NXP K51_100 Reference guide

Brand: NXP

Model: K51_100

Type: Reference guide

K51 Sub-Family Reference Manual

Supports: MK51DX256ZCMC10, MK51DN512ZCMC10

Document Number: K51P121M100SF2RM

Rev. 6, Nov 2011

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

2 Freescale Semiconductor, Inc.

Contents

Section Number Title Page

Chapter 1

About This Document

1.1 Overview.......................................................................................................................................................................53

1.1.1 Purpose.........................................................................................................................................................53

1.1.2 Audience......................................................................................................................................................53

1.2 Conventions..................................................................................................................................................................53

1.2.1 Numbering systems......................................................................................................................................53

1.2.2 Typographic notation...................................................................................................................................54

1.2.3 Special terms................................................................................................................................................54

Chapter 2

Introduction

2.1 Overview.......................................................................................................................................................................55

2.2 K50 Family Introduction...............................................................................................................................................55

2.3 Module Functional Categories......................................................................................................................................55

2.3.1 ARM Cortex-M4 Core Modules..................................................................................................................57

2.3.2 System Modules...........................................................................................................................................57

2.3.3 Memories and Memory Interfaces...............................................................................................................58

2.3.4 Clocks...........................................................................................................................................................59

2.3.5 Security and Integrity modules....................................................................................................................59

2.3.6 Analog modules...........................................................................................................................................59

2.3.7 Timer modules.............................................................................................................................................60

2.3.8 Communication interfaces...........................................................................................................................61

2.3.9 Human-machine interfaces..........................................................................................................................62

2.4 Orderable part numbers.................................................................................................................................................62

Chapter 3

Chip Configuration

3.1 Introduction...................................................................................................................................................................65

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

Freescale Semiconductor, Inc. 3

Section Number Title Page

3.2 Core modules................................................................................................................................................................65

3.2.1 ARM Cortex-M4 Core Configuration..........................................................................................................65

3.2.2 Nested Vectored Interrupt Controller (NVIC) Configuration......................................................................68

3.2.3 Asynchronous Wake-up Interrupt Controller (AWIC) Configuration.........................................................74

3.2.4 JTAG Controller Configuration...................................................................................................................75

3.3 System modules............................................................................................................................................................76

3.3.1 SIM Configuration.......................................................................................................................................76

3.3.2 Mode Controller Configuration...................................................................................................................77

3.3.3 PMC Configuration......................................................................................................................................77

3.3.4 Low-Leakage Wake-up Unit (LLWU) Configuration.................................................................................78

3.3.5 MCM Configuration....................................................................................................................................80

3.3.6 Crossbar Switch Configuration....................................................................................................................80

3.3.7 Memory Protection Unit (MPU) Configuration...........................................................................................82

3.3.8 Peripheral Bridge Configuration..................................................................................................................85

3.3.9 DMA request multiplexer configuration......................................................................................................87

3.3.10 DMA Controller Configuration...................................................................................................................90

3.3.11 External Watchdog Monitor (EWM) Configuration....................................................................................91

3.3.12 Watchdog Configuration..............................................................................................................................92

3.4 Clock Modules..............................................................................................................................................................93

3.4.1 MCG Configuration.....................................................................................................................................93

3.4.2 OSC Configuration......................................................................................................................................94

3.4.3 RTC OSC configuration...............................................................................................................................95

3.5 Memories and Memory Interfaces................................................................................................................................95

3.5.1 Flash Memory Configuration.......................................................................................................................95

3.5.2 Flash Memory Controller Configuration.....................................................................................................99

3.5.3 SRAM Configuration...................................................................................................................................100

3.5.4 SRAM Controller Configuration.................................................................................................................103

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

4 Freescale Semiconductor, Inc.

Section Number Title Page

3.5.5 System Register File Configuration.............................................................................................................104

3.5.6 VBAT Register File Configuration..............................................................................................................105

3.5.7 EzPort Configuration...................................................................................................................................106

3.6 Security.........................................................................................................................................................................107

3.6.1 CRC Configuration......................................................................................................................................107

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

Freescale Semiconductor, Inc. 5

Section Number Title Page

3.7 Analog...........................................................................................................................................................................107

3.7.1 16-bit SAR ADC with PGA Configuration.................................................................................................107

