This 33991 is a single packaged, Serial Peripheral Interface (SPI)
controlled, dual stepper motor gauge driver Integrated Circuit (IC).
This monolithic IC consists of four dual output H-Bridge coil drivers
and the associated control logic. Each pair of H-Bridge drivers is used
to automatically control the speed, direction and magnitude of current
through the two coils of a two-phase instrumentation stepper motor,
similar to an MMT licensed AFIC 6405.
This device is ideal for use in automotive instrumentation systems
requiring distributed and flexible stepper motor gauge driving. The
device also eases the transition to stepper motors from air core
motors by emulating the air core pointer movement with little
additional processor bandwidth utilization.
The device has many attractive features including:
Features
• MMT-Licensed Two-Phase Stepper Motor Compatible
• Minimal Processor Overhead Required
• Fully Integrated Pointer Movement and Position State Machine
with Air Core Movement Emulation
• 4096 Possible Steady State Pointer Positions
• 340° Maximum Pointer Sweep
• Linear 4500° 2
• Maximum Pointer Velocity of 400°
• Analog Microstepping (12 Steps/Degree of Pointer Movement)
• Pointer Calibration and Return to Zero
• SPI Controlled 16-Bit Word
• Calibratable Internal Clock
• Low Sleep Mode Current
• Pb-Free Packaging Designated by Suffix Code EG
Document Number: MC33991
Rev. 2.0, 11/2006
33991
GAUGE DRIVER INTEGRATED CIRCUIT
DW SUFFIX
EG SUFFIX (PB-FREE)
98ASB42344B
24-PIN SOICW
ORDERING INFORMATION
Device
MC33991DW/R2
MCZ33991EG/R2
Temperature
Range (T
-40 to 125°CSOICW
)
A
Package
V
PWR
5.0 V
Regulator
MCU
VPWR
VDD
RT
RS
CS
SCLK
SI
SO
33991
SIN1+
SIN1-
COS1+
COS1-
SIN2+
SIN2-
COS2+
COS2-
GND
Motor 1
Motor 2
Figure 1. 33991 Simplified Application Diagram
Freescale Semiconductor, Inc. reserves the right to change the detail specifications,
as may be required, to permit improvements in the design of its products.
H-Bridge Output. This is the output pin of a half bridge, designed to source or sink current. The H-Bridge
pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant
operation.
H-Bridge Output. This is the output pin of a half bridge, designed to source or sink current. The H-Bridge
pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant
operation.
H-Bridge Output. This is the output pin of a half bridge, designed to source or sink current. The H-Bridge
pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant
operation.
H-Bridge Output. This is the output pin of a half bridge, designed to source or sink current. The H-Bridge
pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant
operation.
Ground. These pins serve as the ground for the source of the low-side output transistors as well as the
logic portion of the device. They also help dissipate heat from the device.
Chip Select. This pin is connected to a chip select output of a LSI IC. This IC controls which device is
addressed by pulling the CS pin of the desire device low, enabling the SPI communication with the device,
while other devices on the serial link keep their serial outputs tri-stated. This input has an internal active
pull-up, requiring CMOS logic levels. This pin is also used to calibrate the internal clock.
Serial Clock. This pin is connected to the SCLK pin of the master device and acts as a bit clock for the
SPI port. It transitions on time per bit transferred at an operating frequency, fSPI, defined in the Coil Output
Timing Table. It is idle between command transfers. The pin is 50 percent duty cycle, with CMOS logic
levels. This signal is used to shift data to and from the device.
Serial Output. This pin is connected to the SPI Serial Data Input pin of the master device, or to the SI pin
of the next device in a daisy chain. This output will remain tri-stated unless the device is selected by a low
CS signal. The output signal generated will have CMOS logic levels and the output will transition on the
rising edges of SCLK. The serial output data provides status feedback and fault information for each output
and is returned MSB first when the device is addressed.
Serial Input. This pin is connected to the SPI Serial Data Output pin of the master device from which it
receives output command data. This input has an internal active pull down requiring CMOS logic levels.
The serial data transmitted on this line is a 16-bit control command sent MSB first, controlling the gauge
functions. The master ensures data is available on the falling edge of SCLK.
Multiplexed Output. This multiplexed output pin of the non-driven coil during an RTZ event.
Voltage. This SPI and logic power supply input will work with 5.0 V supplies.
33991
Analog Integrated Circuit Device Data
Freescale Semiconductor3
PIN CONNECTIONS
Table 1. 33991 Pin Definitions (continued)
Pin NumberPin NameDefinitions
15RST
16VPWR
17 - 20GND
21SIN1-
22SIN1+
23COS1-
24COS1+
Reset. If the master decides to reset the device, or place it into a sleep state, the RST pin is driven to a
logic 0. A logic 0 on the RST pin will force all internal logic to the known default state. This input has an
internal active pull-up.
Battery Voltage. Power supply.
Ground. These pins serve as the ground for the source of the low-side output transistors as well as the
logic portion of the device. They also help dissipate heat from the device.
H-Bridge Output. This is the output pin of a half bridge, designed to source or sink current. The H-Bridge
pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant
operation.
H-Bridge Output. This is the output pin of a half bridge, designed to source or sink current. The H-Bridge
pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant
operation.
H-Bridge Output. This is the output pin of a half bridge, designed to source or sink current. The H-Bridge
pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant
operation.
H-Bridge Output. This is the output pin of a half bridge, designed to source or sink current. The H-Bridge
pins linearly drive the sine and cosine coils of two separate stepper motors to provide four-quadrant
operation.
33991
Analog Integrated Circuit Device Data
4Freescale Semiconductor
ELECTRICAL CHARACTERISTICS
MAXIMUM RATINGS
ELECTRICAL CHARACTERISTICS
MAXIMUM RATINGS
Table 2. 33991 Maximum Ratings
(All voltages are with respect to ground unless otherwise noted)
RatingSymbolValueLimit
Power Supply Voltage
Steady State
Input Pin Voltage
SIN+/- COS +/- Continuous Per Output Current
(1)
(2)
Storage Temperature
Operating Junction Temperature
Thermal Resistance (C/W)Ambient
Junction to Lead
ESD Voltage
(3)
Human Body Model
Machine Model
Peak Package Reflow Temperature During Reflow
(4), (5)
V
PWR(SUS)
V
IN
I
OUTMAX
T
STG
T
JUNC
θ
JA
θ
JL
V
ESD1
V
ESD2
T
PPRT
-0.3 to 41
-0.3 to 7.0V
40mA
-55 to 150°C
-40 to 150°C
60
20
±2000
±200
Note 5
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 temperature is not exceeded. Operation at 125°C ambient temperature
will require maximum output current computation using package thermal resistances
3. VESD1 testing is performed in accordance with the Human Body Model (Czap = 100pF, Rzap = 1500 Ω), All pins are capable of Human
Body Model RSP voltages of ±2000 V with one exception. The SO pin is capable of ± 1900 V, VESD2 testing is performed in accordance
with the Machine Model (Czap = 200pF, Rzap = 0 Ω)
4. Pin soldering temperature limit is for 10 seconds maximum duration. Not designed for immersion soldering. Exceeding these limits may
cause malfunction or permanent damage to the device.
5. Freescale’s Package Reflow capability meets Pb-free requirements for JEDEC standard J-STD-020C. For Peak Package Reflow
Temperature and Moisture Sensitivity Levels (MSL),
Go to www.freescale.com, search by part number [e.g. remove prefixes/suffixes and enter the cor e ID to view all orderable parts. (i.e.
MC33xxxD enter 33xxx), and review parametrics.
