NXP KL0x Reference guide

KL02 Sub-Family Reference Manual

Supports: MKL02Z8VFG4(R), MKL02Z16VFG4(R),

MKL02Z32VFG4(R), MKL02Z16VFK4(R), MKL02Z32VFK4(R),

MKL02Z16VFM4(R), and MKL02Z32VFM4(R)

Document Number: KL02P32M48SF0RM

Rev 3.1, July 2013

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Contents

Section number Title Page

Chapter 1

About This Document

1.1 Overview.......................................................................................................................................................................25

1.1.1 Purpose...........................................................................................................................................................25

1.1.2 Audience........................................................................................................................................................25

1.2 Conventions..................................................................................................................................................................25

1.2.1 Numbering systems........................................................................................................................................25

1.2.2 Typographic notation.....................................................................................................................................26

1.2.3 Special terms..................................................................................................................................................26

Chapter 2

Introduction

2.1 Overview.......................................................................................................................................................................27

2.2 Kinetis L series.............................................................................................................................................................27

2.3 KL02 sub-family introduction......................................................................................................................................30

2.4 Module functional categories........................................................................................................................................31

2.4.1 ARM Cortex-M0+ core modules...................................................................................................................31

2.4.2 System modules.............................................................................................................................................32

2.4.3 Memories and memory interfaces..................................................................................................................33

2.4.4 Clocks.............................................................................................................................................................33

2.4.5 Security and integrity modules......................................................................................................................33

2.4.6 Analog modules.............................................................................................................................................34

2.4.7 Timer modules...............................................................................................................................................34

2.4.8 Communication interfaces.............................................................................................................................34

2.4.9 Human-machine interfaces............................................................................................................................35

2.5 Orderable part numbers.................................................................................................................................................35

Chapter 3

Chip Configuration

3.1 Introduction...................................................................................................................................................................37

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3.2 Module to module interconnects...................................................................................................................................37

3.2.1 Interconnection overview...............................................................................................................................37

3.2.2 Analog reference options...............................................................................................................................38

3.3 Core modules................................................................................................................................................................39

3.3.1 ARM Cortex-M0+ core configuration...........................................................................................................39

3.3.2 Nested vectored interrupt controller (NVIC) configuration...........................................................................42

3.3.3 Asynchronous wake-up interrupt controller (AWIC) configuration..............................................................45

3.4 System modules............................................................................................................................................................46

3.4.1 SIM configuration..........................................................................................................................................46

3.4.2 System mode controller (SMC) configuration...............................................................................................47

3.4.3 PMC configuration.........................................................................................................................................48

3.4.4 MCM configuration.......................................................................................................................................48

3.4.5 Crossbar-light switch configuration...............................................................................................................49

3.4.6 Peripheral bridge configuration.....................................................................................................................51

3.4.7 Computer operating properly (COP) watchdog configuration......................................................................52

3.5 Clock modules..............................................................................................................................................................54

3.5.1 MCG configuration........................................................................................................................................54

3.5.2 OSC configuration.........................................................................................................................................55

3.6 Memories and memory interfaces.................................................................................................................................56

3.6.1 Flash memory configuration..........................................................................................................................56

3.6.2 Flash memory controller configuration..........................................................................................................58

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3.6.3 SRAM configuration......................................................................................................................................59

3.7 Analog...........................................................................................................................................................................61

3.7.1 12-bit SAR ADC configuration.....................................................................................................................61

3.7.2 CMP configuration.........................................................................................................................................64

3.8 Timers...........................................................................................................................................................................67

3.8.1 Timer/PWM module configuration................................................................................................................67

3.8.2 Low-power timer configuration.....................................................................................................................69

3.9 Communication interfaces............................................................................................................................................71

3.9.1 SPI configuration...........................................................................................................................................71

3.9.2 I2C configuration...........................................................................................................................................72

3.9.3 UART configuration......................................................................................................................................73

