem32, MRa
        7.       MADDF32 MRd, MRe, MRf ||MMOV32 MRa, mem32
        8.       MAND32 MRa, MRb, MRc
        9.       MASR32 MRa, #SHIFT
        10.       MBCNDD 16BitDest {, CNDF}
        11.       MCCNDD 16BitDest {, CNDF}
        12.       MCMP32 MRa, MRb
        13.       MCMPF32 MRa, MRb
        14.       MCMPF32 MRa, #16FHi
        15.       MDEBUGSTOP
        16.       MEALLOW
        17.       MEDIS
        18.       MEINVF32 MRa, MRb
        19.       MEISQRTF32 MRa, MRb
        20.       MF32TOI16 MRa, MRb
        21.       MF32TOI16R MRa, MRb
        22.       MF32TOI32 MRa, MRb
        23.       MF32TOUI16 MRa, MRb
        24.       MF32TOUI16R MRa, MRb
        25.       MF32TOUI32 MRa, MRb
        26.       MFRACF32 MRa, MRb
        27.       MI16TOF32 MRa, MRb
        28.       MI16TOF32 MRa, mem16
        29.       MI32TOF32 MRa, mem32
        30.       MI32TOF32 MRa, MRb
        31.       MLSL32 MRa, #SHIFT
        32.       MLSR32 MRa, #SHIFT
        33.       MMACF32 MR3, MR2, MRd, MRe, MRf ||MMOV32 MRa, mem32
        34.       MMAXF32 MRa, MRb
        35.       MMAXF32 MRa, #16FHi
        36.       MMINF32 MRa, MRb
        37.       MMINF32 MRa, #16FHi
        38.       MMOV16 MARx, MRa, #16I
        39.       MMOV16 MARx, mem16
        40.       MMOV16 mem16, MARx
        41.       MMOV16 mem16, MRa
        42.       MMOV32 mem32, MRa
        43.       MMOV32 mem32, MSTF
        44.       MMOV32 MRa, mem32 {, CNDF}
        45.       MMOV32 MRa, MRb {, CNDF}
        46.       MMOV32 MSTF, mem32
        47.       MMOVD32 MRa, mem32
        48.       MMOVF32 MRa, #32F
        49.       MMOVI16 MARx, #16I
        50.       MMOVI32 MRa, #32FHex
        51.       MMOVIZ MRa, #16FHi
        52.       MMOVZ16 MRa, mem16
        53.       MMOVXI MRa, #16FLoHex
        54.       MMPYF32 MRa, MRb, MRc
        55.       MMPYF32 MRa, #16FHi, MRb
        56.       MMPYF32 MRa, MRb, #16FHi
        57.       MMPYF32 MRa, MRb, MRc||MADDF32 MRd, MRe, MRf
        58.       MMPYF32 MRd, MRe, MRf ||MMOV32 MRa, mem32
        59.       MMPYF32 MRd, MRe, MRf ||MMOV32 mem32, MRa
        60.       MMPYF32 MRa, MRb, MRc ||MSUBF32 MRd, MRe, MRf
        61.       MNEGF32 MRa, MRb{, CNDF}
        62.       MNOP
        63.       MOR32 MRa, MRb, MRc
        64.       MRCNDD {CNDF}
        65.       MSETFLG FLAG, VALUE
        66.       MSTOP
        67.       MSUB32 MRa, MRb, MRc
        68.       MSUBF32 MRa, MRb, MRc
        69.       MSUBF32 MRa, #16FHi, MRb
        70.       MSUBF32 MRd, MRe, MRf ||MMOV32 MRa, mem32
        71.       MSUBF32 MRd, MRe, MRf ||MMOV32 mem32, MRa
        72.       MSWAPF MRa, MRb {, CNDF}
        73.       MTESTTF CNDF
        74.       MUI16TOF32 MRa, mem16
        75.       MUI16TOF32 MRa, MRb
        76.       MUI32TOF32 MRa, mem32
        77.       MUI32TOF32 MRa, MRb
        78.       MXOR32 MRa, MRb, MRc
    8. 7.8 CLA Registers
      1. 7.8.1 CLA Base Address Table
      2. 7.8.2 CLA_ONLY_REGS Registers
      3. 7.8.3 CLA_SOFTINT_REGS Registers
      4. 7.8.4 CLA_REGS Registers
  10. 8 Dual-Clock Comparator (DCC)
    1. 8.1 Introduction
      1. 8.1.1 Features
      2. 8.1.2 Block Diagram
    2. 8.2 Module Operation
      1. 8.2.1 Configuring DCC Counters
      2. 8.2.2 Single-Shot Measurement Mode
      3. 8.2.3 Continuous Monitoring Mode
      4. 8.2.4 Error Conditions
    3. 8.3 Interrupts
    4. 8.4 Software
      1. 8.4.1 DCC Registers to Driverlib Functions
      2. 8.4.2 DCC Examples
        1. 8.4.2.1 DCC Single shot Clock verification
        2. 8.4.2.2 DCC Single shot Clock measurement
        3. 8.4.2.3 DCC Continuous clock monitoring
        4. 8.4.2.4 DCC Continuous clock monitoring
        5. 8.4.2.5 DCC Detection of clock failure
    5. 8.5 DCC Registers
      1. 8.5.1 DCC Base Address Table
      2. 8.5.2 DCC_REGS Registers
  11. 9 General-Purpose Input/Output (GPIO)
    1. 9.1  Introduction
      1. 9.1.1 GPIO Related Collateral
    2. 9.2  Configuration Overview
    3. 9.3  Digital Inputs on ADC Pins (AIOs)
    4. 9.4  Digital Inputs and Outputs on ADC Pins (AGPIOs)
    5. 9.5  Digital General-Purpose I/O Control
    6. 9.6  Input Qualification
      1. 9.6.1 No Synchronization (Asynchronous Input)
      2. 9.6.2 Synchronization to SYSCLKOUT Only
      3. 9.6.3 Qualification Using a Sampling Window
    7. 9.7  USB Signals
    8. 9.8  PMBUS and I2C Signals
    9. 9.9  GPIO and Peripheral Muxing
      1. 9.9.1 GPIO Muxing
      2. 9.9.2 Peripheral Muxing
    10. 9.10 Internal Pullup Configuration Requirements
    11. 9.11 Software
      1. 9.11.1 GPIO Registers to Driverlib Functions
      2. 9.11.2 GPIO Examples
        1. 9.11.2.1 Device GPIO Setup
        2. 9.11.2.2 Device GPIO Toggle
        3. 9.11.2.3 Device GPIO Interrupt
        4. 9.11.2.4 External Interrupt (XINT)
      3. 9.11.3 LED Examples
    12. 9.12 GPIO Registers
      1. 9.12.1 GPIO Base Address Table
      2. 9.12.2 GPIO_CTRL_REGS Registers
      3. 9.12.3 GPIO_DATA_REGS Registers
      4. 9.12.4 GPIO_DATA_READ_REGS Registers
  12. 10Crossbar (X-BAR)
    1. 10.1 Input X-BAR and CLB Input X-BAR
      1. 10.1.1 CLB Input X-BAR
    2. 10.2 ePWM, CLB, and GPIO Output X-BAR
      1. 10.2.1 ePWM X-BAR
        1. 10.2.1.1 ePWM X-BAR Architecture
      2. 10.2.2 CLB X-BAR
        1. 10.2.2.1 CLB X-BAR Architecture
      3. 10.2.3 GPIO Output X-BAR
        1. 10.2.3.1 GPIO Output X-BAR Architecture
      4. 10.2.4 X-BAR Flags
    3. 10.3 Software
      1. 10.3.1 XBAR Registers to Driverlib Functions
      2. 10.3.2 INPUTXBAR Registers to Driverlib Functions
      3. 10.3.3 OUTPUTXBAR Registers to Driverlib Functions
    4. 10.4 XBAR Registers
      1. 10.4.1 XBAR Base Address Table
      2. 10.4.2 INPUT_XBAR_REGS Registers
      3. 10.4.3 XBAR_REGS Registers
      4. 10.4.4 EPWM_XBAR_REGS Registers
      5. 10.4.5 CLB_XBAR_REGS Registers
      6. 10.4.6 OUTPUT_XBAR_REGS Registers
      7. 10.4.7 OUTPUT_XBAR_REGS Registers
  13. 11Direct Memory Access (DMA)
    1. 11.1 Introduction
      1. 11.1.1 Features
      2. 11.1.2 Block Diagram
    2. 11.2 Architecture
      1. 11.2.1 Peripheral Interrupt Event Trigger Sources
      2. 11.2.2 DMA Bus
    3. 11.3 Address Pointer and Transfer Control
    4. 11.4 Pipeline Timing and Throughput
    5. 11.5 CPU and CLA Arbitration
    6. 11.6 Channel Priority
      1. 11.6.1 Round-Robin Mode
      2. 11.6.2 Channel 1 High-Priority Mode
    7. 11.7 Overrun Detection Feature
    8. 11.8 Software
      1. 11.8.1 DMA Registers to Driverlib Functions
      2. 11.8.2 DMA Examples
        1. 11.8.2.1 DMA GSRAM Transfer (dma_ex1_gsram_transfer)
        2. 11.8.2.2 DMA GSRAM Transfer (dma_ex2_gsram_transfer)
    9. 11.9 DMA Registers
      1. 11.9.1 DMA Base Address Table
      2. 11.9.2 DMA_REGS Registers
      3. 11.9.3 DMA_CH_REGS Registers
  14. 12Embedded Real-time Analysis and Diagnostic (ERAD)
    1. 12.1 Introduction
      1. 12.1.1 ERAD Related Collateral
    2. 12.2 Enhanced Bus Comparator Unit
      1. 12.2.1 Enhanced Bus Comparator Unit Operations
      2. 12.2.2 Event Masking and Exporting
    3. 12.3 System Event Counter Unit
      1. 12.3.1 System Event Counter Modes
        1. 12.3.1.1 Counting Active Levels Versus Edges
        2. 12.3.1.2 Max Mode
        3. 12.3.1.3 Cumulative Mode
        4. 12.3.1.4 Input Signal Selection
      2. 12.3.2 Reset on Event
      3. 12.3.3 Operation Conditions
    4. 12.4 ERAD Ownership, Initialization and Reset
    5. 12.5 ERAD Programming Sequence
      1. 12.5.1 Hardware Breakpoint and Hardware Watch Point Programming Sequence
      2. 12.5.2 Timer and Counter Programming Sequence
    6. 12.6 Cyclic Redundancy Check Unit
      1. 12.6.1 CRC Unit Qualifier
      2. 12.6.2 CRC Unit Programming Sequence
    7. 12.7 Program Counter Trace
      1. 12.7.1 Functional Block Diagram
      2. 12.7.2 Trace Qualification Modes