V
°C/W
°C/W
V
V
°C
33991
Analog Integrated Circuit Device Data
Freescale Semiconductor5
ELECTRICAL CHARACTERISTICS
STATIC ELECTRICAL CHARACTERISTICS
STATIC ELECTRICAL CHARACTERISTICS
Table 3. Static Electrical Characteristics
(Characteristics noted under conditions 4.75 V < VDD < 5.25 V, -40°C < TJ < 150°C, unless otherwise noted)
Input Logic High Voltage
Input Logic Low Voltage
Input Logic Voltage Hysteresis
Input Logic Pull Down Current (SI, SCLK)
Input Logic Pull-Up Current (CS, RST)
SO High State Output Voltage (IOH = 1.0 mA)
SO Low State Output Voltage (IOL = -1.6 mA)
SO Tri-State Leakage Current (CS ≥ 3.5 V)
Input Capacitance
SO Tri-State Capacitance
Notes
9. VDD = 5 V
10. Not Production Tested. This parameter is guaranteed by design, but it is not production tested.
11. Capacitance not measured. This parameter is guaranteed by design, but it is not production tested.
Recommended Frequency of SPI Operation
Falling edge of CS to Rising Edge of SCLK (Required Setup Time)
Falling edge of SCLK to Rising Edge of CS (Required Setup Time)
SI to Falling Edge of SCLK (Required Setup Time)
Falling Edge of SCLK to SI (Required Hold Time)
SO Rise Time (CL=200pF)
SO Fall Time (CL=200pF)
SI, CS, SCLK, Incoming Signal Rise Time
SI, CS, SCLK, Incoming Signal Fall Time
Falling Edge of RST to Rising Edge of RST (Required Setup Time)
14. Rising Edge of CS to Falling Edge of CS (Required Setup
(15) (20)
Time)
Rising Edge of RST to Falling Edge of CS (Required Setup Time)
Time from Falling Edge of CS to SO Low Impedance
Time from Rising Edge of CS to SO High Impedance
Time from Rising Edge of SCLK to SO Data Valid
0.2 V
< = SO> = 0.8 VDD, CL = 200 pF
DD
Notes
15. The maximum setup time that is specified for the 33991 is the minimum time needed from the micro controller to guarantee correct
operation.
16. Rise and Fall time of incoming SI, CS, and SCLK signals suggested for design consideration to prevent the occurrence of double pulsing.
17. Time required for output status data to be available for use at SO. 1 K Ohm load on SO
18. Time required for output status data to be terminated at SO. 1 K Ohm load on SO.
19. Time required to obtain valid data out from SO following the rise of SCLK.
20. This value is for a 1 MHz calibrated internal clock; it will change proportionally as the internal clock frequency changes.
The device shall meet all SPI interface-timing requirements specified in the SPI Interface Timing, over the temperature range
specified in the environmental requirements section. Digital Interface timing is based on a symmetrical 50% duty cycle SCLK
Clock Period of 333 ns. The device shall be fully functional for slower clock speeds.
33991
Analog Integrated Circuit Device Data
10Freescale Semiconductor
RSTB
RST
CS
CSB
SCLK
SCLK
SI
SI
TwRSTB
0.7VDD
Don’t Care
0.2 VDD
0.7VDD
0.2VDD
TENBL
Tlead
0.7 VDD
0.2VDD
TIMING DIAGRAMS
TwSCLKh
TSIsu
Valid
TwSCLKl
ELECTRICAL CHARACTERISTICS
0.7VDD
TrSI
Tlag
TSI(hold)
Don’t CareDon’t Care
TfSI
Valid
TIMING DIAGRAMS
VIH
VIL
TCSB
VIH
VIL
VIH
VIL
VIH
VIL
SCLK
SO
Low-to-High
SO
High-to-Low
Figure 3. Input Timing Switching Characteristics
TrSI
3.5V
50%
TdlyLH
0.2 VDD
TrSO
Tvalid
TfSO
0.7 VDD
TdlyHL
TfSI
0.7 VDD
0.2VDD
1.0V
VOH
VOL
VOH
VOL
VOH
VOL
Figure 4. Valid Data Delay Time and Valid Time Waveforms
33991
Analog Integrated Circuit Device Data
Freescale Semiconductor11
33991 SPI INTERFACE AND PROTOCOL DESCRIPTION
INTRODUCTION
33991 SPI INTERFACE AND PROTOCOL DESCRIPTION
INTRODUCTION
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: (SI, SO, SCLK,
CS). The SI/SO pins of the 33991 follows a first in / first
and
DETAILED SIGNAL DESCRIPTIONS
CHIP SELECT (CS)
The Chip Select (CS) pin enables communication with the
master device. When this pin is in a logic [0] state, the 33991
is capable of transferring information to, and receiving
information from, the master. The 33991latches data in from
the Input Shift registers to the addressed registers on the
rising edge of
CS. The output driver on the SO pin is en abled
when CS is logic [0]. When CS is logic high, signals at the
SCLK and SI pins are ignored; the SO pin is tri-stated (high
impedance).
CS will only be transitioned from a logic [1] state
to a logic [0] state when SCLK is a logic [0]. CS has an
internal pull-up (lup) connected to the pin as specified in the
Control I/O Table.
SERIAL CLOCK (SCLK)
SCLK clocks the Internal Shift registers of the
33991device. The Serial Input (SI) pin accepts data into the
Input Shift register on the falling edge of the SCLK signal
while the Serial Output pin (SO) shifts data information out of
the SO Line Driver on the rising edge of the SCLK signal. It is
important the SCLK pin be in a logic [0] state whenever the
CS makes any transition. SCLK has an internal pull dow n
(Idwn), specified in the Control I/O Table. When CS is logic
out (D15 / D0) protocol with both input and output words
transferring the most significant bit first. All inputs are
compatible with 5.0 V CMOS logic levels.
[1], signals at the SCLK and SI pins are ignored; SO is tristated (high impedance). See the Data Transfer Timing
diagrams in Figures 2 and 3.
SERIAL INPUT (SI)
This pin is the input of the Serial Peripheral Interface (SPI).
Serial Input (SI) information is read on the falling edge of
SCLK. A 16-bit stream of serial data is required on the SI pin,
beginning with the most significant bit (MSB). Messages not
multiples of 16 bits (e.g. daisy chained device messages) are
ignored. After transmitting a 16-bit word, the
CS pin has to be
deasserted (logic [1]) before transmitting a new word. SI
information is ignored when CS is in a logic high state.
SERIAL OUTPUT (SO)
The Serial Output (SO) data pin is a tri-stateable output
from the Shift register. The Status register bits will be 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 of 16-bit multiples. Data is
shifted on the rising edge of the SCLK signal. The SO pin will
remain in a high impedance state until the
a logic low state.
CS pin is put into
FUNCTIONAL DESCRIPTION
This section provides a description of the 33991 SPI
behavior. To follow the explanations below, please refer to
the timing
Table 4. Data Transfer Timing
PinDescription
CS (1-to-0)
CS (0-to-1)
SO
SI
33991
SO pin is enabled
33991 configuration and desired output states are transferred and executed according to the data in
the Shift registers.
Will change state on the rising edge of the SCLK pin signal.
Will accept data on the falling edge of the SCLK pin signal
12Freescale Semiconductor
diagrams shown in Figures 4 and 5.
Analog Integrated Circuit Device Data
CS
SCLK
SI
TIMING DESCRIPTIONS AND DIAGRAMS
CSB
SCLK
SI
D15D1D2D3D4D5D6D7D8D9D14D13 D12 D11 D10
TIMING DESCRIPTIONS AND DIAGRAMS
COMMUNICATION MEMORY MAPS
Inter na l re g iste rs a re
loade d s om e tim e
after this e dg e
D0
SO
SO
Output shift register is
loaded here
1. SO is tri-stated when CSBis logic 1.NOTES:
OD12
OD13OD14OD15OD6OD7OD8OD9OD10OD11OD1OD2OD3OD4OD5
CS is logic 1.
Figure 5. Single 16-Bit Word SPI Communication
CSB
CS
SCLK
SCLK
SI
SI
SO
D15D1*D2*D13*D14*D15*D0D1D14D13D2D0*
SO
1. SO is tri-stated when CSB islogic 1.
:
NOTES
2. D 1 5 , D 1 4 , D 1 3, ..., a nd D 0 re fe r to th e first 1 6 bits o f d a ta in to th e GDIC.
3. D 1 5 *, D 1 4 *, D 1 3 *, ... , an d D 0 * re fe r to th e m os t re c en t e n try o f p ro gra m d a ta in to the GDIC.
4. O D 1 5 , O D 1 4 , O D 1 3 , ..., an d O D 0 refe r to th e first 1 6 b its of fa u lt an d sta tu s d a ta o ut o f the GDIC.
OD13OD14OD15D14D15OD0OD1OD2D1D2D13
CS
is logic 1.
Figure 6. Multiple 16-Bit Word SPI Communication
DATA INPUT
The input Shift register captures data at the falling edge of
the SCLK clock. The SCLK clock pulses exactly 16 times only
inside the transmission windows (CS in a logic [0] state). By
the time the
the Input Shift register are transferred to the appropriate
internal register, according to the address contained in bits
15-13. The minimum time
on the internal clock speed. That data is specified in the SPI Interface Timing Table. It must be long enough so the internal
CS signal goes to logic [1] again, the contents of
CS should be kept high depends
OD0
D0
33991.
33991.
33991.
clock is able to capture the data from the input Shift register
and transfer it to the internal registers.