3.10 Human-machine interfaces (HMI)................................................................................................................................74

3.10.1 GPIO configuration........................................................................................................................................74

Chapter 4

Memory Map

4.1 Introduction...................................................................................................................................................................77

4.2 System memory map.....................................................................................................................................................77

4.3 Flash memory map........................................................................................................................................................78

4.3.1 Alternate non-volatile IRC user trim description...........................................................................................78

4.4 SRAM memory map.....................................................................................................................................................79

4.5 Bit Manipulation Engine...............................................................................................................................................79

4.6 Peripheral bridge (AIPS-Lite) memory map.................................................................................................................79

4.6.1 Read-after-write sequence and required serialization of memory operations................................................80

4.6.2 Peripheral bridge (AIPS-Lite) memory map..................................................................................................80

4.6.3 Modules restricted access in user mode.........................................................................................................84

4.7 Private Peripheral Bus (PPB) memory map..................................................................................................................84

Chapter 5

Clock Distribution

5.1 Introduction...................................................................................................................................................................85

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5.2 Programming model......................................................................................................................................................85

5.3 High-level device clocking diagram.............................................................................................................................85

5.4 Clock definitions...........................................................................................................................................................86

5.4.1 Device clock summary...................................................................................................................................87

5.5 Internal clocking requirements.....................................................................................................................................88

5.5.1 Clock divider values after reset......................................................................................................................89

5.5.2 VLPR mode clocking.....................................................................................................................................89

5.6 Clock gating..................................................................................................................................................................90

5.7 Module clocks...............................................................................................................................................................90

5.7.1 PMC 1-kHz LPO clock..................................................................................................................................91

5.7.2 COP clocking.................................................................................................................................................91

5.7.3 LPTMR clocking............................................................................................................................................92

5.7.4 TPM clocking.................................................................................................................................................92

5.7.5 UART clocking..............................................................................................................................................93

Chapter 6

Reset and Boot

6.1 Introduction...................................................................................................................................................................95

6.2 Reset..............................................................................................................................................................................95

6.2.1 Power-on reset (POR)....................................................................................................................................95

6.2.2 System reset sources......................................................................................................................................96

6.2.3 MCU resets....................................................................................................................................................99

6.2.4 RESET_b pin ................................................................................................................................................100

6.2.5 Debug resets...................................................................................................................................................100

6.3 Boot...............................................................................................................................................................................101

6.3.1 Boot sources...................................................................................................................................................101

6.3.2 FOPT boot options.........................................................................................................................................101

6.3.3 Boot sequence................................................................................................................................................103

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Chapter 7

Power Management

7.1 Introduction...................................................................................................................................................................105

7.2 Clocking modes............................................................................................................................................................105

7.2.1 Partial Stop.....................................................................................................................................................105

7.2.2 Compute Operation........................................................................................................................................106

7.2.3 Peripheral Doze..............................................................................................................................................107

7.2.4 Clock gating...................................................................................................................................................107

7.3 Power modes.................................................................................................................................................................108

7.4 Entering and exiting power modes...............................................................................................................................109

7.5 Module operation in low-power modes........................................................................................................................110

Chapter 8

Security

8.1 Introduction...................................................................................................................................................................113

8.2 Flash security................................................................................................................................................................113

8.3 Security interactions with other modules......................................................................................................................113

8.3.1 Security interactions with Debug...................................................................................................................114

Chapter 9

Debug

9.1 Introduction...................................................................................................................................................................115

9.2 Debug port pin descriptions..........................................................................................................................................115

9.3 SWD status and control registers..................................................................................................................................116

9.3.1 MDM-AP Control Register............................................................................................................................117

9.3.2 MDM-AP Status Register..............................................................................................................................118

9.4 Debug resets..................................................................................................................................................................120

9.5 Micro Trace Buffer (MTB)...........................................................................................................................................120

9.6 Debug in low-power modes..........................................................................................................................................121

9.7 Debug and security.......................................................................................................................................................122

