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10.5.4 Interrupt Sequence ..........................................................................................................................89
10.5.5 Interrupt Response Time..................................................................................................................90
10.5.6 Variation of IPL when Interrupt Request is Accepted ....................................................................... 90
10.5.7 Saving Registers ..............................................................................................................................91
10.5.8 Returning from an Interrupt Routine ................................................................................................92
10.5.9 Interrupt Priority ...............................................................................................................................92
10.5.10 Interrupt Priority Resolution Circuit ................................................................................................ 92
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10.6 INT Interrupt ............................................................................................................................................. 94
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10.7 NMI Interrupt ............................................................................................................................................98
10.8 Key Input Interrupt ................................................................................................................................... 98
10.9 CAN0/1 Wake-up Interrupt .......................................................................................................................98
10.10 Address Match Interrupt .........................................................................................................................99
11. Watchdog Timer .............................................................................................................. 101
11.1 Count Source Protective Mode .............................................................................................................. 102
12. DMAC.............................................................................................................................. 103
12.1 Transfer Cycle ........................................................................................................................................ 108
12.1.1 Effect of Source and Destination Addresses.................................................................................. 108
12.1.2 Effect of BYTE Pin Level................................................................................................................108
12.1.3 Effect of Software Wait................................................................................................................... 108
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12.1.4 Effect of RDY Signal ......................................................................................................................108
12.2 DMA Transfer Cycles ............................................................................................................................. 110
12.3 DMA Enable ........................................................................................................................................... 111
12.4 DMA Request ......................................................................................................................................... 111
12.5 Channel Priority and DMA Transfer Timing............................................................................................ 112
13. Timers ............................................................................................................................. 113
13.1 Timer A ................................................................................................................................................... 115
13.1.1 Timer Mode .................................................................................................................................... 119
13.1.2 Event Counter Mode ...................................................................................................................... 120
13.1.3 One-shot Timer Mode ....................................................................................................................125
13.1.4 Pulse Width Modulation (PWM) Mode ........................................................................................... 127
13.2 Timer B ...................................................................................................................................................130
13.2.1 Timer Mode ....................................................................................................................................133
13.2.2 Event Counter Mode ...................................................................................................................... 134
13.2.3 Pulse Period and Pulse Width Measurement Mode ...................................................................... 135
14. Three-Phase Motor Control Timer Function .................................................................... 138
15. Serial Interface ................................................................................................................ 149
15.1 UARTi.....................................................................................................................................................149
15.1.1 Clock Synchronous Serial I/O Mode .............................................................................................. 159
15.1.2 Clock Asynchronous Serial I/O (UART) Mode ............................................................................... 167
15.1.3 Special Mode 1 (I
2
C Mode) ............................................................................................................ 175
15.1.4 Special Mode 2 ..............................................................................................................................184
15.1.5 Special Mode 3 (IE Mode) .............................................................................................................189
15.1.6 Special Mode 4 (SIM Mode) (UART2) ........................................................................................... 191
15.2 SI/Oi .......................................................................................................................................................196
15.2.1 SI/Oi Operation Timing................................................................................................................... 200
15.2.2 CLK Polarity Selection ................................................................................................................... 200
15.2.3 Functions for Setting an SOUTi Initial Value .................................................................................. 201