Dspic 33 F

dsPIC33F Family Data Sheet
High-Performance, 16-bit Digital Signal Controllers
2005 Microchip Technology Inc.
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DS70165A
Note the following details of the code protection feature on Microchip devices: Microchip products meet the specification contained in their particular Microchip Data Sheet. Microchip believes that its family of products is one of the most secure families of its kind on the market today, when used in the intended manner and under normal conditions. There are dishonest and possibly illegal methods used to breach the code protection feature. All of these methods, to our knowledge, require using the Microchip products in a manner outside the operating specifications contained in Microchips Data Sheets. Most likely, the person doing so is engaged in theft of intellectual property. Microchip is willing to work with the customer who is concerned about the integrity of their code. Neither Microchip nor any other semiconductor manufacturer can guarantee the security of their code. Code protection does not mean that we are guaranteeing the product as unbreakable.
Code protection is constantly evolving. We at Microchip are committed to continuously improving the code protection features of our products. Attempts to break Microchips code protection feature may be a violation of the Digital Millennium Copyright Act. If such acts allow unauthorized access to your software or other copyrighted work, you may have a right to sue for relief under that Act.
Information contained in this publication regarding device applications and the like is provided only for your convenience and may be superseded by updates. It is your responsibility to ensure that your application meets with your specifications. MICROCHIP MAKES NO REPRESENTATIONS OR WARRANTIES OF ANY KIND WHETHER EXPRESS OR IMPLIED, WRITTEN OR ORAL, STATUTORY OR OTHERWISE, RELATED TO THE INFORMATION, INCLUDING BUT NOT LIMITED TO ITS CONDITION, QUALITY, PERFORMANCE, MERCHANTABILITY OR FITNESS FOR PURPOSE. Microchip disclaims all liability arising from this information and its use. Use of Microchips products as critical components in life support systems is not authorized except with express written approval by Microchip. No licenses are conveyed, implicitly or otherwise, under any Microchip intellectual property rights.
Trademarks The Microchip name and logo, the Microchip logo, Accuron, dsPIC, KEELOQ, microID, MPLAB, PIC, PICmicro, PICSTART, PRO MATE, PowerSmart, rfPIC, and SmartShunt are registered trademarks of Microchip Technology Incorporated in the U.S.A. and other countries. AmpLab, FilterLab, Migratable Memory, MXDEV, MXLAB, PICMASTER, SEEVAL, SmartSensor and The Embedded Control Solutions Company are registered trademarks of Microchip Technology Incorporated in the U.S.A. Analog-for-the-Digital Age, Application Maestro, dsPICDEM, dsPICDEM.net, dsPICworks, ECAN, ECONOMONITOR, FanSense, FlexROM, fuzzyLAB, In-Circuit Serial Programming, ICSP, ICEPIC, Linear Active Thermistor, MPASM, MPLIB, MPLINK, MPSIM, PICkit, PICDEM, PICDEM.net, PICLAB, PICtail, PowerCal, PowerInfo, PowerMate, PowerTool, rfLAB, rfPICDEM, Select Mode, Smart Serial, SmartTel, Total Endurance and WiperLock are trademarks of Microchip Technology Incorporated in the U.S.A. and other countries. SQTP is a service mark of Microchip Technology Incorporated in the U.S.A. All other trademarks mentioned herein are property of their respective companies. 2005, Microchip Technology Incorporated, Printed in the U.S.A., All Rights Reserved. Printed on recycled paper.
Microchip received ISO/TS-16949:2002 quality system certification for its worldwide headquarters, design and wafer fabrication facilities in Chandler and Tempe, Arizona and Mountain View, California in October 2003. The Companys quality system processes and procedures are for its PICmicro 8-bit MCUs, KEELOQ code hopping devices, Serial EEPROMs, microperipherals, nonvolatile memory and analog products. In addition, Microchips quality system for the design and manufacture of development systems is ISO 9001:2000 certified.
DS70165A-page ii
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dsPIC33F
High-Performance, 16-bit Digital Signal Controllers
Operating Range
DC 40 MIPS (40 MIPS @ 3.0-3.6V, -40C to +85C) Industrial temperature range (-40C to +85C)
Digital I/O
Up to 85 programmable digital I/O pins Wake-up/Interrupt-on-Change on up to 24 pins Output pins can drive from 3.0V to 3.6V All digital input pins are 5V tolerant 4 mA sink on all I/O pins
High-Performance DSC CPU

Modified Harvard architecture C compiler optimized instruction set 16-bit wide data path 24-bit wide instructions Linear program memory addressing up to 4M instruction words Linear data memory addressing up to 64 Kbytes 84 base instructions: mostly 1 word/1 cycle Sixteen 16-bit General Purpose Registers Two 40-bit accumulators: - With rounding and saturation options Flexible and powerful addressing modes: - Indirect, Modulo and Bit-Reversed Software stack 16 x 16 fractional/integer multiply operations 32/16 and 16/16 divide operations Single-cycle multiply and accumulate: - Accumulator write back for DSP operations - Dual data fetch Up to 16-bit shifts for up to 40-bit data
On-Chip Flash and SRAM

Flash program memory, up to 256 Kbytes Data SRAM, up to 30 Kbytes (includes 2 Kbytes of DMA RAM): - Up to 33 Kbytes on devices marked PS (includes 1 Kbyte of DMA RAM)
System Management
Flexible clock options: - External, crystal, resonator, internal RC - Fully integrated PLL - Extremely low jitter PLL Power-up Timer Oscillator Start-up Timer/Stabilizer Watchdog Timer with its own RC oscillator Fail-Safe Clock Monitor Reset by multiple sources
Power Management
On-chip 2.5V voltage regulator Switch between clock sources in real time Idle, Sleep and Doze modes with fast wake-up
Direct Memory Access (DMA)

8-channel hardware DMA: - 6-channel hardware DMA in devices marked PS 2 Kbytes dual ported DMA buffer area (DMA RAM) to store data transferred via DMA: - Allows data transfer between RAM and a peripheral while CPU is executing code (no cycle stealing) - 1 Kbyte DMA RAM in devices marked PS Most peripherals support DMA
Timers/Capture/Compare/PWM
Timer/Counters, up to nine 16-bit timers: - Can pair up to make four 32-bit timers - 1 timer runs as Real-Time Clock with external 32.768 kHz oscillator - Programmable prescaler Input Capture (up to 8 channels): - Capture on up, down or both edges - 16-bit capture input functions - 4-deep FIFO on each capture Output Compare (up to 8 channels): - Single or Dual 16-Bit Compare mode - 16-bit Glitchless PWM mode
Interrupt Controller
5-cycle latency 118 interrupt vectors Up to 67 available interrupt sources: - Up to 63 available interrupt sources in devices marked PS Up to 5 external interrupts 7 programmable priority levels 5 processor exceptions
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DS70165A-page 1
dsPIC33F
Communication Modules
3-wire SPI (up to 2 modules): - Framing supports I/O interface to simple codecs - Supports 8-bit and 16-bit data - Supports all serial clock formats and sampling modes I2C (up to 2 modules): - Full Multi-Master Slave mode support - 7-bit and 10-bit addressing - Bus collision detection and arbitration - Integrated signal conditioning - Slave address masking UART (up to 2 modules): - Interrupt on address bit detect - Wake-up on Start bit from Sleep mode - 4-character TX and RX FIFO buffers - LIN bus support - IrDA encoding and decoding in hardware - High-Speed Baud mode Data Converter Interface (DCI) module: - Codec interface - Supports I2S and AC97 protocols - Up to 16-bit data words, up to 16 words per frame - 4-word deep TX and RX buffers Enhanced CAN (ECAN) 2.0B active (up to 2 modules): - Up to 8 transmit and up to 32 receive buffers - 16 receive filters and 3 masks - Loopback, Listen Only and Listen All Messages modes for diagnostics and bus monitoring - Wake-up on CAN message - Automatic processing of Remote Transmission Requests - FIFO mode using DMA - Not present in devices marked PS CAN 2.0B active (up to 2 modules) in devices marked PS: - 3 transmit and 2 receive buffers - 6 receive filters and 2 masks - Loopback, Listen Only and Listen All Messages modes for diagnostics and bus monitoring - Wake-up on CAN message
Motor Control Peripherals

Motor Control PWM (up to 8 channels): - 4 duty cycle generators - Independent or Complementary mode - Programmable dead time and output polarity - Edge or center-aligned - Manual output override control - Up to 2 Fault inputs - Trigger for A/D conversions - PWM frequency for 16-bit resolution (@ 40 MIPS) = 1220 Hz for Edge-Aligned mode, 610 Hz for Center-Aligned mode - PWM frequency for 11-bit resolution (@ 40 MIPS) = 39.1 kHz for Edge-Aligned mode, 19.55 kHz for Center-Aligned mode Quadrature Encoder Interface module: - Phase A, Phase B and index pulse input - 16-bit up/down position counter - Count direction status - Position Measurement (x2 and x4) mode - Programmable digital noise filters on inputs - Alternate 16-bit Timer/Counter mode - Interrupt on position counter rollover/underflow
Analog-to-Digital Converters
Up to two A/D modules in a device 10-bit, 2.2 Msps or 12-bit, 1 Msps conversion: - 2, 4 or 8 simultaneous samples - Up to 32 input channels with auto-scanning - Conversion start can be manual or synchronized with 1 of 4 trigger sources - Conversion possible in Sleep mode - 1 LSB max integral nonlinearity - 1 LSB max differential nonlinearity
CMOS Flash Technology

Low-power, high-speed Flash technology Fully static design 3.3V (10%) operating voltage Industrial temperature Low-power consumption
Packaging:
100-pin TQFP (14x14x1 mm and 12x12x1 mm): - Only 14x14x1 mm for devices marked PS 80-pin TQFP (12x12x1 mm) 64-pin TQFP (10x10x1 mm) Note: See the device variant tables for exact peripheral features per device.
DS70165A-page 2
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dsPIC33F
dsPIC33F PRODUCT FAMILIES
Note: Prototype samples are intended for dsPIC33F early adopters and are based on early revision silicon. Devices are marked with a PS suffix. Major differences are noted in this data sheet. For additional information, please contact your Microchip salesperson. The Motor Control Family supports a variety of motor control applications, such as brushless DC motors, single and 3-phase induction motors and switched reluctance motors. These products are also well-suited for Uninterrupted Power Supply (UPS), inverters, Switched mode power supplies, power factor correction and also for controlling the power management module in servers, telecommunication equipment and other industrial equipment. The device names, pin counts, memory sizes and peripheral availability of each family are listed below, followed by their pinout diagrams.
There are two device subfamilies within the dsPIC33F family of devices. They are the General Purpose Family and the Motor Control Family. The General Purpose Family is ideal for a wide variety of 16-bit MCU embedded applications. The variants with codec interfaces are well-suited for speech and audio processing applications.
dsPIC33F General Purpose Family Variants

Output Compare Std. PWM Program RAM Pins Flash Memory (Kbyte)(1) (Kbyte) I/O Pins (Max)(2) 53 53 85 53 69 85 53 53 85 53 69 85 53 85 85 A/D Converter Input Capture 16-bit Timer Enhanced CAN Codec Interface UART SPI I2C
Device
Packages
33FJ64GP206 33FJ64GP306 33FJ64GP310 33FJ64GP706 33FJ64GP708 33FJ64GP710 33FJ128GP206 33FJ128GP306 33FJ128GP310 33FJ128GP706 33FJ128GP708 33FJ128GP710 33FJ256GP506 33FJ256GP510 33FJ256GP710 Note 1: 2:
64 64 100 64 80 100 64 64 100 64 80 100 64 100 100
64 64 64 64 64 64 128 128 128 128 128 128 256 256 256
8 16 16 16 16 16 8 16 16 16 16 16 16 16 30
9 9 9 9 9 9 9 9 9 9 9 9 9 9 9
8 8 8 8 8 8 8 8 8 8 8 8 8 8 8
8 8 8 8 8 8 8 8 8 8 8 8 8 8 8
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
1 A/D, 18 ch 1 A/D, 18 ch 1 A/D, 32 ch 2 A/D, 18 ch 2 A/D, 24 ch 2 A/D, 32 ch 1 A/D, 18 ch 1 A/D, 18 ch 1 A/D, 32 ch 2 A/D, 18 ch 2 A/D, 24 ch 2 A/D, 32 ch 1 A/D, 18 ch 1 A/D, 32 ch 2 A/D, 32 ch
2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
1 2 2 2 2 2 1 2 2 2 2 2 2 2 2
0 0 0 2 2 2 0 0 0 2 2 2 1 1 2
PT PT PF, PT PT PT PF, PT PT PT PF, PT PT PT PF, PT PT PF, PT PF, PT
RAM size is inclusive of 2 Kbytes DMA RAM. Maximum I/O pin count includes pins shared by the peripheral functions.
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DS70165A-page 3
dsPIC33F
Pin Diagrams
64-Pin TQFP
CSDO/RG13 CSDI/RG12 CSCK/RG14 RG0 RG1 RF1 RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 OC2/RD1 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33
COFS/RG15 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/T5CK/CN11/RG9 VSS VDD AN5/IC8/CN7/RB5 AN4/IC7/CN6/RB4 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/VREF-/CN3/RB1 PGD3/EMUD3/AN0/VREF+/CN2/RB0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
dsPIC33FJ64GP206 dsPIC33FJ128GP206
PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PGD2/EMUD2/SOSCI/T4CK/CN1/RC13 OC1/RD0 IC4/INT4/RD11 IC3/INT3/RD10 IC2/U1CTS/INT2/RD9 IC1/INT1/RD8 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 U1RTS/SCK1/INT0/RF6 U1RX/SDI1/RF2 U1TX/SDO1/RF3
PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 AVDD AVSS U2CTS/AN8/RB8 AN9/RB9 TMS/AN10/RB10 TDO/AN11/RB11 VSS VDD TCK/AN12/RB12 TDI/AN13/RB13 U2RTS/AN14/RB14 AN15/OCFB/CN12/RB15 U2RX/CN17/RF4 U2TX/CN18/RF5
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
DS70165A-page 4
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dsPIC33F
Pin Diagrams (Continued)
64-Pin TQFP
CSDO/RG13 CSDI/RG12 CSCK/RG14 RG0 RG1 RF1 RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 OC2/RD1 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 AVDD AVSS U2CTS/AN8/RB8 AN9/RB9 TMS/AN10/RB10 TDO/AN11/RB11 VSS VDD TCK/AN12/RB12 TDI/AN13/RB13 U2RTS/AN14/RB14 AN15/OCFB/CN12/RB15 U2RX/SDA2/CN17/RF4 U2TX/SCL2/CN18/RF5
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
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DS70165A-page 5
dsPIC33F
64-Pin TQFP
CSDO/RG13 CSDI/RG12 CSCK/RG14 RG0 RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 OC2/RD1 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
dsPIC33FJ256GP506
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
DS70165A-page 6
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dsPIC33F
64-Pin TQFP
CSDO/RG13 CSDI/RG12 CSCK/RG14 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 OC2/RD1 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
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DS70165A-page 7
dsPIC33F
80-Pin TQFP
AN23/CN23/RA7
AN22/CN22/RA6 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7
OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13
OC7/CN15/RD6
CSDO/RG13 CSDI/RG12
CSCK/RG14
80 79
78 77 76
75 74 73 72 71 70 69 68 67 66 65 64 63
62 61
IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1
COFS/RG15 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD TMS/AN20/INT1/RE8 TDO/AN21/INT2/RE9 AN5/CN7/RB5 AN4/CN6/RB4 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/CN3/RB1 PGD3/EMUD3/AN0/CN2/RB0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
60 59 58 57 56 55 54 53 52
PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PGD2/EMUD2/SOSCI/CN1/RC13 OC1/RD0 IC4/RD11 IC3/RD10 IC2/RD9 IC1/RD8 SDA2/INT4/RA15 SCL2/INT3/RA14 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 SCK1/INT0/RF6 SDI1/RF7 SDO1/RF8 U1RX/RF2 U1TX/RF3
51 50 49 48 47 46 45 44 43 42 41 40 U2TX/CN18/RF5
IC7/U1CTS/CN20/RD14
PGC1/EMUC1/AN6/OCFA/RB6
DS70165A-page 8
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AN15/OCFB/CN12/RB15
PGD1/EMUD1/AN7/RB7
IC8/U1RTS/CN21/RD15
U2CTS/AN8/RB8
U2RTS/AN14/RB14
U2RX/CN17/RF4
VREF-/RA9
TCK/AN12/RB12
TDI/AN13/RB13
VREF+/RA10
AN10/RB10
AN11/RB11
AN9/RB9
AVDD
AVSS
VDD
VSS
dsPIC33F
100-Pin TQFP
100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76
AN28/RE4 AN27/RE3 AN26/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 AN25/RE1 AN24/RE0 AN23/CN23/RA7 AN22/CN22/RA6 RG0 RG1 RF1 RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1
COFS/RG15 VDD AN29/RE5 AN30/RE6 AN31/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD TMS/RA0 AN20/INT1/RE8 AN21/INT2/RE9 AN5/CN7/RB5 AN4/CN6/RB4 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/CN3/RB1 PGD3/EMUD3/AN0/CN2/RB0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
75 74 73 72 71 70 69 68 67 66 65 64
VSS PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PGD2/EMUD2/SOSCI/CN1/RC13 OC1/RD0 IC4/RD11 IC3/RD10 IC2/RD9 IC1/RD8 INT4/RA15 INT3/RA14 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD TDO/RA5 TDI/RA4 SDA2/RA3 SCL2/RA2 SCL1/RG2 SDA1/RG3 SCK1/INT0/RF6 SDI1/RF7 SDO1/RF8 U1RX/RF2 U1TX/RF3
63 62 61 60 59 58 57 56 55 54 53 52 51
PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 VREF-/RA9 VREF+/RA10 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD TCK/RA1 U2RTS/RF13 U2CTS/RF12 AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 VSS VDD IC7/U1CTS/CN20/RD14 IC8/U1RTS/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5
26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
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DS70165A-page 9
dsPIC33F
100-Pin TQFP
100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76 75 74 73 72 71 70 69 68 67 66 65 64
AN28/RE4 AN27/RE3 AN26/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 AN25/RE1 AN24/RE0 AN23/CN23/RA7 AN22/CN22/RA6 RG0 RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
dsPIC33FJ256GP510
63 62 61 60 59 58 57 56 55 54 53 52 51
26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
DS70165A-page 10
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dsPIC33F
100-Pin TQFP
100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76
AN28/RE4 AN27/RE3 AN26/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 AN25/RE1 AN24/RE0 AN23/CN23/RA7 AN22/CN22/RA6 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
75 74 73 72 71 70 69 68 67 66
dsPIC33FJ64GP710 dsPIC33FJ128GP710 dsPIC33FJ256GP710
65 64 63 62 61 60 59 58 57 56 55 54 53 52 51
26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
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DS70165A-page 11
dsPIC33F
dsPIC33F General Purpose Family Variants (Devices Marked PS)
Output Compare Std. PWM Program RAM Pins Flash Memory (Kbyte)(1) (Kbyte) I/O Pins (Max)(2) 53 69 85 A/D Converter Input Capture Timer 16-bit Codec Interface UART SPI I2C CAN
Device
Packages
33FJ128GP706PS 33FJ128GP708PS 33FJ256GP710PS Note 1: 2:
64 80 100
128 128 256
17 17 33
9 9 9
8 8 8
8 8 8
1 1 1
2 A/D, 18 ch 2 A/D, 24 ch 2 A/D, 32 ch
2 2 2
2 2 2
2 2 2
2 2 2
PT PT PF
RAM size is inclusive of 1 Kbyte DMA RAM. Maximum I/O pin count includes pins shared by the peripheral functions.
Pin Diagrams
64-Pin TQFP
CSDO/RG13 CSDI/RG12 CSCK/RG14 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 EMUD2/OC2/RD1 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33
COFS/RG15 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/T5CK/CN11/RG9 VSS VDD AN5/IC8/CN7/RB5 AN4/IC7/CN6/RB4 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 AN1/VREF-/CN3/RB1 AN0/VREF+/CN2/RB0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
dsPIC33FJ128GP706PS
EMUC1/SOSCO/T1CK/CN0/RC14 EMUD1/SOSCI/T4CK/CN1/RC13 EMUC2/OC1/RD0 IC4/INT4/RD11 IC3/INT3/RD10 IC2/INT2/RD9 IC1/INT1/RD8 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 EMUC3/SCK1/INT0/RF6 U1RX/SDI1/RF2 EMUD3/U1TX/SDO1/RF3
PGC/EMUC/AN6/OCFA/RB6 PGD/EMUD/AN7/RB7 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 U2RX/SDA2/CN17/RF4 U2TX/SCL2/CN18/RF5
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
DS70165A-page 12
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dsPIC33F
80-Pin TQFP
CSCK/RG14 AN23/CN23/RA7
AN22/CN22/RA6
C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7
80 79 78 77 76
CSDO/RG13 CSDI/RG12
75 74 73 72 71 70 69 68 67 66 65 64 63 62 61
IC5/RD12 OC4/RD3 OC3/RD2 EMUD2/OC2/RD1
OC7/CN15/RD6
COFS/RG15 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD AN20/INT1/RA12 AN21/INT2/RA13 AN5/CN7/RB5 AN4/CN6/RB4 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC/EMUC/AN1/CN3/RB1 PGD/EMUD/AN0/CN2/RB0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 34 35 36 37 38 39 23 24 25 26 27 28 29 30 31 32 33
60 59 58 57 56 55 54 53 52 51
EMUC1/SOSCO/T1CK/CN0/RC14 EMUD1/SOSCI/CN1/RC13 EMUC2/OC1/RD0 IC4/RD11 IC3/RD10 IC2/RD9 IC1/RD8 SDA2/INT4/RA15 SCL2/INT3/RA14 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 EMUC3/SCK1/INT0/RF6 SDI1/RF7 SDO1/RF8 U1RX/RF2 EMUD3/U1TX/RF3
dsPIC33FJ128GP708PS
50 49 48 47 46 45 44 43 42 41 40 U2TX/CN18/RF5
AN12/RB12
AN13/RB13
AN10/RB10
AN6/OCFA/RB6
AN14/RB14
AN11/RB11
AN8/RB8
AN9/RB9
Advance Information
AN15/OCFB/CN12/RB15 IC7/CN20/RD14
U2RX/CN17/RF4
AN7/RB7
VREF+/RA10
VREF-/RA9
IC8/CN21/RD15
AVSS
AVDD
VSS
VDD
DS70165A-page 13
dsPIC33F
100-Pin TQFP
AN28/RE4 AN27/RE3 AN26/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 AN25/RE1 AN24/RE0 AN23/CN23/RA7 AN22/CN22/RA6 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 EMUD2/OC2/RD1 100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76
COFS/RG15 VDD AN29/RE5 AN30/RE6 AN31/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD RA0 AN20/INT1/RA12 AN21/INT2/RA13 AN5/CN7/RB5 AN4/CN6/RB4 AN3/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC/EMUC/AN1/CN3/RB1 PGD/EMUD/AN0/CN2/RB0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
75 74 73 72 71 70 69 68 67 66 65 64
VSS EMUC1/SOSCO/T1CK/CN0/RC14 EMUD1/SOSCI/CN1/RC13 EMUC2/OC1/RD0 IC4/RD11 IC3/RD10 IC2/RD9 IC1/RD8 INT4/RA15 INT3/RA14 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD RA5 RA4 SDA2/RA3 SCL2/RA2 SCL1/RG2 SDA1/RG3 EMUC3/SCK1/INT0/RF6 SDI1/RF7 SDO1/RF8 U1RX/RF2 EMUD3/U1TX/RF3
dsPIC33FJ256GP710PS
63 62 61 60 59 58 57 56 55 54 53 52 51
AN6/OCFA/RB6 AN7/RB7 VREF-/RA9 VREF+/RA10 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD RA1 U2RTS/RF13 U2CTS/RF12 AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 VSS VDD IC7/CN20/RD14 IC8/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5
26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
DS70165A-page 14
Advance Information
dsPIC33F
dsPIC33F Motor Control Family Variants
Quadrature Encoder Interface Motor Control PWM Output Compare Std. PWM Program Flash RAM Pins Memory (Kbyte)(1) (Kbyte) I/O Pins (Max)(2) 53 69 85 53 85 53 85 53 69 85 85 85 Codec Interface Enhanced CAN A/D Converter Input Capture Timer 16-bit
UART
SPI
Device
I2C
Packages
33FJ64MC506 33FJ64MC508 33FJ64MC510 33FJ64MC706 33FJ64MC710 33FJ128MC506 33FJ128MC510 33FJ128MC706 33FJ128MC708 33FJ128MC710 33FJ256MC510 33FJ256MC710 Note 1: 2:
64 80 100 64 100 64 100 64 80 100 100 100
64 64 64 64 64 128 128 128 128 128 256 256
8 8 8 16 16 8 8 16 16 16 16 30
9 9 9 9 9 9 9 9 9 9 9 9
8 8 8 8 8 8 8 8 8 8 8 8
8 8 8 8 8 8 8 8 8 8 8 8
8 ch 8 ch 8 ch 8 ch 8 ch 8 ch 8 ch 8 ch 8 ch 8 ch 8 ch 8 ch
1 1 1 1 1 1 1 1 1 1 1 1
0 0 0 0 0 0 0 0 0 0 0 0
1 A/D, 16 ch 1 A/D, 18 ch 1 A/D, 24 ch 2 A/D, 16 ch 2 A/D, 24 ch 1 A/D, 16 ch 1 A/D, 24 ch 2 A/D, 16 ch 2 A/D, 18 ch 2 A/D, 24 ch 1 A/D, 24 ch 2 A/D, 24 ch
2 2 2 2 2 2 2 2 2 2 2 2
2 2 2 2 2 2 2 2 2 2 2 2
2 2 2 2 2 2 2 2 2 2 2 2
1 1 1 1 2 1 1 1 2 2 1 2
PT PT PF, PT PT PF, PT PT PF, PT PT PT PF, PT PF, PT PF, PT
RAM size is inclusive of 2 Kbytes DMA RAM. Maximum I/O pin count includes pins shared by the peripheral functions.
Advance Information
DS70165A-page 15
dsPIC33F
Pin Diagrams
64-Pin TQFP
PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/T5CK/CN11/RG9 VSS VDD AN5/QEB/IC8/CN7/RB5 AN4/QEA/IC7/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/VREF-/CN3/RB1 PGD3/EMUD3/AN0/VREF+/CN2/RB0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33
PWM3L/RE4 PWM2H/RE3 PWM2L/RE2 PWM1H/RE1 PWM1L/RE0 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/UPDN/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 OC2/RD1
dsPIC33FJ64MC506
PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PGD2/EMUD2/SOSCI/T4CK/CN1/RC13 OC1/RD0 IC4/INT4/RD11 IC3/INT3/RD10 IC2/U1CTS/FLTB/INT2/RD9 IC1/FLTA/INT1/RD8 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 U1RTS/SCK1/INT0/RF6 U1RX/SDI1/RF2 U1TX/SDO1/RF3
PGC1/EMUC1/AN6/OCFA/RB6 PGD1/EMUD1/AN7/RB7 AVDD AVSS U2CTS/AN8/RB8 AN9/RB9 TMS/AN10/RB10 TDO/AN11/RB11 VSS VDD TCK/AN12/RB12 TDI/AN13/RB13 U2RTS/AN14/RB14 AN15/OCFB/CN12/RB15 U2RX/CN17/RF4 U2TX/CN18/RF5
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
DS70165A-page 16
Advance Information
dsPIC33F
64-Pin TQFP
PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/T5CK/CN11/RG9 VSS VDD AN5/QEB/IC8/CN7/RB5 AN4/QEA/IC7/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/VREF-/CN3/RB1 PGD3/EMUD3/AN0/VREF+/CN2/RB0
64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33
PWM3L/RE4 PWM2H/RE3 PWM2L/RE2 PWM1H/RE1 PWM1L/RE0 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/UPDN/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 OC2/RD1
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
dsPIC33FJ128MC506 dsPIC33FJ64MC506 dsPIC33FJ128MC706
PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PGD2/EMUD2/SOSCI/T4CK/CN1/RC13 OC1/RD0 IC4/INT4/RD11 IC3/INT3/RD10 IC2/U1CTS/FLTB/INT2/RD9 IC1/FLTA/INT1/RD8 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 U1RTS/SCK1/INT0/RF6 U1RX/SDI1/RF2 U1TX/SDO1/RF3
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
Advance Information
DS70165A-page 17
dsPIC33F
80-Pin TQFP
PWM2L/RE2 PWM1H/RE1 PWM1L/RE0 RG0 RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/UPDN/RD7
OC7/CN15/RD6
PWM3L/RE4 PWM2H/RE3
80 79 78 77 76 75 74 73 72 71 70 69 68 67 66 65 64
63 62 61 60 59 58 57 56 55 54 53 52 51
IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1
PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD TMS/FLTA/INT1/RE8 TDO/FLTB/INT2/RE9 AN5/QEB/CN7/RB5 AN4/QEA/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/CN3/RB1 PGD3/EMUD3/AN0/CN2/RB0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
dsPIC33FJ64MC508
50 49 48 47 46 45 44 43 42 41
U2RX/CN17/RF4
AN15/OCFB/CN12/RB15 IC7/U1CTS/CN20/RD14
PGD1/EMUD1/AN7/RB7
DS70165A-page 18
Advance Information
IC8/U1RTS/CN21/RD15
U2CTS/AN8/RB8
U2RTS/AN14/RB14
TCK/AN12/RB12
U2TX/CN18/RF5
VREF+/RA10
VREF-/RA9
AN10/RB10
AN11/RB11
TDI/AN13/RB13
AN9/RB9
AVDD
AVSS
VDD
VSS
dsPIC33F
80-Pin TQFP
CRX2/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE
OC8/CN16/UPDN/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13
PWM3L/RE4 PWM2H/RE3
PWM2L/RE2 PWM1H/RE1 PWM1L/RE0
IC5/RD12 OC4/RD3 OC3/RD2
80 79 78 77 76 75 74 73 72 71 70 69 68 67 66 65 64 63 62 61 60 59 58 57 56 55 54 53 52 51
OC2/RD1
PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD TMS/FLTA/INT1/RE8 TDO/FLTB/INT2/RE9 AN5/QEB/CN7/RB5 AN4/QEA/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/CN3/RB1 PGD3/EMUD3/AN0/CN2/RB0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
dsPIC33FJ128MC708
50 49 48 47 46 45 44 43 42 41 40 U2TX/CN18/RF5
AN15/OCFB/CN12/RB15
U2RTS/AN14/RB14
AN10/RB10
PGD1/EMUD1/AN7/RB7
U2CTS/AN8/RB8
IC7/U1CTS/CN20/RD14
Advance Information
IC8/U1RTS/CN21/RD15
U2RX/CN17/RF4
TCK/AN12/RB12
TDI/AN13/RB13
VREF+/RA10
VREF-/RA9
AN9/RB9
AN11/RB11
AVDD
AVSS
VDD
VSS
DS70165A-page 19
dsPIC33F
100-Pin TQFP
100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76
PWM3L/RE4 PWM2H/RE3 PWM2L/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 PWM1H/RE1 PWM1L/RE0 AN23/CN23/RA7 AN22/CN22/RA6 RG0 RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/UPDN//CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1
COFS/RG15 VDD PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD TMS/RA0 AN20/FLTA/INT1/RE8 AN21/FLTB/INT2/RE9 AN5/QEB/CN7/RB5 AN4/QEA/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC3/EMUC3/AN1/CN3/RB1 PGD3/EMUD3/AN0/CN2/RB0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
75 74 73 72 71 70 69 68 67 66
VSS PGC2/EMUC2/SOSCO/T1CK/CN0/RC14 PGD2/EMUD2/SOSCI/CN1/RC13 OC1/RD0 IC4/RD11 IC3/RD10 IC2/RD9 IC1/RD8 INT4/RA15 INT3/RA14 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD TDO/RA5 TDI/RA4 RA3 RA2 SCL1/RG2 SDA1/RG3 SCK1/INT0/RF6 SDI1/RF7 SDO1/RF8 U1RX/RF2 U1TX/RF3
65 64
dsPIC33FJ64MC510
63 62 61 60 59 58 57 56 55 54 53 52 51
26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
DS70165A-page 20
Advance Information
dsPIC33F
100-Pin TQFP
100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76
PWM3L/RE4 PWM2H/RE3 PWM2L/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 PWM1H/RE1 PWM1L/RE0 AN23/CN23/RA7 AN22/CN22/RA6 RG0 RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/UPDN//CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
75 74 73 72 71 70 69 68 67 66 65 64
dsPIC33FJ128MC510 dsPIC33FJ256MC510
63 62 61 60 59 58 57 56 55 54 53 52 51
26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
Advance Information
DS70165A-page 21
dsPIC33F
100-Pin TQFP
100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76 75 74 73 72 71 70 69 68 67 66
PWM3L/RE4 PWM2H/RE3 PWM2L/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 PWM1H/RE1 PWM1L/RE0 AN23/CN23/RA7 AN22/CN22/RA6 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/UPDN//CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
dsPIC33FJ64MC710 dsPIC33FJ128MC710 dsPIC33FJ256MC710
65 64 63 62 61 60 59 58 57 56 55 54 53 52 51
26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
DS70165A-page 22
Advance Information
dsPIC33F
dsPIC33F Motor Control Family Variants (Devices Marked PS)
Quadrature Encoder Interface Motor Control PWM Output Compare Std. PWM Program Flash RAM Memory (Kbyte)(1) (Kbyte) I/O Pins (Max)(2) 53 69 85 Codec Interface A/D Converter Input Capture Timer 16-bit
UART
SPI
I2C
Device
Pins
CAN
Packages
33FJ128MC706PS 33FJ128MC708PS 33FJ256MC710PS Note 1: 2:
64 80 100
128 128 256
17 17 33
9 9 9
8 8 8
8 8 8
8 ch 8 ch 8 ch
1 1 1
0 0 0
2 A/D, 16 ch 2 A/D, 18 ch 2 A/D, 24 ch
2 2 2
2 2 2
2 2 2
1 1 2
PT PT PF
RAM size is inclusive of 1 Kbyte DMA RAM. Maximum I/O pin count includes pins shared by the peripheral functions.
Advance Information
DS70165A-page 23
dsPIC33F
Pin Diagrams
64-Pin TQFP
64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33
PWM3L/RE4 PWM2H/RE3 PWM2L/RE2 PWM1H/RE1 PWM1L/RE0 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/UPDN/CN16/RD7 OC7/CN15/RD6 OC6/IC6/CN14/RD5 OC5/IC5/CN13/RD4 OC4/RD3 OC3/RD2 EMUD2/OC2/RD1
PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/T5CK/CN11/RG9 VSS VDD AN5/QEB/IC8/CN7/RB5 AN4/QEA/IC7/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 AN1/VREF-/CN3/RB1 AN0/VREF+/CN2/RB0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
dsPIC33FJ128MC706PS
EMUC1/SOSCO/T1CK/CN0/RC14 EMUD1/SOSCI/T4CK/CN1/RC13 EMUC2/OC1/RD0 IC4/INT4/RD11 IC3/INT3/RD10 IC2/FLTB/INT2/RD9 IC1/FLTA/INT1/RD8 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 EMUC3/SCK1/INT0/RF6 U1RX/SDI1/RF2 EMUD3/U1TX/SDO1/RF3
PGC/EMUC/AN6/OCFA/RB6 PGD/EMUD/AN7/RB7 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 U2RX/SDA2/CN17/RF4 U2TX/SCL2/CN18/RF5
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
DS70165A-page 24
Advance Information
dsPIC33F
80-Pin TQFP
OC8/CN16/UPDN/RD7 OC7/CN15/RD6 OC6/CN14/RD5
80 79 78 77 76
75 74 73 72 71 70 69 68 67 66 65 64 63 62 61 60 59 58 57 56 55 54 53 52 51
CRX2/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE
IC5/RD12 OC4/RD3 OC3/RD2 EMUD2/OC2/RD1
OC5/CN13/RD4 IC6/CN19/RD13
PWM3L/RE4 PWM2H/RE3
PWM2L/RE2 PWM1H/RE1 PWM1L/RE0
PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD FLTA/INT1/RE8 FLTB/INT2/RE9 AN5/QEB/CN7/RB5 AN4/QEA/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC/EMUC/AN1/CN3/RB1 PGD/EMUD/AN0/CN2/RB0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
EMUC1/SOSCO/T1CK/CN0/RC14 EMUD1/SOSCI/CN1/RC13 EMUC2/OC1/RD0 IC4/RD11 IC3/RD10 IC2/RD9 IC1/RD8 SDA2/INT4/RA15 SCL2/INT3/RA14 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD SCL1/RG2 SDA1/RG3 EMUC3/SCK1/INT0/RF6 SDI1/RF7 SDO1/RF8 U1RX/RF2 EMUD3/U1TX/RF3
dsPIC33FJ128MC708PS
50 49 48 47 46 45 44 43 42 41
AN10/RB10
VDD AN12/RB12
AN13/RB13
VREF+/RA10
AN6/OCFA/RB6
AN14/RB14
AN11/RB11
VREF-/RA9
AN8/RB8
AN7/RB7
AN9/RB9
U2RX/CN17/RF4
AN15/OCFB/CN12/RB15
Advance Information
U2TX/CN18/RF5
IC7/CN20/RD14
IC8/CN21/RD15
AVDD
AVSS
VSS
DS70165A-page 25
dsPIC33F
100-Pin TQFP
100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76
PWM3L/RE4 PWM2H/RE3 PWM2L/RE2 CSDO/RG13 CSDI/RG12 CSCK/RG14 PWM1H/RE1 PWM1L/RE0 AN23/CN23/RA7 AN22/CN22/RA6 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/UPDN//CN16/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13 IC5/RD12 OC4/RD3 OC3/RD2 EMUD2/OC2/RD1
COFS/RG15 VDD PWM3H/RE5 PWM4L/RE6 PWM4H/RE7 AN16/T2CK/T7CK/RC1 AN17/T3CK/T6CK/RC2 AN18/T4CK/T9CK/RC3 AN19/T5CK/T8CK/RC4 SCK2/CN8/RG6 SDI2/CN9/RG7 SDO2/CN10/RG8 MCLR SS2/CN11/RG9 VSS VDD RA0 AN20/FLTA/INT1/RA12 AN21/FLTB/INT2/RA13 AN5/QEB/CN7/RB5 AN4/QEA/CN6/RB4 AN3/INDX/CN5/RB3 AN2/SS1/LVDIN/CN4/RB2 PGC/EMUC/AN1/CN3/RB1 PGD/EMUD/AN0/CN2/RB0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
75 74 73 72 71 70 69 68 67 66
VSS EMUC1/SOSCO/T1CK/CN0/RC14 EMUD1/SOSCI/CN1/RC13 EMUC2/OC1/RD0 IC4/RD11 IC3/RD10 IC2/RD9 IC1/RD8 INT4/RA15 INT3/RA14 VSS OSC2/CLKO/RC15 OSC1/CLKIN/RC12 VDD RA5 RA4 SDA2/RA3 SCL2/RA2 SCL1/RG2 SDA1/RG3 EMUC3/SCK1/INT0/RF6 SDI1/RF7 SDO1/RF8 U1RX/RF2 EMUD3/U1TX/RF3
65 64
dsPIC33FJ256MC710PS
63 62 61 60 59 58 57 56 55 54 53 52 51
AN6/OCFA/RB6 AN7/RB7 VREF-/RA9 VREF+/RA10 AVDD AVSS AN8/RB8 AN9/RB9 AN10/RB10 AN11/RB11 VSS VDD RA1 U2RTS/RF13 U2CTS/RF12 AN12/RB12 AN13/RB13 AN14/RB14 AN15/OCFB/CN12/RB15 VSS VDD IC7/CN20/RD14 IC8/CN21/RD15 U2RX/CN17/RF4 U2TX/CN18/RF5
26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50
DS70165A-page 26
Advance Information
dsPIC33F
Table of Contents
1.0 Device Overview ........................................................................................................................................................................ 29 2.0 CPU............................................................................................................................................................................................ 33 3.0 Memory Organization ................................................................................................................................................................. 45 4.0 Flash Program Memory.............................................................................................................................................................. 91 5.0 Resets ....................................................................................................................................................................................... 97 6.0 Interrupt Controller ................................................................................................................................................................... 101 7.0 Direct Memory Access (DMA) .................................................................................................................................................. 161 8.0 Oscillator Configuration ............................................................................................................................................................ 177 9.0 Power-Saving Features............................................................................................................................................................ 185 10.0 I/O Ports ................................................................................................................................................................................... 187 11.0 Timer1 ...................................................................................................................................................................................... 189 12.0 Timer2/3, Timer4/5, Timer6/7 and Timer8/9 ............................................................................................................................ 191 13.0 Input Capture............................................................................................................................................................................ 197 14.0 Output Compare....................................................................................................................................................................... 199 15.0 Motor Control PWM Module ..................................................................................................................................................... 203 16.0 Quadrature Encoder Interface (QEI) Module ........................................................................................................................... 225 17.0 Serial Peripheral Interface (SPI)............................................................................................................................................... 229 18.0 Inter-Integrated Circuit (I2C) ..................................................................................................................................................... 237 19.0 Universal Asynchronous Receiver Transmitter (UART) ........................................................................................................... 247 20.0 Enhanced CAN Module............................................................................................................................................................ 255 21.0 CAN Module ............................................................................................................................................................................. 285 22.0 Data Converter Interface (DCI) Module.................................................................................................................................... 311 23.0 10-bit/12-bit A/D Converter....................................................................................................................................................... 325 24.0 Special Features ...................................................................................................................................................................... 341 25.0 Instruction Set Summary .......................................................................................................................................................... 347 26.0 Development Support............................................................................................................................................................... 355 27.0 Electrical Characteristics .......................................................................................................................................................... 359 28.0 Packaging Information.............................................................................................................................................................. 399 Appendix A: Differences Between PS (Prototype Sample) Devices and Final Production Devices................................................ 405 Index ................................................................................................................................................................................................. 407 The Microchip Web Site ..................................................................................................................................................................... 413 Customer Change Notification Service .............................................................................................................................................. 413 Customer Support .............................................................................................................................................................................. 413 Reader Response .............................................................................................................................................................................. 414 Product Identification System ............................................................................................................................................................ 415
Advance Information
DS70165A-page 27
dsPIC33F
TO OUR VALUED CUSTOMERS
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Errata
An errata sheet, describing minor operational differences from the data sheet and recommended workarounds, may exist for current devices. As device/documentation issues become known to us, we will publish an errata sheet. The errata will specify the revision of silicon and revision of document to which it applies. To determine if an errata sheet exists for a particular device, please check with one of the following: Microchips Worldwide Web site; http://www.microchip.com Your local Microchip sales office (see last page) When contacting a sales office, please specify which device, revision of silicon and data sheet (include literature number) you are using.
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DS70165A-page 28
Advance Information
dsPIC33F
1.0
Note:
DEVICE OVERVIEW
This data sheet summarizes the features of this group of dsPIC33F devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the dsPIC30F Family Reference Manual (DS70046).
The dsPIC33F General Purpose and Motor Control Families of devices include devices with a wide range of pin counts (64, 80 and 100), different program memory sizes (64 Kbytes, 128 Kbytes and 256 Kbytes) and different RAM sizes (8 Kbytes, 16 Kbytes and 30 Kbytes). Note: Devices marked PS contain 9 Kbytes, 17 Kbytes and 33 Kbytes of RAM.
This document contains device specific information for the following devices: dsPIC33FJ64GP206 dsPIC33FJ64GP306 dsPIC33FJ64GP310 dsPIC33FJ64GP706 dsPIC33FJ64GP708 dsPIC33FJ64GP710 dsPIC33FJ128GP206 dsPIC33FJ128GP306 dsPIC33FJ128GP310 dsPIC33FJ128GP706 dsPIC33FJ128GP708 dsPIC33FJ128GP710 dsPIC33FJ256GP506 dsPIC33FJ256GP510 dsPIC33FJ256GP710 dsPIC33FJ128GP706PS dsPIC33FJ128GP708PS dsPIC33FJ256GP710PS dsPIC33FJ64MC506 dsPIC33FJ64MC508 dsPIC33FJ64MC510 dsPIC33FJ64MC706 dsPIC33FJ64MC710 dsPIC33FJ128MC506 dsPIC33FJ128MC510 dsPIC33FJ128MC706 dsPIC33FJ128MC708 dsPIC33FJ128MC710 dsPIC33FJ256MC510 dsPIC33FJ256MC710 dsPIC33FJ128MC706PS dsPIC33FJ128MC708PS dsPIC33FJ256MC710PS
This makes these families suitable for a wide variety of high-performance digital signal control application. The devices are pin compatible with the PIC24 family of devices, and also share a very high degree of compatibility with the dsPIC30F family devices. This allows easy migration between device families as may be necessitated by the specific functionality, computational resource and system cost requirements of the application. The dsPIC33F device family employs a powerful 16-bit architecture that seamlessly integrates the control features of a Microcontroller (MCU) with the computational capabilities of a Digital Signal Processor (DSP). The resulting functionality is ideal for applications that rely on high-speed, repetitive computations, as well as control. The DSP engine, dual 40-bit accumulators, hardware support for division operations, barrel shifter, 17 x 17 multiplier, a large array of 16-bit working registers and a wide variety of data addressing modes, together provide the dsPIC33F Central Processing Unit (CPU) with extensive mathematical processing capability. Flexible and deterministic interrupt handling, coupled with a powerful array of peripherals, renders the dsPIC33F devices suitable for control applications. Further, Direct Memory Access (DMA) enables overhead-free transfer of data between several peripherals and a dedicated DMA RAM. Reliable, field programmable Flash program memory ensures scalability of applications that use dsPIC33F devices. Figure 1-1 shows a general block diagram of the various core and peripheral modules in the dsPIC33F family of devices, while Table 1-1 lists the functions of the various pins shown in the pinout diagrams.
Advance Information
DS70165A-page 29
dsPIC33F
FIGURE 1-1:
PSV & Table Data Access Control Block Interrupt Controller 8 16
dsPIC33F GENERAL BLOCK DIAGRAM
Y Data Bus X Data Bus

PORTA
16
16 16 Data Latch Data Latch Y RAM Address Latch DMA 16 16 Controller

PORTC 16
DMA RAM
PORTB
23 23 PCU PCH PCL Program Counter Loop Stack Control Control Logic Logic X RAM Address Latch
23
Address Latch
Address Generator Units
Program Memory Address Bus Data Latch 24 ROM Latch 16

Literal Data
EA MUX
PORTD
16
Instruction Decode & Control Control Signals to Various Blocks

Timing Generation FRC/LPRC Oscillators Precision Band Gap Reference Voltage Regulator Power-up Timer Oscillator Start-up Timer Power-on Reset Watchdog Timer Brown-out Reset
Instruction Reg
16
PORTE
DSP Engine 16 x 16 W Register Array 16

PORTF
OSC2/CLKO OSC1/CLKI
Divide Support
16-bit ALU 16
PORTG
VDDCORE/VCAP
VDD, VSS
MCLR
Timers 1-9
PWM
QEI
DCI
ADC1,2
CAN1,2
IC1-8
OC/ PWM1-8
CN1-23
SPI1,2
I2C1,2
UART1,2
Note:
Not all pins or features are implemented on all device pinout configurations. See pinout diagrams for the specific pins and features present on each device.
DS70165A-page 30
Advance Information
dsPIC33F
TABLE 1-1:
Pin Name AN0-AN31 AVDD AVSS CLKI CLKO
PINOUT I/O DESCRIPTIONS

Pin Type I P P I O Buffer Type Analog P P Analog input channels. Positive supply for analog modules. Ground reference for analog modules. Description
ST/CMOS External clock source input. Always associated with OSC1 pin function. Oscillator crystal output. Connects to crystal or resonator in Crystal Oscillator mode. Optionally functions as CLKO in RC and EC modes. Always associated with OSC2 pin function. ST ST ST ST ST ST ST ST ST ST ST ST ST ST ST ST CMOS ST ST ST ST ST ST ST ST ST ST Input change notification inputs. Can be software programmed for internal weak pull-ups on all inputs. Data Converter Interface frame synchronization pin. Data Converter Interface serial clock input/output pin. Data Converter Interface serial data input pin. Data Converter Interface serial data output pin. ECAN1 bus receive pin. ECAN1 bus transmit pin. ECAN2 bus receive pin. ECAN2 bus transmit pin. Data I/O pin for programming/debugging communication channel 1. Clock input pin for programming/debugging communication channel 1. Data I/O pin for programming/debugging communication channel 2. Clock input pin for programming/debugging communication channel 2. Data I/O pin for programming/debugging communication channel 3. Clock input pin for programming/debugging communication channel 3. Capture inputs 1 through 8. Quadrature Encoder Index Pulse input. Quadrature Encoder Phase A input in QEI mode. Auxiliary Timer External Clock/Gate input in Timer mode. Quadrature Encoder Phase A input in QEI mode. Auxiliary Timer External Clock/Gate input in Timer mode. Position Up/Down Counter Direction State. External interrupt 0. External interrupt 1. External interrupt 2. External interrupt 3. External interrupt 4. PWM Fault A input. PWM Fault B input. PWM 1 low output. PWM 1 high output. PWM 2 low output. PWM 2 high output. PWM 3 low output. PWM 3 high output. PWM 4 low output. PWM 4 high output. Master Clear (Reset) input. This pin is an active-low Reset to the device. Compare Fault A input (for Compare Channels 1, 2, 3 and 4). Compare Fault B input (for Compare Channels 5, 6, 7 and 8). Compare outputs 1 through 8.
CN0-CN23 COFS CSCK CSDI CSDO C1RX C1TX C2RX C2TX PGD1/EMUD1 PGC1/EMUC1 PGD2/EMUD2 PGC2/EMUC2 PGD3/EMUD3 PGC3/EMUC3 IC1-IC8 INDX QEA QEB UPDN INT0 INT1 INT2 INT3 INT4 FLTA FLTB PWM1L PWM1H PWM2L PWM2H PWM3L PWM3H PWM4L PWM4H MCLR OCFA OCFB OC1-OC8 OSC1 OSC2 Legend:
I I/O I/O I O I O I O I/O I I/O I I/O I I I I I O I I I I I I I O O O O O O O O I/P I I O I I/O
ST/CMOS Oscillator crystal input. ST buffer when configured in RC mode; CMOS otherwise. Oscillator crystal output. Connects to crystal or resonator in Crystal Oscillator mode. Optionally functions as CLKO in RC and EC modes.
CMOS = CMOS compatible input or output; Analog = Analog input ST = Schmitt Trigger input with CMOS levels; O = Output; I = Input; P = Power
Advance Information
DS70165A-page 31
dsPIC33F
TABLE 1-1:
Pin Name RA0-RA7 RA9-RA10 RA12-RA15 RB0-RB15 RC1-RC4 RC12-RC15 RD0-RD15 RE0-RE9 RF0-RF8 RF12-RF13 RG0-RG3 RG6-RG9 RG12-RG15 SCK1 SDI1 SDO1 SS1 SCK2 SDI2 SDO2 SS2 SCL1 SDA1 SCL2 SDA2 SOSCI SOSCO TMS TCK TDI TDO T1CK T2CK T3CK T4CK T5CK T6CK T7CK T8CK T9CK U1CTS U1RTS U1RX U1TX U2CTS U2RTS U2RX U2TX VDD VDDCORE VSS VREF+ VREFLegend:
PINOUT I/O DESCRIPTIONS (CONTINUED)

Pin Type I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O I O I/O I/O I O I/O I/O I/O I/O I/O I O I I I O I I I I I I I I I I O I O I O I O P P P I I Buffer Type ST ST ST ST ST ST ST ST ST ST ST ST ST ST ST ST ST ST ST ST ST ST PORTA is a bidirectional I/O port. Description
PORTB is a bidirectional I/O port. PORTC is a bidirectional I/O port. PORTD is a bidirectional I/O port. PORTE is a bidirectional I/O port. PORTF is a bidirectional I/O port. PORTG is a bidirectional I/O port.
Synchronous serial clock input/output for SPI1. SPI1 data in. SPI1 data out. SPI1 slave synchronization or frame pulse I/O. Synchronous serial clock input/output for SPI2. SPI2 data in. SPI2 data out. SPI2 slave synchronization or frame pulse I/O. Synchronous serial clock input/output for I2C1. Synchronous serial data input/output for I2C1. Synchronous serial clock input/output for I2C2. Synchronous serial data input/output for I2C2.
ST/CMOS 32.768 kHz low-power oscillator crystal input; CMOS otherwise. 32.768 kHz low-power oscillator crystal output. ST ST ST ST ST ST ST ST ST ST ST ST ST ST ST ST Analog Analog JTAG Test mode select pin. JTAG test clock input pin. JTAG test data input pin. JTAG test data output pin. Timer1 external clock input. Timer2 external clock input. Timer3 external clock input. Timer4 external clock input. Timer5 external clock input. Timer6 external clock input. Timer7 external clock input. Timer8 external clock input. Timer9 external clock input. UART1 clear to send. UART1 ready to send. UART1 receive. UART1 transmit. UART2 clear to send. UART2 ready to send. UART2 receive. UART2 transmit. Positive supply for peripheral logic and I/O pins. CPU logic filter capacitor connection. Ground reference for logic and I/O pins. Analog voltage reference (high) input. Analog voltage reference (low) input.
CMOS = CMOS compatible input or output; Analog = Analog input ST = Schmitt Trigger input with CMOS levels; O = Output; I = Input; P = Power
DS70165A-page 32
Advance Information
dsPIC33F
2.0
Note:
CPU
Overhead-free circular buffers (Modulo Addressing mode) are supported in both X and Y address spaces. The Modulo Addressing removes the software boundary checking overhead for DSP algorithms. Furthermore, the X AGU circular addressing can be used with any of the MCU class of instructions. The X AGU also supports Bit-Reversed Addressing to greatly simplify input or output data reordering for radix-2 FFT algorithms. The upper 32 Kbytes of the data space memory map can optionally be mapped into program space at any 16K program word boundary defined by the 8-bit Program Space Visibility Page (PSVPAG) register. The program to data space mapping feature lets any instruction access program space as if it were data space. The data space also includes 1 Kbyte of DMA RAM, which is primarily used for DMA data transfers, but may be used as general purpose RAM.
The dsPIC33F CPU module has a 16-bit (data) modified Harvard architecture with an enhanced instruction set, including significant support for DSP. The CPU has a 24-bit instruction word with a variable length opcode field. The Program Counter (PC) is 23 bits wide and addresses up to 4M x 24 bits of user program memory space. The actual amount of program memory implemented varies by device. A single-cycle instruction prefetch mechanism is used to help maintain throughput and provides predictable execution. All instructions execute in a single cycle, with the exception of instructions that change the program flow, the double word move (MOV.D) instruction and the table instructions. Overhead-free program loop constructs are supported using the DO and REPEAT instructions, both of which are interruptible at any point. The dsPIC33F devices have sixteen, 16-bit working registers in the programmers model. Each of the working registers can serve as a data, address or address offset register. The 16th working register (W15) operates as a software Stack Pointer (SP) for interrupts and calls. The dsPIC33F instruction set has two classes of instructions: MCU and DSP. These two instruction classes are seamlessly integrated into a single CPU. The instruction set includes many addressing modes and is designed for optimum C compiler efficiency. For most instructions, the dsPIC33F is capable of executing a data (or program data) memory read, a working register (data) read, a data memory write and a program (instruction) memory read per instruction cycle. As a result, three parameter instructions can be supported, allowing A + B = C operations to be executed in a single cycle. A block diagram of the CPU is shown in Figure 2-1, and the programmers model for the dsPIC33F is shown in Figure 2-2.
2.2
DSP Engine Overview
The DSP engine features a high-speed, 17-bit by 17-bit multiplier, a 40-bit ALU, two 40-bit saturating accumulators and a 40-bit bidirectional barrel shifter. The barrel shifter is capable of shifting a 40-bit value, up to 16 bits right or left, in a single cycle. The DSP instructions operate seamlessly with all other instructions and have been designed for optimal real-time performance. The MAC instruction and other associated instructions can concurrently fetch two data operands from memory while multiplying two W registers and accumulating and optionally saturating the result in the same cycle. This instruction functionality requires that the RAM memory data space be split for these instructions and linear for all others. Data space partitioning is achieved in a transparent and flexible manner through dedicating certain working registers to each address space.
2.3
Special MCU Features
2.1
Data Addressing Overview
The dsPIC33F features a 17-bit by 17-bit, single-cycle multiplier that is shared by both the MCU ALU and DSP engine. The multiplier can perform signed, unsigned and mixed-sign multiplication. Using a 17-bit by 17-bit multiplier for 16-bit by 16-bit multiplication not only allows you to perform mixed-sign multiplication, it also achieves accurate results for special operations, such as (-1.0) x (-1.0). The dsPIC33F supports 16/16 and 32/16 divide operations, both fractional and integer. All divide instructions are iterative operations. They must be executed within a REPEAT loop, resulting in a total execution time of 19 instruction cycles. The divide operation can be interrupted during any of those 19 cycles without loss of data. A 40-bit barrel shifter is used to perform up to a 16-bit, left or right shift in a single cycle. The barrel shifter can be used by both MCU and DSP instructions.
The data space can be addressed as 32K words or 64 Kbytes and is split into two blocks, referred to as X and Y data memory. Each memory block has its own independent Address Generation Unit (AGU). The MCU class of instructions operates solely through the X memory AGU, which accesses the entire memory map as one linear data space. Certain DSP instructions operate through the X and Y AGUs to support dual operand reads, which splits the data address space into two parts. The X and Y data space boundary is device-specific.
Advance Information
DS70165A-page 33
dsPIC33F
FIGURE 2-1:
PSV & Table Data Access Control Block Interrupt Controller 8 16
dsPIC33F CPU CORE BLOCK DIAGRAM
Y Data Bus X Data Bus
16
16 16 Data Latch Data Latch DMA Y RAM Address Latch RAM 16
23 23 PCU PCH PCL Program Counter Loop Stack Control Control Logic Logic X RAM Address Latch
23 16 Address Latch 16 DMA Controller
Address Generator Units
Program Memory Address Bus Data Latch 24 ROM Latch 16 Literal Data 16 EA MUX
Instruction Decode & Control
Instruction Reg
16
Control Signals to Various Blocks
DSP Engine 16 x 16 W Register Array 16
Divide Support
16-bit ALU 16
To Peripheral Modules
DS70165A-page 34
Advance Information
dsPIC33F
FIGURE 2-2: dsPIC33F PROGRAMMERS MODEL
D15 W0/WREG W1 W2 W3 W4 DSP Operand Registers W5 W6 W7 W8 DSP Address Registers W9 W10 W11 W12/DSP Offset W13/DSP Write Back W14/Frame Pointer W15/Stack Pointer Working Registers
DO Shadow
D0
PUSH.S Shadow
Legend
SPLIM AD39 DSP Accumulators PC22 AccA AccB PC0 0 7 TBLPAG 7 PSVPAG 0 Program Space Visibility Page Address 15 RCOUNT 15 DCOUNT 22 DOSTART 22 DOEND 15 CORCON 0 0 0 0 0 Data Table Page Address AD31
Stack Pointer Limit Register AD15 AD0
Program Counter
REPEAT Loop Counter
DO Loop Counter
DO Loop Start Address
DO Loop End Address
Core Configuration Register
OA
OB
SA
SB OAB SAB DA SRH
DC
IPL2 IPL1 IPL0 RA SRL
OV
STATUS Register
Advance Information
DS70165A-page 35
dsPIC33F
2.4 CPU Control Registers
SR: CPU STATUS REGISTER
R-0 OB R/C-0 SA(1) R/C-0 SB(1) R-0 OAB R/C-0 SAB R -0 DA R/W-0 DC bit 8 R/W-0(3) IPL<2:0> bit 7 Legend: C = Clear only bit S = Set only bit 1 = Bit is set bit 15 R = Readable bit W = Writable bit 0 = Bit is cleared OA: Accumulator A Overflow Status bit 1 = Accumulator A overflowed 0 = Accumulator A has not overflowed OB: Accumulator B Overflow Status bit 1 = Accumulator B overflowed 0 = Accumulator B has not overflowed SA: Accumulator A Saturation Sticky Status bit(1) 1 = Accumulator A is saturated or has been saturated at some time 0 = Accumulator A is not saturated SB: Accumulator B Saturation Sticky Status bit(1) 1 = Accumulator B is saturated or has been saturated at some time 0 = Accumulator B is not saturated OAB: OA || OB Combined Accumulator Overflow Status bit 1 = Accumulators A or B have overflowed 0 = Neither Accumulators A or B have overflowed SAB: SA || SB Combined Accumulator Sticky Status bit 1 = Accumulators A or B are saturated or have been saturated at some time in the past 0 = Neither Accumulator A or B are saturated Note: bit 9 This bit may be read or cleared (not set). Clearing this bit will clear SA and SB. DA: DO Loop Active bit 1 = DO loop in progress 0 = DO loop not in progress DC: MCU ALU Half Carry/Borrow bit 1 = A carry-out from the 4th low-order bit (for byte-sized data) or 8th low-order bit (for word-sized data) of the result occurred 0 = No carry-out from the 4th low-order bit (for byte-sized data) or 8th low-order bit (for word-sized data) of the result occurred This bit may be read or cleared (not set). The IPL<2:0> bits are concatenated with the IPL<3> bit (CORCON<3>) to form the CPU Interrupt Priority Level. The value in parentheses indicates the IPL if IPL<3> = 1. User interrupts are disabled when IPL<3> = 1. The IPL<2:0> Status bits are read only when NSTDIS = 1 (INTCON1<15>). U = Unimplemented bit, read as 0 -n = Value at POR x = Bit is unknown
(2)
REGISTER 2-1:
R-0 OA bit 15 R/W-0(2)
R/W-0(3)
R-0 RA
R/W-0 N
R/W-0 OV
R/W-0 Z
R/W-0 C bit 0
bit 14
bit 13
bit 12
bit 11
bit 10
bit 8
Note 1: 2:
3:
DS70165A-page 36
Advance Information
dsPIC33F
REGISTER 2-1:
bit 7-5
SR: CPU STATUS REGISTER (CONTINUED)
IPL<2:0>: CPU Interrupt Priority Level Status bits(2) 111 = CPU Interrupt Priority Level is 7 (15), user interrupts disabled 110 = CPU Interrupt Priority Level is 6 (14) 101 = CPU Interrupt Priority Level is 5 (13) 100 = CPU Interrupt Priority Level is 4 (12) 011 = CPU Interrupt Priority Level is 3 (11) 010 = CPU Interrupt Priority Level is 2 (10) 001 = CPU Interrupt Priority Level is 1 (9) 000 = CPU Interrupt Priority Level is 0 (8) RA: REPEAT Loop Active bit 1 = REPEAT loop in progress 0 = REPEAT loop not in progress N: MCU ALU Negative bit 1 = Result was negative 0 = Result was non-negative (zero or positive) OV: MCU ALU Overflow bit This bit is used for signed arithmetic (2s complement). It indicates an overflow of the magnitude which causes the sign bit to change state. 1 = Overflow occurred for signed arithmetic (in this arithmetic operation) 0 = No overflow occurred Z: MCU ALU Zero bit 1 = An operation which effects the Z bit has set it at some time in the past 0 = The most recent operation which effects the Z bit has cleared it (i.e., a non-zero result) C: MCU ALU Carry/Borrow bit 1 = A carry-out from the Most Significant bit of the result occurred 0 = No carry-out from the Most Significant bit of the result occurred This bit may be read or cleared (not set). The IPL<2:0> bits are concatenated with the IPL<3> bit (CORCON<3>) to form the CPU Interrupt Priority Level. The value in parentheses indicates the IPL if IPL<3> = 1. User interrupts are disabled when IPL<3> = 1. The IPL<2:0> Status bits are read only when NSTDIS = 1 (INTCON1<15>).
bit 4
bit 3
bit 2
bit 1
bit 0
Note 1: 2:
3:
Advance Information
DS70165A-page 37
dsPIC33F
REGISTER 2-2:
U-0 bit 15 R/W-0 SATA bit 7 Legend: R = Readable bit 0 = Bit is cleared bit 15-13 bit 12
CORCON: CORE CONTROL REGISTER