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Chapter 10

Signal Multiplexing and Signal Descriptions

10.1 Introduction...................................................................................................................................................................123

10.2 Signal multiplexing integration....................................................................................................................................123

10.2.1 Port control and interrupt module features....................................................................................................124

10.2.2 Clock gating...................................................................................................................................................125

10.2.3 Signal multiplexing constraints......................................................................................................................125

10.3 Pinout............................................................................................................................................................................125

10.3.1 KL02 signal multiplexing and pin assignments.............................................................................................125

10.3.2 KL02 pinouts..................................................................................................................................................126

10.4 Module Signal Description Tables................................................................................................................................129

10.4.1 Core modules.................................................................................................................................................129

10.4.2 System modules.............................................................................................................................................130

10.4.3 Clock modules................................................................................................................................................130

10.4.4 Memories and memory interfaces..................................................................................................................130

10.4.5 Analog............................................................................................................................................................130

10.4.6 Timer Modules...............................................................................................................................................131

10.4.7 Communication interfaces.............................................................................................................................131

10.4.8 Human-machine interfaces (HMI).................................................................................................................132

Chapter 11

Port Control and Interrupts (PORT)

11.1 Introduction...................................................................................................................................................................133

11.2 Overview.......................................................................................................................................................................133

11.2.1 Features..........................................................................................................................................................133

11.2.2 Modes of operation........................................................................................................................................134

11.3 External signal description............................................................................................................................................134

11.4 Detailed signal description............................................................................................................................................135

11.5 Memory map and register definition.............................................................................................................................135

11.5.1 Pin Control Register n (PORTx_PCRn).........................................................................................................138

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11.5.2 Global Pin Control Low Register (PORTx_GPCLR)....................................................................................140

11.5.3 Global Pin Control High Register (PORTx_GPCHR)...................................................................................141

11.5.4 Interrupt Status Flag Register (PORTx_ISFR)..............................................................................................141

11.6 Functional description...................................................................................................................................................142

11.6.1 Pin control......................................................................................................................................................142

11.6.2 Global pin control..........................................................................................................................................143

11.6.3 External interrupts..........................................................................................................................................143

Chapter 12

System Integration Module (SIM)

12.1 Introduction...................................................................................................................................................................145

12.1.1 Features..........................................................................................................................................................145

12.2 Memory map and register definition.............................................................................................................................145

12.2.1 System Options Register 2 (SIM_SOPT2)....................................................................................................146

12.2.2 System Options Register 4 (SIM_SOPT4)....................................................................................................147

12.2.3 System Options Register 5 (SIM_SOPT5)....................................................................................................149

12.2.4 System Options Register 7 (SIM_SOPT7)....................................................................................................150

12.2.5 System Device Identification Register (SIM_SDID).....................................................................................151

12.2.6 System Clock Gating Control Register 4 (SIM_SCGC4)..............................................................................153

12.2.7 System Clock Gating Control Register 5 (SIM_SCGC5)..............................................................................155

12.2.8 System Clock Gating Control Register 6 (SIM_SCGC6)..............................................................................156

12.2.9 System Clock Divider Register 1 (SIM_CLKDIV1).....................................................................................157

12.2.10 Flash Configuration Register 1 (SIM_FCFG1).............................................................................................159

12.2.11 Flash Configuration Register 2 (SIM_FCFG2).............................................................................................160

12.2.12 Unique Identification Register Mid-High (SIM_UIDMH)............................................................................161

12.2.13 Unique Identification Register Mid Low (SIM_UIDML).............................................................................161

12.2.14 Unique Identification Register Low (SIM_UIDL)........................................................................................162

12.2.15 COP Control Register (SIM_COPC).............................................................................................................162

12.2.16 Service COP Register (SIM_SRVCOP)........................................................................................................163

12.3 Functional description...................................................................................................................................................164

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Chapter 13

System Mode Controller (SMC)

13.1 Introduction...................................................................................................................................................................165