3.7.2 CMP Configuration......................................................................................................................................115

3.7.3 12-bit DAC Configuration...........................................................................................................................117

3.7.4 Op-amp Configuration.................................................................................................................................118

3.7.5 TRIAMP Configuration...............................................................................................................................120

3.7.6 VREF Configuration....................................................................................................................................121

3.8 Timers...........................................................................................................................................................................122

3.8.1 PDB Configuration......................................................................................................................................122

3.8.2 FlexTimer Configuration.............................................................................................................................126

3.8.3 PIT Configuration........................................................................................................................................129

3.8.4 Low-power timer configuration...................................................................................................................130

3.8.5 CMT Configuration......................................................................................................................................132

3.8.6 RTC configuration.......................................................................................................................................133

3.9 Communication interfaces............................................................................................................................................134

3.9.1 Universal Serial Bus (USB) Subsystem.......................................................................................................134

3.9.2 SPI configuration.........................................................................................................................................139

3.9.3 I2C Configuration........................................................................................................................................142

3.9.4 UART Configuration...................................................................................................................................143

3.9.5 SDHC Configuration....................................................................................................................................145

3.9.6 I2S configuration..........................................................................................................................................146

3.10 Human-machine interfaces (HMI)................................................................................................................................148

3.10.1 GPIO configuration......................................................................................................................................148

3.10.2 TSI Configuration........................................................................................................................................149

3.10.3 Segment LCD Configuration.......................................................................................................................152

Chapter 4

Memory Map

4.1 Introduction...................................................................................................................................................................155

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

6 Freescale Semiconductor, Inc.

Section Number Title Page

4.2 System memory map.....................................................................................................................................................155

4.2.1 Aliased bit-band regions..............................................................................................................................156

4.3 Flash Memory Map.......................................................................................................................................................157

4.3.1 Alternate Non-Volatile IRC User Trim Description....................................................................................158

4.4 SRAM memory map.....................................................................................................................................................158

4.5 Peripheral bridge (AIPS-Lite0 and AIPS-Lite1) memory maps...................................................................................159

4.5.1 Peripheral Bridge 0 (AIPS-Lite 0) Memory Map........................................................................................159

4.5.2 Peripheral Bridge 1 (AIPS-Lite 1) Memory Map........................................................................................163

4.6 Private Peripheral Bus (PPB) memory map..................................................................................................................167

Chapter 5

Clock Distribution

5.1 Introduction...................................................................................................................................................................169

5.2 Programming model......................................................................................................................................................169

5.3 High-Level device clocking diagram............................................................................................................................169

5.4 Clock definitions...........................................................................................................................................................170

5.4.1 Device clock summary.................................................................................................................................171

5.5 Internal clocking requirements.....................................................................................................................................173

5.5.1 Clock divider values after reset....................................................................................................................173

5.5.2 VLPR mode clocking...................................................................................................................................174

5.6 Clock Gating.................................................................................................................................................................174

5.7 Module clocks...............................................................................................................................................................174

5.7.1 PMC 1-kHz LPO clock................................................................................................................................176

5.7.2 WDOG clocking..........................................................................................................................................176

5.7.3 Debug trace clock.........................................................................................................................................177

5.7.4 PORT digital filter clocking.........................................................................................................................177

5.7.5 LPTMR clocking..........................................................................................................................................178

5.7.6 USB FS OTG Controller clocking...............................................................................................................178

5.7.7 UART clocking............................................................................................................................................179

5.7.8 SDHC clocking............................................................................................................................................179

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

Freescale Semiconductor, Inc. 7

Section Number Title Page

5.7.9 I2S clocking.................................................................................................................................................180

5.7.10 TSI clocking.................................................................................................................................................180

Chapter 6

Reset and Boot

6.1 Introduction...................................................................................................................................................................183

6.2 Reset..............................................................................................................................................................................183

6.2.1 Power-on reset (POR)..................................................................................................................................184

6.2.2 System resets................................................................................................................................................184

6.2.3 Debug resets.................................................................................................................................................187

6.3 Boot...............................................................................................................................................................................189

6.3.1 Boot sources.................................................................................................................................................189

6.3.2 Boot options.................................................................................................................................................189

6.3.3 FOPT boot options.......................................................................................................................................189

6.3.4 Boot sequence..............................................................................................................................................190