DATA OUTPUT
At the first rising edge of the SCLK clock, with the CS at
logic [0], the contents of the Status Word register are
transferred to the Output Shift register. The first 16 bits
clocked out are the status bits. If data continues to clock in
before the
the data previously clocked in FIFO after the
transitioned to logic [0].
CS transitions to a logic [1], the device to shift out
CS first
COMMUNICATION MEMORY MAPS
The 33991device is capable of interfacing directly with a
micro controller, via the 16-bit SPI protocol described and
specified below. The device is controlled by the
microprocessor and reports back status information via the
SPI. This section provides a detailed description of all
registers accessible via serial interface. The various registers
control the behavior of this device.
A message is transmitted by the master beginning with the
MSB (D15) and ending with the LSB (D0). Multiple
messages can be transmitted in succession to accommodate
Analog Integrated Circuit Device Data
Freescale Semiconductor13
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, illustrated in Figure 5. If an attempt is made to latch
in a message smaller than 16 bits wide, it is ignored.
The 33991 uses six registers to configure the device and
control the state of the four H-bridge outputs. The registers
are addressed via D15-D13 of the incoming SPI word, in
Table 2.
33991
TIMING DESCRIPTIONS AND DIAGRAMS
COMMUNICATION MEMORY MAPS
MODULE MEMORY MAP
Various registers of the 33991 SPI module are addressed
by the three MSB of the 16-bit word received serially.
Functions to be controlled include:
• Individual gauge drive enabling
• Power-up/down
• Internal clock calibration
• Gauge pointer position and velocity
• Gauge pointer zeroing
Status reporting includes:
• Individual gauge over temperature condition
• Battery out of range condition
• Internal clock status
• Confirmation of coil output changes should result in pointer
movement
Table 2 provides the register available to control the above functions.
Table 5. Module Memory Map
Address [15:13]UseName
000Power, Enable, and Calibration
Register
001Maximum Velocity RegisterVELR
010Gauge 0 Position RegisterPOS0R
011Gauge 1 Position RegisterPOS1R
100Return to 0 RegisterRTZR
101Return to 0 Confirmation RegisterRTZCR
110Not Used
111Reserved for Test
PECR
REGISTER DESCRIPTIONS
Power, Enable, and Calibration Register (PECR)
This register allows the master to independently enable or
disable the output drivers of the two gauge controllers.
SI address 000 (Power, Enable, & Calibration Register is
illustrated in Figure 3. A write to the 33991 using this register
allows the master to independently enable or disable the
output drivers of the two gauge controllers as well as to
calibrate the internal clock, or send a null command for the
purpose of reading the status bits. This register is also used
to place the 33991 into a low current consumption mode.
Each of the gauge drivers can be enabled by writing a logic
[1] to their assigned address bits, D0 and D1 respectively.
This feature could be useful to disable a driver if it is failing or
not being used. The device can be placed into a standby
current mode by writing a logic[0] to both D0 and D1. During
this state, most current consuming circuits are biased off.
When in the Standby mode, the internal clock will remain ON.
The internal state machine utilizes a ROM table of step
times defining the duration the motor will spend at each
microstep as it accelerates or decelerates to a commanded
position. The accuracy of the acceleration and velocity of the
motor is directly related to the accuracy of the internal clock.
Although the accuracy of the internal clock is temperature
independent, the non-calibrated tolerance is +70 to -35
percent. The 33991 was designed with a feature allowing
the internal clock to be software calibrated to a tighter
tolerance of ±10 percent, using the
CS pin and a reference
time pulse provided by the micro controller.
Calibration of the internal clock is initiated by writing a logic
[1] to D3. The calibration pulse must be 8 µs for an internal
clock speed of 1MHz, 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 pointers are not moving, as indicated by
status bits ST4 and ST5.
Some applications may require a guaranteed maximum
pointer velocity and acceleration. Guaranteeing these
maximums requires the nominal internal clock frequency fall
below 1MHz. The frequency range of the calibrated clock will
always be below 1MHz if bit D4 is logic [0] when initiating a
calibration command, followed by an 8µs reference pulse.
The frequency will be centered at 1MHz if bit D4 is logic [1].
Some applications may require a slower calibrated clock
due to a lower motor gear reduction ratio. Writing a logic [1]
to bit D2 will slow the internal oscillator by one-third, leading
to a situation where it is possible to calibrate at maximum 667
kHz or centered at 667 kHz. In these cases, it may be
necessary to provide a longer calibration pulse of exactly 12
µs, without any indication of a calibration fault at status bit
ST7, as should be the case for 1 MHz if D2 is left logic [0].
If bit D12 is logic [1] during a PECR command, the state of
D11: D0 will be ignored; this is referenced as the null
command and can be used to read device status without
affecting device operation.
Table 6. Power, Enable and Calibration Register (PECR)
Address: 000
D12D11D10D9D8D7D6D5D4D3D2D1D0
WritePE120000000PE4PE3PE2PE1PE0
These bits are write-only.
PE12—Null Command for Status Read
• 0 = Disable
• 1 = Enable
33991
PE11: PE5 These bits must be transmitted as logic [0] for
valid PECR commands.
PE4—Clock Calibration Frequency Selector
• 0 = Maximum f=1MHz (for 8us calibration pulse)
Analog Integrated Circuit Device Data
14Freescale Semiconductor
TIMING DESCRIPTIONS AND DIAGRAMS
COMMUNICATION MEMORY MAPS
• 1 = Nominal f=1MHz (for 8us calibration pulse)
•1 = Enable
PE3—Clock Calibration Enable—This bit enables or
disables the clock calibration.
• 0 = Disable
• 1 = Enable
PE2—Oscillator Adjustment
•0 = T
• 1 = 0.66 x T
OSC
OSC
PE1— Gauge 1 Enable—This bit enables or disables the
output driver of Gauge 1.
• 0 = Disable
• 1 = Enable
MAXIMUM VELOCITY REGISTER (VELR)
SI Address 001—Gauge Maximum Velocity Register is
used to set a maximum velocity for each gauge. See Table 4.
Bits D7: D0 contain a position value from 1–255
representative of the table position value. The table value
becomes the maximum velocity until it is changed to another
value. If a maximum value is chosen greater than the
maximum velocity in the acceleration table, the maximum
table value will become the maximum velocity. If the motor is
turning at a value greater than the new maximum, the motor
will ignore the new value until the speed falls equal to, or
below it. Velocity for each motor can be changed
PE0 —Gauge 0 Enable—This bit enables or disables the
output driver of Gauge 0.
simultaneously, or independently, by writing D8 and/or D9 to
a logic [1]. Bits D10: D12 must be at logic [0] for valid VELR
commands.
• 0 = Disable
Table 7. Maximum Velocity Register (VELR)
Address: 001
D12D11D10D9D8D7D6D5D4D3D2D1D0
Write000V9V8V7V6V5V4V3V2V1V0
These bits are write-only.
V12—V10 These bits must be transmitted as logic 0 for
valid VELR commands
Velocities can range from position 1 (00000001) to
position 255 (11111111).
V9—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 — 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 Maximum Velocity—Specifies the maximum
velocity position from the acceleration table. This velocity will
remain the maximum of the intended gauge until changed by
GAUGE 0/1 POSITION REGISTER (POS0R, POS1R)
• SI Addresses 010—Gauge 0 Position Register receives
writing when communicating the desired pointer positions.
• SI Address 011—Gauge 1 Position Register receives
writing when communicating the desired pointer positions.
• Register bits D11: D0 receives writing when
communicating the desired pointer positions.
Commanded positions can range from 0 to 4095. The D12
bit must be at logic [0] for valid POS0R and POS1R
commands.
command.
Table 8. Gauge 0 Position Register (POS0R)
Address: 010
D12D11D10D9D8D7D6D5D4D3D2D1D0
Write0P011P010P09P08P07P06P05P04P03P02P01P00
These bits are write-only.
P0 12—This bit must be transmitted as logic[0] for valid
commands.
P0 11: P00—Desired pointer position of Gauge 0.
Pointer positions can range from 0 (000000000000) to
position 4095 (111111111111). For a stepper motor requiring
12 microsteps per degree of pointer movement, the
maximum pointer sweep is 341.25°.
Table 9. Gauge 1 Position Register (POS1R)
Address: 011
D12D11D10D9D8D7D6D5D4D3D2D1D0
Write
0P011P010P09P08P07P06P05P04P03P02P01P00
33991
Analog Integrated Circuit Device Data
Freescale Semiconductor15
TIMING DESCRIPTIONS AND DIAGRAMS
COMMUNICATION MEMORY MAPS
These bits are write-only.