13.2 Modes of operation.......................................................................................................................................................165

13.3 Memory map and register descriptions.........................................................................................................................167

13.3.1 Power Mode Protection register (SMC_PMPROT).......................................................................................167

13.3.2 Power Mode Control register (SMC_PMCTRL)...........................................................................................169

13.3.3 Stop Control Register (SMC_STOPCTRL)...................................................................................................170

13.3.4 Power Mode Status register (SMC_PMSTAT).............................................................................................171

13.4 Functional description...................................................................................................................................................172

13.4.1 Power mode transitions..................................................................................................................................172

13.4.2 Power mode entry/exit sequencing................................................................................................................175

13.4.3 Run modes......................................................................................................................................................177

13.4.4 Wait modes....................................................................................................................................................178

13.4.5 Stop modes.....................................................................................................................................................179

13.4.6 Debug in low power modes...........................................................................................................................181

Chapter 14

Power Management Controller (PMC)

14.1 Introduction...................................................................................................................................................................183

14.2 Features.........................................................................................................................................................................183

14.3 Low-voltage detect (LVD) system................................................................................................................................183

14.3.1 LVD reset operation.......................................................................................................................................184

14.3.2 LVD interrupt operation.................................................................................................................................184

14.3.3 Low-voltage warning (LVW) interrupt operation.........................................................................................184

14.4 I/O retention..................................................................................................................................................................185

14.5 Memory map and register descriptions.........................................................................................................................185

14.5.1 Low Voltage Detect Status And Control 1 register (PMC_LVDSC1)..........................................................186

14.5.2 Low Voltage Detect Status And Control 2 register (PMC_LVDSC2)..........................................................187

14.5.3 Regulator Status And Control register (PMC_REGSC)................................................................................188

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Chapter 15

Reset Control Module (RCM)

15.1 Introduction...................................................................................................................................................................191

15.2 Reset memory map and register descriptions...............................................................................................................191

15.2.1 System Reset Status Register 0 (RCM_SRS0)..............................................................................................191

15.2.2 System Reset Status Register 1 (RCM_SRS1)..............................................................................................193

15.2.3 Reset Pin Filter Control register (RCM_RPFC)............................................................................................194

15.2.4 Reset Pin Filter Width register (RCM_RPFW).............................................................................................195

Chapter 16

Bit Manipulation Engine (BME)

16.1 Introduction...................................................................................................................................................................197

16.1.1 Overview........................................................................................................................................................198

16.1.2 Features..........................................................................................................................................................198

16.1.3 Modes of operation........................................................................................................................................199

16.2 External signal description............................................................................................................................................199

16.3 Memory map and register definition.............................................................................................................................200

16.4 Functional description...................................................................................................................................................200

16.4.1 BME decorated stores....................................................................................................................................200

16.4.2 BME decorated loads.....................................................................................................................................207

16.4.3 Additional details on decorated addresses and GPIO accesses......................................................................213

16.5 Application information................................................................................................................................................214

Chapter 17

Miscellaneous Control Module (MCM)

17.1 Introduction...................................................................................................................................................................217

17.1.1 Features..........................................................................................................................................................217

17.2 Memory map/register descriptions...............................................................................................................................217

17.2.1 Crossbar Switch (AXBS) Slave Configuration (MCM_PLASC)..................................................................218

17.2.2 Crossbar Switch (AXBS) Master Configuration (MCM_PLAMC)..............................................................219

17.2.3 Platform Control Register (MCM_PLACR)..................................................................................................219

17.2.4 Compute Operation Control Register (MCM_CPO).....................................................................................222

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Chapter 18

Micro Trace Buffer (MTB)

18.1 Introduction...................................................................................................................................................................225

18.1.1 Overview........................................................................................................................................................225

18.1.2 Features..........................................................................................................................................................228

18.1.3 Modes of operation........................................................................................................................................229

18.2 External signal description............................................................................................................................................229