Chapter 7

Power Management

7.1 Introduction...................................................................................................................................................................193

7.2 Power modes.................................................................................................................................................................193

7.3 Entering and exiting power modes...............................................................................................................................195

7.4 Power mode transitions.................................................................................................................................................196

7.5 Power modes shutdown sequencing.............................................................................................................................197

7.6 Module Operation in Low Power Modes......................................................................................................................197

7.7 Clock Gating.................................................................................................................................................................200

Chapter 8

Security

8.1 Introduction...................................................................................................................................................................201

8.2 Flash Security...............................................................................................................................................................201

8.3 Security Interactions with other Modules.....................................................................................................................202

8.3.1 Security Interactions with EzPort................................................................................................................202

8.3.2 Security Interactions with Debug.................................................................................................................202

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

8 Freescale Semiconductor, Inc.

Section Number Title Page

Chapter 9

Debug

9.1 Introduction...................................................................................................................................................................203

9.1.1 References....................................................................................................................................................205

9.2 The Debug Port.............................................................................................................................................................205

9.2.1 JTAG-to-SWD change sequence.................................................................................................................206

9.2.2 JTAG-to-cJTAG change sequence...............................................................................................................206

9.3 Debug Port Pin Descriptions.........................................................................................................................................207

9.4 System TAP connection................................................................................................................................................207

9.4.1 IR Codes.......................................................................................................................................................207

9.5 JTAG status and control registers.................................................................................................................................208

9.5.1 MDM-AP Control Register..........................................................................................................................209

9.5.2 MDM-AP Status Register............................................................................................................................211

9.6 Debug Resets................................................................................................................................................................212

9.7 AHB-AP........................................................................................................................................................................213

9.8 ITM...............................................................................................................................................................................214

9.9 Core Trace Connectivity...............................................................................................................................................214

9.10 Embedded Trace Macrocell v3.5 (ETM)......................................................................................................................214

9.11 Coresight Embedded Trace Buffer (ETB)....................................................................................................................215

9.11.1 Performance Profiling with the ETB...........................................................................................................215

9.11.2 ETB Counter Control...................................................................................................................................216

9.12 TPIU..............................................................................................................................................................................216

9.13 DWT.............................................................................................................................................................................216

9.14 Debug in Low Power Modes........................................................................................................................................217

9.14.1 Debug Module State in Low Power Modes.................................................................................................218

9.15 Debug & Security.........................................................................................................................................................218

Chapter 10

Signal Multiplexing and Signal Descriptions

10.1 Introduction...................................................................................................................................................................219

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

Freescale Semiconductor, Inc. 9

Section Number Title Page

10.2 Signal Multiplexing Integration....................................................................................................................................219

10.2.1 Port control and interrupt module features..................................................................................................220

10.2.2 Clock gating.................................................................................................................................................220

10.2.3 Signal multiplexing constraints....................................................................................................................220

10.3 Pinout............................................................................................................................................................................221

10.3.1 K51 Signal Multiplexing and Pin Assignments...........................................................................................221

10.3.2 K51 Pinouts..................................................................................................................................................226

10.4 Module Signal Description Tables................................................................................................................................227

10.4.1 Core Modules...............................................................................................................................................227

10.4.2 System Modules...........................................................................................................................................228

10.4.3 Clock Modules.............................................................................................................................................229

10.4.4 Memories and Memory Interfaces...............................................................................................................229

10.4.5 Analog..........................................................................................................................................................230

10.4.6 Communication Interfaces...........................................................................................................................232

10.4.7 Human-Machine Interfaces (HMI)..............................................................................................................236

Chapter 11

Port control and interrupts (PORT)

11.1 Introduction...................................................................................................................................................................237

11.1.1 Overview......................................................................................................................................................237

11.1.2 Features........................................................................................................................................................237

11.1.3 Modes of operation......................................................................................................................................238

11.2 External signal description............................................................................................................................................239

11.3 Detailed signal descriptions..........................................................................................................................................239

11.4 Memory map and register definition.............................................................................................................................239

11.4.1 Pin Control Register n (PORTx_PCRn).......................................................................................................246

11.4.2 Global Pin Control Low Register (PORTx_GPCLR)..................................................................................248

11.4.3 Global Pin Control High Register (PORTx_GPCHR).................................................................................249