P0 12—This bit must be transmitted as logic[0] for valid
commands.
P0 11: P00—Desired pointer position of Gauge 1.
Pointer positions can range from 0 (000000000000) to
position 4095 (111111111111). For a stepper motor requiring
12 microsteps per degree of pointer movement, the
maximum pointer sweep is 341.25°.
Gauge Return to Zero Register (RTZR)
SI Address 100—Gauge Return to Zero Register (RTZR),
provided in Table 7, is written to return the gauge pointers to
the zero position. During an RTZ event, the pointer is
returned to zero using full steps where only one coil is driven
at any point in time. The back ElectroMotive Force (EMF)
signal present on the non-driven coil is integrated; its results
are stored in an accumulator. Contents of this register’s 15bit RTZ accumulator can be read eight bits at a time.
A logic [1] written to bit D1 enables a Return to Zero for
Gauge 0 if D0 is logic [0], and Gauge 1 if D0 is 1, respectively.
Similarly, a logic [0] written to bit D1 disables a Return to Zero
for Gauge 0 when D0 is logic [0], and Gauge 1 when D0 is 1,
respectively.
Bits D3 and D2 are used to determine which eight bits of
the 15-bit RTZ accumulator are clocked out of the SO register
as the 8 MSBs of the SO word. See Table 12. This feature
provides the flexibility to look at 15 bits of content with eight
bits of the SO word. This 8-bit window can be dynamically
changed while in the RTZ mode.
A logic [00], written to bits D3:D2, results in the RTZ
accumulator bits 7:0, clocked out as SO bits D15:D8
respectively. Similarly, a logic [01] results in RTZ counter bits
11:4 clocked out and logic [10] delivers counter bits 14:8 as
SO bits D14:D8 respectively. A logic [11] clocks out the
same information as logic [10]. This feature allows the master
to monitor the RTZ information regardless the size of the
signal. Further, this feature is very useful during the
determination of the accumulator offset to be loaded in for a
motor and pointer combination. It should be noted, RTZ
accumulator contents will reflect the data from the previous
step. The first accumulator results to be read back during the
first step will be 1111111111111111.
Bits D12:D5 must be at logic [0] for valid RTZR
commands.
Bit D4 is used to enable an unconditional RTZ event. A
logic [0] results in a typical RTZ event automatically stopping
when a stall condition is detected. A logic [1] results in RTZ
movement, stopping only if a logic [0] is written to bit D0. This
feature is useful during development and characterization of
RTZ requirements.
The register bits in Table 7 are write-only.
Table 10. Return to Zero Register (RTZR)
Address: 100
D12D11D10D9D8D7D6D5D4D3D2D1D0
Write00000000RZ4RZ3RZ2RZ1RZ0
Table 11. RTZ Accumulator Bit Select
D3D2
00[7:0]
01[11:4]
10[14:8]
11[14:8]
RTZ Accumulator Bits To SO Bits
ST15:ST8
RZ12:RZ5— These bits must be transmitted as logic [0] for
valid commands.
RZ4—This bit is used to enable an unconditional RTZ
event.
• 0 = Automatic Return to Zero
• 1 = Unconditional Return to Zero
RZ3:RZ2— These bits are used to determine which eight
bits of the RTZ accumulator will be clocked out via the SO pin.
See Table 8.
RZ1—Return to Zero commands the selected gauge to
return the pointer to zero position.
• 0 = Return to Zero Disabled
• 1 = Return to Zero Enabled
RZ0—Gauge Select: Gauge 0/Gauge 1selects the gauge
to be commanded.
• 0 = Selects Gauge 0
• 1 = Selects Gauge 1
GAUGE RETURN TO ZERO CONFIGURATION
REGISTER
SI Address 101—Gauge Return to Zero Configuration
Register (RTZCR) is used to configure the Return to Zero
Event. See Table 9. It is written to modify the step time, or
rate; the pointer moves during an RTZ event. Also, the
integration blanking time is adjustable with this command.
Integration blanking time is the time immediately following the
transition of a coil from a driven state to an open state in the
RTZ mode. Finally, this command is used to adjust the
threshold of the RTZ integration register.
The values used for this register will be chosen during
development to optimize the RTZ for each application.
Various resonance frequencies can occur due to the
interaction between the motor and the pointer. This
command permits moving the RTZ pointer speed away from
these frequencies.
Bits D3: D0 determine the time spent at each full step
during an RTZ event. The step time associated with each bit
33991
Analog Integrated Circuit Device Data
16Freescale Semiconductor
TIMING DESCRIPTIONS AND DIAGRAMS
COMMUNICATION MEMORY MAPS
combination is illustrated in Table 10. The default full step
time is 21.25 ms (0101). If there are two full steps per degree
of pointer movement, the pointer speed is: 1/(FS×2)°.
Bit D4 determines the provided blanking time immediately
following a full step change, and before enabling the
integration of the non-driven coil signal. The blanking time is
either 512 µs, when D4 is logic [0], or 768 µs when D4 is logic
[1].
Detecting pointer movement is accomplished by
integrating the back EMF present in the non-driven coil during
the RTZ event. The integration circuitry is implemented using
a Sigma-Delta converter resulting in a representative value in
the 15-bit RTZ accumulator at the end of each full step. The
value in the RTZ accumulator represents the change in flux
and is compared to a threshold. Values above the threshold
indicate a pointer is moving. Values below the threshold
indicate a stalled pointer, thereby resulting in the cessation of
the RTZ event.
The RTZ accumulator bits are signed and represented in
two’s complement. If the RTZR D3:D2 bits were written as 10
or 11, the ST14 bit corresponds to bit D14 of the RTZ
bit of 0 is the indicator of an accumulator exceeding the
decision threshold of 0, and the pointer is assumed to still be
moving. Similarly, if the sign bit is logic [1] after a full step of
integration, the accumulator value is negative and the pointer
is assumed to be stopped. The integrator and accumulator
are initialized after each full step.
Accurate pointer stall detection depends on a correctly
preloaded accumulator for specific gauge, pointer, and full
step combinations. Bits D12:D5 are used to offset the initial
RTZ accumulator value, properly detecting a stalled motor.
The initial accumulator value at the start of a full step of
integration is negative. If the accumulator was correctly
preloaded, a free moving pointer will result in a positive value
at the end of the integration time. A stalled pointer results in
a negative value. The preloaded values associated with each
combination of bits D12:D5 are illustrated in Table 11. The
accumulator should be loaded with a negative value resulting
in a transition of the accumulator MSB to a logic [1] when the
motor is stalled. After a power-up, or any reset in the Default
mode, the 33991 device sets the accumulator value to -1,
resulting in an unconditional RTZ pointer movement.
accumulator, the sign bit. After a full step of integration, a sign
Table 12. RTZCR SI Register Assignment
Address: 101
D12D11D10D9D8D7D6D5D4D3D2D1D0
WriteRC12RC11RC10RC9RC8RC7RC6RC5RC4RC3RC2RC1RC0
These bits are write-only.
RC12:RC5— These bits determine the preloaded value
into the RTZ integration accumulator to adjust the detection
threshold.
Values range from -1 (00000000) to -4081 (11111111)
provided in Table 11.
RC4—This bit determines the RTZ blanking time.
• 0 = 512 µs
• 1 = 768 µs
RC3:RC0— These bits determine the full step time during
an RTZ event, determining the pointer moving rate. Step
times range from 4.86 ms (0000) to 62.21ms (1111). Those
are illustrated in Table 10. The default time is 21.25 ms
(0101).
When the CS pin is pulled low, the internal status word
register is loaded into the output register and the fault data is
clocked out MSB (OD15) first. Following a
1, the device determines if the message shift was of a valid
length and if so, latches the data into the appropriate
registers. A valid message length is one that is greater than
0 bits and a multiple of 16 bits. At this time, the SO pin is tristated and the Fault
CS transition 0 to
Status Register is now able to accept new fault status
information. If the message length was determined to be
invalid, the status information is not cleared. It is transmitted
again during the next SPI message.
Any bits clocked out of the SO pin after the first sixteen, is
representative of the initial message bits clocked into the SI
pin. That is due to the CS pin first transitioned to a logic [0].
This feature is useful for daisy chaining devices as well as
message verification.
ST15:ST8— These bits represent the eight bits from the
RTZ accumulator as determined by the status of bits RZ2 and
RZ3 of the RTZR, defined in Table 8. These bits represent
the integrated signal present on the non-driven coil during an
RTZ event. These bits will be logic[0] after power-on reset, or
after the
RST pin transitions from logic [0] to [1]. After an RTZ
event, they will represent the last RTZ accumulator result
before the RTZ was stopped.