        1. 12.7.2.1 Trace Qualifier Input Signals
      3. 12.7.3 Trace Memory
      4. 12.7.4 Trace Input Signal Conditioning
      5. 12.7.5 PC Trace Software Operation
      6. 12.7.6 Trace Operation in Debug Mode
    8. 12.8 Software
      1. 12.8.1 ERAD Registers to Driverlib Functions
      2. 12.8.2 ERAD Examples
        1. 12.8.2.1  ERAD Profiling Interrupts
        2. 12.8.2.2  ERAD Profile Function
        3. 12.8.2.3  ERAD Profile Function
        4. 12.8.2.4  ERAD HWBP Monitor Program Counter
        5. 12.8.2.5  ERAD HWBP Monitor Program Counter
        6. 12.8.2.6  ERAD Profile Function
        7. 12.8.2.7  ERAD HWBP Stack Overflow Detection
        8. 12.8.2.8  ERAD HWBP Stack Overflow Detection
        9. 12.8.2.9  ERAD Stack Overflow
        10. 12.8.2.10 ERAD Profile Interrupts CLA
        11. 12.8.2.11 ERAD Profiling Interrupts
        12. 12.8.2.12 ERAD Profiling Interrupts
        13. 12.8.2.13 ERAD MEMORY ACCESS RESTRICT
        14. 12.8.2.14 ERAD INTERRUPT ORDER
        15. 12.8.2.15 ERAD AND CLB
        16. 12.8.2.16 ERAD PWM PROTECTION
    9. 12.9 ERAD Registers
      1. 12.9.1 ERAD Base Address Table
      2. 12.9.2 ERAD_GLOBAL_REGS Registers
      3. 12.9.3 ERAD_HWBP_REGS Registers
      4. 12.9.4 ERAD_COUNTER_REGS Registers
      5. 12.9.5 ERAD_CRC_GLOBAL_REGS Registers
      6. 12.9.6 ERAD_CRC_REGS Registers
      7. 12.9.7 PCTRACE_REGS Registers
      8. 12.9.8 PCTRACE_BUFFER_REGS Registers
  15. 13Analog Subsystem
    1. 13.1 Introduction
      1. 13.1.1 Features
      2. 13.1.2 Block Diagram
    2. 13.2 Optimizing Power-Up Time
    3. 13.3 Digital Inputs on ADC Pins (AIOs)
    4. 13.4 Digital Inputs and Outputs on ADC Pins (AGPIOs)
    5. 13.5 Analog Pins and Internal Connections
    6. 13.6 Software
      1. 13.6.1 ASYSCTL Registers to Driverlib Functions
    7. 13.7 ASBSYS Registers
      1. 13.7.1 ASBSYS Base Address Table
      2. 13.7.2 ANALOG_SUBSYS_REGS Registers
  16. 14Analog-to-Digital Converter (ADC)
    1. 14.1  Introduction
      1. 14.1.1 ADC Related Collateral
      2. 14.1.2 Features
      3. 14.1.3 Block Diagram
    2. 14.2  ADC Configurability
      1. 14.2.1 Clock Configuration
      2. 14.2.2 Resolution
      3. 14.2.3 Voltage Reference
        1. 14.2.3.1 External Reference Mode
        2. 14.2.3.2 Internal Reference Mode
        3. 14.2.3.3 Ganged References
        4. 14.2.3.4 Selecting Reference Mode
      4. 14.2.4 Signal Mode
      5. 14.2.5 Expected Conversion Results
      6. 14.2.6 Interpreting Conversion Results
    3. 14.3  SOC Principle of Operation
      1. 14.3.1 SOC Configuration
      2. 14.3.2 Trigger Operation
        1. 14.3.2.1 Global Software Trigger
        2. 14.3.2.2 Trigger Repeaters
          1. 14.3.2.2.1 Oversampling Mode
          2. 14.3.2.2.2 Undersampling Mode
          3. 14.3.2.2.3 Trigger Phase Delay
          4. 14.3.2.2.4 Re-trigger Spread
          5. 14.3.2.2.5 Trigger Repeater Configuration
            1. 14.3.2.2.5.1 Register Shadow Updates
          6. 14.3.2.2.6 Re-Trigger Logic
          7. 14.3.2.2.7 Multi-Path Triggering Behavior
      3. 14.3.3 ADC Acquisition (Sample and Hold) Window
      4. 14.3.4 Sample Capacitor Reset
      5. 14.3.5 ADC Input Models
      6. 14.3.6 Channel Selection
        1. 14.3.6.1 External Channel Selection
          1. 14.3.6.1.1 External Channel Selection Timing
    4. 14.4  SOC Configuration Examples
      1. 14.4.1 Single Conversion from ePWM Trigger
      2. 14.4.2 Multiple Conversions from CPU Timer Trigger
      3. 14.4.3 Software Triggering of SOCs
    5. 14.5  ADC Conversion Priority
    6. 14.6  Burst Mode
      1. 14.6.1 Burst Mode Example
      2. 14.6.2 Burst Mode Priority Example
    7. 14.7  EOC and Interrupt Operation
      1. 14.7.1 Interrupt Overflow
      2. 14.7.2 Continue to Interrupt Mode
      3. 14.7.3 Early Interrupt Configuration Mode
    8. 14.8  Post-Processing Blocks
      1. 14.8.1 PPB Offset Correction
      2. 14.8.2 PPB Error Calculation
      3. 14.8.3 PPB Result Delta Calculation
      4. 14.8.4 PPB Limit Detection and Zero-Crossing Detection
        1. 14.8.4.1 PPB Digital Trip Filter
      5. 14.8.5 PPB Sample Delay Capture
      6. 14.8.6 PPB Oversampling
        1. 14.8.6.1 Accumulation, Average, Minimum, and Maximum Functions
        2. 14.8.6.2 Outlier Rejection
    9. 14.9  Power-Up Sequence
    10. 14.10 ADC Calibration
      1. 14.10.1 ADC Zero Offset Calibration
    11. 14.11 ADC Timings
      1. 14.11.1 ADC Timing Diagrams
      2. 14.11.2 Post-Processing Block Timings
    12. 14.12 Additional Information
      1. 14.12.1 Ensuring Synchronous Operation
        1. 14.12.1.1 Basic Synchronous Operation
        2. 14.12.1.2 Synchronous Operation with Multiple Trigger Sources
        3. 14.12.1.3 Synchronous Operation with Uneven SOC Numbers
        4. 14.12.1.4 Non-overlapping Conversions
      2. 14.12.2 Choosing an Acquisition Window Duration
      3. 14.12.3 Achieving Simultaneous Sampling
      4. 14.12.4 Result Register Mapping
      5. 14.12.5 Internal Temperature Sensor
      6. 14.12.6 Designing an External Reference Circuit
      7. 14.12.7 ADC-DAC Loopback Testing
      8. 14.12.8 Internal Test Mode
      9. 14.12.9 ADC Gain and Offset Calibration
    13. 14.13 Software
      1. 14.13.1 ADC Registers to Driverlib Functions
      2. 14.13.2 ADC Examples
        1. 14.13.2.1  ADC Software Triggering
        2. 14.13.2.2  ADC ePWM Triggering
        3. 14.13.2.3  ADC Temperature Sensor Conversion
        4. 14.13.2.4  ADC Synchronous SOC Software Force (adc_soc_software_sync)
        5. 14.13.2.5  ADC Continuous Triggering (adc_soc_continuous)
        6. 14.13.2.6  ADC Continuous Conversions Read by DMA (adc_soc_continuous_dma)
        7. 14.13.2.7  ADC PPB Offset (adc_ppb_offset)
        8. 14.13.2.8  ADC PPB Limits (adc_ppb_limits)
        9. 14.13.2.9  ADC PPB Delay Capture (adc_ppb_delay)
        10. 14.13.2.10 ADC ePWM Triggering Multiple SOC
        11. 14.13.2.11 ADC Burst Mode
        12. 14.13.2.12 ADC Burst Mode Oversampling
        13. 14.13.2.13 ADC SOC Oversampling
        14. 14.13.2.14 ADC PPB PWM trip (adc_ppb_pwm_trip)
    14. 14.14 ADC Registers
      1. 14.14.1 ADC Base Address Table
      2. 14.14.2 ADC_RESULT_REGS Registers
      3. 14.14.3 ADC_REGS Registers
  17. 15Buffered Digital-to-Analog Converter (DAC)
    1. 15.1 Introduction
      1. 15.1.1 DAC Related Collateral
      2. 15.1.2 Features
      3. 15.1.3 Block Diagram
    2. 15.2 Using the DAC
      1. 15.2.1 Initialization Sequence
      2. 15.2.2 DAC Offset Adjustment
      3. 15.2.3 EPWMSYNCPER Signal
    3. 15.3 Lock Registers
    4. 15.4 Software
      1. 15.4.1 DAC Registers to Driverlib Functions
      2. 15.4.2 DAC Examples
        1. 15.4.2.1 Buffered DAC Enable
        2. 15.4.2.2 Buffered DAC Random
        3. 15.4.2.3 Buffered DAC Sine (buffdac_sine)
    5. 15.5 DAC Registers
      1. 15.5.1 DAC Base Address Table
      2. 15.5.2 DAC_REGS Registers
  18. 16Comparator Subsystem (CMPSS)
    1. 16.1 Introduction
      1. 16.1.1 CMPSS Related Collateral
      2. 16.1.2 Features
      3. 16.1.3 Block Diagram
    2. 16.2 Comparator
    3. 16.3 Reference DAC
    4. 16.4 Ramp Generator
      1. 16.4.1 Ramp Generator Overview
      2. 16.4.2 Ramp Generator Behavior
      3. 16.4.3 Ramp Generator Behavior at Corner Cases
    5. 16.5 Digital Filter
      1. 16.5.1 Filter Initialization Sequence
    6. 16.6 Using the CMPSS
      1. 16.6.1 LATCHCLR, EPWMSYNCPER, and EPWMBLANK Signals
      2. 16.6.2 Synchronizer, Digital Filter, and Latch Delays
      3. 16.6.3 Calibrating the CMPSS
      4. 16.6.4 Enabling and Disabling the CMPSS Clock
    7. 16.7 CMPSS DAC Output
    8. 16.8 Software
      1. 16.8.1 CMPSS Registers to Driverlib Functions
      2. 16.8.2 CMPSS Examples
        1. 16.8.2.1 CMPSS Asynchronous Trip