18.3 Memory map and register definition.............................................................................................................................230

18.3.1 MTB_RAM Memory Map.............................................................................................................................230

18.3.2 MTB_DWT Memory Map.............................................................................................................................242

18.3.3 System ROM Memory Map...........................................................................................................................253

Chapter 19

Crossbar Switch Lite (AXBS-Lite)

19.1 Introduction...................................................................................................................................................................259

19.1.1 Features..........................................................................................................................................................259

19.2 Memory Map / Register Definition...............................................................................................................................259

19.3 Functional Description..................................................................................................................................................260

19.3.1 General operation...........................................................................................................................................260

19.3.2 Arbitration......................................................................................................................................................261

19.4 Initialization/application information...........................................................................................................................262

Chapter 20

Peripheral Bridge (AIPS-Lite)

20.1 Introduction...................................................................................................................................................................263

20.1.1 Features..........................................................................................................................................................263

20.1.2 General operation...........................................................................................................................................263

20.2 Functional description...................................................................................................................................................264

20.2.1 Access support...............................................................................................................................................264

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Chapter 21

Multipurpose Clock Generator (MCG)

21.1 Introduction...................................................................................................................................................................265

21.1.1 Features..........................................................................................................................................................265

21.1.2 Modes of Operation.......................................................................................................................................268

21.2 External Signal Description..........................................................................................................................................268

21.3 Memory Map/Register Definition.................................................................................................................................268

21.3.1 MCG Control 1 Register (MCG_C1).............................................................................................................268

21.3.2 MCG Control 2 Register (MCG_C2).............................................................................................................269

21.3.3 MCG Control 3 Register (MCG_C3).............................................................................................................271

21.3.4 MCG Control 4 Register (MCG_C4).............................................................................................................271

21.3.5 MCG Control 6 Register (MCG_C6).............................................................................................................273

21.3.6 MCG Status Register (MCG_S)....................................................................................................................273

21.3.7 MCG Status and Control Register (MCG_SC)..............................................................................................274

21.3.8 MCG Auto Trim Compare Value High Register (MCG_ATCVH)..............................................................276

21.3.9 MCG Auto Trim Compare Value Low Register (MCG_ATCVL)................................................................276

21.4 Functional Description..................................................................................................................................................276

21.4.1 MCG mode state diagram..............................................................................................................................276

21.4.2 Low Power Bit Usage....................................................................................................................................280

21.4.3 MCG Internal Reference Clocks....................................................................................................................280

21.4.4 External Reference Clock..............................................................................................................................281

21.4.5 MCG Fixed frequency clock .........................................................................................................................281

21.4.6 MCG Auto TRIM (ATM)..............................................................................................................................281

21.5 Initialization / Application information........................................................................................................................283

21.5.1 MCG module initialization sequence.............................................................................................................283

21.5.2 Using a 32.768 kHz reference........................................................................................................................285

21.5.3 MCG mode switching....................................................................................................................................286

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Chapter 22

Oscillator (OSC)

22.1 Introduction...................................................................................................................................................................289

22.2 Features and Modes......................................................................................................................................................289

22.3 Block Diagram..............................................................................................................................................................290

22.4 OSC Signal Descriptions..............................................................................................................................................290

22.5 External Crystal / Resonator Connections....................................................................................................................291

22.6 External Clock Connections.........................................................................................................................................292

22.7 Memory Map/Register Definitions...............................................................................................................................293

22.7.1 OSC Memory Map/Register Definition.........................................................................................................293

22.8 Functional Description..................................................................................................................................................294

22.8.1 OSC Module States........................................................................................................................................294

22.8.2 OSC Module Modes.......................................................................................................................................296

22.8.3 Counter...........................................................................................................................................................297

22.8.4 Reference Clock Pin Requirements...............................................................................................................297

22.9 Reset..............................................................................................................................................................................298

22.10 Low Power Modes Operation.......................................................................................................................................298

22.11 Interrupts.......................................................................................................................................................................298