11.4.4 Interrupt Status Flag Register (PORTx_ISFR)............................................................................................249

11.4.5 Digital Filter Enable Register (PORTx_DFER)...........................................................................................250

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

10 Freescale Semiconductor, Inc.

Section Number Title Page

11.4.6 Digital Filter Clock Register (PORTx_DFCR)............................................................................................251

11.4.7 Digital Filter Width Register (PORTx_DFWR)..........................................................................................251

11.5 Functional description...................................................................................................................................................252

11.5.1 Pin control....................................................................................................................................................252

11.5.2 Global pin control........................................................................................................................................252

11.5.3 External interrupts........................................................................................................................................253

11.5.4 Digital filter..................................................................................................................................................254

Chapter 12

System integration module (SIM)

12.1 Introduction...................................................................................................................................................................255

12.1.1 Features........................................................................................................................................................255

12.1.2 Modes of operation......................................................................................................................................255

12.1.3 SIM Signal Descriptions..............................................................................................................................256

12.2 Memory map and register definition.............................................................................................................................256

12.2.1 System Options Register 1 (SIM_SOPT1)..................................................................................................258

12.2.2 System Options Register 2 (SIM_SOPT2)..................................................................................................260

12.2.3 System Options Register 4 (SIM_SOPT4)..................................................................................................262

12.2.4 System Options Register 5 (SIM_SOPT5)..................................................................................................264

12.2.5 System Options Register 6 (SIM_SOPT6)..................................................................................................266

12.2.6 System Options Register 7 (SIM_SOPT7)..................................................................................................267

12.2.7 System Device Identification Register (SIM_SDID)...................................................................................269

12.2.8 System Clock Gating Control Register 1 (SIM_SCGC1)............................................................................270

12.2.9 System Clock Gating Control Register 2 (SIM_SCGC2)............................................................................271

12.2.10 System Clock Gating Control Register 3 (SIM_SCGC3)............................................................................272

12.2.11 System Clock Gating Control Register 4 (SIM_SCGC4)............................................................................273

12.2.12 System Clock Gating Control Register 5 (SIM_SCGC5)............................................................................276

12.2.13 System Clock Gating Control Register 6 (SIM_SCGC6)............................................................................278

12.2.14 System Clock Gating Control Register 7 (SIM_SCGC7)............................................................................280

12.2.15 System Clock Divider Register 1 (SIM_CLKDIV1)...................................................................................281

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

Freescale Semiconductor, Inc. 11

Section Number Title Page

12.2.16 System Clock Divider Register 2 (SIM_CLKDIV2)...................................................................................283

12.2.17 Flash Configuration Register 1 (SIM_FCFG1)...........................................................................................284

12.2.18 Flash Configuration Register 2 (SIM_FCFG2)...........................................................................................286

12.2.19 Unique Identification Register High (SIM_UIDH).....................................................................................287

12.2.20 Unique Identification Register Mid-High (SIM_UIDMH)..........................................................................288

12.2.21 Unique Identification Register Mid Low (SIM_UIDML)...........................................................................288

12.2.22 Unique Identification Register Low (SIM_UIDL)......................................................................................289

12.3 Functional description...................................................................................................................................................289

Chapter 13

Mode Controller

13.1 Introduction...................................................................................................................................................................291

13.1.1 Features........................................................................................................................................................291

13.1.2 Modes of Operation.....................................................................................................................................291

13.1.3 MCU Reset...................................................................................................................................................302

13.2 Mode Control Memory Map/Register Definition.........................................................................................................305

13.2.1 System Reset Status Register High (MC_SRSH)........................................................................................306

13.2.2 System Reset Status Register Low (MC_SRSL).........................................................................................307

13.2.3 Power Mode Protection Register (MC_PMPROT).....................................................................................308

13.2.4 Power Mode Control Register (MC_PMCTRL)..........................................................................................310

Chapter 14

Power Management Controller

14.1 Introduction...................................................................................................................................................................313

14.2 Features.........................................................................................................................................................................313

14.3 Low-Voltage Detect (LVD) System.............................................................................................................................313

14.3.1 LVD Reset Operation...................................................................................................................................314

14.3.2 LVD Interrupt Operation.............................................................................................................................314

14.3.3 Low-Voltage Warning (LVW) Interrupt Operation.....................................................................................314