        2. 16.8.2.2 CMPSS Digital Filter Configuration
    9. 16.9 CMPSS Registers
      1. 16.9.1 CMPSS Base Address Table
      2. 16.9.2 CMPSS_REGS Registers
  19. 17Programmable Gain Amplifier (PGA)
    1. 17.1  Programmable Gain Amplifier (PGA) Overview
      1. 17.1.1 Features
      2. 17.1.2 Block Diagram
    2. 17.2  Linear Output Range
    3. 17.3  Gain Values
    4. 17.4  Modes of Operation
      1. 17.4.1 Buffer Mode
      2. 17.4.2 Standalone Mode
      3. 17.4.3 Non-inverting Mode
      4. 17.4.4 Subtractor Mode
    5. 17.5  External Filtering
      1. 17.5.1 Low-Pass Filter Using Internal Filter Resistor and External Capacitor
      2. 17.5.2 Single Pole Low-Pass Filter Using Internal Gain Resistor and External Capacitor
    6. 17.6  Error Calibration
      1. 17.6.1 Offset Error
      2. 17.6.2 Gain Error
    7. 17.7  Chopping Feature
    8. 17.8  Enabling and Disabling the PGA Clock
    9. 17.9  Lock Register
    10. 17.10 Analog Front-End Integration
      1. 17.10.1 Buffered DAC
      2. 17.10.2 Analog-to-Digital Converter (ADC)
        1. 17.10.2.1 Unfiltered Acquisition Window
        2. 17.10.2.2 Filtered Acquisition Window
      3. 17.10.3 Comparator Subsystem (CMPSS)
      4. 17.10.4 PGA_NEG_SHARED Feature
      5. 17.10.5 Alternate Functions
    11. 17.11 Examples
      1. 17.11.1 Non-Inverting Amplifier Using Non-Inverting Mode
      2. 17.11.2 Buffer Mode
      3. 17.11.3 Low-Side Current Sensing
      4. 17.11.4 Bidirectional Current Sensing
    12. 17.12 Software
      1. 17.12.1 PGA Registers to Driverlib Functions
      2. 17.12.2 PGA Examples
        1. 17.12.2.1 PGA DAC-ADC External Loopback Example
    13. 17.13 PGA Registers
      1. 17.13.1 PGA Base Address Table
      2. 17.13.2 PGA_REGS Registers
  20. 18Enhanced Pulse Width Modulator (ePWM)
    1. 18.1  Introduction
      1. 18.1.1 EPWM Related Collateral
      2. 18.1.2 Submodule Overview
    2. 18.2  Configuring Device Pins
    3. 18.3  ePWM Modules Overview
    4. 18.4  Time-Base (TB) Submodule
      1. 18.4.1 Purpose of the Time-Base Submodule
      2. 18.4.2 Controlling and Monitoring the Time-Base Submodule
      3. 18.4.3 Calculating PWM Period and Frequency
        1. 18.4.3.1 Time-Base Period Shadow Register
        2. 18.4.3.2 Time-Base Clock Synchronization
        3. 18.4.3.3 Time-Base Counter Synchronization
        4. 18.4.3.4 ePWM SYNC Selection
      4. 18.4.4 Phase Locking the Time-Base Clocks of Multiple ePWM Modules
      5. 18.4.5 Simultaneous Writes to TBPRD and CMPx Registers Between ePWM Modules
      6. 18.4.6 Time-Base Counter Modes and Timing Waveforms
      7. 18.4.7 Global Load
        1. 18.4.7.1 Global Load Pulse Pre-Scalar
        2. 18.4.7.2 One-Shot Load Mode
        3. 18.4.7.3 One-Shot Sync Mode
    5. 18.5  Counter-Compare (CC) Submodule
      1. 18.5.1 Purpose of the Counter-Compare Submodule
      2. 18.5.2 Controlling and Monitoring the Counter-Compare Submodule
      3. 18.5.3 Operational Highlights for the Counter-Compare Submodule
      4. 18.5.4 Count Mode Timing Waveforms
    6. 18.6  Action-Qualifier (AQ) Submodule
      1. 18.6.1 Purpose of the Action-Qualifier Submodule
      2. 18.6.2 Action-Qualifier Submodule Control and Status Register Definitions
      3. 18.6.3 Action-Qualifier Event Priority
      4. 18.6.4 AQCTLA and AQCTLB Shadow Mode Operations
      5. 18.6.5 Configuration Requirements for Common Waveforms
    7. 18.7  Dead-Band Generator (DB) Submodule
      1. 18.7.1 Purpose of the Dead-Band Submodule
      2. 18.7.2 Dead-band Submodule Additional Operating Modes
      3. 18.7.3 Operational Highlights for the Dead-Band Submodule
    8. 18.8  PWM Chopper (PC) Submodule
      1. 18.8.1 Purpose of the PWM Chopper Submodule
      2. 18.8.2 Operational Highlights for the PWM Chopper Submodule
      3. 18.8.3 Waveforms
        1. 18.8.3.1 One-Shot Pulse
        2. 18.8.3.2 Duty Cycle Control
    9. 18.9  Trip-Zone (TZ) Submodule
      1. 18.9.1 Purpose of the Trip-Zone Submodule
      2. 18.9.2 Operational Highlights for the Trip-Zone Submodule
        1. 18.9.2.1 Trip-Zone Configurations
      3. 18.9.3 Generating Trip Event Interrupts
    10. 18.10 Event-Trigger (ET) Submodule
      1. 18.10.1 Operational Overview of the ePWM Event-Trigger Submodule
    11. 18.11 Digital Compare (DC) Submodule
      1. 18.11.1 Purpose of the Digital Compare Submodule
      2. 18.11.2 Enhanced Trip Action Using CMPSS
      3. 18.11.3 Using CMPSS to Trip the ePWM on a Cycle-by-Cycle Basis
      4. 18.11.4 Operation Highlights of the Digital Compare Submodule
        1. 18.11.4.1 Digital Compare Events
        2. 18.11.4.2 Event Filtering
        3. 18.11.4.3 Valley Switching
    12. 18.12 ePWM Crossbar (X-BAR)
    13. 18.13 Applications to Power Topologies
      1. 18.13.1  Overview of Multiple Modules
      2. 18.13.2  Key Configuration Capabilities
      3. 18.13.3  Controlling Multiple Buck Converters With Independent Frequencies
      4. 18.13.4  Controlling Multiple Buck Converters With Same Frequencies
      5. 18.13.5  Controlling Multiple Half H-Bridge (HHB) Converters
      6. 18.13.6  Controlling Dual 3-Phase Inverters for Motors (ACI and PMSM)
      7. 18.13.7  Practical Applications Using Phase Control Between PWM Modules
      8. 18.13.8  Controlling a 3-Phase Interleaved DC/DC Converter
      9. 18.13.9  Controlling Zero Voltage Switched Full Bridge (ZVSFB) Converter
      10. 18.13.10 Controlling a Peak Current Mode Controlled Buck Module
      11. 18.13.11 Controlling H-Bridge LLC Resonant Converter
    14. 18.14 Register Lock Protection
    15. 18.15 High-Resolution Pulse Width Modulator (HRPWM)
      1. 18.15.1 Operational Description of HRPWM
        1. 18.15.1.1 Controlling the HRPWM Capabilities
        2. 18.15.1.2 HRPWM Source Clock
        3. 18.15.1.3 Configuring the HRPWM
        4. 18.15.1.4 Configuring High-Resolution in Deadband Rising-Edge and Falling-Edge Delay
        5. 18.15.1.5 Principle of Operation
          1. 18.15.1.5.1 Edge Positioning
          2. 18.15.1.5.2 Scaling Considerations
          3. 18.15.1.5.3 Duty Cycle Range Limitation
          4. 18.15.1.5.4 High-Resolution Period
            1. 18.15.1.5.4.1 High-Resolution Period Configuration
        6. 18.15.1.6 Deadband High-Resolution Operation
        7. 18.15.1.7 Scale Factor Optimizing Software (SFO)
        8. 18.15.1.8 HRPWM Examples Using Optimized Assembly Code
          1. 18.15.1.8.1 #Defines for HRPWM Header Files
          2. 18.15.1.8.2 Implementing a Simple Buck Converter
            1. 18.15.1.8.2.1 HRPWM Buck Converter Initialization Code
            2. 18.15.1.8.2.2 HRPWM Buck Converter Run-Time Code
          3. 18.15.1.8.3 Implementing a DAC Function Using an R+C Reconstruction Filter
            1. 18.15.1.8.3.1 PWM DAC Function Initialization Code
            2. 18.15.1.8.3.2 PWM DAC Function Run-Time Code
      2. 18.15.2 SFO Library Software - SFO_TI_Build_V8.lib
        1. 18.15.2.1 Scale Factor Optimizer Function - int SFO()
        2. 18.15.2.2 Software Usage
          1. 18.15.2.2.1 A Sample of How to Add "Include" Files
          2.        912
          3. 18.15.2.2.2 Declaring an Element
          4.        914
          5. 18.15.2.2.3 Initializing With a Scale Factor Value
          6.        916
          7. 18.15.2.2.4 SFO Function Calls
    16. 18.16 Software
      1. 18.16.1 EPWM Registers to Driverlib Functions
      2. 18.16.2 EPWMXBAR Registers to Driverlib Functions
      3. 18.16.3 HRPWM Registers to Driverlib Functions
      4. 18.16.4 EPWM Examples
        1. 18.16.4.1  ePWM Trip Zone
        2. 18.16.4.2  ePWM Up Down Count Action Qualifier
        3. 18.16.4.3  ePWM Synchronization
        4. 18.16.4.4  ePWM Digital Compare
        5. 18.16.4.5  ePWM Digital Compare Event Filter Blanking Window
        6. 18.16.4.6  ePWM Valley Switching