Chapter 23

Flash Memory Controller (FMC)

23.1 Introduction...................................................................................................................................................................299

23.1.1 Overview........................................................................................................................................................299

23.1.2 Features..........................................................................................................................................................299

23.2 Modes of operation.......................................................................................................................................................300

23.3 External signal description............................................................................................................................................300

23.4 Memory map and register descriptions.........................................................................................................................300

23.5 Functional description...................................................................................................................................................300

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Chapter 24

Flash Memory Module (FTFA)

24.1 Introduction...................................................................................................................................................................303

24.1.1 Features..........................................................................................................................................................304

24.1.2 Block Diagram...............................................................................................................................................304

24.1.3 Glossary.........................................................................................................................................................305

24.2 External Signal Description..........................................................................................................................................306

24.3 Memory Map and Registers..........................................................................................................................................306

24.3.1 Flash Configuration Field Description...........................................................................................................306

24.3.2 Program Flash IFR Map.................................................................................................................................307

24.3.3 Register Descriptions.....................................................................................................................................308

24.4 Functional Description..................................................................................................................................................317

24.4.1 Flash Protection..............................................................................................................................................317

24.4.2 Interrupts........................................................................................................................................................317

24.4.3 Flash Operation in Low-Power Modes..........................................................................................................318

24.4.4 Functional Modes of Operation.....................................................................................................................319

24.4.5 Flash Reads and Ignored Writes....................................................................................................................319

24.4.6 Read While Write (RWW).............................................................................................................................319

24.4.7 Flash Program and Erase................................................................................................................................319

24.4.8 Flash Command Operations...........................................................................................................................319

24.4.9 Margin Read Commands...............................................................................................................................324

24.4.10 Flash Command Description..........................................................................................................................325

24.4.11 Security..........................................................................................................................................................338

24.4.12 Reset Sequence..............................................................................................................................................340

Chapter 25

Analog-to-Digital Converter (ADC)

25.1 Introduction...................................................................................................................................................................341

25.1.1 Features..........................................................................................................................................................341

25.1.2 Block diagram................................................................................................................................................342

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25.2 ADC signal descriptions...............................................................................................................................................343

25.2.1 Analog Power (VDDA).................................................................................................................................344

25.2.2 Analog Ground (VSSA).................................................................................................................................344

25.2.3 Analog Channel Inputs (ADx).......................................................................................................................344

25.3 Memory map and register definitions...........................................................................................................................344

25.3.1 ADC Status and Control Registers 1 (ADCx_SC1n).....................................................................................345

25.3.2 ADC Configuration Register 1 (ADCx_CFG1).............................................................................................349

25.3.3 ADC Configuration Register 2 (ADCx_CFG2).............................................................................................350

25.3.4 ADC Data Result Register (ADCx_Rn).........................................................................................................351

25.3.5 Compare Value Registers (ADCx_CVn).......................................................................................................352

25.3.6 Status and Control Register 2 (ADCx_SC2)..................................................................................................353

25.3.7 Status and Control Register 3 (ADCx_SC3)..................................................................................................355

25.3.8 ADC Offset Correction Register (ADCx_OFS).............................................................................................357

25.3.9 ADC Plus-Side Gain Register (ADCx_PG)...................................................................................................357

25.3.10 ADC Plus-Side General Calibration Value Register (ADCx_CLPD)...........................................................358

25.3.11 ADC Plus-Side General Calibration Value Register (ADCx_CLPS)............................................................358

25.3.12 ADC Plus-Side General Calibration Value Register (ADCx_CLP4)............................................................359

25.3.13 ADC Plus-Side General Calibration Value Register (ADCx_CLP3)............................................................359

25.3.14 ADC Plus-Side General Calibration Value Register (ADCx_CLP2)............................................................360

25.3.15 ADC Plus-Side General Calibration Value Register (ADCx_CLP1)............................................................360

