Holtek HT66FM5440 User manual

Brushless DC Motor A/D Flash MCU
HT66FM5440
Revision: V1.00 Date: June 28, 2017June 28, 2017

Rev. 1.00 2 June 28, 2017 Rev. 1.00 3 June 28, 2017
HT66FM5440
Brushless DC Motor A/D Flash MCU
HT66FM5440
Brushless DC Motor A/D Flash MCU
Table of Contents
Features............................................................................................................ 7
CPU Features ......................................................................................................................... 7
Peripheral Features................................................................................................................. 7
General Description......................................................................................... 8
Block Diagram.................................................................................................. 9
Pin Assignment................................................................................................ 9
Pin Description .............................................................................................. 10
Absolute Maximum Ratings.......................................................................... 13
D.C. Characteristics....................................................................................... 13
A.C. Characteristics....................................................................................... 14
LVR/LVD Electrical Characteristics.............................................................. 14
A/D Converter Electrical Characteristics..................................................... 15
D/A Converter Electrical Characteristics .................................................... 16
Operational Amplier 0 Electrical Characteristics .................................... 16
Operational Amplier 1 & 2 Electrical Characteristics .............................. 17
Unit Gain Buffer Electrical Characteristics ................................................ 17
Comparators Electrical Characteristics ...................................................... 18
Power-on Reset Characteristics................................................................... 18
System Architecture...................................................................................... 19
Clocking and Pipelining......................................................................................................... 19
Program Counter................................................................................................................... 20
Stack ..................................................................................................................................... 20
Arithmetic and Logic Unit – ALU ........................................................................................... 21
Flash Program Memory................................................................................. 22
Structure................................................................................................................................ 22
Special Vectors ..................................................................................................................... 22
Look-up Table........................................................................................................................ 22
Table Program Example........................................................................................................ 23
In Circuit Programming – ICP ............................................................................................... 24
On-Chip Debug Support – OCDS ......................................................................................... 25
Data Memory .................................................................................................. 25
Structure................................................................................................................................ 25
Data Memory Addressing...................................................................................................... 26
General Purpose Data Memory ............................................................................................ 26
Special Purpose Data Memory ............................................................................................. 26
Special Function Register Description........................................................ 28
Indirect Addressing Registers – IAR0, IAR1, IAR2 ............................................................... 28
Memory Pointers – MP0, MP1L, MP1H, MP2L, MP2H......................................................... 28

Rev. 1.00 2 June 28, 2017 Rev. 1.00 3 June 28, 2017
HT66FM5440
Brushless DC Motor A/D Flash MCU
HT66FM5440
Brushless DC Motor A/D Flash MCU
Accumulator – ACC............................................................................................................... 29
Program Counter Low Register – PCL.................................................................................. 30
Look-up Table Registers – TBLP, TBHP, TBLH..................................................................... 30
Status Register – STATUS.................................................................................................... 30
Oscillators ...................................................................................................... 32
Oscillator Overview ............................................................................................................... 32
System Clock Congurations................................................................................................ 32
Internal High Speed RC Oscillator – HIRC ........................................................................... 33
Internal 32kHz Oscillator – LIRC........................................................................................... 33
Operating Modes and System Clocks ......................................................... 33
System Clocks ...................................................................................................................... 33
System Operation Modes...................................................................................................... 34
Control Registers .................................................................................................................. 35
Operating Mode Switching .................................................................................................... 37
Standby Current Considerations ........................................................................................... 38
Wake-up................................................................................................................................ 39
Watchdog Timer............................................................................................. 40
Watchdog Timer Clock Source.............................................................................................. 40
Watchdog Timer Control Register ......................................................................................... 40
Watchdog Timer Operation ................................................................................................... 41
Reset and Initialisation.................................................................................. 42
Reset Functions .................................................................................................................... 42
Reset Initial Conditions ......................................................................................................... 44
Input/Output Ports ......................................................................................... 51
Pull-high Resistors ................................................................................................................ 52
Port A Wake-up ..................................................................................................................... 52
I/O Port Control Registers ..................................................................................................... 53
Pin-shared Functions ............................................................................................................ 53
I/O Pin Structures.................................................................................................................. 60
Programming Considerations................................................................................................ 60
Timer Modules – TM ...................................................................................... 61
Introduction ........................................................................................................................... 61
TM Operation ........................................................................................................................ 61
TM Clock Source................................................................................................................... 61
TM Interrupts......................................................................................................................... 62
TM External Pins................................................................................................................... 62
TM Input/Output Pin Selection .............................................................................................. 62
Programming Considerations................................................................................................ 63
Periodic Type TM – PTM................................................................................ 64
Periodic TM Operation ......................................................................................................... 65
Periodic Type TM Register Description ................................................................................ 66
Periodic Type TM Operating Modes ..................................................................................... 72