        7. 18.16.4.7  ePWM Digital Compare Edge Filter
        8. 18.16.4.8  ePWM Deadband
        9. 18.16.4.9  ePWM DMA
        10. 18.16.4.10 ePWM Chopper
        11. 18.16.4.11 EPWM Configure Signal
        12. 18.16.4.12 Realization of Monoshot mode
        13. 18.16.4.13 EPWM Action Qualifier (epwm_up_aq)
      5. 18.16.5 HRPWM Examples
        1. 18.16.5.1 HRPWM Duty Control with SFO
        2. 18.16.5.2 HRPWM Slider
        3. 18.16.5.3 HRPWM Period Control
        4. 18.16.5.4 HRPWM Duty Control with UPDOWN Mode
        5. 18.16.5.5 HRPWM Slider Test
        6. 18.16.5.6 HRPWM Duty Up Count
        7. 18.16.5.7 HRPWM Period Up-Down Count
    17. 18.17 EPWM Registers
      1. 18.17.1 EPWM Base Address Table
      2. 18.17.2 EPWM_REGS Registers
  21. 19Enhanced Capture (eCAP)
    1. 19.1 Introduction
      1. 19.1.1 Features
      2. 19.1.2 ECAP Related Collateral
    2. 19.2 Description
    3. 19.3 Configuring Device Pins for the eCAP
    4. 19.4 Capture and APWM Operating Mode
    5. 19.5 Capture Mode Description
      1. 19.5.1  Event Prescaler
      2. 19.5.2  Edge Polarity Select and Qualifier
      3. 19.5.3  Continuous/One-Shot Control
      4. 19.5.4  32-Bit Counter and Phase Control
      5. 19.5.5  CAP1-CAP4 Registers
      6. 19.5.6  eCAP Synchronization
        1. 19.5.6.1 Example 1 - Using SWSYNC with ECAP Module
      7. 19.5.7  Interrupt Control
      8. 19.5.8  DMA Interrupt
      9. 19.5.9  Shadow Load and Lockout Control
      10. 19.5.10 APWM Mode Operation
    6. 19.6 Application of the eCAP Module
      1. 19.6.1 Example 1 - Absolute Time-Stamp Operation Rising-Edge Trigger
      2. 19.6.2 Example 2 - Absolute Time-Stamp Operation Rising- and Falling-Edge Trigger
      3. 19.6.3 Example 3 - Time Difference (Delta) Operation Rising-Edge Trigger
      4. 19.6.4 Example 4 - Time Difference (Delta) Operation Rising- and Falling-Edge Trigger
    7. 19.7 Application of the APWM Mode
      1. 19.7.1 Example 1 - Simple PWM Generation (Independent Channels)
    8. 19.8 Software
      1. 19.8.1 ECAP Registers to Driverlib Functions
      2. 19.8.2 ECAP Examples
        1. 19.8.2.1 eCAP APWM Example
        2. 19.8.2.2 eCAP Capture PWM Example
        3. 19.8.2.3 eCAP APWM Phase-shift Example
    9. 19.9 ECAP Registers
      1. 19.9.1 ECAP Base Address Table
      2. 19.9.2 ECAP_REGS Registers
  22. 20Enhanced Quadrature Encoder Pulse (eQEP)
    1. 20.1  Introduction
      1. 20.1.1 EQEP Related Collateral
    2. 20.2  Configuring Device Pins
    3. 20.3  Description
      1. 20.3.1 EQEP Inputs
      2. 20.3.2 Functional Description
      3. 20.3.3 eQEP Memory Map
    4. 20.4  Quadrature Decoder Unit (QDU)
      1. 20.4.1 Position Counter Input Modes
        1. 20.4.1.1 Quadrature Count Mode
        2. 20.4.1.2 Direction-Count Mode
        3. 20.4.1.3 Up-Count Mode
        4. 20.4.1.4 Down-Count Mode
      2. 20.4.2 eQEP Input Polarity Selection
      3. 20.4.3 Position-Compare Sync Output
    5. 20.5  Position Counter and Control Unit (PCCU)
      1. 20.5.1 Position Counter Operating Modes
        1. 20.5.1.1 Position Counter Reset on Index Event (QEPCTL[PCRM]=00)
        2. 20.5.1.2 Position Counter Reset on Maximum Position (QEPCTL[PCRM]=01)
        3. 20.5.1.3 Position Counter Reset on the First Index Event (QEPCTL[PCRM] = 10)
        4. 20.5.1.4 Position Counter Reset on Unit Time-out Event (QEPCTL[PCRM] = 11)
      2. 20.5.2 Position Counter Latch
        1. 20.5.2.1 Index Event Latch
        2. 20.5.2.2 Strobe Event Latch
      3. 20.5.3 Position Counter Initialization
      4. 20.5.4 eQEP Position-compare Unit
    6. 20.6  eQEP Edge Capture Unit
    7. 20.7  eQEP Watchdog
    8. 20.8  eQEP Unit Timer Base
    9. 20.9  QMA Module
      1. 20.9.1 Modes of Operation
        1. 20.9.1.1 QMA Mode-1 (QMACTRL[MODE]=1)
        2. 20.9.1.2 QMA Mode-2 (QMACTRL[MODE]=2)
      2. 20.9.2 Interrupt and Error Generation
    10. 20.10 eQEP Interrupt Structure
    11. 20.11 Software
      1. 20.11.1 EQEP Registers to Driverlib Functions
      2. 20.11.2 EQEP Examples
        1. 20.11.2.1 Frequency Measurement Using eQEP
        2. 20.11.2.2 Position and Speed Measurement Using eQEP
        3. 20.11.2.3 Frequency Measurement Using eQEP via unit timeout interrupt
        4. 20.11.2.4 Motor speed and direction measurement using eQEP via unit timeout interrupt
    12. 20.12 EQEP Registers
      1. 20.12.1 EQEP Base Address Table
      2. 20.12.2 EQEP_REGS Registers
  23. 21Serial Peripheral Interface (SPI)
    1. 21.1 Introduction
      1. 21.1.1 Features
      2. 21.1.2 SPI Related Collateral
      3. 21.1.3 Block Diagram
    2. 21.2 System-Level Integration
      1. 21.2.1 SPI Module Signals
      2. 21.2.2 Configuring Device Pins
        1. 21.2.2.1 GPIOs Required for High-Speed Mode
      3. 21.2.3 SPI Interrupts
      4. 21.2.4 DMA Support
    3. 21.3 SPI Operation
      1. 21.3.1  Introduction to Operation
      2. 21.3.2  Controller Mode
      3. 21.3.3  Peripheral Mode
      4. 21.3.4  Data Format
        1. 21.3.4.1 Transmission of Bit from SPIRXBUF
      5. 21.3.5  Baud Rate Selection
        1. 21.3.5.1 Baud Rate Determination
        2. 21.3.5.2 Baud Rate Calculation in Non-High Speed Mode (HS_MODE = 0)
      6. 21.3.6  SPI Clocking Schemes
      7. 21.3.7  SPI FIFO Description
      8. 21.3.8  SPI DMA Transfers
        1. 21.3.8.1 Transmitting Data Using SPI with DMA
        2. 21.3.8.2 Receiving Data Using SPI with DMA
      9. 21.3.9  SPI High-Speed Mode
      10. 21.3.10 SPI 3-Wire Mode Description
    4. 21.4 Programming Procedure
      1. 21.4.1 Initialization Upon Reset
      2. 21.4.2 Configuring the SPI
      3. 21.4.3 Configuring the SPI for High-Speed Mode
      4. 21.4.4 Data Transfer Example
      5. 21.4.5 SPI 3-Wire Mode Code Examples
        1. 21.4.5.1 3-Wire Controller Mode Transmit
        2.       1062
          1. 21.4.5.2.1 3-Wire Controller Mode Receive
        3.       1064
          1. 21.4.5.2.1 3-Wire Peripheral Mode Transmit
        4.       1066
          1. 21.4.5.2.1 3-Wire Peripheral Mode Receive
      6. 21.4.6 SPI STEINV Bit in Digital Audio Transfers
    5. 21.5 Software
      1. 21.5.1 SPI Registers to Driverlib Functions
      2. 21.5.2 SPI Examples
        1. 21.5.2.1 SPI Digital Loopback
        2. 21.5.2.2 SPI Digital Loopback with FIFO Interrupts
        3. 21.5.2.3 SPI Digital External Loopback without FIFO Interrupts
        4. 21.5.2.4 SPI Digital External Loopback with FIFO Interrupts
        5. 21.5.2.5 SPI Digital Loopback with DMA
        6. 21.5.2.6 SPI EEPROM
        7. 21.5.2.7 SPI DMA EEPROM
    6. 21.6 SPI Registers
      1. 21.6.1 SPI Base Address Table
      2. 21.6.2 SPI_REGS Registers
  24. 22Serial Communications Interface (SCI)
    1. 22.1  Introduction
      1. 22.1.1 Features
      2. 22.1.2 SCI Related Collateral
      3. 22.1.3 Block Diagram
    2. 22.2  Architecture
    3. 22.3  SCI Module Signal Summary
    4. 22.4  Configuring Device Pins
    5. 22.5  Multiprocessor and Asynchronous Communication Modes
    6. 22.6  SCI Programmable Data Format
    7. 22.7  SCI Multiprocessor Communication
      1. 22.7.1 Recognizing the Address Byte
      2. 22.7.2 Controlling the SCI TX and RX Features
      3. 22.7.3 Receipt Sequence
    8. 22.8  Idle-Line Multiprocessor Mode
      1. 22.8.1 Idle-Line Mode Steps
      2. 22.8.2 Block Start Signal
      3. 22.8.3 Wake-Up Temporary (WUT) Flag
        1. 22.8.3.1 Sending a Block Start Signal
      4. 22.8.4 Receiver Operation
    9. 22.9  Address-Bit Multiprocessor Mode
      1. 22.9.1 Sending an Address
    10. 22.10 SCI Communication Format
      1. 22.10.1 Receiver Signals in Communication Modes
      2. 22.10.2 Transmitter Signals in Communication Modes
    11. 22.11 SCI Port Interrupts
      1. 22.11.1 Break Detect
    12. 22.12 SCI Baud Rate Calculations
    13. 22.13 SCI Enhanced Features