14.4 PMC Memory Map/Register Definition.......................................................................................................................315

14.4.1 Low Voltage Detect Status and Control 1 Register (PMC_LVDSC1)........................................................315

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

12 Freescale Semiconductor, Inc.

Section Number Title Page

14.4.2 Low Voltage Detect Status and Control 2 Register (PMC_LVDSC2)........................................................316

14.4.3 Regulator Status and Control Register (PMC_REGSC)..............................................................................318

Chapter 15

Low-leakage wake-up unit (LLWU)

15.1 Introduction...................................................................................................................................................................321

15.1.1 Features........................................................................................................................................................322

15.1.2 Modes of operation......................................................................................................................................322

15.1.3 Block diagram..............................................................................................................................................323

15.2 LLWU Signal Descriptions...........................................................................................................................................324

15.3 Memory map/register definition...................................................................................................................................325

15.3.1 LLWU Pin Enable 1 Register (LLWU_PE1)..............................................................................................325

15.3.2 LLWU Pin Enable 2 Register (LLWU_PE2)..............................................................................................326

15.3.3 LLWU Pin Enable 3 Register (LLWU_PE3)..............................................................................................328

15.3.4 LLWU Pin Enable 4 Register (LLWU_PE4)..............................................................................................329

15.3.5 LLWU Module Enable Register (LLWU_ME)...........................................................................................330

15.3.6 LLWU Flag 1 Register (LLWU_F1)...........................................................................................................331

15.3.7 LLWU Flag 2 Register (LLWU_F2)...........................................................................................................333

15.3.8 LLWU Flag 3 Register (LLWU_F3)...........................................................................................................335

15.3.9 LLWU Control and Status Register (LLWU_CS).......................................................................................336

15.4 Functional description...................................................................................................................................................337

15.4.1 LLS mode.....................................................................................................................................................338

15.4.2 VLLS modes................................................................................................................................................338

15.4.3 Initialization.................................................................................................................................................339

15.4.4 Low power mode recovery..........................................................................................................................339

Chapter 16

Miscellaneous Control Module (MCM)

16.1 Introduction...................................................................................................................................................................341

16.1.1 Features........................................................................................................................................................341

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

Freescale Semiconductor, Inc. 13

Section Number Title Page

16.2 Memory Map/Register Descriptions.............................................................................................................................341

16.2.1 Crossbar switch (AXBS) slave configuration (MCM_PLASC)..................................................................342

16.2.2 Crossbar switch (AXBS) master configuration (MCM_PLAMC)..............................................................342

16.2.3 SRAM arbitration and protection (MCM_SRAMAP).................................................................................343

16.2.4 Interrupt status register (MCM_ISR)...........................................................................................................344

16.2.5 ETB counter control register (MCM_ETBCC)...........................................................................................345

16.2.6 ETB reload register (MCM_ETBRL)..........................................................................................................346

16.2.7 ETB counter value register (MCM_ETBCNT)...........................................................................................347

16.3 Functional Description..................................................................................................................................................347

16.3.1 Interrupts......................................................................................................................................................347

Chapter 17

Crossbar Switch (AXBS)

17.1 Introduction...................................................................................................................................................................349

17.1.1 Features........................................................................................................................................................349

17.2 Memory Map / Register Definition...............................................................................................................................350

17.2.1 Priority Registers Slave (AXBS_PRSn)......................................................................................................351

17.2.2 Control Register (AXBS_CRSn).................................................................................................................354

17.2.3 Master General Purpose Control Register (AXBS_MGPCRn)...................................................................356

17.3 Functional Description..................................................................................................................................................357

17.3.1 General operation.........................................................................................................................................357

17.3.2 Register coherency.......................................................................................................................................358

17.3.3 Arbitration....................................................................................................................................................358

17.4 Initialization/application information...........................................................................................................................361

Chapter 18

Memory Protection Unit (MPU)

18.1 Introduction...................................................................................................................................................................363

18.2 Overview.......................................................................................................................................................................363

18.2.1 Block Diagram.............................................................................................................................................363

18.2.2 Features........................................................................................................................................................364

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

14 Freescale Semiconductor, Inc.

Section Number Title Page

18.3 Memory Map/Register Definition.................................................................................................................................365