U-0 U-0 R/W-0 US R/W-0 EDT(1) R-0 R-0 DL<2:0> R-0 bit 8 R/W-0 SATB R/W-1 SATDW R/W-0 ACCSAT R/C-0 IPL3(2) R/W-0 PSV R/W-0 RND R/W-0 IF bit 0
C = Clear only bit W = Writable bit x = Bit is unknown
-n = Value at POR 1 = Bit is set U = Unimplemented bit, read as 0
bit 11
bit 10-8
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Unimplemented: Read as 0 US: DSP Multiply Unsigned/Signed Control bit 1 = DSP engine multiplies are unsigned 0 = DSP engine multiplies are signed EDT: Early DO Loop Termination Control bit(1) 1 = Terminate executing DO loop at end of current loop iteration 0 = No effect DL<2:0>: DO Loop Nesting Level Status bits 111 = 7 DO loops active 001 = 1 DO loop active 000 = 0 DO loops active SATA: AccA Saturation Enable bit 1 = Accumulator A saturation enabled 0 = Accumulator A saturation disabled SATB: AccB Saturation Enable bit 1 = Accumulator B saturation enabled 0 = Accumulator B saturation disabled SATDW: Data Space Write from DSP Engine Saturation Enable bit 1 = Data space write saturation enabled 0 = Data space write saturation disabled ACCSAT: Accumulator Saturation Mode Select bit 1 = 9.31 saturation (super saturation) 0 = 1.31 saturation (normal saturation) IPL3: CPU Interrupt Priority Level Status bit 3(2) 1 = CPU interrupt priority level is greater than 7 0 = CPU interrupt priority level is 7 or less PSV: Program Space Visibility in Data Space Enable bit 1 = Program space visible in data space 0 = Program space not visible in data space RND: Rounding Mode Select bit 1 = Biased (conventional) rounding enabled 0 = Unbiased (convergent) rounding enabled IF: Integer or Fractional Multiplier Mode Select bit 1 = Integer mode enabled for DSP multiply ops 0 = Fractional mode enabled for DSP multiply ops This bit will always read as 0. The IPL3 bit is concatenated with the IPL<2:0> bits (SR<7:5>) to form the CPU interrupt priority level.
Note 1: 2:
DS70165A-page 38
Advance Information
dsPIC33F
2.5 Arithmetic Logic Unit (ALU)
The dsPIC33F ALU is 16 bits wide and is capable of addition, subtraction, bit shifts and logic operations. Unless otherwise mentioned, arithmetic operations are 2s complement in nature. Depending on the operation, the ALU may affect the values of the Carry (C), Zero (Z), Negative (N), Overflow (OV) and Digit Carry (DC) Status bits in the SR register. The C and DC Status bits operate as Borrow and Digit Borrow bits, respectively, for subtraction operations. The ALU can perform 8-bit or 16-bit operations, depending on the mode of the instruction that is used. Data for the ALU operation can come from the W register array, or data memory, depending on the addressing mode of the instruction. Likewise, output data from the ALU can be written to the W register array or a data memory location. Refer to the dsPIC30F/33F Programmers Reference Manual (DS70157) for information on the SR bits affected by each instruction. The dsPIC33F CPU incorporates hardware support for both multiplication and division. This includes a dedicated hardware multiplier and support hardware for 16-bit-divisor division. 1. 2. 3. 4. 32-bit signed/16-bit signed divide 32-bit unsigned/16-bit unsigned divide 16-bit signed/16-bit signed divide 16-bit unsigned/16-bit unsigned divide
The quotient for all divide instructions ends up in W0 and the remainder in W1. Sixteen-bit signed and unsigned DIV instructions can specify any W register for both the 16-bit divisor (Wn) and any W register (aligned) pair (W(m + 1):Wm) for the 32-bit dividend. The divide algorithm takes one cycle per bit of divisor, so both 32-bit/16-bit and 16-bit/16-bit instructions take the same number of cycles to execute.
2.6
DSP Engine
The DSP engine consists of a high-speed, 17-bit x 17-bit multiplier, a barrel shifter and a 40-bit adder/subtracter (with two target accumulators, round and saturation logic). The dsPIC33F is a single-cycle, instruction flow architecture; therefore, concurrent operation of the DSP engine with MCU instruction flow is not possible. However, some MCU ALU and DSP engine resources may be used concurrently by the same instruction (e.g., ED, EDAC). The DSP engine also has the capability to perform inherent accumulator-to-accumulator operations which require no additional data. These instructions are ADD, SUB and NEG. The DSP engine has various options selected through various bits in the CPU Core Control register (CORCON), as listed below: 1. 2. 3. 4. 5. 6. 7. Fractional or integer DSP multiply (IF). Signed or unsigned DSP multiply (US). Conventional or convergent rounding (RND). Automatic saturation on/off for AccA (SATA). Automatic saturation on/off for AccB (SATB). Automatic saturation on/off for writes to data memory (SATDW). Accumulator Saturation mode selection (ACCSAT).
2.5.1
MULTIPLIER
Using the high-speed 17-bit x 17-bit multiplier of the DSP engine, the ALU supports unsigned, signed or mixed-sign operation in several MCU multiplication modes: 1. 2. 3. 4. 5. 6. 7. 16-bit x 16-bit signed 16-bit x 16-bit unsigned 16-bit signed x 5-bit (literal) unsigned 16-bit unsigned x 16-bit unsigned 16-bit unsigned x 5-bit (literal) unsigned 16-bit unsigned x 16-bit signed 8-bit unsigned x 8-bit unsigned
2.5.2
DIVIDER
The divide block supports 32-bit/16-bit and 16-bit/16-bit signed and unsigned integer divide operations with the following data sizes:
A block diagram of the DSP engine is shown in Figure 2-3.
TABLE 2-1:
DSP INSTRUCTIONS SUMMARY

Algebraic Operation A=0 A = (x y)2 A = A + (x y)2 A = A + (x * y) A = A + x2 No change in A A=x*y A=x2 A=x*y A=Ax*y ACC Write Back Yes No No Yes No Yes No No No Yes
Instruction CLR ED EDAC MAC MAC MOVSAC MPY MPY MPY.N MSC
Advance Information
DS70165A-page 39
dsPIC33F
FIGURE 2-3: DSP ENGINE BLOCK DIAGRAM
40 Carry/Borrow Out
40-bit Accumulator A 40-bit Accumulator B Saturate Carry/Borrow In Adder Negate
S a 40 Round t 16 u Logic r a t e
40
40
40 Barrel Shifter
16
40
Sign-Extend
Y Data Bus
32 Zero Backfill 33 32
16
17-bit Multiplier/Scaler 16 16
To/From W Array
DS70165A-page 40
Advance Information
X Data Bus
dsPIC33F
2.6.1 MULTIPLIER 2.6.2.1
The 17-bit x 17-bit multiplier is capable of signed or unsigned operation and can multiplex its output using a scaler to support either 1.31 fractional (Q31) or 32-bit integer results. Unsigned operands are zero-extended into the 17th bit of the multiplier input value. Signed operands are sign-extended into the 17th bit of the multiplier input value. The output of the 17-bit x 17-bit multiplier/scaler is a 33-bit value which is sign-extended to 40 bits. Integer data is inherently represented as a signed twos complement value, where the MSB is defined as a sign bit. Generally speaking, the range of an N-bit twos complement integer is -2N-1 to 2N-1 1. For a 16-bit integer, the data range is -32768 (0x8000) to 32767 (0x7FFF) including 0. For a 32-bit integer, the data range is -2,147,483,648 (0x8000 0000) to 2,147,483,647 (0x7FFF FFFF). When the multiplier is configured for fractional multiplication, the data is represented as a twos complement fraction, where the MSB is defined as a sign bit and the radix point is implied to lie just after the sign bit (QX format). The range of an N-bit twos complement fraction with this implied radix point is -1.0 to (1 21-N). For a 16-bit fraction, the Q15 data range is -1.0 (0x8000) to 0.999969482 (0x7FFF) including 0 and has a precision of 3.01518x10-5. In Fractional mode, the 16 x 16 multiply operation generates a 1.31 product which has a precision of 4.65661 x 10-10. The same multiplier is used to support the MCU multiply instructions which include integer 16-bit signed, unsigned and mixed sign multiplies. The MUL instruction may be directed to use byte or word sized operands. Byte operands will direct a 16-bit result, and word operands will direct a 32-bit result to the specified register(s) in the W array.
Adder/Subtracter, Overflow and Saturation
The adder/subtracter is a 40-bit adder with an optional zero input into one side, and either true, or complement data into the other input. In the case of addition, the carry/borrow input is active-high and the other input is true data (not complemented), whereas in the case of subtraction, the carry/borrow input is active-low and the other input is complemented. The adder/subtracter generates Overflow Status bits, SA/SB and OA/OB, which are latched and reflected in the STATUS register: Overflow from bit 39: this is a catastrophic overflow in which the sign of the accumulator is destroyed. Overflow into guard bits 32 through 39: this is a recoverable overflow. This bit is set whenever all the guard bits are not identical to each other. The adder has an additional saturation block which controls accumulator data saturation, if selected. It uses the result of the adder, the Overflow Status bits described above and the SAT<A:B> (CORCON<7:6>) and ACCSAT (CORCON<4>) mode control bits to determine when and to what value to saturate. Six STATUS register bits have been provided to support saturation and overflow; they are: 1. 2. 3. OA: AccA overflowed into guard bits OB: AccB overflowed into guard bits SA: AccA saturated (bit 31 overflow and saturation) or AccA overflowed into guard bits and saturated (bit 39 overflow and saturation) SB: AccB saturated (bit 31 overflow and saturation) or AccB overflowed into guard bits and saturated (bit 39 overflow and saturation) OAB: Logical OR of OA and OB SAB: Logical OR of SA and SB
2.6.2
DATA ACCUMULATORS AND ADDER/SUBTRACTER
4.
The data accumulator consists of a 40-bit adder/subtracter with automatic sign extension logic. It can select one of two accumulators (A or B) as its pre-accumulation source and post-accumulation destination. For the ADD and LAC instructions, the data to be accumulated or loaded can be optionally scaled via the barrel shifter prior to accumulation.
5. 6.
The OA and OB bits are modified each time data passes through the adder/subtracter. When set, they indicate that the most recent operation has overflowed into the accumulator guard bits (bits 32 through 39). The OA and OB bits can also optionally generate an arithmetic warning trap when set and the corresponding Overflow Trap Flag Enable bits (OVATE, OVBTE) in the INTCON1 register (refer to Section 6.0 Interrupt Controller) are set. This allows the user to take immediate action, for example, to correct system gain.
Advance Information
DS70165A-page 41
dsPIC33F
The SA and SB bits are modified each time data passes through the adder/subtracter but can only be cleared by the user. When set, they indicate that the accumulator has overflowed its maximum range (bit 31 for 32-bit saturation or bit 39 for 40-bit saturation) and will be saturated (if saturation is enabled). When saturation is not enabled, SA and SB default to bit 39 overflow and thus, indicate that a catastrophic overflow has occurred. If the COVTE bit in the INTCON1 register is set, SA and SB bits will generate an arithmetic warning trap when saturation is disabled. The Overflow and Saturation Status bits can optionally be viewed in the STATUS register (SR) as the logical OR of OA and OB (in bit OAB) and the logical OR of SA and SB (in bit SAB). This allows programmers to check one bit in the STATUS register to determine if either accumulator has overflowed, or one bit to determine if either accumulator has saturated. This would be useful for complex number arithmetic which typically uses both the accumulators. The device supports three Saturation and Overflow modes: 1. Bit 39 Overflow and Saturation: When bit 39 overflow and saturation occurs, the saturation logic loads the maximally positive 9.31 (0x7FFFFFFFFF), or maximally negative 9.31 value (0x8000000000), into the target accumulator. The SA or SB bit is set and remains set until cleared by the user. This is referred to as super saturation and provides protection against erroneous data or unexpected algorithm problems (e.g., gain calculations). Bit 31 Overflow and Saturation: When bit 31 overflow and saturation occurs, the saturation logic then loads the maximally positive 1.31 value (0x007FFFFFFF), or maximally negative 1.31 value (0x0080000000), into the target accumulator. The SA or SB bit is set and remains set until cleared by the user. When this Saturation mode is in effect, the guard bits are not used (so the OA, OB or OAB bits are never set). Bit 39 Catastrophic Overflow: The bit 39 Overflow Status bit from the adder is used to set the SA or SB bit, which remains set until cleared by the user. No saturation operation is performed and the accumulator is allowed to overflow (destroying its sign). If the COVTE bit in the INTCON1 register is set, a catastrophic overflow can initiate a trap exception.
2.6.2.2
Accumulator Write Back
The MAC class of instructions (with the exception of MPY, MPY.N, ED and EDAC) can optionally write a rounded version of the high word (bits 31 through 16) of the accumulator that is not targeted by the instruction into data space memory. The write is performed across the X bus into combined X and Y address space. The following addressing modes are supported: 1. W13, Register Direct: The rounded contents of the non-target accumulator are written into W13 as a 1.15 fraction. [W13]+ = 2, Register Indirect with Post-Increment: The rounded contents of the non-target accumulator are written into the address pointed to by W13 as a 1.15 fraction. W13 is then incremented by 2 (for a word write).
2.
2.6.2.3
Round Logic
The round logic is a combinational block which performs a conventional (biased) or convergent (unbiased) round function during an accumulator write (store). The Round mode is determined by the state of the RND bit in the CORCON register. It generates a 16-bit, 1.15 data value which is passed to the data space write saturation logic. If rounding is not indicated by the instruction, a truncated 1.15 data value is stored and the least significant word is simply discarded. Conventional rounding zero-extends bit 15 of the accumulator and adds it to the ACCxH word (bits 16 through 31 of the accumulator). If the ACCxL word (bits 0 through 15 of the accumulator) is between 0x8000 and 0xFFFF (0x8000 included), ACCxH is incremented. If ACCxL is between 0x0000 and 0x7FFF, ACCxH is left unchanged. A consequence of this algorithm is that over a succession of random rounding operations, the value tends to be biased slightly positive. Convergent (or unbiased) rounding operates in the same manner as conventional rounding, except when ACCxL equals 0x8000. In this case, the Least Significant bit (bit 16 of the accumulator) of ACCxH is examined. If it is 1, ACCxH is incremented. If it is 0, ACCxH is not modified. Assuming that bit 16 is effectively random in nature, this scheme removes any rounding bias that may accumulate. The SAC and SAC.R instructions store either a truncated (SAC), or rounded (SAC.R) version of the contents of the target accumulator to data memory via the X bus, subject to data saturation (see Section 2.6.2.4 Data Space Write Saturation). For the MAC class of instructions, the accumulator write-back operation will function in the same manner, addressing combined MCU (X and Y) data space though the X bus. For this class of instructions, the data is always subject to rounding.
2.
3.
DS70165A-page 42
Advance Information
dsPIC33F
2.6.2.4 Data Space Write Saturation 2.6.3 BARREL SHIFTER
In addition to adder/subtracter saturation, writes to data space can also be saturated but without affecting the contents of the source accumulator. The data space write saturation logic block accepts a 16-bit, 1.15 fractional value from the round logic block as its input, together with overflow status from the original source (accumulator) and the 16-bit round adder. These inputs are combined and used to select the appropriate 1.15 fractional value as output to write to data space memory. If the SATDW bit in the CORCON register is set, data (after rounding or truncation) is tested for overflow and adjusted accordingly, For input data greater than 0x007FFF, data written to memory is forced to the maximum positive 1.15 value, 0x7FFF. For input data less than 0xFF8000, data written to memory is forced to the maximum negative 1.15 value, 0x8000. The Most Significant bit of the source (bit 39) is used to determine the sign of the operand being tested. If the SATDW bit in the CORCON register is not set, the input data is always passed through unmodified under all conditions. The barrel shifter is capable of performing up to 16-bit arithmetic or logic right shifts, or up to 16-bit left shifts in a single cycle. The source can be either of the two DSP accumulators or the X bus (to support multi-bit shifts of register or memory data). The shifter requires a signed binary value to determine both the magnitude (number of bits) and direction of the shift operation. A positive value shifts the operand right. A negative value shifts the operand left. A value of 0 does not modify the operand. The barrel shifter is 40 bits wide, thereby obtaining a 40-bit result for DSP shift operations and a 16-bit result for MCU shift operations. Data from the X bus is presented to the barrel shifter between bit positions 16 to 31 for right shifts, and between bit positions 0 to 16 for left shifts.
Advance Information
DS70165A-page 43
dsPIC33F
NOTES:
DS70165A-page 44
Advance Information
dsPIC33F
3.0
Note:
MEMORY ORGANIZATION
3.1
Program Address Space
The program address memory space of the dsPIC33F devices is 4M instructions. The space is addressable by a 24-bit value derived from either the 23-bit Program Counter (PC) during program execution, or from table operation or data space remapping as described in Section 3.6 Interfacing Program and Data Memory Spaces. User access to the program memory space is restricted to the lower half of the address range (0x000000 to 0x7FFFFF). The exception is the use of TBLRD/TBLWT operations, which use TBLPAG<7> to permit access to the Configuration bits and Device ID sections of the configuration memory space. Memory maps for the dsPIC33F family of devices are shown in Figure 3-1.
The dsPIC33F architecture features separate program and data memory spaces and buses. This architecture also allows the direct access of program memory from the data space during code execution.
FIGURE 3-1:
PROGRAM MEMORY MAP FOR dsPIC33F FAMILY DEVICES

dsPIC33FJ64XXXXX GOTO Instruction Reset Address Interrupt Vector Table Reserved Alternate Vector Table dsPIC33FJ128XXXXX GOTO Instruction Reset Address Interrupt Vector Table Reserved Alternate Vector Table dsPIC33FJ256XXXXX GOTO Instruction
Reset Address 0x000000 0x000002 0x000004 0x0000FE 0x000100 0x000104 0x0001FE 0x000200
Interrupt Vector Table Reserved Alternate Vector Table
User Memory Space
User Program Flash Memory (22K instructions)
0x00ABFE 0x00AC00 0x0157FE 0x015800
Unimplemented (Read 0s) Unimplemented (Read 0s) Unimplemented (Read 0s)

0x7FFFFE 0x800000 0x02ABFE 0x02AC00
Reserved Configuration Memory Space
Reserved
Reserved
Device Configuration Registers
0xF7FFFE 0xF80000 0xF8000E 0xF80010
Reserved
Reserved
Reserved
DEVID (2)
DEVID (2)
DEVID (2)
0xFEFFFE 0xFF0000 0xFFFFFE
Advance Information
DS70165A-page 45
dsPIC33F
3.1.1 PROGRAM MEMORY ORGANIZATION 3.1.2 INTERRUPT AND TRAP VECTORS
The program memory space is organized in word-addressable blocks. Although it is treated as 24 bits wide, it is more appropriate to think of each address of the program memory as a lower and upper word, with the upper byte of the upper word being unimplemented. The lower word always has an even address, while the upper word has an odd address (Figure 3-2). Program memory addresses are always word-aligned on the lower word, and addresses are incremented or decremented by two during code execution. This arrangement also provides compatibility with data memory space addressing and makes it possible to access data in the program memory space. All dsPIC33F devices reserve the addresses between 0x00000 and 0x000200 for hard-coded program execution vectors. A hardware Reset vector is provided to redirect code execution from the default value of the PC on device Reset to the actual start of code. A GOTO instruction is programmed by the user at 0x000000, with the actual address for the start of code at 0x000002. dsPIC33F devices also have two interrupt vector tables, located from 0x000004 to 0x0000FF and 0x000100 to 0x0001FF. These vector tables allow each of the many device interrupt sources to be handled by separate Interrupt Service Routines (ISRs). A more detailed discussion of the interrupt vector tables is provided in Section 6.1 Interrupt Vector Table.
FIGURE 3-2:
msw Address 0x000001 0x000003 0x000005 0x000007
PROGRAM MEMORY ORGANIZATION

most significant word 23 00000000 00000000 00000000 00000000 Program Memory Phantom Byte (read as 0) Instruction Width 16 least significant word 8 0 0x000000 0x000002 0x000004 0x000006 PC Address (lsw Address)
DS70165A-page 46
Advance Information
dsPIC33F
3.2 Data Address Space
The dsPIC33F CPU has a separate 16-bit wide data memory space. The data space is accessed using separate Address Generation Units (AGUs) for read and write operations. Data memory maps of devices with different RAM sizes are shown in Figure 3-3 through Figure 3-7. All Effective Addresses (EAs) in the data memory space are 16 bits wide and point to bytes within the data space. This arrangement gives a data space address range of 64 Kbytes or 32K words. The lower half of the data memory space (that is, when EA<15> = 0) is used for implemented memory addresses, while the upper half (EA<15> = 1) is reserved for the Program Space Visibility area (see Section 3.6.3 Reading Data From Program Memory Using Program Space Visibility). dsPIC33F devices implement a total of 8 Kbytes of data memory. Should an EA point to a location outside of this area, an all-zero word or byte will be returned. All word accesses must be aligned to an even address. Misaligned word data fetches are not supported, so care must be taken when mixing byte and word operations, or translating from 8-bit MCU code. If a misaligned read or write is attempted, an address error trap is generated. If the error occurred on a read, the instruction underway is completed; if it occurred on a write, the instruction will be executed but the write does not occur. In either case, a trap is then executed, allowing the system and/or user to examine the machine state prior to execution of the address Fault. All byte loads into any W register are loaded into the Least Significant Byte. The Most Significant Byte is not modified. A sign-extend instruction (SE) is provided to allow users to translate 8-bit signed data to 16-bit signed values. Alternatively, for 16-bit unsigned data, users can clear the MSB of any W register by executing a zero-extend (ZE) instruction on the appropriate address.
3.2.1
DATA SPACE WIDTH
3.2.3
SFR SPACE
The data memory space is organized in byte addressable, 16-bit wide blocks. Data is aligned in data memory and registers as 16-bit words, but all data space EAs resolve to bytes. The Least Significant Bytes of each word have even addresses, while the Most Significant Bytes have odd addresses.
The first 2 Kbytes of the Near Data Space, from 0x0000 to 0x07FF, is primarily occupied by Special Function Registers (SFRs). These are used by the dsPIC33F core and peripheral modules for controlling the operation of the device. SFRs are distributed among the modules that they control, and are generally grouped together by module. Much of the SFR space contains unused addresses; these are read as 0. A complete listing of implemented SFRs, including their addresses, is shown in Table 3-1 through Table 3-40. Note: The actual set of peripheral features and interrupts varies by the device. Please refer to the corresponding device tables and pinout diagrams for device-specific information.
3.2.2
DATA MEMORY ORGANIZATION AND ALIGNMENT
To maintain backward compatibility with PICmicro devices and improve data space memory usage efficiency, the dsPIC33F instruction set supports both word and byte operations. As a consequence of byte accessibility, all effective address calculations are internally scaled to step through word-aligned memory. For example, the core recognizes that Post-Modified Register Indirect Addressing mode [Ws++] will result in a value of Ws + 1 for byte operations and Ws + 2 for word operations. Data byte reads will read the complete word that contains the byte, using the LSb of any EA to determine which byte to select. The selected byte is placed onto the LSB of the data path. That is, data memory and registers are organized as two parallel byte-wide entities with shared (word) address decode but separate write lines. Data byte writes only write to the corresponding side of the array or register which matches the byte address.
3.2.4
NEAR DATA SPACE
The 8-Kbyte area between 0x0000 and 0x1FFF is referred to as the Near Data Space. Locations in this space are directly addressable via a 13-bit absolute address field within all memory direct instructions. Additionally, the whole data space is addressable using MOV instructions, which support Memory Direct Addressing mode with a 16-bit address field, or by using Indirect Addressing mode using a working register as an Address Pointer.
Advance Information
DS70165A-page 47
dsPIC33F
FIGURE 3-3: DATA MEMORY MAP FOR dsPIC33F DEVICES WITH 8 KBs RAM
MSB Address MSB 2-Kbyte SFR Space 0x0001 SFR Space 0x07FF 0x0801 X Data RAM (X) 8-Kbyte SRAM Space 0x17FF 0x1801 Y Data RAM (Y) 0x1FFF 0x2001 0x27FF 0x2801 DMA RAM 0x1FFE 0x2000 0x27FE 0x2800 0x17FE 0x1800 0x07FE 0x0800 8-Kbyte Near Data Space LSB Address LSB 0x0000
16 bits
0x8001
0x8000
Optionally Mapped into Program Memory
X Data Unimplemented (X)
0xFFFF
0xFFFE
DS70165A-page 48
Advance Information
dsPIC33F
MSB Address MSB 2-Kbyte SFR Space 0x0001 SFR Space 0x07FF 0x0801 X Data RAM (X) 0x1FFE 0x27FE 0x2800 Y Data RAM (Y) 0x3FFF 0x4001 0x47FF 0x4801 DMA RAM 0x3FFE 0x4000 0x47FE 0x4800 0x07FE 0x0800 8-Kbyte Near Data Space LSB Address LSB 0x0000
16 bits
0x1FFF 16-Kbyte SRAM Space 0x27FF 0x2801
0x8001
0x8000
X Data Unimplemented (X) Optionally Mapped into Program Memory
0xFFFF
0xFFFE
Advance Information
DS70165A-page 49
dsPIC33F
FIGURE 3-5: DATA MEMORY MAP FOR dsPIC33F DEVICES WITH 17 KBs RAM (PS DEVICES)
MSB Address MSB 2-Kbyte SFR Space 0x0001 SFR Space 0x07FF 0x0801 X Data RAM (X) 0x1FFE 0x27FE 0x2800 Y Data RAM (Y) 0x47FF 0x4801 0x4BFF 0x4C01 0x47FE 0x4800 0x4BFE 0x4C00 0x07FE 0x0800 8-Kbyte Near Data Space LSB Address LSB 0x0000
16 bits
0x1FFF 17-Kbyte SRAM Space 0x27FF 0x2801
DMA RAM
0x8001
0x8000
X Data Unimplemented (X) Optionally Mapped into Program Memory
0xFFFF
0xFFFE
DS70165A-page 50
Advance Information
dsPIC33F
MSB Address MSB 2-Kbyte SFR Space 0x0001 SFR Space 0x07FF 0x0801 0x07FE 0x0800 8-Kbyte Near Data Space LSB Address LSB 0x0000
16 bits
X Data RAM (X)
30-Kbyte SRAM Space
0x47FF 0x4801 Y Data RAM (Y) 0x77FF 0x7800 0x7FFF 0x8001
0x47FE 0x4800
DMA RAM
0x77FE 0x7800 0x7FFE 0x8000
0xFFFF
0xFFFE
Advance Information
DS70165A-page 51
dsPIC33F
FIGURE 3-7: DATA MEMORY MAP FOR dsPIC33F DEVICES WITH 33 KBs RAM (PS DEVICES)
MSB Address MSB 2-Kbyte SFR Space 8-Kbyte Near Data Space 0x0001 SFR Space 0x07FF 0x0801 0x07FE 0x0800 LSB Address LSB 0x0000
16 bits
X Data RAM (X)
0x47FF 0x4801
0x47FE 0x4800
Y Data RAM (Y) 0x7FFF 0x8001 0x87FF 0x8801 0x8BFF 0x8C01 DMA RAM 0x7FFE 0x8000 0x87FE 0x8800 0x8BFE 0x8C00
0xFFFF
0xFFFE
DS70165A-page 52
Advance Information
dsPIC33F
3.2.5 X AND Y DATA SPACES 3.2.6 DMA RAM
The core has two data spaces, X and Y. These data spaces can be considered either separate (for some DSP instructions), or as one unified linear address range (for MCU instructions). The data spaces are accessed using two Address Generation Units (AGUs) and separate data paths. This feature allows certain instructions to concurrently fetch two words from RAM, thereby enabling efficient execution of DSP algorithms such as Finite Impulse Response (FIR) filtering and Fast Fourier Transform (FFT). The X data space is used by all instructions and supports all addressing modes. There are separate read and write data buses for X data space. The X read data bus is the read data path for all instructions that view data space as combined X and Y address space. It is also the X data prefetch path for the dual operand DSP instructions (MAC class). The Y data space is used in concert with the X data space by the MAC class of instructions (CLR, ED, EDAC, MAC, MOVSAC, MPY, MPY.N and MSC) to provide two concurrent data read paths. Both the X and Y data spaces support Modulo Addressing mode for all instructions, subject to addressing mode restrictions. Bit-Reversed Addressing mode is only supported for writes to X data space. All data memory writes, including in DSP instructions, view data space as combined X and Y address space. The boundary between the X and Y data spaces is device-dependent and is not user-programmable. All effective addresses are 16 bits wide and point to bytes within the data space. Therefore, the data space address range is 64 Kbytes, or 32K words, though the implemented memory locations vary by device. Every dsPIC33F device contains 2 Kbytes of dual ported DMA RAM located at the end of Y data space (except devices marked PS, which have 1 Kbyte of DMA RAM). Memory locations in the DMA RAM space are accessible simultaneously by the CPU and the DMA controller module. DMA RAM is utilized by the DMA controller to store data to be transferred to various peripherals using DMA, as well as data transferred from various peripherals using DMA. The DMA RAM can be accessed by the DMA controller without having to steal cycles from the CPU. When the CPU and the DMA controller attempt to concurrently write to the same DMA RAM location, the hardware ensures that the CPU is given precedence in accessing the DMA RAM location. Therefore, the DMA RAM provides a reliable means of transferring DMA data without ever having to stall the CPU. Note: DMA RAM can be used for general purpose data storage if the DMA function is not required in an application.
Advance Information
DS70165A-page 53
TABLE 3-1:
Bit 14 Working Register 0 Working Register 1 Working Register 2 Working Register 3 Working Register 4 Working Register 5 Working Register 6 Working Register 7 Working Register 8 Working Register 9 Working Register 10 Working Register 11 Working Register 12 Working Register 13 Working Register 14 Working Register 15 Stack Pointer Limit Register Program Counter Low Word Register DCOUNT<15:0> DOSTARTL<15:1> YMODEN BWM<3:0> XS<15:1> XE<15:1> YS<15:1> YE<15:1> XB<14:0> Disable Interrupts Counter Register DC DOENDL<15:1> IP2 IP1 IP0 YWM<3:0> RA DOENDH N IP3 OV PSV SZ XWM<3:0> 0 1 0 1 C DOSTARTH<5:0> 0 0 Repeat Loop Counter Register Program Counter High Byte Register Table Page Address Pointer Register Program Memory Visibility Page Address Pointer Register Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0800 xxxx 0000 0000 0000 0000 xxxx xxxx xxxx 00xx xxxx 00xx 0000 0000 0000 xxxx xxxx xxxx xxxx xxxx xxxx
CPU CORE REGISTERS MAP
SFR Name
SFR Addr
Bit 15
WREG0
0000
DS70165A-page 54
WREG1
0002
WREG2
0004
WREG3
0006
dsPIC33F
WREG4
0008
WREG5
000A
WREG6
000C
WREG7
000E
WREG8
0010
WREG9
0012
WREG10
0014
WREG11
0016
WREG12
0018
WREG13
001A
WREG14
001C
WREG15
001E
SPLIM
0020
PCL
002E
PCH
0030
TBLPAG
0032
PSVPAG
0034
Advance Information
RCOUNT
0036
DCOUNT
0038
DOSTARTL
003A
DOSTARTH
003C
DOENDL
003E
DOENDH
0040
SR
0042
CORCON
0044
MODCON
0046
XMODEN
XMODSRT
0048
XMODEND
004A
YMODSRT
004C
YMODEND
004E
XBREV
0050
BREN
DISICNT
0052
Legend:
x = unknown value on Reset, = unimplemented, read as 0. Reset values are shown in hexadecimal.
TABLE 3-2:
Bit 13 CN13IE CN8PUE CN7PUE CN6PUE CN5PUE CN4PUE CN3PUE CN2PUE CN23IE CN22IE CN21IE CN20IE CN19IE CN18IE CN17IE CN1PUE CN12IE CN11IE CN10IE CN9IE CN8IE CN7IE CN6IE CN5IE CN4IE CN3IE CN2IE CN1IE Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 CN0IE CN16IE CN0PUE
CHANGE NOTIFICATION REGISTER MAP

All Resets 0000 0000 0000 0000
SFR Name
SFR Addr
Bit 15
Bit 14
CNEN1
0060
CN15IE
CN14IE
CNEN2
0062
CNPU1
0068
CN15PUE CN14PUE CN13PUE CN12PUE CN11PUE CN10PUE CN9PUE
CNPU2
006A
CN23PUE CN22PUE CN21PUE CN20PUE CN19PUE CN18PUE CN17PUE CN16PUE

Bit 13 OVBTE T3IF DMA2IF IC6IF C2IF T3IE DMA2IE IC6IE C2IE C1RXIP<2:0> IC4IP<2:0> OC6IP<2:0> DMA4IP<2:0> MI2C2IP<2:0> C2TXIE C2RXIE IC5IE IC8IE IC7IE IC4IE INT4IE C1TXIE T2IE OC2IE C2TXIF C1TXIF C2RXIF INT4IF INT3IF DMA7IF IC2IE AD2IE IC3IE INT3IE DMA7IE IC1IP<2:0> IC2IP<2:0> SPI1EIP<2:0> AD1IP<2:0> MI2C1IP<2:0> AD2IP<2:0> OC3IP<2:0> INT2IP<2:0> SPI2IP<2:0> IC3IP<2:0> OC5IP<2:0> SI2C2IP<2:0> IC5IF IC4IF IC3IF IC8IF IC7IF AD2IF T2IF OC2IF IC2IF INT4EP DMA0IF INT1IF DMA3IF T9IF DMA6IF DMA0IE INT1IE DMA3IE T9IE DMA6IE COVTE Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 OSCFAIL INT3EP T1IF CNIF C1IF T8IF T1IE CNIE C1IE T8IE INT2EP OC1IF C1RXIF MI2C2IF U2EIF OC1IE C1RXIE MI2C2IE U2EIE INT1EP IC1IF MI2C1IF SPI2IF SI2C2IF U1EIF IC1IE Bit 0 INT0EP INT0IF SI2C1IF SPI2EIF T7IF FLTBIF INT0IE MI2C1IE SI2C1IE SPI2IE SI2C2IE U1EIE INT0IP<2:0> DMA0IP<2:0> T3IP<2:0> U1TXIP<2:0> SI2C1IP<2:0> INT1IP<2:0> DMA2IP<2:0> T5IP<2:0> SPI2EIP<2:0> DMA3IP<2:0> IC6IP<2:0> OC8IP<2:0> T7IP<2:0> SPI2EIE T7IE FLTBIE SFTACERR DIV0ERR DMACERR MATHERR ADDRERR STKERR AD1IF INT2IF DMA5IF AD1IE INT2IE DMA5IE T1IP<2:0> T2IP<2:0> U1RXIP<2:0> CNIP<2:0> IC8IP<2:0> T4IP<2:0> U2TXIP<2:0> C1IP<2:0> IC5IP<2:0> OC7IP<2:0> T6IP<2:0> T8IP<2:0> IC7IP<2:0> OC4IP<2:0> U2RXIP<2:0> DMA1IP<2:0> SPI1IP<2:0> OC2IP<2:0> OC1IP<2:0> DCIIE DCIEIE QEIIE PWMIE OC8IE OC7IE OC6IE OC5IE T5IE T4IE OC4IE OC3IE U1TXIE U1RXIE SPI1IE SPI1EIE DCIIF DCIEIF QEIIF PWMIF OC8IF OC7IF OC6IF OC5IF T5IF T4IF OC4IF OC3IF U1TXIF U1RXIF SPI1IF SPI1EIF
Legend:
TABLE 3-3:
INTERRUPT CONTROLLER REGISTER MAP

All Resets 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 4444 4444 4444 4444 4444 4444 4444 4444 4444 4444 4444 4444 4444
SFR Name
SFR Addr
Bit 15
Bit 14
INTCON1
0080
NSTDIS OVAERR OVBERR COVAERR COVBERR OVATE
INTCON2
0082
ALTIVT
DISI
IFS0
0084
DMA1IF
IFS1
0086
U2TXIF
U2RXIF
IFS2
0088
T6IF
DMA4IF
IFS3
008A
FLTAIF
IFS4
008C
IEC0
0094
DMA1IE
IEC1
0096
U2TXIE
U2RXIE
IEC2
0098
T6IE
DMA4IE
Advance Information
IEC3
009A
FLTAIE
IEC4
009C
IPC0
00A4
IPC1
00A6
IPC2
00A8
IPC3
00AA
IPC4
00AC
IPC5
00AE
IPC6
00B0
IPC7
00B2
IPC8
00B4
IPC9
00B6
IPC10
00B8
IPC11
00BA
IPC12
00BC
dsPIC33F
DS70165A-page 55
Legend:
TABLE 3-3:
Bit 13 C2RXIP<2:0> DCIEIP<2:0> FLTAIP<2:0> C2TXIP<2:0> C1TXIP<2:0> DMA7IP<2:0> U2EIP<2:0> U1EIP<2:0> FLTBIP<2:0> DMA6IP<2:0> DMA5IP<2:0> DCIIP<2:0> QEIIP<2:0> PWMIP<2:0> C2IP<2:0> INT4IP<2:0> INT3IP<2:0> T9IP<2:0> Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets 4444 4444 4444 4444 4444
INTERRUPT CONTROLLER REGISTER MAP (CONTINUED)
SFR Name
SFR Addr
Bit 15
Bit 14
IPC13
00BE
IPC14
00C4
DS70165A-page 56
Bit 13 OVATE SPI1IF OC4IF OC6IF QEIIF SPI1IE OC4IE OC6IE QEIIE OC1IP<2:0> OC2IP<2:0> SPI1IP<2:0> DMA1IP<2:0> IC7IP<2:0> OC4IP<2:0> U2RXIP<2:0> C1RXIP<2:0> IC4IP<2:0> OC6IP<2:0> DMA4IP<2:0> MI2C2IP<2:0> PWMIE C2IE C2EIE OC5IE IC6IE IC5IE IC4IE INT4IE OC3IE DMA2IE IC8IE IC7IE SPI1EIE T3IE T2IE OC2IE IC2IE AD2IE IC3IE INT3IE IC1IP<2:0> IC2IP<2:0> SPI1EIP<2:0> AD1IP<2:0> MI2C1IP<2:0> AD2IP<2:0> OC3IP<2:0> INT2IP<2:0> SPI2IP<2:0> IC3IP<2:0> OC5IP<2:0> SI2C2IP<2:0> PWMIF C2IF C2EIF INT4IF INT3IF OC5IF IC6IF IC5IF IC4IF IC3IF OC3IF DMA2IF IC8IF IC7IF AD2IF INT1IF DMA3IF T9IF DMA0IE INT1IE DMA3IE T9IE SPI1EIF T3IF T2IF OC2IF IC2IF DMA0IF INT4EP OVBTE COVTE Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 INT2EP T1IF CNIF C1IF T8IF T1IE CNIE C1IE T8IE OC1IF C1EIF MI2C2IF U2EIF OC1IE C1EIE MI2C2IE U2EIE INT1EP IC1IF MI2C1IF SPI2IF SI2C2IF U1EIF IC1IE INT0EP INT0IF SI2C1IF SPI2EIF T7IF FLTBIF INT0IE MI2C1IE SI2C1IE SPI2IE SI2C2IE U1EIE INT0IP<2:0> DMA0IP<2:0> T3IP<2:0> U1TXIP<2:0> SI2C1IP<2:0> INT1IP<2:0> DMA2IP<2:0> T5IP<2:0> SPI2EIP<2:0> DMA3IP<2:0> IC6IP<2:0> OC8IP<2:0> T7IP<2:0> SPI2EIE T7IE FLTBIE All Resets 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 4444 4444 4444 4444 4444 4444 4444 4444 4444 4444 4444 4444 4444 SFTACERR DIV0ERR DMACERR MATHERR ADDRERR STKERR OSCFAIL INT3EP AD1IF INT2IF DMA5IF AD1IE INT2IE DMA5IE T1IP<2:0> T2IP<2:0> U1RXIP<2:0> CNIP<2:0> IC8IP<2:0> T4IP<2:0> U2TXIP<2:0> C1IP<2:0> IC5IP<2:0> OC7IP<2:0> T6IP<2:0> T8IP<2:0> DCIIE DCIEIE OC8IE OC7IE T5IE T4IE U1TXIE U1RXIE DCIIF DCIEIF OC8IF OC7IF T5IF T4IF U1TXIF U1RXIF
IPC15
00C6
IPC16
00C8
dsPIC33F
IPC17
00CA
Legend:
TABLE 3-4:
INTERRUPT CONTROLLER REGISTER MAP (FOR DEVICES MARKED PS)
SFR Name
SFR Addr
Bit 15
Bit 14
INTCON1
0080
NSTDIS OVAERR OVBERR COVAERR COVBERR
INTCON2
0082
ALTIVT
DISI
IFS0
0084
DMA1IF
IFS1
0086
U2TXIF
U2RXIF
IFS2
0088
T6IF
DMA4IF
IFS3
008A
FLTAIF
IFS4
008C
IEC0
0094
DMA1IE
IEC1
0096
U2TXIE
U2RXIE
IEC2
0098
T6IE
DMA4IE
IEC3
009A
FLTAIE
Advance Information
IEC4
009C
IPC0
00A4
IPC1
00A6
IPC2
00A8
IPC3
00AA
IPC4
00AC
IPC5
00AE
IPC6
00B0
IPC7
00B2
IPC8
00B4
IPC9
00B6
IPC10
00B8
IPC11
00BA
IPC12
00BC
Legend:
TABLE 3-4:
Bit 13 C2EIP<2:0> DCIEIP<2:0> FLTAIP<2:0> U2EIP<2:0> U1EIP<2:0> DMA5IP<2:0> QEIIP<2:0> PWMIP<2:0> C2IP<2:0> DCIIP<2:0> FLTBIP<2:0> INT4IP<2:0> INT3IP<2:0> T9IP<2:0> Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
INTERRUPT CONTROLLER REGISTER MAP (FOR DEVICES MARKED PS) (CONTINUED)

All Resets 4444 4444 4444 4444
SFR Name
SFR Addr
Bit 15
Bit 14
IPC13
00BE
IPC14
00C4
IPC15
00C6
IPC16
00C8

Bit 13 Timer1 Register Period Register 1 TSIDL Timer2 Register Timer3 Holding Register (for 32-bit timer operations only) Timer3 Register Period Register 2 Period Register 3 TSIDL TSIDL Timer4 Register Timer5 Holding Register (for 32-bit operations only) Timer5 Register Period Register 4 Period Register 5 TSIDL TSIDL Timer6 Register Timer7 Holding Register (for 32-bit operations only) Timer7 Register Period Register 6 Period Register 7 TSIDL TSIDL Timer8 Register TGATE TGATE TCKPS<1:0> TCKPS<1:0> T32 TCS TCS TGATE TGATE TCKPS<1:0> TCKPS<1:0> T32 TCS TCS TGATE TGATE TCKPS<1:0> TCKPS<1:0> T32 TCS TCS TGATE TCKPS<1:0> TSYNC TCS Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Legend:
TABLE 3-5:
TIMER REGISTER MAP

All Resets xxxx FFFF 0000 xxxx xxxx xxxx FFFF FFFF 0000 0000 xxxx xxxx xxxx FFFF FFFF 0000 0000 xxxx xxxx xxxx FFFF FFFF 0000 0000 xxxx
SFR Name
SFR Addr
Bit 15
Bit 14
TMR1
0100
PR1
0102
T1CON
0104
TON
TMR2
0106
TMR3H
0108
TMR3
010A
PR2
010C
PR3
010E
T2CON
0110
TON
T3CON
0112
TON
TMR4
0114
Advance Information
TMR5H
0116
TMR5
0118
PR4
011A
PR5
011C
T4CON
011E
TON
T5CON
0120
TON
TMR6
0122
TMR7H
0124
TMR7
0126
PR6
0128
PR7
012A
T6CON
012C
TON
T7CON
012E
TON
TMR8
0130
dsPIC33F
DS70165A-page 57
Legend:
TABLE 3-5:
Bit 13 Timer9 Holding Register (for 32-bit operations only) Timer9 Register Period Register 8 Period Register 9 TSIDL TSIDL TGATE TCKPS<1:0> TGATE TCKPS<1:0> T32 TCS TCS Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets xxxx xxxx FFFF FFFF 0000 0000
TIMER REGISTER MAP (CONTINUED)
SFR Name
SFR Addr
Bit 15
Bit 14
TMR9H
0132
DS70165A-page 58
Bit 13 Input 1 Capture Register Input 2 Capture Register Input 3 Capture Register Input 4 Capture Register Input 5 Capture Register ICSIDL ICTMR ICI<1:0> ICOV ICBNE ICM<2:0> ICSIDL ICTMR ICI<1:0> ICOV ICBNE ICM<2:0> ICSIDL ICTMR ICI<1:0> ICOV ICBNE ICM<2:0> ICSIDL ICTMR ICI<1:0> ICOV ICBNE ICM<2:0> ICSIDL ICTMR ICI<1:0> ICOV ICBNE ICM<2:0> Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets xxxx 0000 xxxx 0000 xxxx 0000 xxxx 0000 xxxx 0000 xxxx ICI<1:0> ICOV ICBNE ICM<2:0> 0000 xxxx ICTMR ICI<1:0> ICOV ICBNE ICM<2:0> 0000 xxxx ICTMR ICI<1:0> ICOV ICBNE ICM<2:0> 0000 Input 6 Capture Register ICSIDL ICTMR Input 7 Capture Register ICSIDL Input 8 Capture Register ICSIDL
TMR9
0134
PR8
0136
PR9
0138
dsPIC33F
T8CON
013A
TON
T9CON
013C
TON
Legend:
TABLE 3-6:
INPUT CAPTURE REGISTER MAP
SFR Name
SFR Addr
Bit 15
Bit 14
IC1BUF
0140
IC1CON
0142
IC2BUF
0144
IC2CON
0146
IC3BUF
0148
IC3CON
014A
IC4BUF
014C
IC4CON
014E
IC5BUF
0150
Advance Information
IC5CON
0152
IC6BUF
0154
IC6CON
0156
IC7BUF
0158
IC7CON
015A
IC8BUF
015C
IC8CON
015E
Legend:
TABLE 3-7:
Bit 13 Output Compare 1 Secondary Register Output Compare 1 Register Output Compare 2 Secondary Register Output Compare 2 Register Output Compare 3 Secondary Register Output Compare 3 Register Output Compare 4 Secondary Register Output Compare 4 Register Output Compare 5 Secondary Register Output Compare 5 Register Output Compare 6 Secondary Register Output Compare 6 Register OCSIDL OCFLT OCTSEL OCM<2:0> OCSIDL OCFLT OCTSEL OCM<2:0> OCSIDL OCFLT OCTSEL OCM<2:0> OCSIDL OCFLT OCTSEL OCM<2:0> OCSIDL OCFLT OCTSEL OCM<2:0> OCSIDL OCFLT OCTSEL OCM<2:0> Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
OUTPUT COMPARE REGISTER MAP

All Resets xxxx xxxx 0000 xxxx xxxx 0000 xxxx xxxx 0000 xxxx xxxx 0000 xxxx xxxx 0000 xxxx xxxx 0000 xxxx xxxx OCFLT OCTSEL OCM<2:0> 0000 xxxx xxxx OCFLT OCTSEL OCM<2:0> 0000
SFR Name
SFR Addr
Bit 15
Bit 14
OC1RS
0180
OC1R
0182
OC1CON
0184
OC2RS
0186
OC2R
0188

Output Compare 7 Secondary Register Output Compare 7 Register OCSIDL Output Compare 8 Secondary Register Output Compare 8 Register OCSIDL
OC2CON
018A
OC3RS
018C
OC3R
018E
OC3CON
0190
OC4RS
0192
OC4R
0194
OC4CON
0196
OC5RS
0198
OC5R
019A
OC5CON
019C
OC6RS
019E
OC6R
01A0
OC6CON
01A2
OC7RS
01A4
OC7R
01A6
Advance Information
OC7CON
01A8
OC8RS
01AA
OC8R
01AC
OC8CON
01AE
Legend:
dsPIC33F
DS70165A-page 59
TABLE 3-8:
Bit 13 PTSIDL PWM Timer Count Value Register PWM Time Base Period Register PWM Special Event Compare Register DTB<5:0> FLTAM FBEN4 FBEN3 FAEN4 FAEN3 FLTBM FAEN2 FBEN2 DTS4A DTS4I DTS3A DTS3I DTS2A DTS2I DTS1A DTAPS<1:0> DTA<5:0> DTS1I SEVOPS<3:0> IUE OSYNC UDIS PTMOD4 PTMOD3 PTMOD2 PTMOD1 PEN4H PEN3H PEN2H PEN1H PEN4L PEN3L PEN2L PTOPS<3:0> PTCKPS<1:0> PTMOD<1:0> Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reset State 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 PEN1L 0000 0000 1111 1111 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 FAEN1 0000 0000 0000 0000 FBEN1 0000 0000 0000 0000
8-OUTPUT PWM REGISTER MAP
SFR Name Addr.
Bit 15
Bit 14
PTCON
01C0
PTEN
PTMR
01C2
PTDIR
DS70165A-page 60
PWM Duty Cycle #1 Register PWM Duty Cycle #2 Register PWM Duty Cycle #3 Register PWM Duty Cycle #4 Register 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 Bit 13 QEISIDL Position Counter<15:0> Maximun Count<15:0> IMV<1:0> CEID QEOUT INDX UPDN QEIM<2:0> SWPAB PCDOUT TQGATE QECK<2:0> Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 TQCKPS<1:0> Bit 2 Bit 1 POSRES TQCS Bit 0 UDSRC Reset State 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1111 1111 1111 1111
PTPER
01C4
SEVTCMP
01C6 SEVTDIR
PWMCON1 01C8
dsPIC33F
PWMCON2 01CA
DTCON1
01CC
DTBPS<1:0>
DTCON2
01CE
FLTACON
01D0 FAOV4H FAOV4L FAOV3H FAOV3L FAOV2H FAOV2L FAOV1H FAOV1L
FLTBCON
01D2 FBOV4H FBOV4L FBOV3H FBOV3L FBOV2H FBOV2L FBOV1H FBOV1L
OVDCON
01D4 POVD4H POVD4L POVD3H POVD3L POVD2H POVD2L POVD1H POVD1L POUT4H POUT4L POUT3H POUT3L POUT2H POUT2L POUT1H POUT1L 1111 1111 0000 0000
PDC1
01D6
PDC2
01D8
PDC3
01DA
PDC4
01DC
Legend:
u = uninitialized bit, = unimplemented, read as 0
TABLE 3-9:
QEI REGISTER MAP
SFR Name
Addr.
Bit 15
Bit 14
Advance Information
QEICON
01E0 CNTERR
DFLTCON
01E2
POSCNT
01E4
MAXCNT
01E6
Legend:
TABLE 3-10:
Bit 14 TRSTAT Address Mask Register Address Register BCL GCSTAT ADD10 IWCOL I2CPOV D_A P S R_W I2CSIDL SCLREL IPMIEN A10M DISSLW SMEN GCEN STREN ACKDT ACKEN RCEN PEN Baud Rate Generator Register RSEN RBF SEN TBF Transmit Register Receive Register Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
I2C1 REGISTER MAP

All Resets 0000 00FF 0000 1000 0000 0000 0000
SFR Name
SFR Addr
Bit 15
I2C1RCV
0200
I2C1TRN
0202
I2C1BRG
0204
I2C1ON
0206
I2CEN
I2C1STAT
0208
ACKSTAT
I2C1ADD
020A

Bit 14 TRSTAT BCL GCSTAT ADD10 IWCOL I2CPOV I2CSIDL SCLREL IPMIEN A10M DISSLW SMEN GCEN STREN Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Receive Register Transmit Register Baud Rate Generator Register ACKDT D_A ACKEN P Address Register Address Mask Register RCEN S PEN R_W RSEN RBF SEN TBF
I2C1MSK
020C
Legend:
TABLE 3-11:
I2C2 REGISTER MAP