      1. 22.13.1 SCI FIFO Description
      2. 22.13.2 SCI Auto-Baud
      3. 22.13.3 Autobaud-Detect Sequence
    14. 22.14 Software
      1. 22.14.1 SCI Registers to Driverlib Functions
      2. 22.14.2 SCI Examples
        1. 22.14.2.1 Tune Baud Rate via UART Example
        2. 22.14.2.2 SCI FIFO Digital Loop Back
        3. 22.14.2.3 SCI Digital Loop Back with Interrupts
        4. 22.14.2.4 SCI Echoback
        5. 22.14.2.5 stdout redirect example
    15. 22.15 SCI Registers
      1. 22.15.1 SCI Base Address Table
      2. 22.15.2 SCI_REGS Registers
  25. 23Universal Serial Bus (USB) Controller
    1. 23.1 Introduction
      1. 23.1.1 Features
      2. 23.1.2 USB Related Collateral
      3. 23.1.3 Block Diagram
        1. 23.1.3.1 Signal Description
        2. 23.1.3.2 VBus Recommendations
    2. 23.2 Functional Description
      1. 23.2.1 Operation as a Device
        1. 23.2.1.1 Control and Configurable Endpoints
          1. 23.2.1.1.1 IN Transactions as a Device
          2. 23.2.1.1.2 Out Transactions as a Device
          3. 23.2.1.1.3 Scheduling
          4. 23.2.1.1.4 Additional Actions
          5. 23.2.1.1.5 Device Mode Suspend
          6. 23.2.1.1.6 Start of Frame
          7. 23.2.1.1.7 USB Reset
          8. 23.2.1.1.8 Connect/Disconnect
      2. 23.2.2 Operation as a Host
        1. 23.2.2.1 Endpoint Registers
        2. 23.2.2.2 IN Transactions as a Host
        3. 23.2.2.3 OUT Transactions as a Host
        4. 23.2.2.4 Transaction Scheduling
        5. 23.2.2.5 USB Hubs
        6. 23.2.2.6 Babble
        7. 23.2.2.7 Host SUSPEND
        8. 23.2.2.8 USB RESET
        9. 23.2.2.9 Connect/Disconnect
      3. 23.2.3 DMA Operation
      4. 23.2.4 Address/Data Bus Bridge
    3. 23.3 Initialization and Configuration
      1. 23.3.1 Pin Configuration
      2. 23.3.2 Endpoint Configuration
    4. 23.4 USB Global Interrupts
    5. 23.5 Software
      1. 23.5.1 USB Examples
        1. 23.5.1.1  USB CDC serial example
        2. 23.5.1.2  USB HID Mouse Device
        3. 23.5.1.3  USB Device Keyboard
        4. 23.5.1.4  USB Generic Bulk Device
        5. 23.5.1.5  USB HID Mouse Host
        6. 23.5.1.6  USB HID Keyboard Host
        7. 23.5.1.7  USB Mass Storage Class Host
        8. 23.5.1.8  USB Dual Detect
        9. 23.5.1.9  USB Throughput Bulk Device Example (usb_ex9_throughput_dev_bulk)
        10. 23.5.1.10 USB HUB Host example
    6. 23.6 USB Registers
      1. 23.6.1 USB Base Address Table
      2. 23.6.2 USB_REGS Registers
  26. 24Fast Serial Interface (FSI)
    1. 24.1 Introduction
      1. 24.1.1 FSI Related Collateral
      2. 24.1.2 FSI Features
    2. 24.2 System-level Integration
      1. 24.2.1 CPU Interface
      2. 24.2.2 Signal Description
        1. 24.2.2.1 Configuring Device Pins
      3. 24.2.3 FSI Interrupts
        1. 24.2.3.1 Transmitter Interrupts
        2. 24.2.3.2 Receiver Interrupts
        3. 24.2.3.3 Configuring Interrupts
        4. 24.2.3.4 Handling Interrupts
      4. 24.2.4 CLA Task Triggering
      5. 24.2.5 DMA Interface
      6. 24.2.6 External Frame Trigger Mux
    3. 24.3 FSI Functional Description
      1. 24.3.1  Introduction to Operation
      2. 24.3.2  FSI Transmitter Module
        1. 24.3.2.1 Initialization
        2. 24.3.2.2 FSI_TX Clocking
        3. 24.3.2.3 Transmitting Frames
          1. 24.3.2.3.1 Software Triggered Frames
          2. 24.3.2.3.2 Externally Triggered Frames
          3. 24.3.2.3.3 Ping Frame Generation
            1. 24.3.2.3.3.1 Automatic Ping Frames
            2. 24.3.2.3.3.2 Software Triggered Ping Frame
            3. 24.3.2.3.3.3 Externally Triggered Ping Frame
          4. 24.3.2.3.4 Transmitting Frames with DMA
        4. 24.3.2.4 Transmit Buffer Management
        5. 24.3.2.5 CRC Submodule
        6. 24.3.2.6 Conditions in Which the Transmitter Must Undergo a Soft Reset
        7. 24.3.2.7 Reset
      3. 24.3.3  FSI Receiver Module
        1. 24.3.3.1  Initialization
        2. 24.3.3.2  FSI_RX Clocking
        3. 24.3.3.3  Receiving Frames
          1. 24.3.3.3.1 Receiving Frames with DMA
        4. 24.3.3.4  Ping Frame Watchdog
        5. 24.3.3.5  Frame Watchdog
        6. 24.3.3.6  Delay Line Control
        7. 24.3.3.7  Buffer Management
        8. 24.3.3.8  CRC Submodule
        9. 24.3.3.9  Using the Zero Bits of the Receiver Tag Registers
        10. 24.3.3.10 Conditions in Which the Receiver Must Undergo a Soft Reset
        11. 24.3.3.11 FSI_RX Reset
      4. 24.3.4  Frame Format
        1. 24.3.4.1 FSI Frame Phases
        2. 24.3.4.2 Frame Types
          1. 24.3.4.2.1 Ping Frames
          2. 24.3.4.2.2 Error Frames
          3. 24.3.4.2.3 Data Frames
        3. 24.3.4.3 Multi-Lane Transmission
      5. 24.3.5  Flush Sequence
      6. 24.3.6  Internal Loopback
      7. 24.3.7  CRC Generation
      8. 24.3.8  ECC Module
      9. 24.3.9  Tag Matching
      10. 24.3.10 User Data Filtering (UDATA Matching)
      11. 24.3.11 TDM Configurations
      12. 24.3.12 FSI Trigger Generation
      13. 24.3.13 FSI-SPI Compatibility Mode
        1. 24.3.13.1 Available SPI Modes
          1. 24.3.13.1.1 FSITX as SPI Controller, Transmit Only
            1. 24.3.13.1.1.1 Initialization
            2. 24.3.13.1.1.2 Operation
          2. 24.3.13.1.2 FSIRX as SPI Peripheral, Receive Only
            1. 24.3.13.1.2.1 Initialization
            2. 24.3.13.1.2.2 Operation
          3. 24.3.13.1.3 FSITX and FSIRX Emulating a Full Duplex SPI Controller
            1. 24.3.13.1.3.1 Initialization
            2. 24.3.13.1.3.2 Operation
    4. 24.4 FSI Programing Guide
      1. 24.4.1 Establishing the Communication Link
        1. 24.4.1.1 Establishing the Communication Link from the Main Device
        2. 24.4.1.2 Establishing the Communication Link from the Remote Device
      2. 24.4.2 Register Protection
      3. 24.4.3 Emulation Mode
    5. 24.5 Software
      1. 24.5.1 FSI Registers to Driverlib Functions
      2. 24.5.2 FSI Examples
        1. 24.5.2.1 FSI Loopback:CPU Control
        2. 24.5.2.2 FSI DMA frame transfers:DMA Control
        3. 24.5.2.3 FSI data transfer by external trigger
        4. 24.5.2.4 FSI data transfers upon CPU Timer event
        5. 24.5.2.5 FSI and SPI communication(fsi_ex6_spi_main_tx)
        6. 24.5.2.6 FSI and SPI communication(fsi_ex7_spi_remote_rx)
        7. 24.5.2.7 FSI P2Point Connection:Rx Side
        8. 24.5.2.8 FSI P2Point Connection:Tx Side
    6. 24.6 FSI Registers
      1. 24.6.1 FSI Base Address Table
      2. 24.6.2 FSI_TX_REGS Registers
      3. 24.6.3 FSI_RX_REGS Registers
  27. 25Inter-Integrated Circuit Module (I2C)
    1. 25.1 Introduction
      1. 25.1.1 I2C Related Collateral
      2. 25.1.2 Features
      3. 25.1.3 Features Not Supported
      4. 25.1.4 Functional Overview
      5. 25.1.5 Clock Generation
      6. 25.1.6 I2C Clock Divider Registers (I2CCLKL and I2CCLKH)
        1. 25.1.6.1 Formula for the Controller Clock Period
    2. 25.2 Configuring Device Pins
    3. 25.3 I2C Module Operational Details
      1. 25.3.1  Input and Output Voltage Levels
      2. 25.3.2  Selecting Pullup Resistors
      3. 25.3.3  Data Validity
      4. 25.3.4  Operating Modes
      5. 25.3.5  I2C Module START and STOP Conditions
      6. 25.3.6  Non-repeat Mode versus Repeat Mode
      7. 25.3.7  Serial Data Formats
        1. 25.3.7.1 7-Bit Addressing Format
        2. 25.3.7.2 10-Bit Addressing Format
        3. 25.3.7.3 Free Data Format
        4. 25.3.7.4 Using a Repeated START Condition
      8. 25.3.8  Clock Synchronization
      9. 25.3.9  Clock Stretching
      10. 25.3.10 Arbitration
      11. 25.3.11 Digital Loopback Mode
      12. 25.3.12 NACK Bit Generation
    4. 25.4 Interrupt Requests Generated by the I2C Module
      1. 25.4.1 Basic I2C Interrupt Requests
      2. 25.4.2 I2C FIFO Interrupts
    5. 25.5 Resetting or Disabling the I2C Module
    6. 25.6 Software