18.3.1 Control/Error Status Register (MPU_CESR)..............................................................................................368

18.3.2 Error Address Register, Slave Port n (MPU_EARn)...................................................................................370

18.3.3 Error Detail Register, Slave Port n (MPU_EDRn)......................................................................................371

18.3.4 Region Descriptor n, Word 0 (MPU_RGDn_WORD0)..............................................................................372

18.3.5 Region Descriptor n, Word 1 (MPU_RGDn_WORD1)..............................................................................373

18.3.6 Region Descriptor n, Word 2 (MPU_RGDn_WORD2)..............................................................................373

18.3.7 Region Descriptor n, Word 3 (MPU_RGDn_WORD3)..............................................................................376

18.3.8 Region Descriptor Alternate Access Control n (MPU_RGDAACn)...........................................................377

18.4 Functional Description..................................................................................................................................................379

18.4.1 Access Evaluation Macro.............................................................................................................................379

18.4.2 Putting It All Together and Error Terminations...........................................................................................380

18.4.3 Power Management......................................................................................................................................381

18.5 Initialization Information..............................................................................................................................................381

18.6 Application Information................................................................................................................................................381

Chapter 19

Peripheral Bridge (AIPS-Lite)

19.1 Introduction...................................................................................................................................................................385

19.1.1 Features........................................................................................................................................................385

19.1.2 General operation.........................................................................................................................................385

19.2 Memory map/register definition...................................................................................................................................386

19.2.1 Master Privilege Register A (AIPSx_MPRA).............................................................................................387

19.2.2 Peripheral Access Control Register (AIPSx_PACRn).................................................................................391

19.2.3 Peripheral Access Control Register (AIPSx_PACRn).................................................................................396

19.3 Functional Description..................................................................................................................................................401

19.3.1 Access support.............................................................................................................................................401

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

Freescale Semiconductor, Inc. 15

Section Number Title Page

Chapter 20

Direct memory access multiplexer (DMAMUX)

20.1 Introduction...................................................................................................................................................................403

20.1.1 Overview......................................................................................................................................................403

20.1.2 Features........................................................................................................................................................404

20.1.3 Modes of operation......................................................................................................................................404

20.2 External signal description............................................................................................................................................405

20.3 Memory map/register definition...................................................................................................................................405

20.3.1 Channel Configuration Register (DMAMUX_CHCFGn)...........................................................................406

20.4 Functional description...................................................................................................................................................407

20.4.1 DMA channels with periodic triggering capability......................................................................................407

20.4.2 DMA channels with no triggering capability...............................................................................................410

20.4.3 "Always enabled" DMA sources.................................................................................................................410

20.5 Initialization/application information...........................................................................................................................411

20.5.1 Reset.............................................................................................................................................................411

20.5.2 Enabling and configuring sources................................................................................................................411

Chapter 21

Direct Memory Access Controller (eDMA)

21.1 Introduction...................................................................................................................................................................415

21.1.1 Block diagram..............................................................................................................................................415

21.1.2 Block parts...................................................................................................................................................416

21.1.3 Features........................................................................................................................................................418

21.2 Modes of operation.......................................................................................................................................................419

21.3 Memory map/register definition...................................................................................................................................419

21.3.1 Control Register (DMA_CR).......................................................................................................................434

21.3.2 Error Status Register (DMA_ES)................................................................................................................436

21.3.3 Enable Request Register (DMA_ERQ).......................................................................................................438

21.3.4 Enable Error Interrupt Register (DMA_EEI)...............................................................................................440

21.3.5 Clear Enable Error Interrupt Register (DMA_CEEI)..................................................................................442

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

16 Freescale Semiconductor, Inc.

Section Number Title Page

21.3.6 Set Enable Error Interrupt Register (DMA_SEEI)......................................................................................443

21.3.7 Clear Enable Request Register (DMA_CERQ)...........................................................................................444

21.3.8 Set Enable Request Register (DMA_SERQ)...............................................................................................445

21.3.9 Clear DONE Status Bit Register (DMA_CDNE)........................................................................................446

21.3.10 Set START Bit Register (DMA_SSRT)......................................................................................................447

21.3.11 Clear Error Register (DMA_CERR)............................................................................................................448

21.3.12 Clear Interrupt Request Register (DMA_CINT).........................................................................................449