25.3.16 ADC Plus-Side General Calibration Value Register (ADCx_CLP0)............................................................361

25.4 Functional description...................................................................................................................................................361

25.4.1 Clock select and divide control......................................................................................................................362

25.4.2 Voltage reference selection............................................................................................................................362

25.4.3 Hardware trigger and channel selects............................................................................................................363

25.4.4 Conversion control.........................................................................................................................................364

25.4.5 Automatic compare function..........................................................................................................................370

25.4.6 Calibration function.......................................................................................................................................372

25.4.7 User-defined offset function..........................................................................................................................373

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25.4.8 Temperature sensor........................................................................................................................................374

25.4.9 MCU wait mode operation.............................................................................................................................375

25.4.10 MCU Normal Stop mode operation...............................................................................................................375

25.4.11 MCU Low-Power Stop mode operation........................................................................................................376

25.5 Initialization information..............................................................................................................................................377

25.5.1 ADC module initialization example..............................................................................................................377

25.6 Application information................................................................................................................................................379

25.6.1 External pins and routing...............................................................................................................................379

25.6.2 Sources of error..............................................................................................................................................381

Chapter 26

Comparator (CMP)

26.1 Introduction...................................................................................................................................................................385

26.2 CMP features................................................................................................................................................................385

26.3 6-bit DAC key features.................................................................................................................................................386

26.4 ANMUX key features...................................................................................................................................................386

26.5 CMP, DAC and ANMUX diagram...............................................................................................................................387

26.6 CMP block diagram......................................................................................................................................................388

26.7 Memory map/register definitions..................................................................................................................................389

26.7.1 CMP Control Register 0 (CMPx_CR0).........................................................................................................389

26.7.2 CMP Control Register 1 (CMPx_CR1).........................................................................................................390

26.7.3 CMP Filter Period Register (CMPx_FPR).....................................................................................................392

26.7.4 CMP Status and Control Register (CMPx_SCR)...........................................................................................392

26.7.5 DAC Control Register (CMPx_DACCR)......................................................................................................393

26.7.6 MUX Control Register (CMPx_MUXCR)....................................................................................................394

26.8 Functional description...................................................................................................................................................395

26.8.1 CMP functional modes...................................................................................................................................395

26.8.2 Power modes..................................................................................................................................................404

26.8.3 Startup and operation.....................................................................................................................................405

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26.8.4 Low-pass filter...............................................................................................................................................405

26.9 CMP interrupts..............................................................................................................................................................408

26.10 Digital-to-analog converter...........................................................................................................................................408

26.11 DAC functional description..........................................................................................................................................409

26.11.1 Voltage reference source select......................................................................................................................409

26.12 DAC resets....................................................................................................................................................................409

26.13 DAC clocks...................................................................................................................................................................409

26.14 DAC interrupts..............................................................................................................................................................410

26.15 CMP Trigger Mode.......................................................................................................................................................410

Chapter 27

Timer/PWM Module (TPM)

27.1 Introduction...................................................................................................................................................................411

27.1.1 TPM Philosophy............................................................................................................................................411

27.1.2 Features..........................................................................................................................................................411

27.1.3 Modes of Operation.......................................................................................................................................412

27.1.4 Block Diagram...............................................................................................................................................412

27.2 TPM Signal Descriptions..............................................................................................................................................413

27.2.1 TPM_EXTCLK — TPM External Clock......................................................................................................413

27.2.2 TPM_CHn — TPM Channel (n) I/O Pin.......................................................................................................414

27.3 Memory Map and Register Definition..........................................................................................................................414

27.3.1 Status and Control (TPMx_SC).....................................................................................................................415

27.3.2 Counter (TPMx_CNT)...................................................................................................................................416

27.3.3 Modulo (TPMx_MOD)..................................................................................................................................417

27.3.4 Channel (n) Status and Control (TPMx_CnSC).............................................................................................418

27.3.5 Channel (n) Value (TPMx_CnV)...................................................................................................................419