      1. 25.6.1 I2C Registers to Driverlib Functions
      2. 25.6.2 I2C Examples
        1. 25.6.2.1  C28x-I2C Library source file for FIFO interrupts
        2. 25.6.2.2  C28x-I2C Library source file for FIFO using polling
        3. 25.6.2.3  C28x-I2C Library source file for FIFO interrupts
        4. 25.6.2.4  I2C Digital Loopback with FIFO Interrupts
        5. 25.6.2.5  I2C EEPROM
        6. 25.6.2.6  I2C Digital External Loopback with FIFO Interrupts
        7. 25.6.2.7  I2C EEPROM
        8. 25.6.2.8  I2C controller target communication using FIFO interrupts
        9. 25.6.2.9  I2C EEPROM
        10. 25.6.2.10 I2C Extended Clock Stretching Target RX
        11. 25.6.2.11 I2C Extended Clock Stretching Controller TX
    7. 25.7 I2C Registers
      1. 25.7.1 I2C Base Address Table
      2. 25.7.2 I2C_REGS Registers
  28. 26Power Management Bus Module (PMBus)
    1. 26.1 Introduction
      1. 26.1.1 PMBUS Related Collateral
      2. 26.1.2 Features
      3. 26.1.3 Block Diagram
    2. 26.2 Configuring Device Pins
    3. 26.3 Target Mode Operation
      1. 26.3.1 Configuration
      2. 26.3.2 Message Handling
        1. 26.3.2.1  Quick Command
        2. 26.3.2.2  Send Byte
        3. 26.3.2.3  Receive Byte
        4. 26.3.2.4  Write Byte and Write Word
        5. 26.3.2.5  Read Byte and Read Word
        6. 26.3.2.6  Process Call
        7. 26.3.2.7  Block Write
        8. 26.3.2.8  Block Read
        9. 26.3.2.9  Block Write-Block Read Process Call
        10. 26.3.2.10 Alert Response
        11. 26.3.2.11 Extended Command
        12. 26.3.2.12 Group Command
    4. 26.4 Controller Mode Operation
      1. 26.4.1 Configuration
      2. 26.4.2 Message Handling
        1. 26.4.2.1  Quick Command
        2. 26.4.2.2  Send Byte
        3. 26.4.2.3  Receive Byte
        4. 26.4.2.4  Write Byte and Write Word
        5. 26.4.2.5  Read Byte and Read Word
        6. 26.4.2.6  Process Call
        7. 26.4.2.7  Block Write
        8. 26.4.2.8  Block Read
        9. 26.4.2.9  Block Write-Block Read Process Call
        10. 26.4.2.10 Alert Response
        11. 26.4.2.11 Extended Command
        12. 26.4.2.12 Group Command
    5. 26.5 Software
      1. 26.5.1 PMBUS Registers to Driverlib Functions
    6. 26.6 PMBUS Registers
      1. 26.6.1 PMBUS Base Address Table
      2. 26.6.2 PMBUS_REGS Registers
  29. 27Modular Controller Area Network (MCAN)
    1. 27.1 MCAN Introduction
      1. 27.1.1 MCAN Related Collateral
      2. 27.1.2 MCAN Features
    2. 27.2 MCAN Environment
    3. 27.3 CAN Network Basics
    4. 27.4 MCAN Integration
    5. 27.5 MCAN Functional Description
      1. 27.5.1  Module Clocking Requirements
      2. 27.5.2  Interrupt Requests
      3. 27.5.3  Operating Modes
        1. 27.5.3.1 Software Initialization
        2. 27.5.3.2 Normal Operation
        3. 27.5.3.3 CAN FD Operation
      4. 27.5.4  Transmitter Delay Compensation
        1. 27.5.4.1 Description
        2. 27.5.4.2 Transmitter Delay Compensation Measurement
      5. 27.5.5  Restricted Operation Mode
      6. 27.5.6  Bus Monitoring Mode
      7. 27.5.7  Disabled Automatic Retransmission (DAR) Mode
        1. 27.5.7.1 Frame Transmission in DAR Mode
      8. 27.5.8  Clock Stop Mode
        1. 27.5.8.1 Suspend Mode
        2. 27.5.8.2 Wakeup Request
      9. 27.5.9  Test Modes
        1. 27.5.9.1 External Loop Back Mode
        2. 27.5.9.2 Internal Loop Back Mode
      10. 27.5.10 Timestamp Generation
        1. 27.5.10.1 External Timestamp Counter
      11. 27.5.11 Timeout Counter
      12. 27.5.12 Safety
        1. 27.5.12.1 ECC Wrapper
        2. 27.5.12.2 ECC Aggregator
          1. 27.5.12.2.1 ECC Aggregator Overview
          2. 27.5.12.2.2 ECC Aggregator Registers
        3. 27.5.12.3 Reads to ECC Control and Status Registers
        4. 27.5.12.4 ECC Interrupts
      13. 27.5.13 Rx Handling
        1. 27.5.13.1 Acceptance Filtering
          1. 27.5.13.1.1 Range Filter
          2. 27.5.13.1.2 Filter for Specific IDs
          3. 27.5.13.1.3 Classic Bit Mask Filter
          4. 27.5.13.1.4 Standard Message ID Filtering
          5. 27.5.13.1.5 Extended Message ID Filtering
        2. 27.5.13.2 Rx FIFOs
          1. 27.5.13.2.1 Rx FIFO Blocking Mode
          2. 27.5.13.2.2 Rx FIFO Overwrite Mode
        3. 27.5.13.3 Dedicated Rx Buffers
          1. 27.5.13.3.1 Rx Buffer Handling
      14. 27.5.14 Tx Handling
        1. 27.5.14.1 Transmit Pause
        2. 27.5.14.2 Dedicated Tx Buffers
        3. 27.5.14.3 Tx FIFO
        4. 27.5.14.4 Tx Queue
        5. 27.5.14.5 Mixed Dedicated Tx Buffers/Tx FIFO
        6. 27.5.14.6 Mixed Dedicated Tx Buffers/Tx Queue
        7. 27.5.14.7 Transmit Cancellation
        8. 27.5.14.8 Tx Event Handling
      15. 27.5.15 FIFO Acknowledge Handling
      16. 27.5.16 Message RAM
        1. 27.5.16.1 Message RAM Configuration
        2. 27.5.16.2 Rx Buffer and FIFO Element
        3. 27.5.16.3 Tx Buffer Element
        4. 27.5.16.4 Tx Event FIFO Element
        5. 27.5.16.5 Standard Message ID Filter Element
        6. 27.5.16.6 Extended Message ID Filter Element
    6. 27.6 Software
      1. 27.6.1 MCAN Registers to Driverlib Functions
      2. 27.6.2 MCAN Examples
        1. 27.6.2.1  MCAN Internal Loopback with Interrupt
        2. 27.6.2.2  MCAN Loopback with Interrupts Example Using SYSCONFIG Tool
        3. 27.6.2.3  MCAN receive using Rx Buffer
        4. 27.6.2.4  MCAN External Reception (with mask filter) into RX-FIFO1
        5. 27.6.2.5  MCAN Classic frames transmission using Tx Buffer
        6. 27.6.2.6  MCAN External Reception (with RANGE filter) into RX-FIFO1
        7. 27.6.2.7  MCAN External Transmit using Tx Buffer
        8. 27.6.2.8  MCAN receive using Rx Buffer
        9. 27.6.2.9  MCAN Internal Loopback with Interrupt
        10. 27.6.2.10 MCAN External Transmit using Tx Buffer
    7. 27.7 MCAN Registers
      1. 27.7.1 MCAN Base Address Table
      2. 27.7.2 MCANSS_REGS Registers
      3. 27.7.3 MCAN_REGS Registers
      4. 27.7.4 MCAN_ERROR_REGS Registers
  30. 28Local Interconnect Network (LIN)
    1. 28.1 Introduction
      1. 28.1.1 SCI Features
      2. 28.1.2 LIN Features
      3. 28.1.3 LIN Related Collateral
      4. 28.1.4 Block Diagram
    2. 28.2 Serial Communications Interface Module
      1. 28.2.1 SCI Communication Formats
        1. 28.2.1.1 SCI Frame Formats
        2. 28.2.1.2 SCI Asynchronous Timing Mode
        3. 28.2.1.3 SCI Baud Rate
          1. 28.2.1.3.1 Superfractional Divider, SCI Asynchronous Mode
        4. 28.2.1.4 SCI Multiprocessor Communication Modes
          1. 28.2.1.4.1 Idle-Line Multiprocessor Modes
          2. 28.2.1.4.2 Address-Bit Multiprocessor Mode
        5. 28.2.1.5 SCI Multibuffered Mode
      2. 28.2.2 SCI Interrupts
        1. 28.2.2.1 Transmit Interrupt
        2. 28.2.2.2 Receive Interrupt
        3. 28.2.2.3 WakeUp Interrupt
        4. 28.2.2.4 Error Interrupts
      3. 28.2.3 SCI DMA Interface
        1. 28.2.3.1 Receive DMA Requests
        2. 28.2.3.2 Transmit DMA Requests
      4. 28.2.4 SCI Configurations
        1. 28.2.4.1 Receiving Data
          1. 28.2.4.1.1 Receiving Data in Single-Buffer Mode
          2. 28.2.4.1.2 Receiving Data in Multibuffer Mode
        2. 28.2.4.2 Transmitting Data
          1. 28.2.4.2.1 Transmitting Data in Single-Buffer Mode
          2. 28.2.4.2.2 Transmitting Data in Multibuffer Mode
      5. 28.2.5 SCI Low-Power Mode
        1. 28.2.5.1 Sleep Mode for Multiprocessor Communication
    3. 28.3 Local Interconnect Network Module
      1. 28.3.1 LIN Communication Formats
        1. 28.3.1.1  LIN Standards
        2. 28.3.1.2  Message Frame
          1. 28.3.1.2.1 Message Header
          2. 28.3.1.2.2 Response
        3. 28.3.1.3  Synchronizer
        4. 28.3.1.4  Baud Rate
          1. 28.3.1.4.1 Fractional Divider
          2. 28.3.1.4.2 Superfractional Divider