21.3.13 Interrupt Request Register (DMA_INT)......................................................................................................449

21.3.14 Error Register (DMA_ERR)........................................................................................................................452

21.3.15 Hardware Request Status Register (DMA_HRS)........................................................................................454

21.3.16 Channel n Priority Register (DMA_DCHPRIn)..........................................................................................456

21.3.17 TCD Source Address (DMA_TCDn_SADDR)...........................................................................................457

21.3.18 TCD Signed Source Address Offset (DMA_TCDn_SOFF)........................................................................458

21.3.19 TCD Transfer Attributes (DMA_TCDn_ATTR).........................................................................................458

21.3.20 TCD Minor Byte Count (Minor Loop Disabled) (DMA_TCDn_NBYTES_MLNO).................................459

21.3.21 TCD Signed Minor Loop Offset (Minor Loop Enabled and Offset Disabled)

(DMA_TCDn_NBYTES_MLOFFNO).......................................................................................................460

21.3.22 TCD Signed Minor Loop Offset (Minor Loop and Offset Enabled)

(DMA_TCDn_NBYTES_MLOFFYES).....................................................................................................461

21.3.23 TCD Last Source Address Adjustment (DMA_TCDn_SLAST).................................................................462

21.3.24 TCD Destination Address (DMA_TCDn_DADDR)...................................................................................462

21.3.25 TCD Signed Destination Address Offset (DMA_TCDn_DOFF)................................................................463

21.3.26 TCD Current Minor Loop Link, Major Loop Count (Channel Linking Enabled)

(DMA_TCDn_CITER_ELINKYES)...........................................................................................................463

21.3.27 TCD Current Minor Loop Link, Major Loop Count (Channel Linking Disabled)

(DMA_TCDn_CITER_ELINKNO)............................................................................................................464

21.3.28 TCD Last Destination Address Adjustment/Scatter Gather Address (DMA_TCDn_DLASTSGA)..........465

21.3.29 TCD Control and Status (DMA_TCDn_CSR)............................................................................................466

21.3.30 TCD Beginning Minor Loop Link, Major Loop Count (Channel Linking Enabled)

(DMA_TCDn_BITER_ELINKYES)...........................................................................................................468

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

Freescale Semiconductor, Inc. 17

Section Number Title Page

21.3.31 TCD Beginning Minor Loop Link, Major Loop Count (Channel Linking Disabled)

(DMA_TCDn_BITER_ELINKNO)............................................................................................................469

21.4 Functional description...................................................................................................................................................470

21.4.1 eDMA basic data flow.................................................................................................................................470

21.4.2 Error reporting and handling........................................................................................................................473

21.4.3 Channel preemption.....................................................................................................................................475

21.4.4 Performance.................................................................................................................................................475

21.5 Initialization/application information...........................................................................................................................480

21.5.1 eDMA initialization.....................................................................................................................................480

21.5.2 Programming errors.....................................................................................................................................482

21.5.3 Arbitration mode considerations..................................................................................................................482

21.5.4 Performing DMA transfers..........................................................................................................................483

21.5.5 Monitoring transfer descriptor status...........................................................................................................487

21.5.6 Channel Linking...........................................................................................................................................488

21.5.7 Dynamic programming................................................................................................................................490

Chapter 22

External Watchdog Monitor (EWM)

22.1 Introduction...................................................................................................................................................................493

22.1.1 Features........................................................................................................................................................493

22.1.2 Modes of Operation.....................................................................................................................................494

22.1.3 Block Diagram.............................................................................................................................................495

22.2 EWM Signal Descriptions............................................................................................................................................496

22.3 Memory Map/Register Definition.................................................................................................................................496

22.3.1 Control Register (EWM_CTRL).................................................................................................................496

22.3.2 Service Register (EWM_SERV)..................................................................................................................497

22.3.3 Compare Low Register (EWM_CMPL)......................................................................................................498

22.3.4 Compare High Register (EWM_CMPH).....................................................................................................498

22.4 Functional Description..................................................................................................................................................499

22.4.1 The EWM_out Signal..................................................................................................................................499

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

18 Freescale Semiconductor, Inc.

Section Number Title Page

22.4.2 The EWM_in Signal....................................................................................................................................500

22.4.3 EWM Counter..............................................................................................................................................500