ST7—Calibrated clock out of Spec—A logic [1] on this bit
indicates the clock count calibrated to a value outside of the
expected range and given the tolerance specified by T
CLC
in
the SPI Interface Timing Table.
• 0 = Clock with in Specification
• 1 = Clock out of Specification
ST6—Under voltage or over voltage Indication— A logic
[1] on this bit indicates the V
the V
, or it exceeded an upper limit of V
PWRUV
voltage fell to a level below
PWR
PWROV
, as
specified in the Static Electrical Characteristics Table, since
the last SPI communication. An under voltage event is just
flagged, while an over voltage 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 a RTZ command after the voltage
returns to a normal level. For an over voltage event, both
gauges must be re-enabled as soon as this flag returns to
logic [0]. The state machine continues to operate properly as
long as V
is within normal range.
DD
• 0 = Normal range
• 1 = Battery voltage fell below V
V
PWROV
PWRUV
, or exceeded
ST5—Gauge 1—Movement since last SPI
communication. A logic [1] on this bit indicates that the Gauge
1 pointer position has changed since the last SPI command.
This allows the master to confirm the pointer is moving as
commanded.
33991
Analog Integrated Circuit Device Data
18Freescale Semiconductor
TIMING DESCRIPTIONS AND DIAGRAMS
DEVICE FUNCTIONAL DESCRIPTION
• 0 = Gauge 1 position has not changed since the last SPI
command
• 1 = Gauge 1 pointer position has changed since the last
SPI command
ST4–Gauge 0— Movement since last SPI communication.
A logic [1] on this bit indicates the Gauge 0 pointer position
has changed since the last SPI command. The master
confirms that the pointer is moving as commanded.
• 0 = Gauge 0 position has not changed since the last SPI
command
• 1 = Gauge 0 pointer position has changed since the last
SPI command
ST3–RTZ1—Enabled successful or disabled. A logic [1]
on this bit indicates Gauge 1 is in the process of returning to
the zero position as requested with the RTZ command. This
bit continues to indicate a logic [1] until the SPI message
following a detection of the zero position, or the RTZ feature
is commanded OFF using the RTZ message.
• 0 = Return to Zero disabled
• 1 = Return to Zero enabled successful
ST2–RTZ0—Enabled successful or disabled. A logic [1]
on this bit indicates Gauge 0 is in the process of returning to
the zero position as requested with the RTZ command. This
bit continues indicating a logic [1] until the SPI message
following a detection of the zero position, or the RTZ feature
is commanded OFF, using the RTZ message.
• 0 = Return to Zero disabled
• 1 = Return to Zero enabled successful
ST1–Gauge 1 Junction over temperature. A logic [1 ] on
this bit indicates coil drive circuitry dedicated to drive Gauge
1 exceeded the maximum allowable junction temperature
since the last SPI communication. Additionally, the same
indication signals the circuitry Gauge 1 is disabled. It is
recommended the pointer be re-calibrated using the RTZ
command after re-enabling the gauge using the PECR
command. This bit remains logic [1] until the gauge is
enabled.
• 0 = Temperature within range
• 1 = Gauge 1 maximum allowable junction temperature
condition has been reached
ST0–Gauge 0— Junction over temperature. A logic [1] on
this bit indicates coil drive circuitry dedicated to drive Gauge
0 exceeded the maximum allowable junction temperature
since the last SPI communication. Additionally, the same
indication signals the circuitry Gauge 0 is disabled. It is
recommended the pointer be re-calibrated using the RTZ
command after re-enabling the gauge, using the PECR
command. This bit remains logic [1] until the gauge is reenabled.
• 0 = Temperature within range
• 1 = Gauge 0 maximum allowable junction temperature
condition has been reached
DEVICE FUNCTIONAL DESCRIPTION
STATE MACHINE OPERATION
The two-phase stepper motor is defined as maximum
velocity and acceleration, and deceleration. It is the purpose
of the stepper motor state machine is to drive the motor with
maximum performance, while remaining within the motor’s
velocity and acceleration constraints.
When commanded, the motor should accelerate
constantly to the maximum velocity, then decelerate and stop
at the desired position. During the deceleration phase, the
motor should not exceed the maximum decelera tion. A
required function of the state machine is to ensure the
deceleration phase begins at the correct time, or position.
During normal operation, both stepper motor rotors are
microstepped with 24 steps per electrical revolution. See
Figure 6. A complete electrical revolution results in two
degrees of pointer movement. There is a second and smaller
state machine in the IC controlling these microsteps. This
state machine receives clockwise or counter-clockwise index
commands at intervals, stepping the motor in the appropriate
direction by adjusting the current in each coil. Normalized
values provided in Table 13.
33991
Analog Integrated Circuit Device Data
Freescale Semiconductor19
The motor is stepped by providing index commands at
intervals. The time between steps defines the motor velocity,
asuv222+=
and the changing time defines the motor acceleration.
The state machine uses a table defining the allowed time
steps, including the maximum velocity. A useful side effect of
and
atuv+=
the table is, it also allows the direct determination of the
position the velocity should reduce to allow the motor to stop
at the desired position.
The motor equations of motion are generated as follows:
and solving for v in terms of u, s and t gives:
2
v−=
u
t
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
2
1
atuts+=
2
For unit steps, the time between steps is:
2
++−
auu
=⇒
t
2
a
This defines the time increment between steps when the
motor is initially travelling at a velocity µ. In the ROM, this time
is quantized to multiples of the system clock by rounding
upwards, ensuring acceleration never exceeds the allowed
value. The actual velocity and acceleration is calculated from
the time step actually used.
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
p
⎡
⎢
t
=∆
n
⎢
⎢
2
++−
11
−−
nn
a
t at an index position n.
0
0
⎤
0
==v
avv
2
0
⎥
⎥
⎥
, whereindicates
⎡⎤
rounding up.
Using
33991
Analog Integrated Circuit Device Data
Freescale Semiconductor21
TIMING DESCRIPTIONS AND DIAGRAMS
DEVICE FUNCTIONAL DESCRIPTION
=
v
n
−
v
12−
∆
n
t
n
• Send index pulses to the motor at an ever-increasing rate,
according to the time steps in Table 13 until:
• The maximum velocity is reached; at this point
Note: Pn = n
This means: on the nth step, the motor indexed by n
positions and is 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:
• While the motor is stopped, wait until a command is
received.
or:
An example of the table for a particular motor is provided
in Table 14. This motor’s maximum speed is 4800
microsteps/s (at 12 microsteps/degrees), and its maximum
acceleration is 54000 microsteps/s
the time intervals stop decreasing
• The distance remaining to travel is less than the
current index in the table. At this point, the
stopping distance is equal to the remaining
distance, ensuring it will stop at the required
position, the motor must begin decelerating.
Timing related functions on the 33991 (e.g., pointer
velocities, acceleration and Return To Zero Pointer speeds)
depend upon a precise, consistent time reference to control
the pointer accurately and reliably. Generating accurate time
references on an Integrated Circuit can be accomplished;
however, they tend to be costly due to the large amount of die
area required for trim pads and the associated trim
procedure. One possibility to reduce cost is an externally
generated clock signal. Another inexpensive approach would
require the use of an additional crystal or resonator.
The internal clock in the 33991 is temperature
independent and area efficient; however, it can vary by as
much as +70 to - 35 percent due to process variation. Using
the existing SPI inputs and the precision timing reference
already available to the controller, the 33991 allows clock
calibration to within ±10 percent.
Calibrating the internal 1MHz clock will be initiated by
writing a logic [1] to PECR bit D3. See Figure 7. The 8 µs
calibration pulse is provided by the controller. It ideally results
D15
SI
SCLK
CS
CSB
PECR Command
in an internal 33991 clock speed of 1MHz. The pulse is sent
on the CS pin immediately after the SPI word is launched. No
other SPI lines must be toggled. At the moment the CS pin
transitions from logic [1] to [0], an internal 7-bit counter counts
the number of cycles of an internal, non-calibrated, and
temperature independent, 8 MHz clock. The counter stops
when the
CS pin transitions from logic [0] to logic [1]. The
value in the counter represents the number of cycles of the 8
MHz clock occurring in the 8 µs window; it should range from
32 to 119. An offset is added to this number to help center,
or skew the calibrated result to generate a desired maximum
or nominal frequency. The modified counter value is
truncated by four bits to generate the calibration divisor,
ranging from four to 15. The 8 MHz clock is divided by the
calibration divisor, resulting in a calibrated 1 MHz clock. If the
calibration divisor lies outside the range of four to 15, the
33991 flags the ST7 bit, indicating the calibration procedure
was not successful. A clock calibration is allowed only if the
gauges are disabled or the pointers are not moving, indicated
by status bits ST4 and ST5.