Rev. 1.00 4 June 28, 2017 Rev. 1.00 5 June 28, 2017
HT66FM5440
Brushless DC Motor A/D Flash MCU
HT66FM5440
Brushless DC Motor A/D Flash MCU
Capture Timer Module – CAPTM .................................................................. 84
Capture Timer Overview ....................................................................................................... 84
Capture Timer Register Description ..................................................................................... 84
Capture Timer Operation....................................................................................................... 87
Noise Filter ..................................................................................................... 89
Analog to Digital Converter ......................................................................... 91
A/D Converter Overview ....................................................................................................... 91
A/D Converter Register Description ...................................................................................... 92
A/D Converter Operation .................................................................................................... 101
Summary of A/D Conversion Steps..................................................................................... 103
Considerations for simutaniously using both trigger methods............................................. 105
Programming Considerations.............................................................................................. 106
A/D Conversion Function .................................................................................................... 106
A/D Conversion Programming Examples............................................................................ 107
Comparators ................................................................................................ 109
Comparator Operation ........................................................................................................ 109
Comparator Register............................................................................................................110
Over Current Detection ................................................................................111
Over Current Detect Functional Description ........................................................................111
Over Current Detect Register...............................................................................................112
Phase Current Detection..............................................................................113
Phase Current Detect Functional Description ......................................................................113
Phase Current Detect Register ...........................................................................................113
BLDC Motor Control Circuit.........................................................................114
Functional Description..........................................................................................................114
PWM Counter Control Circuit ..............................................................................................115
Mask Function......................................................................................................................119
Other Functions................................................................................................................... 124
Hall Sensor Decoder ........................................................................................................... 126
Motor Protection Function ................................................................................................... 133
I2C Interface .................................................................................................. 140
I2C Interface Operation........................................................................................................ 140
I2C Registers ....................................................................................................................... 141
I2C Bus Communication ..................................................................................................... 144
I2C Bus Start Signal ............................................................................................................ 145
I2C Slave Address ............................................................................................................... 145
I2C Bus Read/Write Signal ................................................................................................. 145
I2C Bus Slave Address Acknowledge Signal ...................................................................... 146
I2C Bus Data and Acknowledge Signal .............................................................................. 146
I2C Time-out Control............................................................................................................ 147
UART Interface............................................................................................. 149
UART External Pins ............................................................................................................ 150
UART Data Transfer Scheme.............................................................................................. 150

Rev. 1.00 4 June 28, 2017 Rev. 1.00 5 June 28, 2017
HT66FM5440
Brushless DC Motor A/D Flash MCU
HT66FM5440
Brushless DC Motor A/D Flash MCU
UART Status and Control Registers.................................................................................... 150
Baud Rate Generator .......................................................................................................... 156
UART Setup and Control..................................................................................................... 156
UART Transmitter................................................................................................................ 158
UART Receiver ................................................................................................................... 159
Managing Receiver Errors .................................................................................................. 160
UART Interrupt Structure..................................................................................................... 161
UART Power Down and Wake-up....................................................................................... 162
Low Voltage Detector – LVD ....................................................................... 163
LVD Register ....................................................................................................................... 163
LVD Operation..................................................................................................................... 164
Multiplication Division Unit – MDU ............................................................ 165
MDU Registers.................................................................................................................... 166
MDU Operation ................................................................................................................... 167
Interrupts ...................................................................................................... 169
Interrupt Registers............................................................................................................... 169
Interrupt Priority Conguration ............................................................................................ 178
Interrupt Preempt Function ................................................................................................. 180
Interrupt Operation .............................................................................................................. 181
Hall Sensor Interrupts ......................................................................................................... 184
External Interrupt 1.............................................................................................................. 184
Noise Filter Input Interrupt................................................................................................... 185
Comparator Interrupt........................................................................................................... 185
CAPTM Interrupts ............................................................................................................... 185
Multi-function Interrupts....................................................................................................... 186
PWM Module Interrupts ...................................................................................................... 186
A/D Converter Interrupts ..................................................................................................... 187
TM Interrupts....................................................................................................................... 187
UART Interrupt .................................................................................................................... 188
I2C Interrupt ......................................................................................................................... 188
Time Base Interrupt............................................................................................................. 188
LVD Interrupt ....................................................................................................................... 189
Interrupt Wake-up Function................................................................................................. 190
Programming Considerations.............................................................................................. 190
Application Circuits..................................................................................... 191
Introduction ......................................................................................................................... 191
Functional Description......................................................................................................... 191
Hardware Block Diagram .................................................................................................... 192
Hardware Circuit ................................................................................................................. 193
Instruction Set.............................................................................................. 194
Introduction ......................................................................................................................... 194
Instruction Timing ................................................................................................................ 194
Moving and Transferring Data............................................................................................. 194
Arithmetic Operations.......................................................................................................... 194