            1. 28.3.1.4.2.1 Superfractional Divider In LIN Mode
        5. 28.3.1.5  Header Generation
          1. 28.3.1.5.1 Event Triggered Frame Handling
          2. 28.3.1.5.2 Header Reception and Adaptive Baud Rate
        6. 28.3.1.6  Extended Frames Handling
        7. 28.3.1.7  Timeout Control
          1. 28.3.1.7.1 No-Response Error (NRE)
          2. 28.3.1.7.2 Bus Idle Detection
          3. 28.3.1.7.3 Timeout After Wakeup Signal and Timeout After Three Wakeup Signals
        8. 28.3.1.8  TXRX Error Detector (TED)
          1. 28.3.1.8.1 Bit Errors
          2. 28.3.1.8.2 Physical Bus Errors
          3. 28.3.1.8.3 ID Parity Errors
          4. 28.3.1.8.4 Checksum Errors
        9. 28.3.1.9  Message Filtering and Validation
        10. 28.3.1.10 Receive Buffers
        11. 28.3.1.11 Transmit Buffers
      2. 28.3.2 LIN Interrupts
      3. 28.3.3 Servicing LIN Interrupts
      4. 28.3.4 LIN DMA Interface
        1. 28.3.4.1 LIN Receive DMA Requests
        2. 28.3.4.2 LIN Transmit DMA Requests
      5. 28.3.5 LIN Configurations
        1. 28.3.5.1 Receiving Data
          1. 28.3.5.1.1 Receiving Data in Single-Buffer Mode
          2. 28.3.5.1.2 Receiving Data in Multibuffer Mode
        2. 28.3.5.2 Transmitting Data
          1. 28.3.5.2.1 Transmitting Data in Single-Buffer Mode
          2. 28.3.5.2.2 Transmitting Data in Multibuffer Mode
    4. 28.4 Low-Power Mode
      1. 28.4.1 Entering Sleep Mode
      2. 28.4.2 Wakeup
      3. 28.4.3 Wakeup Timeouts
    5. 28.5 Emulation Mode
    6. 28.6 Software
      1. 28.6.1 LIN Registers to Driverlib Functions
      2. 28.6.2 LIN Examples
        1. 28.6.2.1 LIN Internal Loopback with Interrupts
        2. 28.6.2.2 LIN SCI Mode Internal Loopback with Interrupts
        3. 28.6.2.3 LIN SCI MODE Internal Loopback with DMA
        4. 28.6.2.4 LIN Internal Loopback without interrupts(polled mode)
        5. 28.6.2.5 LIN SCI MODE (Single Buffer) Internal Loopback with DMA
    7. 28.7 LIN Registers
      1. 28.7.1 LIN Base Address Table
      2. 28.7.2 LIN_REGS Registers
  31. 29Configurable Logic Block (CLB)
    1. 29.1 Introduction
      1. 29.1.1 CLB Related Collateral
    2. 29.2 Description
      1. 29.2.1 CLB Clock
    3. 29.3 CLB Input/Output Connection
      1. 29.3.1 Overview
      2. 29.3.2 CLB Input Selection
      3. 29.3.3 CLB Output Selection
      4. 29.3.4 CLB Output Signal Multiplexer
    4. 29.4 CLB Tile
      1. 29.4.1 Static Switch Block
      2. 29.4.2 Counter Block
        1. 29.4.2.1 Counter Description
        2. 29.4.2.2 Counter Operation
        3. 29.4.2.3 Serializer Mode
        4. 29.4.2.4 Linear Feedback Shift Register (LFSR) Mode
      3. 29.4.3 FSM Block
      4. 29.4.4 LUT4 Block
      5. 29.4.5 Output LUT Block
      6. 29.4.6 Asynchronous Output Conditioning (AOC) Block
      7. 29.4.7 High Level Controller (HLC)
        1. 29.4.7.1 High Level Controller Events
        2. 29.4.7.2 High Level Controller Instructions
        3. 29.4.7.3 <Src> and <Dest>
        4. 29.4.7.4 Operation of the PUSH and PULL Instructions (Overflow and Underflow Detection)
    5. 29.5 CPU Interface
      1. 29.5.1 Register Description
      2. 29.5.2 Non-Memory Mapped Registers
    6. 29.6 DMA Access
    7. 29.7 CLB Data Export Through SPI RX Buffer
    8. 29.8 Software
      1. 29.8.1 CLB Registers to Driverlib Functions
      2. 29.8.2 CLBOUTPUTXBAR Registers to Driverlib Functions
      3. 29.8.3 CLBXBAR Registers to Driverlib Functions
      4. 29.8.4 CLB Examples
        1. 29.8.4.1  CLB Empty Project
        2. 29.8.4.2  CLB Combinational Logic
        3. 29.8.4.3  CLB GPIO Input Filter
        4. 29.8.4.4  CLB Auxilary PWM
        5. 29.8.4.5  CLB PWM Protection
        6. 29.8.4.6  CLB Event Window
        7. 29.8.4.7  CLB Signal Generator
        8. 29.8.4.8  CLB State Machine
        9. 29.8.4.9  CLB External Signal AND Gate
        10. 29.8.4.10 CLB Timer
        11. 29.8.4.11 CLB Timer Two States
        12. 29.8.4.12 CLB Interrupt Tag
        13. 29.8.4.13 CLB Output Intersect
        14. 29.8.4.14 CLB PUSH PULL
        15. 29.8.4.15 CLB Multi Tile
        16. 29.8.4.16 CLB Tile to Tile Delay
        17. 29.8.4.17 CLB Glue Logic
        18. 29.8.4.18 CLB based One-shot PWM
        19. 29.8.4.19 CLB AOC Control
        20. 29.8.4.20 CLB AOC Release Control
        21. 29.8.4.21 CLB XBARs
        22. 29.8.4.22 CLB AOC Control
        23. 29.8.4.23 CLB Serializer
        24. 29.8.4.24 CLB LFSR
        25. 29.8.4.25 CLB Lock Output Mask
        26. 29.8.4.26 CLB INPUT Pipeline Mode
        27. 29.8.4.27 CLB Clocking and PIPELINE Mode
        28. 29.8.4.28 CLB SPI Data Export
        29. 29.8.4.29 CLB SPI Data Export DMA
        30. 29.8.4.30 CLB Trip Zone Timestamp
        31. 29.8.4.31 CLB CRC
        32. 29.8.4.32 CLB TDM Serial Port
        33. 29.8.4.33 CLB LED Driver
    9. 29.9 CLB Registers
      1. 29.9.1 CLB Base Address Table
      2. 29.9.2 CLB_LOGIC_CONFIG_REGS Registers
      3. 29.9.3 CLB_LOGIC_CONTROL_REGS Registers
      4. 29.9.4 CLB_DATA_EXCHANGE_REGS Registers
  32. 30Advanced Encryption Standard (AES) Accelerator
    1. 30.1 Introduction
      1. 30.1.1 AES Block Diagram
        1. 30.1.1.1 Interfaces
        2. 30.1.1.2 AES Subsystem
        3. 30.1.1.3 AES Wide-Bus Engine
      2. 30.1.2 AES Algorithm
    2. 30.2 AES Operating Modes
      1. 30.2.1  GCM Operation
      2. 30.2.2  CCM Operation
      3. 30.2.3  XTS Operation
      4. 30.2.4  ECB Feedback Mode
      5. 30.2.5  CBC Feedback Mode
      6. 30.2.6  CTR and ICM Feedback Modes
      7. 30.2.7  CFB Mode
      8. 30.2.8  F8 Mode
      9. 30.2.9  F9 Operation
      10. 30.2.10 CBC-MAC Operation
    3. 30.3 Extended and Combined Modes of Operations
      1. 30.3.1 GCM Protocol Operation
      2. 30.3.2 CCM Protocol Operation
      3. 30.3.3 Hardware Requests
    4. 30.4 AES Module Programming Guide
      1. 30.4.1 AES Low-Level Programming Models
        1. 30.4.1.1 Global Initialization
        2. 30.4.1.2 AES Operating Modes Configuration
        3. 30.4.1.3 AES Mode Configurations
        4. 30.4.1.4 AES Events Servicing
    5. 30.5 Software
      1. 30.5.1 AES Registers to Driverlib Functions
      2. 30.5.2 AES_SS Registers to Driverlib Functions
      3. 30.5.3 AES Examples
        1. 30.5.3.1 AES ECB Encryption Example
        2. 30.5.3.2 AES ECB De-cryption Example
        3. 30.5.3.3 AES GCM Encryption Example
        4. 30.5.3.4 AES GCM Decryption Example
    6. 30.6 AES Registers
      1. 30.6.1 AES Base Address Table
      2. 30.6.2 AES_REGS Registers
      3. 30.6.3 AES_SS_REGS Registers
  33. 31Embedded Pattern Generator (EPG)
    1. 31.1 Introduction
      1. 31.1.1 Features
      2. 31.1.2 EPG Block Diagram
      3. 31.1.3 EPG Related Collateral
    2. 31.2 Clock Generator Modules
      1. 31.2.1 DCLK (50% duty cycle clock)
      2. 31.2.2 Clock Stop
    3. 31.3 Signal Generator Module
    4. 31.4 EPG Peripheral Signal Mux Selection
    5. 31.5 Application Software Notes
    6. 31.6 EPG Example Use Cases
      1. 31.6.1 EPG Example: Synchronous Clocks with Offset
        1. 31.6.1.1 Synchronous Clocks with Offset Register Configuration
      2. 31.6.2 EPG Example: Serial Data Bit Stream (LSB first)
        1. 31.6.2.1 Serial Data Bit Stream (LSB first) Register Configuration
      3. 31.6.3 EPG Example: Serial Data Bit Stream (MSB first)
        1. 31.6.3.1 Serial Data Bit Stream (MSB first) Register Configuration
    7. 31.7 EPG Interrupt
    8. 31.8 Software
      1. 31.8.1 EPG Registers to Driverlib Functions
      2. 31.8.2 EPG Examples
        1. 31.8.2.1 EPG Generating Synchronous Clocks
        2. 31.8.2.2 EPG Generating Two Offset Clocks
        3. 31.8.2.3 EPG Generating Two Offset Clocks With SIGGEN
        4. 31.8.2.4 EPG Generate Serial Data
        5. 31.8.2.5 EPG Generate Serial Data Shift Mode
    9. 31.9 EPG Registers