D0
8us Calibration Pulse
Figure 8. Gauge Enable and Clock Calibration Example
Some applications may require a guaranteed maximum
pointer velocity and acceleration. Guaranteeing these
maximums requires nominal internal clock frequency falls
below 1 MHz. The frequency range of the calibrated clock is
always below 1MHz if PECR bit D4 is logic [0] when initiating
a calibration command, followed by an 8 µs reference pulse.
The frequency will be centered at 1 MHz if bit D4 is logic [1].
The 33991 can be deceived into calibrating faster or
pulse longer or shorter than the intended 8 µs. As long as the
count remains between four and 15, there will be no clock
calibration flag. For applications requiring a slower calibrated
clock, i.e., a motor designed with a gear ratio of 120:1 (8
microsteps/degrees), a longer calibration pulse is required.
The device allows a SPI selectable slowing of the internal
oscillator, using the PECR command, so the calibration
divisor safely falls within the four to 15 range when calibrating
slower than the optimal frequency by sending a calibration
33991
Analog Integrated Circuit Device Data
24Freescale Semiconductor
TIMING DESCRIPTIONS AND DIAGRAMS
DEVICE FUNCTIONAL DESCRIPTION
with a longer time reference. For example, for the
120:1motor, the pulse would be 12 µs instead
of 8 µs. The result of this slower calibration will result 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°/
microstep (180:1) to 0.125°/microstep (120:1). The pointer
sweep range increases from approximately 340° to over
500°.
Note: Be aware a fast calibration could result in violations
of the motor acceleration and velocity maximums, resulting in
missed steps.
24
24
23
22
21
20
VELOCITY
=
n
13
12
Accelerate
11
10
9
8
7
6
5
4
3
2
1
0
19
18
17
16
15
14
POINTER DECELERATION WAVESHAPING
Constant acceleration and deceleration of the pointer
results in choppy movements when compared to air core
movements. Air core behavior can be simulated with
appropriate wave- shaping during deceleration only. This
shaping can be accomplished by adding repetitive steps at
several of the last step values. An example is illustrated in
Figure 8.
23
22
21
20
19
18
17
16
15
14
13
HOLDCNT =
D
e
c
e
12
11
l
er
a
8
2
STEPS
te
7
6
5
3
4
3
3
3
4
2
6
10
9
2
1
0
Figure 9. Deceleration Waveshaping
RETURN TO ZERO CALIBRATION
Many stepper motor applications require the integrated
circuit (IC) detect when the motor is stalled after commanded
to return to the zero position for calibration purposes. Stalling
occurs when the pointer hits the end stop on the gauge bezel,
usually at the zero position. It is important when the pointer
reaches the end stop it immediately stops without bouncing
away from the stop.
The 33991 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. During an
RTZ event, all commands related to the gauge that is being
returned are ignored, except when the RTZR bit D1 is used
to disable the event, or when the RTZR bits D3 and D2 are
changed in order to look at different RTZ accumulator bits.
Once an RTZ event is initiated, the device reports back via
the SO pin, indicating an RTZ is underway.
The RTZCR command is used to set the RTZ pointer
speed, choose an appropriate blanking time and preload the
integration accumulator with an appropriate offset. Reaching
the end stop, the device reports the RTZ success to the micro
controller via the SO pin. The RTZ automatically disables,
allowing other commands to be valid. In the event the master
determines an RTZ sequence is not working properly, for
example the RTZ taking too long, it can disable the command
via the RTZR bit D1.
RTZCR bits D12:D5 are written to preload the accumulator
with a predetermined value assuring an accurate pointer stall
detection. This preloaded value is determined during
application development by disabling the automatic
shutdown feature of the device with the RTZR bit D4. This
operating mode allows the master to monitor the RTZ event,
using the accumulator information available in the SO status
bits D15: D8. Once the optimal value is determined, the RTZ
event can be turned OFF using the RTZR bit D1.
During an RTZ event, the pointer is returned counterclockwise (CCW) using full steps at a constant speed
determined by the RTZCR D3:D0 bits during RTZ
configuration. See Figure 9. Full steps are used because only
one coil of the motor is being driven at any time. The coil not
being driven is used to determine whether the pointer is
moving. If the pointer is moving, a back EMF signal can be
processed and detected in the non-driven coil. This is
achieved by integrating the signal present on an opened end
of the non-driven coil while grounding the opposite end.
The IC automatically prepares the non-driven coil at each
step, waits for a predetermined blanking time, then
processes the signal for the duration of the full step. When
the pointer reaches the stop and no longer moves, the
dissipating back EMF is detected. The processed results are
placed in the RTZ accumulator, then compared to a decision
threshold. If the signal exceeds the decision threshold, the
pointer is assumed to be moving. When the threshold value
is not exceeded, the drive sequence is stopped if RTZR bit
D4 is logic [0]. If bit D4 is logic [1], the RTZ movement will
33991
Analog Integrated Circuit Device Data
Freescale Semiconductor25
TIMING DESCRIPTIONS AND DIAGRAMS
x
x
x
x
DEVICE FUNCTIONAL DESCRIPTION
continue indefinitely until the RTZR bit D1 is used to stop the
RTZ event.
A pointer not on a full step location, or in magnetic
alignment prior to the RTZ event, may result in a false RTZ
detection. More specifically, an RTZ event beginning from a
non-full step position, may result in an abbreviated
integration, interpreted as a stalled pointer. Similarly, if the
magnetic fields of the energized coils and the rotor are not
aligned prior to initiating the RTZ, the integration results may
mistakenly indicate the pointer has stopped moving.
Advancing the pointer by at least 24 microsteps clockwise
(CW) to the nearest full step position, e.g., 24, 30, 36,42,48...
prior to initiating an RTZ, ensures the magnetic fields are
aligned. Doing that increases the chances of a successful
pointer stall detection. It is important the pointer be in a static,
or commanded position before starting the RTZ event.
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 24
microstep steps CW to the nearest full step location. Because
the pointer was in a static position at default, the master could
determine the number of microsteps the device has taken by
monitoring and counting the ST4 (ST5) status bit transitions,
confirming the pointer is again in a static position.
Only one gauge at a time can be returned to the zero
position. An RTZ should not begin until the gauge to be
calibrated is at a static position and its pointer is at a full step
position. An attempt to calibrate a gauge, while the other is in
the process of an RTZ event, will be ignored by the device. In
most applications of the RTZR command, it is possible to
avoid a visually obvious sequential calibration by first bringing
the pointer back to the previous zero position, then recalibrating the pointers.
After completion of an RTZ, the 33991 automatically
assigns the zero step position to the full step position at the
end stop location. Because the actual zero position could lie
anywhere within the full step where the zero was detected,
the assigned zero position could be within a window of ±0.5°.
An RTZ can be used to detect stall, even if the pointer already
rests on the end stop when an RTZ sequence is initiated;
however, it is recommended the pointer be advanced by at
least 24 microsteps to the nearest full step prior to initiating
the RTZ.
I
ma
+
I
coil
0
_
I
ma
I
ma
+
I
coil
0
_
I
ma
RTZ OUTPUT
During an RTZ event, the non-driven coil is analyzed to
determine the state of the motor. The 33991 multiplexes the
coil voltages and provides the signal from the non-driven coil,
to the RTZ pin.
01230
Figure 10. Full Steps (CCW)
SINE
20031
COSINE
DEFAULT MODE
Default mode refers to the state of the 33991 after an
internal or external reset prior to SPI communication. An
internal reset occurs during V
is initiated by the
exception of the RTZ
RST pin driven to a logic [0]. With the
full step time, all of the specific pin
CR
power-up. An external reset
DD
33991
Analog Integrated Circuit Device Data
26Freescale Semiconductor
TIMING DESCRIPTIONS AND DIAGRAMS
APPLICATION INFORMATION
functions and internal registers will operate as though all of
the addressable configuration register bits were set to
logic[0]. This means, for example, all of the outputs will be
disabled after a power-up or external reset, SO flag ST6 is
set, indicating an under voltage event. Anytime an external
reset is exerted and the default is restored, all configuration
parameters, e.g., clock calibration, maximum speed, RTZ
parameters, etc. are lost and must be reloaded.