Rev. 1.00 6 June 28, 2017 Rev. 1.00 7 June 28, 2017
HT66FM5440
Brushless DC Motor A/D Flash MCU
HT66FM5440
Brushless DC Motor A/D Flash MCU
Logical and Rotate Operation ............................................................................................. 195
Branches and Control Transfer ........................................................................................... 195
Bit Operations ..................................................................................................................... 195
Table Read Operations ....................................................................................................... 195
Other Operations................................................................................................................. 195
Instruction Set Summary ............................................................................ 196
Table Conventions............................................................................................................... 196
Extended Instruction Set ..................................................................................................... 198
Instruction Denition................................................................................... 200
Extended Instruction Denition ........................................................................................... 209
Package Information ................................................................................... 216
28-pin SSOP (150mil) Outline Dimensions ......................................................................... 217

Rev. 1.00 6 June 28, 2017 Rev. 1.00 7 June 28, 2017
HT66FM5440
Brushless DC Motor A/D Flash MCU
HT66FM5440
Brushless DC Motor A/D Flash MCU
Features
CPU Features
• Operatingvoltage

♦fSYS=16MHz:4.5V~5.5V
• 0.0625μsinstructioncyclewith16MHzsystemclockatVDD=5V
• Powerdownandwake-upfunctionstoreducepowerconsumption
• Oscillatortypes

♦InternalHighSpeed16MHzRC–HIRC

♦InternalLowSpeed32kHzRC–LIRC
• Multi-modeoperation:NORMAL,IDLEandSLEEP
• Allinstructionsexecutedin1~3instructioncycles
• Tablereadinstructions
• 115powerfulinstructions
• 8-levelsubroutinenesting
• Bitmanipulationinstruction
Peripheral Features
• FlashProgramMemory:4K×16
• RAMDataMemory:384×8
• WatchdogTimerfunction
• 26bidirectionalI/Olines
• Interruptpriorityprogrammablewithtwointerruptpreemptfuncions
• Fivepin-sharedexternalinterrupts–H1,H2,H3,NFINandINT1
• MultipleTimerModulesfortimemeasurement,inputcapture,comparematchoutputorPWM
outputorsinglepulseoutputfunction
• Single16-bitCAPTMformotorprotection
• 3-channel10-bitPWMwithcomplementaryoutputsforBLDCapplication
• 6externalchannels10/12-bitresolutionA/Dconverter

♦NormalA/Dconversion

♦Delayauto-triggeredA/Dconversion,upto4channelsavailableforeachconversion
• I2CInterface
• SingleFully-duplexUniversalAsynchronousReceiverandTransmitterInterface–UART
• Fourcomparatorfunctions
• Overcurrentdetection–OperationalAmplier0,Comparator0and8-bitD/Aconverter
• Phasecurrentdetection–OperationalAmplier1and2
• SingleTime-Basefunctionforgenerationofxedtimeinterruptsignals
• IntegratedMultiplication/DivisionUnits

♦One8-bitMultiplication/DivisionUnit–MDU0

♦One16-bitMultiplication/DivisionUnit–MDU1
• Lowvoltageresetfunction
• Lowvoltagedetectfunction
• Flashprogrammemorycanbere-programmedupto100,000times
• Flashprogrammemorydataretention>10years
• Packagetype:28-pinSSOP