All Resets 0000 00FF 0000 1000 0000 0000 0000
SFR Name
SFR Addr
Bit 15
I2C2RCV
0210
I2C2TRN
0212
I2C2BRG
0214
I2C2CON
0216
I2CEN
I2C2STAT
0218
ACKSTAT
I2C2ADD
021A
I2C2MSK
021C
Advance Information
Legend:
dsPIC33F
DS70165A-page 61
TABLE 3-12:
Bit 13 USIDL Baud Rate Generator Prescaler UART Receive Register UART Transmit Register UTXBRK UTXEN UTXBF TRMT URXISEL<1:0> ADDEN RIDLE PERR FERR OERR URXDA IREN RTSMD UEN1 UEN0 WAKE LPBACK ABAUD URXINV BRGH PDSEL<1:0> STSEL Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets 0000 0110 xxxx 0000 0000
UART1 REGISTER MAP
SFR Name
SFR Addr
Bit 15
Bit 14
U1MODE
0220
UARTEN
DS70165A-page 62
Bit 13 USIDL UTXISEL0 Baud Rate Generator Prescaler UTXBRK UTXEN UTXBF TRMT URXISEL<1:0> ADDEN RIDLE IREN RTSMD UEN1 UEN0 WAKE LPBACK ABAUD URXINV BRGH PERR Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 PDSEL<1:0> FERR OERR Bit 0 STSEL URXDA All Resets 0000 0110 xxxx 0000 0000 UART Transmit Register UART Receive Register Bit 13 SPISIDL FRMPOL DISSCK DISSDO MODE16 SMP CKE SSEN BUFELM<2:0> Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 SPIROV CKP Bit 5 MSTEN Bit 4 Bit 3 SPRE<2:0> Bit 2 Bit 1 SPITBF Bit 0 SPIRBF PPRE<1:0> FRMEN ENHBUF All Resets 0000 0000 0000 0000 SPI1 Transmit and Receive Buffer Register Bit 13 SPISIDL FRMPOL DISSCK DISSDO MODE16 Bit 12 Bit 11 Bit 10 Bit 9 BUFELM<2:0> SMP CKE Bit 8 Bit 7 SSEN Bit 6 SPIROV CKP SPI2 Transmit and Receive Buffer Register Bit 5 MSTEN Bit 4 Bit 3 SPRE<2:0> Bit 2 Bit 1 SPITBF Bit 0 SPIRBF PPRE<1:0> FRMEN ENHBUF All Resets 0000 0000 0000 0000
U1STA
0222
UTXISEL1
UTXINV UTXISEL0
TX1REG
0224
RX1REG
0226
dsPIC33F
BRG1
0228
Legend:
TABLE 3-13:
UART2 REGISTER MAP
SFR Name
SFR Addr
Bit 15
Bit 14
U2MODE
0230
UARTEN
U2STA
0232
UTXISEL1
UTXINV
TX2REG
0234
RX2REG
0236
BRG2
0238
Legend:
TABLE 3-14:
SPI1 REGISTER MAP
SFR Name
SFR Addr
Bit 15
Bit 14
Advance Information
SPI1STAT
0240
SPIEN
SPI1CON1
0242
SPI1CON2
0244
FRMEN
FRMSYNC
SPI1BUF
0248
Legend:
TABLE 3-15:
SPI2 REGISTER MAP
SFR Name
SFR Addr
Bit 15
Bit 14
SPI2STAT
0260
SPIEN
SPI2CON1
0262
SPI2CON2
0264
FRMEN
FRMSYNC
SPI2BUF
0268
Legend:
TABLE 3-16:
Bit 13 ADC Data Buffer 0 PCFG29 PCFG13 CSS29 CSS13 CSS12 CSS11 CSS10 CSS9 CSS8 CSS7 CSS6 CSS5 CSS4 CSS28 CSS27 CSS26 CSS25 CSS24 CSS23 CSS22 CSS21 CSS20 CSS19 CSS3 PCFG12 PCFG11 PCFG10 PCFG9 PCFG8 PCFG7 PCFG6 PCFG5 PCFG4 PCFG3 PCFG28 PCFG27 PCFG26 PCFG25 PCFG24 PCFG23 PCFG22 PCFG21 PCFG20 CH0SB<4:0> CH0NA CH123NB<1:0> CH123SB SAMC<4:0> ADRC ADCS<5:0> CH123NA<1:0> CH0SA<4:0> PCFG19 PCFG18 PCFG17 PCFG2 CSS18 CSS2 PCFG1 CSS17 CSS1 DMABL<2:0> PCFG16 PCFG0 CSS16 CSS0 CH123SA CSCNA CHPS<1:0> BUFS SMPI<3:0> BUFM ADSIDL ADDMABM AD12B FORM<1:0> SSRC<2:0> SIMSAM ASAM SAMP CONV ALTS Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
ADC1 REGISTER MAP

All Resets xxxx 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
File Name
Addr
Bit 15
Bit 14
ADC1BUF0
0300
AD1CON1
0320
ADON
AD1CON2
0322
VCFG<2:0>
AD1CON3
0324
AD1CHS123
0326
AD1CHS0
0328
CH0NB

Bit 13 ADC Data Buffer 0 PCFG13 CSS13 CSS12 CSS11 CSS10 PCFG12 PCFG11 PCFG10 PCFG9 CSS9 CH0SB<3:0> PCFG8 CSS8 CH123NB<1:0> SAMC<4:0> CH123SB CSCNA CHPS<1:0> ADSIDL ADDMABM AD12B FORM<1:0> BUFS ADRC CH0NA PCFG7 CSS7 SSRC<2:0> PCFG6 CSS6 PCFG5 CSS5 PCFG4 CSS4 PCFG3 CSS3 SIMSAM SMPI<3:0> ADCS<5:0> CH123NA<1:0> CH0SA<3:0> PCFG2 CSS2 PCFG1 CSS1 DMABL<2:0> PCFG0 CSS0 CH123SA ASAM SAMP BUFM CONV ALTS Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
AD1PCFGH
032A
PCFG31 PCFG30
AD1PCFGL
032C
PCFG15 PCFG14
AD1CSSH
032E
CSS31
CSS30
AD1CSSL
0230
CSS15
CSS14
AD1CON4
0232
Reserved
0234023E
Legend:
TABLE 3-17:
ADC2 REGISTER MAP

All Resets xxxx 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
File Name
Addr
Bit 15
Bit 14
ADC2BUF0
0340
Advance Information
AD2CON1
0360
ADON
AD2CON2
0362
VCFG<2:0>
AD2CON3
0364
AD2CHS123
0366
AD2CHS0
0368
CH0NB
Reserved
036A
AD2PCFGL
036C
PCFG15 PCFG14
Reserved
036E
AD2CSSL
0270
CSS15
CSS14
AD2CON4
0272
Reserved
0274027E
dsPIC33F
DS70165A-page 63
Legend:
TABLE 3-18:
Bit 13 ADC Data Buffer 0 ADC Data Buffer 1 ADC Data Buffer 2 ADC Data Buffer 3 ADC Data Buffer 4 ADC Data Buffer 5 ADC Data Buffer 6 ADC Data Buffer 7 ADC Data Buffer 8 ADC Data Buffer 9 ADC Data Buffer 10 ADC Data Buffer 11 ADC Data Buffer 12 ADC Data Buffer 13 ADC Data Buffer 14 ADC Data Buffer 15 PCFG29 PCFG13 CSS29 CSS13 CSS12 CSS11 CSS10 CSS9 CSS8 CSS28 CSS27 CSS26 CSS25 CSS24 PCFG12 PCFG11 PCFG10 PCFG9 PCFG8 PCFG28 PCFG27 PCFG26 PCFG25 PCFG24 CH0SB<4:0> CH0NA PCFG23 PCFG7 CSS23 CSS7 CH123NB<1:0> CH123SB SAMC<4:0> ADRC PCFG22 PCFG6 CSS22 CSS6 CSCNA CHPS<1:0> BUFS ADSIDL ADDMAEN AD12B FORM<1:0> SSRC<2:0> SIMSAM SMPI<3:0> ADCS<5:0> CH123NA<1:0> CH0SA<4:0> PCFG21 PCFG20 PCFG19 PCFG18 PCFG17 PCFG5 CSS21 CSS5 PCFG4 CSS20 CSS4 PCFG3 CSS19 CSS3 PCFG2 CSS18 CSS2 PCFG1 CSS17 CSS1 PCFG16 PCFG0 CSS16 CSS0 CH123SA ASAM SAMP BUFM CONV ALTS Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
ADC1 REGISTER MAP (FOR DEVICES MARKED PS)
File Name
Addr
Bit 15
Bit 14
ADC1BUF0
0300
DS70165A-page 64

ADC1BUF1
0302
ADC1BUF2
0304
ADC1BUF3
0306
dsPIC33F
ADC1BUF4
0308
ADC1BUF5
030A
ADC1BUF6
030C
ADC1BUF7
030E
ADC1BUF8
0310
ADC1BUF9
0312
ADC1BUFA
0314
ADC1BUFB
0316
ADC1BUFC
0318
ADC1BUFD
031A
ADC1BUFE
031C
ADC1BUFF
031E
AD1CON1
0320
ADON
AD1CON2
0322
VCFG<2:0>
AD1CON3
0324
AD1CHS123
0326
Advance Information
AD1CHS0
0328
CH0NB
AD1PCFGH
032A
PCFG31 PCFG30
AD1PCFGL
032C
PCFG15 PCFG14
AD1CSSH
032E
CSS31
CSS30
AD1CSSL
0230
CSS15
CSS14
Reserved
0232023E
Legend:
TABLE 3-19:
Bit 14 ADC Data Buffer 0 ADC Data Buffer 1 ADC Data Buffer 2 ADC Data Buffer 3 ADC Data Buffer 4 ADC Data Buffer 5 ADC Data Buffer 6 ADC Data Buffer 7 ADC Data Buffer 8 ADC Data Buffer 9 ADC Data Buffer 10 ADC Data Buffer 11 ADC Data Buffer 12 ADC Data Buffer 13 ADC Data Buffer 14 ADC Data Buffer 15 PCFG13 CSS13 CSS12 CSS11 CSS10 CSS9 CSS8 PCFG12 PCFG11 PCFG10 PCFG9 PCFG8 CH0SB<3:0> CH123NB<1:0> CH123SB CH0NA PCFG7 CSS7 SAMC<4:0> ADRC CSCNA CHPS<1:0> BUFS PCFG6 CSS6 PCFG5 CSS5 PCFG4 CSS4 PCFG3 CSS3 ADSIDL ADDMAEN AD12B FORM<1:0> SSRC<2:0> SIMSAM SMPI<3:0> ADCS<5:0> CH123NA<1:0> CH0SA<3:0> PCFG2 CSS2 PCFG1 CSS1 PCFG0 CSS0 CH123SA ASAM SAMP BUFM CONV ALTS Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
ADC2 REGISTER MAP (FOR DEVICES MARKED PS)

All Resets xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
File Name
Addr
Bit 15
ADC2BUF0
0340
ADC2BUF1
0342
ADC2BUF2
0344
ADC2BUF3
0346
ADC2BUF4
0348
ADC2BUF5
034A

ADC2BUF6
034C
ADC2BUF7
034E
ADC2BUF8
0350
ADC2BUF9
0352
ADC2BUFA
0354
ADC2BUFB
0356
ADC2BUFC
0358
ADC2BUFD
035A
ADC2BUFE
035C
ADC2BUFF
035E
AD2CON1
0360
ADON
AD2CON2
0362
VCFG<2:0>
AD2CON3
0364
AD2CHS123
0366
Advance Information
AD2CHS0
0368
CH0NB
Reserved
036A
AD2PCFGL
036C
PCFG15 PCFG14
Reserved
036E
AD2CSSL
0270
CSS15
CSS14
Reserved
0272027E
Legend:
dsPIC33F
DS70165A-page 65
TABLE 3-20:
Bit 13 DIR STA<15:0> STB<15:0> PAD<15:0> DIR STA<15:0> STB<15:0> PAD<15:0> DIR STA<15:0> STB<15:0> PAD<15:0> DIR STA<15:0> STB<15:0> PAD<15:0> DIR HALF NULLW STA<15:0> STB<15:0> PAD<15:0> DIR HALF NULLW STA<15:0> STB<15:0> CNT<9:0> AMODE<1:0> IRQSEL<6:0> MODE<1:0> CNT<9:0> AMODE<1:0> IRQSEL<6:0> MODE<1:0> HALF NULLW CNT<9:0> AMODE<1:0> IRQSEL<6:0> MODE<1:0> AMODE<1:0> HALF NULLW CNT<9:0> IRQSEL<6:0> MODE<1:0> IRQSEL<6:0> AMODE<1:0> HALF NULLW CNT<9:0> MODE<1:0> IRQSEL<6:0> HALF NULLW AMODE<1:0> MODE<1:0> Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
DMA REGISTER MAP
File Name Addr
Bit 15
Bit 14
DMA0CON 0380
CHEN
SIZE
DS70165A-page 66
DMA0REQ 0382
FORCE
DMA0STA
0384
DMA0STB
0386
dsPIC33F
DMA0PAD
0388
DMA0CNT
038A
DMA1CON 038C
CHEN
SIZE
DMAREQ
038E
FORCE
DMA1STA
0390
DMA1STB
0392
DMA1PAD
0394
DMA1CNT
0396
DMA2CON 0398
CHEN
SIZE
DMA2REQ 039A
FORCE
DMA2STA
039C
DMA2STB
039E
DMA2PAD
03A0
DMA2CNT
03A2
DMA3CON 03A4
CHEN
SIZE
DMA3REQ 03A6
FORCE
Advance Information
DMA3STA
03A8
DMA3STB
03AA
DMA3PAD 03AC
DMA3CNT 03AE
DMA4CON 03B0
CHEN
SIZE
DMA4REQ 03B2
FORCE
DMA4STA
03B4
DMA4STB
03B6
DMA4PAD
03B8
DMA4CNT 03BA
DMA5CON 03BC
CHEN
SIZE
DMA5REQ 03BE
FORCE
DMA5STA
03C0
DMA5STB
03C2
Legend:
= unimplemented, read as 0. Reset values are shown in hexadecimal.
TABLE 3-20:
Bit 13 PAD<15:0> DIR STA<15:0> STB<15:0> PAD<15:0> DIR STA<15:0> STB<15:0> PAD<15:0> XWCOL7 PPST7 DSADR<15:0> PPST6 PPST5 XWCOL6 XWCOL5 CNT<9:0> XWCOL4 PPST4 XWCOL3 PPST3 XWCOL2 PPST2 XWCOL1 XWCOL0 PPST1 PPST0 AMODE<1:0> IRQSEL<6:0> HALF NULLW CNT<9:0> MODE<1:0> IRQSEL<6:0> AMODE<1:0> HALF NULLW CNT<9:0> MODE<1:0> Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
DMA REGISTER MAP (CONTINUED)

All Resets 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
File Name Addr
Bit 15
Bit 14
DMA5PAD
03C4
DMA5CNT 03C6
DMA6CON 03C8
CHEN
SIZE
DMA6REQ 03CA FORCE
DMA6STA
03CC
DMA6STB
03CE

LSTCH<3:0>
DMA6PAD
03D0
DMA6CNT 03D2
DMA7CON 03D4
CHEN
SIZE
DMA7REQ 03D6
FORCE
DMA7STA
03D8
DMA7STB
03DA
DMA7PAD 03DC
DMA7CNT 03DE
DMACS0
03E0 PWCOL7 PWCOL6 PWCOL5 PWCOL4 PWCOL3 PWCOL2 PWCOL1 PWCOL0
DMACS1
03E2
DSADR
03E4
Advance Information
Legend:
dsPIC33F
DS70165A-page 67
TABLE 3-21:
Bit 13 DIR STA<15:0> STB<15:0> PAD<15:0> DIR STA<15:0> STB<15:0> PAD<15:0> DIR STA<15:0> STB<15:0> PAD<15:0> DIR STA<15:0> STB<15:0> PAD<15:0> DIR STA<15:0> STB<15:0> PAD<15:0> DIR HALF AMODE MODE<1:0> FORCE STA<15:0> STB<15:0> PAD<15:0> PWCOL5 PWCOL4 PWCOL3 PWCOL2 PWCOL1 PWCOL0 CNT<9:0> XWCOL5 XWCOL4 XWCOL3 XWCOL2 XWCOL1 XWCOL0 CNT<9:0> IRQSEL<6:0> MODE<1:0> FORCE HALF AMODE CNT<9:0> IRQSEL<6:0> MODE<1:0> FORCE HALF AMODE CNT<9:0> IRQSEL<6:0> MODE<1:0> FORCE HALF AMODE CNT<9:0> IRQSEL<6:0> MODE<1:0> FORCE IRQSEL<6:0> HALF AMODE CNT<9:0> HALF AMODE MODE<1:0> FORCE IRQSEL<6:0> Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets 007F 0000 0000 0000 0000 007F 0000 0000 0000 0000 007F 0000 0000 0000 0000 007F 0000 0000 0000 0000 007F 0000 0000 0000 0000 007F 0000 0000 0000 0000 0000
DMA REGISTER MAP FOR DEVICES MARKED PS
File Name
Addr
Bit 15
Bit 14
DMA0CON
0380
CHEN
SIZE
DS70165A-page 68
DMA0STA
0382
DMA0STB
0384
DMA0PAD
0386
dsPIC33F
DMA0CNT
0388
DMA1CON
038A
CHEN
SIZE
DMA1STA
038C
DMA1STB
038E
DMA1PAD
0390
DMA1CNT
0392
DMA2CON
0394
CHEN
SIZE
DMA2STA
0396
DMA2STB
0398
DMA2PAD
039A
DMA2CNT
039C
DMA3CON
039E
CHEN
SIZE
DMA3STA
03A0
DMA3STB
03A2
DMA3PAD
03A4
DMA3CNT
03A6
Advance Information
DMA4CON
03A8
CHEN
SIZE
DMA4STA
03AA
DMA4STB
03AC
DMA4PAD
03AE
DMA4CNT
03B0
DMA5CON
03B2
CHEN
SIZE
DMA5STA
03B4
DMA5STB
03B6
DMA5PAD
03B8
DMA5CNT
03BA
DMACS
03BC
Legend:
TABLE 3-22:
Bit 13 CSIDL FSA<4:0> FNRB<5:0> ERRIF ERRIE RERRCNT<7:0> SEG2PH<2:0> FLTEN9 F4MSK<1:0> F12MSK<1:0> F11MSK<1:0> F3MSK<1:0> F2MSK<1:0> F10MSK<1:0> FLTEN8 FLTEN7 FLTEN6 FLTEN5 FLTEN4 SEG2PHTS SAM SEG1PH<2:0> FLTEN3 SJW<1:0> BRP<5:0> PRSEG<2:0> FLTEN2 F1MSK<1:0> F9MSK<1:0> FLTEN1 FLTEN0 F0MSK<1:0> F8MSK<1:0> FIFOIE FIFOIF RBOVIF RBOVIE RBIF RBIE TBIF TBIE FBP<5:0> TXBO TERRCNT<7:0> IVRIE WAKIE TXBP RXBP TXWAR RXWAR EWARN IVRIF WAKIF FILHIT<4:0> ICODE<6:0> DNCNT<4:0> ABAT CANCKS REQOP<2:0> OPMODE<2:0> CANCAP WIN Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
ECAN1 REGISTER MAP WHEN C1CTRL1.WIN = 0 OR 1

All Resets 0480 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
File Name
Addr
Bit 15
Bit 14
C1CTRL1
0400
C1CTRL2
0402
C1VEC
0404
C1FCTRL
0406
DMABS<2:0>
C1FIFO
0408
C1INTF
040A

F6MSK<1:0> F14MSK<1:0> F13MSK<1:0> F5MSK<1:0> Bit 13 See definition when WIN = x RXFUL8 RXFUL7 RXFUL6 RXFUL5 RXFUL4 RXFUL3 RXFUL2 RXFUL1 RXFUL0 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 RXOVF8 RXOVF7 RXOVF6 RXOVF5 RXOVF4 RXOVF3 RXOVF2 RXOVF1 RXOVF0 TX LARB1 TX LARB3 TX LARB5 TX LARB7 TX ERR7 TX REQ7 TX ERR5 TX REQ5 RTREN5 RTREN7 TX ERR3 TX REQ3 RTREN3 TX ERR1 TX REQ1 RTREN1 TX1PRI<1:0> TX3PRI<1:0> TX5PRI<1:0> TX7PRI<1:0> TXEN0 TXEN2 TXEN4 TXEN6 Recieved Data Word Transmit Data Word TX ABAT0 TX ABAT2 TX ABAT4 TX ABAT6 TX LARB0 TX LARB2 TX LARB4 TX LARB6 TX ERR0 TX ERR2 TX ERR4 TX ERR6 TX REQ0 TX REQ2 TX REQ4 TX REQ6 RTREN0 RTREN2 RTREN4 RTREN6 TX0PRI<1:0> TX2PRI<1:0> TX4PRI<1:0> TX6PRI<1:0>
C1INTE
040C
C1EC
040E
C1CFG1
0410
C1CFG2
0412
WAKFIL
C1FEN1
0414 FLTEN15 FLTEN14 FLTEN13 FLTEN12 FLTEN11 FLTEN10
C1FMSKSEL1 0418
F7MSK<1:0>
C1FMSKSEL2 041A
F15MSK<1:0>
Legend:
TABLE 3-23:
ECAN1 REGISTER MAP WHEN C1CTRL1.WIN = 0

All Resets
File Name
Addr
Bit 15
Bit 14
0400041E
Advance Information
C1RXFUL1
0420 RXFUL15 RXFUL14 RXFUL13 RXFUL12 RXFUL11 RXFUL10 RXFUL9
0000 0000 0000 0000 0000 0000 0000 xxxx xxxx xxxx
C1RXFUL2
0422 RXFUL31 RXFUL30 RXFUL29 RXFUL28 RXFUL27 RXFUL26 RXFUL25 RXFUL24 RXFUL23 RXFUL22 RXFUL21 RXFUL20 RXFUL19 RXFUL18 RXFUL17 RXFUL16
C1RXOVF1
0428 RXOVF15 RXOVF14 RXOVF13 RXOVF12 RXOVF11 RXOVF10 RXOVF9
C1RXOVF2
042A RXOVF31 RXOVF30 RXOVF29 RXOVF28 RXOVF27 RXOVF26 RXOVF25 RXOVF24 RXOVF23 RXOVF22 RXOVF21 RXOVF20 RXOVF19 RXOVF18 RXOVF17 RXOVF16
C1TR01CON 0430
TXEN1
TX ABT1
C1TR23CON 0432
TXEN3
TX ABT3
C1TR45CON 0434
TXEN5
TX ABT5
C1TR67CON 0436
TXEN7
TX ABT7
C1RXD
0440
C1TXD
0442
dsPIC33F
DS70165A-page 69
Legend:
TABLE 3-24:
Bit 14 See definition when WIN = x F3BP<3:0> F7BP<3:0> F12BP<3:0> F15BP<3:0> SID<10:3> EID<7:0> SID<2:0> EID<7:0> SID<2:0> EID<7:0> SID<2:0> EXIDE EID<17:16> MIDE EID<17:16> MIDE EID<17:16> MIDE EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> SID<2:0> SID<2:0> SID<2:0> SID<2:0> SID<2:0> SID<2:0> SID<2:0> SID<2:0> SID<2:0> SID<2:0> SID<2:0> SID<2:0> F14BP<3:0> F13BP<3:0> F12BP<3:0> EID<17:16> F10BP<3:0> F9BP<3:0> F8BP<3:0> F6BP<3:0> F5BP<3:0> F4BP<3:0> F2BP<3:0> F1BP<3:0> F0BP<3:0> 0000 0000 0000 0000 xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx EXIDE EID<7:0> EXIDE EID<7:0> EXIDE EID<7:0> EXIDE EID<7:0> EXIDE EID<7:0> EXIDE EID<7:0> EXIDE EID<7:0> EXIDE EID<7:0> EXIDE EID<7:0> EXIDE EID<7:0> EXIDE EID<17:16> EID<17:16> EID<17:16> EID<17:16> EID<17:16> EID<17:16> EID<17:16> EID<17:16> EID<17:16> EID<17:16> EID<17:16> xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets
File Name
Addr
Bit 15
0400041E
DS70165A-page 70
EID<7:0>
C1BUFPNT1
0420
C1BUFPNT2
0422
dsPIC33F
C1BUFPNT3
0424
C1BUFPNT4
0426
C1RXM0SID
0430
C1RXM0EID
0432
C1RXM1SID
0434
C1RXM1EID
0436
C1RXM2SID
0438
C1RXM2EID
043A
C1RXF0SID
0440
C1RXF0EID
0442
C1RXF1SID
0444
C1RXF1EID
0446
C1RXF2SID
0448
C1RXF2EID
044A
C1RXF3SID
044C
C1RXF3EID
044E
Advance Information
C1RXF4SID
0450
C1RXF4EID
0452
C1RXF5SID
0454
C1RXF5EID
0456
C1RXF6SID
0458
C1RXF6EID
045A
C1RXF7SID
045C
C1RXF7EID
045E
C1RXF8SID
0460
C1RXF8EID
0462
C1RXF9SID
0464
C1RXF9EID
0466
C1RXF10SID
0468
C1RXF10EID
046A
C1RXF11SID
046C
Legend:
TABLE 3-24:
Bit 14 EID<15:8> SID<10:3> EID<7:0> SID<2:0> EID<7:0> SID<2:0> EID<7:0> SID<2:0> EID<7:0> EXIDE EID<17:16> EXIDE EID<17:16> EXIDE EID<17:16> EXIDE EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<2:0> EID<17:16> EID<7:0> Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
ECAN1 REGISTER MAP WHEN C1CTRL1.WIN = 1 (CONTINUED)

All Resets xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx
File Name
Addr
Bit 15
C1RXF11EID
046E
C1RXF12SID
0470
C1RXF12EID
0472
C1RXF13SID
0474
C1RXF13EID
0476
C1RXF14SID
0478

Bit 14 FBP<5:0> TXBO TERRCNT<7:0> WAKFIL FLTEN14 F6MSK<1:0> F14MSK<1:0> F13MSK<1:0> F5MSK<1:0> FLTEN13 FLTEN12 FLTEN11 SEG2PH<2:0> FLTEN10 FLTEN9 FLTEN8 F4MSK<1:0> F12MSK<1:0> SJW<1:0> SEG2PHTS FLTEN7 SAM SEG1PH<2:0> FLTEN6 FLTEN5 FLTEN4 FLTEN3 F3MSK<1:0> F11MSK<1:0> F2MSK<1:0> F10MSK<1:0> TXBP RXBP TXWAR RXWAR EWARN IVRIF IVRIE FILHIT<4:0> WAKIF WAKIE ERRIF ERRIE CSIDL ABAT CANCKS REQOP<2:0> OPMODE<2:0> Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 CANCAP Bit 2 DNCNT<4:0> ICODE<6:0> FSA<4:0> FNRB<5:0> FIFOIF FIFOIE RERRCNT<7:0> BRP<5:0> PRSEG<2:0> FLTEN2 FLTEN1 F1MSK<1:0> F9MSK<1:0> FLTEN0 F0MSK<1:0> F8MSK<1:0> RBOVIF RBOVIE RBIF RBIE TBIF TBIE Bit 1 Bit 0 WIN
C1RXF14EID
047A
C1RXF15SID
047C
C1RXF15EID
047E
Legend:
TABLE 3-25:
ECAN2 REGISTER MAP WHEN C2CTRL1.WIN = 0 OR 1

All Resets 0480 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
File Name
Addr
Bit 15
C2CTRL1
0500
C2CTRL2
0502
C2VEC
0504
C2FCTRL
0506
DMABS<2:0>
C2FIFO
0508
C2INTF
050A
Advance Information
C2INTE
050C
C2EC
050E
C2CFG1
0510
C2CFG2
0512
C2FEN1
0514
FLTEN15
C2FMSKSEL1
0518
F7MSK<1:0>
C2FMSKSEL2
051A
F15MSK<1:0>
Legend:
dsPIC33F
DS70165A-page 71
TABLE 3-26:
Bit 13 See definition when WIN = x RXFUL9 RXFUL8 RXFUL7 RXFUL6 RXFUL5 RXFUL4 RXFUL3 RXFUL2 RXFUL1 RXFUL0 0000 0000 RXOVF0 0000 0000 TX0PRI<1:0> TX2PRI<1:0> RTREN4 RTREN6 TX4PRI<1:0> TX6PRI<1:0> 0000 0000 0000 xxxx xxxx xxxx Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets
File Name
Addr
Bit 15
Bit 14
0500051E
DS70165A-page 72
RXOVF6 RXOVF5 RXOVF4 RXOVF3 RXOVF2 RXOVF1 TX LARB1 TX LARB3 TX LARB5 TX LARB7 Recieved Data Word Transmit Data Word TX ERR7 TX REQ7 RTREN7 TX7PRI<1:0> TXEN6 TX ABAT6 TX LARB6 TX ERR6 TX ERR5 TX REQ5 RTREN5 TX5PRI<1:0> TXEN4 TX ABAT4 TX LARB4 TX ERR4 TX REQ4 TX REQ6 TX ERR3 TX REQ3 RTREN3 TX3PRI<1:0> TXEN2 TX ABAT2 TX LARB2 TX ERR2 TX REQ2 TX ERR1 TX REQ1 RTREN1 TX1PRI<1:0> TXEN0 TX ABAT0 TX LARB0 TX ERR0 TX REQ0 RTREN0 RTREN2 Bit 14 See definition when WIN = x F3BP<3:0> F7BP<3:0> F12BP<3:0> F15BP<3:0> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> SID<2:0> SID<2:0> SID<2:0> SID<2:0> F14BP<3:0> F10BP<3:0> F6BP<3:0> F2BP<3:0> F1BP<3:0> F5BP<3:0> F9BP<3:0> F13BP<3:0> SID<2:0> MIDE EID<7:0> MIDE EID<7:0> MIDE EID<7:0> EXIDE EID<7:0> EXIDE EID<17:16> EID<17:16> EID<17:16> EID<17:16> F0BP<3:0> F4BP<3:0> F8BP<3:0> F12BP<3:0> EID<17:16> 0000 0000 0000 0000 xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets
C2RXFUL1
0520 RXFUL15 RXFUL14 RXFUL13 RXFUL12 RXFUL11 RXFUL10
C2RXFUL2
0522 RXFUL31 RXFUL30 RXFUL29 RXFUL28 RXFUL27 RXFUL26 RXFUL25 RXFUL24 RXFUL23 RXFUL22 RXFUL21 RXFUL20 RXFUL19 RXFUL18 RXFUL17 RXFUL16
dsPIC33F
C2RXOVF1
0528 RXOVF15 RXOVF14 RXOVF13 RXOVF12 RXOVF11 RXOVF10 RXOVF09 RXOVF08 RXOVF7
C2RXOVF2
052A RXOVF31 RXOVF30 RXOVF29 RXOVF28 RXOVF27 RXOVF26 RXOVF25 RXOVF24 RXOVF23 RXOVF22 RXOVF21 RXOVF20 RXOVF19 RXOVF18 RXOVF17 RXOVF16
C2TR01CON 0530
TXEN1
TX ABAT1
C2TR23CON 0532
TXEN3
TX ABAT3
C2TR45CON 0534
TXEN5
TX ABAT5
C2TR67CON 0536
TXEN7
TX ABAT7
C2RXD
0540
C2TXD
0542
Legend:
TABLE 3-27:
File Name
Addr
Bit 15
Advance Information
0500051E
C2BUFPNT1
0520
C2BUFPNT2
0522
C2BUFPNT3
0524
C2BUFPNT4
0526
C2RXM0SID
0530
C2RXM0EID
0532
C2RXM1SID
0534
C2RXM1EID
0536
C2RXM2SID
0538
C2RXM2EID
053A
C2RXF0SID
0540
C2RXF0EID
0542
C2RXF1SID
0544
Legend:
TABLE 3-27:
Bit 14 EID<15:8> SID<10:3> EID<7:0> SID<2:0> EID<7:0> SID<2:0> EID<7:0> SID<2:0> EID<7:0> SID<2:0> EID<7:0> SID<2:0> EXIDE EID<7:0> SID<2:0> EXIDE EID<7:0> SID<2:0> EXIDE EID<7:0> SID<2:0> EXIDE EID<7:0> SID<2:0> EXIDE EID<7:0> SID<2:0> EXIDE EID<7:0> SID<2:0> EXIDE EID<7:0> SID<2:0> EXIDE EID<7:0> SID<2:0> EXIDE EID<7:0> EID<17:16> EID<17:16> EID<17:16> EID<17:16> EID<17:16> EID<17:16> EID<17:16> EID<17:16> EID<17:16> EXIDE EID<17:16> EXIDE EID<17:16> EXIDE EID<17:16> EXIDE EID<17:16> EXIDE EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<10:3> EID<15:8> SID<2:0> EID<17:16> EID<7:0> Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
ECAN2 REGISTER MAP WHEN C2CTRL1.WIN = 1 (CONTINUED)

All Resets xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx xxxx
File Name
Addr
Bit 15
C2RXF1EID
0546
C2RXF2SID
0548
C2RXF2EID
054A
C2RXF3SID
054C
C2RXF3EID
054E
C2RXF4SID
0550
C2RXF4EID
0552
C2RXF5SID
0554
C2RXF5EID
0556
C2RXF6SID
0558
C2RXF6EID
055A
C2RXF7SID
055C
C2RXF7EID
055E
C2RXF8SID
0560
C2RXF8EID
0562
C2RXF9SID
0564
C2RXF9EID
0566
C2RXF10SID
0568
C2RXF10EID
056A
C2RXF11SID
056C
Advance Information
C2RXF11EID
056E
C2RXF12SID
0570
C2RXF12EID
0572
C2RXF13SID
0574
C2RXF13EID
0576
C2RXF14SID
0578
C2RXF14EID
057A
C2RXF15SID
057C
C2RXF15EID
057E
Legend:
dsPIC33F
DS70165A-page 73
TABLE 3-28:
Bit 14 Receive Acceptance Filter 1 Standard Identifier<10:0> Receive Acceptance Filter 2 Standard Identifier<10:0> Receive Acceptance Filter 3 Standard Identifier<10:0> Receive Acceptance Filter 4 Standard Identifier<10:0> Receive Acceptance Filter 5 Standard Identifier<10:0> Receive Acceptance Filter 5 Extended Identifier<17:6> MIDE Receive Acceptance Filter 4 Extended Identifier<17:6> Receive Acceptance Filter 3 Extended Identifier<17:6> Receive Acceptance Filter 2 Extended Identifier<17:6> Receive Acceptance Filter 1 Extended Identifier<17:6> Receive Acceptance Filter 0 Extended Identifier<17:6> Receive Acceptance Filter 0 Standard Identifier<10:0> Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reset State EXIDE 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu uuuu uu00 0000 0000
CAN1 REGISTER MAP
File Name
Addr
Bit 15
C1RXF0SID
0400
C1RXF0EIDH 0402
DS70165A-page 74
EXIDE 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu uuuu uu00 0000 0000 EXIDE 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu uuuu uu00 0000 0000 EXIDE 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu uuuu uu00 0000 0000 EXIDE 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu uuuu uu00 0000 0000 EXIDE 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu uuuu uu00 0000 0000 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu MIDE uuuu uu00 0000 0000 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu Transmit Buffer 2 Standard Identifier<5:0> Transmit Buffer 2 Extended Identifier<13:6> TXRB0 DLC<3:0> Transmit Buffer 2 Byte 0 Transmit Buffer 2 Byte 2 Transmit Buffer 2 Byte 4 Transmit Buffer 2 Byte 6 TXRTR TXRB1 TXRB0 TXABT TXLARB TXERR TXREQ Transmit Buffer 1 Standard Identifier<5:0> Transmit Buffer 1 Extended Identifier<13:6> DLC<3:0> TXPRI<1:0> SRR SRR uuuu uu00 0000 0000 TXIDE uuuu u000 uuuu uuuu uuuu 0000 uuuu uuuu uuuu uuuu uuuu u000 uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu 0000 0000 0000 0000 TXIDE uuuu u000 uuuu uuuu uuuu 0000 uuuu uuuu uuuu uuuu uuuu u000 Receive Acceptance Mask 0 Standard Identifier<10:0> Receive Acceptance Mask 0 Extended Identifier<17:6> TXRTR TXRB1 Receive Acceptance Mask 1 Standard Identifier<10:0> Receive Acceptance Mask 1 Extended Identifier<17:6> Transmit Buffer 2 Byte 1 Transmit Buffer 2 Byte 3 Transmit Buffer 2 Byte 5 Transmit Buffer 2 Byte 7
C1RXF0EIDL
0404
Receive Acceptance Filter 0 Extended Identifier<5:0>
C1RXF1SID
0408
C1RXF1EIDH 040A
dsPIC33F
C1RXF1EIDL
040C
C1RXF2SID
0410
C1RXF2EIDH 0412
C1RXF2EIDL
0414
C1RXF3SID
0418
C1RXF3EIDH 041A
C1RXF3EIDL
041C
C1RXF4SID
0420
C1RXF4EIDH 0422
C1RXF4EIDL
0424
C1RXF5SID
0428
C1RXF5EIDH 042A
C1RXF5EIDL
042C
C1RXM0SID
0430
C1RXM0EIDH 0432
C1RXM0EIDL 0434
Receive Acceptance Mask 0 Extended Identifier<5:0>
Advance Information
C1RXM1SID
0438
C1RXM1EIDH 043A
C1RXM1EIDL 043C
C1TX2SID
0440
Transmit Buffer 2 Standard Identifier<10:6>
C1TX2EID
0442
Transmit Buffer 2 Extended Identifier<17:14>
C1TX2DLC
0444
C1TX2B1
0446
C1TX2B2
0448
C1TX2B3
044A
C1TX2B4
044C
C1TX2CON
044E
C1TX1SID
0450
C1TX1EID
0452
C1TX1DLC
0454
Legend:
TABLE 3-28:
Bit 14 Transmit Buffer 1 Byte 1 Transmit Buffer 1 Byte 3 Transmit Buffer 1 Byte 5 Transmit Buffer 1 Byte 7 TXRTR Transmit Buffer 0 Byte 0 Transmit Buffer 0 Byte 2 Transmit Buffer 0 Byte 4 Transmit Buffer 0 Byte 6 Receive Buffer 1 Standard Identifier<10:0> RXRTR RXRB1 Receive Buffer 1 Extended Identifier<17:6> RXRB0 DLC<3:0> TXABT TXLARB TXERR TXREQ TXPRI<1:0> SRR TXRB1 TXRB0 DLC<3:0> Transmit Buffer 0 Extended Identifier <13:6> Transmit Buffer 0 Standard Identifier<5:0> SRR TXABT TXLARB TXERR TXREQ TXPRI<1:0> Transmit Buffer 1 Byte 6 Transmit Buffer 1 Byte 4 Transmit Buffer 1 Byte 2 Transmit Buffer 1 Byte 0 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reset State
CAN1 REGISTER MAP (CONTINUED)

uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu 0000 0000 0000 0000
File Name
Addr
Bit 15
C1TX1B1
0456
C1TX1B2
0458
C1TX1B3
045A
C1TX1B4
045C
C1TX1CON
045E
C1TX0SID
0460
TXIDE uuuu u000 uuuu uuuu uuuu 0000 uuuu uuuu uuuu uuuu uuuu u000 uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu 0000 0000 0000 0000 RXIDE 000u uuuu uuuu uuuu 0000 uuuu uuuu uuuu uuuu uuuu 000u uuuu uuuu uuuu uuuu uuuu

Transmit Buffer 0 Byte 1 Transmit Buffer 0 Byte 3 Transmit Buffer 0 Byte 5 Transmit Buffer 0 Byte 7 Receive Buffer 1 Byte 1 Receive Buffer 1 Byte 3 Receive Buffer 1 Byte 5 Receive Buffer 1 Byte 7 RXRTR RXRB1 RXFUL Receive Buffer 1 Byte 0 Receive Buffer 1 Byte 2 Receive Buffer 1 Byte 4 Receive Buffer 1 Byte 6 RXRTRRO FILHIT<2:0> SRR Receive Buffer 0 Standard Identifier<10:0> Receive Buffer 0 Extended Identifier<17:6> RXRB0 Receive Buffer 0 Byte 0 Receive Buffer 0 Byte 2 Receive Buffer 0 Byte 4 Receive Buffer 0 Byte 6 REQOP<2:0> SEG2PH<2:0> TXWAR RXWAR EWARN RXFUL OPMODE<2:0> SJW<1:0> SEG2PHTS IVRIF IVRIE SAM WAKIF WAKIE SEG1PH<2:0> ERRIF ERRIE TX2IF TX2IE TX1IF TX1IE RERRCNT<7:0> DLC<3:0> Receive Buffer 0 Byte 1 Receive Buffer 0 Byte 3 Receive Buffer 0 Byte 5 Receive Buffer 0 Byte 7 TXBO TXEP RXEP CSIDL ABAT CANCKS ICODE<2:0> BRP<5:0> PRSEG<2:0> TX0IF RX1IF TX0IE RX1E TERRCNT<7:0>
C1TX0EID
0462
C1TX0DLC
0464
C1TX0B1
0466
C1TX0B2
0468
C1TX0B3
046A
C1TX0B4
046C
C1TX0CON
046E
C1RX1SID
0470
C1RX1EID
0472
C1RX1DLC
0474
Receive Buffer 1 Extended Identifier<5:0>
C1RX1B1
0476
C1RX1B2
0478
uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu 0000 0000 0000 0000 RXIDE 000u uuuu uuuu uuuu 0000 uuuu uuuu uuuu uuuu uuuu 000u uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu RXRTRRO DBEN JTOFF FILHIT0 0000 0000 0000 0000 0000 0100 1000 0000 0000 0000 0000 0000 0u00 0uuu uuuu uuuu RX0IF 0000 0000 0000 0000 RX0IE 0000 0000 0000 0000 0000 0000 0000 0000
C1RX1B3
047A
C1RX1B4
047C
C1RX1CON
047E
Advance Information
C1RX0SID
0480
C1RX0EID
0482
C1RX0DLC
0484
C1RX0B1
0486
C1RX0B2
0488
C1RX0B3
048A
C1RX0B4
048C
C1RX0CON
048E
C1CTRL
0490
CANCAP
C1CFG1
0492
C1CFG2
0494
WAKFIL
C1INTF
0496
RX0OVR
RX1OVR
C1INTE
0498
C1EC
049A
dsPIC33F
DS70165A-page 75
Legend:
TABLE 3-29:
Bit 14 Receive Acceptance Filter 1 Standard Identifier 10:0> Receive Acceptance Filter 2 Standard Identifier<10:0> Receive Acceptance Filter 3 Standard Identifier<10:0> Receive Acceptance Filter 4 Standard Identifier<10:0> Receive Acceptance Filter 5 Standard Identifier<10:0> Receive Acceptance Filter 5 Extended Identifier<17:6> MIDE Receive Acceptance Filter 4 Extended Identifier<17:6> Receive Acceptance Filter 3 Extended Identifier<17:6> Receive Acceptance Filter 2 Extended Identifier<17:6> Receive Acceptance Filter 1 Extended Identifier <17:6> Receive Acceptance Filter 0 Extended Identifier<17:6> Receive Acceptance Filter 0 Standard Identifier<10:0> Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reset State EXIDE 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu uuuu uu00 0000 0000
CAN2 REGISTER MAP
File Name
Addr
Bit 15
C2RXF0SID
04C0
C2RXF0EIDH 04C2
DS70165A-page 76
EXIDE 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu uuuu uu00 0000 0000 EXIDE 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu uuuu uu00 0000 0000 EXIDE 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu uuuu uu00 0000 0000 EXIDE 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu uuuu uu00 0000 0000 EXIDE 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu uuuu uu00 0000 0000 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu MIDE uuuu uu00 0000 0000 000u uuuu uuuu uu0u 0000 uuuu uuuu uuuu Transmit Buffer 2 Standard Identifier<5:0> Transmit Buffer 2 Extended Identifier<13:6> TXRB0 DLC<3:0> Transmit Buffer 2 Byte 0 Transmit Buffer 2 Byte 2 Transmit Buffer 2 Byte 4 Transmit Buffer 2 Byte 6 TXRTR TXRB1 TXRB0 TXABT TXLARB TXERR TXREQ Transmit Buffer 1 Standard Identifier<5:0> Transmit Buffer 1 Extended Identifier<13:6> DLC<3:0> TXPRI<1:0> SRR SRR uuuu uu00 0000 0000 TXIDE uuuu u000 uuuu uuuu uuuu 0000 uuuu uuuu uuuu uuuu uuuu u000 uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu 0000 0000 0000 0000 TXIDE uuuu u000 uuuu uuuu uuuu 0000 uuuu uuuu uuuu uuuu uuuu u000 Receive Acceptance Mask 0 Standard Identifier<10:0> Receive Acceptance Mask 0 Extended Identifier<17:6> TXRTR TXRB1 Receive Acceptance Mask 1 Standard Identifier<10:0> Receive Acceptance Mask 1 Extended Identifier<17:6> Transmit Buffer 2 Byte 1 Transmit Buffer 2 Byte 3 Transmit Buffer 2 Byte 5 Transmit Buffer 2 Byte 7
C2RXF0EIDL 04C4
C2RXF1SID
04C8
C2RXF1EIDH 04CA
dsPIC33F
C2RXF1EIDL 04CC
C2RXF2SID
04D0
C2RXF2EIDH 04D2
C2RXF2EIDL 04D4
C2RXF3SID
04D8
C2RXF3EIDH 04DA
C2RXF3EIDL 04DC
C2RXF4SID
04E0
C2RXF4EIDH 04E2
C2RXF4EIDL 04E4
C2RXF5SID
04E8
C2RXF5EIDH 04EA
C2RXF5EIDL 04EC
C2RXM0SID
04F0
C2RXM0EIDH
04F2
C2RXM0EIDL 04F4
Advance Information
C2RXM1SID
04F8
C2RXM1EIDH 04FA
C2RXM1EIDL 04FC
C2TX2SID
0500
C2TX2EID
0502 Transmit Buffer 2 Extended Identifier<17:14>
C2TX2DLC
0504
C2TX2B1
0506
C2TX2B2
0508
C2TX2B3
050A
C2TX2B4
050C
C2TX2CON
050E
C2TX1SID
0510
C2TX1EID
C2TX1DLC
0514
Legend:
TABLE 3-29:
Bit 14 Transmit Buffer 1 Byte 1 Transmit Buffer 1 Byte 3 Transmit Buffer 1 Byte 5 Transmit Buffer 1 Byte 7 TXRTR TXRB1 Transmit Buffer 0 Byte 0 Transmit Buffer 0 Byte 2 Transmit Buffer 0 Byte 4 Transmit Buffer 0 Byte 6 Receive Buffer 1 Standard Identifier<10:0> RXRTR RXRB1 Receive Buffer 1 Extended Identifier<17:6> RXRB0 DLC<3:0> TXABT TXLARB TXERR TXREQ TXPRI<1:0> SRR TXRB0 DLC<3:0> Transmit Buffer 0 Extended Identifier<13:6> Transmit Buffer 0 Standard Identifier<5:0> SRR TXABT TXLARB TXERR TXREQ TXPRI<1:0> Transmit Buffer 1 Byte 6 Transmit Buffer 1 Byte 4 Transmit Buffer 1 Byte 2 Transmit Buffer 1 Byte 0 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reset State
CAN2 REGISTER MAP (CONTINUED)

uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu 0000 0000 0000 0000
File Name
Addr
Bit 15
C2TX1B1
0516
C2TX1B2
0518
C2TX1B3
051A
C2TX1B4
051C
C2TX1CON
051E
C2TX0SID
0520
TXIDE uuuu u000 uuuu uuuu uuuu 0000 uuuu uuuu uuuu uuuu uuuu u000 uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu 0000 0000 0000 0000 RXIDE 000u uuuu uuuu uuuu 0000 uuuu uuuu uuuu uuuu uuuu 000u uuuu uuuu uuuu uuuu uuuu
C2TX0EID

Transmit Buffer 0 Byte 1 Transmit Buffer 0 Byte 3 Transmit Buffer 0 Byte 5 Transmit Buffer 0 Byte 7 Receive Buffer 1 Byte 1 Receive Buffer 1 Byte 3 Receive Buffer 1 Byte 5 Receive Buffer 1 Byte 7 RXRTR RXRB1 RXFUL Receive Buffer 1 Byte 0 Receive Buffer 1 Byte 2 Receive Buffer 1 Byte 4 Receive Buffer 1 Byte 6 RXRTRRO FILHIT<2:0> SRR Receive Buffer 0 Standard Identifier<10:0> Receive Buffer 0 Extended Identifier<17:6> RXRB0 Receive Buffer 0 Byte 0 Receive Buffer 0 Byte 2 Receive Buffer 0 Byte 4 Receive Buffer 0 Byte 6 REQOP<2:0> SEG2PH<2:0> TXWAR RXWAR EWARN RXFUL OPMODE<2:0> SJW<1:0> SEG2PHTS IVRIF IVRIE SAM WAKIF WAKIE SEG1PH<2:0> ERRIF ERRIE TX2IF TX2IE TX1IF TX1IE RERRCNT<7:0> DLC<3:0> Receive Buffer 0 Byte 1 Receive Buffer 0 Byte 3 Receive Buffer 0 Byte 5 Receive Buffer 0 Byte 7 TXBO TXEP RXEP CSIDL ABAT CANCKS ICODE<2:0> BRP<5:0> PRSEG<2:0> TX0IF RX1IF TX0IE RX1E RX0IF TERRCNT<7:0>
C2TX0DLC
0524
C2TX0B1
0526
C2TX0B2
0528
C2TX0B3
052A
C2TX0B4
052C
C2TX0CON
052E
C2RX1SID
0530
C2RX1EID
0532
C2RX1DLC
0534
C2RX1B1
0536
C2RX1B2
0538
uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu 0000 0000 0000 0000 RXIDE 000u uuuu uuuu uuuu 0000 uuuu uuuu uuuu uuuu uuuu 000u uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu uuuu RXRTRRO DBEN JTOFF FILHIT0 0000 0000 0000 0000 0000 0100 1000 0000 0000 0000 0000 0000 0u00 0uuu uuuu uuuu 0000 0000 0000 0000 RX0IE 0000 0000 0000 0000 0000 0000 0000 0000
C2RX1B3
053A
C2RX1B4
053C
C2RX1CON
053E
Advance Information
C2RX0SID
0540
C2RX0EID
0542
C2RX0DLC
0544
C2RX0B1
0546
C2RX0B2
0548
C2RX0B3
054A
C2RX0B4
054C
C2RX0CON
054E
C2CTRL
0550
CANCAP
C2CFG1
0552
C2CFG2
0554
WAKFIL
C2INTF
0556
RX0OVR
RX1OVR
C2INTE
0558
C2EC
055A
dsPIC33F
DS70165A-page 77
Legend:
TABLE 3-30:
Bit 13 DCISIDL TSE13 RSE13 Receive Buffer #0 Data Register Receive Buffer #1 Data Register Receive Buffer #2 Data Register Receive Buffer #3 Data Register Transmit Buffer #0 Data Register Transmit Buffer #1 Data Register Transmit Buffer #2 Data Register Transmit Buffer #3 Data Register RSE12 RSE11 RSE10 RSE9 RSE8 RSE7 RSE6 RSE5 RSE4 RSE3 RSE2 RSE1 RSE0 TSE12 TSE11 TSE10 TSE9 TSE8 TSE7 TSE6 TSE5 TSE4 TSE3 TSE2 TSE1 TSE0 SLOT3 SLOT2 SLOT1 SLOT0 ROV RFUL TUNF TMPTY BCG<11:0> BLEN1 BLEN0 COFSG<3:0> WS<3:0> DLOOP CSCKD CSCKE COFSD UNFM CSDOM DJST COFSM1 COFSM0 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reset State 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000
DCI REGISTER MAP
SFR Name
Addr.
Bit 15
Bit 14
DCICON1
0280
DCIEN
DCICON2
0282
DS70165A-page 78
Bit 13 TRISA13 RA13 LATA13 ODCA13 ODCA12 LATA12 LATA10 LATA9 LATA7 RA12 RA10 RA9 RA7 TRISA12 TRISA10 TRISA9 TRISA7 TRISA6 RA6 LATA6 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 TRISA5 RA5 LATA5 ODCA5 Bit 4 TRISA4 RA4 LATA4 ODCA4 Bit 3 TRISA3 RA3 LATA3 ODCA3 Bit 2 TRISA2 RA2 LATA2 ODCA2 Bit 1 TRISA1 RA1 LATA1 ODCA1 Bit 0 TRISA0 RA0 LATA0 ODCA0 All Resets D6C0 xxxx xxxx xxxx Bit 13 TRISB13 RB13 LATB13 LATB12 LATB11 RB12 RB11 TRISB12 TRISB11 TRISB10 RB10 LATB10 Bit 12 Bit 11 Bit 10 Bit 9 TRISB9 RB9 LATB9 Bit 8 TRISB8 RB8 LATB8 Bit 7 TRISB7 RB7 LATB7 Bit 6 TRISB6 RB6 LATB6 Bit 5 TRISB5 RB5 LATB5 Bit 4 TRISB4 RB4 LATB4 Bit 3 TRISB3 RB3 LATB3 Bit 2 TRISB2 RB2 LATB2 Bit 1 TRISB1 RB1 LATB1 Bit 0 TRISB0 RB0 LATB0 All Resets FFFF xxxx xxxx
DCICON3
0284
DCISTAT
0286
TSCON
0288
TSE15
TSE14
dsPIC33F
RSCON
028C
RSE15
RSE14
RXBUF0
0290
RXBUF1
0292
RXBUF2
0294
RXBUF3
0296
TXBUF0
0298
TXBUF1
029A
TXBUF2
029C
TXBUF3
029E
Legend: Note 1:
= unimplemented, read as 0. Refer to the dsPIC30F Family Reference Manual (DS70046) for descriptions of register bit fields.
TABLE 3-31:
PORTA REGISTER MAP(1)
File Name
Addr
Bit 15
Bit 14
TRISA
02C0
TRISA15
TRISA14
Advance Information
PORTA
02C2
RA15
RA14
LATA
02C4
LATA15
LATA14
ODCA(2)
06C0
ODCA15
ODCA14
Legend: Note 1: 2:
x = unknown value on Reset, = unimplemented, read as 0. Reset values are shown in hexadecimal for 100-pin devices. The actual set of I/O port pins varies from one device to another. Please refer to the corresponding pinout diagrams. ODCA register is not present in devices marked PS.
TABLE 3-32:
PORTB REGISTER MAP(1)
File Name
Addr
Bit 15
Bit 14
TRISB
02C6
TRISB15
TRISB14
PORTB
02C8
RB15
RB14
LATB
02CA
LATB15
LATB14
Legend: Note 1:
x = unknown value on Reset, = unimplemented, read as 0. Reset values are shown in hexadecimal for 100-pin devices. The actual set of I/O port pins varies from one device to another. Please refer to the corresponding pinout diagrams.
TABLE 3-33:
Bit 13 LATC4 LATC3 LATC2 LATC1 RC4 RC3 RC2 RC1 TRISC4 TRISC3 TRISC2 TRISC1 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
PORTC REGISTER MAP(1)

All Resets F01E xxxx xxxx
File Name
Addr
Bit 15
Bit 14
TRISC RC13 LATC13 LATC12 RC12
02CC
TRISC15 TRISC14 TRISC13 TRISC12
PORTC
02CE
RC15
RC14
LATC
02D0
LATC15
LATC14
Legend: Note 1:

Bit 13 TRISD13 RD13 LATD13 ODCD13 ODCD12 ODCD11 ODCD10 ODCD9 ODCD8 ODCD7 ODCD6 ODCD5 LATD12 LATD11 LATD10 LATD9 LATD8 LATD7 LATD6 LATD5 LATD4 ODCD4 RD12 RD11 RD10 RD9 RD8 RD7 RD6 RD5 RD4 TRISD12 TRISD11 TRISD10 TRISD9 TRISD8 TRISD7 TRISD6 TRISD5 TRISD4 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 TRISD3 RD3 LATD3 ODCD3 Bit 2 TRISD2 RD2 LATD2 ODCD2 Bit 1 TRISD1 RD1 LATD1 ODCD1 Bit 0 TRISD0 RD0 LATD0 ODCD0 FFFF xxxx xxxx xxxx RD14 Bit 13 LATE9 LATE8 RE9 RE8 TRISE9 TRISE8 TRISE7 RE7 LATE7 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 TRISE6 RE6 LATE6 Bit 5 TRISE5 RE5 LATE5 Bit 4 TRISE4 RE4 LATE4 Bit 3 TRISE3 RE3 LATE3 Bit 2 TRISE2 RE2 LATE2 Bit 1 TRISE1 RE1 LATE1 Bit 0 TRISE0 RE0 LATE0 03FF xxxx xxxx Bit 13 TRISF13 RF13 LATF13 ODCF13 ODCF12 LATF12 RF12 TRISF12 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 TRISF8 RF8 LATF8 ODCF8 Bit 7 TRISF7 RF7 LATF7 ODCF7 Bit 6 TRISF6 RF6 LATF6 ODCF6 Bit 5 TRISF5 RF5 LATF5 ODCF5 Bit 4 TRISF4 RF4 LATF4 ODCF4 Bit 3 TRISF3 RF3 LATF3 ODCF3 Bit 2 TRISF2 RF2 LATF2 ODCF2 Bit 1 TRISF1 RF1 LATF1 ODCF1 Bit 0 TRISF0 RF0 LATF0 ODCF0
TABLE 3-34:
PORTD REGISTER MAP(1)

All Resets
File Name
Addr
Bit 15
Bit 14
TRISD
02D2
TRISD15
TRISD14
PORTD
02D4
RD15
LATD
02D6
LATD15
LATD14
ODCD(2)
06D2
ODCD15
ODCD14
Legend: Note 1: 2:
x = unknown value on Reset, = unimplemented, read as 0. Reset values are shown in hexadecimal for 100-pin devices. The actual set of I/O port pins varies from one device to another. Please refer to the corresponding pinout diagrams. ODCD register is not present in devices marked PS.
TABLE 3-35:
PORTE REGISTER MAP(1)

All Resets
File Name
Addr
Bit 15
Bit 14
Advance Information
TRISE
02D8
PORTE
02DA
LATE
02DC
Legend: Note 1:
TABLE 3-36:
PORTF REGISTER MAP(1)