27.3.6 Capture and Compare Status (TPMx_STATUS)...........................................................................................420

27.3.7 Configuration (TPMx_CONF).......................................................................................................................422

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27.4 Functional Description..................................................................................................................................................423

27.4.1 Clock Domains...............................................................................................................................................424

27.4.2 Prescaler.........................................................................................................................................................424

27.4.3 Counter...........................................................................................................................................................425

27.4.4 Input Capture Mode.......................................................................................................................................427

27.4.5 Output Compare Mode...................................................................................................................................428

27.4.6 Edge-Aligned PWM (EPWM) Mode.............................................................................................................429

27.4.7 Center-Aligned PWM (CPWM) Mode..........................................................................................................431

27.4.8 Registers Updated from Write Buffers..........................................................................................................433

27.4.9 Reset Overview..............................................................................................................................................433

27.4.10 TPM Interrupts...............................................................................................................................................434

Chapter 28

Low-Power Timer (LPTMR)

28.1 Introduction...................................................................................................................................................................435

28.1.1 Features..........................................................................................................................................................435

28.1.2 Modes of operation........................................................................................................................................435

28.2 LPTMR signal descriptions..........................................................................................................................................436

28.2.1 Detailed signal descriptions...........................................................................................................................436

28.3 Memory map and register definition.............................................................................................................................436

28.3.1 Low Power Timer Control Status Register (LPTMRx_CSR)........................................................................437

28.3.2 Low Power Timer Prescale Register (LPTMRx_PSR)..................................................................................438

28.3.3 Low Power Timer Compare Register (LPTMRx_CMR)...............................................................................440

28.3.4 Low Power Timer Counter Register (LPTMRx_CNR).................................................................................440

28.4 Functional description...................................................................................................................................................441

28.4.1 LPTMR power and reset................................................................................................................................441

28.4.2 LPTMR clocking............................................................................................................................................441

28.4.3 LPTMR prescaler/glitch filter........................................................................................................................441

28.4.4 LPTMR compare............................................................................................................................................443

28.4.5 LPTMR counter.............................................................................................................................................443

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Section number Title Page

28.4.6 LPTMR hardware trigger...............................................................................................................................444

28.4.7 LPTMR interrupt............................................................................................................................................444

Chapter 29

Serial Peripheral Interface (SPI)

29.1 Introduction...................................................................................................................................................................445

29.1.1 Features..........................................................................................................................................................445

29.1.2 Modes of operation........................................................................................................................................446

29.1.3 Block diagrams..............................................................................................................................................446

29.2 External signal description............................................................................................................................................449

29.2.1 SPSCK — SPI Serial Clock...........................................................................................................................449

29.2.2 MOSI — Master Data Out, Slave Data In.....................................................................................................449

29.2.3 MISO — Master Data In, Slave Data Out.....................................................................................................449

29.2.4 SS — Slave Select..........................................................................................................................................449

29.3 Memory Map and Register Descriptions......................................................................................................................450

29.3.1 SPI Control Register 1 (SPIx_C1).................................................................................................................450

29.3.2 SPI Control Register 2 (SPIx_C2).................................................................................................................452

29.3.3 SPI Baud Rate Register (SPIx_BR)...............................................................................................................453

29.3.4 SPI Status Register (SPIx_S).........................................................................................................................454

29.3.5 SPI Data Register (SPIx_D)...........................................................................................................................455

29.3.6 SPI Match Register (SPIx_M)........................................................................................................................456

29.4 Functional description...................................................................................................................................................457

29.4.1 General...........................................................................................................................................................457

29.4.2 Master mode...................................................................................................................................................457

29.4.3 Slave mode.....................................................................................................................................................459

29.4.4 SPI clock formats...........................................................................................................................................460

29.4.5 SPI baud rate generation................................................................................................................................463

KL02 Sub-Family Reference Manual, Rev. 3.1, July 2013

20 Freescale Semiconductor, Inc.

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