Rev. 1.00 8 June 28, 2017 Rev. 1.00 9 June 28, 2017
HT66FM5440
Brushless DC Motor A/D Flash MCU
HT66FM5440
Brushless DC Motor A/D Flash MCU
General Description
TheBLDCMotorFlashMCUHT66FM5440providesPWMcongurationexibilityandcomplete
protectionmechanismwhicharenecessaryforbrushlessDCmotorapplications.Thedeviceusesthe
HT8-1Tarchitecturetoachieveoneoscillationcycleforoneinstruction.Withtheintegrated16MHz
oscillator,executingasingleinstructiononlyneeds0.0625μs.
Comparedwithitspredecessor,theHT66FM5440addstheinterruptprioritycongurationfunction
andtwointerruptpreemptfunctions,whichcanbeflexiblyconfiguredaccordingtodifferent
interruptpriorityrequirementsfordifferentsystems.TwounsignedMultiplicationandDivision
Units(MDU),one8-bittypeandone16-bittype,areprovidedforcomplicatedoperational
requirements.The16-bitMDUadditionallyintegratesa32-bit/16-bitunsigneddivider.
The10-bitPWMgeneratordedicatedformotorcontrolprovidesdifferentdutycongurationsfor
thefourchannelsanduptothreePWMcomplimentaryoutputpairs.Themotorcurrentandvoltage
oftenrequirereal-timedetectionandaccuratetriggertiming,toachievethispurposeanA/Dauto-
scanfunctionisprovided.Userscanexiblyselecttousethe10-bitPWMperiodordutysignalto
triggertheA/Dconversion.IfusingtheinterrupttocheckfortheendoftheA/Dconversion,the
mainprogramorsubroutineprogramrunningwillnotbeaffectedduringtheconversionprocess.
WiththeA/Dauto-scancontinuoussamplingfunctionprovided,theA/Dconverteralsosupports
10-bitor12-bitresolution,whichisadjustableaccordingtotheactualresolutionandsampling
timerequirement.Inaddition,eachchannelhasaunity-gainbufferwhichisusedtoavoidvoltage
interferencewhenswitchingbetweenA/Dchannels.AnintegratedOCPcircuitcomposedofOPA0
andCMP0,andtwoOPAs,OPA1andOPA2,canbeexiblyusedformotorcurrentdetection.The
OCPfunctioncaneffectivelyprovidemotorinstantlargecurrentprotectionandturnofftheinternal
motordrivesignaltoachieveinstantaneoussystemprotection.AftertheOPA0~OPA2outputsignals
aresampledandconvertedbytheA/Dconverter,theconverteddatawillbecomparedwiththe
presetboundaryvalues.Iftheconverteddataexceedsthepresetrange,aninterruptwillbegenerated
fortheusertodothecorrespondingprocessing.Withregardtomotorstallingprotection,a16-bit
CaptureTimerisprovidedtomonitorthemotorspeedloopthusachievingstallingprotection.
Withtheaforementionedadvantages,theHT66FM5440isespeciallysuitableforbrushlessmotor
square-waveHallsolutions,square-wavesensorlesssolutionsandsine-waveHalldrivingsolutions.

Rev. 1.00 8 June 28, 2017 Rev. 1.00 9 June 28, 2017
HT66FM5440
Brushless DC Motor A/D Flash MCU
HT66FM5440
Brushless DC Motor A/D Flash MCU
Block Diagram
HIRC
16MHz
LIRC
32kHz
MUX
Clock System
HT8 MCU Core
Reset
Circuit
Interrupt
Controller
INT1
ROM
4K×16
LVD/LVR
Watchdog
Timer
RAM
384×8
Stack
8-Level
HT8-1T
SYSCLK
Bus
Digital Peripherals
TM3
Time Base
12-bit
ADC
MUX
Pin-Shared
With Port A,B&D
AVDD
AN0~AN3,
AN6&AN7
TM2
TM1 TM0
Pin-Shared
&
Pin-Remapping
Function
Port A
Driver
Port B
Driver
Port C
Driver
Port D
Driver
PA0~PA7
PB0~PB7
PC0~PC5
PD0~PD3
VDD&AVDD
VSS&AVSS
VDD
BLDC Motor Control Peripherals
: Pin-Shared Node
OPA1P
AP
Pin-Shared
With Port A
MUX
OPA1
OPA2
OPA0
Unity
Gain
8-bit
DAC
+
-Over Current
Detection Circuit
ADBYPS
Analog
Digital
Converter
UART I2C
Noise
Filter NFIN
Pin-Shared
With Port A&B
Position Detection Circuit
MUX
+
+
+
-
Hall Noise
Filter
Motor
Protect
Circuit
Motor
Control
Circuit
Pin-Shared
With Port A&B
Pin-Shared
With Port C
Pin-Shared
With Port A
GAT
GAB
GBT
GBB
GCT
GCB
H1
H2
H3
C1P~
C3P
C1N~
C3N
Pin-Shared
With Port B
OPA1N
OPA1O
OPA2P
OPA2N
OPA2O
CMP0
Analog Peripherals
+
-
+
-
AVDD
VSS
AVSS
CAPTM 8/16-bit
MDUs
Pin Assignment
PA6/OPA1O/C1N/AN7
PA7/OPA2O/NFIN/AN6
PD0/TP0_0/TCK0/OPA1N/AN0
PD1/TP0_1/OPA1P/AN1
VSS & AVSS
VDD & AVDD
PA1/TCK2/AP/AN3
PD2/TP1_0/INT1/OPA2N
PD3/TP1_1/OPA2P
PB1/CTIN/HBO/SCL
PB2/TP3_1/HCO/SDA
PB0/INT1/NFIN/TP3_0/HAO/TCK3
PC0/GAT
PC1/GAB
PA5/C3P/H3
PA4/C2P/H2/C1N
PA3/C1P/H1/TCK1
PB3/C1N/CPN
PB5/TP2_1/C2N
PB4/TP2_0/C3N
PB7/TP2_1/TX/AN2
PB6/TP2_0/RX/OPA0O
PA2/SCL/TX/ICPCK/OCDSCK
PA0/SDA/RX/ICPDA/OCDSDA
PC5/GCB
PC4/GCT
PC3/GBB
PC2/GBT
HT66FM5440/HT66VM5440
28 SSOP-A
28
27
26
25
24
23
22
21
20
19
18
17
16
15
1
2
3
4
5
6
7
8
9
10
11
12
13
14
Note:1.Ifthepin-sharedpinfunctionshavemultipleoutputs,thedesiredpin-sharedfunctionisdeterminedby
correspondingsoftwarecontrolbits.
2.TheOCDSDAandOCDSCKpinsaresuppliedfortheOCDSdedicatedpinsandassuchonlyavailable
fortheHT66VM5440devicewhichistheOCDSEVchipfortheHT66FM5440device.
3.The"VDD&AVDD"meansthattheVDDandAVDDareinternallybondedwhilethe"VSS&AVSS"
meansthattheVSSandAVSSareinternallybonded.