All Resets 31FF xxxx xxxx xxxx
File Name
Addr
Bit 15
Bit 14
TRISF
02DE
PORTF
02E0
LATF
02E2
ODCF(2)
06DE
dsPIC33F
DS70165A-page 79
Legend: Note 1: 2:
x = unknown value on Reset, = unimplemented, read as 0. Reset values are shown in hexadecimal for 100-pin devices. The actual set of I/O port pins varies from one device to another. Please refer to the corresponding pinout diagrams. ODCF register is not present in devices marked PS.
TABLE 3-37:
Bit 13 TRISG13 RG13 LATG13 ODCG13 ODCG12 ODCG9 ODCG8 ODCG7 ODCG6 ODCG3 ODCG2 ODCG1 LATG12 LATG9 LATG8 LATG7 LATG6 LATG3 LATG2 LATG1 RG12 RG9 RG8 RG7 RG6 RG3 RG2 RG1 RG0 LATG0 ODCG0 TRISG12 TRISG9 TRISG8 TRISG7 TRISG6 TRISG3 TRISG2 TRISG1 TRISG0 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 All Resets F3CF xxxx xxxx xxxx
PORTG REGISTER MAP(1)
File Name
Addr
Bit 15
Bit 14
TRISG RG14
02E4
TRISG15
TRISG14
DS70165A-page 80
Bit 13 COSC<2:0> DOZE<2:0> DOZEN FRCDIV<2:0> PLLPOST<1:0> PLLDIV<8:0> TUN<5:0> NOSC<2:0> CLKLOCK LOCK VREGS EXTR SWR SWDTEN WDTO SLEEP CF Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 IDLE Bit 1 BOR LPOSCEN PLLPRE<4::0> Bit 0 POR OSWEN All Resets xxxx(1) 0300(2) 0040(3) 0030(3) 0000 Bit 13 WRERR Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 ERASE Bit 5 Bit 4 NVMKEY<7:0> Bit 3 Bit 2 Bit 1 NVMOP<3:0> Bit 0 All Resets 0000(1) 0000 Bit 13 T3MD IC6MD T7MD T6MD IC5MD IC4MD T2MD T1MD Bit 12 Bit 11 Bit 10 QEIMD IC3MD Bit 9 PWMMD IC2MD Bit 8 DCIMD IC1MD Bit 7 I2C1MD OC8MD Bit 6 U2MD OC7MD Bit 5 U1MD OC6MD Bit 4 SPI2MD OC5MD Bit 3 SPI1MD OC4MD Bit 2 C2MD OC3MD Bit 1 C1MD OC2MD I2C2MD Bit 0 AD1MD OC1MD AD2MD All Resets 0000 0000 0000
PORTG
02E6
RG15
LATG
02E8
LATG15
LATG14
dsPIC33F
ODCG(2)
06E4
ODCG15
ODCG14
Legend: Note 1: 2:
x = unknown value on Reset, = unimplemented, read as 0. Reset values are shown in hexadecimal for 100-pin devices. The actual set of I/O port pins varies from one device to another. Please refer to the corresponding pinout diagrams. ODCG register is not present in devices marked PS.
TABLE 3-38:
SYSTEM CONTROL REGISTER MAP
File Name
Addr
Bit 15
Bit 14
RCON
0740
TRAPR
IOPUWR
OSCCON
0742
CLKDIV
0744
ROI
PLLFBD
0746
OSCTUN
0748
Advance Information
Legend: Note 1: 2: 3:
x = unknown value on Reset, = unimplemented, read as 0. Reset values are shown in hexadecimal. RCON register Reset values dependent on type of Reset. OSCCON register Reset values dependent on the FOSC Configuration bits and by type of Reset. In devices marked PS, the Reset state of the CLKDIV and PLLFBD registers is 0x0000.
TABLE 3-39:
NVM REGISTER MAP
File Name
Addr
Bit 15
Bit 14
NVMCON
0760
WR
WREN
NVMKEY
0766
Legend: Note 1:
x = unknown value on Reset, = unimplemented, read as 0. Reset values are shown in hexadecimal. Reset value shown is for POR only. Value on other Reset states is dependent on the state of memory write or erase operations at the time of Reset.
TABLE 3-40:
PMD REGISTER MAP
File Name
Addr
Bit 15
Bit 14
PMD1
0770
T5MD
T4MD
PMD2
0772
IC8MD
IC7MD
PMD3
0774
T9MD
T8MD
Legend:
dsPIC33F
3.2.7 SOFTWARE STACK
3.3
Instruction Addressing Modes
In addition to its use as a working register, the W15 register in the dsPIC33F devices is also used as a software Stack Pointer. The Stack Pointer always points to the first available free word and grows from lower to higher addresses. It pre-decrements for stack pops and post-increments for stack pushes, as shown in Figure 3-8. For a PC push during any CALL instruction, the MSB of the PC is zero-extended before the push, ensuring that the MSB is always clear. Note: A PC push during exception processing concatenates the SRL register to the MSB of the PC prior to the push.
The addressing modes in Table 3-41 form the basis of the addressing modes optimized to support the specific features of individual instructions. The addressing modes provided in the MAC class of instructions are somewhat different from those in the other instruction types.
3.3.1
FILE REGISTER INSTRUCTIONS
The Stack Pointer Limit register (SPLIM) associated with the Stack Pointer sets an upper address boundary for the stack. SPLIM is uninitialized at Reset. As is the case for the Stack Pointer, SPLIM<0> is forced to 0 because all stack operations must be word-aligned. Whenever an EA is generated using W15 as a source or destination pointer, the resulting address is compared with the value in SPLIM. If the contents of the Stack Pointer (W15) and the SPLIM register are equal and a push operation is performed, a stack error trap will not occur. The stack error trap will occur on a subsequent push operation. Thus, for example, if it is desirable to cause a stack error trap when the stack grows beyond address 0x2000 in RAM, initialize the SPLIM with the value 0x1FFE. Similarly, a Stack Pointer underflow (stack error) trap is generated when the Stack Pointer address is found to be less than 0x0800. This prevents the stack from interfering with the Special Function Register (SFR) space. A write to the SPLIM register should not be immediately followed by an indirect read operation using W15.
Most file register instructions use a 13-bit address field (f) to directly address data present in the first 8192 bytes of data memory (Near Data Space). Most file register instructions employ a working register, W0, which is denoted as WREG in these instructions. The destination is typically either the same file register or WREG (with the exception of the MUL instruction), which writes the result to a register or register pair. The MOV instruction allows additional flexibility and can access the entire data space.
3.3.2
MCU INSTRUCTIONS
The 3-operand MCU instructions are of the form: Operand 3 = Operand 1 <function> Operand 2 where Operand 1 is always a working register (i.e., the addressing mode can only be register direct) which is referred to as Wb. Operand 2 can be a W register, fetched from data memory, or a 5-bit literal. The result location can be either a W register or a data memory location. The following addressing modes are supported by MCU instructions: Register Direct Register Indirect Register Indirect Post-Modified Register Indirect Pre-Modified 5-bit or 10-bit Literal Note: Not all instructions support all the addressing modes given above. Individual instructions may support different subsets of these addressing modes.
FIGURE 3-8:
0x0000 15
CALL STACK FRAME

0
Stack Grows Towards Higher Address
PC<15:0> 000000000 PC<22:16> <Free Word>
W15 (before CALL) W15 (after CALL) POP : [--W15] PUSH : [W15++]
Advance Information
DS70165A-page 81
dsPIC33F
TABLE 3-41: FUNDAMENTAL ADDRESSING MODES SUPPORTED
Description The address of the file register is specified explicitly. The contents of a register are accessed directly. The contents of Wn forms the EA. The contents of Wn forms the EA. Wn is post-modified (incremented or decremented) by a constant value. Wn is pre-modified (incremented or decremented) by a signed constant value to form the EA. The sum of Wn and a literal forms the EA. AGU. The effective addresses generated (before and after modification) must, therefore, be valid addresses within X data space for W8 and W9 and Y data space for W10 and W11. Note: Register Indirect with Register Offset Addressing mode is only available for W9 (in X space) and W11 (in Y space). Addressing Mode File Register Direct Register Direct Register Indirect Register Indirect Post-Modified Register Indirect Pre-Modified
Register Indirect with Register Offset The sum of Wn and Wb forms the EA. Register Indirect with Literal Offset
3.3.3
MOVE AND ACCUMULATOR INSTRUCTIONS
Move instructions and the DSP accumulator class of instructions provide a greater degree of addressing flexibility than other instructions. In addition to the Addressing modes supported by most MCU instructions, move and accumulator instructions also support Register Indirect with Register Offset Addressing mode, also referred to as Register Indexed mode. Note: For the MOV instructions, the Addressing mode specified in the instruction can differ for the source and destination EA. However, the 4-bit Wb (Register Offset) field is shared between both source and destination (but typically only used by one).
In summary, the following addressing modes are supported by the MAC class of instructions: Register Indirect Register Indirect Post-Modified by 2 Register Indirect Post-Modified by 4 Register Indirect Post-Modified by 6 Register Indirect with Register Offset (Indexed)
In summary, the following Addressing modes are supported by move and accumulator instructions: Register Direct Register Indirect Register Indirect Post-modified Register Indirect Pre-modified Register Indirect with Register Offset (Indexed) Register Indirect with Literal Offset 8-bit Literal 16-bit Literal Note: Not all instructions support all the Addressing modes given above. Individual instructions may support different subsets of these Addressing modes.
3.3.5
OTHER INSTRUCTIONS
Besides the various addressing modes outlined above, some instructions use literal constants of various sizes. For example, BRA (branch) instructions use 16-bit signed literals to specify the branch destination directly, whereas the DISI instruction uses a 14-bit unsigned literal field. In some instructions, such as ADD Acc, the source of an operand or result is implied by the opcode itself. Certain operations, such as NOP, do not have any operands.
3.4
Modulo Addressing
3.3.4
MAC INSTRUCTIONS
Modulo Addressing mode is a method of providing an automated means to support circular data buffers using hardware. The objective is to remove the need for software to perform data address boundary checks when executing tightly looped code, as is typical in many DSP algorithms. Modulo Addressing can operate in either data or program space (since the data pointer mechanism is essentially the same for both). One circular buffer can be supported in each of the X (which also provides the pointers into program space) and Y data spaces. Modulo Addressing can operate on any W register pointer. However, it is not advisable to use W14 or W15 for Modulo Addressing since these two registers are used as the Stack Frame Pointer and Stack Pointer, respectively.
The dual source operand DSP instructions (CLR, ED, EDAC, MAC, MPY, MPY.N, MOVSAC and MSC), also referred to as MAC instructions, utilize a simplified set of addressing modes to allow the user to effectively manipulate the data pointers through register indirect tables. The 2-source operand prefetch registers must be members of the set {W8, W9, W10, W11}. For data reads, W8 and W9 are always directed to the X RAGU and W10 and W11 will always be directed to the Y
DS70165A-page 82
Advance Information
dsPIC33F
In general, any particular circular buffer can only be configured to operate in one direction as there are certain restrictions on the buffer start address (for incrementing buffers), or end address (for decrementing buffers), based upon the direction of the buffer. The only exception to the usage restrictions is for buffers which have a power-of-2 length. As these buffers satisfy the start and end address criteria, they may operate in a bidirectional mode (i.e., address boundary checks will be performed on both the lower and upper address boundaries).
3.4.2
W ADDRESS REGISTER SELECTION
The Modulo and Bit-Reversed Addressing Control register, MODCON<15:0>, contains enable flags as well as a W register field to specify the W Address registers. The XWM and YWM fields select which registers will operate with Modulo Addressing. If XWM = 15, X RAGU and X WAGU Modulo Addressing is disabled. Similarly, if YWM = 15, Y AGU Modulo Addressing is disabled. The X Address Space Pointer W register (XWM), to which Modulo Addressing is to be applied, is stored in MODCON<3:0> (see Table 3-1). Modulo Addressing is enabled for X data space when XWM is set to any value other than 15 and the XMODEN bit is set at MODCON<15>. The Y Address Space Pointer W register (YWM) to which Modulo Addressing is to be applied is stored in MODCON<7:4>. Modulo Addressing is enabled for Y data space when YWM is set to any value other than 15 and the YMODEN bit is set at MODCON<14>.
3.4.1
START AND END ADDRESS
The Modulo Addressing scheme requires that a starting and ending address be specified and loaded into the 16-bit Modulo Buffer Address registers: XMODSRT, XMODEND, YMODSRT and YMODEND (see Table 3-1). Note: Y space Modulo Addressing EA calculations assume word sized data (LSb of every EA is always clear).
The length of a circular buffer is not directly specified. It is determined by the difference between the corresponding start and end addresses. The maximum possible length of the circular buffer is 32K words (64 Kbytes).
FIGURE 3-9:
Byte Address
MODULO ADDRESSING OPERATION EXAMPLE

MOV MOV MOV MOV MOV MOV MOV MOV #0x1100, W0 W0, XMODSRT #0x1163, W0 W0, MODEND #0x8001, W0 W0, MODCON #0x0000, W0 #0x1110, W1
;set modulo start address ;set modulo end address ;enable W1, X AGU for modulo ;W0 holds buffer fill value ;point W1 to buffer ;fill the 50 buffer locations ;fill the next location ;increment the fill value
0x1100
DO AGAIN, #0x31 MOV W0, [W1++] AGAIN: INC W0, W0
0x1163
Start Addr = 0x1100 End Addr = 0x1163 Length = 0x0032 words
Advance Information
DS70165A-page 83
dsPIC33F
3.4.3 MODULO ADDRESSING APPLICABILITY
Modulo Addressing can be applied to the Effective Address (EA) calculation associated with any W register. It is important to realize that the address boundaries check for addresses less than, or greater than, the upper (for incrementing buffers) and lower (for decrementing buffers) boundary addresses (not just equal to). Address changes may, therefore, jump beyond boundaries and still be adjusted correctly. Note: The modulo corrected effective address is written back to the register only when PreModify or Post-Modify Addressing mode is used to compute the effective address. When an address offset (e.g., [W7+W2]) is used, Modulo Address correction is performed but the contents of the register remain unchanged. If the length of a bit-reversed buffer is M = 2N bytes, the last N bits of the data buffer start address must be zeros. XB<14:0> is the Bit-Reversed Address modifier, or pivot point, which is typically a constant. In the case of an FFT computation, its value is equal to half of the FFT data buffer size. Note: All bit-reversed EA calculations assume word sized data (LSb of every EA is always clear). The XB value is scaled accordingly to generate compatible (byte) addresses.
3.5
Bit-Reversed Addressing
Bit-Reversed Addressing mode is intended to simplify data re-ordering for radix-2 FFT algorithms. It is supported by the X AGU for data writes only. The modifier, which may be a constant value or register contents, is regarded as having its bit order reversed. The address source and destination are kept in normal order. Thus, the only operand requiring reversal is the modifier.
When enabled, Bit-Reversed Addressing is only executed for Register Indirect with Pre-Increment or Post-Increment Addressing and word sized data writes. It will not function for any other addressing mode or for byte sized data and normal addresses are generated instead. When Bit-Reversed Addressing is active, the W Address Pointer is always added to the address modifier (XB) and the offset associated with the Register Indirect Addressing mode is ignored. In addition, as word sized data is a requirement, the LSb of the EA is ignored (and always clear). Note: Modulo Addressing and Bit-Reversed Addressing should not be enabled together. In the event that the user attempts to do so, Bit-Reversed Addressing will assume priority when active for the X WAGU and X WAGU Modulo Addressing will be disabled. However, Modulo Addressing will continue to function in the X RAGU.
3.5.1
BIT-REVERSED ADDRESSING IMPLEMENTATION
Bit-Reversed Addressing mode is enabled when: 1. BWM bits (W register selection) in the MODCON register are any value other than 15 (the stack cannot be accessed using Bit-Reversed Addressing). The BREN bit is set in the XBREV register. The addressing mode used is Register Indirect with Pre-Increment or Post-Increment.
2. 3.
If Bit-Reversed Addressing has already been enabled by setting the BREN (XBREV<15>) bit, then a write to the XBREV register should not be immediately followed by an indirect read operation using the W register that has been designated as the bit-reversed pointer.
DS70165A-page 84
Advance Information
dsPIC33F
FIGURE 3-10: BIT-REVERSED ADDRESS EXAMPLE
Sequential Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 0 Bit Locations Swapped Left-to-Right Around Center of Binary Value b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b1 b2 b3 b4 0
Bit-Reversed Address Pivot Point XB = 0x0008 for a 16-Word Bit-Reversed Buffer
TABLE 3-42:
A3 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 A2 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1
BIT-REVERSED ADDRESS SEQUENCE (16-ENTRY)

Normal Address A1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 A0 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Decimal 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 A3 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 A2 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 Bit-Reversed Address A1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 A0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 Decimal 0 8 4 12 2 10 6 14 1 9 5 13 3 11 7 15
Advance Information
DS70165A-page 85
dsPIC33F
3.6 Interfacing Program and Data Memory Spaces
3.6.1 ADDRESSING PROGRAM SPACE
Since the address ranges for the data and program spaces are 16 and 24 bits, respectively, a method is needed to create a 23-bit or 24-bit program address from 16-bit data registers. The solution depends on the interface method to be used. For table operations, the 8-bit Table Page register (TBLPAG) is used to define a 32K word region within the program space. This is concatenated with a 16-bit EA to arrive at a full 24-bit program space address. In this format, the Most Significant bit of TBLPAG is used to determine if the operation occurs in the user memory (TBLPAG<7> = 0) or the configuration memory (TBLPAG<7> = 1). For remapping operations, the 8-bit Program Space Visibility register (PSVPAG) is used to define a 16K word page in the program space. When the Most Significant bit of the EA is 1, PSVPAG is concatenated with the lower 15 bits of the EA to form a 23-bit program space address. Unlike table operations, this limits remapping operations strictly to the user memory area. Table 3-43 and Figure 3-11 show how the program EA is created for table operations and remapping accesses from the data EA. Here, P<23:0> refers to a program space word, whereas D<15:0> refers to a data space word.
The dsPIC33F architecture uses a 24-bit wide program space and a 16-bit wide data space. The architecture is also a modified Harvard scheme, meaning that data can also be present in the program space. To use this data successfully, it must be accessed in a way that preserves the alignment of information in both spaces. Aside from normal execution, the dsPIC33F architecture provides two methods by which program space can be accessed during operation: Using table instructions to access individual bytes or words anywhere in the program space Remapping a portion of the program space into the data space (Program Space Visibility) Table instructions allow an application to read or write to small areas of the program memory. This capability makes the method ideal for accessing data tables that need to be updated from time to time. It also allows access to all bytes of the program word. The remapping method allows an application to access a large block of data on a read-only basis, which is ideal for look ups from a large table of static data. It can only access the least significant word of the program word.
TABLE 3-43:
PROGRAM SPACE ADDRESS CONSTRUCTION

Access Space User User Configuration Program Space Address <23> 0 0xx xxxx TBLPAG<7:0> 0xxx xxxx TBLPAG<7:0> 1xxx xxxx 0 0 PSVPAG<7:0> xxxx xxxx <22:16> <15> PC<22:1> xxxx xxxx xxxx xxx0 Data EA<15:0> xxxx xxxx xxxx xxxx Data EA<15:0> xxxx xxxx xxxx xxxx Data EA<14:0>(1) xxx xxxx xxxx xxxx <14:1> <0> 0
Access Type Instruction Access (Code Execution) TBLRD/TBLWT (Byte/Word Read/Write)
Program Space Visibility (Block Remap/Read) Note 1:
User
Data EA<15> is always 1 in this case, but is not used in calculating the program space address. Bit 15 of the address is PSVPAG<0>.
DS70165A-page 86
Advance Information
dsPIC33F
FIGURE 3-11: DATA ACCESS FROM PROGRAM SPACE ADDRESS GENERATION
Program Counter(1)
Program Counter 23 bits
EA Table Operations(2) 1/0 TBLPAG 8 bits 24 bits 16 bits
1/0
Select Program Space (Remapping) Visibility(1) 0 PSVPAG 8 bits
EA
15 bits 23 bits
User/Configuration Space Select
Byte Select
Note 1: The LSb of program space addresses is always fixed as 0 in order to maintain word alignment of data in the program and data spaces. 2: Table operations are not required to be word-aligned. Table read operations are permitted in the configuration memory space.
Advance Information
DS70165A-page 87
dsPIC33F
3.6.2 DATA ACCESS FROM PROGRAM MEMORY USING TABLE INSTRUCTIONS
2. TBLRDH (Table Read High): In Word mode, it maps the entire upper word of a program address (P<23:16>) to a data address. Note that D<15:8>, the phantom byte, will always be 0. In Byte mode, it maps the upper or lower byte of the program word to D<7:0> of the data address, as above. Note that the data will always be 0 when the upper phantom byte is selected (Byte Select = 1). In a similar fashion, two table instructions, TBLWTH and TBLWTL, are used to write individual bytes or words to a program space address. The details of their operation are explained in Section 4.0 Flash Program Memory. For all table operations, the area of program memory space to be accessed is determined by the Table Page register (TBLPAG). TBLPAG covers the entire program memory space of the device, including user and configuration spaces. When TBLPAG<7> = 0, the table page is located in the user memory space. When TBLPAG<7> = 1, the page is located in configuration space.
The TBLRDL and TBLWTL instructions offer a direct method of reading or writing the lower word of any address within the program space without going through data space. The TBLRDH and TBLWTH instructions are the only method to read or write the upper 8 bits of a program space word as data. The PC is incremented by two for each successive 24-bit program word. This allows program memory addresses to directly map to data space addresses. Program memory can thus be regarded as two 16-bit word wide address spaces, residing side by side, each with the same address range. TBLRDL and TBLWTL access the space which contains the least significant data word and TBLRDH and TBLWTH access the space which contains the upper data byte. Two table instructions are provided to move byte or word-sized (16-bit) data to and from program space. Both function as either byte or word operations. 1. TBLRDL (Table Read Low): In Word mode, it maps the lower word of the program space location (P<15:0>) to a data address (D<15:0>). In Byte mode, either the upper or lower byte of the lower program word is mapped to the lower byte of a data address. The upper byte is selected when Byte Select is 1; the lower byte is selected when it is 0.
FIGURE 3-12:
TBLPAG
ACCESSING PROGRAM MEMORY WITH TABLE INSTRUCTIONS

Program Space
02
23 15 0 0x000000
00000000 00000000
23
16
0x020000 0x030000
00000000 00000000
Phantom Byte
TBLRDH.B (Wn<0> = 0) TBLRDL.B (Wn<0> = 1) TBLRDL.B (Wn<0> = 0) TBLRDL.W The address for the table operation is determined by the data EA within the page defined by the TBLPAG register. Only read operations are shown; write operations are also valid in the user memory area.
0x800000
DS70165A-page 88
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dsPIC33F
3.6.3 READING DATA FROM PROGRAM MEMORY USING PROGRAM SPACE VISIBILITY
24-bit program word are used to contain the data. The upper 8 bits of any program space location used as data should be programmed with 1111 1111 or 0000 0000 to force a NOP. This prevents possible issues should the area of code ever be accidentally executed. Note: PSV access is temporarily disabled during table reads/writes.
The upper 32 Kbytes of data space may optionally be mapped into any 16K word page of the program space. This option provides transparent access of stored constant data from the data space without the need to use special instructions (i.e., TBLRDL/H). Program space access through the data space occurs if the Most Significant bit of the data space EA is 1 and program space visibility is enabled by setting the PSV bit in the Core Control register (CORCON<2>). The location of the program memory space to be mapped into the data space is determined by the Program Space Visibility Page register (PSVPAG). This 8-bit register defines any one of 256 possible pages of 16K words in program space. In effect, PSVPAG functions as the upper 8 bits of the program memory address, with the 15 bits of the EA functioning as the lower bits. Note that by incrementing the PC by 2 for each program memory word, the lower 15 bits of data space addresses directly map to the lower 15 bits in the corresponding program space addresses. Data reads to this area add an additional cycle to the instruction being executed, since two program memory fetches are required. Although each data space address, 8000h and higher, maps directly into a corresponding program memory address (see Figure 3-13), only the lower 16 bits of the
For operations that use PSV and are executed outside a REPEAT loop, the MOV and MOV.D instructions require one instruction cycle in addition to the specified execution time. All other instructions require two instruction cycles in addition to the specified execution time. For operations that use PSV, which are executed inside a REPEAT loop, there will be some instances that require two instruction cycles in addition to the specified execution time of the instruction: Execution in the first iteration Execution in the last iteration Execution prior to exiting the loop due to an interrupt Execution upon re-entering the loop after an interrupt is serviced Any other iteration of the REPEAT loop will allow the instruction accessing data, using PSV, to execute in a single cycle.
FIGURE 3-13:
PROGRAM SPACE VISIBILITY OPERATION
When CORCON<2> = 1 and EA<15> = 1:
Program Space
PSVPAG 02 23 15 0 0x000000 0x010000 0x018000 The data in the page designated by PSVPAG is mapped into the upper half of the data memory space....
Data Space
0x0000 Data EA<14:0>
0x8000
PSV Area ...while the lower 15 bits of the EA specify an exact address within 0xFFFF the PSV area. This corresponds exactly to the same lower 15 bits of the actual program space address.
0x800000
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NOTES:
DS70165A-page 90
Advance Information
dsPIC33F
4.0
Note:
FLASH PROGRAM MEMORY

RTSP is accomplished using TBLRD (table read) and TBLWT (table write) instructions. With RTSP, the user can write program memory data in blocks or rows of 64 instructions (192 bytes) at a time, and erase program memory in blocks or pages of 512 instructions (1536 bytes) at a time.
4.1
The dsPIC33F devices contain internal Flash program memory for storing and executing application code. The memory is readable, writable and erasable during normal operation over the entire VDD range. Flash memory can be programmed in two ways: 1. 2. In-Circuit Serial Programming (ICSP) Run-Time Self-Programming (RTSP)
Table Instructions and Flash Programming
ICSP allows a dsPIC33F device to be serially programmed while in the end application circuit. This is simply done with two lines for programming clock and programming data (one of the alternate programming pin pairs: PGC1/PGD1, PGC2/PGD2 or PGC3/PGD3), and three other lines for power (VDD), ground (VSS) and Master Clear (MCLR). This allows customers to manufacture boards with unprogrammed devices and then program the digital signal controller just before shipping the product. This also allows the most recent firmware or a custom firmware to be programmed.
Regardless of the method used, all programming of Flash memory is done with the table read and table write instructions. These allow direct read and write access to the program memory space from the data memory while the device is in normal operating mode. The 24-bit target address in the program memory is formed using bits<7:0> of the TBLPAG register and the Effective Address (EA) from a W register specified in the table instruction, as shown in Figure 4-1. The TBLRDL and the TBLWTL instructions are used to read or write to bits<15:0> of program memory. TBLRDL and TBLWTL can access program memory in both Word and Byte modes. The TBLRDH and TBLWTH instructions are used to read or write to bits<23:16> of program memory. TBLRDH and TBLWTH can also access program memory in Word or Byte mode.
FIGURE 4-1:
ADDRESSING FOR TABLE REGISTERS
24 bits Using Program Counter 0 Program Counter 0
Working Reg EA Using Table Instruction 1/0 TBLPAG Reg 8 bits 16 bits
User/Configuration Space Select
24-bit EA
Byte Select
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dsPIC33F
4.2 RTSP Operation 4.3 Control Registers
The dsPIC33F Flash program memory array is organized into rows of 64 instructions or 192 bytes. RTSP allows the user to erase a page of memory, which consists of eight rows (512 instructions) at a time, and to program one row at a time. The 8-row erase pages and single row write rows are edgealigned, from the beginning of program memory, on boundaries of 1536 bytes and 192 bytes, respectively. The program memory implements holding buffers that can contain 64 instructions of programming data. Prior to the actual programming operation, the write data must be loaded into the buffers in sequential order. The instruction words loaded must always be from a group of 64 boundary. The basic sequence for RTSP programming is to set up a Table Pointer, then do a series of TBLWT instructions to load the buffers. Programming is performed by setting the control bits in the NVMCON register. A total of 64 TBLWTL and TBLWTH instructions are required to load the instructions. All of the table write operations are single-word writes (two instruction cycles) because only the buffers are written. A programming cycle is required for programming each row. There are two SFRs used to read and write the program Flash memory: NVMCON and NVMKEY. The NVMCON register (Register 4-1) controls which blocks are to be erased, which memory type is to be programmed and the start of the programming cycle. NVMKEY is a write-only register that is used for write protection. To start a programming or erase sequence, the user must consecutively write 55h and AAh to the NVMKEY register. Refer to Section 4.4 Programming Operations for further details.
4.4
Programming Operations
A complete programming sequence is necessary for programming or erasing the internal Flash in RTSP mode. A programming operation is nominally 4 ms in duration and the processor stalls (waits) until the operation is finished. Setting the WR bit (NVMCON<15>) starts the operation, and the WR bit is automatically cleared when the operation is finished.
DS70165A-page 92
Advance Information
dsPIC33F
REGISTER 4-1:
R/SO-0(1) WR bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 SO = Satiable only bit W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0(1) ERASE U-0 U-0 R/W-0(1) R/W-0(1) R/W-0(1)
NVMCOM: FLASH MEMORY CONTROL REGISTER

R/W-0(1) WREN R/W-0(1) WRERR U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0(1) bit 0
NVMOP<3:0>(2)
WR: Write Control bit 1 = Initiates a Flash memory program or erase operation. The operation is self-timed and the bit is cleared by hardware once operation is complete. 0 = Program or erase operation is complete and inactive WREN: Write Enable bit 1 = Enable Flash program/erase operations 0 = Inhibit Flash program/erase operations WRERR: Write Sequence Error Flag bit 1 = An improper program or erase sequence attempt or termination has occurred (bit is set automatically on any set attempt of the WR bit) 0 = The program or erase operation completed normally Unimplemented: Read as 0 ERASE: Erase/Program Enable bit 1 = Perform the erase operation specified by NVMOP<3:0> on the next WR command 0 = Perform the program operation specified by NVMOP<3:0> on the next WR command Unimplemented: Read as 0 NVMOP<3:0>: NVM Operation Select bits(2) 1111 = Memory bulk erase operation (ERASE = 1) or no operation (ERASE = 0) 0011 = Memory word program operation (ERASE = 0) or no operation (ERASE = 1) 0010 = Memory page erase operation (ERASE = 1) or no operation (ERASE = 0) 0001 = Memory row program operation (ERASE = 0) or no operation (ERASE = 1) 0000 = Program or erase a single Configuration register byte These bits can only be reset on POR. All other combinations of NVMOP<3:0> are unimplemented.
bit 14
bit 13
bit 12-7 bit 6
bit 5-4 bit 3-0
Note 1: 2:
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dsPIC33F
4.4.1 PROGRAMMING ALGORITHM FOR FLASH PROGRAM MEMORY
4. 5. The user can program one row of program Flash memory at a time. To do this, it is necessary to erase the 8-row erase page that contains the desired row. The general process is: 1. 2. 3. Read eight rows of program memory (512 instructions) and store in data RAM. Update the program data in RAM with the desired new data. Erase the block (see Example 4-1): a) Set the NVMOP bits (NVMCOM<3:0>) to 0010 to configure for block erase. Set the ERASE (NVMCOM<6>) and WREN (NVMCOM<14>) bits. b) Write the starting address of the page to be erased into the TBLPAG and W registers. c) Write 55h to NVMKEY. d) Write AAh to NVMKEY. e) Set the WR bit (NVMCOM<15>). The erase cycle begins and the CPU stalls for the duration of the erase cycle. When the erase is done, the WR bit is cleared automatically. Write the first 64 instructions from data RAM into the program memory buffers (see Example 4-2). Write the program block to Flash memory: a) Set the NVMOP bits to 0001 to configure for row programming. Clear the ERASE bit and set the WREN bit. b) Write 55h to NVMKEY. c) Write AAh to NVMKEY. d) Set the WR bit. The programming cycle begins and the CPU stalls for the duration of the write cycle. When the write to Flash memory is done, the WR bit is cleared automatically. Repeat steps 4 and 5, using the next available 64 instructions from the block in data RAM by incrementing the value in TBLPAG, until all 512 instructions are written back to Flash memory.
6.
For protection against accidental operations, the write initiate sequence for NVMKEY must be used to allow any erase or program operation to proceed. After the programming command has been executed, the user must wait for the programming time until programming is complete. The two instructions following the start of the programming sequence should be NOPs, as shown in Example 4-3.
EXAMPLE 4-1:
ERASING A PROGRAM MEMORY PAGE

; ; Initialize NVMCON ; ; ; ; ; ; ; ; ; ; ; ;
; Set up NVMCON for block erase operation MOV #0x4042, W0 MOV W0, NVMCON ; Init pointer to row to be ERASED MOV #tblpage(PROG_ADDR), W0 MOV W0, TBLPAG MOV #tbloffset(PROG_ADDR), W0 TBLWTL W0, [W0] DISI #5 MOV MOV MOV MOV BSET NOP NOP #0x55, W0 W0, NVMKEY #0xAA, W1 W1, NVMKEY NVMCON, #WR
Initialize PM Page Boundary SFR Initialize in-page EA[15:0] pointer Set base address of erase block Block all interrupts with priority <7 for next 5 instructions Write the 55 key Write the AA key Start the erase sequence Insert two NOPs after the erase command is asserted
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dsPIC33F
EXAMPLE 4-2: LOADING THE WRITE BUFFERS
; Set up NVMCON for row programming operations MOV #0x4001, W0 ; MOV W0, NVMCON ; Initialize NVMCON ; Set up a pointer to the first program memory location to be written ; program memory selected, and writes enabled MOV #0x0000, W0 ; MOV W0, TBLPAG ; Initialize PM Page Boundary SFR MOV #0x6000, W0 ; An example program memory address ; Perform the TBLWT instructions to write the latches ; 0th_program_word MOV #LOW_WORD_0, W2 ; MOV #HIGH_BYTE_0, W3 ; TBLWTL W2, [W0] ; Write PM low word into program latch TBLWTH W3, [W0++] ; Write PM high byte into program latch ; 1st_program_word MOV #LOW_WORD_1, W2 ; MOV #HIGH_BYTE_1, W3 ; TBLWTL W2, [W0] ; Write PM low word into program latch TBLWTH W3, [W0++] ; Write PM high byte into program latch ; 2nd_program_word MOV #LOW_WORD_2, W2 ; MOV #HIGH_BYTE_2, W3 ; ; Write PM low word into program latch TBLWTL W2, [W0] ; Write PM high byte into program latch TBLWTH W3, [W0++] ; 63rd_program_word MOV #LOW_WORD_31, W2 ; MOV #HIGH_BYTE_31, W3 ; ; Write PM low word into program latch TBLWTL W2, [W0] ; Write PM high byte into program latch TBLWTH W3, [W0++]
EXAMPLE 4-3:
DISI MOV MOV MOV MOV BSET NOP NOP #5
INITIATING A PROGRAMMING SEQUENCE

; Block all interrupts with priority <7 ; for next 5 instructions ; ; ; ; ; ; Write the 55 key Write the AA key Start the erase sequence Insert two NOPs after the erase command is asserted
#0x55, W0 W0, NVMKEY #0xAA, W1 W1, NVMKEY NVMCON, #WR
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NOTES:
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dsPIC33F
5.0
Note:
RESETS
Note:
Refer to the specific peripheral or CPU section of this manual for register Reset states.
The Reset module combines all Reset sources and controls the device Master Reset Signal, SYSRST. The following is a list of device Reset sources: POR: Power-on Reset MCLR: Master Clear Pin Reset SWR: RESET Instruction WDT: Watchdog Timer Reset TRAPR: Trap Conflict Reset IOPUWR: Illegal Opcode and Uninitialized W Register Reset
All types of device Reset will set a corresponding status bit in the RCON register to indicate the type of Reset (see Register 5-1). A POR will clear all bits, except for the POR bit (RCON<0>), that are set. The user can set or clear any bit at any time during code execution. The RCON bits only serve as status bits. Setting a particular Reset status bit in software does not cause a device Reset to occur. The RCON register also has other bits associated with the Watchdog Timer and device power-saving states. The function of these bits is discussed in other sections of this manual. Note: The status bits in the RCON register should be cleared after they are read so that the next RCON register value after a device Reset will be meaningful.
A simplified block diagram of the Reset module is shown in Figure 5-1. Any active source of Reset will make the SYSRST signal active. Many registers associated with the CPU and peripherals are forced to a known Reset state. Most registers are unaffected by a Reset; their status is unknown on POR and unchanged by all other Resets.
FIGURE 5-1:
RESET SYSTEM BLOCK DIAGRAM

RESET Instruction
Glitch Filter MCLR WDT Module Sleep or Idle VDD Rise Detect VDD Internal Regulator BOR POR SYSRST
Trap Conflict Illegal Opcode Uninitialized W Register
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REGISTER 5-1:
R/W-0 TRAPR bit 15 R/W-0 EXTR bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 SWR R/W-0 SWDTEN
(2)
RCON: RESET CONTROL REGISTER(1)

R/W-0 IOPUWR U-0 U-0 U-0 U-0 U-0 R/W-0 VREGS bit 8 R/W-0 WDTO R/W-0 SLEEP R/W-0 IDLE R/W-1 BOR R/W-1 POR bit 0
TRAPR: Trap Reset Flag bit 1 = A Trap Conflict Reset has occurred 0 = A Trap Conflict Reset has not occurred IOPUWR: Illegal Opcode or Uninitialized W Access Reset Flag bit 1 = An illegal opcode detection, an illegal address mode or uninitialized W register used as an Address Pointer caused a Reset 0 = An illegal opcode or uninitialized W Reset has not occurred Unimplemented: Read as 0 VREGS: Voltage Regulator Standby During Sleep bit 1 = Voltage regulator goes into Standby mode during Sleep 0 = Voltage regulator is active during Sleep EXTR: External Reset (MCLR) Pin bit 1 = A Master Clear (pin) Reset has occurred 0 = A Master Clear (pin) Reset has not occurred SWR: Software Reset (Instruction) Flag bit 1 = A RESET instruction has been executed 0 = A RESET instruction has not been executed SWDTEN: Software Enable/Disable of WDT bit(2) 1 = WDT is enabled 0 = WDT is disabled WDTO: Watchdog Timer Time-out Flag bit 1 = WDT time-out has occurred 0 = WDT time-out has not occurred SLEEP: Wake-up from Sleep Flag bit 1 = Device has been in Sleep mode 0 = Device has not been in Sleep mode IDLE: Wake-up from Idle Flag bit 1 = Device was in Idle mode 0 = Device was not in Idle mode BOR: Brown-out Reset Flag bit 1 = A Brown-out Reset has occurred 0 = A Brown-out Reset has not occurred All of the Reset status bits may be set or cleared in software. Setting one of these bits in software does not cause a device Reset. If the FWDTEN Configuration bit is 1 (unprogrammed), the WDT is always enabled, regardless of the SWDTEN bit setting.
bit 14
bit 13-9 bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
Note 1: 2:
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dsPIC33F
REGISTER 5-1:
bit 0
RCON: RESET CONTROL REGISTER(1)
POR: Power-on Reset Flag bit 1 = A Power-up Reset has occurred 0 = A Power-up Reset has not occurred All of the Reset status bits may be set or cleared in software. Setting one of these bits in software does not cause a device Reset. If the FWDTEN Configuration bit is 1 (unprogrammed), the WDT is always enabled, regardless of the SWDTEN bit setting.
Note 1: 2:
TABLE 5-1:
RESET FLAG BIT OPERATION

Flag Bit Setting Event Trap conflict event Illegal opcode or uninitialized W register access MCLR Reset RESET instruction WDT time-out PWRSAV #SLEEP instruction PWRSAV #IDLE instruction BOR POR POR POR POR POR PWRSAV instruction, POR POR POR Clearing Event
TRAPR (RCON<15>) IOPUWR (RCON<14>) EXTR (RCON<7>) SWR (RCON<6>) WDTO (RCON<4>) SLEEP (RCON<3>) IDLE (RCON<2>) BOR (RCON<1> POR (RCON<0>) Note:
All Reset flag bits may be set or cleared by the user software.
5.1
Clock Source Selection at Reset
5.2
Device Reset Times
If clock switching is enabled, the system clock source at device Reset is chosen, as shown in Table 5-2. If clock switching is disabled, the system clock source is always selected according to the oscillator Configuration bits. Refer to Section 8.0 Oscillator Configuration for further details.
The Reset times for various types of device Reset are summarized in Table 5-3. The system Reset signal, SYSRST, is released after the POR and PWRT delay times expire. The time at which the device actually begins to execute code also depends on the system oscillator delays, which include the Oscillator Start-up Timer (OST) and the PLL lock time. The OST and PLL lock times occur in parallel with the applicable SYSRST delay times. The FSCM delay determines the time at which the FSCM begins to monitor the system clock source after the SYSRST signal is released.
TABLE 5-2:
OSCILLATOR SELECTION vs. TYPE OF RESET (CLOCK SWITCHING ENABLED)

Clock Source Determinant Oscillator Configuration bits (FNOSC<2:0>) COSC Control bits (OSCCON<14:12>)
Reset Type POR BOR MCLR WDTR SWR
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dsPIC33F
TABLE 5-3:
Reset Type POR
RESET DELAY TIMES FOR VARIOUS DEVICE RESETS

Clock Source EC, FRC, LPRC ECPLL, FRCPLL XT, HS, SOSC XTPLL, HSPLL SYSRST Delay TPOR + TSTARTUP + TRST TPOR + TSTARTUP + TRST TPOR + TSTARTUP + TRST TPOR + TSTARTUP + TRST TRST TRST TRST TRST TRST TRST System Clock Delay TLOCK TOST TOST + TLOCK FSCM Delay TFSCM TFSCM TFSCM Notes 1, 2, 3 1, 2, 3, 5, 6 1, 2, 3, 4, 6 1, 2, 3, 4, 5, 6 3 3 3 3 3 3
MCLR WDT Software Illegal Opcode Uninitialized W Trap Conflict Note 1: 2:
Any Clock Any Clock Any clock Any Clock Any Clock Any Clock
3: 4: 5: 6:
TPOR = Power-on Reset delay (10 s nominal). TSTARTUP = Conditional POR delay of 20 s nominal (if on-chip regulator is enabled) or 64 ms nominal Power-up Timer delay (if regulator is disabled). TSTARTUP is also applied to all returns from powered-down states, including waking from Sleep mode, only if the regulator is enabled. TRST = Internal state Reset time (20 s nominal). TOST = Oscillator Start-up Timer. A 10-bit counter counts 1024 oscillator periods before releasing the oscillator clock to the system. TLOCK = PLL lock time (20 s nominal). TFSCM = Fail-Safe Clock Monitor delay (100 s nominal).
5.2.1
POR AND LONG OSCILLATOR START-UP TIMES
5.2.2.1
FSCM Delay for Crystal and PLL Clock Sources
The oscillator start-up circuitry and its associated delay timers are not linked to the device Reset delays that occur at power-up. Some crystal circuits (especially low-frequency crystals) have a relatively long start-up time. Therefore, one or more of the following conditions is possible after SYSRST is released: The oscillator circuit has not begun to oscillate. The Oscillator Start-up Timer has not expired (if a crystal oscillator is used). The PLL has not achieved a lock (if PLL is used). The device will not begin to execute code until a valid clock source has been released to the system. Therefore, the oscillator and PLL start-up delays must be considered when the Reset delay time must be known.
When the system clock source is provided by a crystal oscillator and/or the PLL, a small delay, TFSCM, is automatically inserted after the POR and PWRT delay times. The FSCM does not begin to monitor the system clock source until this delay expires. The FSCM delay time is nominally 100 s and provides additional time for the oscillator and/or PLL to stabilize. In most cases, the FSCM delay prevents an oscillator failure trap at a device Reset when the PWRT is disabled.
5.3
Special Function Register Reset States
5.2.2
FAIL-SAFE CLOCK MONITOR (FSCM) AND DEVICE RESETS
Most of the Special Function Registers (SFRs) associated with the CPU and peripherals are reset to a particular value at a device Reset. The SFRs are grouped by their peripheral or CPU function and their Reset values are specified in each section of this manual. The Reset value for each SFR does not depend on the type of Reset, with the exception of two registers. The Reset value for the Reset Control register, RCON, depends on the type of device Reset. The Reset value for the Oscillator Control register, OSCCON, depends on the type of Reset and the programmed values of the oscillator Configuration bits in the FOSC Configuration register.
If the FSCM is enabled, it begins to monitor the system clock source when SYSRST is released. If a valid clock source is not available at this time, the device automatically switches to the FRC oscillator and the user can switch to the desired crystal oscillator in the Trap Service Routine.
DS70165A-page 100
Advance Information
dsPIC33F
6.0
Note:
INTERRUPT CONTROLLER
6.1.1
ALTERNATE VECTOR TABLE
The Alternate Interrupt Vector Table (AIVT) is located after the IVT, as shown in Figure 6-1. Access to the AIVT is provided by the ALTIVT control bit (INTCON2<15>). If the ALTIVT bit is set, all interrupt and exception processes use the alternate vectors instead of the default vectors. The alternate vectors are organized in the same manner as the default vectors. The AIVT supports debugging by providing a means to switch between an application and a support environment without requiring the interrupt vectors to be reprogrammed. This feature also enables switching between applications for evaluation of different software algorithms at run time. If the AIVT is not needed, the AIVT should be programmed with the same addresses used in the IVT.
The dsPIC33F interrupt controller reduces the numerous peripheral interrupt request signals to a single interrupt request signal to the dsPIC33F CPU. It has the following features: Up to 8 processor exceptions and software traps 7 user-selectable priority levels Interrupt Vector Table (IVT) with up to 118 vectors A unique vector for each interrupt or exception source Fixed priority within a specified user priority level Alternate Interrupt Vector Table (AIVT) for debug support Fixed interrupt entry and return latencies
6.2
Reset Sequence
6.1
Interrupt Vector Table
The Interrupt Vector Table (IVT) is shown in Figure 6-1. The IVT resides in program memory, starting at location 000004h. The IVT contains 126 vectors consisting of 8 nonmaskable trap vectors plus up to 118 sources of interrupt. In general, each interrupt source has its own vector. Each interrupt vector contains a 24-bit wide address. The value programmed into each interrupt vector location is the starting address of the associated Interrupt Service Routine (ISR). Interrupts vectors are prioritized in terms of their natural priority; this priority is linked to their position in the vector table. All other things being equal, lower addresses have a higher natural priority. For example, the interrupt associated with vector 0 will take priority over interrupts at any other vector address. dsPIC33F devices implement up to 67 unique interrupts and 5 nonmaskable traps. These are summarized in Table 6-1 and Table 6-2.
A device Reset is not a true exception because the interrupt controller is not involved in the Reset process. The dsPIC33F device clears its registers in response to a Reset which forces the PC to zero. The digital signal controller then begins program execution at location 0x000000. The user programs a GOTO instruction at the Reset address which redirects program execution to the appropriate start-up routine. Note: Any unimplemented or unused vector locations in the IVT and AIVT should be programmed with the address of a default interrupt handler routine that contains a RESET instruction.
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dsPIC33F
FIGURE 6-1: dsPIC33F INTERRUPT VECTOR TABLE
Reset GOTO Instruction Reset GOTO Address Reserved Oscillator Fail Trap Vector Address Error Trap Vector Stack Error Trap Vector Math Error Trap Vector DMA Error Trap Vector Reserved Reserved Interrupt Vector 0 Interrupt Vector 1 ~ ~ ~ Interrupt Vector 52 Interrupt Vector 53 Interrupt Vector 54 ~ ~ ~ Interrupt Vector 116 Interrupt Vector 117 Reserved Reserved Reserved Oscillator Fail Trap Vector Address Error Trap Vector Stack Error Trap Vector Math Error Trap Vector DMA Error Trap Vector Reserved Reserved Interrupt Vector 0 Interrupt Vector 1 ~ ~ ~ Interrupt Vector 52 Interrupt Vector 53 Interrupt Vector 54 ~ ~ ~ Interrupt Vector 116 Interrupt Vector 117 Start of Code 0x000000 0x000002 0x000004
0x000014
Decreasing Natural Order Priority
0x00007C 0x00007E 0x000080
Interrupt Vector Table (IVT)(1)
0x0000FC 0x0000FE 0x000100 0x000102
0x000114
Alternate Interrupt Vector Table (AIVT)(1) 0x00017C 0x00017E 0x000180
0x0001FE 0x000200
Note 1:
See Table 6-1 for the list of implemented interrupt vectors.
DS70165A-page 102
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dsPIC33F
TABLE 6-1:
Vector Number 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53
INTERRUPT VECTORS
Interrupt Request (IRQ) Number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 IVT Address 0x000014 0x000016 0x000018 0x00001A 0x00001C 0x00001E 0x000020 0x000022 0x000024 0x000026 0x000028 0x00002A 0x00002C 0x00002E 0x000030 0x000032 0x000034 0x000036 0x000038 0x00003A 0x00003C 0x00003E 0x000040 0x000042 0x000044 0x000046 0x000048 0x00004A 0x00004C 0x00004E 0x000050 0x000052 0x000054 0x000056 0x000058 0x00005A 0x00005C 0x00005E 0x000060 0x000062 0x000064 0x000066 0x000068 0x00006A 0x00006C 0x00006E AIVT Address 0x000114 0x000116 0x000118 0x00011A 0x00011C 0x00011E 0x000120 0x000122 0x000124 0x000126 0x000128 0x00012A 0x00012C 0x00012E 0x000130 0x000132 0x000134 0x000136 0x000138 0x00013A 0x00013C 0x00013E 0x000140 0x000142 0x000144 0x000146 0x000148 0x00014A 0x00014C 0x00014E 0x000150 0x000152 0x000154 0x000156 0x000158 0x00015A 0x00015C 0x00015E 0x000160 0x000162 0x000164 0x000166 0x000168 0x00016A 0x00016C 0x00016E Interrupt Source INT0 External Interrupt 0 IC1 Input Compare 1 OC1 Output Compare 1 T1 Timer1 DMA0 DMA Channel 0 IC2 Input Capture 2 OC2 Output Compare 2 T2 Timer2 T3 Timer3 SPI1E SPI1 Error SPI1 SPI1 Transfer Done U1RX UART1 Receiver U1TX UART1 Transmitter ADC1 A/D Converter 1 DMA1 DMA Channel 1 Reserved SI2C1 I2C1 Slave Events MI2C1 I2C1 Master Events Reserved Change Notification Interrupt INT1 External Interrupt 1 ADC2 A/D Converter 2 IC7 Input Capture 7 IC8 Input Capture 8 DMA2 DMA Channel 2 OC3 Output Compare 3 OC4 Output Compare 4 T4 Timer4 T5 Timer5 INT2 External Interrupt 2 U2RX UART2 Receiver U2TX UART2 Transmitter SPI2E SPI2 Error SPI1 SPI1 Transfer Done C1RX ECAN1 Receive Data Ready C1 CAN1 Event DMA3 DMA Channel 3 IC3 Input Capture 3 IC4 Input Capture 4 IC5 Input Capture 5 IC6 Input Capture 6 OC5 Output Compare 5 OC6 Output Compare 6 OC7 Output Compare 7 OC8 Output Compare 8 Reserved
Advance Information
DS70165A-page 103
dsPIC33F
TABLE 6-1:
Vector Number 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80-125
INTERRUPT VECTORS (CONTINUED)

Interrupt Request (IRQ) Number 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72-117 IVT Address 0x000070 0x000072 0x000074 0x000076 0x000078 0x00007A 0x00007C 0x00007E 0x000080 0x000082 0x000084 0x000086 0x000088 0x00008A 0x00008C 0x00008E 0x000090 0x000092 0x000094 0x000096 0x000098 0x00009A 0x00009C 0x00009E 0x0000A0 0x0000A2 0x0000A40x0000FE AIVT Address 0x000170 0x000172 0x000174 0x000176 0x000178 0x00017A 0x00017C 0x00017E 0x000180 0x000182 0x000184 0x000186 0x000188 0x00018A 0x00018C 0x00018E 0x000190 0x000192 0x000194 0x000196 0x000198 0x00019A 0x00019C 0x00019E 0x0001A0 0x0001A2 0x0001A40x0001FE Interrupt Source DMA4 DMA Channel 4 T6 Timer6 T7 Timer7 SI2C2 I2C2 Slave Events MI2C2 I2C2 Master Events T8 Timer8 T9 Timer9 INT3 External Interrupt 3 INT4 External Interrupt 4 C2RX ECAN2 Receive Data Ready C2 CAN2 Event PWM PWM Period Match QEI Position Counter Compare DCIE DCI Error DCID DCI Transfer Done DMA5 DMA Channel 5 Reserved FLTA MCPWM Fault A FLTB MCPWM Fault B U1E UART1 Error U2E UART2 Error Reserved DMA6 DMA Channel 6 DMA7 DMA Channel 7 C1TX ECAN1 Transmit Data Request Reserved (for devices marked PS) C2TX ECAN2 Transmit Data Request Reserved (for devices marked PS) Reserved
TABLE 6-2:
0 1 2 3 4 5 6 7
TRAP VECTORS
IVT Address 0x000004 0x000006 0x000008 0x00000A 0x00000C 0x00000E 0x000010 0x000012 AIVT Address 0x000084 0x000086 0x000088 0x00008A 0x00008C 0x00008E 0x000090 0x000092 Trap Source Reserved Oscillator Failure Address Error Stack Error Math Error DMA Error Trap Reserved Reserved
Vector Number
DS70165A-page 104
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dsPIC33F
6.3 Interrupt Control and Status Registers
The IPC registers are used to set the interrupt priority level for each source of interrupt. Each user interrupt source can be assigned to one of eight priority levels. The interrupt sources are assigned to the IFSx, IECx and IPCx registers in the same sequence that they are listed in Table 6-1. For example, the INT0 (External Interrupt 0) is shown as having vector number 8 and a natural order priority of 0. Thus, the INT0IF bit is found in IFS0<0>, the INT0IE bit in IEC0<0>, and the INT0IP bits in the first position of IPC0 (IPC0<2:0>). Although they are not specifically part of the interrupt control hardware, two of the CPU Control registers contain bits that control interrupt functionality. The CPU STATUS register, SR, contains the IPL<2:0> bits (SR<7:5>). These bits indicate the current CPU interrupt priority level. The user can change the current CPU priority level by writing to the IPL bits. The CORCON register contains the IPL3 bit which, together with IPL<2:0>, also indicates the current CPU priority level. IPL3 is a read-only bit so that trap events cannot be masked by the user software. All Interrupt registers are described in Register 6-1 through Register 6-41, in the following pages.
dsPIC33F devices implement a total of 30 registers (29 for devices marked PS) for the interrupt controller: INTCON1 INTCON2 IFS0 through IFS4 IEC0 through IEC4 IPC0 through IPC17 (IPC0 through IPC16 for devices marked PS)
Global interrupt control functions are controlled from INTCON1 and INTCON2. INTCON1 contains the Interrupt Nesting Disable (NSTDIS) bit as well as the control and status flags for the processor trap sources. The INTCON2 register controls the external interrupt request signal behavior and the use of the Alternate Interrupt Vector Table. The IFS registers maintain all of the interrupt request flags. Each source of interrupt has a Status bit, which is set by the respective peripherals or external signal and is cleared via software. The IEC registers maintain all of the interrupt enable bits. These control bits are used to individually enable interrupts from the peripherals or external signals.
Advance Information
DS70165A-page 105
dsPIC33F
REGISTER 6-1:
R-0 OA bit 15 R/W-0(2) IPL2(1) bit 7 Legend: C = Clear only bit S = Set only bit 1 = Bit is set bit 7-5 R = Readable bit W = Writable bit 0 = Bit is cleared U = Unimplemented bit, read as 0 -n = Value at POR x = Bit is unknown R/W-0(2) IPL1
(1)
SR: CPU STATUS REGISTER

R-0 OB R/C-0 SA R/C-0 SB R-0 OAB R/C-0 SAB R -0 DA R/W-0 DC bit 8 R/W-0(2) IPL02
(1)
R-0 RA
R/W-0 N
R/W-0 OV
R/W-0 Z
R/W-0 C bit 0
IPL<2:0>: CPU Interrupt Priority Level Status bits(1) 111 = CPU Interrupt Priority Level is 7 (15), user interrupts disabled 110 = CPU Interrupt Priority Level is 6 (14) 101 = CPU Interrupt Priority Level is 5 (13) 100 = CPU Interrupt Priority Level is 4 (12) 011 = CPU Interrupt Priority Level is 3 (11) 010 = CPU Interrupt Priority Level is 2 (10) 001 = CPU Interrupt Priority Level is 1 (9) 000 = CPU Interrupt Priority Level is 0 (8) The IPL<2:0> bits are concatenated with the IPL<3> bit (CORCON<3>) to form the CPU Interrupt Priority Level. The value in parentheses indicates the IPL if IPL<3> = 1. User interrupts are disabled when IPL<3> = 1. The IPL<2:0> Status bits are read-only when NSTDIS (INTCON1<15>) = 1.
Note 1:
2:
REGISTER 6-2:
U-0 bit 15 R/W-0 SATA bit 7 Legend: R = Readable bit 0 = Bit is cleared bit 3
CORCON: CORE CONTROL REGISTER

U-0 U-0 R/W-0 US R/W-0 EDT R-0 R-0 DL<2:0> R-0 bit 8 R/W-0 SATB R/W-1 SATDW R/W-0 ACCSAT R/C-0 IPL3(1) R/W-0 PSV R/W-0 RND R/W-0 IF bit 0
C = Clear only bit W = Writable bit x = Bit is unknown
-n = Value at POR 1 = Bit is set U = Unimplemented bit, read as 0
IPL3: CPU Interrupt Priority Level Status bit 3(1) 1 = CPU interrupt priority level is greater than 7 0 = CPU interrupt priority level is 7 or less The IPL3 bit is concatenated with the IPL<2:0> bits (SR<7:5>) to form the CPU Interrupt Priority Level.
Note 1:
DS70165A-page 106
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dsPIC33F
REGISTER 6-3:
R/W-0 NSTDIS bit 15 R/W-0 SFTACERR bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 DIV0ERR R/W-0 DMACERR R/W-0 MATHERR R/W-0 ADDRERR R/W-0 STKERR R/W-0 OSCFAIL U-0 bit 0
INTCON1: INTERRUPT CONTROL REGISTER 1