FAULT LOGIC REQUIREMENTS
The 33991 device indicates each of the following faults as
they occur:
• Over temperature fault
• Out- of- range voltage faults
• Clock out of specification
Over current faults are not reported directly; however, it is
likely an over current condition will become a thermal issue
and be reported.
OVER TEMPERATURE FAULT REQUIREMENTS
The 33991 incorporate over temperature protection
circuitry, shutting off the affected Gauge Driver when
excessive temperatures are measured. In the event of a
thermal overload, the affected gauge driver will be
automatically disabled. The over temperature fault is flagged
via ST0 and/or ST1. Its respective flag continues to be set
until the affected gauge is successfully re-enabled, provided
the junction temperature falls below the hysteresis level.
OVER VOLTAGE FAULT REQUIREMENTS
The device is capable of surviving V
the maximum specified in the Maximum Ratings Table. V
levels resulting in an Over Voltage Shut Down condition can
result in uncertain pointer positions. Therefore, the pointer
position should be re-calibrated. The master will be notified of
an over voltage event via the ST6 flag on the SO pin. Over
voltage detection and notification will occur regardless of
whether the gauge(s) are enabled or disabled.
voltages within
PWR
PWR
Note: There is no way to distinguish between an over
voltage fault and an under voltage fault from the status bits. If
there is no external means for the micro controller to
determine the fault type, the gauges should be routinely
enabled following the transition to logic [0] of ST6.
OVER CURRENT FAULT REQUIREMENTS
Output currents will be limited to safe levels, then the
device will rely on Thermal Shutdown to protect itself.
UNDER VOLTAGE FAULT REQUIREMENTS
Severe under voltage V
uncertain pointer positions; therefore, recalibration of the
pointer position may be advisable. During an under voltage
event, the state machine and outputs will continue to operate
although the outputs may be unable to reach the higher
voltage levels. The master is notified of an under voltage
event via the SO pin. Under voltage detection will occur
regardless whether the gauge(s) are enabled or disabled.
Note: There is no way to distinguish between an over
voltage fault and an under voltage fault from the status bits. If
there is no external means for the micro controller to
determine the fault type, the gauges should be routinely
enabled following the transition to logic [0] of ST6.
conditions may result in
PWR
ELECTRICAL REQUIREMENTS
All voltages specified are measured relative to the device
ground pins unless otherwise noted. Current flowing into the
33991is positive, while current flowing out of the device is
negative.
RESETS (SLEEP MODE)
The device can reset internally or externally. If the VDD
level falls below the V
Electrical Characteristics, the device resets and powers up in
the Default mode. Similarly, If the RST pin is driven to a logic
[0], the device resets to its default state. The device
consumes the least amount of current (Idd and Ipwr) when
RST pin is logic[0]. This is also be referred to as the Sleep
the
mode.
level, specified in the Static
DDUV
APPLICATION INFORMATION
The 33991 is an extremely versatile device used in a
variety of applications. Table 15, and the sample code,
provides a step-by-step example of configuring using ma ny
of the features designed into the IC. This example is intended
to give a generic overview of how the device could be used.
Further, it is intended to familiarize users with some of its
capabilities. In Steps 1-9, the gauges are enabled, the clock
is calibrated, the device is configured for RTZ, and the
pointers are calibrated with the RTZ command. Steps 1-9 are
Analog Integrated Circuit Device Data
Freescale Semiconductor27
representative of the first steps after power-up. Maximum
velocity is set in Step 10, if necessary. In Steps 11 and 12,
pointers are commanded to the desired positions by the
master. These steps are the most frequently used during
normal operation. Steps 13 -15 place the pointer close to the
zero position prior to the initiation of the RTZ commands in
Steps 16-19. Step 20 disables the gauges, placing them into
a Low Quiescent Current mode.
33991
TIMING DESCRIPTIONS AND DIAGRAMS
APPLICATION INFORMATION
Table 18. 33991 Setup, Configuration, & Usage Example
Step #CommandDescription
1PECR
2RTZCR
3POS0R
4POS1R
5PECR
6RTZ
7PECR
8RTZ
9PECR
a.Enable Gauges.
- Bit PE0: Gauge 0.
- Bit PE1: Gauge 1.
b.Clock Calibration.
- Bit PE3: Enables Calibration Procedure.
- Bit PE4: Set clock f =1 MHz maximum or nominal.
Send 8 µs pulse on CS to calibrate 1 MHz clock.
Set RTZ Full Step Time.
- Bits RC3:RC0.
Set RTZ Blanking Time.
- Bit RC4.
Preload RTZ Accumulator.
- Bits RC12:RC5.
Check SO for an Out-of-Range Clock Calibration
- Is bit ST7 logic 1? If so, then repeat Steps 1 and 2.
a.Move pointer to position 24 prior to RTZ
Move pointer to position 24 prior to RTZ.
Check SO to see if gauge 0 has moved.
- Is bit ST4 logic 1? If so then the gauge 0 has moved to the first microstep.
Send null command to see if gauges have moved.
- Bits PE12.
Check SO to see if Gauge 0 (Gauge 1) has moved.
- Bit ST4 (ST5) logic1? If so, then gauge 0 (Gauge 1) has moved another microstep.
Keep track of movement and if 24 steps are finished, and both gauges are at a static
position, then RTZ. Otherwise repeat steps a) and b).
a.Return one gauge at a time to the zero stop using
RTZ command Bit RZ0 selects the gauge Bit RZ1 is used to enable or disable an
RTZ.
- Bits RZ3:RZ2 are used to select the RTZ accumulator bits that will clock out on the
SO pin.
b.Select the RTZ accumulator bits that will clock
out on the SO bits ST15:ST8. These will be used if characterizing the RTZ.
- Bits RZ3:RZ2 are used to select the bits.
a.Check the Status of the RTZ by sending the null
command to monitor SO bit ST2.
- Bit PE12 is the null command.
Is ST2 logic 0? If not then gauge 0 still returning and null command should be resent.
Return the other gauge to the zero stop. If the second gauge is driving a different
pointer than the first, then a new RTZCR command may be required to change the
Full Step time.
a.Check the Status of the RTZ by sending the null
command to monitor SO bit ST3
- Bit PE12 is the null command.
Is ST3 logic 0? If not then gauge 1 still returning and null command should be resent.
Reference
Figure #
Table 3
Figure 7
Tables 9-10
Tables 9-10
Table 11
Table 12
Table 5
Table 6
Table 12
Table 3
Table 12
Table 7
Table 8
Table 3
Table 12
Tables 7-8
Table 3
Table 12
33991
Analog Integrated Circuit Device Data
28Freescale Semiconductor
Table 18. 33991 Setup, Configuration, & Usage Example (continued)
Step #CommandDescription
10VELR
11POS0R
12POS1R
13POS0R
14POS1R
15PECR
16RTZ
17PECR
Change the maximum velocity of the Gauge bits V8:V9 determine which gauge(s)
will change the maximum velocity bits V7:V0 determine the maximum velocity
position from the acceleration table.
Position Gauge 0 pointer
- Bits P0 11: P0 0: Desired Pointer Position
Check SO for Out of Range V
PWR
- Bit ST6 logic 1? If so, then RTZ after valid V
Check SO for over temperature bit ST0 logic 1? If so, then enable driver again. If ST0
continues to indicate over temperature, shut down Gauge 0.
If ST2 returns to normal, then reestablish the zero reference by RTZ command.
Position Gauge 1 pointer
- Bits P1 11:P1 0: Desired Pointer Position.
Check SO for Out-of-Range V
bit ST6 logic 1? If so, then RTZ after valid V
PWR
Check SO for Over temperature bit ST1 logic 1? If so, then enable driver again. If
ST1 continues to indicate over temperature, then shut down Gauge 1. If ST1 returns
to normal, re-establish the zero reference by RTZ command.
a.Return the pointers close to zero position using
POS0R.
b.Move pointer position at least 24 microsteps CW
to the nearest full step prior to RTZ.
Return the pointers close to zero position using POS1R.
Move pointer position at least 24 microsteps CW to the nearest full step position prior
to RTZ.
Check SO to see if Gauge 0 has moved.
- Bit ST4 logic 1? If so then the gauge 0 has moved to the first microstep.
Send null command to see if gauges have moved.
- Bits PE12
Check SO to see if Gauge 0 (Gauge 1) has moved
- Bit ST4 (ST5) logic1? If so, then Gauge 0 (Gauge 1) has 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).
a.Return one Gauge at a time to the zero stop
using
RTZ command
bit RZ0 selects the gauge
bit RZ1 is used to enable or disable an RTZ
- Bits RZ3: RZ2 are used to select the RTZ accumulator bits that will clock out on
the SO pin.
b.Select the RTZ accumulator bits clocking out on
the SO bits ST15:ST8. These will be used if characterizing the RTZ.