Rev. 1.00 10 June 28, 2017 Rev. 1.00 11 June 28, 2017
HT66FM5440
Brushless DC Motor A/D Flash MCU
HT66FM5440
Brushless DC Motor A/D Flash MCU
Pin Description
Thefunctionofeachpinislistedinthefollowingtable,howeverthedetailsbehindhoweachpinis
congurediscontainedinothersectionsofthedatasheet.
Pin Name Function OPT I/T O/T Description
PA0/SDA/RX/
ICPDA/OCDSDA
PA0
PAPU
PAWU
PAPS0
ST CMOS General purpose I/O. Register enabled pull-up
and wake-up
SDA PAPS0
PRM ST NMOS I2C data/address line
RX PAPS0
PRM ST — External UART RX serial data input pin
ICPDA — ST CMOS ICP data/address pin
OCDSDA — ST CMOS OCDS data/address pin, for EV chip only.
PA1/TCK2/AP/AN3
PA1
PAPU
PAWU
PAS0
ST CMOS General purpose I/O. Register enabled pull-up
and wake-up
TCK2 PAPS0 ST — PTM2 clock input
AP PAPS0 AN — Operational Amplier 0 positive input
AN3 PAPS0 AN — A/D Converter external input 3
PA2/SCL/TX/
ICPCK/OCDSCK
PA2
PAPU
PAWU
PAPS0
ST CMOS General purpose I/O. Register enabled pull-up
and wake-up
SCL PAPS0
PRM ST — I2C clock line
TX PAPS0
PRM — CMOS External UART TX serial data output pin
ICPCK — ST — ICP clock pin
OCDSCK — ST — OCDS clock pin, for EV chip only
PA3/C1P/H1/TCK1
PA3
PAPU
PAWU
PAPS0
ST CMOS General purpose I/O. Register enabled pull-up
and wake-up
C1P PAPS0 AN — Comparator 1 positive intput
H1 PAPS0 ST — Hall sensor input
TCK1 PAPS0 ST — PTM1 clock input
PA4/C2P/H2/C1N
PA4
PAPU
PAWU
PAPS1
ST CMOS General purpose I/O. Register enabled pull-up
and wake-up
C2P PAPS1 AN — Comparator 2 positive intput
H2 PAPS1 ST — Hall sensor input
C1N PAPS1
PRM AN — Comparator 1 negative input
PA5/C3P/H3
PA5
PAPU
PAWU
PAPS1
ST CMOS General purpose I/O. Register enabled pull-up
and wake-up
C3P PAPS1 AN — Comparator 3 positive intput
H3 PAPS1 ST — Hall sensor input
PA6/OPA1O/
C1N/AN7
PA6
PAPU
PAWU
PAPS1
ST CMOS General purpose I/O. Register enabled pull-up
and wake-up
OPA1O PAPS1 — AN Operational Amplier 1 output
C1N PAPS1
PRM AN — Comparator 1 negative input
AN7 PAPS1 AN — A/D Converter external input 7