R/W-0 OVAERR R/W-0 OVBERR R/W-0 COVAERR R/W-0 COVBERR R/W-0 OVATE R/W-0 OVBTE R/W-0 COVTE bit 8
NSTDIS: Interrupt Nesting Disable bit 1 = Interrupt nesting is disabled 0 = Interrupt nesting is enabled OVAERR: Accumulator A Overflow Trap Flag bit 1 = Trap was caused by overflow of Accumulator A 0 = Trap was not caused by overflow of Accumulator A OVBERR: Accumulator B Overflow Trap Flag bit 1 = Trap was caused by overflow of Accumulator B 0 = Trap was not caused by overflow of Accumulator B COVAERR: Accumulator A Catastrophic Overflow Trap Enable bit 1 = Trap was caused by catastrophic overflow of Accumulator A 0 = Trap was not caused by catastrophic overflow of Accumulator A COVBERR: Accumulator B Catastrophic Overflow Trap Enable bit 1 = Trap was caused by catastrophic overflow of Accumulator B 0 = Trap was not caused by catastrophic overflow of Accumulator B OVATE: Accumulator A Overflow Trap Enable bit 1 = Trap overflow of Accumulator A 0 = Trap disabled OVBTE: Accumulator B Overflow Trap Enable bit 1 = Trap overflow of Accumulator B 0 = Trap disabled COVTE: Catastrophic Overflow Trap Enable bit 1 = Trap on catastrophic overflow of Accumulator A or B enabled 0 = Trap disabled SFTACERR: Shift Accumulator Error Status bit 1 = Math error trap was caused by an invalid accumulator shift 0 = Math error trap was not caused by an invalid accumulator shift DIV0ERR: Arithmetic Error Status bit 1 = Math error trap was caused by a divide by zero 0 = Math error trap was not caused by a divide by zero DMACERR: DMA Controller Error Status bit 1 = DMA controller error trap has occurred 0 = DMA controller error trap has not occurred MATHERR: Arithmetic Error Status bit 1 = Math error trap has occurred 0 = Math error trap has not occurred
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
Advance Information
DS70165A-page 107
dsPIC33F
REGISTER 6-3:
bit 3
INTCON1: INTERRUPT CONTROL REGISTER 1 (CONTINUED)
ADDRERR: Address Error Trap Status bit 1 = Address error trap has occurred 0 = Address error trap has not occurred STKERR: Stack Error Trap Status bit 1 = Stack error trap has occurred 0 = Stack error trap has not occurred OSCFAIL: Oscillator Failure Trap Status bit 1 = Oscillator failure trap has occurred 0 = Oscillator failure trap has not occurred Unimplemented: Read as 0
bit 2
bit 1
bit 0
DS70165A-page 108
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dsPIC33F
REGISTER 6-4:
R/W-0 ALTIVT bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 R/W-0 INT4EP R/W-0 INT3EP R/W-0 INT2EP R/W-0 INT1EP
INTCON2: INTERRUPT CONTROL REGISTER 2

R-0 DISI U-0 U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 INT0EP bit 0
ALTIVT: Enable Alternate Interrupt Vector Table bit 1 = Use alternate vector table 0 = Use standard (default) vector table DISI: DISI Instruction Status bit 1 = DISI instruction is active 0 = DISI instruction is not active Unimplemented: Read as 0 INT4EP: External Interrupt 4 Edge Detect Polarity Select bit 1 = Interrupt on negative edge 0 = Interrupt on positive edge INT3EP: External Interrupt 3 Edge Detect Polarity Select bit 1 = Interrupt on negative edge 0 = Interrupt on positive edge INT2EP: External Interrupt 2 Edge Detect Polarity Select bit 1 = Interrupt on negative edge 0 = Interrupt on positive edge INT1EP: External Interrupt 1 Edge Detect Polarity Select bit 1 = Interrupt on negative edge 0 = Interrupt on positive edge INT0EP: External Interrupt 0 Edge Detect Polarity Select bit 1 = Interrupt on negative edge 0 = Interrupt on positive edge
bit 14
bit 13-5 bit 4
bit 3
bit 2
bit 1
bit 0
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DS70165A-page 109
dsPIC33F
REGISTER 6-5:
U-0 bit 15 R/W-0 T2IF bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 OC2IF R/W-0 IC2IF R/W-0 DMA01IF R/W-0 T1IF R/W-0 OC1IF R/W-0 IC1IF
IFS0: INTERRUPT FLAG STATUS REGISTER 0

R/W-0 DMA1IF R/W-0 AD1IF R/W-0 U1TXIF R/W-0 U1RXIF R/W-0 SPI1IF R/W-0 SPI1EIF R/W-0 T3IF bit 8 R/W-0 INT0IF bit 0
Unimplemented: Read as 0 DMA1IF: DMA Channel 1 Data Transfer Complete Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred AD1IF: ADC1 Conversion Complete Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred U1TXIF: UART1 Transmitter Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred U1RXIF: UART1 Receiver Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred SPI1IF: SPI1 Event Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred SPI1EIF: SPI1 Fault Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T3IF: Timer3 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T2IF: Timer2 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred OC2IF: Output Compare Channel 2 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred IC2IF: Input Capture Channel 2 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DMA0IF: DMA Channel 0 Data Transfer Complete Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
DS70165A-page 110
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dsPIC33F
REGISTER 6-5:
bit 3
IFS0: INTERRUPT FLAG STATUS REGISTER 0 (CONTINUED)
T1IF: Timer1 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred OC1IF: Output Compare Channel 1 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred IC1IF: Input Capture Channel 1 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred INT0IF: External Interrupt 0 Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 2
bit 1
bit 0
Advance Information
DS70165A-page 111
dsPIC33F
REGISTER 6-6:
R/W-0 U2TXIF bit 15 R/W-0 IC8IF bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 IC7IF R/W-0 AD2IF R/W-0 INT1IF R/W-0 CNIF R/W-0 R/W-0 MI2C1IF

R/W-0 U2RXIF R/W-0 INT2IF R/W-0 T5IF R/W-0 T4IF R/W-0 OC4IF R/W-0 OC3IF R/W-0 DMA21IF bit 8 R/W-0 SI2C1IF bit 0
U2TXIF: UART2 Transmitter Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred U2RXIF: UART2 Receiver Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred INT2IF: External Interrupt 2 Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T5IF: Timer5 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T4IF: Timer4 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred OC4IF: Output Compare Channel 4 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred OC3IF: Output Compare Channel 3 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DMA2IF: DMA Channel 2 Data Transfer Complete Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred IC8IF: Input Capture Channel 8 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred IC7IF: Input Capture Channel 7 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred AD2IF: ADC2 Conversion Complete Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred INT1IF: External Interrupt 1 Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
DS70165A-page 112
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dsPIC33F
REGISTER 6-6:
bit 3
CNIF: Input Change Notification Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred Unimplemented: Read as 0 MI2C1IF: I2C1 Master Events Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred SI2C1IF: I2C1 Slave Events Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 2 bit 1
bit 0
Advance Information
DS70165A-page 113
dsPIC33F
REGISTER 6-7:
R/W-0 T6IF bit 15 R/W-0 IC5IF bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 IC4IF R/W-0 IC3IF R/W-0 DMA3IF R/W-0 C1IF R/W-0 C1RXIF R/W-0 SPI2IF

R/W-0 DMA4IF U-0 R/W-0 OC8IF R/W-0 OC7IF R/W-0 OC6IF R/W-0 OC5IF R/W-0 IC6IF bit 8 R/W-0 SPI2EIF bit 0
T6IF: Timer6 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DMA4IF: DMA Channel 4 Data Transfer Complete Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred Unimplemented: Read as 0 OC8IF: Output Compare Channel 8 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred OC7IF: Output Compare Channel 7 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred OC6IF: Output Compare Channel 6 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred OC5IF: Output Compare Channel 5 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred IC6IF: Input Capture Channel 6 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred IC5IF: Input Capture Channel 5 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred IC4IF: Input Capture Channel 4 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred IC3IF: Input Capture Channel 3 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DMA3IF: DMA Channel 3 Data Transfer Complete Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 14
bit 13 bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
DS70165A-page 114
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dsPIC33F
REGISTER 6-7:
bit 3
C1IF: ECAN1 Event Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred C1RXIF: ECAN1 Receive Data Ready Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred SPI2IF: SPI2 Event Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred SPI2EIF: SPI2 Error Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 2
bit 1
bit 0
Advance Information
DS70165A-page 115
dsPIC33F
REGISTER 6-8:
R/W-0 T6IF bit 15 R/W-0 IC5IF bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 IC4IF R/W-0 IC3IF R/W-0 DMA3IF R/W-0 C1IF R/W-0 C1EIF R/W-0 SPI2IF
IFS2: INTERRUPT FLAG STATUS REGISTER 2 (PS DEVICES)

R/W-0 DMA4IF U-0 R/W-0 OC8IF R/W-0 OC7IF R/W-0 OC6IF R/W-0 OC5IF R/W-0 IC6IF bit 8 R/W-0 SPI2EIF bit 0
T6IF: Timer6 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DMA4IF: DMA Channel 4 Data Transfer Complete Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred Unimplemented: Read as 0 OC8IF: Output Compare Channel 8 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred OC7IF: Output Compare Channel 7 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred OC6IF: Output Compare Channel 6 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred OC5IF: Output Compare Channel 5 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred IC6IF: Input Capture Channel 6 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred IC5IF: Input Capture Channel 5 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred IC4IF: Input Capture Channel 4 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred IC3IF: Input Capture Channel 3 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DMA3IF: DMA Channel 3 Data Transfer Complete Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred C1IF: CAN1 Event Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 14
bit 13 bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
DS70165A-page 116
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dsPIC33F
REGISTER 6-8:
bit 2
IFS2: INTERRUPT FLAG STATUS REGISTER 2 (PS DEVICES) (CONTINUED)
C1EIF: CAN1 Error Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred SPI2IF: SPI2 Event Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred SPI2EIF: SPI2 Error Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 1
bit 0
Advance Information
DS70165A-page 117
dsPIC33F
REGISTER 6-9:
R/W-0 FLTAIF bit 15 R/W-0 C2RXIF bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 INT4IF R/W-0 INT3IF R/W-0 T9IF R/W-0 T8IF R/W-0 MI2C2IF R/W-0 SI2C2IF

U-0 R/W-0 DMA5IF R/W-0 DCIIF R/W-0 DCIEIF R/W-0 QEIIF R/W-0 PWMIF R/W-0 C2IF bit 8 R/W-0 T7IF bit 0
FLTAIF: PWM Fault A Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred Unimplemented: Read as 0 DMA5IF: DMA Channel 5 Data Transfer Complete Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DCIIF: DCI Event Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DCIEIF: DCI Error Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred QEIIF: QEI Event Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred PWMIF: PWM Error Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred C2IF: ECAN2 Event Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred C2RXIF: ECAN2 Receive Data Ready Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred INT4IF: External Interrupt 4 Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred INT3IF: External Interrupt 3 Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T9IF: Timer9 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T8IF: Timer8 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 14 bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
DS70165A-page 118
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dsPIC33F
REGISTER 6-9:
bit 2
MI2C2IF: I2C2 Master Events Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred SI2C2IF: I2C2 Slave Events Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T7IF: Timer7 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 1
bit 0
Advance Information
DS70165A-page 119
dsPIC33F
REGISTER 6-10:
R/W-0 FLTAIF bit 15 R/W-0 C2EIF bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 INT4IF R/W-0 INT3IF R/W-0 T9IF R/W-0 T8IF R/W-0 MI2C2IF R/W-0 SI2C2IF
IFS3: INTERRUPT FLAG STATUS REGISTER 3 (PS DEVICES)

U-0 R/W-0 DMA5IF R/W-0 DCIIF R/W-0 DCIEIF R/W-0 QEIIF R/W-0 PWMIF R/W-0 C2IF bit 8 R/W-0 T7IF bit 0
FLTAIF: PWM Fault A Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred Unimplemented: Read as 0 DMA5IF: DMA Channel 5 Data Transfer Complete Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DCIIF: DCI Event Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DCIEIF: DCI Error Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred QEIIF: QEI Event Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred PWMIF: PWM Error Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred C2IF: CAN2 Event Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred C2EIF: CAN2 Error Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred INT4IF: External Interrupt 4 Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred INT3IF: External Interrupt 3 Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T9IF: Timer9 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T8IF: Timer8 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 14 bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
DS70165A-page 120
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dsPIC33F
REGISTER 6-10:
bit 2
IFS3: INTERRUPT FLAG STATUS REGISTER 3 (PS DEVICES) (CONTINUED)
MI2C2IF: I2C2 Master Events Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred SI2C2IF: I2C2 Slave Events Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T7IF: Timer7 Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 1
bit 0
Advance Information
DS70165A-page 121
dsPIC33F
REGISTER 6-11:
U-0 bit 15 R/W-0 C2TXIF bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 bit 7 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 C1TXIF R/W-0 DMA7IF R/W-0 DMA6IF U-0 R/W-0 U2EIF R/W-0 U1EIF

U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 FLTBIF bit 0
Unimplemented: Read as 0 C2TXIF: ECAN2 Transmit Data Request Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred C1TXIF: ECAN1 Transmit Data Request Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DMA7IF: DMA Channel 7 Data Transfer Complete Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DMA6IF: DMA Channel 6 Data Transfer Complete Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred Unimplemented: Read as 0 U2EIF: UART2 Error Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred U1EIF: UART1 Error Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred FLTBIF: PWM Fault B Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 6
bit 5
bit 4
bit 3 bit 2
bit 1
bit 0
DS70165A-page 122
Advance Information
dsPIC33F
REGISTER 6-12:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-3 bit 2 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 U-0 U-0 R/W-0 U2EIF R/W-0 U1EIF
IFS4: INTERRUPT FLAG STATUS REGISTER 4 (DEVICES MARKED PS)

U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 FLTBIF bit 0
Unimplemented: Read as 0 U2EIF: UART2 Error Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred U1EIF: UART1 Error Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred FLTBIF: PWM Fault B Interrupt Flag Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 1
bit 0
Advance Information
DS70165A-page 123
dsPIC33F
REGISTER 6-13:
U-0 bit 15 R/W-0 T2IE bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 OC2IE R/W-0 IC2IE R/W-0 DMA0IE R/W-0 T1IE R/W-0 OC1IE R/W-0 IC1IE
IEC0: INTERRUPT ENABLE CONTROL REGISTER 0

R/W-0 R/W-0 AD1IE R/W-0 U1TXIE R/W-0 U1RXIE R/W-0 SPI1IE R/W-0 SPI1EIE R/W-0 T3IE bit 8 R/W-0 INT0IE bit 0
DMA1IE
Unimplemented: Read as 0 DMA1IE: DMA Channel 1 Data Transfer Complete Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled AD1IE: ADC1 Conversion Complete Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled U1TXIE: UART1 Transmitter Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled U1RXIE: UART1 Receiver Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled SPI1IE: SPI1 Event Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled SPI1EIE: SPI1 Error Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled T3IE: Timer3 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled T2IE: Timer2 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled OC2IE: Output Compare Channel 2 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled IC2IE: Input Capture Channel 2 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled DMA0IE: DMA Channel 0 Data Transfer Complete Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled T1IE: Timer1 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
DS70165A-page 124
Advance Information
dsPIC33F
REGISTER 6-13:
bit 2
IEC0: INTERRUPT ENABLE CONTROL REGISTER 0 (CONTINUED)
OC1IE: Output Compare Channel 1 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled IC1IE: Input Capture Channel 1 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled INT0IE: External Interrupt 0 Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled
bit 1
bit 0
Advance Information
DS70165A-page 125
dsPIC33F
REGISTER 6-14:
R/W-0 U2TXIE bit 15 R/W-0 IC8IE bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 IC7IE R/W-0 AD2IE R/W-0 INT1IE R/W-0 CNIE R/W-0 R/W-0 MI2C1IE

R/W-0 R/W-0 INT2IE R/W-0 T5IE R/W-0 T4IE R/W-0 OC4IE R/W-0 OC3IE R/W-0 DMA2IE bit 8 R/W-0 SI2C1IE bit 0
U2RXIE
U2TXIE: UART2 Transmitter Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled U2RXIE: UART2 Receiver Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled INT2IE: External Interrupt 2 Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled T5IE: Timer5 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled T4IE: Timer4 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled OC4IE: Output Compare Channel 4 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled OC3IE: Output Compare Channel 3 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled DMA2IE: DMA Channel 2 Data Transfer Complete Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred IC8IE: Input Capture Channel 8 Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred IC7IE: Input Capture Channel 7 Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred AD2IE: ADC2 Conversion Complete Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred INT1IE: External Interrupt 1 Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
DS70165A-page 126
Advance Information
dsPIC33F
REGISTER 6-14:
bit 3
CNIE: Input Change Notification Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled Unimplemented: Read as 0 MI2C1IE: I2C1 Master Events Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled SI2C1IE: I2C1 Slave Events Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled
bit 2 bit 1
bit 0
Advance Information
DS70165A-page 127
dsPIC33F
REGISTER 6-15:
R/W-0 T6IE bit 15 R/W-0 IC5IE bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 IC4IE R/W-0 IC3IE R/W-0 DMA3IE R/W-0 C1IE R/W-0 C1RXIE R/W-0 SPI2IE

R/W-0 U-0 R/W-0 OC8IE R/W-0 OC7IE R/W-0 OC6IE R/W-0 OC5IE R/W-0 IC6IE bit 8 R/W-0 SPI2EIE bit 0
DMA4IE
T6IE: Timer6 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled DMA4IE: DMA Channel 4 Data Transfer Complete Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred Unimplemented: Read as 0 OC8IE: Output Compare Channel 8 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled OC7IE: Output Compare Channel 7 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled OC6IE: Output Compare Channel 6 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled OC5IE: Output Compare Channel 5 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled IC6IE: Input Capture Channel 6 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled IC5IE: Input Capture Channel 5 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled IC4IE: Input Capture Channel 4 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled IC3IE: Input Capture Channel 3 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled DMA3IE: DMA Channel 3 Data Transfer Complete Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred C1IE: ECAN1 Event Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 14
bit 13 bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
DS70165A-page 128
Advance Information
dsPIC33F
REGISTER 6-15:
bit 2
C1RXIE: ECAN1 Receive Data Ready Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred SPI2IE: SPI2 Event Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled SPI2EIE: SPI2 Error Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled
bit 1
bit 0
Advance Information
DS70165A-page 129
dsPIC33F
REGISTER 6-16:
R/W-0 T6IE bit 15 R/W-0 IC5IE bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 IC4IE R/W-0 IC3IE R/W-0 DMA3IE R/W-0 C1IE R/W-0 C1EIE R/W-0 SPI2IE
IEC2: INTERRUPT ENABLE CONTROL REGISTER 2 (PS DEVICES)

R/W-0 DMA4IE U-0 R/W-0 OC8IE R/W-0 OC7IE R/W-0 OC6IE R/W-0 OC5IE R/W-0 IC6IE bit 8 R/W-0 SPI2EIE bit 0
T6IE: Timer6 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled DMA4IE: DMA Channel 4 Data Transfer Complete Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred Unimplemented: Read as 0 OC8IE: Output Compare Channel 8 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled OC7IE: Output Compare Channel 7 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled OC6IE: Output Compare Channel 6 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled OC5IE: Output Compare Channel 5 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled IC6IE: Input Capture Channel 6 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled IC5IE: Input Capture Channel 5 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled IC4IE: Input Capture Channel 4 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled IC3IE: Input Capture Channel 3 Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled DMA3IE: DMA Channel 3 Data Transfer Complete Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred C1IE: CAN1 Event Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 14
bit 13 bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
DS70165A-page 130
Advance Information
dsPIC33F
REGISTER 6-16:
bit 2
IEC2: INTERRUPT ENABLE CONTROL REGISTER 2 (PS DEVICES) (CONTINUED)
C1EIE: CAN1 Error Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred SPI2IE: SPI2 Event Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled SPI2EIE: SPI2 Error Interrupt Enable bit 1 = Interrupt request enabled 0 = Interrupt request not enabled
bit 1
bit 0
Advance Information
DS70165A-page 131
dsPIC33F
REGISTER 6-17:
R/W-0 FLTAIE bit 15 R/W-0 C2RXIE bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 INT4IE R/W-0 INT3IE R/W-0 T9IE R/W-0 T8IE R/W-0 MI2C2IE R/W-0 SI2C2IE

U-0 R/W-0 DMA5IE R/W-0 DCIIE R/W-0 DCIEIE R/W-0 QEIIE R/W-0 PWMIE R/W-0 C2IE bit 8 R/W-0 T7IE bit 0
FLTAIE: PWM Fault A Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred Unimplemented: Read as 0 DMA5IE: DMA Channel 5 Data Transfer Complete Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DCIIE: DCI Event Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DCIEIE: DCI Error Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred QEIIE: QEI Event Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred PWMIE: PWM Error Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred C2IE: ECAN2 Event Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred C2RXIE: ECAN2 Receive Data Ready Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred INT4IE: External Interrupt 4 Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred INT3IE: External Interrupt 3 Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T9IE: Timer9 Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T8IE: Timer8 Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 14 bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
DS70165A-page 132
Advance Information
dsPIC33F
REGISTER 6-17:
bit 2
MI2C2IE: I2C2 Master Events Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred SI2C2IE: I2C2 Slave Events Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T7IE: Timer7 Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 1
bit 0
Advance Information
DS70165A-page 133
dsPIC33F
REGISTER 6-18:
R/W-0 FLTAIE bit 15 R/W-0 C2EIE bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 INT4IE R/W-0 INT3IE R/W-0 T9IE R/W-0 T8IE R/W-0 MI2C2IE R/W-0 SI2C2IE
IEC3: INTERRUPT ENABLE CONTROL REGISTER 3 (PS DEVICES)

U-0 R/W-0 DMA5IE R/W-0 DCIIE R/W-0 DCIEIE R/W-0 QEIIE R/W-0 PWMIE R/W-0 C2IE bit 8 R/W-0 T7IE bit 0
FLTAIE: PWM Fault A Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred Unimplemented: Read as 0 DMA5IE: DMA Channel 5 Data Transfer Complete Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DCIIE: DCI Event Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DCIEIE: DCI Error Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred QEIIE: QEI Event Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred PWMIE: PWM Error Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred C2IE: CAN2 Event Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred C2EIE: CAN2 Error Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred INT4IE: External Interrupt 4 Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred INT3IE: External Interrupt 3 Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T9IE: Timer9 Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T8IE: Timer8 Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 14 bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
DS70165A-page 134
Advance Information
dsPIC33F
REGISTER 6-18:
bit 2
IEC3: INTERRUPT ENABLE CONTROL REGISTER 3 (PS DEVICES) (CONTINUED)
MI2C2IE: I2C2 Master Events Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred SI2C2IE: I2C2 Slave Events Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred T7IE: Timer7 Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 1
bit 0
Advance Information
DS70165A-page 135
dsPIC33F
REGISTER 6-19:
U-0 bit 15 R/W-0 C2TXIE bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 bit 7 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 C1TXIE R/W-0 DMA7IE R/W-0 DMA6IE U-0 R/W-0 U2EIE R/W-0 U1EIE

U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 FLTBIE bit 0
Unimplemented: Read as 0 C2TXIE: ECAN2 Transmit Data Request Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred C1TXIE: ECAN1 Transmit Data Request Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DMA7IE: DMA Channel 7 Data Transfer Complete Enable Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred DMA6IE: DMA Channel 6 Data Transfer Complete Enable Status bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred Unimplemented: Read as 0 U2EIE: UART2 Error Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred U1EIE: UART1 Error Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred FLTBIE: PWM Fault B Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 6
bit 5
bit 4
bit 3 bit 2
bit 1
bit 0
DS70165A-page 136
Advance Information
dsPIC33F
REGISTER 6-20:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-3 bit 2 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 U-0 U-0 R/W-0 U2EIE R/W-0 U1EIE
IEC4: INTERRUPT ENABLE CONTROL REGISTER 4 (DEVICES MARKED PS)

U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 FLTBIE bit 0
Unimplemented: Read as 0 U2EIE: UART2 Error Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred U1EIE: UART1 Error Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred FLTBIE: PWM Fault B Interrupt Enable bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 1
bit 0
Advance Information
DS70165A-page 137
dsPIC33F
REGISTER 6-21:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 IC1IP<2:0> R/W-0 U-0 R/W-1 R/W-0 INT0IP<2:0> bit 0
IPC0: INTERRUPT PRIORITY CONTROL REGISTER 0

R/W-1 R/W-0 T1IP<2:0> R/W-0 U-0 R/W-1 R/W-0 OC1IP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 T1IP<2:0>: Timer1 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 OC1IP<2:0>: Output Compare Channel 1 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 IC1IP<2:0>: Input Capture Channel 1 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 INT0IP<2:0>: External Interrupt 0 Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
DS70165A-page 138
Advance Information
dsPIC33F
REGISTER 6-22:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 IC2IP<2:0> R/W-0 U-0 R/W-1 R/W-0 DMA0IP<2:0> bit 0

Unimplemented: Read as 0 T2IP<2:0>: Timer2 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 OC2IP<2:0>: Output Compare Channel 2 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 IC2IP<2:0>: Input Capture Channel 2 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 DMA0IP<2:0>: DMA Channel 0 Data Transfer Complete Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
Advance Information
DS70165A-page 139
dsPIC33F
REGISTER 6-23:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 SPI1EIP<2:0> R/W-0 U-0 R/W-1 R/W-0 T3IP<2:0> bit 0

R/W-1 R/W-0 U1RXIP<2:0> R/W-0 U-0 R/W-1 R/W-0 SPI1IP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 U1RXIP<2:0>: UART1 Receiver Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 SPI1IP<2:0>: SPI1 Event Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 SPI1EIP<2:0>: SPI1 Error Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 T3IP<2:0>: Timer3 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
DS70165A-page 140
Advance Information
dsPIC33F
REGISTER 6-24:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-11 bit 10-8 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 AD1IP<2:0> R/W-0 U-0 R/W-1 R/W-0 U1TXIP<2:0> bit 0

U-0 U-0 U-0 U-0 R/W-1 R/W-0 DMA1IP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 DMA1IP<2:0>: DMA Channel 1 Data Transfer Complete Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 AD1IP<2:0>: ADC1 Conversion Complete Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 U1TXIP<2:0>: UART1 Transmitter Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 7 bit 6-4
bit 3 bit 2-0
Advance Information
DS70165A-page 141
dsPIC33F
REGISTER 6-25:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 MI2C1IP<2:0> R/W-0 U-0 R/W-1 R/W-0 SI2C1IP<2:0> bit 0

R/W-1 R/W-0 CNIP<2:0> R/W-0 U-0 U-0 U-0 U-0 bit 8 R/W-0
Unimplemented: Read as 0 CNIP<2:0>: Change Notification Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 MI2C1IP<2:0>: I2C1 Master Events Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 SI2C1IP<2:0>: I2C1 Slave Events Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11-7 bit 6-4
bit 3 bit 2-0
DS70165A-page 142
Advance Information
dsPIC33F
REGISTER 6-26:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 AD2IP<2:0> R/W-0 U-0 R/W-1 R/W-0 INT1IP<2:0> bit 0

R/W-1 R/W-0 IC8IP<2:0> R/W-0 U-0 R/W-1 R/W-0 IC7IP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 IC8IP<2:0>: Input Capture Channel 8 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 IC7IP<2:0>: Input Capture Channel 7 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 AD2IP<2:0>: ADC2 Conversion Complete Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 INT1IP<2:0>: External Interrupt 1 Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
Advance Information
DS70165A-page 143
dsPIC33F
REGISTER 6-27:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 OC3IP<2:0> R/W-0 U-0 R/W-1 R/W-0 DMA2IP<2:0> bit 0

Unimplemented: Read as 0 T4IP<2:0>: Timer4 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 OC4IP<2:0>: Output Compare Channel 4 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 OC3IP<2:0>: Output Compare Channel 3 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 DMA2IP<2:0>: DMA Channel 2 Data Transfer Complete Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
DS70165A-page 144
Advance Information
dsPIC33F
REGISTER 6-28:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 INT2IP<2:0> R/W-0 U-0 R/W-1 R/W-0 T5IP<2:0> bit 0

R/W-1 R/W-0 U2TXIP<2:0> R/W-0 U-0 R/W-1 R/W-0 U2RXIP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 U2TXIP<2:0>: UART2 Transmitter Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 U2RXIP<2:0>: UART2 Receiver Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 INT2IP<2:0>: External Interrupt 2 Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 T5IP<2:0>: Timer5 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
Advance Information
DS70165A-page 145
dsPIC33F
REGISTER 6-29:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 SPI2IP<2:0> R/W-0 U-0 R/W-1 R/W-0 SPI2EIP<2:0> bit 0

R/W-1 R/W-0 C1IP<2:0> R/W-0 U-0 R/W-1 R/W-0 C1RXIP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 C1IP<2:0>: ECAN1 Event Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 C1RXIP<2:0>: ECAN1 Receive Data Ready Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 SPI2IP<2:0>: SPI2 Event Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 SPI2EIP<2:0>: SPI2 Error Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
DS70165A-page 146
Advance Information
dsPIC33F
REGISTER 6-30:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 SPI2IP<2:0> R/W-0 U-0 R/W-1 R/W-0 SPI2EIP<2:0> bit 0
IPC8: INTERRUPT PRIORITY CONTROL REGISTER 8 (DEVICES MARKED PS)

R/W-1 R/W-0 C1IP<2:0> R/W-0 U-0 R/W-1 R/W-0 C1EIP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 C1IP<2:0>: CAN1 Event Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 C1EIP<2:0>: CAN1 Error Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 SPI2IP<2:0>: SPI2 Event Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 SPI2EIP<2:0>: SPI2 Error Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
Advance Information
DS70165A-page 147
dsPIC33F
REGISTER 6-31:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 IC3IP<2:0> R/W-0 U-0 R/W-1 R/W-0 DMA3IP<2:0> bit 0

R/W-1 R/W-0 IC5IP<2:0> R/W-0 U-0 R/W-1 R/W-0 IC4IP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 IC5IP<2:0>: Input Capture Channel 5 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 IC4IP<2:0>: Input Capture Channel 4 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 IC3IP<2:0>: Input Capture Channel 3 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 DMA3IP<2:0>: DMA Channel 3 Data Transfer Complete Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
DS70165A-page 148
Advance Information
dsPIC33F
REGISTER 6-32:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 OC5IP<2:0> R/W-0 U-0 R/W-1 R/W-0 IC6IP<2:0> bit 0

R/W-1 R/W-0 OC7IP<2:0> R/W-0 U-0 R/W-1 R/W-0 OC6IP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 OC7IP<2:0>: Output Compare Channel 7 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 OC6IP<2:0>: Output Compare Channel 6 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 OC5IP<2:0>: Output Compare Channel 5 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 IC6IP<2:0>: Input Capture Channel 6 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
Advance Information
DS70165A-page 149
dsPIC33F
REGISTER 6-33:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 U-0 U-0 R/W-1 R/W-0 OC8IP<2:0> bit 0

R/W-1 R/W-0 T6IP<2:0> R/W-0 U-0 R/W-1 R/W-0 DMA4IP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 T6IP<2:0>: Timer6 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 DMA4IP<2:0>: DMA Channel 4 Data Transfer Complete Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 OC8IP<2:0>: Output Compare Channel 8 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7-3 bit 2-0
DS70165A-page 150
Advance Information
dsPIC33F
REGISTER 6-34:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 SI2C2IP<2:0> R/W-0 U-0 R/W-1 R/W-0 T7IP<2:0> bit 0

R/W-1 R/W-0 T8IP<2:0> R/W-0 U-0 R/W-1 R/W-0 MI2C2IP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 T8IP<2:0>: Timer8 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 MI2C2IP<2:0>: I2C2 Master Events Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 SI2C2IP<2:0>: I2C2 Slave Events Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 T7IP<2:0>: Timer7 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
Advance Information
DS70165A-page 151
dsPIC33F
REGISTER 6-35:

R/W-1 R/W-0 C2RXIP<2:0> R/W-0 U-0 R/W-1 R/W-0 INT4IP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 C2RXIP<2:0>: ECAN2 Receive Data Ready Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 INT4IP<2:0>: External Interrupt 4 Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 INT3IP<2:0>: External Interrupt 3 Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 T9IP<2:0>: Timer9 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
DS70165A-page 152
Advance Information
dsPIC33F
REGISTER 6-36:

R/W-1 R/W-0 C2EIP<2:0> R/W-0 U-0 R/W-1 R/W-0 INT4IP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 C2EIP<2:0>: CAN2 Error Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 INT4IP<2:0>: External Interrupt 4 Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 INT3IP<2:0>: External Interrupt 3 Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 T9IP<2:0>: Timer9 Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
Advance Information
DS70165A-page 153
dsPIC33F
REGISTER 6-37:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 PWMIP<2:0> R/W-0 U-0 R/W-1 R/W-0 C2IP<2:0> bit 0

R/W-1 R/W-0 DCIEIP<2:0> R/W-0 U-0 R/W-1 R/W-0 QEIIP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 DCIEIP<2:0>: DCI Error Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 QEIIP<2:0>: QEI Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 PWMIP<2:0>: PWM Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 C2IP<2:0>: ECAN2 Event Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
DS70165A-page 154
Advance Information
dsPIC33F
REGISTER 6-38:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 PWMIP<2:0> R/W-0 U-0 R/W-1 R/W-0 C2IP<2:0> bit 0

R/W-1 R/W-0 DCIEIP<2:0> R/W-0 U-0 R/W-1 R/W-0 QEIIP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 DCIEIP<2:0>: DCI Error Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 QEIIP<2:0>: QEI Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 PWMIP<2:0>: PWM Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 C2IP<2:0>: CAN2 Event Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
Advance Information
DS70165A-page 155
dsPIC33F
REGISTER 6-39:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 DMA5IP<2:0> R/W-0 U-0 R/W-1 R/W-0 DCIIP<2:0> bit 0

R/W-1 R/W-0 FLTAIP<2:0> R/W-0 U-0 U-0 U-0 U-0 bit 8 R/W-0
Unimplemented: Read as 0 FLTAIP<2:0>: PWM Fault A Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 DMA5IP<2:0>: DMA Channel 5 Data Transfer Complete Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 DCIIP<2:0>: DCI Event Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 11-7 bit 6-4
bit 3 bit 2-0
DS70165A-page 156
Advance Information
dsPIC33F
REGISTER 6-40:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-11 bit 10-8 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 U1EIP<2:0> R/W-0 U-0 R/W-1 R/W-0 FLTBIP<2:0> bit 0

U-0 U-0 U-0 U-0 R/W-1 R/W-0 U2EIP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 U2EIP<2:0>: UART2 Error Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 U1EIP<2:0>: UART1 Error Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 FLTBIP<2:0>: PWM Fault B Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled
bit 7 bit 6-4
bit 3 bit 2-0
Advance Information
DS70165A-page 157
dsPIC33F
REGISTER 6-41:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 R/W-0 DMA7IP<2:0> R/W-0 U-0 R/W-1 R/W-0 DMA6IP<2:0> bit 0
IPC17: INTERRUPT PRIORITY CONTROL REGISTER 17(1)

R/W-1 R/W-0 C2TXIP<2:0> R/W-0 U-0 R/W-1 R/W-0 C1TXIP<2:0> bit 8 R/W-0 R/W-0
Unimplemented: Read as 0 C2TXIP<2:0>: ECAN2 Transmit Data Request Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 C1TXIP<2:0>: ECAN1 Transmit Data Request Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 DMA7IP<2:0>: DMA Channel 7 Data Transfer Complete Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled Unimplemented: Read as 0 DMA6IP<2:0>: DMA Channel 6 Data Transfer Complete Interrupt Priority bits 111 = Interrupt is priority 7 (highest priority interrupt) 001 = Interrupt is priority 1 000 = Interrupt source is disabled This register is not present in devices marked PS.
bit 11 bit 10-8
bit 7 bit 6-4
bit 3 bit 2-0
Note 1:
DS70165A-page 158
Advance Information
dsPIC33F
6.4
6.4.1
1. 2.
Interrupt Setup Procedures

INITIALIZATION
6.4.3
TRAP SERVICE ROUTINE
To configure an interrupt source: Set the NSTDIS bit (INTCON1<15>) if nested interrupts are not desired. Select the user-assigned priority level for the interrupt source by writing the control bits in the appropriate IPCx register. The priority level will depend on the specific application and type of interrupt source. If multiple priority levels are not desired, the IPCx register control bits for all enabled interrupt sources may be programmed to the same non-zero value. Note: At a device Reset, the IPCx registers are initialized, such that all user interrupt sources are assigned to priority level 4.
A Trap Service Routine (TSR) is coded like an ISR, except that the appropriate trap status flag in the INTCON1 register must be cleared to avoid re-entry into the TSR.
6.4.4
INTERRUPT DISABLE
All user interrupts can be disabled using the following procedure: 1. 2. Push the current SR value onto the software stack using the PUSH instruction. Force the CPU to priority level 7 by inclusive ORing the value OEh with SRL.
To enable user interrupts, the POP instruction may be used to restore the previous SR value. Note that only user interrupts with a priority level of 7 or less can be disabled. Trap sources (level 8-level 15) cannot be disabled. The DISI instruction provides a convenient way to disable interrupts of priority levels 1-6 for a fixed period of time. Level 7 interrupt sources are not disabled by the DISI instruction.
3. 4.
Clear the interrupt flag status bit associated with the peripheral in the associated IFSx register. Enable the interrupt source by setting the interrupt enable control bit associated with the source in the appropriate IECx register.
6.4.2
INTERRUPT SERVICE ROUTINE
The method that is used to declare an ISR and initialize the IVT with the correct vector address will depend on the programming language (i.e., C or assembler) and the language development toolsuite that is used to develop the application. In general, the user must clear the interrupt flag in the appropriate IFSx register for the source of interrupt that the ISR handles. Otherwise, the ISR will be re-entered immediately after exiting the routine. If the ISR is coded in assembly language, it must be terminated using a RETFIE instruction to unstack the saved PC value, SRL value and old CPU priority level.
Advance Information
DS70165A-page 159
dsPIC33F
NOTES:
DS70165A-page 160
Advance Information
dsPIC33F
7.0
Note:
DIRECT MEMORY ACCESS (DMA)

The DMA controller features eight identical data transfer channels. Note: Devices marked PS feature six data transfer channels instead of eight.
Each channel has its own set of control and status registers. Each DMA channel can be configured to copy data either from buffers stored in dual port DMA RAM to peripheral SFRs, or from peripheral SFRs to buffers in DMA RAM. The DMA controller supports the following features: Word or byte sized data transfers. Transfers from peripheral to DMA RAM or DMA RAM to peripheral. Indirect Addressing of DMA RAM locations with or without automatic post-increment. Peripheral Indirect Addressing In some peripherals, the DMA RAM read/write addresses may be partially derived from the peripheral. One-Shot Block Transfers Terminating DMA transfer after one block transfer. Continuous Block Transfers Reloading DMA RAM buffer start address after every block transfer is complete. Ping-Pong Mode Switching between two DMA RAM start addresses between successive block transfers, thereby filling two buffers alternately. Automatic or manual initiation of block transfers Each channel can select from 32 possible sources of data sources or destinations. For each DMA channel, a DMA interrupt request is generated when a block transfer is complete. Alternatively, an interrupt can be generated when half of the block has been filled.
Direct Memory Access (DMA) is a very efficient mechanism of copying data between peripheral SFRs (e.g., UART Receive register, Input Capture 1 buffer), and buffers or variables stored in RAM, with minimal CPU intervention. The DMA controller can automatically copy entire blocks of data without requiring the user software to read or write the peripheral Special Function Registers (SFRs) every time a peripheral interrupt occurs. The DMA controller uses a dedicated bus for data transfers and therefore, does not steal cycles from the code execution flow of the CPU. To exploit the DMA capability, the corresponding user buffers or variables must be located in DMA RAM. The dsPIC33F peripherals that can utilize DMA are listed in Table 7-1 along with their associated Interrupt Request (IRQ) numbers.
TABLE 7-1:
PERIPHERALS WITH DMA SUPPORT

IRQ Number 0 1 5 2 6 7 8 10 33 11 12 30 31 13 21 60 34 70 55 71
Peripheral INT0 Input Capture 1 Input Capture 2 Output Compare 1 Output Compare 2 Timer2 Timer3 SPI1 SPI2 UART1 Reception UART1 Transmission UART2 Reception UART2 Transmission ADC1 ADC2 DCI ECAN1 Reception ECAN1 Transmission ECAN2 Reception ECAN2 Transmission
Advance Information
DS70165A-page 161
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FIGURE 7-1: TOP LEVEL SYSTEM ARCHITECTURE USING A DEDICATED TRANSACTION BUS
Peripheral Indirect Address DMA Controller
DMA Control
SRAM
DMA RAM
PORT 1 PORT 2
DMA Channels
DMA Ready Peripheral 3

CPU DMA
SRAM X-Bus
DMA DS Bus CPU Peripheral DS Bus
CPU
DMA
CPU
DMA
CPU
Non-DMA Ready Peripheral
Note: CPU and DMA address buses are not shown for clarity.
7.1
DMAC Registers
7.2
DMAC Operating Modes
Each DMAC Channel x (x = 0, 1, 2, 3, 4, 5, 6 or 7) contains the following registers: A 16-bit DMA Channel Control register (DMAxCON) A 16-bit DMA Channel IRQ Select register (DMAxREQ) not present in devices marked PS A 16-bit DMA RAM Primary Start Address register (DMAxSTA) A 16-bit DMA RAM Secondary Start Address register (DMAxSTB) A 16-bit DMA Peripheral Address register (DMAxPAD) A 10-bit DMA Transfer Count register (DMAxCNT) An additional status register, DMACS, is common to all DMAC channels. It contains the DMA RAM and SFR write collision flags, XWCOLx and PWCOLx, respectively. The DMAxCON, DMAxREQ, DMAxPAD and DMAxCNT are all conventional read/write registers. Reads of DMAxSTA or DMAxSTB will read the contents of the DMA RAM Address register. Writes to DMAxSTA or DMAxSTB write to the registers. This allows the user to determine the DMA buffer pointer value (address) at any time. The interrupt flags (DMAxIF) are located in an IFSx register in the interrupt controller. The corresponding interrupt enable control bits (DMAxIE) are located in an IECx register in the interrupt controller, and the corresponding interrupt priority control bits (DMAxIP) are located in an IPCx register in the interrupt controller.
Each DMA channel has its own status and control register (DMAxCON) that is used to configure the channel to support the following operating modes: Word or byte size data transfers Peripheral to DMA RAM or DMA RAM to peripheral transfers Post-increment or static DMA RAM address One-shot or continuous block transfers Auto-switch between two start addresses after each transfer complete (Ping-Pong mode) Force a single DMA transfer (Manual mode) Each DMA channel can be independently configured to: Select from one of 128 DMA request sources Manually enable or disable the DMA channel Interrupt the CPU when the transfer is half or fully complete DMA channel interrupts are routed to the interrupt controller module and enabled through associated enable flags. The channel DMA RAM and peripheral write collision Faults are combined into a single DMAC error trap (Level 10) and are not maskable. Each channel has DMA RAM write collision (XWCOLx) and peripheral write collision (PWCOLx) status bits in the DMAC Status register (DMACS) to allow the DMAC error trap handler to determine the source of the Fault condition.
DS70165A-page 162
Advance Information
dsPIC33F
7.2.1 BYTE OR WORD TRANSFER
Each DMA channel can be configured to transfer words or bytes. As usual, words can only be moved to and from aligned (even) addresses. Bytes can be moved to or from any (legal) address. If the SIZE bit (DMAxCON<14>) is clear, word sized data is transferred. The LSb of the DMA RAM Address register (DMAxSTA or DMAxSTB) is ignored. If Post-Increment Addressing mode is enabled, the DMA RAM Address register is incremented by 2 after every word transfer. If the SIZE bit is set, byte sized data is transferred. If Post-Increment Addressing is enabled, the DMA RAM Address register is incremented by 1 after every byte transfer. Note: DMAxCNT value is independent of data transfer size (byte/word). If an address offset is required, a 1-bit left shift of the counter is required to generate the correct offset for (aligned) word transfers. Any DMA channel can be configured to operate in Peripheral Indirect Addressing mode by setting the AMODE<1:0> bits to 10. In this mode, the DMA RAM source or destination address is partially derived from the peripheral as well as the DMA Address registers. Each peripheral module has a pre-assigned peripheral indirect address which is logically ORed with the DMA Start Address register to obtain the effective DMA RAM address. The DMA RAM Start Address register value must be aligned to a power-of-two boundary. Note 1: Peripheral Indirect Addressing is not supported in devices marked PS. 2: Only the ECAN and A/D modules can utilize Peripheral Indirect Addressing.
7.2.3
DMA TRANSFER DIRECTION
Each DMA channel can be configured to transfer data from a peripheral to DMA RAM, or from DMA RAM to a peripheral. If the DIR bit (DMAxCON<13>) is clear, the reads occur from a peripheral SFR (using the DMA Peripheral Address register, DMAxPAD) and the writes are directed to the DMA RAM (using the DMA RAM Address register). If the DIR bit (DMAxCON<13>) is set, the reads occur from the DMA RAM (using the DMA RAM Address register) and the writes are directed to the peripheral (using the DMA Peripheral Address register, DMAxPAD).
7.2.2
ADDRESSING MODES
The DMAC supports Register Indirect and Register Indirect Post-Increment Addressing modes for DMA RAM addresses (source or destination). Each channel can select the DMA RAM Addressing mode independently. The Peripheral SFR is always accessed using Register Indirect Addressing. If the AMODE<1:0> bits (DMAxCON<5:4>) are set to 01, Register Indirect Addressing without Post-Increment is used, which implies that the DMA RAM address remains constant. Note: In devices marked PS, Register Indirect Addressing without Post-Increment is used if the AMODE bits (DMAxCON<5:4>) are set.
7.2.4
NULL DATA PERIPHERAL WRITE MODE
If the AMODE<1:0> bits are clear, DMA RAM is accessed using Register Indirect Addressing with Post-Increment, which means the DMA RAM address will be incremented after every access. Note: In devices marked PS, Register Indirect Addressing with Post-Increment is used if the AMODE bits (DMAxCON<5:4>) are clear.
If the NULLW bit (DMAxCON<11>) is set, a null data write to the peripheral SFR is performed in addition to a data transfer from the peripheral SFR to DMA RAM (assuming the DIR bit is clear). This mode is most useful in applications in which sequential reception of data is required without any data transmission. Note: The Null Data Peripheral Write mode is not supported in devices marked PS.
Advance Information
DS70165A-page 163
dsPIC33F
7.2.5 CONTINUOUS OR ONE-SHOT OPERATION
Each DMA channel can be configured for One-Shot or Continuous mode operation. If MODE<0> (DMAxCON<0>) is clear, the channel operates in Continuous mode. Note: The MODE<0> bit is DMAxCON<8> in devices marked PS. The manual DMA transfer function is a one-time event. The DMA channel always reverts to normal operation (i.e., based on hardware DMA requests) after a forced (manual) transfer. This mode provides the user a straightforward method of initiating a block transfer. For example, using Manual mode to transfer the first data element into a serial peripheral allows subsequent data within the buffer to be moved automatically by the DMAC using a transmit buffer empty DMA request.
When all data has been moved (i.e., buffer end has been detected), the channel is automatically reconfigured for subsequent use. During the last data transfer, the next Effective Address generated will be the original start address (from the selected DMAxSTA or DMAxSTB register). If the HALF bit (DMAxCON<12>) is clear, the transfer complete interrupt flag (DMAxIF) is set. If the HALF bit is set, DMAxIF will not be set at this time and the channel will remain enabled. If MODE<0> is set, the channel operates in One-Shot mode. When all data has been moved (i.e., buffer end has been detected), the channel is automatically disabled. During the last data transfer, no new Effective Address is generated and the DMA RAM Address register retains the last DMA RAM address that was accessed. If the HALF bit is clear, the DMAxIF bit is set. If the HALF bit is set, the DMAxIF will not be set at this time and the channel is automatically disabled.
7.2.8
DMA REQUEST SOURCE SELECTION
Each DMA channel can select between one of 128 interrupt sources to be a DMA request for that channel, based on the contents of the IRQSEL<6:0> bits (DMAxREQ<6:0>. The available interrupt sources are device dependent. Please refer to Table 7-1 for IRQ numbers associated with each of the interrupt sources that can generate a DMA transfer. Note: The IRQSEL<6:0> bits are DMAxCON<6:0> in devices marked PS.
7.3
DMA Interrupts and Traps
7.2.6
PING-PONG MODE
When the MODE<1> bit (DMAxCON<1>) is set by the user, Ping-Pong mode is enabled. Note: The MODE<1> bit is DMAxCON<9> in devices marked PS.
In this mode, successive block transfers alternately select DMAxSTA and DMAxSTB as the DMA RAM start address. In this way, a single DMA channel can be used to support two buffers of the same length in DMA RAM. Using this technique maximizes data throughput by allowing the CPU time to process one buffer while the other is being loaded.
Each DMA channel can generate an independent block transfer complete (HALF = 0) or half block transfer complete (HALF = 1) interrupt. Every DMA channel has its own interrupt vector and therefore, does not use the interrupt vector of the peripheral to which it is assigned. If a peripheral contains multi-word buffers, the buffering function must be disabled in the peripheral in order to use DMA. DMA interrupt requests are only generated by data transfers and not by peripheral error conditions. The DMA controller can also react to peripheral and DMA RAM write collision error conditions through a nonmaskable CPU trap event. A DMA error trap is generated in either of the following Fault conditions: DMA RAM data write collision between the CPU and a peripheral - This condition occurs when the CPU and a peripheral attempt to write to the same DMA RAM address simultaneously Peripheral SFR data write collision between the CPU and the DMA controller - This condition occurs when the CPU and the DMA controller attempt to write to the same peripheral SFR simultaneously The channel DMA RAM and peripheral write collision Faults are combined into a single DMAC error trap (Level 10) and are nonmaskable. Each channel has DMA RAM Write Collision (XWCOLx) and Peripheral Write Collision (PWCOLx) status bits in the DMAC Status register (DMACS) to allow the DMAC error trap handler to determine the source of the Fault condition.
7.2.7
MANUAL TRANSFER MODE
A manual DMA request can be created by setting the FORCE bit (DMAxREQ<15>) in software. If already enabled, the corresponding DMA channel executes a single data element transfer rather than a block transfer. Note: The FORCE bit is DMAxCON<7> in devices marked PS.
The FORCE bit is cleared by hardware when the forced DMA transfer is complete and cannot be cleared by the user. Any attempt to set this bit prior to completion of a DMA request that is underway will have no effect.
DS70165A-page 164
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7.4 DMA Initialization Example
The following is a DMA initialization example:
EXAMPLE 7-1:
DMACS0 =
DMA SAMPLE INITIALIZATION METHOD

0;
// Clear all DMA controller status bits to a known state
// Set up DMA Channel 0: Word mode, Read from Peripheral & Write to DMA; Interrupt when all the data has been moved; Indirect with post-increment; Continuous mode with Ping-Pong Disabled; Automatic DMA transfer based on peripheral Interrupts; DMA Interrupt Request select set up to ADC1 module IRQ number DMA0CON = 0x000D; // Set up offset into DMA RAM so that the buffer that collects A/D result data starts at the base of DMA RAM DMA0STA = 0x0000;
// DMA0PAD should be loaded with the address of the A/D conversion result register DMA0PAD = (volatile unsigned int) &ADC1BUF0; // DMA transfer of 256 words of data DMA0CNT = 0x0100 ; //Clear the DMA0 Interrupt Flag IFS0bits.DMA0IF = 0; //Enable DMA0 Interrupts IEC0bits.DMA0IE = 1; //Enable the DMA0 Channel DMA0CONbits.CHEN = 1;
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dsPIC33F
REGISTER 7-1:
R/W-0 CHEN bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 R/W-0 R/W-0 U-0 U-0 R/W-0
DMAxCON: DMA CHANNEL x CONTROL REGISTER

R/W-0 SIZE R/W-0 DIR R/W-0 HALF R/W-0 NULLW U-0 U-0 U-0 bit 8 R/W-0 bit 0
AMODE<1:0>
MODE<1:0>
CHEN: Channel Enable bit 1 = Channel enabled 0 = Channel disabled SIZE: Data Transfer Size bit 1 = Byte 0 = Word DIR: Transfer Direction bit (source/destination bus select) 1 = Read from DMA RAM address, write to peripheral address 0 = Read from peripheral address, write to DMA RAM address HALF: Early Block Transfer Complete Interrupt Select bit 1 = Initiate block transfer complete interrupt when half of the data has been moved 0 = Initiate block transfer complete interrupt when all of the data has been moved NULLW: Null Data Peripheral Write Mode Select bit 1 = Null data write to peripheral in addition to DMA RAM write (DIR bit must also be clear) 0 = Normal operation Unimplemented: Read as 0 AMODE<1:0>: DMA Channel Operating Mode Select bits 11 = Reserved (will act as Peripheral Indirect Addressing mode) 10 = Peripheral Indirect Addressing mode 01 = Register Indirect without Post-Increment mode 00 = Register Indirect with Post-Increment mode Unimplemented: Read as 0 MODE<1:0>: DMA Channel Operating Mode Select bits 11 = One-Shot, Ping-Pong modes enabled (one block transfer from/to each DMA RAM buffer) 10 = Continuous, Ping-Pong modes enabled 01 = One-Shot, Ping-Pong modes disabled 00 = Continuous, Ping-Pong modes disabled
bit 14
bit 13
bit 12
bit 11
bit 10-6 bit 5-4
bit 3-2 bit 1-0
DS70165A-page 166
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REGISTER 7-2:
R/W-0 CHEN bit 15 R/W-0 FORCE bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown
(1)
DMAxCON: DMA CHANNEL x CONTROL REGISTER (DEVICES MARKED PS)

R/W-0 SIZE R/W-0 DIR R/W-0 HALF R/W-0 AMODE U-0 U-0 U-0 bit 8 R/W-0 R/W-0
(2)
MODE<1:0>
R/W-0
(2)
R/W-0
(2)
R/W-0
(2)
R/W-0
(2)
R/W-0
(2)
IRQSEL6
IRQSEL5
IRQSEL4
IRQSEL3
IRQSEL2
IRQSEL1
IRQSEL0(2) bit 0
CHEN: Channel Enable bit 1 = Channel enabled 0 = Channel disabled SIZE: Data Transfer Size bit 1 = Byte 0 = Word DIR: Transfer Direction bit (source/destination bus select) 1 = Read from DMA RAM address, write to peripheral address 0 = Read from peripheral address, write to DMA RAM address HALF: Early Block Transfer Complete Interrupt Select bit 1 = Initiate block transfer complete interrupt when half of the data has been moved 0 = Initiate block transfer complete interrupt when all of the data has been moved AMODE: DMA RAM Addressing Mode Select bit 1 = Register Indirect without Post-Increment mode 0 = Register Indirect with Post-Increment mode Unimplemented: Read as 0 MODE<1:0>: DMA Channel Operating Mode Select bits 11 = One-Shot, Ping-Pong modes enabled (one block transfer from/to each DMA RAM buffer) 10 = Continuous, Ping-Pong modes enabled 01 = One-Shot, Ping-Pong modes disabled 00 = Continuous, Ping-Pong modes disabled FORCE: Force DMA Transfer bit(1) 1 = Force a single DMA transfer (Manual mode) 0 = Automatic DMA transfer initiation by DMA request IRQSEL<6:0>: DMA Peripheral IRQ Number Select bits(2) 0000000-1111111 = DMAIRQ0-DMAIRQ127 selected to be Channel DMAREQ The FORCE bit cannot be cleared by the user. The FORCE bit is cleared by hardware when the forced DMA transfer is complete. Please see Table 6-1 for a complete listing of IRQ numbers for all interrupt sources.
bit 14
bit 13
bit 12
bit 11
bit 10 bit 9-8
bit 7
bit 6-0
Note 1: 2:
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dsPIC33F
REGISTER 7-3:
R/W-0 FORCE(2) bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 IRQSEL6(3) R/W-0 IRQSEL5(3) R/W-0 U-0 U-0 IRQSEL2(3) R/W-0 IRQSEL1(3)
DMAxREQ: DMA CHANNEL x IRQ SELECT REGISTER(1)

U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 IRQSEL0(3) bit 0
IRQSEL4(3) IRQSEL3(3)
FORCE: Force DMA Transfer bit(2) 1 = Force a single DMA transfer (Manual mode) 0 = Automatic DMA transfer initiation by DMA request Unimplemented: Read as 0 IRQSEL<6:0>: DMA Peripheral IRQ Number Select bits(3) 0000000-1111111 = DMAIRQ0-DMAIRQ127 selected to be Channel DMAREQ This register is not present in devices marked PS. The FORCE bit cannot be cleared by the user. The FORCE bit is cleared by hardware when the forced DMA transfer is complete. Please see Table 6-1 for a complete listing of IRQ numbers for all interrupt sources.
bit 14-7 bit 6-0
Note 1: 2: 3:
DS70165A-page 168
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REGISTER 7-4:
R/W-0 bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 Note 1: W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0
DMAxSTA: DMA CHANNEL x RAM START ADDRESS REGISTER A(1)

R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 bit 8 R/W-0 bit 0 STA<15:8>
STA<7:0>
STA<15:0>: Primary DMA RAM Start Address bits (source or destination) A read of this address register will return the current contents of the DMA RAM Address register, not the contents written to STA<15:0>. If the channel is enabled (i.e., active), writes to this register may result in unpredictable behavior of the DMA channel and should be avoided.
REGISTER 7-5:
R/W-0 bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 Note 1:
DMAxSTB: DMA CHANNEL x RAM START ADDRESS REGISTER B(1)

R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 bit 8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 bit 0 STB<15:8>
STB<7:0>
W = Writable bit 1 = Bit is set
U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown
STB<15:0>: Secondary DMA RAM Start Address bits (source or destination) A read of this address register will return the current contents of the DMA RAM Address register, not the contents written to STB<15:0>. If the channel is enabled (i.e., active), writes to this register may result in unpredictable behavior of the DMA channel and should be avoided.
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DS70165A-page 169
dsPIC33F
REGISTER 7-6:
R/W-0 bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 Note 1: W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0
DMAxPAD: DMA CHANNEL x PERIPHERAL ADDRESS REGISTER(1)

R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 bit 8 R/W-0 bit 0 PAD<15:8>
PAD<7:0>
PAD<15:0>: Peripheral Address Register bits If the channel is enabled (i.e., active), writes to this register may result in unpredictable behavior of the DMA channel and should be avoided.
REGISTER 7-7:
U-0 bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-10 bit 9-0 Note 1: 2:
DMAxCNT: DMA CHANNEL x TRANSFER COUNT REGISTER(1)

U-0 U-0 U-0 U-0 U-0 U-0 R/W-0 CNT<9:8>(2) bit 8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 bit 0
CNT<7:0>
Unimplemented: Read as 0 CNT<9:0>: DMA Transfer Count Register bits(2) If the channel is enabled (i.e., active), writes to this register may result in unpredictable behavior of the DMA channel and should be avoided. Number of DMA transfers = CNT<9:0> + 1. In devices marked PS, number of DMA transfers = CNT<9:8>.
DS70165A-page 170
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REGISTER 7-8:
R/C-0 PWCOL7 bit 15 R/C-0 XWCOL7 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/C-0 XWCOL6 R/C-0 XWCOL5 R/C-0 XWCOL4 R/C-0 XWCOL3 R/C-0 XWCOL2 R/C-0 XWCOL1
DMACS0: DMA CONTROLLER STATUS REGISTER 0