- Bits RZ3:RZ2 are used to select the bits.
a.Check the Status of the RTZ by sending the null
command to monitor SO bit ST2
- Bit PE12 is the null command.
Is ST2 logic 0? If not then gauge 0 still returning. Null command should be resent.
PWR
TIMING DESCRIPTIONS AND DIAGRAMS
APPLICATION INFORMATION
.
PWR
Reference
Figure #
Table 4
Table 5
Table 12
Table 6
Table 12
Table 5
Table 6
Table 12
Table 3
Table 12
Tables 7-8
Table 3
Table 12
33991
Analog Integrated Circuit Device Data
Freescale Semiconductor29
TIMING DESCRIPTIONS AND DIAGRAMS
APPLICATION INFORMATION
Table 18. 33991 Setup, Configuration, & Usage Example (continued)
Step #CommandDescription
18RTZ
19PECR
20PECR
Return the other Gauge to the zero stop. If the second gauge is driving a different
pointer than the first, a new RTZCR command may be required to change the Full
Step time.
a.Check the Status of the RTZ by sending the null
command to monitor SO bit ST3.
- Bit PE12 is the null command.
Is ST3 logic 0? If not then gauge 1 still returning and null command should be resent.
Disable both Gauges and go to standby bit PE0: PE1 are used to disable the gauges.
Put the device to sleep.
- RST pin is pulled to logic 0.
Reference
Figure #
Tables 7-8
Table 3
Table 12
Table 3
33991
Analog Integrated Circuit Device Data
30Freescale Semiconductor
TIMING DESCRIPTIONS AND DIAGRAMS
/
/
/
/
SAMPLE CODE
* The following example code demonstrates a typical set up configuration for a M68HC912B32. */
* This code is intended for instructional use only. Motorola assumes no liability for use or */
* modification of this code. It is the responsibility of the user to verify all parameters, variables,*/
* timings, etc. */
void InitGauges
(void)
{
/* Step 1 */
Command_Gauge
Command_Gauge
(0x00,0x03); /* Enable Gauges */
(0x00,0x08); /* Clock Cal bit set *//* 8 uSec calibration */
PORTS = 0x00; /* Enable GDIC CS pin - PORTS2 */
(0x10,0x00); /* Null Read to get SO status */ /*Check SO bits for Out of Range Clock Calibration */
((status & 0x80) != 0)
If
/*If Clock is out of range then recalibrate 8 uSec pulse */
/* Step 3 */
Command_Gauge
(0x40,0x18); /* Send position to gauge0 */
/* Step 4 */
Command_Gauge
(0x60,0x18); /* Send position to gauge1 */ /* Check SO bit ST4 to see if Gauge 0 has moved */
((status & 0x10) != 0)
If
/* If ST4 is logic 1 then Gauge 0 has moved to the first microstep */
/* Step 5 */
Command_Gauge
(0x10,0x00); /* Null Read to get SO status */ /* Check SO bit ST4 to see if Gauge 0 has moved */
((status & 0x10) != 0)
If
/* If it has moved, then keep track of position */
/* Wait until 24 steps are finished then send a RTZ command (Step 7) */
/* Step 6 */
Command_Gauge
(0x80,0x02); /* Send RTZ to Gauge 0 */
/* Step 7 */
Command_Gauge
(0x10,0x00); /* Null Read to get status */ /* Read Status until RTZ is done */
{
((status & 0x04) != 0)
While
Command_Gauge
(0x10,0x00);}
SAMPLE CODE
33991
Analog Integrated Circuit Device Data
Freescale Semiconductor31
TIMING DESCRIPTIONS AND DIAGRAMS
/
SAMPLE CODE
* Step 8 */
Command_Gauge
(0x80,0x03); /* Send RTZ to Gauge 1 */
/* Step 9 */
Command_Gauge
(0x10,0x00); /* Null Read to get status */ /* Read Status until RTZ is done */
{
((status & 0x08) != 0)
While
Command_Gauge
(0x10,0x00);}
/* Step 10 */
Command_Gauge
(0x23,0xFF); /* Send velocity */
/* Step 11 */
Command_Gauge
(0x4F,0xFF); /* Send position to gauge0 */ /*Check SO bits for Out of Range Vpwr and Overtemperature */
((status & 0x40) != 0)
If
/* If bit ST6 is logic 1 then RTZ after valid Vpwr */
((status & 0x01) != 0)
If
/* If bit ST0 is logic 1 then enable driver again.
/* If ST0 continues to indicate over temperature, then shut down Gauge 0. */
/* If ST2 returns to normal, then reestablish the zero reference by RTZ command. */
/* Step 12 */
Command_Gauge
(0x6F,0xFF); /* Send position to gauge1 */ /*Check SO bits for Out of Range Vpwr and Over-Temperature */
((status & 0x40) != 0)
If
/* If bit ST6 is logic 1 then RTZ after valid Vpwr */
((status & 0x01) != 0)
If
/* If bit ST0 is logic 1 then enable driver again.
/* If ST0 continues to indicate Over-Temperature, then shut down Gauge 1. */
/* If ST2 returns to normal, then reestablish the zero reference by RTZ command. */
/* Step 13 */
Command_Gauge
(0x40,0x00); /* Send position to Gauge 0 */
/* Return the pointers close to zero position */
Command_Gauge
(0x40,0x18); /* Send position to Gauge 0 */ /* Move the pointer at least 24 microsteps CW to the nearest full step */
/* Step 14 */
Command_Gauge
(0x60,0x00); /* Send position to Gauge 1 */
/* Return the pointers close to zero position */
Command_Gauge
(0x60,0x18); /* Send position to Gauge 1 */ /* Move the pointer at least 24 microsteps CW to the nearest full step */
/* Check SO bit ST4 to see if Gauge 0 has moved */
((status & 0x10) != 0)
If
/* If ST4 is logic 1 then Gauge 0 has moved to the first microstep */
33991
Analog Integrated Circuit Device Data
32Freescale Semiconductor
TIMING DESCRIPTIONS AND DIAGRAMS
/
/
/
* Step 15 */
Command_Gauge
(0x10,0x00); /* Null Read to get status */
/* Check SO bit ST4 to see if Gauge 0 has moved */
((status & 0x10) != 0)
If
/* If it has moved, then keep track of position */
/* Wait until 24 steps are finished then send a RTZ command (Step 17) */
/* Step 16 */
Command_Gauge
(0x80,0x02); /* Send RTZ to Gauge 0 */
/* Step 17 */
Command_Gauge
(0x10,0x00); /* Null Read to get status */
/* Read Status until RTZ is done */
{
((status & 0x04) != 0)
While
Command_Gauge
(0x10,0x00);}
/* Step 18 */
Command_Gauge
(0x80,0x03); /* Send RTZ to Gauge 1 */
/* Step 19 */
Command_Gauge
(0x10,0x00); /* Null Read to get status */
/* Read Status until RTZ is done */
{
((status & 0x08) != 0)
While
Command_Gauge
(0x01,0x00);}
/* Step 20 */
Command_Gauge
(0x00,0x00); /* Disable Gauges and go into Standby */
/* Put device to sleep by setting RSTB to logic 0 */
}
void Command_Gauge
(char MSB, char LSB)
/*This subroutine sends the GDIC commands on the SPI port */
{
PORTS = 0x00; /* Chip select low (active) */ SP0DR = MSB; /* send first byte of gauge command */
Analog Integrated Circuit Device Data
Freescale Semiconductor33
PACKAGE DIMENSIONS
PACKAGE DIMENSIONS
PACKAGE DIMENSIONS
PACKAGE DIMENSIONS
For the most current package revision, visit www.freescale.com and perform a keyword search using the “98A” listed below.
DW SUFFIX
EG SUFFIX (PB-FREE)
24-PIN
PLASTIC PACKAGE
98ASB42344B
REV. F
33991
Analog Integrated Circuit Device Data
34Freescale Semiconductor
REVISION HISTORY
REVISIONDATEDESCRIPTION OF CHANGES
2.0
11/2006
• Implemented Revision History page
• Updated to current Freescale format and style
• Added MCZ33991EG/R2 to the ordering Information
• Removed Peak Package Reflow Temperature During Reflo w (solder reflow) parameter from
Maximum ratings on page 5. Added note with instructions from www.freescale.com.
REVISION HISTORY
33991
Analog Integrated Circuit Device Data
Freescale Semiconductor35
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