      1. 31.9.1 EPG Base Address Table
      2. 31.9.2 EPG_REGS Registers
      3. 31.9.3 EPG_MUX_REGS Registers
  34. 32Revision History

9.9.1 GPIO Muxing

Up to twelve different peripheral functions are multiplexed to each pin along with a general-purpose input/output (GPIO) function. This allows you to choose the peripheral mix and pinout that works best for your particular application. Refer to Table 9-8 for muxing combinations and definitions.

Table 9-8 GPIO Muxed Pins
0, 4, 8, 12 1 2 3 5 6 7 9 10 11 13 14 15 ALT
GPIO0 EPWM1_A OUTPUTXBAR7 SCIA_RX I2CA_SDA SPIA_PTE FSIRXA_CLK MCANA_RX CLB_OUTPUTXBAR8 EQEP1_INDEX EPWM3_A
GPIO1 EPWM1_B SCIA_TX I2CA_SCL SPIA_POCI EQEP1_STROBE MCANA_TX CLB_OUTPUTXBAR7 EPWM10_B EPWM3_B
GPIO2 EPWM2_A OUTPUTXBAR1 PMBUSA_SDA SPIA_PICO SCIA_TX FSIRXA_D1 I2CB_SDA EPWM10_A MCANB_TX EPWM4_A
GPIO3 EPWM2_B OUTPUTXBAR2 OUTPUTXBAR2 PMBUSA_SCL SPIA_CLK SCIA_RX FSIRXA_D0 I2CB_SCL MCANB_RX EPWM4_B
GPIO4 EPWM3_A I2CA_SCL MCANA_TX OUTPUTXBAR3 SPIB_CLK EQEP2_STROBE FSIRXA_CLK CLB_OUTPUTXBAR6 EPWM11_B SPIA_POCI EPWM1_A
GPIO5 EPWM3_B I2CA_SDA OUTPUTXBAR3 MCANA_RX SPIA_PTE FSITXA_D1 CLB_OUTPUTXBAR5 SCIA_RX EPWM1_B
GPIO6 EPWM4_A OUTPUTXBAR4 SYNCOUT EQEP1_A SPIB_POCI FSITXA_D0 FSITXA_D1 CLB_OUTPUTXBAR8 EPWM2_A
GPIO7 EPWM4_B EPWM2_A OUTPUTXBAR5 EQEP1_B SPIB_PICO FSITXA_CLK CLB_OUTPUTXBAR2 SCIA_TX MCANA_TX EPWM2_B
GPIO8 EPWM5_A ADCSOCAO EQEP1_STROBE SCIA_TX SPIA_PICO I2CA_SCL FSITXA_D1 CLB_OUTPUTXBAR5 EPWM11_A
GPIO9 EPWM5_B SCIB_TX OUTPUTXBAR6 EQEP1_INDEX SCIA_RX SPIA_CLK I2CA_SCL FSITXA_D0 LINA_RX PMBUSA_SCL I2CB_SCL EQEP3_B
GPIO10 EPWM6_A ADCSOCBO EQEP1_A SCIB_TX SPIA_POCI I2CA_SDA FSITXA_CLK LINA_TX EQEP3_STROBE CLB_OUTPUTXBAR4
GPIO11 EPWM6_B MCANA_RX OUTPUTXBAR7 EQEP1_B SCIB_RX SPIA_PTE FSIRXA_D1 LINA_RX EQEP2_A SPIA_PICO EQEP3_INDEX
GPIO12 EPWM7_A MCANA_RX EQEP1_STROBE SCIB_TX PMBUSA_CTL FSIRXA_D0 LINA_TX SPIA_CLK
GPIO13 EPWM7_B MCANA_TX EQEP1_INDEX SCIB_RX PMBUSA_ALERT FSIRXA_CLK LINA_RX SPIA_POCI
GPIO14 EPWM8_A SCIB_TX I2CB_SDA OUTPUTXBAR3 PMBUSA_SDA SPIB_CLK EQEP2_A LINA_TX EPWM3_A CLB_OUTPUTXBAR7
GPIO15 EPWM8_B SCIB_RX I2CB_SCL OUTPUTXBAR4 PMBUSA_SCL SPIB_PTE EQEP2_B LINA_RX EPWM3_B CLB_OUTPUTXBAR6
GPIO16 SPIA_PICO OUTPUTXBAR7 EPWM9_A SCIA_TX EQEP1_STROBE PMBUSA_SCL XCLKOUT EQEP2_B SPIB_POCI EQEP3_STROBE
GPIO17 SPIA_POCI OUTPUTXBAR8 EPWM9_B SCIA_RX EQEP1_INDEX PMBUSA_SDA MCANA_TX EPWM6_A
GPIO18 SPIA_CLK SCIB_TX MCANB_RX EPWM6_A I2CA_SCL EQEP2_A PMBUSA_CTL XCLKOUT LINA_TX EQEP3_INDEX X2
GPIO19 SPIA_PTE SCIB_RX MCANB_TX EPWM6_B I2CA_SDA EQEP2_B PMBUSA_ALERT CLB_OUTPUTXBAR1 LINA_RX X1
GPIO20 EQEP1_A EPWM12_A SPIB_PICO MCANA_TX ADCE_EXTMUXSEL0 I2CA_SCL SCIC_TX
GPIO21 EQEP1_B EPWM12_B SPIB_POCI MCANA_RX ADCE_EXTMUXSEL1 I2CA_SDA SCIC_RX
GPIO22 EQEP1_STROBE SCIB_TX SPIB_CLK LINA_TX CLB_OUTPUTXBAR1 LINA_TX EPWM4_A EQEP3_A
GPIO23 EQEP1_INDEX SCIB_RX SPIB_PTE LINA_RX CLB_OUTPUTXBAR3 LINA_RX EPWM12_A EPWM4_B USB0DM
GPIO24 OUTPUTXBAR1 EQEP2_A SPIA_PTE EPWM8_A SPIB_PICO LINA_TX PMBUSA_SCL SCIA_TX ERRORSTS EPWM9_A
GPIO25 OUTPUTXBAR2 EQEP2_B EQEP1_A SPIB_POCI FSITXA_D1 PMBUSA_SDA SCIA_RX EQEP3_A
GPIO26 OUTPUTXBAR3 EQEP2_INDEX OUTPUTXBAR3 SPIB_CLK FSITXA_D0 PMBUSA_CTL I2CA_SDA EQEP3_B
GPIO27 OUTPUTXBAR4 EQEP2_STROBE OUTPUTXBAR4 SPIB_PTE FSITXA_CLK PMBUSA_ALERT I2CA_SCL EQEP3_STROBE
GPIO28 SCIA_RX EPWM7_A OUTPUTXBAR5 EQEP1_A EQEP2_STROBE LINA_TX SPIB_CLK ERRORSTS I2CB_SDA
GPIO29 SCIA_TX EPWM7_B OUTPUTXBAR6 EQEP1_B EQEP2_INDEX LINA_RX SPIB_PTE ERRORSTS I2CB_SCL AUXCLKIN
GPIO30 SPIB_PICO OUTPUTXBAR7 EQEP1_STROBE FSIRXA_CLK MCANA_RX EPWM1_A EQEP3_INDEX
GPIO31 SPIB_POCI OUTPUTXBAR8 EQEP1_INDEX FSIRXA_D1 MCANA_TX EPWM1_B
GPIO32 I2CA_SDA EQEP1_INDEX SPIB_CLK EPWM8_B LINA_TX FSIRXA_D0 MCANB_TX PMBUSA_SDA ADCSOCBO
GPIO33 I2CA_SCL SPIB_PTE OUTPUTXBAR4 LINA_RX FSIRXA_CLK MCANB_RX EQEP2_B ADCSOCAO SCIC_RX
GPIO34 OUTPUTXBAR1 PMBUSA_SDA I2CB_SDA
GPIO35 SCIA_RX SPIA_POCI I2CA_SDA MCANB_RX PMBUSA_SCL LINA_RX EQEP1_A PMBUSA_CTL EPWM5_B TDI
GPIO37 OUTPUTXBAR2 SPIA_PTE I2CA_SCL SCIA_TX MCANB_TX LINA_TX EQEP1_B PMBUSA_ALERT EPWM5_A TDO
GPIO40 SPIB_PICO EPWM2_B PMBUSA_SDA FSIRXA_D0 SCIB_TX EQEP1_A LINA_TX CLB_OUTPUTXBAR4 EQEP3_STROBE
GPIO41 EPWM7_A EPWM2_A PMBUSA_SCL FSIRXA_D1 SCIB_RX EQEP1_B LINA_RX EPWM12_B SPIB_POCI USB0DP
GPIO42 LINA_RX OUTPUTXBAR5 PMBUSA_CTL I2CA_SDA SCIC_RX EQEP1_STROBE CLB_OUTPUTXBAR3
GPIO43 OUTPUTXBAR6 PMBUSA_ALERT I2CA_SCL SCIC_TX PMBUSA_ALERT EQEP1_INDEX CLB_OUTPUTXBAR4
GPIO44 OUTPUTXBAR7 EQEP1_A PMBUSA_SDA FSITXA_CLK PMBUSA_CTL CLB_OUTPUTXBAR3 FSIRXA_D0 LINA_TX
GPIO45 OUTPUTXBAR8 FSITXA_D0 PMBUSA_ALERT CLB_OUTPUTXBAR4
GPIO46 LINA_TX MCANA_TX FSITXA_D1 PMBUSA_SDA
GPIO47 LINA_RX MCANA_RX CLB_OUTPUTXBAR2 PMBUSA_SCL
GPIO48 OUTPUTXBAR3 MCANA_TX SCIA_TX PMBUSA_SDA
GPIO49 OUTPUTXBAR4 MCANA_RX SCIA_RX LINA_RX FSITXA_D0
GPIO50 EQEP1_A MCANA_TX SPIB_PICO I2CB_SDA FSITXA_D1
GPIO51 EQEP1_B MCANA_RX SPIB_POCI I2CB_SCL FSITXA_CLK
GPIO52 EQEP1_STROBE CLB_OUTPUTXBAR5 SPIB_CLK SYNCOUT FSIRXA_D0
GPIO53 EQEP1_INDEX CLB_OUTPUTXBAR6 SPIB_PTE ADCSOCAO MCANB_RX FSIRXA_D1
GPIO54 SPIA_PICO EQEP2_A OUTPUTXBAR2 ADCSOCBO LINA_TX FSIRXA_CLK
GPIO55 SPIA_POCI EQEP2_B OUTPUTXBAR3 ERRORSTS LINA_RX
GPIO56 SPIA_CLK CLB_OUTPUTXBAR7 MCANA_TX EQEP2_STROBE SCIB_TX SPIB_PICO I2CA_SDA EQEP1_A FSIRXA_D1
GPIO57 SPIA_PTE CLB_OUTPUTXBAR8 MCANA_RX EQEP2_INDEX SCIB_RX SPIB_POCI I2CA_SCL EQEP1_B FSIRXA_CLK
GPIO58 OUTPUTXBAR1 SPIB_CLK LINA_TX MCANB_TX EQEP1_STROBE FSIRXA_D0
GPIO59 OUTPUTXBAR2 SPIB_PTE LINA_RX MCANB_RX EQEP1_INDEX
GPIO60 EPWM12_B MCANA_TX OUTPUTXBAR3 SPIB_PICO
GPIO61 MCANA_RX OUTPUTXBAR4 SPIB_POCI MCANB_RX
GPIO62 EPWM10_A OUTPUTXBAR3 MCANA_TX SCIA_TX PMBUSA_SDA
GPIO63 EPWM10_B OUTPUTXBAR4 MCANA_RX SCIA_RX LINA_RX
GPIO64 SCIA_RX EPWM11_A EPWM7_A OUTPUTXBAR5 EQEP1_A EQEP2_STROBE LINA_TX SPIB_CLK ERRORSTS I2CB_SDA
GPIO65 EQEP1_A EPWM11_B SPIB_PICO MCANA_TX I2CA_SCL
GPIO66 EQEP1_B EPWM12_A SPIB_POCI MCANA_RX I2CA_SDA
GPIO67 EPWM7_B EPWM12_B MCANA_TX EQEP1_INDEX SCIB_RX PMBUSA_ALERT FSIRXA_CLK LINA_RX SPIA_POCI SCIC_RX
GPIO68 EPWM7_A EPWM3_A MCANA_RX EQEP1_STROBE SCIB_TX PMBUSA_CTL FSIRXA_D0 LINA_TX SPIA_CLK SCIC_TX
GPIO69 EPWM6_B EPWM3_B OUTPUTXBAR7 EQEP1_B SCIB_RX SPIA_PTE FSIRXA_D1 LINA_RX EQEP2_A SPIA_PICO EQEP3_INDEX
GPIO70 I2CA_SCL SPIB_PTE OUTPUTXBAR4 LINA_RX FSIRXA_CLK MCANA_RX EQEP2_B ADCSOCAO EQEP3_A
GPIO71 SPIA_PICO EPWM4_B OUTPUTXBAR7 EPWM9_A SCIA_TX EQEP1_STROBE PMBUSA_SCL XCLKOUT EQEP2_INDEX SPIB_POCI EQEP3_STROBE
GPIO72 SPIA_POCI EPWM5_A OUTPUTXBAR8 EPWM9_B SCIA_RX EQEP1_INDEX PMBUSA_SDA MCANA_TX EPWM6_A EQEP3_B
GPIO73 OUTPUTXBAR1 EPWM5_B SPIA_PTE EPWM8_A SPIB_PICO LINA_TX PMBUSA_SCL SCIA_TX ERRORSTS EPWM9_A
GPIO74 EPWM2_B ADCSOCAO MCANA_TX SPIA_POCI EQEP1_B
GPIO75 EPWM1_B LINA_RX EPWM6_A SPIA_CLK EQEP1_STROBE SCIC_RX
GPIO76 EPWM4_A OUTPUTXBAR2 SPIA_PTE MCANA_RX EQEP1_INDEX
GPIO77 EPWM1_A OUTPUTXBAR3 SPIA_PICO MCANA_TX EQEP1_A SCIC_TX
GPIO78 EPWM8_A EPWM3_A OUTPUTXBAR1 EPWM2_B FSITXA_CLK
GPIO79 EPWM8_B EPWM3_B MCANA_RX EPWM2_A I2CA_SDA PMBUSA_SCL
GPIO80 EPWM1_A OUTPUTXBAR7 SCIA_RX I2CB_SDA SPIA_PTE FSITXA_D0 MCANA_RX CLB_OUTPUTXBAR8 EQEP1_INDEX EPWM3_A
GPIO81 EPWM1_B OUTPUTXBAR6 SCIC_RX SPIB_CLK I2CB_SCL FSITXA_D1 MCANA_TX EQEP3_INDEX
GPIO211 EPWM10_A EQEP3_A
GPIO212 EPWM10_B EQEP3_B
GPIO213 EPWM11_A EQEP3_STROBE
GPIO214 EPWM11_B EQEP3_INDEX
GPIO215 EPWM7_B EQEP2_A
GPIO224 EPWM11_B OUTPUTXBAR3 SPIA_PICO EPWM1_A MCANA_TX EQEP1_A ADCE_EXTMUXSEL3 SCIC_TX
GPIO226 EPWM10_B LINA_RX EPWM6_A SPIA_CLK EPWM1_B EQEP1_STROBE ADCE_EXTMUXSEL1 SCIC_RX
GPIO227 I2CB_SCL EPWM3_A OUTPUTXBAR1 EPWM2_B
GPIO228 EPWM10_A ADCSOCAO MCANA_TX SPIA_POCI EPWM2_B EQEP1_B ADCE_EXTMUXSEL0
GPIO230 I2CB_SDA EPWM3_B MCANA_RX EPWM2_A I2CA_SDA PMBUSA_SCL
GPIO236 EPWM7_A EQEP1_INDEX EPWM12_A
GPIO242 EPWM11_A OUTPUTXBAR2 SPIA_PTE EPWM4_A MCANA_RX EQEP1_INDEX ADCE_EXTMUXSEL2
GPIO247 EPWM12_B
GPIO253 EPWM12_A
AIO208
AIO209
AIO210
AIO225
AIO229
AIO231
AIO232
AIO233
AIO234
AIO235
AIO237
AIO238
AIO239
AIO240
AIO241
AIO244
AIO245
AIO248
AIO249
AIO251
AIO252