R/C-0 PWCOL6 R/C-0 PWCOL5 R/C-0 PWCOL4 R/C-0 PWCOL3 R/C-0 PWCOL2 R/C-0 PWCOL1 R/C-0 PWCOL0 bit 8 R/C-0 XWCOL0 bit 0
PWCOL7: Channel 7 Peripheral Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected PWCOL6: Channel 6 Peripheral Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected PWCOL5: Channel 5 Peripheral Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected PWCOL4: Channel 4 Peripheral Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected PWCOL3: Channel 3 Peripheral Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected PWCOL2: Channel 2 Peripheral Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected PWCOL1: Channel 1 Peripheral Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected PWCOL0: Channel 0 Peripheral Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected XWCOL7: Channel 7 DMA RAM Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected XWCOL6: Channel 6 DMA RAM Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected XWCOL5: Channel 5 DMA RAM Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected XWCOL4: Channel 4 DMA RAM Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
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DS70165A-page 171
dsPIC33F
REGISTER 7-8:
bit 3
DMACS0: DMA CONTROLLER STATUS REGISTER 0 (CONTINUED)
XWCOL3: Channel 3 DMA RAM Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected XWCOL2: Channel 2 DMA RAM Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected XWCOL1: Channel 1 DMA RAM Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected XWCOL0: Channel 0 DMA RAM Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected
bit 2
bit 1
bit 0
DS70165A-page 172
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REGISTER 7-9:
U-0 bit 15 R-0 PPST7 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-12 bit 11-8 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R-0 PPST6 R-0 PPST5 R-0 PPST4 R-0 PPST3 R-0 PPST2 R-0 PPST1 R-0 PPST0 bit 0
DMACS1: DMA CONTROLLER STATUS REGISTER 1

U-0 U-0 U-0 R-1 R-1 R-1 R-1 bit 8 LSTCH<3:0>
Unimplemented: Read as 0 LSTCH<3:0>: Last DMA Channel Active bits 1111 = No DMA transfer has occurred since system Reset 1110-1000 = Reserved 0111 = Last data transfer was by DMA Channel 7 0110 = Last data transfer was by DMA Channel 6 0101 = Last data transfer was by DMA Channel 5 0100 = Last data transfer was by DMA Channel 4 0011 = Last data transfer was by DMA Channel 3 0010 = Last data transfer was by DMA Channel 2 0001 = Last data transfer was by DMA Channel 1 0000 = Last data transfer was by DMA Channel 0 PPST7: Channel 7 Ping-Pong Mode Status Flag bit 1 = DMA7STB register selected 0 = DMA7STA register selected PPST6: Channel 6 Ping-Pong Mode Status Flag bit 1 = DMA7STB register selected 0 = DMA7STA register selected PPST5: Channel 5 Ping-Pong Mode Status Flag bit 1 = DMA7STB register selected 0 = DMA7STA register selected PPST4: Channel 4 Ping-Pong Mode Status Flag bit 1 = DMA7STB register selected 0 = DMA7STA register selected PPST3: Channel 3 Ping-Pong Mode Status Flag bit 1 = DMA7STB register selected 0 = DMA7STA register selected PPST2: Channel 2 Ping-Pong Mode Status Flag bit 1 = DMA7STB register selected 0 = DMA7STA register selected PPST1: Channel 1 Ping-Pong Mode Status Flag bit 1 = DMA7STB register selected 0 = DMA7STA register selected PPST0: Channel 0 Ping-Pong Mode Status Flag bit 1 = DMA7STB register selected 0 = DMA7STA register selected
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Advance Information
DS70165A-page 173
dsPIC33F
REGISTER 7-10:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-14 bit 13 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 R/C-0 XWCOL5 R/C-0 XWCOL4 R/C-0 XWCOL3 R/C-0 XWCOL2 R/C-0 XWCOL1
DMACS: DMA CONTROLLER STATUS REGISTER (DEVICES MARKED PS)

U-0 R/C-0 PWCOL5 R/C-0 PWCOL4 R/C-0 PWCOL3 R/C-0 PWCOL2 R/C-0 PWCOL1 R/C-0 PWCOL0 bit 8 R/C-0 XWCOL0 bit 0
Unimplemented: Read as 0 PWCOL5: Channel 5 Peripheral Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected PWCOL4: Channel 4 Peripheral Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected PWCOL3: Channel 3 Peripheral Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected PWCOL2: Channel 2 Peripheral Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected PWCOL1: Channel 1 Peripheral Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected PWCOL0: Channel 0 Peripheral Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected Unimplemented: Read as 0 XWCOL5: Channel 5 DMA RAM Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected XWCOL4: Channel 4 DMA RAM Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected XWCOL3: Channel 3 DMA RAM Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected XWCOL2: Channel 2 DMA RAM Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected XWCOL1: Channel 1 DMA RAM Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected XWCOL0: Channel 0 DMA RAM Write Collision Flag bit 1 = Write collision detected 0 = No write collision detected
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7-6 bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
DS70165A-page 174
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dsPIC33F
REGISTER 7-11:
R-0 bit 15 R-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 Note 1: W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R-0 R-0 R-0 R-0 R-0 R-0 R-0 bit 0
DSADR: MOST RECENT DMA RAM ADDRESS(1)

R-0 R-0 R-0 R-0 R-0 R-0 R-0 bit 8 DSADR<15:8>
DSADR<7:0>
DSADR<15:0>: Most Recent DMA RAM Address Accessed by DMA Controller bits This register is not present in devices marked PS.
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DS70165A-page 175
dsPIC33F
NOTES:
DS70165A-page 176
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dsPIC33F
8.0
Note:
OSCILLATOR CONFIGURATION
The dsPIC33F oscillator system provides: Various external and internal oscillator options as clock sources An on-chip PLL to scale the internal operating frequency to the required system clock frequency
The internal FRC oscillator can also be used with the PLL, thereby allowing full-speed operation without any external clock generation hardware Clock switching between various clock sources Programmable clock postscaler for system power savings A Fail-Safe Clock Monitor (FSCM) that detects clock failure and takes fail-safe measures A Clock Control register (OSCCON) Nonvolatile Configuration bits for main oscillator selection. A simplified diagram of the oscillator system is shown in Figure 8-1.
FIGURE 8-1:
dsPIC33F OSCILLATOR SYSTEM DIAGRAM
Primary Oscillator OSC2
dsPIC33F
XT, HS, EC XTPLL, HSPLL, ECPLL, FRCPLL DOZE<2:0>
/DOZE
OSC1
PLL
CPU
FRC Oscillator
/FRCDIIV
FRC
Peripherals
FRCDIV<2:0>
LPRC Oscillator Secondary Oscillator SOSCO SOSCEN Enable Oscillator
LPRC
SOSC
SOSCI
Clock Control Logic Fail-Safe Clock Monitor
WDT, PWRT Clock Source Option for other Modules
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DS70165A-page 177
dsPIC33F
8.1 CPU Clocking System
8.1.2 SYSTEM CLOCK SELECTION
There are seven system clock options provided by the dsPIC33F: FRC Oscillator FRC Oscillator with PLL Primary (XT, HS or EC) Oscillator Primary Oscillator with PLL Secondary (LP) Oscillator LPRC Oscillator FRC Oscillator with postscaler The oscillator source that is used at a device Power-on Reset event is selected using Configuration bit settings. The oscillator Configuration bit settings are located in the Configuration registers in the program memory. (Refer to Section 24.1 Configuration Bits for further details.) The Initial Oscillator Selection Configuration bits, FNOSC<2:0> (FOSCSEL<2:0>), and the Primary Oscillator Mode Select Configuration bits, POSCMD<1:0> (FOSC<1:0>), select the oscillator source that is used at a Power-on Reset. The FRC primary oscillator is the default (unprogrammed) selection. The Configuration bits allow users to choose between twelve different clock modes, shown in Table 8-1. If an oscillator mode using the Phase Locked Loop (PLL) is used, and if FIN is the frequency of the external clock, external crystal or internal FRC oscillator, then the oscillator output frequency, FOSC, is given by:
8.1.1
SYSTEM CLOCK OPTIONS
The FRC (Fast RC) internal oscillator runs at a nominal frequency of 7.37 MHz. The user software can tune the FRC frequency. User software can optionally specify a factor by which the FRC clock frequency is divided. The primary oscillator can use one of the following as its clock source: 1. XT (Crystal): Crystals and ceramic resonators in the range of 3 MHz to 10 MHz. The crystal is connected to the OSC1 and OSC2 pins. HS (High-Speed Crystal): Crystals in the range of 10 MHz to 40 MHz. The crystal is connected to the OSC1 and OSC2 pins. EC (External Clock): External clock signal in the range of 0.8 MHz to 64 MHz. The external clock signal is directly applied to the OSC1 pin.
EQUATION 8-1:
OSCILLATOR OUTPUT FREQUENCY
2.
FOSC = FIN * M/(N1 * N2) = FIN * (PLLDIV + 2)/((PLLPRE + 2) * (PLLPOST + 1)) Instruction execution speed or device operating frequency, FCY, is given by:
3.
EQUATION 8-2:
The secondary (LP) oscillator is designed for low power and uses a 32.768 kHz crystal or ceramic resonator. The LP oscillator uses the SOSCI and SOSCO pins. The LPRC (Low-Power RC) internal oscIllator runs at a nominal frequency of 32.768 kHz. Another scaled reference clock is used by the Watchdog Timer (WDT) and Fail-Safe Clock Monitor (FSCM). The clock signals generated by the FRC and primary oscillators can be optionally applied to an on-chip Phase Locked Loop (PLL) to provide a wide range of output frequencies for device operation. The input to the PLL can be in the range of 1.6 MHz to 16 MHz, and the PLL phase detector input divider, PLL multiplier ratio and PLL Voltage Controlled Oscillator (VCO) can be individually configured by user software to generate output frequencies in the range of 25 MHz to 160 MHz. The output of the oscillator (or the output of the PLL if a PLL mode has been selected) is divided by 2 to generate the device instruction clock (FCY). FCY defines the operating speed of the device and speeds up to 40 MHz are supported by the dsPIC33F architecture.
DEVICE OPERATING FREQUENCY

FCY = FOSC/2
Whereas the PLLDIV<8:0> bits (PLLFBD<8:0>) are the PLL feedback divisor (PLL multiplier), PLLPRE<4:0> bits (CLKDIV<4:0>) are the PLL phase detector input divide factor and PLLPOST<1:0> bits (CLKDIV<7:6>) are the PLL Voltage Controlled Oscillator (VCO) output divide factor. Note: In devices marked PS, FCY = FOSC/4.
For example, if the XT with PLL mode, with a crystal frequency of 10 MHz is used, and if PLLDIV<8:0> = 30, PLLPRE<4:0> = 0 and PLLPOST<1:0> = 0, then:
EQUATION 8-3:
XT WITH PLL MODE EXAMPLE
FCY = 10000000 * (30 + 2)/((0 + 2) * (0 + 2)) = 80 MHz/2 = 40 MIPS A block diagram of the PLL is shown in Figure 8-2. The internal LPRC oscillator frequency can also be optionally divided by an integral factor specified by the FRCDIV<2:0> (CLKDIV<10:8) bits to obtain a reference clock source.
DS70165A-page 178
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dsPIC33F
FIGURE 8-2: dsPIC33F PLL BLOCK DIAGRAM
0.8-8.0 MHz Here
100-200 MHz Here
Source
Divisor
VCO Divisor
Divisor
XTAL or Internal RC
Divide by 2-32 Divide by 2-514
Divide by 2, 4, 8(1)
Note 1: Divide by 1, 2, 4 in devices marked PS.
TABLE 8-1:
CONFIGURATION BIT VALUES FOR CLOCK SELECTION

Oscillator Source Internal Internal Internal Secondary Primary Primary Primary Primary Primary Primary Internal Internal POSCMD<1:0> 11 11 11 11 10 01 00 10 01 00 11 11 FNOSC<2:0> 111 110 101 100 011 011 011 010 010 010 001 000 1 1 1 1 Note 1, 2 1 1 1
Oscillator Mode Fast RC Oscillator (FRC) Reserved Low-Power RC Oscillator (LPRC) Secondary (Timer1) Oscillator (SOSC) Primary Oscillator (HS) with PLL (HSPLL) Primary Oscillator (XT) with PLL (XTPLL) Primary Oscillator (EC) with PLL (ECPLL) Primary Oscillator (HS) Primary Oscillator (XT) Primary Oscillator (EC) Fast RC Oscillator with PLL (FRCPLL) Reserved Note 1: 2:
OSC2 pin function is determined by the OSCIOFNC Configuration bit. This is the default oscillator mode for an unprogrammed (erased) device.
Advance Information
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dsPIC33F
REGISTER 8-1:
U-0 bit 15 R/W-0 CLKLOCK bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-12 y = Value set from Configuration bits on POR W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 R-0 LOCK U-0 R/C-0 CF U-0 R/W-0 LPOSCEN
OSCCON: OSCILLATOR CONTROL REGISTER

R-0 R-0 COSC<2:0> R-0 U-0 R/W-y R/W-y NOSC<2:0> bit 8 R/W-0 OSWEN bit 0 R/W-y
Unimplemented: Read as 0 COSC<2:0>: Current Oscillator Selection bits (read-only) 000 = Fast RC oscillator (FRC) 001 = Fast RC oscillator (FRC) with PLL 010 = Primary oscillator (XT, HS, EC) 011 = Primary oscillator (XT, HS, EC) with PLL 100 = Secondary oscillator (SOSC) 101 = Low-Power RC oscillator (LPRC) 110 = Reserved 111 = Fast RC oscillator (FRC) Unimplemented: Read as 0 NOSC<2:0>: New Oscillator Selection bits 000 = Reserved 001 = Fast RC oscillator (FRC) with PLL 010 = Primary oscillator (XT, HS, EC) 011 = Primary oscillator (XT, HS, EC) with PLL 100 = Secondary oscillator (SOSC) 101 = Low-Power RC oscillator (LPRC) 110 = Reserved 111 = Fast RC oscillator (FRC) CLKLOCK: Clock Lock Enable bit 1 = If (FCKSM1 = 1), then clock and PLL configurations are locked. If (FCKSM1 = 0), then clock and PLL configurations may be modified. 0 = Clock and PLL selections are not locked, configurations may be modified Unimplemented: Read as 0 LOCK: PLL Lock Status bit (read-only) 1 = Indicates that PLL is in lock, or PLL start-up timer is satisfied 0 = Indicates that PLL is out of lock, start-up timer is in progress or PLL is disabled Unimplemented: Read as 0 CF: Clock Fail Detect bit (read/clear by application) 1 = FSCM has detected clock failure 0 = FSCM has not detected clock failure Unimplemented: Read as 0 LPOSCEN: Secondary (LP) Oscillator Enable bit 1 = Enable secondary oscillator 0 = Disable secondary oscillator OSWEN: Oscillator Switch Enable bit 1 = Request oscillator switch to selection specified by NOSC<2:0> bits 0 = Oscillator switch is complete
bit 11 bit 10-8
bit 7
bit 6 bit 5
bit 4 bit 3
bit 2 bit 1
bit 0
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Advance Information
dsPIC33F
REGISTER 8-2:
R/W-0 ROI bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 y = Value set from Configuration bits on POR W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-1 U-0 R/W-0 R/W-0 R/W-0 PLLPRE<4:0> bit 0 R/W-0
CLKDIV: CLOCK DIVISOR REGISTER

R/W-0 R/W-0 DOZE<2:0>(3) R/W-0 R/W-0 DOZEN(1) R/W-1 R/W-0 FRCDIV<2:0> bit 8 R/W-0 R/W-0
PLLPOST<1:0>(2)
ROI: Recover on Interrupt bit 1 = Interrupts will clear the DOZEN bit and the processor clock/peripheral clock ratio is set to 1:1 0 = Interrupts have no effect on the DOZEN bit DOZE<2:0>: Processor Clock Reduction Select bits(3) 000 = FCY/1 (default) 001 = FCY/2 010 = FCY/4 011 = FCY/8 100 = FCY/16 101 = FCY/32 110 = FCY/64 111 = FCY/128 DOZEN: DOZE Mode Enable bit(1) 1 = DOZE<2:0> field specifies the ratio between the peripheral clocks and the processor clocks 0 = Processor clock/peripheral clock ratio forced to 1:1 FRCDIV<2:0>: Internal Fast RC Oscillator Postscaler bits 000 = FRC divide by 2 001 = FRC divide by 4 010 = FRC divide by 8 011 = FRC divide by 16 (default) 100 = FRC divide by 32 101 = FRC divide by 64 110 = FRC divide by 128 111 = FRC divide by 256 PLLPOST<1:0>: PLL VCO Output Divider Select bits (also denoted as N2, PLL postscaler)(2) 00 = Output/2 (output/1 in devices marked PS) 01 = Output/4 (output/2 in devices marked PS) 10 = Reserved (defaults to output/2) 11 = Output/8 (output/4 in devices marked PS) Unimplemented: Read as 0 PLLPRE<4:0>: PLL Phase Detector Input Divider bits (also denoted as N1, PLL prescaler) 00000 = Input/2 00001 = Input/3 11111 = Input/33 This bit is cleared when the ROI bit is set and an interrupt occurs. In devices marked PS, the Reset state of the PLLPOST<1:0> bits is 00. In devices marked PS, the available clock reduction ratios are 1:1, 1:2, 1:3, 1:4, 1:5, 1:6, 1:7 and 1:8.
bit 14-12
bit 11
bit 10-8
bit 7-6
bit 5 bit 4-0
Note 1: 2: 3:
Advance Information
DS70165A-page 181
dsPIC33F
REGISTER 8-3:
U-0 bit 15 R/W-0(1) bit 7 Legend: R = Readable bit -n = Value at POR bit 15-9 bit 8-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0(1) R/W-1(1) R/W-1(1) R/W-0(1) R/W-0(1) R/W-0(1)
PLLFBD: PLL FEEDBACK DIVISOR REGISTER

U-0 U-0 U-0 U-0 U-0 U-0 R/W-0(1) PLLDIV<8> bit 8 R/W-0(1) bit 0
PLLDIV<7:0>
Unimplemented: Read as 0 PLLDIV<8:0>: PLL Feedback Divisor bits (also denoted as M, PLL multiplier) 000000000 = 2 000000001 = 3 000000010 = 4 1111111111 = 514 In devices marked PS, the Reset state of the PLLFBD register is 0x0000.
Note 1:
DS70165A-page 182
Advance Information
dsPIC33F
REGISTER 8-4:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-6 bit 5-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 R/W-0 TUN5 R/W-0 TUN4 R/W-0 TUN3 R/W-0 TUN2 R/W-0 TUN1
OSCTUN: FRC OSCILLATOR TUNING REGISTER

U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 TUN0 bit 0
Unimplemented: Read as 0 TUN<5:0>: FRC Oscillator Tuning bits 011111 = Maximum frequency deviation 000110 = 000001 = 000000 = Center frequency (7.37 kHz nominal) 111111 = 100001 = 100000 = Minimum frequency deviation
Advance Information
DS70165A-page 183
dsPIC33F
8.2 Clock Switching Operation
Applications are free to switch between any of the four clock sources (Primary, LP, FRC and LPRC) under software control at any time. To limit the possible side effects that could result from this flexibility, dsPIC33F devices have a safeguard lock built into the switch process. Note: Primary Oscillator mode has three different submodes (XT, HS and EC) which are determined by the POSCMD<1:0> Configuration bits. While an application can switch to and from Primary Oscillator mode in software, it cannot switch between the different primary submodes without reprogramming the device. Once the basic sequence is completed, the system clock hardware responds automatically as follows: 1. The clock switching hardware compares the COSC status bits with the new value of the NOSC control bits. If they are the same, then the clock switch is a redundant operation. In this case, the OSWEN bit is cleared automatically and the clock switch is aborted. If a valid clock switch has been initiated, the LOCK (OSCCON<5>) and the CF (OSCCON<3>) status bits are cleared. The new oscillator is turned on by the hardware if it is not currently running. If a crystal oscillator must be turned on, the hardware waits until the Oscillator Start-up Timer (OST) expires. If the new source is using the PLL, the hardware waits until a PLL lock is detected (LOCK = 1). The hardware waits for 10 clock cycles from the new clock source and then performs the clock switch. The hardware clears the OSWEN bit to indicate a successful clock transition. In addition, the NOSC bit values are transferred to the COSC status bits. The old clock source is turned off at this time, with the exception of LPRC (if WDT or FSCM are enabled) or LP (if LPOSCEN remains set). Note 1: The processor continues to execute code throughout the clock switching sequence. Timing sensitive code should not be executed during this time. 2: Direct clock switches between any primary oscillator mode with PLL and FRCPLL mode are not permitted. This applies to clock switches in either direction. In these instances, the application must switch to FRC mode as a transition clock source between the two PLL modes.
2.
3.
8.2.1
ENABLING CLOCK SWITCHING
4.
To enable clock switching, the FCKSM1 Configuration bit in the Configuration register must be programmed to 0. (Refer to Section 24.1 Configuration Bits for further details.) If the FCKSM1 Configuration bit is unprogrammed (1), the clock switching function and Fail-Safe Clock Monitor function are disabled. This is the default setting. The NOSC control bits (OSCCON<10:8>) do not control the clock selection when clock switching is disabled. However, the COSC bits (OSCCON<14:12>) reflect the clock source selected by the FNOSC Configuration bits. The OSWEN control bit (OSCCON<0>) has no effect when clock switching is disabled. It is held at 0 at all times.
5.
6.
8.2.2
OSCILLATOR SWITCHING SEQUENCE
At a minimum, performing a clock switch requires this basic sequence: 1. If desired, read the COSC bits (OSCCON<14:12>) to determine the current oscillator source. Perform the unlock sequence to allow a write to the OSCCON register high byte. Write the appropriate value to the NOSC control bits (OSCCON<10:8>) for the new oscillator source. Perform the unlock sequence to allow a write to the OSCCON register low byte. Set the OSWEN bit to initiate the oscillator switch.
8.3
Fail-Safe Clock Monitor (FSCM)
2. 3.
The Fail-Safe Clock Monitor (FSCM) allows the device to continue to operate even in the event of an oscillator failure. The FSCM function is enabled by programming. If the FSCM function is enabled, the LPRC internal oscillator runs at all times (except during Sleep mode) and is not subject to control by the Watchdog Timer. In the event of an oscillator failure, the FSCM generates a clock failure trap event and switches the system clock over to the FRC oscillator. Then the application program can either attempt to restart the oscillator or execute a controlled shutdown. The trap can be treated as a warm Reset by simply loading the Reset address into the oscillator fail trap vector.
4. 5.
DS70165A-page 184
Advance Information
dsPIC33F
9.0
Note:
POWER-SAVING FEATURES
operation and halts all code execution. Idle mode halts the CPU and code execution, but allows peripheral modules to continue operation. The assembly syntax of the PWRSAV instruction is shown in Example 9-1. Note: SLEEP_MODE and IDLE_MODE are constants defined in the assembler include file for the selected device.
The dsPIC33F devices provide the ability to manage power consumption by selectively managing clocking to the CPU and the peripherals. In general, a lower clock frequency and a reduction in the number of circuits being clocked constitutes lower consumed power. dsPIC33F devices can manage power consumption in four different ways: Clock frequency Instruction-based Sleep and Idle modes Software-controlled Doze mode Selective peripheral control in software
Sleep and Idle modes can be exited as a result of an enabled interrupt, WDT time-out or a device Reset. When the device exits these modes, it is said to wake-up.
9.2.1
SLEEP MODE
Sleep mode has these features: The system clock source is shut down. If an on-chip oscillator is used, it is turned off. The device current consumption is reduced to a minimum, provided that no I/O pin is sourcing current. The Fail-Safe Clock Monitor does not operate during Sleep mode since the system clock source is disabled. The LPRC clock continues to run in Sleep mode if the WDT is enabled. The WDT, if enabled, is automatically cleared prior to entering Sleep mode. Some device features or peripherals may continue to operate in Sleep mode. This includes items such as the input change notification on the I/O ports, or peripherals that use an external clock input. Any peripheral that requires the system clock source for its operation is disabled in Sleep mode. The device will wake-up from Sleep mode on any of the these events: Any interrupt source that is individually enabled. Any form of device Reset. A WDT time-out. On wake-up from Sleep, the processor restarts with the same clock source that was active when Sleep mode was entered.
Combinations of these methods can be used to selectively tailor an applications power consumption while still maintaining critical application features, such as timing-sensitive communications.
9.1
Clock Frequency and Clock Switching
dsPIC33F devices allow a wide range of clock frequencies to be selected under application control. If the system clock configuration is not locked, users can choose low-power or high-precision oscillators by simply changing the NOSC bits (OSCCON<10:8>). The process of changing a system clock during operation, as well as limitations to the process, are discussed in more detail in Section 8.0 Oscillator Configuration.
9.2
Instruction-Based Power-Saving Modes
dsPIC33F devices have two special power-saving modes that are entered through the execution of a special PWRSAV instruction. Sleep mode stops clock
EXAMPLE 9-1:
PWRSAV INSTRUCTION SYNTAX

; Put the device into SLEEP mode ; Put the device into IDLE mode
PWRSAV #SLEEP_MODE PWRSAV #IDLE_MODE
Advance Information
DS70165A-page 185
dsPIC33F
9.2.2 IDLE MODE
Idle mode has these features: The CPU stops executing instructions. The WDT is automatically cleared. The system clock source remains active. By default, all peripheral modules continue to operate normally from the system clock source, but can also be selectively disabled (see Section 9.4 Peripheral Module Disable). If the WDT or FSCM is enabled, the LPRC also remains active. The device will wake from Idle mode on any of these events: Any interrupt that is individually enabled. Any device Reset. A WDT time-out. On wake-up from Idle, the clock is reapplied to the CPU and instruction execution begins immediately, starting with the instruction following the PWRSAV instruction, or the first instruction in the ISR. Doze mode is enabled by setting the DOZEN bit (CLKDIV<11>). The ratio between peripheral and core clock speed is determined by the DOZE<2:0> bits (CLKDIV<14:12>). There are eight possible configurations, from 1:1 to 1:128, with 1:1 being the default. Note: In devices marked PS, the possible ratios are 1:1, 1:2, 1:3, 1:4, 1:5, 1:6, 1:7 and 1:8.
It is also possible to use Doze mode to selectively reduce power consumption in event-driven applications. This allows clock-sensitive functions, such as synchronous communications, to continue without interruption while the CPU idles, waiting for something to invoke an interrupt routine. Enabling the automatic return to full-speed CPU operation on interrupts is enabled by setting the ROI bit (CLKDIV<15>). By default, interrupt events have no effect on Doze mode operation. For example, suppose the device is operating at 20 MIPS and the CAN module has been configured for 500 kbps based on this device operating speed. If the device is now placed in Doze mode with a clock frequency ratio of 1:4, the CAN module continues to communicate at the required bit rate of 500 kbps, but the CPU now starts executing instructions at a frequency of 5 MIPS.
9.2.3
INTERRUPTS COINCIDENT WITH POWER SAVE INSTRUCTIONS
Any interrupt that coincides with the execution of a PWRSAV instruction is held off until entry into Sleep or Idle mode has completed. The device then wakes up from Sleep or Idle mode.
9.4
Peripheral Module Disable
9.3
Doze Mode
Generally, changing clock speed and invoking one of the power-saving modes are the preferred strategies for reducing power consumption. There may be circumstances, however, where this is not practical. For example, it may be necessary for an application to maintain uninterrupted synchronous communication, even while it is doing nothing else. Reducing system clock speed may introduce communication errors, while using a power-saving mode may stop communications completely. Doze mode is a simple and effective alternative method to reduce power consumption while the device is still executing code. In this mode, the system clock continues to operate from the same source and at the same speed. Peripheral modules continue to be clocked at the same speed, while the CPU clock speed is reduced. Synchronization between the two clock domains is maintained, allowing the peripherals to access the SFRs while the CPU executes code at a slower rate.
The Peripheral Module Disable (PMD) registers provide a method to disable a peripheral module by stopping all clock sources supplied to that module. When a peripheral is disabled via the appropriate PMD control bit, the peripheral is in a minimum power consumption state. The control and status registers associated with the peripheral are also disabled, so writes to those registers will have no effect and read values will be invalid. A peripheral module is only enabled if both the associated bit in the PMD register is cleared and the peripheral is supported by the specific dsPIC variant. If the peripheral is present in the device, it is enabled in the PMD register by default. Note: If a PMD bit is set, the corresponding module is disabled after a delay of 1 instruction cycle. Similarly, if a PMD bit is cleared, the corresponding module is enabled after a delay of 1 instruction cycle (assuming the module control registers are already configured to enable module operation).
DS70165A-page 186
Advance Information
dsPIC33F
10.0
Note:
I/O PORTS
When a peripheral is enabled and actively driving an associated pin, the use of the pin as a general purpose output pin is disabled. The I/O pin may be read, but the output driver for the parallel port bit will be disabled. If a peripheral is enabled, but the peripheral is not actively driving a pin, that pin may be driven by a port. All port pins have three registers directly associated with their operation as digital I/O. The data direction register (TRISx) determines whether the pin is an input or an output. If the data direction bit is a 1, then the pin is an input. All port pins are defined as inputs after a Reset. Reads from the latch (LATx), read the latch. Writes to the latch, write the latch. Reads from the port (PORTx), read the port pins, while writes to the port pins, write the latch. Any bit and its associated data and control registers that are not valid for a particular device will be disabled. That means the corresponding LATx and TRISx registers and the port pins will read as zeros. When a pin is shared with another peripheral or function that is defined as an input only, it is nevertheless regarded as a dedicated port because there is no other competing source of outputs. An example is the INT4 pin. Note: The voltage on a digital input pin can be between -0.3V to 5.6V.
All of the device pins (except VDD, VSS, MCLR and OSC1/CLKIN) are shared between the peripherals and the parallel I/O ports. All I/O input ports feature Schmitt Trigger inputs for improved noise immunity.
10.1
Parallel I/O (PIO) Ports
A parallel I/O port that shares a pin with a peripheral is, in general, subservient to the peripheral. The peripherals output buffer data and control signals are provided to a pair of multiplexers. The multiplexers select whether the peripheral or the associated port has ownership of the output data and control signals of the I/O pin. The logic also prevents loop through, in which a ports digital output can drive the input of a peripheral that shares the same pin. Figure 10-1 shows how ports are shared with other peripherals and the associated I/O pin to which they are connected.
FIGURE 10-1:
BLOCK DIAGRAM OF A TYPICAL SHARED PORT STRUCTURE

Peripheral Module
Peripheral Input Data Peripheral Module Enable
Output Multiplexers
I/O
Peripheral Output Enable Peripheral Output Data 1 0 1 0 Output Enable
PIO Module
Read TRIS
Output Data
Data Bus WR TRIS
D CK
I/O Pin
TRIS Latch D WR LAT + WR PORT CK Data Latch Q
Read LAT Input Data Read Port
Advance Information
DS70165A-page 187
dsPIC33F
10.2 Open-Drain Configuration 10.4 I/O Port Write/Read Timing
In addition to the PORT, LAT and TRIS registers for data control, each port pin can also be individually configured for either digital or open-drain output. This is controlled by the Open-Drain Control register, ODCx, associated with each port. Setting any of the bits configures the corresponding pin to act as an open-drain output. The open-drain feature allows the generation of outputs higher than VDD (e.g., 5V) on any desired digital only pins by using external pull-up resistors. The maximum open-drain voltage allowed is the same as the maximum VIH specification. One instruction cycle is required between a port direction change or port write operation and a read operation of the same port. Typically, this instruction would be a NOP.
10.5
Input Change Notification
10.3
Configuring Analog Port Pins
The use of the ADxPCFGH, ADxPCFGL and TRIS registers control the operation of the A/D port pins. The port pins that are desired as analog inputs must have their corresponding TRIS bit set (input). If the TRIS bit is cleared (output), the digital output level (VOH or VOL) is converted. Clearing any bit in the ADxPCFGH or ADxPCFGL register configures the corresponding bit to be an analog pin. This is also the Reset state of any I/O pin that has an analog (ANx) function associated with it. Note: In devices with two A/D modules, if the corresponding PCFG bit in either AD1PCFGH(L) and AD2PCFGH(L) is cleared, the pin is configured as an analog input.
The input change notification function of the I/O ports allows the dsPIC33F devices to generate interrupt requests to the processor in response to a change-of-state on selected input pins. This feature is capable of detecting input change-of-states even in Sleep mode, when the clocks are disabled. Depending on the device pin count, there are up to 24 external signals (CN0 through CN23) that can be selected (enabled) for generating an interrupt request on a change-of-state. There are four control registers associated with the CN module. The CNEN1 and CNEN2 registers contain the CN interrupt enable (CNxIE) control bits for each of the CN input pins. Setting any of these bits enables a CN interrupt for the corresponding pins. Each CN pin also has a weak pull-up connected to it. The pull-ups act as a current source that is connected to the pin and eliminate the need for external resistors when push button or keypad devices are connected. The pull-ups are enabled separately using the CNPU1 and CNPU2 registers, which contain the weak pull-up enable (CNxPUE) bits for each of the CN pins. Setting any of the control bits enables the weak pull-ups for the corresponding pins. Note: Pull-ups on change notification pins should always be disabled whenever the port pin is configured as a digital output.
When reading the PORT register, all pins configured as analog input channels will read as cleared (a low level). Pins configured as digital inputs will not convert an analog input. Analog levels on any pin that is defined as a digital input (including the ANx pins) can cause the input buffer to consume current that exceeds the device specifications. Note: The voltage on an analog input pin can be between -0.3V to (VDD + 0.3 V).
EXAMPLE 10-1:
MOV MOV NOP btss 0xFF00, W0 W0, TRISBB PORTB, #13
PORT WRITE/READ EXAMPLE

; ; ; ; Configure PORTB<15:8> as inputs and PORTB<7:0> as outputs Delay 1 cycle Next Instruction
DS70165A-page 188
Advance Information
dsPIC33F
11.0
Note:
TIMER1
Figure 11-1 presents a block diagram of the 16-bit timer module. To configure Timer1 for operation: 1. 2. 3. 4. 5. 6. Set the TON bit (= 1) in the T1CON register. Select the timer prescaler ratio using the TCKPS<1:0> bits in the T1CON register. Set the Clock and Gating modes using the TCS and TGATE bits in the T1CON register. Set or clear the TSYNC bit in T1CON to select synchronous or asynchronous operation. Load the timer period value into the PR1 register. If interrupts are required, set the interrupt enable bit, T1IE. Use the priority bits, T1IP<2:0>, to set the interrupt priority.
The Timer1 module is a 16-bit timer, which can serve as the time counter for the real-time clock, or operate as a free-running interval timer/counter. Timer1 can operate in three modes: 16-bit Timer 16-bit Synchronous Counter 16-bit Asynchronous Counter Timer1 also supports these features: Timer gate operation Selectable prescaler settings Timer operation during CPU Idle and Sleep modes Interrupt on 16-bit Period register match or falling edge of external gate signal
FIGURE 11-1:
16-BIT TIMER1 MODULE BLOCK DIAGRAM

TCKPS<1:0>
SOSCO/ T1CK SOSCEN SOSCI Gate Sync TCY
TON 1x
2 Prescaler 1, 8, 64, 256
01 00 TGATE TCS
TGATE
1 Set T1IF 0 Reset
Q Q
D CK 0
TMR1 1 Comparator TSYNC Sync
Equal PR1
Advance Information
DS70165A-page 189
dsPIC33F
REGISTER 11-1:
R/W-0 TON bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 TGATE R/W-0 R/W-0 U-0 R/W-0 TSYNC R/W-0 TCS U-0 bit 0
T1CON: TIMER1 CONTROL REGISTER

U-0 R/W-0 TSIDL U-0 U-0 U-0 U-0 U-0 bit 8
TCKPS<1:0>
TON: Timer1 On bit 1 = Starts 16-bit Timer1 0 = Stops 16-bit Timer1 Unimplemented: Read as 0 TSIDL: Stop in Idle Mode bit 1 = Discontinue module operation when device enters Idle mode 0 = Continue module operation in Idle mode Unimplemented: Read as 0 TGATE: Timer1 Gated Time Accumulation Enable bit When T1CS = 1: This bit is ignored. When T1CS = 0: 1 = Gated time accumulation enabled 0 = Gated time accumulation disabled TCKPS<1:0> Timer1 Input Clock Prescale Select bits 11= 1:256 10= 1:64 01= 1:8 00= 1:1 Unimplemented: Read as 0 TSYNC: Timer1 External Clock Input Synchronization Select bit When TCS = 1: 1 = Synchronize external clock input 0 = Do not synchronize external clock input When TCS = 0: This bit is ignored. TCS: Timer1 Clock Source Select bit 1 = External clock from pin T1CK (on the rising edge) 0 = Internal clock (FCY) Unimplemented: Read as 0
bit 14 bit 13
bit 12-7 bit 6
bit 5-4
bit 3 bit 2
bit 1
bit 0
DS70165A-page 190
Advance Information
dsPIC33F
12.0
Note:
TIMER2/3, TIMER4/5, TIMER6/7 AND TIMER8/9

To configure Timer2/3, Timer4/5, Timer6/7 or Timer8/9 for 32-bit operation: 1. 2. 3. 4. Set the corresponding T32 control bit. Select the prescaler ratio for Timer2, Timer4, Timer6 or Timer8 using the TCKPS<1:0> bits. Set the Clock and Gating modes using the corresponding TCS and TGATE bits. Load the timer period value. PR3, PR5, PR7 or PR9 contains the most significant word of the value, while PR2, PR4, PR6 or PR8 contains the least significant word. If interrupts are required, set the interrupt enable bit, T3IE, T5IE, T7IE or T9IE. Use the priority bits, T3IP<2:0>, T5IP<2:0>, T7IP<2:0> or T9IP<2:0>, to set the interrupt priority. While Timer2, Timer4, Timer6 or Timer8 control the timer, the interrupt appears as a Timer3, Timer5, Timer7 or Timer9 interrupt. Set the corresponding TON bit.
The Timer2/3, Timer4/5, Timer6/7 and Timer8/9 modules are 32-bit timers, which can also be configured as four independent 16-bit timers with selectable operating modes. As a 32-bit timer, Timer2/3, Timer4/5, Timer6/7 and Timer8/9 operate in three modes: Two Independent 16-bit Timers (e.g., Timer2 and Timer3) with all 16-bit operating modes (except Asynchronous Counter mode) Single 32-bit Timer Single 32-bit Synchronous Counter They also support these features: Timer Gate Operation Selectable Prescaler Settings Timer Operation during Idle and Sleep modes Interrupt on a 32-bit Period Register Match Time Base for Input Capture and Output Compare Modules (Timer2 and Timer3 only) ADC Event Trigger (Timer2/3 only) Individually, all four of the 16-bit timers can function as synchronous timers or counters. They also offer the features listed above, except for the event trigger; this is implemented only with Timer2/3. The operating modes and enabled features are determined by setting the appropriate bit(s) in the T2CON, T3CON, T4CON, T5CON, T6CON, T7CON, T8CON and T9CON registers. T2CON, T4CON, T6CON and T8CON are shown in generic form in Register 12-1. T3CON, T5CON, T7CON and T9CON are shown in Register 12-2. For 32-bit timer/counter operation, Timer2, Timer4, Timer6 or Timer8 is the least significant word; Timer3, Timer5, Timer7 or Timer9 is the most significant word of the 32-bit timers. Note: For 32-bit operation, T3CON, T5CON, T7CON and T9CON control bits are ignored. Only T2CON, T4CON, T6CON and T8CON control bits are used for setup and control. Timer2, Timer4, Timer6 and Timer8 clock and gate inputs are utilized for the 32-bit timer modules, but an interrupt is generated with the Timer3, Timer5, Ttimer7 and Timer9 interrupt flags.
5.
6.
The timer value at any point is stored in the register pair, TMR3:TMR2, TMR5:TMR4, TMR7:TMR6 or TMR9:TMR8. TMR3, TMR5, TMR7 or TMR9 always contains the most significant word of the count, while TMR2, TMR4, TMR6 or TMR8 contains the least significant word. To configure any of the timers for individual 16-bit operation: 1. 2. 3. 4. 5. Clear the T32 bit corresponding to that timer. Select the timer prescaler ratio using the TCKPS<1:0> bits. Set the Clock and Gating modes using the TCS and TGATE bits. Load the timer period value into the PRx register. If interrupts are required, set the interrupt enable bit, TxIE. Use the priority bits, TxIP<2:0>, to set the interrupt priority. Set the TON bit.
6.
A block diagram for a 32-bit timer pair (Timer4/5) example is shown in Figure 12-1 and a timer (Timer4) operating in 16-bit mode example is shown in Figure 12-2. Note: Only Timer2 and Timer3 can trigger a DMA data transfer.
Advance Information
DS70165A-page 191
dsPIC33F
FIGURE 12-1: TIMER2/3 (32-BIT) BLOCK DIAGRAM(1)
TCKPS<1:0> 2 Prescaler 1, 8, 64, 256
T2CK Gate Sync TCY TGATE
1x
TON
01
00 TGATE TCS
1 Set T3IF 0 PR3 ADC Event Trigger(2)
Q Q
D CK
PR2
Equal MSB Reset 16
Comparator LSB TMR3 TMR2 Sync
Read TMR2 Write TMR2 16 16 TMR3HLD 16 Data Bus<15:0>
Note 1: 2:
The 32-bit timer control bit, T32, must be set for 32-bit timer/counter operation. All control bits are respective to the T2CON register. The ADC event trigger is available only on Timer2/3.
DS70165A-page 192
Advance Information
dsPIC33F
FIGURE 12-2: TIMER2 (16-BIT) BLOCK DIAGRAM
TCKPS<1:0> 2 Prescaler 1, 8, 64, 256
T2CK Gate Sync
TON 1x
01 00 TCY TCS TGATE
TGATE
1 Set T2IF 0 Reset TMR2
Q Q
D CK
Sync
Comparator Equal PR2
Advance Information
DS70165A-page 193
dsPIC33F
REGISTER 12-1:
R/W-0 TON bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 TGATE R/W-0 R/W-0 R/W-0 T32
(1)
TxCON (T2CON, T4CON, T6CON OR T8CON) CONTROL REGISTER

U-0 R/W-0 TSIDL U-0 U-0 U-0 U-0 U-0 bit 8 U-0 R/W-0 TCS U-0 bit 0
TCKPS<1:0>
TON: Timerx On bit When T32 = 1: 1 = Starts 32-bit Timerx/y 0 = Stops 32-bit Timerx/y When T32 = 0: 1 = Starts 16-bit Timerx 0 = Stops 16-bit Timerx Unimplemented: Read as 0 TSIDL: Stop in Idle Mode bit 1 = Discontinue module operation when device enters Idle mode 0 = Continue module operation in Idle mode Unimplemented: Read as 0 TGATE: Timerx Gated Time Accumulation Enable bit When TCS = 1: This bit is ignored. When TCS = 0: 1 = Gated time accumulation enabled 0 = Gated time accumulation disabled TCKPS<1:0>: Timerx Input Clock Prescale Select bits 11 = 1:256 10 = 1:64 01 = 1:8 00 = 1:1 T32: 32-bit Timer Mode Select bit(1) 1 = Timerx and Timery form a single 32-bit timer 0 = Timerx and Timery act as two 16-bit timers Unimplemented: Read as 0 TCS: Timerx Clock Source Select bit 1 = External clock from pin TxCK (on the rising edge) 0 = Internal clock (FCY) Unimplemented: Read as 0 In 32-bit mode, T3CON control bits do not affect 32-bit timer operation.
bit 14 bit 13
bit 12-7 bit 6
bit 5-4
bit 3
bit 2 bit 1
bit 0 Note 1:
DS70165A-page 194
Advance Information
dsPIC33F
REGISTER 12-2:
R/W-0 TON bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 TGATE
(1) (1)
TyCON (T3CON, T5CON, T7CON OR T9CON) CONTROL REGISTER

U-0 R/W-0 TSIDL(1) U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 R/W-0
(1)
U-0
U-0
R/W-0 TCS
(1)
U-0 bit 0
TCKPS<1:0>
TON: Timery On bit(1) 1 = Starts 16-bit Timery 0 = Stops 16-bit Timery Unimplemented: Read as 0 TSIDL: Stop in Idle Mode bit(1) 1 = Discontinue module operation when device enters Idle mode 0 = Continue module operation in Idle mode Unimplemented: Read as 0 TGATE: Timery Gated Time Accumulation Enable bit(1) When TCS = 1: This bit is ignored. When TCS = 0: 1 = Gated time accumulation enabled 0 = Gated time accumulation disabled TCKPS<1:0>: Timer3 Input Clock Prescale Select bits(1) 11 = 1:256 10 = 1:64 01 = 1:8 00 = 1:1 Unimplemented: Read as 0 TCS: Timery Clock Source Select bit(1) 1 = External clock from pin TyCK (on the rising edge) 0 = Internal clock (FCY) Unimplemented: Read as 0 When 32-bit operation is enabled (T2CON<3> = 1), these bits have no effect on Timery operation; all timer functions are set through T2CON.
bit 14 bit 13
bit 12-7 bit 6
bit 5-4
bit 3-2 bit 1
bit 0 Note 1:
Advance Information
DS70165A-page 195
dsPIC33F
NOTES:
DS70165A-page 196
Advance Information
dsPIC33F
13.0
Note:
INPUT CAPTURE
Each input capture channel can select between one of two 16-bit timers (Timer2 or Timer3) for the time base. The selected timer can use either an internal or external clock. Other operational features include: Device wake-up from capture pin during CPU Sleep and Idle modes Interrupt on input capture event 4-word FIFO buffer for capture values - Interrupt optionally generated after 1, 2, 3 or 4 buffer locations are filled Input capture can also be used to provide additional sources of external interrupts Note: Only IC1 and IC2 can trigger a DMA data transfer. If DMA data transfers are required, the FIFO buffer size must be set to 1 (ICI<1:0> = 00).
The input capture module is useful in applications requiring frequency (period) and pulse measurement. The dsPIC33F devices support up to eight input capture channels. The input capture module captures the 16-bit value of the selected Time Base register when an event occurs at the ICx pin. The events that cause a capture event are listed below in three categories: 1. Simple Capture Event modes - Capture timer value on every falling edge of input at ICx pin - Capture timer value on every rising edge of input at ICx pin Capture timer value on every edge (rising and falling) Prescaler Capture Event modes - Capture timer value on every 4th rising edge of input at ICx pin - Capture timer value on every 16th rising edge of input at ICx pin
2. 3.
FIGURE 13-1:
INPUT CAPTURE BLOCK DIAGRAM

From 16-bit Timers TMRy TMRz
16
16
1 Prescaler Counter (1, 4, 16) ICx Pin 3 Edge Detection Logic and Clock Synchronizer ICM<2:0> (ICxCON<2:0>) Mode Select ICOV, ICBNE (ICxCON<4:3>) FIFO R/W Logic
ICTMR (ICxCON<7>)
ICxBUF ICxI<1:0> ICxCON Interrupt Logic
System Bus Set Flag ICxIF (in IFSn Register)
Note: An x in a signal, register or bit name denotes the number of the capture channel.
Advance Information
DS70165A-page 197
FIFO
dsPIC33F
13.1 Input Capture Registers
ICxCON: INPUT CAPTURE x CONTROL REGISTER
U-0 R/W-0 ICSIDL U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 R/W-0 R-0, HC ICOV R-0, HC ICBNE R/W-0 R/W-0 ICM<2:0> bit 0 R/W-0
REGISTER 13-1:
U-0 bit 15 R/W-0 ICTMR bit 7 Legend: R = Readable bit -n = Value at POR bit 15-14 bit 13
(1)
ICI<1:0>
Unimplemented: Read as 0 ICSIDL: Input Capture Module Stop in Idle Control bit 1 = Input capture module will halt in CPU Idle mode 0 = Input capture module will continue to operate in CPU Idle mode Unimplemented: Read as 0 ICTMR: Input Capture Timer Select bits(1) 1 = TMR2 contents are captured on capture event 0 = TMR3 contents are captured on capture event ICI<1:0>: Select Number of Captures per Interrupt bits 11 = Interrupt on every fourth capture event 10 = Interrupt on every third capture event 01 = Interrupt on every second capture event 00 = Interrupt on every capture event ICOV: Input Capture Overflow Status Flag bit (read-only) 1 = Input capture overflow occurred 0 = No input capture overflow occurred ICBNE: Input Capture Buffer Empty Status bit (read-only) 1 = Input capture buffer is not empty, at least one more capture value can be read 0 = Input capture buffer is empty ICM<2:0>: Input Capture Mode Select bits 111 = Input capture functions as interrupt pin only when device is in Sleep or Idle mode (Rising edge detect only, all other control bits are not applicable.) 110 = Unused (module disabled) 101 = Capture mode, every 16th rising edge 100 = Capture mode, every 4th rising edge 011 = Capture mode, every rising edge 010 = Capture mode, every falling edge 001 = Capture mode, every edge (rising and falling) (ICI<1:0> bits do not control interrupt generation for this mode.) 000 = Input capture module turned off Timer selections may vary. Refer to the device data sheet for details.
bit 12-8 bit 7
bit 6-5
bit 4
bit 3
bit 2-0
Note 1:
DS70165A-page 198
Advance Information
dsPIC33F
14.0
Note:
OUTPUT COMPARE
The output compare module does not have to be disabled after the falling edge of the output pulse. Another pulse can be initiated by rewriting the value of the OCxCON register.
14.2
Setup for Continuous Output Pulse Generation
14.1
Setup for Single Output Pulse Generation
When the OCM control bits (OCxCON<2:0>) are set to 100, the selected output compare channel initializes the OCx pin to the low state and generates a single output pulse. To generate a single output pulse, the following steps are required (these steps assume timer source is initially turned off but this is not a requirement for the module operation): 1. Determine the instruction clock cycle time. Take into account the frequency of the external clock to the timer source (if one is used) and the timer prescaler settings. 2. Calculate time to the rising edge of the output pulse relative to the TMRy start value (0000h). 3. Calculate the time to the falling edge of the pulse based on the desired pulse width and the time to the rising edge of the pulse. 4. Write the values computed in steps 2 and 3 above into the Output Compare register, OCxR, and the Output Compare Secondary register, OCxRS, respectively. 5. Set Timer Period register, PRy, to value equal to or greater than value in OCxRS, the Output Compare Secondary register. 6. Set the OCM bits to 100 and the OCTSEL (OCxCON<3>) bit to the desired timer source. The OCx pin state will now be driven low. 7. Set the TON (TyCON<15>) bit to 1, which enables the compare time base to count. 8. Upon the first match between TMRy and OCxR, the OCx pin will be driven high. 9. When the incrementing timer, TMRy, matches the Output Compare Secondary register, OCxRS, the second and trailing edge (high-tolow) of the pulse is driven onto the OCx pin. No additional pulses are driven onto the OCx pin and it remains at low. As a result of the second compare match event, the OCxIF interrupt flag bit is set, which will result in an interrupt if it is enabled, by setting the OCxIE bit. For further information on peripheral interrupts, refer to Section 6.0 Interrupt Controller. 10. To initiate another single pulse output, change the Timer and Compare register settings, if needed, and then issue a write to set the OCM bits to 100. Disabling and re-enabling of the timer, and clearing the TMRy register, are not required but may be advantageous for defining a pulse from a known event time boundary.
When the OCM control bits (OCxCON<2:0>) are set to 101, the selected output compare channel initializes the OCx pin to the low state and generates output pulses on each and every compare match event. For the user to configure the module for the generation of a continuous stream of output pulses, the following steps are required (these steps assume timer source is initially turned off but this is not a requirement for the module operation): 1. Determine the instruction clock cycle time. Take into account the frequency of the external clock to the timer source (if one is used) and the timer prescaler settings. 2. Calculate time to the rising edge of the output pulse relative to the TMRy start value (0000h). 3. Calculate the time to the falling edge of the pulse, based on the desired pulse width and the time to the rising edge of the pulse. 4. Write the values computed in step 2 and 3 above into the Output Compare register, OCxR, and the Output Compare Secondary register, OCxRS, respectively. 5. Set Timer Period register, PRy, to value equal to or greater than value in OCxRS, the Output Compare Secondary register. 6. Set the OCM bits to 101 and the OCTSEL bit to the desired timer source. The OCx pin state will now be driven low. 7. Enable the compare time base by setting the TON (TyCON<15>) bit to 1. 8. Upon the first match between TMRy and OCxR, the OCx pin will be driven high. 9. When the compare time base, TMRy, matches the Output Compare Secondary register, OCxRS, the second and trailing edge (high-to-low) of the pulse is driven onto the OCx pin. 10. As a result of the second compare match event, the OCxIF interrupt flag bit set. 11. When the compare time base and the value in its respective Timer Period register match, the TMRy register resets to 0x0000 and resumes counting. 12. Steps 8 through 11 are repeated and a continuous stream of pulses is generated, indefinitely. The OCxIF flag is set on each OCxRS-TMRy compare match event.
Advance Information
DS70165A-page 199
dsPIC33F
14.3 Pulse-Width Modulation Mode
EQUATION 14-1:
The following steps should be taken when configuring the output compare module for PWM operation: 1. 2. 3. 4. Set the PWM period by writing to the selected Timer Period register (PRy). Set the PWM duty cycle by writing to the OCxRS register. Write the OxCR register with the initial duty cycle. Enable interrupts, if required, for the timer and output compare modules. The output compare interrupt is required for PWM Fault pin utilization. Configure the output compare module for one of two PWM operation modes by writing to the Output Compare Mode bits, OCM<2:0> (OCxCON<2:0>). Set the TMRy prescale value and enable the time base by setting TON = 1 (TxCON<15>). Note: The OCxR register should be initialized before the output compare module is first enabled. The OCxR register becomes a read-only duty cycle register when the module is operated in the PWM modes. The value held in OCxR will become the PWM duty cycle for the first PWM period. The contents of the Output Compare Secondary register, OCxRS, will not be transferred into OCxR until a time base period match occurs.
CALCULATING THE PWM PERIOD
PWM Period = [(PRy) + 1] TCY (Timer Prescale Value) where: PWM Frequency = 1/[PWM Period] Note: A PRy value of N will produce a PWM period of N + 1 time base count cycles. For example, a value of 7 written into the PRy register will yield a period consisting of eight time base cycles.
5.
14.3.2
PWM DUTY CYCLE
6.
The PWM duty cycle is specified by writing to the OCxRS register. The OCxRS register can be written to at any time, but the duty cycle value is not latched into OCxR until a match between PRy and TMRy occurs (i.e., the period is complete). This provides a double buffer for the PWM duty cycle and is essential for glitchless PWM operation. In the PWM mode, OCxR is a read-only register. Some important boundary parameters of the PWM duty cycle include: If the Output Compare register, OCxR, is loaded with 0000h, the OCx pin will remain low (0% duty cycle). If OCxR is greater than PRy (Timer Period register), the pin will remain high (100% duty cycle). If OCxR is equal to PRy, the OCx pin will be low for one time base count value and high for all other count values. See Example 14-1 for PWM mode timing details. Table 14-1 shows example PWM frequencies and resolutions for a device operating at 10 MIPS.
14.3.1
PWM PERIOD
The PWM period is specified by writing to PRy, the Timer Period register. The PWM period can be calculated using Equation 14-1:
EQUATION 14-2:
CALCULATION FOR MAXIMUM PWM RESOLUTION

log10 Maximum PWM Resolution (bits) =
( FF )
CY PWM
log10(2)
bits
EXAMPLE 14-1:
1.
PWM PERIOD AND DUTY CYCLE CALCULATIONS
2.
Find the Timer Period register value for a desired PWM frequency that is 52.08 kHz, where FCY = 16 MHz and a Timer2 prescaler setting of 1:1. TCY = 62.5 ns PWM Period = 1/PWM Frequency = 1/52.08 kHz = 19.2 s PWM Period = (PR2 + 1) TCY (Timer2 Prescale Value) 19.2 s = (PR2 + 1) 62.5 ns 1 PR2 = 306 Find the maximum resolution of the duty cycle that can be used with a 52.08 kHz frequency and a 32 MHz device clock rate: PWM Resolution = log10 (FCY/FPWM)/log102) bits = (log10 (16 MHz/52.08 kHz)/log102) bits = 8.3 bits
DS70165A-page 200
Advance Information
dsPIC33F
TABLE 14-1: EXAMPLE PWM FREQUENCIES AND RESOLUTIONS AT 4 MIPS (FCY = 4 MHz)
7.6 Hz 8 FFFFh 16 61 Hz 1 FFFFh 16 122 Hz 1 7FFFh 15 977 Hz 1 0FFFh 12 3.9 kHz 1 03FFh 10 31.3 kHz 1 007Fh 7 125 kHz 1 001Fh 5 PWM Frequency Timer Prescaler Ratio Period Register Value Resolution (bits)
TABLE 14-2:
EXAMPLE PWM FREQUENCIES AND RESOLUTIONS AT 16 MIPS (FCY = 16 MHz)

30.5 Hz 8 FFFFh 16 244 Hz 1 FFFFh 16 488 Hz 1 7FFFh 15 3.9 kHz 1 0FFFh 12 15.6 kHz 1 03FFh 10 125 kHz 1 007Fh 7 500 kHz 1 001Fh 5
PWM Frequency Timer Prescaler Ratio Period Register Value Resolution (bits)
TABLE 14-3:
EXAMPLE PWM FREQUENCIES AND RESOLUTIONS AT 40 MIPS (FCY = 40 MHz)

76 Hz 8 FFFFh 16 610 Hz 1 FFFFh 16 1.22 Hz 1 7FFFh 15 9.77 kHz 1 0FFFh 12 39 kHz 1 03FFh 10 313 kHz 1 007Fh 7 1.25 MHz 1 001Fh 5
PWM Frequency Timer Prescaler Ratio Period Register Value Resolution (bits)
FIGURE 14-1:
OUTPUT COMPARE MODULE BLOCK DIAGRAM