22.4.4 EWM Compare Registers............................................................................................................................500

22.4.5 EWM Refresh Mechanism...........................................................................................................................501

Chapter 23

Watchdog Timer (WDOG)

23.1 Introduction...................................................................................................................................................................503

23.2 Features.........................................................................................................................................................................503

23.3 Functional Overview.....................................................................................................................................................505

23.3.1 Unlocking and Updating the Watchdog.......................................................................................................506

23.3.2 The Watchdog Configuration Time (WCT).................................................................................................507

23.3.3 Refreshing the Watchdog.............................................................................................................................508

23.3.4 Windowed Mode of Operation....................................................................................................................508

23.3.5 Watchdog Disabled Mode of Operation......................................................................................................508

23.3.6 Low Power Modes of Operation..................................................................................................................509

23.3.7 Debug Modes of Operation..........................................................................................................................509

23.4 Testing the Watchdog...................................................................................................................................................510

23.4.1 Quick Test....................................................................................................................................................510

23.4.2 Byte Test......................................................................................................................................................510

23.5 Backup Reset Generator...............................................................................................................................................512

23.6 Generated Resets and Interrupts...................................................................................................................................512

23.7 Memory Map and Register Definition..........................................................................................................................513

23.7.1 Watchdog Status and Control Register High (WDOG_STCTRLH)...........................................................514

23.7.2 Watchdog Status and Control Register Low (WDOG_STCTRLL)............................................................516

23.7.3 Watchdog Time-out Value Register High (WDOG_TOVALH).................................................................516

23.7.4 Watchdog Time-out Value Register Low (WDOG_TOVALL)..................................................................517

23.7.5 Watchdog Window Register High (WDOG_WINH)..................................................................................517

23.7.6 Watchdog Window Register Low (WDOG_WINL)...................................................................................518

23.7.7 Watchdog Refresh Register (WDOG_REFRESH)......................................................................................518

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

Freescale Semiconductor, Inc. 19

Section Number Title Page

23.7.8 Watchdog Unlock Register (WDOG_UNLOCK).......................................................................................518

23.7.9 Watchdog Timer Output Register High (WDOG_TMROUTH).................................................................519

23.7.10 Watchdog Timer Output Register Low (WDOG_TMROUTL)..................................................................519

23.7.11 Watchdog Reset Count Register (WDOG_RSTCNT).................................................................................520

23.7.12 Watchdog Prescaler Register (WDOG_PRESC).........................................................................................520

23.8 Watchdog Operation with 8-bit access.........................................................................................................................520

23.8.1 General Guideline........................................................................................................................................520

23.8.2 Refresh and Unlock operations with 8-bit access........................................................................................521

23.9 Restrictions on Watchdog Operation............................................................................................................................522

Chapter 24

Multipurpose Clock Generator (MCG)

24.1 Introduction...................................................................................................................................................................525

24.1.1 Features........................................................................................................................................................525

24.1.2 Modes of Operation.....................................................................................................................................528

24.2 External Signal Description..........................................................................................................................................529

24.3 Memory Map/Register Definition.................................................................................................................................529

24.3.1 MCG Control 1 Register (MCG_C1)...........................................................................................................530

24.3.2 MCG Control 2 Register (MCG_C2)...........................................................................................................531

24.3.3 MCG Control 3 Register (MCG_C3)...........................................................................................................532

24.3.4 MCG Control 4 Register (MCG_C4)...........................................................................................................533

24.3.5 MCG Control 5 Register (MCG_C5)...........................................................................................................534

24.3.6 MCG Control 6 Register (MCG_C6)...........................................................................................................536

24.3.7 MCG Status Register (MCG_S)..................................................................................................................537

24.3.8 MCG Auto Trim Control Register (MCG_ATC)........................................................................................539

24.3.9 MCG Auto Trim Compare Value High Register (MCG_ATCVH)............................................................539

24.3.10 MCG Auto Trim Compare Value Low Register (MCG_ATCVL)..............................................................540

24.4 Functional Description..................................................................................................................................................540

24.4.1 MCG Mode State Diagram..........................................................................................................................540

24.4.2 Low Power Bit Usage..................................................................................................................................545

K51 Sub-Family Reference Manual, Rev. 6, Nov 2011

20 Freescale Semiconductor, Inc.