Set Flag bit OCxIF(1)
OCxRS(1)
OCxR(1)
Output Logic 3
S Q R Output Enable
OCx(1)
Comparator 0 1 OCTSEL 0 1
OCM2:OCM0 Mode Select
OCFA or OCFB(2)
16
16
TMR register inputs from time bases(3)
Period match signals from time bases(3)
Note 1: Where x is shown, reference is made to the registers associated with the respective output compare channels 1 through 8. 2: OCFA pin controls OC1-OC4 channels. OCFB pin controls OC5-OC8 channels. 3: Each output compare channel can use one of two selectable time bases. Refer to the device data sheet for the time bases associated with the module.
Note:
Only OC1 and OC2 can trigger a DMA data transfer.
Advance Information
DS70165A-page 201
dsPIC33F
14.4 Output Compare Register
OCxCON: OUTPUT COMPARE x CONTROL REGISTER
U-0 R/W-0 OCSIDL U-0 U-0 U-0 U-0 U-0 bit 8 U-0 U-0 R-0 HC OCFLT R/W-0 OCTSEL(1) R/W-0 R/W-0 OCM<2:0> bit 0 HC = Cleared in Hardware W = Writable bit 1 = Bit is set HS = Set in Hardware U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0
REGISTER 14-1:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-14 bit 13
Unimplemented: Read as 0 OCSIDL: Stop Output Compare in Idle Mode Control bit 1 = Output Compare x will halt in CPU Idle mode 0 = Output Compare x will continue to operate in CPU Idle mode Unimplemented: Read as 0 OCFLT: PWM Fault Condition Status bit 1 = PWM Fault condition has occurred (cleared in HW only) 0 = No PWM Fault condition has occurred (This bit is only used when OCM<2:0> = 111.) OCTSEL: Output Compare Timer Select bit(1) 1 = Timer3 is the clock source for Compare x 0 = Timer2 is the clock source for Compare x OCM<2:0>: Output Compare Mode Select bits 111 = PWM mode on OCx, Fault pin enabled 110 = PWM mode on OCx, Fault pin disabled 101 = Initialize OCx pin low, generate continuous output pulses on OCx pin 100 = Initialize OCx pin low, generate single output pulse on OCx pin 011 = Compare event toggles OCx pin 010 = Initialize OCx pin high, compare event forces OCx pin low 001 = Initialize OCx pin low, compare event forces OCx pin high 000 = Output compare channel is disabled Refer to the device data sheet for specific time bases available to the output compare module.
bit 12-5 bit 4
bit 3
bit 2-0
Note 1:
DS70165A-page 202
Advance Information
dsPIC33F
15.0
Note:
MOTOR CONTROL PWM MODULE

This module contains 4 duty cycle generators, numbered 1 through 4. The module has eight PWM output pins, numbered PWM1H/PWM1L through PWM4H/PWM4L. The eight I/O pins are grouped into high/low numbered pairs, denoted by the suffix H or L, respectively. For complementary loads, the low PWM pins are always the complement of the corresponding high I/O pin. The PWM module allows several modes of operation which are beneficial for specific power control applications.
This module simplifies the task of generating multiple, synchronized Pulse-Width Modulated (PWM) outputs. In particular, the following power and motion control applications are supported by the PWM module: Three Phase AC Induction Motor Switched Reluctance (SR) Motor Brushless DC (BLDC) Motor Uninterruptible Power Supply (UPS) 8 PWM I/O pins with 4 duty cycle generators Up to 16-bit resolution On-the-fly PWM frequency changes Edge and Center-Aligned Output modes Single Pulse Generation mode Interrupt support for asymmetrical updates in Center-Aligned mode Output override control for Electrically Commutative Motor (ECM) operation Special Event comparator for scheduling other peripheral events Fault pins to optionally drive each of the PWM output pins to a defined state Duty cycle updates are configurable to be immediate or synchronized to the PWM time base
The PWM module has the following features:
Advance Information
DS70165A-page 203
dsPIC33F
FIGURE 15-1: PWM MODULE BLOCK DIAGRAM
PWMCON1 PWM Enable and Mode SFRs PWMCON2 DTCON1 Dead-Time Control SFRs DTCON2 FLTACON Fault Pin Control SFRs FLTBCON OVDCON PWM Manual Control SFR
PWM Generator #4
PDC4 Buffer
16-bit Data Bus
PDC4
Comparator
Channel 4 Dead-Time Generator and Override Logic
PWM4H PWM4L
PTMR
PWM Generator #3
PWM3H Output Driver PWM3L
Comparator PWM Generator #2 PTPER PWM Generator #1 PTPER Buffer Channel 2 Dead-Time Generator and Override Logic
Block
PWM2H PWM2L
PWM1H PWM1L
PTCON
FLTA FLTB
Comparator SEVTDIR SEVTCMP PTDIR
Special Event Postscaler
Special Event Trigger
PWM Time Base

Note: Details of PWM Generator #1, #2 and #3 not shown for clarity.
DS70165A-page 204
Advance Information
dsPIC33F
15.1 PWM Time Base
15.1.1 FREE-RUNNING MODE
The PWM time base is provided by a 15-bit timer with a prescaler and postscaler. The time base is accessible via the PTMR SFR. PTMR<15> is a read-only status bit, PTDIR, that indicates the present count direction of the PWM time base. If PTDIR is cleared, PTMR is counting upwards. If PTDIR is set, PTMR is counting downwards. The PWM time base is configured via the PTCON SFR. The time base is enabled/disabled by setting/clearing the PTEN bit in the PTCON SFR. PTMR is not cleared when the PTEN bit is cleared in software. The PTPER SFR sets the counting period for PTMR. The user must write a 15-bit value to PTPER<14:0>. When the value in PTMR<14:0> matches the value in PTPER<14:0>, the time base will either reset to 0 or reverse the count direction on the next occurring clock cycle. The action taken depends on the operating mode of the time base. Note: If the PWM Period register is set to 0x0000, the timer will stop counting and the interrupt and Special Event Trigger will not be generated, even if the special event value is also 0x0000. The module will not update the PWM Period register if it is already at 0x0000; therefore, the user must disable the module in order to update the PWM Period register. In the Free-Running mode, the PWM time base counts upwards until the value in the PWM Time Base Period register (PTPER) is matched. The PTMR register is reset on the following input clock edge and the time base will continue to count upwards as long as the PTEN bit remains set. When the PWM time base is in the Free-Running mode (PTMOD<1:0> = 00), an interrupt event is generated each time a match with the PTPER register occurs and the PTMR register is reset to zero. The postscaler selection bits may be used in this mode of the timer to reduce the frequency of the interrupt events.
15.1.2
SINGLE-SHOT MODE
In the Single-Shot mode, the PWM time base begins counting upwards when the PTEN bit is set. When the value in the PTMR register matches the PTPER register, the PTMR register will be reset on the following input clock edge and the PTEN bit will be cleared by the hardware to halt the time base. When the PWM time base is in the Single-Shot mode (PTMOD<1:0> = 01), an interrupt event is generated when a match with the PTPER register occurs. The PTMR register is reset to zero on the following input clock edge and the PTEN bit is cleared. The postscaler selection bits have no effect in this mode of the timer.
The PWM time base can be configured for four different modes of operation: Free-Running mode Single-Shot mode Continuous Up/Down Count mode Continuous Up/Down Count mode with interrupts for double updates
15.1.3
CONTINUOUS UP/DOWN COUNT MODES
These four modes are selected by the PTMOD<1:0> bits in the PTCON SFR. The Up/Down Count modes support center-aligned PWM generation. The SingleShot mode allows the PWM module to support pulse control of certain Electronically Commutative Motors (ECMs). The interrupt signals generated by the PWM time base depend on the mode selection bits (PTMOD<1:0>) and the postscaler bits (PTOPS<3:0>) in the PTCON SFR.
In the Continuous Up/Down Count modes, the PWM time base counts upwards until the value in the PTPER register is matched. The timer will begin counting downwards on the following input clock edge. The PTDIR bit in the PTMR SFR is read-only and indicates the counting direction. The PTDIR bit is set when the timer counts downwards. In the Up/Down Count mode (PTMOD<1:0> = 10), an interrupt event is generated each time the value of the PTMR register becomes zero and the PWM time base begins to count upwards. The postscaler selection bits may be used in this mode of the timer to reduce the frequency of the interrupt events.
Advance Information
DS70165A-page 205
dsPIC33F
15.1.4 DOUBLE UPDATE MODE
In the Double Update mode (PTMOD<1:0> = 11), an interrupt event is generated each time the PTMR register is equal to zero, as well as each time a period match occurs. The postscaler selection bits have no effect in this mode of the timer. The Double Update mode provides two additional functions to the user. First, the control loop bandwidth is doubled because the PWM duty cycles can be updated, twice per period. Second, asymmetrical center-aligned PWM waveforms can be generated, which are useful for minimizing output waveform distortion in certain motor control applications. Note: Programming a value of 0x0001 in the PWM Period register could generate a continuous interrupt pulse and hence, must be avoided. The PWM period Equation 15-1: can be determined using
EQUATION 15-1:
TPWM =
PWM PERIOD
TCY (PTPER + 1) (PTMR Prescale Value)
If the PWM time base is configured for one of the Up/ Down Count modes, the PWM period will be twice the value provided by Equation 15-1. The maximum resolution (in bits) for a given device oscillator and PWM frequency can be determined using Equation 15-2:
EQUATION 15-2:
PWM RESOLUTION
log (2 TPWM/TCY) log (2)
15.1.5
PWM TIME BASE PRESCALER
Resolution =
The input clock to PTMR (FOSC/4) has prescaler options of 1:1, 1:4, 1:16 or 1:64, selected by control bits, PTCKPS<1:0>, in the PTCON SFR. The prescaler counter is cleared when any of the following occurs: a write to the PTMR register a write to the PTCON register any device Reset The PTMR register is not cleared when PTCON is written.
15.3
Edge-Aligned PWM
15.1.6
PWM TIME BASE POSTSCALER
Edge-aligned PWM signals are produced by the module when the PWM time base is in the Free-Running or Single-Shot mode. For edge-aligned PWM outputs, the output has a period specified by the value in PTPER and a duty cycle specified by the appropriate Duty Cycle register (see Figure 15-2). The PWM output is driven active at the beginning of the period (PTMR = 0) and is driven inactive when the value in the Duty Cycle register matches PTMR. If the value in a particular Duty Cycle register is zero, then the output on the corresponding PWM pin will be inactive for the entire PWM period. In addition, the output on the PWM pin will be active for the entire PWM period if the value in the Duty Cycle register is greater than the value held in the PTPER register.
The match output of PTMR can optionally be postscaled through a 4-bit postscaler (which gives a 1:1 to 1:16 scaling). The postscaler counter is cleared when any of the following occurs: a write to the PTMR register a write to the PTCON register any device Reset The PTMR register is not cleared when PTCON is written.
FIGURE 15-2:
EDGE-ALIGNED PWM
New Duty Cycle Latched
15.2
PWM Period
PTPER PTMR Value
PTPER is a 15-bit register and is used to set the counting period for the PWM time base. PTPER is a doublebuffered register. The PTPER buffer contents are loaded into the PTPER register at the following instants: Free-Running and Single-Shot modes: When the PTMR register is reset to zero after a match with the PTPER register. Up/Down Count modes: When the PTMR register is zero. The value held in the PTPER buffer is automatically loaded into the PTPER register when the PWM time base is disabled (PTEN = 0).
0
Duty Cycle Period
DS70165A-page 206
Advance Information
dsPIC33F
15.4 Center-Aligned PWM
15.5.1 DUTY CYCLE REGISTER BUFFERS
Center-aligned PWM signals are produced by the module when the PWM time base is configured in an Up/Down Count mode (see Figure 15-3). The PWM compare output is driven to the active state when the value of the Duty Cycle register matches the value of PTMR and the PWM time base is counting downwards (PTDIR = 1). The PWM compare output is driven to the inactive state when the PWM time base is counting upwards (PTDIR = 0) and the value in the PTMR register matches the duty cycle value. If the value in a particular Duty Cycle register is zero, then the output on the corresponding PWM pin will be inactive for the entire PWM period. In addition, the output on the PWM pin will be active for the entire PWM period if the value in the Duty Cycle register is equal to the value held in the PTPER register. The four PWM Duty Cycle registers are doublebuffered to allow glitchless updates of the PWM outputs. For each duty cycle, there is a Duty Cycle register that is accessible by the user and a second Duty Cycle register that holds the actual compare value used in the present PWM period. For edge-aligned PWM output, a new duty cycle value will be updated whenever a match with the PTPER register occurs and PTMR is reset. The contents of the duty cycle buffers are automatically loaded into the Duty Cycle registers when the PWM time base is disabled (PTEN = 0) and the UDIS bit is cleared in PWMCON2. When the PWM time base is in the Up/Down Count mode, new duty cycle values are updated when the value of the PTMR register is zero and the PWM time base begins to count upwards. The contents of the duty cycle buffers are automatically loaded into the Duty Cycle registers when the PWM time base is disabled (PTEN = 0). When the PWM time base is in the Up/Down Count mode with double updates, new duty cycle values are updated when the value of the PTMR register is zero, and when the value of the PTMR register matches the value in the PTPER register. The contents of the duty cycle buffers are automatically loaded into the Duty Cycle registers when the PWM time base is disabled (PTEN = 0).
FIGURE 15-3:
CENTER-ALIGNED PWM
Period/2
PTPER Duty Cycle PTMR Value
15.5.2
Period
DUTY CYCLE IMMEDIATE UPDATES
15.5
PWM Duty Cycle Comparison Units
There are four 16-bit Special Function Registers (PDC1, PDC2, PDC3 and PDC4) used to specify duty cycle values for the PWM module. The value in each Duty Cycle register determines the amount of time that the PWM output is in the active state. The Duty Cycle registers are 16 bits wide. The LSb of a Duty Cycle register determines whether the PWM edge occurs in the beginning. Thus, the PWM resolution is effectively doubled.
When the Immediate Update Enable bit is set (IUE = 1), any write to the Duty Cycle registers will update the new duty cycle value immediately. This feature gives the option to the user to allow immediate updates of the active PWM Duty Cycle registers instead of waiting for the end of the current time base period. System stability is improved in closed-loop servo applications by reducing the delay between system observation and the issuance of system corrective commands when immediate updates are enabled (IUE = 1). If the PWM output is active at the time the new duty cycle is written and the new duty cycle is less than the current time base value, the PWM pulse width will be shortened. If the PWM output is active at the time the new duty cycle is written and the new duty cycle is greater than the current time base value, the PWM pulse width will be lengthened. If the PWM output is inactive at the time the new duty cycle is written and the new duty cycle is greater than the current time base value, the PWM output will become active immediately and will remain active for the new written duty cycle value.
Advance Information
DS70165A-page 207
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15.6 Complementary PWM Operation
In the Complementary mode of operation, each pair of PWM outputs is obtained by a complementary PWM signal. A dead time may be optionally inserted during device switching, when both outputs are inactive for a short period (refer to Section 15.7 Dead-Time Generators). In Complementary mode, the duty cycle comparison units are assigned to the PWM outputs as follows: PDC1 register controls PWM1H/PWM1L outputs PDC2 register controls PWM2H/PWM2L outputs PDC3 register controls PWM3H/PWM3L outputs PDC4 register controls PWM4H/PWM4L outputs The PWM module allows two different dead times to be programmed. These two dead times may be used in one of two methods, described below, to increase user flexibility: The PWM output signals can be optimized for different turn-off times in the high side and low side transistors in a complementary pair of transistors. The first dead time is inserted between the turn-off event of the lower transistor of the complementary pair and the turn-on event of the upper transistor. The second dead time is inserted between the turn-off event of the upper transistor and the turn-on event of the lower transistor. The two dead times can be assigned to individual PWM I/O pin pairs. This operating mode allows the PWM module to drive different transistor/load combinations with each complementary PWM I/O pin pair.
The Complementary mode is selected for each PWM I/O pin pair by clearing the appropriate PTMODx bit in the PWMCON1 SFR. The PWM I/O pins are set to Complementary mode by default upon a device Reset.
15.7.1
DEAD-TIME GENERATORS
15.7
Dead-Time Generators
Dead-time generation may be provided when any of the PWM I/O pin pairs are operating in the Complementary Output mode. The PWM outputs use push-pull drive circuits. Due to the inability of the power output devices to switch instantaneously, some amount of time must be provided between the turn-off event of one PWM output in a complementary pair and the turn-on event of the other transistor.
Each complementary output pair for the PWM module has a 6-bit down counter that is used to produce the dead-time insertion. As shown in Figure 15-4, each dead-time unit has a rising and falling edge detector connected to the duty cycle comparison output.
FIGURE 15-4:
DEAD-TIME TIMING DIAGRAM
Duty Cycle Generator
PWMxH
PWMxL
Time Selected by DTSxA bit (A or B)
Time Selected by DTSxI bit (A or B)
DS70165A-page 208
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15.7.2 DEAD-TIME ASSIGNMENT
15.8
Independent PWM Output
The DTCON2 SFR contains control bits that allow the dead times to be assigned to each of the complementary outputs. Table 15-1 summarizes the function of each dead-time selection control bit.
TABLE 15-1:
Bit DTS1A DTS1I DTS2A DTS2I DTS3A DTS3I DTS4A DTS4I
DEAD-TIME SELECTION BITS

Function
An Independent PWM Output mode is required for driving certain types of loads. A particular PWM output pair is in the Independent Output mode when the corresponding PTMODx bit in the PWMCON1 register is set. No dead-time control is implemented between adjacent PWM I/O pins when the module is operating in the Independent PWM Output mode and both I/O pins are allowed to be active simultaneously. In the Independent PWM Output mode, each duty cycle generator is connected to both of the PWM I/O pins in an output pair. By using the associated Duty Cycle register and the appropriate bits in the OVDCON register, the user may select the following signal output options for each PWM I/O pin operating in this mode: I/O pin outputs PWM signal I/O pin inactive I/O pin active
Selects PWM1L/PWM1H active edge dead time. Selects PWM1L/PWM1H inactive edge dead time. Selects PWM2L/PWM2H active edge dead time. Selects PWM2L/PWM2H inactive edge dead time. Selects PWM3L/PWM3H active edge dead time. Selects PWM3L/PWM3H inactive edge dead time. Selects PWM4L/PWM4H active edge dead time. Selects PWM4L/PWM4H inactive edge dead time.
15.9
Single Pulse PWM Operation
15.7.3
DEAD-TIME RANGES
The amount of dead time provided by each dead-time unit is selected by specifying the input clock prescaler value and a 6-bit unsigned value. The amount of dead time provided by each unit may be set independently. Four input clock prescaler selections have been provided to allow a suitable range of dead times, based on the device operating frequency. The clock prescaler option may be selected independently for each of the two dead-time values. The dead-time clock prescaler values are selected using the DTAPS<1:0> and DTBPS<1:0> control bits in the DTCON1 SFR. One of four clock prescaler options (TCY, 2 TCY, 4 TCY or 8 TCY) may be selected for each of the dead-time values. After the prescaler values are selected, the dead time for each unit is adjusted by loading two 6-bit unsigned values into the DTCON1 SFR. The dead-time unit prescalers are cleared on the following events: On a load of the down timer due to a duty cycle comparison edge event. On a write to the DTCON1 or DTCON2 registers. On any device Reset. Note: The user should not modify the DTCON1 or DTCON2 values while the PWM module is operating (PTEN = 1). Unexpected results may occur.
The PWM module produces single pulse outputs when the PTCON control bits PTMOD<1:0> = 10. Only edgealigned outputs may be produced in the Single Pulse mode. In Single Pulse mode, the PWM I/O pin(s) are driven to the active state when the PTEN bit is set. When a match with a Duty Cycle register occurs, the PWM I/O pin is driven to the inactive state. When a match with the PTPER register occurs, the PTMR register is cleared, all active PWM I/O pins are driven to the inactive state, the PTEN bit is cleared and an interrupt is generated.
15.10 PWM Output Override

The PWM output override bits allow the user to manually drive the PWM I/O pins to specified logic states, independent of the duty cycle comparison units. All control bits associated with the PWM output override function are contained in the OVDCON register. The upper half of the OVDCON register contains eight bits, POVDxH<4:1> and POVDxL<4:1>, that determine which PWM I/O pins will be overridden. The lower half of the OVDCON register contains eight bits, POUTxH<4:1> and POUTxL<4:1>, that determine the state of the PWM I/O pins when a particular output is overridden via the POVD bits.
15.10.1
COMPLEMENTARY OUTPUT MODE
When a PWMxL pin is driven active via the OVDCON register, the output signal is forced to be the complement of the corresponding PWMxH pin in the pair. Dead-time insertion is still performed when PWM channels are overridden manually.
Advance Information
DS70165A-page 209
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15.10.2 OVERRIDE SYNCHRONIZATION 15.12.1 FAULT PIN ENABLE BITS
If the OSYNC bit in the PWMCON2 register is set, all output overrides performed via the OVDCON register are synchronized to the PWM time base. Synchronous output overrides occur at the following times: Edge-Aligned mode when PTMR is zero Center-Aligned modes when PTMR is zero and the value of PTMR matches PTPER The FLTACON and FLTBCON SFRs each have four control bits that determine whether a particular pair of PWM I/O pins is to be controlled by the Fault input pin. To enable a specific PWM I/O pin pair for Fault overrides, the corresponding bit should be set in the FLTACON or FLTBCON register. If all enable bits are cleared in the FLTACON or FLTBCON register, then the corresponding Fault input pin has no effect on the PWM module and the pin may be used as a general purpose interrupt or I/O pin. Note: The Fault pin logic can operate independent of the PWM logic. If all the enable bits in the FLTACON/FLTBCON registers are cleared, then the Fault pin(s) could be used as general purpose interrupt pin(s). Each Fault pin has an interrupt vector, interrupt flag bit and interrupt priority bits associated with it.
15.11 PWM Output and Polarity Control

There are three device Configuration bits associated with the PWM module that provide PWM output pin control: HPOL Configuration bit LPOL Configuration bit PWMPIN Configuration bit These three bits in the FPOR Configuration register (see Section 24.0 Special Features) work in conjunction with the eight PWM Enable bits (PENxH<4:1>, PENxL<4:1>) located in the PWMCON1 SFR. The Configuration bits and PWM Enable bits ensure that the PWM pins are in the correct states after a device Reset occurs. The PWMPIN configuration fuse allows the PWM module outputs to be optionally enabled on a device Reset. If PWMPIN = 0, the PWM outputs will be driven to their inactive states at Reset. If PWMPIN = 1 (default), the PWM outputs will be tri-stated. The HPOL bit specifies the polarity for the PWMxH outputs, whereas the LPOL bit specifies the polarity for the PWMxL outputs.
15.12.2
FAULT STATES
The FLTACON and FLTBCON Special Function Registers have eight bits each that determine the state of each PWM I/O pin when it is overridden by a Fault input. When these bits are cleared, the PWM I/O pin is driven to the inactive state. If the bit is set, the PWM I/O pin will be driven to the active state. The active and inactive states are referenced to the polarity defined for each PWM I/O pin (HPOL and LPOL polarity control bits). A special case exists when a PWM module I/O pair is in the Complementary mode and both pins are programmed to be active on a Fault condition. The PWMxH pin always has priority in the Complementary mode so that both I/O pins cannot be driven active simultaneously.
15.11.1
OUTPUT PIN CONTROL
The PENxH<4:1> and PENxL<4:1> control bits in the PWMCON1 SFR enable each high PWM output pin and each low PWM output pin, respectively. If a particular PWM output pin is not enabled, it is treated as a general purpose I/O pin.
15.12.3
FAULT PIN PRIORITY
15.12 PWM Fault Pins

There are two Fault pins (FLTA and FLTB) associated with the PWM module. When asserted, these pins can optionally drive each of the PWM I/O pins to a defined state.
If both Fault input pins have been assigned to control a particular PWM I/O pin, the Fault state programmed for the Fault A input pin will take priority over the Fault B input pin.
DS70165A-page 210
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15.12.4 FAULT INPUT MODES
15.14 PWM Special Event Trigger

The PWM module has a Special Event Trigger that allows A/D conversions to be synchronized to the PWM time base. The A/D sampling and conversion time may be programmed to occur at any point within the PWM period. The Special Event Trigger allows the user to minimize the delay between the time when A/D conversion results are acquired and the time when the duty cycle value is updated. The PWM Special Event Trigger has an SFR named SEVTCMP, and five control bits to control its operation. The PTMR value for which a Special Event Trigger should occur is loaded into the SEVTCMP register. When the PWM time base is in an Up/Down Count mode, an additional control bit is required to specify the counting phase for the Special Event Trigger. The count phase is selected using the SEVTDIR control bit in the SEVTCMP SFR. If the SEVTDIR bit is cleared, the Special Event Trigger will occur on the upward counting cycle of the PWM time base. If the SEVTDIR bit is set, the Special Event Trigger will occur on the downward count cycle of the PWM time base. The SEVTDIR control bit has no effect unless the PWM time base is configured for an Up/Down Count mode.
Each of the Fault input pins have two modes of operation: Latched Mode: When the Fault pin is driven low, the PWM outputs will go to the states defined in the FLTACON/FLTBCON registers. The PWM outputs will remain in this state until the Fault pin is driven high and the corresponding interrupt flag has been cleared in software. When both of these actions have occurred, the PWM outputs will return to normal operation at the beginning of the next PWM cycle or half-cycle boundary. If the interrupt flag is cleared before the Fault condition ends, the PWM module will wait until the Fault pin is no longer asserted, to restore the outputs. Cycle-by-Cycle Mode: When the Fault input pin is driven low, the PWM outputs remain in the defined Fault states for as long as the Fault pin is held low. After the Fault pin is driven high, the PWM outputs return to normal operation at the beginning of the following PWM cycle or half-cycle boundary. The operating mode for each Fault input pin is selected using the FLTAM and FLTBM control bits in the FLTACON and FLTBCON Special Function Registers. Each of the Fault pins can be controlled manually in software.
15.14.1
SPECIAL EVENT TRIGGER POSTSCALER
15.13 PWM Update Lockout

For a complex PWM application, the user may need to write up to four Duty Cycle registers and the PWM Time Base Period register, PTPER, at a given time. In some applications, it is important that all buffer registers be written before the new duty cycle and period values are loaded for use by the module. The PWM update lockout feature is enabled by setting the UDIS control bit in the PWMCON2 SFR. The UDIS bit affects all Duty Cycle Buffer registers and the PWM Time Base Period register, PTPER. No duty cycle changes or period value changes will have effect while UDIS = 1. If the IUE bit is set, any change to the Duty Cycle registers will be immediately updated regardless of the UDIS bit state. The PWM Period register (PTPER) updates are not affected by the IUE control bit.
The PWM Special Event Trigger has a postscaler that allows a 1:1 to 1:16 postscale ratio. The postscaler is configured by writing the SEVOPS<3:0> control bits in the PWMCON2 SFR. The special event output postscaler is cleared on the following events: Any write to the SEVTCMP register Any device Reset
15.15 PWM Operation During CPU Sleep Mode

The Fault A and Fault B input pins have the ability to wake the CPU from Sleep mode. The PWM module generates an interrupt if either of the Fault pins is driven low while in Sleep.
15.16 PWM Operation During CPU Idle Mode

The PTCON SFR contains a PTSIDL control bit. This bit determines if the PWM module will continue to operate or stop when the device enters Idle mode. If PTSIDL = 0, the module will continue to operate. If PTSIDL = 1, the module will stop operation as long as the CPU remains in Idle mode.
Advance Information
DS70165A-page 211
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REGISTER 15-1:
R/W-0 PTEN bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0
PTCON: PWM TIME BASE CONTROL REGISTER

U-0 R/W-0 PTSIDL U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 bit 0
PTOPS<3:0>
PTCKPS<1:0>
PTMOD<1:0>
PTEN: PWM Time Base Timer Enable bit 1 = PWM time base is on 0 = PWM time base is off Unimplemented: Read as 0 PTSIDL: PWM Time Base Stop in Idle Mode bit 1 = PWM time base halts in CPU Idle mode 0 = PWM time base runs in CPU Idle mode Unimplemented: Read as 0 PTOPS<3:0>: PWM Time Base Output Postscale Select bits 1111 = 1:16 postscale 0001 = 1:2 postscale 0000 = 1:1 postscale PTCKPS<1:0>: PWM Time Base Input Clock Prescale Select bits 11 = PWM time base input clock period is 64 TCY (1:64 prescale) 10 = PWM time base input clock period is 16 TCY (1:16 prescale) 01 = PWM time base input clock period is 4 TCY (1:4 prescale) 00 = PWM time base input clock period is TCY (1:1 prescale) PTMOD<1:0>: PWM Time Base Mode Select bits 11 = PWM time base operates in a Continuous Up/Down Count mode with interrupts for double PWM updates 10 = PWM time base operates in a Continuous Up/Down Count mode 01 = PWM time base operates in Single Pulse mode 00 = PWM time base operates in a Free-Running mode
bit 14 bit 13
bit 12-8 bit 7-4
bit 3-2
bit 1-0
DS70165A-page 212
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REGISTER 15-2:
R-0 PTDIR bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0
PTMR: PWM TIMER COUNT VALUE REGISTER

R/W-0 R/W-0 R/W-0 R/W-0 PTMR<14:8> bit 8 R/W-0 bit 0 R/W-0 R/W-0 R/W-0
PTMR<7:0>
PTDIR: PWM Time Base Count Direction Status bit (read-only) 1 = PWM time base is counting down 0 = PWM time base is counting up PTMR <14:0>: PWM Time Base Register Count Value bits
bit 14-0
REGISTER 15-3:
U-0 bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-0
PTPER: PWM TIME BASE PERIOD REGISTER

R/W-0 R/W-0 R/W-0 R/W-0 PTPER<14:8> bit 8 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 bit 0 R/W-0 R/W-0 R/W-0
PTPER<7:0>
Unimplemented: Read as 0 PTPER<14:0>: PWM Time Base Period Value bits
Advance Information
DS70165A-page 213
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REGISTER 15-4:
R/W-0 SEVTDIR(1) bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0
SEVTCMP: SPECIAL EVENT COMPARE REGISTER

R/W-0 R/W-0 R/W-0 R/W-0 SEVTCMP<14:8>(2) bit 8 R/W-0 bit 0 R/W-0 R/W-0 R/W-0
SEVTCMP<7:0>(2)
SEVTDIR: Special Event Trigger Time Base Direction bit(1) 1 = A Special Event Trigger will occur when the PWM time base is counting downwards 0 = A Special Event Trigger will occur when the PWM time base is counting upwards SEVTCMP<14:0>: Special Event Compare Value bits(2) SEVTDIR is compared with PTDIR (PTMR<15>) to generate the Special Event Trigger. SEVTCMP<14:0> is compared with PTMR<14:0> to generate the Special Event Trigger.
bit 14-0 Note 1: 2:
DS70165A-page 214
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REGISTER 15-5:
U-0 bit 15 R/W-1 PEN4H bit 7 Legend: R = Readable bit -n = Value at POR bit 15-12 bit 11-8 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown
(1)
PWMCON1: PWM CONTROL REGISTER 1

U-0 U-0 U-0 R/W-0 PTMOD4 R/W-0 PTMOD3 R/W-0 PTMOD2 R/W-0 PTMOD1 bit 8 R/W-1 R/W-1 PEN2H
(1)
R/W-1 PEN1H
(1)
R/W-1 PEN4L
(1)
R/W-1 PEN3L
(1)
R/W-1 PEN2L
(1)
R/W-1 PEN1L(1) bit 0
PEN3H
(1)
Unimplemented: Read as 0 PTMOD<4:1>: PWM I/O Pair Mode bits 1 = PWM I/O pin pair is in the Independent PWM Output mode 0 = PWM I/O pin pair is in the Complementary Output mode PEN4H:PEN1H: PWMxH I/O Enable bits(1) 1 = PWMxH pin is enabled for PWM output 0 = PWMxH pin disabled, I/O pin becomes general purpose I/O PEN4L:PEN1L: PWMxL I/O Enable bits(1) 1 = PWMxL pin is enabled for PWM output 0 = PWMxL pin disabled, I/O pin becomes general purpose I/O Reset condition of the PENxH and PENxL bits depends on the value of the PWMPIN Configuration bit in the FPOR Configuration register.
bit 7-4
bit 3-0
Note 1:
Advance Information
DS70165A-page 215
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REGISTER 15-6:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-12 bit 11-8 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 U-0 U-0 R/W-0 IUE R/W-0 OSYNC
PWMCON2: PWM CONTROL REGISTER 2

U-0 U-0 U-0 R/W-0 R/W-0 R/W-0 R/W-0 bit 8 R/W-0 UDIS bit 0 SEVOPS<3:0>
Unimplemented: Read as 0 SEVOPS<3:0>: PWM Special Event Trigger Output Postscale Select bits 1111 = 1:16 postscale 0001 = 1:2 postscale 0000 = 1:1 postscale Unimplemented: Read as 0 IUE: Immediate Update Enable bit 1 = Updates to the active PDC registers are immediate 0 = Updates to the active PDC registers are synchronized to the PWM time base OSYNC: Output Override Synchronization bit 1 = Output overrides via the OVDCON register are synchronized to the PWM time base 0 = Output overrides via the OVDCON register occur on next TCY boundary UDIS: PWM Update Disable bit 1 = Updates from Duty Cycle and Period Buffer registers are disabled 0 = Updates from Duty Cycle and Period Buffer registers are enabled
bit 7-3 bit 2
bit 1
bit 0
DS70165A-page 216
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REGISTER 15-7:
R/W-0 bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-14 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 DTBPS<1:0>
DTCON1: DEAD-TIME CONTROL REGISTER 1

R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 bit 8 R/W-0 bit 0 DTB<5:0>
DTAPS<1:0>
DTA<5:0>
DTBPS<1:0>: Dead-Time Unit B Prescale Select bits 11 = Clock period for Dead-Time Unit B is 8 TCY 10 = Clock period for Dead-Time Unit B is 4 TCY 01 = Clock period for Dead-Time Unit B is 2 TCY 00 = Clock period for Dead-Time Unit B is TCY DTB<5:0>: Unsigned 6-bit Dead-Time Value for Dead-Time Unit B bits DTAPS<1:0>: Dead-Time Unit A Prescale Select bits 11 = Clock period for Dead-Time Unit A is 8 TCY 10 = Clock period for Dead-Time Unit A is 4 TCY 01 = Clock period for Dead-Time Unit A is 2 TCY 00 = Clock period for Dead-Time Unit A is TCY DTA<5:0>: Unsigned 6-bit Dead-Time Value for Dead-Time Unit A bits
bit 13-8 bit 7-6
bit 5-0
Advance Information
DS70165A-page 217
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REGISTER 15-8:
U-0 bit 15 R/W-0 DTS4A bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 bit 7 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 DTS4I R/W-0 DTS3A R/W-0 DTS3I R/W-0 DTS2A R/W-0 DTS2I R/W-0 DTS1A
DTCON2: DEAD-TIME CONTROL REGISTER 2

U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 DTS1I bit 0
Unimplemented: Read as 0 DTS4A: Dead-Time Select for PWM4 Signal Going Active bit 1 = Dead time provided from Unit B 0 = Dead time provided from Unit A DTS4I: Dead-Time Select for PWM4 Signal Going Inactive bit 1 = Dead time provided from Unit B 0 = Dead time provided from Unit A DTS3A: Dead-Time Select for PWM3 Signal Going Active bit 1 = Dead time provided from Unit B 0 = Dead time provided from Unit A DTS3I: Dead-Time Select for PWM3 Signal Going Inactive bit 1 = Dead time provided from Unit B 0 = Dead time provided from Unit A DTS2A: Dead-Time Select for PWM2 Signal Going Active bit 1 = Dead time provided from Unit B 0 = Dead time provided from Unit A DTS2I: Dead-Time Select for PWM2 Signal Going Inactive bit 1 = Dead time provided from Unit B 0 = Dead time provided from Unit A DTS1A: Dead-Time Select for PWM1 Signal Going Active bit 1 = Dead time provided from Unit B 0 = Dead time provided from Unit A DTS1I: Dead-Time Select for PWM1 Signal Going Inactive bit 1 = Dead time provided from Unit B 0 = Dead time provided from Unit A
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
DS70165A-page 218
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REGISTER 15-9:
R/W-0 FAOV4H bit 15 R/W-0 FLTAM bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 U-0 R/W-0 FAEN4 R/W-0 FAEN3 R/W-0 FAEN2
FLTACON: FAULT A CONTROL REGISTER

R/W-0 R/W-0 FAOV3H R/W-0 FAOV3L R/W-0 FAOV2H R/W-0 FAOV2L R/W-0 FAOV1H R/W-0 FAOV1L bit 8 R/W-0 FAEN1 bit 0
FAOV4L
FAOVxH<4:1>:FAOVxL<4:1>: Fault Input A PWM Override Value bits 1 = The PWM output pin is driven active on an external Fault input event 0 = The PWM output pin is driven inactive on an external Fault input event FLTAM: Fault A Mode bit 1 = The Fault A input pin functions in the Cycle-by-Cycle mode 0 = The Fault A input pin latches all control pins to the programmed states in FLTACON<15:8> Unimplemented: Read as 0 FAEN4: Fault Input A Enable bit 1 = PWM4H/PWM4L pin pair is controlled by Fault Input A 0 = PWM4H/PWM4L pin pair is not controlled by Fault Input A FAEN3: Fault Input A Enable bit 1 = PWM3H/PWM3L pin pair is controlled by Fault Input A 0 = PWM3H/PWM3L pin pair is not controlled by Fault Input A FAEN2: Fault Input A Enable bit 1 = PWM2H/PWM2L pin pair is controlled by Fault Input A 0 = PWM2H/PWM2L pin pair is not controlled by Fault Input A FAEN1: Fault Input A Enable bit 1 = PWM1H/PWM1L pin pair is controlled by Fault Input A 0 = PWM1H/PWM1L pin pair is not controlled by Fault Input A
bit 7
bit 6-4 bit 3
bit 2
bit 1
bit 0
Advance Information
DS70165A-page 219
dsPIC33F
REGISTER 15-10: FLTBCON: FAULT B CONTROL REGISTER
R/W-0 FBOV4H bit 15 R/W-0 FLTBM bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 U-0 R/W-0 FBEN4(1) R/W-0 FBEN3(1) R/W-0 FBEN2(1) R/W-0 FBOV4L R/W-0 FBOV3H R/W-0 FBOV3L R/W-0 FBOV2H R/W-0 FBOV2L R/W-0 FBOV1H R/W-0 FBOV1L bit 8 R/W-0 FBEN1(1) bit 0
FBOVxH<4:1>:FBOVxL<4:1>: Fault Input B PWM Override Value bits 1 = The PWM output pin is driven active on an external Fault input event 0 = The PWM output pin is driven inactive on an external Fault input event FLTBM: Fault B Mode bit 1 = The Fault B input pin functions in the Cycle-by-Cycle mode 0 = The Fault B input pin latches all control pins to the programmed states in FLTBCON<15:8> Unimplemented: Read as 0 FBEN4: Fault Input B Enable bit(1) 1 = PWM4H/PWM4L pin pair is controlled by Fault Input B 0 = PWM4H/PWM4L pin pair is not controlled by Fault Input B FBEN3: Fault Input B Enable bit(1) 1 = PWM3H/PWM3L pin pair is controlled by Fault Input B 0 = PWM3H/PWM3L pin pair is not controlled by Fault Input B FBEN2: Fault Input B Enable bit(1) 1 = PWM2H/PWM2L pin pair is controlled by Fault Input B 0 = PWM2H/PWM2L pin pair is not controlled by Fault Input B FBEN1: Fault Input B Enable bit(1) 1 = PWM1H/PWM1L pin pair is controlled by Fault Input B 0 = PWM1H/PWM1L pin pair is not controlled by Fault Input B Fault A pin has priority over Fault B pin, if enabled.
bit 7
bit 6-4 bit 3
bit 2
bit 1
bit 0
Note 1:
DS70165A-page 220
Advance Information
dsPIC33F
REGISTER 15-11: OVDCON: OVERRIDE CONTROL REGISTER
R/W-1 POVD4H bit 15 R/W-0 POUT4H bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 POUT4L R/W-0 POUT3H R/W-0 POUT3L R/W-0 POUT2H R/W-0 POUT2L R/W-0 POUT1H R/W-1 POVD4L R/W-1 POVD3H R/W-1 POVD3L R/W-1 POVD2H R/W-1 POVD2L R/W-1 POVD1H R/W-1 POVD1L bit 8 R/W-0 POUT1L bit 0
POVDxH<4:1>:POVDxL<4:1>: PWM Output Override bits 1 = Output on PWMx I/O pin is controlled by the PWM generator 0 = Output on PWMx I/O pin is controlled by the value in the corresponding POUTxH:POUTxL bit POUTxH<4:1>:POUTxL<4:1>: PWM Manual Output bits 1 = PWMx I/O pin is driven active when the corresponding POVDxH:POVDxL bit is cleared 0 = PWMx I/O pin is driven inactive when the corresponding POVDxH:POVDxL bit is cleared
bit 7-0
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DS70165A-page 221
dsPIC33F
REGISTER 15-12: PDC1: PWM DUTY CYCLE REGISTER 1
R/W-0 bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 bit 8 R/W-0 bit 0 PDC1<15:8>
PDC1<7:0>
PDC1<15:0>: PWM Duty Cycle #1 Value bits

PDC2<7:0>
DS70165A-page 222
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PDC3<7:0>

PDC4<7:0>
Advance Information
DS70165A-page 223
dsPIC33F
NOTES:
DS70165A-page 224
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dsPIC33F
16.0
Note:
QUADRATURE ENCODER INTERFACE (QEI) MODULE

The operational features of the QEI include: Three input channels for two phase signals and index pulse 16-bit up/down position counter Count direction status Position Measurement (x2 and x4) mode Programmable digital noise filters on inputs Alternate 16-bit Timer/Counter mode Quadrature Encoder Interface interrupts These operating modes are determined by setting the appropriate bits, QEIM<2:0> (QEICON<10:8>). Figure 16-1 depicts the Quadrature Encoder Interface block diagram.
This section describes the Quadrature Encoder Interface (QEI) module and associated operational modes. The QEI module provides the interface to incremental encoders for obtaining mechanical position data.
FIGURE 16-1:
Sleep Input
QUADRATURE ENCODER INTERFACE BLOCK DIAGRAM

TQCKPS<1:0> TQCS TCY 0 1 QEIM<2:0> 1 Prescaler 1, 8, 64, 256 2
Synchronize Det
0 QEIIF Event Flag
TQGATE
D CK
Q Q
QEA
Programmable Digital Filter UDSRC 0 1 QEICON<11>
2 Quadrature Encoder Interface Logic
16-bit Up/Down Counter (POSCNT) Reset Comparator/ Zero Detect
Equal
3 QEIM<2:0> Mode Select Max Count Register (MAXCNT)
QEB
Programmable Digital Filter
INDX
Programmable Digital Filter 3 PCDOUT Existing Pin Logic Up/Down 0
UPDN 1
Advance Information
DS70165A-page 225
dsPIC33F
16.1 Quadrature Encoder Interface Logic
If the POSRES bit is set to 1, then the position counter is reset when the index pulse is detected. If the POSRES bit is set to 0, then the position counter is not reset when the index pulse is detected. The position counter will continue counting up or down, and will be reset on the rollover or underflow condition. The interrupt is still generated on the detection of the index pulse and not on the position counter overflow/ underflow.
A typical incremental (a.k.a. optical) encoder has three outputs: Phase A, Phase B and an index pulse. These signals are useful and often required in position and speed control of ACIM and SR motors. The two channels, Phase A (QEA) and Phase B (QEB), have a unique relationship. If Phase A leads Phase B, then the direction (of the motor) is deemed positive or forward. If Phase A lags Phase B, then the direction (of the motor) is deemed negative or reverse. A third channel, termed index pulse, occurs once per revolution and is used as a reference to establish an absolute position. The index pulse coincides with Phase A and Phase B, both low.
16.2.3
COUNT DIRECTION STATUS
16.2
16-bit Up/Down Position Counter Mode
As mentioned in the previous section, the QEI logic generates a UPDN signal, based upon the relationship between Phase A and Phase B. In addition to the output pin, the state of this internal UPDN signal is supplied to an SFR bit, UPDN (QEICON<11>), as a read-only bit. To place the state of this signal on an I/O pin, the SFR bit, PCDOUT (QEICON<6>), must be set to 1.
The 16-bit up/down counter counts up or down on every count pulse, which is generated by the difference of the Phase A and Phase B input signals. The counter acts as an integrator whose count value is proportional to position. The direction of the count is determined by the UPDN signal which is generated by the Quadrature Encoder Interface logic.
16.3
Position Measurement Mode
There are two measurement modes which are supported and are termed x2 and x4. These modes are selected by the QEIM<2:0> mode select bits located in SFR QEICON<10:8>. When control bits, QEIM<2:0> = 100 or 101, the x2 Measurement mode is selected and the QEI logic only looks at the Phase A input for the position counter increment rate. Every rising and falling edge of the Phase A signal causes the position counter to be incremented or decremented. The Phase B signal is still utilized for the determination of the counter direction, just as in the x4 Measurement mode. Within the x2 Measurement mode, there are two variations of how the position counter is reset: 1. 2. Position counter reset by detection of index pulse, QEIM<2:0> = 100. Position counter reset by match with MAXCNT, QEIM<2:0> = 101.
16.2.1
POSITION COUNTER ERROR CHECKING
Position counter error checking in the QEI is provided for and indicated by the CNTERR bit (QEICON<15>). The error checking only applies when the position counter is configured for Reset on the Index Pulse modes (QEIM<2:0> = 110 or 100). In these modes, the contents of the POSCNT register are compared with the values (0xFFFF or MAXCNT + 1, depending on direction). If these values are detected, an error condition is generated by setting the CNTERR bit and a QEI counter error interrupt is generated. The QEI counter error interrupt can be disabled by setting the CEID bit (DFLTCON<8>). The position counter continues to count encoder edges after an error has been detected. The POSCNT register continues to count up/down until a natural rollover/underflow. No interrupt is generated for the natural rollover/underflow event. The CNTERR bit is a read/write bit and is reset in software by the user.
When control bits, QEIM<2:0> = 110 or 111, the x4 Measurement mode is selected and the QEI logic looks at both edges of the Phase A and Phase B input signals. Every edge of both signals causes the position counter to increment or decrement. Within the x4 Measurement mode, there are two variations of how the position counter is reset: 1. 2. Position counter reset by detection of index pulse, QEIM<2:0> = 110. Position counter reset by match with MAXCNT, QEIM<2:0> = 111.
16.2.2
POSITION COUNTER RESET
The Position Counter Reset Enable bit, POSRES (QEI<2>), controls whether the position counter is reset when the index pulse is detected. This bit is only applicable when QEIM<2:0> = 100 or 110.
The x4 Measurement mode provides for finer resolution data (more position counts) for determining motor position.
DS70165A-page 226
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16.4 Programmable Digital Noise Filters
In addition, control bit, UDSRC (QEICON<0>), determines whether the timer count direction state is based on the logic state written into the UPDN control/ status bit (QEICON<11>) or the QEB pin state. When UDSRC = 1, the timer count direction is controlled from the QEB pin. Likewise, when UDSRC = 0, the timer count direction is controlled by the UPDN bit. Note: This timer does not support the External Asynchronous Counter mode of operation. If using an external clock source, the clock will automatically be synchronized to the internal instruction cycle.
The digital noise filter section is responsible for rejecting noise on the incoming capture or quadrature signals. Schmitt Trigger inputs and a 3-clock cycle delay filter combine to reject low-level noise and large, short duration noise spikes that typically occur in noise prone applications, such as a motor system. The filter ensures that the filtered output signal is not permitted to change until a stable value has been registered for three consecutive clock cycles. For the QEA, QEB and INDX pins, the clock divide frequency for the digital filter is programmed by bits, QECK<2:0> (DFLTCON<6:4>), and are derived from the base instruction cycle, TCY. To enable the filter output for channels QEA, QEB and INDX, the QEOUT bit must be 1. The filter network for all channels is disabled on POR.
16.6
16.6.1
QEI Module Operation During CPU Sleep Mode

QEI OPERATION DURING CPU SLEEP MODE
16.5
Alternate 16-bit Timer/Counter
The QEI module will be halted during the CPU Sleep mode.
When the QEI module is not configured for the QEI mode, QEIM<2:0> = 001, the module can be configured as a simple 16-bit timer/counter. The setup and control of the auxiliary timer is accomplished through the QEICON SFR register. This timer functions identically to Timer1. The QEA pin is used as the timer clock input. When configured as a timer, the POSCNT register serves as the Timer Count register and the MAXCNT register serves as the Period register. When a Timer/ Period register match occur, the QEI interrupt flag will be asserted. The only exception between the general purpose timers and this timer is the added feature of external up/down input select. When the UPDN pin is asserted high, the timer will increment up. When the UPDN pin is asserted low, the timer will be decremented. Note: Changing the operational mode (i.e., from QEI to timer or vice versa) will not affect the Timer/Position Count register contents.
16.6.2
TIMER OPERATION DURING CPU SLEEP MODE
During CPU Sleep mode, the timer will not operate because the internal clocks are disabled.
16.7
QEI Module Operation During CPU Idle Mode
Since the QEI module can function as a Quadrature Encoder Interface, or as a 16-bit timer, the following section describes operation of the module in both modes.
16.7.1
QEI OPERATION DURING CPU IDLE MODE
When the CPU is placed in the Idle mode, the QEI module will operate if QEISIDL (QEICON<13>) = 0. This bit defaults to a logic 0 upon executing POR. For halting the QEI module during the CPU Idle mode, QEISIDL should be set to 1.
The UPDN control/status bit (QEICON<11>) can be used to select the count direction state of the Timer register. When UPDN = 1, the timer will count up. When UPDN = 0, the timer will count down.
Advance Information
DS70165A-page 227
dsPIC33F
16.7.2 TIMER OPERATION DURING CPU IDLE MODE
16.8
Quadrature Encoder Interface Interrupts
When the CPU is placed in the Idle mode and the QEI module is configured in the 16-bit Timer mode, the 16-bit timer will operate if QEISIDL (QEICON<13>) = 0. This bit defaults to a logic 0 upon executing POR. For halting the timer module during the CPU Idle mode, QEISIDL should be set to 1. If the QEISIDL bit is cleared, the timer will function normally as if the CPU Idle mode had not been entered.
The Quadrature Encoder Interface has the ability to generate an interrupt on occurrence of the following events: Interrupt on 16-bit up/down position counter rollover/underflow Detection of qualified index pulse or if CNTERR bit is set Timer period match event (overflow/underflow) Gate accumulation event The QEI Interrupt Flag bit, QEIIF, is asserted upon occurrence of any of the above events. The QEIIF bit must be cleared in software. QEIIF is located in the IFS3 register. Enabling an interrupt is accomplished via the respective enable bit, QEIIE. The QEIIE bit is located in the IEC3 register.
DS70165A-page 228
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17.0
Note:
SERIAL PERIPHERAL INTERFACE (SPI)

To set up the SPI module for the Master mode of operation: 1. If using interrupts: a) Clear the SPIxIF bit in the respective IFSn register. b) Set the SPIxIE bit in the respective IECn register. c) Write the SPIxIP bits in the respective IPCn register to set the interrupt priority. Write the desired settings to the SPIxCON register with MSTEN (SPIxCON1<5>) = 1. Clear the SPIROV bit (SPIxSTAT<6>). Enable SPI operation by setting the SPIEN bit (SPIxSTAT<15>). Write the data to be transmitted to the SPIxBUF register. Transmission (and reception) will start as soon as data is written to the SPIxBUF register. Clear the SPIxBUF register. If using interrupts: a) Clear the SPIxIF bit in the respective IFSn register. b) Set the SPIxIE bit in the respective IECn register. c) Write the SPIxIP bits in the respective IPCn register to set the interrupt priority. Write the desired settings to the SPIxCON1 and SPIxCON2 registers with MSTEN (SPIxCON1<5>) = 0. Clear the SMP bit. If the CKE bit is set, then the SSEN bit (SPIxCON1<7>) must be set to enable the SSx pin. Clear the SPIROV bit (SPIxSTAT<6>). Enable SPI operation by setting the SPIEN bit (SPIxSTAT<15>).
The Serial Peripheral Interface (SPI) module is a synchronous serial interface useful for communicating with other peripheral or microcontroller devices. These peripheral devices may be serial EEPROMs, shift registers, display drivers, A/D converters, etc. The SPI module is compatible with SPI and SIOP from Motorola. Note: Do not perform read-modify-write operations (such as bit-oriented instructions) on the SPIxBUF register.
2. 3. 4. 5.
To set up the SPI module for the Slave mode of operation: 1. 2.
The module supports a basic framed SPI protocol while operating in either Master or Slave mode. A total of four framed SPI configurations are supported. The SPI serial interface consists of four pins: SDIx: Serial Data Input SDOx: Serial Data Output SCKx: Shift Clock Input or Output SSx: Active-Low Slave Select or Frame Synchronization I/O Pulse
3.
The SPI module can be configured to operate using 2, 3 or 4 pins. In the 3-pin mode, SSx is not used. In the 2-pin mode, both SDOx and SSx are not used. A block diagram of an SPI module is shown in Figure 17-1. All dsPIC33F devices contain two SPI modules on a single device. The SPI module contains an 8-word deep FIFO buffer; the top of the buffer is denoted as SPIxBUF. If DMA transfers are enabled, the FIFO buffer must be disabled by clearing the ENHBUF bit (SPIxCON2<0>). Note: In this section, the SPI modules are referred to together as SPIx, or separately as SPI1 and SPI2. Special Function Registers will follow a similar notation. For example, SPIxCON refers to the control register for the SPI1 or SPI2 module.
4. 5.
6. 7.
The SPI module generates an interrupt indicating completion of a byte or word transfer, as well as a separate interrupt for all SPI error conditions. Note: Both SPI1 and SPI2 can trigger a DMA data transfer. If SPI1 or SPI2 is selected as the DMA IRQ source, a DMA transfer occurs when the SPI1IF or SPI2IF bit gets set as a result of an SPI1 or SPI2 byte or word transfer.
Advance Information
DS70165A-page 229
dsPIC33F
FIGURE 17-1:
SCKx
SPI MODULE BLOCK DIAGRAM

1:1 to 1:8 Secondary Prescaler Sync Control Control Clock Shift Control Select Edge 1:1/4/16/64 Primary Prescaler
FCY
SSx SPIxCON1<1:0> SPIxCON1<4:2> Enable Master Clock SPIxSR
SDOx SDIx bit 0
Transfer
Transfer
8-Deep FIFO Buffer
Read SPIxBUF
Write SPIxBUF 16 Internal Data Bus
DS70165A-page 230
Advance Information
dsPIC33F
FIGURE 17-2: SPI MASTER/SLAVE CONNECTION
PROCESSOR 1 (SPI Master) PROCESSOR 2 (SPI Slave)
SDOx
SDIx
Serial Receive Buffer (SPIxRXB)
Serial Receive Buffer (SPIxRXB)
Shift Register (SPIxSR) MSb LSb
SDIx
SDOx MSb
Shift Register (SPIxSR) LSb
Serial Transmit Buffer (SPIxTXB)
Serial Transmit Buffer (SPIxTXB)
SPI Buffer (SPIxBUF)(2)
SCKx
Serial Clock
SCKx
SPI Buffer (SPIxBUF)(2)
SSx(1) (MSTEN (SPIxCON1<5>) = 1) Note 1: 2: (SSEN (SPIxCON1<7>) = 1 and MSTEN (SPIxCON1<5>) = 0)
Using the SSx pin in Slave mode of operation is optional. User must write transmit data to/read received data from SPIxBUF. The SPIxTXB and SPIxRXB registers are memory mapped to SPIxBUF.
FIGURE 17-3:
SPI MASTER, FRAME MASTER CONNECTION DIAGRAM

dsPIC33F (SPI Slave, Frame Slave) SDOx SDIx PROCESSOR 2
SDIx SCKx SSx Frame Sync Pulse Serial Clock
SDOx SCKx SSx
FIGURE 17-4:
SPI MASTER, FRAME SLAVE CONNECTION DIAGRAM

dsPIC33F (SPI Master, Frame Slave) SDOx SDIx SCKx SSx Frame Sync Pulse Serial Clock SDIx SDOx SCKx SSx PROCESSOR 2
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dsPIC33F
FIGURE 17-5: SPI SLAVE, FRAME MASTER CONNECTION DIAGRAM
dsPIC33F (SPI Slave, Frame Slave) SDOx SDIx PROCESSOR 2
SDIx Serial Clock SCKx SSx Frame Sync Pulse
SDOx SCKx SSx
FIGURE 17-6:
SPI SLAVE, FRAME SLAVE CONNECTION DIAGRAM

dsPIC33F (SPI Master, Frame Slave) SDOx SDIx PROCESSOR 2
SDIx Serial Clock SCKx SSx Frame Sync Pulse
SDOx SCKx SSx
EQUATION 17-1:
RELATIONSHIP BETWEEN DEVICE AND SPI CLOCK SPEED

FSCK = FCY Primary Prescaler * Secondary Prescaler
TABLE 17-1:
SAMPLE SCKx FREQUENCIES

Secondary Prescaler Settings FCY = 40 MHz 1:1 2:1 Invalid 5000 1250 312.5 4:1 10000 2500 625 156.25 6:1 6666.67 1666.67 416.67 104.17 8:1 5000 1250 312.50 78.125
Primary Prescaler Settings
1:1 4:1 16:1 64:1
Invalid 10000 2500 625
FCY = 5 MHz Primary Prescaler Settings 1:1 4:1 16:1 64:1 Note: SCKx frequencies shown in kHz. 5000 1250 313 78 2500 625 156 39 1250 313 78 20 833 208 52 13 625 156 39 10
DS70165A-page 232
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REGISTER 17-1:
R/W-0 SPIEN bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 C = Clearable bit W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/C-0 SPIROV U-0 U-0 U-0 U-0 R-0 SPITBF R-0 SPIRBF bit 0
SPIxSTAT: SPIx STATUS AND CONTROL REGISTER

U-0 R/W-0 SPISIDL U-0 U-0 R/W-0 R/W-0 BUFELM<2:0> bit 8 R/W-0
SPIEN: SPIx Enable bit 1 = Enables module and configures SCKx, SDOx, SDIx and SSx as serial port pins 0 = Disables module Unimplemented: Read as 0 SPISIDL: Stop in Idle Mode bit 1 = Discontinue module operation when device enters Idle mode 0 = Continue module operation in Idle mode Unimplemented: Read as 0 BUFELM<2:0>: FIFO Buffer Length in Words bits 111 = 8 words 110 = 7 words 101 = 6 words 100 = 5 words 011 = 4 words 010 = 3 words 001 = 2 words 000 = 1 word Unimplemented: Read as 0 SPIROV: Receive Overflow Flag bit 1 = A new byte/word is completely received and discarded. The user software has not read the previous data in the SPIxBUF register. 0 = No overflow has occurred Unimplemented: Read as 0 SPITBF: SPIx Transmit Buffer Full Status bit 1 = Transmit not yet started, SPIxTXB is full 0 = Transmit started, SPIxTXB is empty Automatically set in hardware when CPU writes SPIxBUF location, loading SPIxTXB. Automatically cleared in hardware when SPIx module transfers data from SPIxTXB to SPIxSR. SPIRBF: SPIx Receive Buffer Full Status bit 1 = Receive complete, SPIxRXB is full 0 = Receive is not complete, SPIxRXB is empty Automatically set in hardware when SPIx transfers data from SPIxSR to SPIxRXB. Automatically cleared in hardware when core reads SPIxBUF location, reading SPIxRXB.
bit 14 bit 13
bit 12-11 bit 10-8
bit 7 bit 6
bit 5-2 bit 1
bit 0
Advance Information
DS70165A-page 233
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REGISTER 17-2:
U-0 bit 15 R/W-0 SSEN bit 7 Legend: R = Readable bit -n = Value at POR bit 15-13 bit 12 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 CKP R/W-0 MSTEN R/W-0 R/W-0 SPRE<2:0> R/W-0 R/W-0
SPIXCON1: SPIx CONTROL REGISTER 1

U-0 U-0 R/W-0 DISSCK R/W-0 DISSDO R/W-0 MODE16 R/W-0 SMP R/W-0 CKE(1) bit 8 R/W-0 bit 0
PPRE<1:0>
Unimplemented: Read as 0 DISSCK: Disable SCKx pin bit (SPI Master modes only) 1 = Internal SPI clock is disabled, pin functions as I/O 0 = Internal SPI clock is enabled DISSDO: Disable SDOx pin bit 1 = SDOx pin is not used by module; pin functions as I/O 0 = SDOx pin is controlled by the module MODE16: Word/Byte Communication Select bit 1 = Communication is word-wide (16 bits) 0 = Communication is byte-wide (8 bits) SMP: SPIx Data Input Sample Phase bit Master mode: 1 = Input data sampled at end of data output time 0 = Input data sampled at middle of data output time Slave mode: SMP must be cleared when SPIx is used in Slave mode. CKE: SPIx Clock Edge Select bit(1) 1 = Serial output data changes on transition from active clock state to Idle clock state (see bit 6) 0 = Serial output data changes on transition from Idle clock state to active clock state (see bit 6) SSEN: Slave Select Enable bit (Slave mode) 1 = SSx pin used for Slave mode 0 = SSx pin not used by module. Pin controlled by port function. CKP: Clock Polarity Select bit 1 = Idle state for clock is a high level; active state is a low level 0 = Idle state for clock is a low level; active state is a high level MSTEN: Master Mode Enable bit 1 = Master mode 0 = Slave mode SPRE<2:0>: Secondary Prescale bits (Master mode) 111 = Secondary prescale 1:1 110 = Secondary prescale 2:1 ... 000 = Secondary prescale 8:1 PPRE<1:0>: Primary Prescale bits (Master mode) 11 = Primary prescale 1:1 10 = Primary prescale 4:1 01 = Primary prescale 16:1 00 = Primary prescale 64:1 The CKE bit is not used in the Framed SPI modes. The user should program this bit to 0 for the Framed SPI modes (FRMEN = 1).
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4-2
bit 1-0
Note 1:
DS70165A-page 234
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REGISTER 17-3:
R/W-0 FRMEN bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 U-0 U-0 U-0 R/W-0 FRMDLY
SPIxCON2: SPIx CONTROL REGISTER 2

R/W-0 R/W-0 FRMPOL U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 ENHBUF bit 0
FRMSYNC
FRMEN: Framed SPIx Support bit 1 = Framed SPIx support enabled (SSx pin used as frame sync pulse input/output) 0 = Framed SPIx support disabled FRMSYNC: Frame Sync Pulse Direction Control bit 1 = Frame sync pulse input (slave) 0 = Frame sync pulse output (master) FRMPOL: Frame Sync Pulse Polarity bit 1 = Frame sync pulse is active-high 0 = Frame sync pulse is active-low Unimplemented: Read as 0 FRMDLY: Frame Sync Pulse Edge Select bit 1 = Frame sync pulse coincides with first bit clock 0 = Frame sync pulse precedes first bit clock ENHBUF: FIFO Buffer Enable bit 1 = FIFO buffer enabled 0 = FIFO buffer disabled
bit 14
bit 13
bit 12-2 bit 1
bit 0
Advance Information
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NOTES:
DS70165A-page 236
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18.0
Note:
INTER-INTEGRATED CIRCUIT (I2C)

18.2
I2C Registers
I2CxCON and I2CxSTAT are control and status registers, respectively. The I2CxCON register is readable and writable. The lower six bits of I2CxSTAT are read-only. The remaining bits of the I2CSTAT are read/write. I2CxRSR is the shift register used for shifting data, whereas I2CxRCV is the buffer register to which data bytes are written, or from which data bytes are read. I2CxRCV is the receive buffer. I2CxTRN is the transmit register to which bytes are written during a transmit operation. The I2CxADD register holds the slave address. A status bit, ADD10, indicates 10-bit Address mode. The I2CxBRG acts as the Baud Rate Generator (BRG) reload value. In receive operations, I2CxRSR and I2CxRCV together form a double-buffered receiver. When I2CxRSR receives a complete byte, it is transferred to I2CxRCV and an interrupt pulse is generated.
The Inter-Integrated Circuit (I2CTM) module provides complete hardware support for both Slave and MultiMaster modes of the I2C serial communication standard, with a 16-bit interface. The dsPIC33F devices have up to two I2C interface modules, denoted as I2C1 and I2C2. Each I2C module has a 2-pin interface: the SCLx pin is clock and the SDAx pin is data. Each I2C module x (x = 1 or 2) offers the following key features: I2C interface supporting both master and slave operation. I2C Slave mode supports 7 and 10-bit address. I2C Master mode supports 7 and 10-bit address. I2C port allows bidirectional transfers between master and slaves. Serial clock synchronization for I2C port can be used as a handshake mechanism to suspend and resume serial transfer (SCLREL control). I2C supports multi-master operation; detects bus collision and will arbitrate accordingly.
18.3
I2C Interrupts
The I2C module generates two interrupt flags, MI2CxIF (I2C Master Events Interrupt Flag) and SI2CxIF (I2C Slave Events Interrupt Flag). A separate interrupt is generated for all I2C error conditions.
18.4
I2C
Baud Rate Generator
18.1
Operating Modes
The hardware fully implements all the master and slave functions of the I2C Standard and Fast mode specifications, as well as 7 and 10-bit addressing. module can operate either as a slave or a The I master on an I2C bus. The following types of I2C operation are supported: I2C slave operation with 7-bit address I2C slave operation with 10-bit address I2C master operation with 7 or 10-bit address
2C
In Master mode, the reload value for the BRG is located in the I2CxBRG register. When the BRG is loaded with this value, the BRG counts down to 0 and stops until another reload has taken place. If clock arbitration is taking place, for instance, the BRG is reloaded when the SCLx pin is sampled high. As per the I2C standard, FSCL may be 100 kHz or 400 kHz. However, the user can specify any baud rate up to 1 MHz. I2CxBRG values of 0 or 1 are illegal.
EQUATION 18-1:
I2CxBRG =
SERIAL CLOCK RATE

CY ( FFSCL
FCY 1 1,111,111
For details about the communication sequence in each of these modes, please refer to the dsPIC30F Family Reference Manual.
Advance Information
DS70165A-page 237
dsPIC33F
FIGURE 18-1: I2C BLOCK DIAGRAM (X = 1 OR 2)
Internal Data Bus I2CxRCV Read SCLx Shift Clock I2CxRSR LSB SDAx Match Detect Address Match
Write I2CxMSK Write Read
I2CxADD Read Start and Stop Bit Detect Write Start and Stop Bit Generation Control Logic I2CxSTAT Read Write
Collision Detect
I2CxCON Read
Acknowledge Generation Clock Stretching
Write
I2CxTRN LSB Shift Clock Reload Control Read
Write I2CxBRG Read
BRG Down Counter
TCY/2
DS70165A-page 238
Advance Information
dsPIC33F
18.5 I2C Module Addresses 18.8 General Call Address Support
The I2CxADD register contains the Slave mode addresses. The register is a 10-bit register. If the A10M bit (I2CxCON<10>) is 0, the address is interpreted by the module as a 7-bit address. When an address is received, it is compared to the 7 Least Significant bits of the I2CxADD register. If the A10M bit is 1, the address is assumed to be a 10-bit address. When an address is received, it will be compared with the binary value, 11110 A9 A8 (where A9 and A8 are two Most Significant bits of I2CxADD). If that value matches, the next address will be compared with the Least Significant 8 bits of I2CxADD, as specified in the 10-bit addressing protocol. The general call address can address all devices. When this address is used, all devices should, in theory, respond with an Acknowledgement. The general call address is one of eight addresses reserved for specific purposes by the I2C protocol. It consists of all 0s with R_W = 0. The general call address is recognized when the General Call Enable (GCEN) bit is set (I2CxCON<7> = 1). When the interrupt is serviced, the source for the interrupt can be checked by reading the contents of the I2CxRCV to determine if the address was device-specific or a general call address.
18.9
Automatic Clock Stretch
TABLE 18-1:
7-BIT I2C SLAVE ADDRESSES SUPPORTED BY dsPIC33F

General call address or Start byte Reserved Valid 7-bit addresses Valid 10-bit addresses (lower 7 bits) Reserved
In Slave modes, the module can synchronize buffer reads and write to the master device by clock stretching.
18.9.1
TRANSMIT CLOCK STRETCHING
0x00 0x01-0x03 0x04-0x77 0x78-0x7b 0x7c-0x7f
Both 10-bit and 7-bit Transmit modes implement clock stretching by asserting the SCLREL bit after the falling edge of the ninth clock, if the TBF bit is cleared, indicating the buffer is empty. In Slave Transmit modes, clock stretching is always performed, irrespective of the STREN bit. The users ISR must set the SCLREL bit before transmission is allowed to continue. By holding the SCLx line low, the user has time to service the ISR and load the contents of the I2CxTRN before the master device can initiate another transmit sequence.
18.6
Slave Address Masking
The I2CxMSK register (Register 18-3) designates address bit positions as dont care for both 7-bit and 10-bit Address modes. Setting a particular bit location (= 1) in the I2CxMSK register, causes the slave module to respond, whether the corresponding address bit value is a 0 or 1. For example, when I2CxMSK is set to 00100000, the slave module will detect both addresses, 0000000 and 00100000. To enable address masking, the IPMI (Intelligent Peripheral Management Interface) must be disabled by clearing the IPMIEN bit (I2CxCON<11>).
18.9.2
RECEIVE CLOCK STRETCHING
The STREN bit in the I2CxCON register can be used to enable clock stretching in Slave Receive mode. When the STREN bit is set, the SCLx pin will be held low at the end of each data receive sequence. The users ISR must set the SCLREL bit before reception is allowed to continue. By holding the SCLx line low, the user has time to service the ISR and read the contents of the I2CxRCV before the master device can initiate another receive sequence. This will prevent buffer overruns from occurring.
18.7
IPMI Support
The control bit, IPMIEN, enables the module to support the Intelligent Peripheral Management Interface (IPMI). When this bit is set, the module accepts and acts upon all addresses.
18.10 Software Controlled Clock Stretching (STREN = 1)

When the STREN bit is 1, the SCLREL bit may be cleared by software to allow software to control the clock stretching. If the STREN bit is 0, a software write to the SCLREL bit will be disregarded and have no effect on the SCLREL bit.
Advance Information
DS70165A-page 239
dsPIC33F
18.11 Slope Control
The I C standard requires slope control on the SDAx and SCLx signals for Fast mode (400 kHz). The control bit, DISSLW, enables the user to disable slew rate control if desired. It is necessary to disable the slew rate control for 1 MHz mode.
2
18.13 Multi-Master Communication, Bus Collision and Bus Arbitration

Multi-Master mode support is achieved by bus arbitration. When the master outputs address/data bits onto the SDAx pin, arbitration takes place when the master outputs a 1 on SDAx by letting SDAx float high while another master asserts a 0. When the SCLx pin floats high, data should be stable. If the expected data on SDAx is a 1 and the data sampled on the SDAx pin = 0, then a bus collision has taken place. The master will set the I2C master events interrupt flag and reset the master portion of the I2C port to its Idle state.
18.12 Clock Arbitration

Clock arbitration occurs when the master deasserts the SCLx pin (SCLx allowed to float high) during any receive, transmit or Restart/Stop condition. When the SCLx pin is allowed to float high, the Baud Rate Generator (BRG) is suspended from counting until the SCLx pin is actually sampled high. When the SCLx pin is sampled high, the Baud Rate Generator is reloaded with the contents of I2CxBRG and begins counting. This ensures that the SCLx high time will always be at least one BRG rollover count in the event that the clock is held low by an external device.
DS70165A-page 240
Advance Information
dsPIC33F
REGISTER 18-1:
R/W-0 I2CEN bit 15 R/W-0 GCEN bit 7 Legend: R = Readable bit -n = Value at POR bit 15 U = Unimplemented bit, read as 0 W = Writable bit 1 = Bit is set HS = Set in hardware 0 = Bit is cleared HC = Cleared in hardware x = Bit is unknown R/W-0 STREN R/W-0 ACKDT R/W-0 HC ACKEN R/W-0 HC RCEN R/W-0 HC PEN R/W-0 HC RSEN
I2CxCON: I2Cx CONTROL REGISTER

U-0 R/W-0 I2CSIDL R/W-1 HC SCLREL R/W-0 IPMIEN R/W-0 A10M R/W-0 DISSLW R/W-0 SMEN bit 8 R/W-0 HC SEN bit 0
I2CEN: I2Cx Enable bit 1 = Enables the I2Cx module and configures the SDAx and SCLx pins as serial port pins 0 = Disables the I2Cx module. All I2C pins are controlled by port functions. Unimplemented: Read as 0 I2CSIDL: Stop in Idle Mode bit 1 = Discontinue module operation when device enters an Idle mode 0 = Continue module operation in Idle mode SCLREL: SCLx Release Control bit (when operating as I2C slave) 1 = Release SCLx clock 0 = Hold SCLx clock low (clock stretch) If STREN = 1: Bit is R/W (i.e., software may write 0 to initiate stretch and write 1 to release clock). Hardware clear at beginning of slave transmission. Hardware clear at end of slave reception. If STREN = 0: Bit is R/S (i.e., software may only write 1 to release clock). Hardware clear at beginning of slave transmission. IPMIEN: Intelligent Peripheral Management Interface (IPMI) Enable bit 1 = IPMI mode is enabled; all addresses Acknowledged 0 = IPMI mode disabled A10M: 10-bit Slave Address bit 1 = I2CxADD is a 10-bit slave address 0 = I2CxADD is a 7-bit slave address DISSLW: Disable Slew Rate Control bit 1 = Slew rate control disabled 0 = Slew rate control enabled SMEN: SMBus Input Levels bit 1 = Enable I/O pin thresholds compliant with SMBus specification 0 = Disable SMBus input thresholds GCEN: General Call Enable bit (when operating as I2C slave) 1 = Enable interrupt when a general call address is received in the I2CxRSR (module is enabled for reception) 0 = General call address disabled STREN: SCLx Clock Stretch Enable bit (when operating as I2C slave) Used in conjunction with SCLREL bit. 1 = Enable software or receive clock stretching 0 = Disable software or receive clock stretching
bit 14 bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
Advance Information
DS70165A-page 241
dsPIC33F
REGISTER 18-1:
bit 5
I2CxCON: I2Cx CONTROL REGISTER (CONTINUED)
ACKDT: Acknowledge Data bit (when operating as I2C master, applicable during master receive) Value that will be transmitted when the software initiates an Acknowledge sequence. 1 = Send NACK during Acknowledge 0 = Send ACK during Acknowledge ACKEN: Acknowledge Sequence Enable bit (when operating as I2C master, applicable during master receive) 1 = Initiate Acknowledge sequence on SDAx and SCLx pins and transmit ACKDT data bit. Hardware clear at end of master Acknowledge sequence. 0 = Acknowledge sequence not in progress RCEN: Receive Enable bit (when operating as I2C master) 1 = Enables Receive mode for I2C. Hardware clear at end of eighth bit of master receive data byte. 0 = Receive sequence not in progress PEN: Stop Condition Enable bit (when operating as I2C master) 1 = Initiate Stop condition on SDAx and SCLx pins. Hardware clear at end of master Stop sequence. 0 = Stop condition not in progress RSEN: Repeated Start Condition Enable bit (when operating as I2C master) 1 = Initiate Repeated Start condition on SDAx and SCLx pins. Hardware clear at end of master Repeated Start sequence. 0 = Repeated Start condition not in progress SEN: Start Condition Enable bit (when operating as I2C master) 1 = Initiate Start condition on SDAx and SCLx pins. Hardware clear at end of master Start sequence. 0 = Start condition not in progress
bit 4
bit 3
bit 2
bit 1
bit 0
DS70165A-page 242
Advance Information
dsPIC33F
REGISTER 18-2:
R-0 HSC ACKSTAT bit 15 R/C-0 HS IWCOL bit 7 Legend: R = Readable bit -n = Value at POR bit 15 U = Unimplemented bit, read as 0 W = Writable bit 1 = Bit is set HS = Set in hardware 0 = Bit is cleared HSC = Hardware set/cleared x = Bit is unknown R/C-0 HS I2CPOV R-0 HSC D_A R/C-0 HSC P R/C-0 HSC S R-0 HSC R_W R-0 HSC RBF
I2CxSTAT: I2Cx STATUS REGISTER

U-0 U-0 U-0 R/C-0 HS BCL R-0 HSC GCSTAT R-0 HSC ADD10 bit 8 R-0 HSC TBF bit 0
R-0 HSC TRSTAT
ACKSTAT: Acknowledge Status bit (when operating as I2C master, applicable to master transmit operation) 1 = NACK received from slave 0 = ACK received from slave Hardware set or clear at end of slave Acknowledge. TRSTAT: Transmit Status bit (when operating as I2C master, applicable to master transmit operation) 1 = Master transmit is in progress (8 bits + ACK) 0 = Master transmit is not in progress Hardware set at beginning of master transmission. Hardware clear at end of slave Acknowledge. Unimplemented: Read as 0 BCL: Master Bus Collision Detect bit 1 = A bus collision has been detected during a master operation 0 = No collision Hardware set at detection of bus collision. GCSTAT: General Call Status bit 1 = General call address was received 0 = General call address was not received Hardware set when address matches general call address. Hardware clear at Stop detection. ADD10: 10-bit Address Status bit 1 = 10-bit address was matched 0 = 10-bit address was not matched Hardware set at match of 2nd byte of matched 10-bit address. Hardware clear at Stop detection. IWCOL: Write Collision Detect bit 1 = An attempt to write the I2CxTRN register failed because the I2C module is busy 0 = No collision Hardware set at occurrence of write to I2CxTRN while busy (cleared by software). I2CPOV: Receive Overflow Flag bit 1 = A byte was received while the I2CxRCV register is still holding the previous byte 0 = No overflow Hardware set at attempt to transfer I2CxRSR to I2CxRCV (cleared by software). D_A: Data/Address bit (when operating as I2C slave) 1 = Indicates that the last byte received was data 0 = Indicates that the last byte received was device address Hardware clear at device address match. Hardware set by write to I2CxTRN or by reception of slave byte.
bit 14
bit 13-11 bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
Advance Information
DS70165A-page 243
dsPIC33F
REGISTER 18-2:
bit 4
I2CxSTAT: I2Cx STATUS REGISTER (CONTINUED)
P: Stop bit 1 = Indicates that a Stop bit has been detected last 0 = Stop bit was not detected last Hardware set or clear when Start, Repeated Start or Stop detected. S: Start bit 1 = Indicates that a Start (or Repeated Start) bit has been detected last 0 = Start bit was not detected last Hardware set or clear when Start, Repeated Start or Stop detected. R_W: Read/Write Information bit (when operating as I2C slave) 1 = Read indicates data transfer is output from slave 0 = Write indicates data transfer is input to slave Hardware set or clear after reception of I 2C device address byte. RBF: Receive Buffer Full Status bit 1 = Receive complete, I2CxRCV is full 0 = Receive not complete, I2CxRCV is empty Hardware set when I2CxRCV is written with received byte. Hardware clear when software reads I2CxRCV. TBF: Transmit Buffer Full Status bit 1 = Transmit in progress, I2CxTRN is full 0 = Transmit complete, I2CxTRN is empty Hardware set when software writes I2CxTRN. Hardware clear at completion of data transmission.
bit 3
bit 2
bit 1
bit 0
DS70165A-page 244
Advance Information
dsPIC33F
REGISTER 18-3:
U-0 bit 15 R/W-0 AMSK7 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-10 bit 9-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 AMSK6 R/W-0 AMSK5 R/W-0 AMSK4 R/W-0 AMSK3 R/W-0 AMSK2 R/W-0 AMSK1
I2CxMSK: I2Cx SLAVE MODE ADDRESS MASK REGISTER(1)

U-0 U-0 U-0 U-0 U-0 R/W-0 AMSK9 R/W-0 AMSK8 bit 8 R/W-0 AMSK0 bit 0
Unimplemented: Read as 0 AMSKx: Mask for Address bit x Select bit 1 = Enable masking for bit x of incoming message address; bit match not required in this position 0 = Disable masking for bit x; bit match required in this position This register is not present in devices marked PS.
Note 1:
Advance Information
DS70165A-page 245
dsPIC33F
NOTES:
DS70165A-page 246
Advance Information
dsPIC33F
19.0 UNIVERSAL ASYNCHRONOUS RECEIVER TRANSMITTER (UART)
This data sheet summarizes the features of this group of dsPIC33F devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the dsPIC30F Family Reference Manual (DS70046). Fully Integrated Baud Rate Generator with 16-bit Prescaler Baud Rates Ranging from 1 Mbps to 15 bps at 16 MIPS 4-deep First-In-First-Out (FIFO) Transmit Data Buffer 4-Deep FIFO Receive Data Buffer Parity, Framing and Buffer Overrun Error Detection Support for 9-bit mode with Address Detect (9th bit = 1) Transmit and Receive Interrupts A Separate Interrupt for all UART Error Conditions Loopback mode for Diagnostic Support Support for Sync and Break Characters Supports Automatic Baud Rate Detection IrDA Encoder and Decoder Logic 16x Baud Clock Output for IrDA Support A simplified block diagram of the UART is shown in Figure . The UART module consists of the key important hardware elements: Baud Rate Generator Asynchronous Transmitter Asynchronous Receiver
Note:
The Universal Asynchronous Receiver Transmitter (UART) module is one of the serial I/O modules available in the dsPIC33F device family. The UART is a fullduplex asynchronous system that can communicate with peripheral devices, such as personal computers, LIN, RS-232 and RS-485 interfaces. The module also supports a hardware flow control option with the UxCTS and UxRTS pins and also includes an IrDA encoder and decoder. The primary features of the UART module are: Full-Duplex, 8 or 9-bit Data Transmission through the UxTX and UxRX pins Even, Odd or No Parity Options (for 8-bit data) One or Two Stop bits Hardware Flow Control Option with UxCTS and UxRTS pins
FIGURE 19-1:
UART SIMPLIFIED BLOCK DIAGRAM
Baud Rate Generator
IrDA
BCLK
Hardware Flow Control
UxRTS UxCTS
UART Receiver
UxRX
UART Transmitter
UxTX
Note 1: Both UART1 and UART2 can trigger a DMA data transfer. If U1TX, U1RX, U2TX or U2RX is selected as a DMA IRQ source, a DMA transfer occurs when the U1TXIF, U1RXIF, U2TXIF or U2RXIF bit gets set as a result of a UART1 or UART2 transmission or reception. 2: If DMA transfers are required, the UART TX/RX FIFO buffer must be set to a size of 1 byte/word (i.e., UTXISEL<1:0> = 00 and URXISEL<1:0> = 00).
Advance Information
DS70165A-page 247
dsPIC33F
19.1 UART Baud Rate Generator (BRG)
The UART module includes a dedicated 16-bit Baud Rate Generator. The BRGx register controls the period of a free-running 16-bit timer. Equation 19-1 shows the formula for computation of the baud rate with BRGH = 0. Equation 19-2 shows the formula for computation of the baud rate with BRGH = 1.
EQUATION 19-2:
UART BAUD RATE WITH BRGH = 1

FCY 4 (BRGx + 1)
Baud Rate =
EQUATION 19-1:
UART BAUD RATE WITH BRGH = 0

BRGx = Note:
FCY Baud Rate = 16 (BRGx + 1) FCY 1 BRGx = 16 Baud Rate Note: FCY denotes the instruction cycle clock frequency (FOSC/2).
FCY 1 4 Baud Rate
FCY denotes the instruction cycle clock frequency (FOSC/2).
The maximum baud rate (BRGH = 1) possible is FCY/4 (for BRGx = 0), and the minimum baud rate possible is FCY/(4 * 65536). Writing a new value to the BRGx register causes the BRG timer to be reset (cleared). This ensures the BRG does not wait for a timer overflow before generating the new baud rate.
Example 19-1 shows the calculation of the baud rate error for the following conditions: FCY = 4 MHz Desired Baud Rate = 9600 The maximum baud rate (BRGH = 0) possible is FCY/16 (for BRGx = 0), and the minimum baud rate possible is FCY/(16 * 65536).
EXAMPLE 19-1:
Desired Baud Rate
BAUD RATE ERROR CALCULATION (BRGH = 0)

= = = = = = = = = FCY/(16 (BRGx + 1)) ((FCY/Desired Baud Rate)/16) 1 ((4000000/9600)/16) 1 25 4000000/(16 (25 + 1)) 9615 (Calculated Baud Rate Desired Baud Rate) Desired Baud Rate (9615 9600)/9600 0.16%
Solving for BRGx Value: BRGx BRGx BRGx Calculated Baud Rate Error
DS70165A-page 248
Advance Information
dsPIC33F
19.2
1.
Transmitting in 8-bit Data Mode
19.5
1. 2. 3.
2. 3. 4.
5.
6.
Set up the UART: a) Write appropriate values for data, parity and Stop bits. b) Write appropriate baud rate value to the BRGx register. c) Set up transmit and receive interrupt enable and priority bits. Enable the UART. Set the UTXEN bit (causes a transmit interrupt). Write data byte to lower byte of TXxREG word. The value will be immediately transferred to the Transmit Shift Register (TSR) and the serial bit stream will start shifting out with the next rising edge of the baud clock. Alternately, the data byte may be transferred while UTXEN = 0, and then the user may set UTXEN. This will cause the serial bit stream to begin immediately because the baud clock will start from a cleared state. A transmit interrupt will be generated as per interrupt control bits, UTXISEL<1:0>.
Receiving in 8-bit or 9-bit Data Mode
4.
5.
Set up the UART (as described in Section 19.2 Transmitting in 8-bit Data Mode). Enable the UART. A receive interrupt will be generated when one or more data characters have been received as per interrupt control bits, URXISEL<1:0>. Read the OERR bit to determine if an overrun error has occurred. The OERR bit must be reset in software. Read RXxREG.
The act of reading the RXxREG character will move the next character to the top of the receive FIFO, including a new set of PERR and FERR values.
19.6
Flow Control Using UxCTS and UxRTS Pins
19.3
1. 2. 3. 4. 5.
Transmitting in 9-bit Data Mode
6.
Set up the UART (as described in Section 19.2 Transmitting in 8-bit Data Mode). Enable the UART. Set the UTXEN bit (causes a transmit interrupt). Write TXxREG as a 16-bit value only. A word write to TXxREG triggers the transfer of the 9-bit data to the TSR. Serial bit stream will start shifting out with the first rising edge of the baud clock. A transmit interrupt will be generated as per the setting of control bits, UTXISEL<1:0>.
UARTx Clear to Send (UxCTS) and Request to Send (UxRTS) are the two hardware controlled active-low pins that are associated with the UART module. These two pins allow the UART to operate in Simplex and Flow Control modes. They are implemented to control the transmission and the reception between the Data Terminal Equipment (DTE). The UEN<1:0> bits in the UxMODE register configures these pins.
19.7
Infrared Support
The UART module provides two types of infrared UART support: IrDA clock output to support external IrDA encoder and decoder device (legacy module support) Full implementation of the IrDA encoder and decoder.
19.4
Break and Sync Transmit Sequence
19.7.1
EXTERNAL IrDA SUPPORT IrDA CLOCK OUTPUT
The following sequence will send a message frame header made up of a Break, followed by an auto-baud Sync byte. 1. 2. 3. Configure the UART for the desired mode. Set UTXEN and UTXBRK sets up the Break character. Load the TXxREG register with a dummy character to initiate transmission (value is ignored). Write 0x55 to TXxREG loads Sync character into the transmit FIFO. After the Break has been sent, the UTXBRK bit is reset by hardware. The Sync character now transmits.
To support external IrDA encoder and decoder devices, the BCLK pin (same as the UxRTS pin) can be configured to generate the 16x baud clock. With UEN<1:0> = 11, the BCLK pin will output the 16x baud clock if the UART module is enabled; it can be used to support the IrDA codec chip.
19.7.2
BUILT-IN IrDA ENCODER AND DECODER
4. 5.
The UART has full implementation of the IrDA encoder and decoder as part of the UART module. The built-in IrDA encoder and decoder functionality is enabled using the IREN bit (UxMODE<12>). When enabled (IREN = 1), the receive pin (UxRX) acts as the input from the infrared receiver. The transmit pin (UxTX) acts as the output to the infrared transmitter.
Advance Information
DS70165A-page 249
dsPIC33F
REGISTER 19-1:
R/W-0 UARTEN bit 15 R/W-0 HC WAKE bit 7 Legend: R = Readable bit -n = Value at POR bit 15 HC = Hardware cleared W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 LPBACK R/W-0 HC ABAUD R/W-0 URXINV R/W-0 BRGH R/W-0 R/W-0
UxMODE: UARTx MODE REGISTER

U-0 R/W-0 USIDL R/W-0 IREN
(1)
R/W-0 RTSMD
U-0
R/W-0(2)
R/W-0(2) bit 8 R/W-0 STSEL bit 0
UEN<1:0>
PDSEL<1:0>
UARTEN: UARTx Enable bit 1 = UARTx is enabled; all UARTx pins are controlled by UARTx as defined by UEN<1:0> 0 = UARTx is disabled; all UARTx pins are controlled by port latches; UARTx power consumption minimal Unimplemented: Read as 0 USIDL: Stop in Idle Mode bit 1 = Discontinue module operation when device enters Idle mode. 0 = Continue module operation in Idle mode IREN: IrDA Encoder and Decoder Enable bit(1) 1 = IrDA encoder and decoder enabled 0 = IrDA encoder and decoder disabled RTSMD: Mode Selection for UxRTS Pin bit 1 = UxRTS pin in Simplex mode 0 = UxRTS pin in Flow Control mode Unimplemented: Read as 0 UEN<1:0>: UARTx Enable bits 11 = UxTX, UxRX and BCLK pins are enabled and used; UxCTS pin controlled by port latches 10 = UxTX, UxRX, UxCTS and UxRTS pins are enabled and used 01 = UxTX, UxRX and UxRTS pins are enabled and used; UxCTS pin controlled by port latches 00 = UxTX and UxRX pins are enabled and used; UxCTS and UxRTS/BCLK pins controlled by port latches WAKE: Wake-up on Start bit Detect During Sleep Mode Enable bit 1 = UARTx will continue to sample the UxRX pin; interrupt generated on falling edge; bit cleared in hardware on following rising edge 0 = No wake-up enabled LPBACK: UARTx Loopback Mode Select bit 1 = Enable Loopback mode 0 = Loopback mode is disabled ABAUD: Auto-Baud Enable bit 1 = Enable baud rate measurement on the next character requires reception of a Sync field (55h); cleared in hardware upon completion 0 = Baud rate measurement disabled or completed URXINV: Receive Polarity Inversion bit 1 = UxRX Idle state is 0 0 = UxRX Idle state is 1 This feature is only available for the 16x BRG mode (BRGH = 0). Bit availability depends on pin availability.
bit 14 bit 13
bit 12
bit 11
bit 10 bit 9-8
bit 7
bit 6
bit 5
bit 4
Note 1: 2:
DS70165A-page 250
Advance Information
dsPIC33F
REGISTER 19-1:
bit 3
UxMODE: UARTx MODE REGISTER (CONTINUED)
BRGH: High Baud Rate Enable bit 1 = BRG generates 4 clocks per bit period (4x baud clock, High-Speed mode) 0 = BRG generates 16 clocks per bit period (16x baud clock, Standard mode) PDSEL<1:0>: Parity and Data Selection bits 11 = 9-bit data, no parity 10 = 8-bit data, odd parity 01 = 8-bit data, even parity 00 = 8-bit data, no parity STSEL: Stop Bit Selection bit 1 = Two Stop bits 0 = One Stop bit This feature is only available for the 16x BRG mode (BRGH = 0). Bit availability depends on pin availability.
bit 2-1
bit 0
Note 1: 2:
Advance Information
DS70165A-page 251
dsPIC33F
REGISTER 19-2:
R/W-0 UTXISEL1 bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15,13 HC = Hardware cleared W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 R/W-0 ADDEN R-1 RIDLE R-0 PERR R-0 FERR R/C-0 OERR R-0 URXDA bit 0
UxSTA: UARTx STATUS AND CONTROL REGISTER

R/W-0 R/W-0 UTXISEL0 U-0 R/W-0 HC UTXBRK R/W-0 UTXEN R-0 UTXBF R-1 TRMT bit 8
UTXINV(1)
URXISEL<1:0>
UTXISEL<1:0>: Transmission Interrupt Mode Selection bits 11 = Reserved; do not use 10 = Interrupt when a character is transferred to the Transmit Shift Register, and as a result, the transmit buffer becomes empty 01 = Interrupt when the last character is shifted out of the Transmit Shift Register; all transmit operations are completed 00 = Interrupt when a character is transferred to the Transmit Shift Register (this implies there is at least one character open in the transmit buffer) UTXINV: IrDA Encoder Transmit Polarity Inversion bit(1) 1 = IrDA encoded, UxTX Idle state is 1 0 = IrDA encoded, UxTX Idle state is 0 Unimplemented: Read as 0 UTXBRK: Transmit Break bit 1 = Send Sync Break on next transmission Start bit, followed by twelve 0 bits, followed by Stop bit; cleared by hardware upon completion 0 = Sync Break transmission disabled or completed UTXEN: Transmit Enable bit 1 = Transmit enabled, UxTX pin controlled by UARTx 0 = Transmit disabled, any pending transmission is aborted and buffer is reset. UxTX pin controlled by port. UTXBF: Transmit Buffer Full Status bit (read-only) 1 = Transmit buffer is full 0 = Transmit buffer is not full, at least one more character can be written TRMT: Transmit Shift Register Empty bit (read-only) 1 = Transmit Shift Register is empty and transmit buffer is empty (the last transmission has completed) 0 = Transmit Shift Register is not empty, a transmission is in progress or queued URXISEL<1:0>: Receive Interrupt Mode Selection bits 11 = Interrupt is set on UxRSR transfer making the receive buffer full (i.e., has 4 data characters) 10 = Interrupt is set on UxRSR transfer making the receive buffer 3/4 full (i.e., has 3 data characters) 0x = Interrupt is set when any character is received and transferred from the UxRSR to the receive buffer. Receive buffer has one or more characters. ADDEN: Address Character Detect bit (bit 8 of received data = 1) 1 = Address Detect mode enabled. If 9-bit mode is not selected, this does not take effect. 0 = Address Detect mode disabled Value of bit only affects the transmit properties of the module when the IrDA encoder is enabled (IREN = 1).
bit 14
bit 12 bit 11
bit 10
bit 9
bit 8
bit 7-6
bit 5
Note 1:
DS70165A-page 252
Advance Information
dsPIC33F
REGISTER 19-2:
bit 4
UxSTA: UARTx STATUS AND CONTROL REGISTER (CONTINUED)
RIDLE: Receiver Idle bit (read-only) 1 = Receiver is Idle 0 = Receiver is active PERR: Parity Error Status bit (read-only) 1 = Parity error has been detected for the current character (character at the top of the receive FIFO) 0 = Parity error has not been detected FERR: Framing Error Status bit (read-only) 1 = Framing error has been detected for the current character (character at the top of the receive FIFO) 0 = Framing error has not been detected OERR: Receive Buffer Overrun Error Status bit (read/clear only) 1 = Receive buffer has overflowed 0 = Receive buffer has not overflowed. Clearing a previously set OERR bit (1 0 transition) will reset the receiver buffer and the UxRSR to the empty state. URXDA: Receive Buffer Data Available bit (read-only) 1 = Receive buffer has data, at least one more character can be read 0 = Receive buffer is empty Value of bit only affects the transmit properties of the module when the IrDA encoder is enabled (IREN = 1).
bit 3
bit 2
bit 1
bit 0
Note 1:
Advance Information
DS70165A-page 253
dsPIC33F
NOTES:
DS70165A-page 254
Advance Information
dsPIC33F
20.0
Note:
ENHANCED CAN MODULE

This data sheet summarizes the features of this group of dsPIC33F devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the dsPIC30F Family Reference Manual (DS70046). This module is not present in devices marked PS. Please refer to Section 21.0 CAN Module for CAN functionality in devices marked PS.
Note:
The CAN bus module consists of a protocol engine and message buffering/control. The CAN protocol engine handles all functions for receiving and transmitting messages on the CAN bus. Messages are transmitted by first loading the appropriate data registers. Status and errors can be checked by reading the appropriate registers. Any message detected on the CAN bus is checked for errors and then matched against filters to see if it should be received and stored in one of the receive registers.
20.2
Frame Types
20.1
Overview
The Enhanced Controller Area Network (ECAN) module is a serial interface, useful for communicating with other CAN modules or microcontroller devices. This interface/protocol was designed to allow communications within noisy environments. The dsPIC33F devices contain up to two ECAN modules. The CAN module is a communication controller implementing the CAN 2.0 A/B protocol, as defined in the BOSCH specification. The module will support CAN 1.2, CAN 2.0A, CAN 2.0B Passive and CAN 2.0B Active versions of the protocol. The module implementation is a full CAN system. The CAN specification is not covered within this data sheet. The reader may refer to the BOSCH CAN specification for further details. The module features are as follows: Implementation of the CAN protocol, CAN 1.2, CAN 2.0A and CAN 2.0B Standard and extended data frames 0-8 bytes data length Programmable bit rate up to 1 Mbit/sec Support for remote frames Up to 8 transmit buffers with application specified prioritization and abort capability (each buffer may contain up to 8 bytes of data) Up to 32 receive buffers (each buffer may contain up to 8 bytes of data) Up to 16 full (standard/extended identifier) acceptance filters 3 full acceptance filter masks Programmable wake-up functionality with integrated low-pass filter Programmable Loopback mode supports self-test operation Signaling via interrupt capabilities for all CAN receiver and transmitter error states Programmable clock source Programmable link to input capture module (IC2 for both CAN1 and CAN2) for time-stamping and network synchronization Low-power Sleep and Idle mode
The CAN module transmits various types of frames which include data messages, or remote transmission requests initiated by the user, as other frames that are automatically generated for control purposes. The following frame types are supported: Standard Data Frame: A standard data frame is generated by a node when the node wishes to transmit data. It includes an 11-bit standard identifier (SID) but not an 18-bit extended identifier (EID). Extended Data Frame: An extended data frame is similar to a standard data frame but includes an extended identifier as well. Remote Frame: It is possible for a destination node to request the data from the source. For this purpose, the destination node sends a remote frame with an identifier that matches the identifier of the required data frame. The appropriate data source node will then send a data frame as a response to this remote request. Error Frame: An error frame is generated by any node that detects a bus error. An error frame consists of two fields: an error flag field and an error delimiter field. Overload Frame: An overload frame can be generated by a node as a result of two conditions. First, the node detects a dominant bit during interframe space which is an illegal condition. Second, due to internal conditions, the node is not yet able to start reception of the next message. A node may generate a maximum of 2 sequential overload frames to delay the start of the next message. Interframe Space: Interframe space separates a proceeding frame (of whatever type) from a following data or remote frame.
Advance Information
DS70165A-page 255
dsPIC33F
FIGURE 20-1: ECAN MODULE BLOCK DIAGRAM
RXF15 Filter RXF14 Filter RXF13 Filter RXF12 Filter DMA Controller RXF11 Filter RXF10 Filter RXF9 Filter RXF8 Filter TRB7 TX/RX Buffer Control Register TRB6 TX/RX Buffer Control Register TRB5 TX/RX Buffer Control Register TRB4 TX/RX Buffer Control Register TRB3 TX/RX Buffer Control Register TRB2 TX/RX Buffer Control Register TRB1 TX/RX Buffer Control Register TRB0 TX/RX Buffer Control Register RXF7 Filter RXF6 Filter RXF5 Filter RXF4 Filter RXF3 Filter RXF2 Filter RXF1 Filter RXF0 Filter RXM2 Mask RXM1 Mask RXM0 Mask
Transmit Byte Sequencer
Message Assembly Buffer
Control Configuration Logic CAN Protocol Engine
CPU Bus
Interrupts CiTX(1) CiRX(1)
Note 1: i = 1 or 2 refers to a particular ECAN module (ECAN1 or ECAN2).
DS70165A-page 256
Advance Information
dsPIC33F
20.3 Modes of Operation
Note: The CAN module can operate in one of several operation modes selected by the user. These modes include: Initialization Mode Disable Mode Normal Operation Mode Listen Only Mode Listen All Messages Mode Loopback Mode Typically, if the CAN module is allowed to transmit in a particular mode of operation and a transmission is requested immediately after the CAN module has been placed in that mode of operation, the module waits for 11 consecutive recessive bits on the bus before starting transmission. If the user switches to Disable mode within this 11-bit period, then this transmission is aborted and the corresponding TXABT bit is set and TXREQ bit is cleared.
Modes are requested by setting the REQOP<2:0> bits (CiCTRL1<10:8>). Entry into a mode is Acknowledged by monitoring the OPMODE<2:0> bits (CiCTRL1<7:5>). The module will not change the mode and the OPMODE bits until a change in mode is acceptable, generally during bus Idle time, which is defined as at least 11 consecutive recessive bits.
20.3.3
NORMAL OPERATION MODE
Normal Operation mode is selected when REQOP<2:0> = 000. In this mode, the module is activated and the I/O pins will assume the CAN bus functions. The module will transmit and receive CAN bus messages via the CiTX and CiRX pins.
20.3.1
INITIALIZATION MODE
20.3.4
LISTEN ONLY MODE
In the Initialization mode, the module will not transmit or receive. The error counters are cleared and the interrupt flags remain unchanged. The programmer will have access to Configuration registers that are access restricted in other modes. The module will protect the user from accidentally violating the CAN protocol through programming errors. All registers which control the configuration of the module can not be modified while the module is on-line. The CAN module will not be allowed to enter the Configuration mode while a transmission is taking place. The Configuration mode serves as a lock to protect the following registers. All Module Control Registers Baud Rate and Interrupt Configuration Registers Bus Timing Registers Identifier Acceptance Filter Registers Identifier Acceptance Mask Registers
If the Listen Only mode is activated, the module on the CAN bus is passive. The transmitter buffers revert to the port I/O function. The receive pins remain inputs. For the receiver, no error flags or Acknowledge signals are sent. The error counters are deactivated in this state. The Listen Only mode can be used for detecting the baud rate on the CAN bus. To use this, it is necessary that there are at least two further nodes that communicate with each other.
20.3.5
LISTEN ALL MESSAGES MODE
The module can be set to ignore all errors and receive any message. The Listen All Messages mode is activated by setting REQOP<2:0> = 111. In this mode, the data which is in the message assembly buffer, until the time an error occurred, is copied in the receive buffer and can be read via the CPU interface.
20.3.2
DISABLE MODE
20.3.6
LOOPBACK MODE
In Disable mode, the module will not transmit or receive. The module has the ability to set the WAKIF bit due to bus activity, however, any pending interrupts will remain and the error counters will retain their value. If the REQOP<2:0> bits (CiCTRL1<10:8>) = 001, the module will enter the Module Disable mode. If the module is active, the module will wait for 11 recessive bits on the CAN bus, detect that condition as an Idle bus, then accept the module disable command. When the OPMODE<2:0> bits (CiCTRL1<7:5>) = 001, that indicates whether the module successfully went into Module Disable mode. The I/O pins will revert to normal I/O function when the module is in the Module Disable mode. The module can be programmed to apply a low-pass filter function to the CiRX input line while the module or the CPU is in Sleep mode. The WAKFIL bit (CiCFG2<14>) enables or disables the filter.
If the Loopback mode is activated, the module will connect the internal transmit signal to the internal receive signal at the module boundary. The transmit and receive pins revert to their port I/O function.
20.4
20.4.1
Message Reception
RECEIVE BUFFERS
The CAN bus module has up to 16 receive buffers, located in DMA RAM. Of the 16 buffers, the first 8 need to be configured as receive buffers by clearing the corresponding TX/RX buffer selection (TXENn) bit in a CiTRmnCON register. The overall size of the CAN buffer area in DMA RAM is selectable by the user and is defined by the DMABS<2:0> bits (CiFCTRL<15:13>).
Advance Information
DS70165A-page 257
dsPIC33F
An additional buffer is always committed to monitoring the bus for incoming messages. This buffer is called the Message Assembly Buffer (MAB). All messages are assembled by the MAB and are transferred to the buffers only if the acceptance filter criterion are met. When a message is received, the RBIF flag (CiINTF<1>) will be set. The user would then need to inspect the CiVEC and/or CiRXFUL1 register to determine which filter and buffer caused the interrupt to get generated. The RBIF bit can only be set by the module when a message is received. The bit is cleared by the user when it has completed processing the message in the buffer. If the RBIE bit is set, an interrupt will be generated when a message is received.
20.4.5
RECEIVE ERRORS
The CAN module will detect the following receive errors: Cyclic Redundancy Check (CRC) Error Bit Stuffing Error Invalid Message Receive Error These receive errors do not generate an interrupt. However, the receive error counter is incremented by one in case one of these errors occur. The RXWAR bit (CiINTF<9>) indicates that the receive error counter has reached the CPU warning limit of 96 and an interrupt is generated.
20.4.2
FIFO BUFFER MODE
20.4.6
RECEIVE INTERRUPTS
The ECAN module provides FIFO buffer functionality if the buffer pointer for a filter has a value of 1111. In this mode, the results of a hit on that buffer will write to the next available buffer location within the FIFO. The CiFCTRL register defines the size of the FIFO. The FSA<4:0> bits in this register define the start of the FIFO buffers. The end of the FIFO is defined by the DMABS<2:0> bits if DMA is enabled. Thus, FIFO sizes up to 32 buffers are supported.
Receive interrupts can be divided into 3 major groups, each including various conditions that generate interrupts: Receive Interrupt: A message has been successfully received and loaded into one of the receive buffers. This interrupt is activated immediately after receiving the End-of-Frame (EOF) field. Reading the RXnIF flag will indicate which receive buffer caused the interrupt. Wake-up Interrupt: The CAN module has woken up from Disable mode or the device has woken up from Sleep mode. Receive Error Interrupts: A receive error interrupt will be indicated by the ERRIF bit. This bit shows that an error condition occurred. The source of the error can be determined by checking the bits in the CAN Interrupt Flag register, CiINTF. - Invalid Message Received: If any type of error occurred during reception of the last message, an error will be indicated by the IVRIF bit. - Receiver Overrun: The RBOVIF bit (CiINTF<2>) indicates that an overrun condition occurred. - Receiver Warning: The RXWAR bit indicates that the receive error counter (RERRCNT<7:0>) has reached the warning limit of 96. - Receiver Error Passive: The RXEP bit indicates that the receive error counter has exceeded the error passive limit of 127 and the module has gone into error passive state.
20.4.3
MESSAGE ACCEPTANCE FILTERS
The message acceptance filters and masks are used to determine if a message in the message assembly buffer should be loaded into either of the receive buffers. Once a valid message has been received into the Message Assembly Buffer (MAB), the identifier fields of the message are compared to the filter values. If there is a match, that message will be loaded into the appropriate receive buffer. Each filter is associated with a buffer pointer (FnBP<3:0>), which is used to link the filter to one of 16 receive buffers. The acceptance filter looks at incoming messages for the IDE bit (CiTRBnSID<0>) to determine how to compare the identifiers. If the IDE bit is clear, the message is a standard frame and only filters with the EXIDE bit (CiRXFnSID<3>) clear are compared. If the IDE bit is set, the message is an extended frame, and only filters with the EXIDE bit set are compared.
20.4.4
MESSAGE ACCEPTANCE FILTER MASKS
The mask bits essentially determine which bits to apply the filter to. If any mask bit is set to a zero, then that bit will automatically be accepted regardless of the filter bit. There are three programmable acceptance filter masks associated with the receive buffers. Any of these three masks can be linked to each filter by selecting the desired mask in the FnMSK<1:0> bits in the appropriate CiFMSKSELn register.
DS70165A-page 258
Advance Information
dsPIC33F
20.5
20.5.1
Message Transmission
TRANSMIT BUFFERS
20.5.4
AUTOMATIC PROCESSING OF REMOTE TRANSMISSION REQUESTS
The CAN module has up to eight transmit buffers, located in DMA RAM. These 8 buffers need to be configured as transmit buffers by setting the corresponding TX/RX buffer selection (TXENn or TXENm) bit in a CiTRmnCON register. The overall size of the CAN buffer area in DMA RAM is selectable by the user and is defined by the DMABS<2:0> bits (CiFCTRL<15:13>). Each transmit buffer occupies 16 bytes of data. Eight of the bytes are the maximum 8 bytes of the transmitted message. Five bytes hold the standard and extended identifiers and other message arbitration information. The last byte is unused.
If the RTRENn bit (in the CiTRmnCON register) for a particular transmit buffer is set, the hardware automatically transmits the data in that buffer in response to remote transmission requests matching the filter that points to that particular buffer. The user does not need to manually initiate a transmission in this case.
20.5.5
ABORTING MESSAGE TRANSMISSION
20.5.2
TRANSMIT MESSAGE PRIORITY
Transmit priority is a prioritization within each node of the pending transmittable messages. There are four levels of transmit priority. If the TXnPRI<1:0> bits (in CiTRmnCON) for a particular message buffer are set to 11, that buffer has the highest priority. If the TXnPRI<1:0> bits for a particular message buffer are set to 10 or 01, that buffer has an intermediate priority. If the TXnPRI<1:0> bits for a particular message buffer are 00, that buffer has the lowest priority. If two or more pending messages have the same priority, the messages are transmitted in decreasing order of buffer index.
The system can also abort a message by clearing the TXREQ bit associated with each message buffer. Setting the ABAT bit (CiCTRL1<12>) will request an abort of all pending messages. If the message has not yet started transmission, or if the message started but is interrupted by loss of arbitration or an error, the abort will be processed. The abort is indicated when the module sets the TXABT bit and the TXnIF flag is not automatically set.
20.5.6
TRANSMISSION ERRORS
The CAN module will detect the following transmission errors: Acknowledge Error Form Error Bit Error These transmission errors will not necessarily generate an interrupt but are indicated by the transmission error counter. However, each of these errors will cause the transmission error counter to be incremented by one. Once the value of the error counter exceeds the value of 96, the ERRIF (CiINTF<5>) and the TXWAR bit (CiINTF<10>) are set. Once the value of the error counter exceeds the value of 96, an interrupt is generated and the TXWAR bit in the Interrupt Flag register is set.
20.5.3
TRANSMISSION SEQUENCE
To initiate transmission of the message, the TXREQn bit (in CiTRmnCON) must be set. The CAN bus module resolves any timing conflicts between the setting of the TXREQn bit and the Start-of-Frame (SOF), ensuring that if the priority was changed, it is resolved correctly before the SOF occurs. When TXREQn is set, the TXABTn, TXLARBn and TXERRn flag bits are automatically cleared. Setting the TXREQn bit simply flags a message buffer as enqueued for transmission. When the module detects an available bus, it begins transmitting the message which has been determined to have the highest priority. If the transmission completes successfully on the first attempt, the TXREQn bit is cleared automatically and an interrupt is generated if TXnIE was set. If the message transmission fails, one of the error condition flags will be set and the TXREQn bit will remain set, indicating that the message is still pending for transmission. If the message encountered an error condition during the transmission attempt, the TXERRn bit will be set and the error condition may cause an interrupt. If the message loses arbitration during the transmission attempt, the TXLARBn bit is set. No interrupt is generated to signal the loss of arbitration.
Advance Information
DS70165A-page 259
dsPIC33F
20.5.7 TRANSMIT INTERRUPTS
20.6
Baud Rate Setting
Transmit interrupts can be divided into 2 major groups, each including various conditions that generate interrupts: Transmit Interrupt: At least one of the three transmit buffers is empty (not scheduled) and can be loaded to schedule a message for transmission. Reading the TXnIF flags will indicate which transmit buffer is available and caused the interrupt. Transmit Error Interrupts: A transmission error interrupt will be indicated by the ERRIF flag. This flag shows that an error condition occurred. The source of the error can be determined by checking the error flags in the CAN Interrupt Flag register, CiINTF. The flags in this register are related to receive and transmit errors. - Transmitter Warning Interrupt: The TXWAR bit indicates that the transmit error counter has reached the CPU warning limit of 96. - Transmitter Error Passive: The TXEP bit (CiINTF<12>) indicates that the transmit error counter has exceeded the error passive limit of 127 and the module has gone to error passive state. - Bus Off: The TXBO bit (CiINTF<13>) indicates that the transmit error counter has exceeded 255 and the module has gone to the bus off state. Note: Both ECAN1 and ECAN2 can trigger a DMA data transfer. If C1TX, C1RX, C2TX or C2RX is selected as a DMA IRQ source, a DMA transfer occurs when the C1TXIF, C1RXIF, C2TXIF or C2RXIF bit gets set as a result of an ECAN1 or ECAN2 transmission or reception.
All nodes on any particular CAN bus must have the same nominal bit rate. In order to set the baud rate, the following parameters have to be initialized: Synchronization Jump Width Baud Rate Prescaler Phase Segments Length Determination of Phase Segment 2 Sample Point Propagation Segment bits
20.6.1
BIT TIMING
All controllers on the CAN bus must have the same baud rate and bit length. However, different controllers are not required to have the same master oscillator clock. At different clock frequencies of the individual controllers, the baud rate has to be adjusted by adjusting the number of time quanta in each segment. The nominal bit time can be thought of as being divided into separate non-overlapping time segments. These segments are shown in Figure 20-2. Synchronization Segment (Sync Seg) Propagation Time Segment (Prop Seg) Phase Segment 1 (Phase1 Seg) Phase Segment 2 (Phase2 Seg)
The time segments and also the nominal bit time are made up of integer units of time called time quanta or TQ. By definition, the nominal bit time has a minimum of 8 TQ and a maximum of 25 TQ. Also, by definition, the minimum nominal bit time is 1 sec corresponding to a maximum bit rate of 1 MHz.
FIGURE 20-2:
Input Signal
ECAN BIT TIMING
Sync
Prop Segment
Phase Segment 1 Sample Point
Phase Segment 2
Sync
TQ
DS70165A-page 260
Advance Information
dsPIC33F
20.6.2 PRESCALER SETTING
There is a programmable prescaler with integral values ranging from 1 to 64, in addition to a fixed divide-by-2 for clock generation. The time quantum (TQ) is a fixed unit of time derived from the oscillator period and is given by Equation 20-1. Note: FCAN must not exceed 40 MHz. If CANCKS = 0, then FCY must not exceed 20 MHz. Typically, the sampling of the bit should take place at about 60-70% through the bit time, depending on the system parameters.
20.6.6
SYNCHRONIZATION
EQUATION 20-1:
TIME QUANTUM FOR CLOCK GENERATION
To compensate for phase shifts between the oscillator frequencies of the different bus stations, each CAN controller must be able to synchronize to the relevant signal edge of the incoming signal. When an edge in the transmitted data is detected, the logic will compare the location of the edge to the expected time (Synchronous Segment). The circuit will then adjust the values of Phase1 Seg and Phase2 Seg. There are two mechanisms used to synchronize.
TQ = 2 (BRP<5:0> + 1)/FCAN
20.6.6.1 20.6.3 PROPAGATION SEGMENT
Hard Synchronization
This part of the bit time is used to compensate physical delay times within the network. These delay times consist of the signal propagation time on the bus line and the internal delay time of the nodes. The Prop Seg can be programmed from 1 TQ to 8 TQ by setting the PRSEG<2:0> bits (CiCFG2<2:0>).
Hard synchronization is only done whenever there is a recessive to dominant edge during bus Idle, indicating the start of a message. After hard synchronization, the bit time counters are restarted with the Sync Seg. Hard synchronization forces the edge which has caused the hard synchronization to lie within the synchronization segment of the restarted bit time. If a hard synchronization is done, there will not be a resynchronization within that bit time.
20.6.4
PHASE SEGMENTS 20.6.6.2 Resynchronization

As a result of resynchronization, Phase1 Seg may be lengthened or Phase2 Seg may be shortened. The amount of lengthening or shortening of the phase buffer segment has an upper boundary known as the synchronization jump width, and is specified by the SJW<1:0> bits (CiCFG1<7:6>). The value of the synchronization jump width will be added to Phase1 Seg or subtracted from Phase2 Seg. The resynchronization jump width is programmable between 1 TQ and 4 TQ. The following requirement must be fulfilled while setting the SJW<1:0> bits: Phase2 Seg > Synchronization Jump Width Note: In the register descriptions that follow, i in the register identifier denotes the specific ECAN module (ECAN1 or ECAN2). n in the register identifier denotes the buffer, filter or mask number. m in the register identifier denotes the word number within a particular CAN data field.
The phase segments are used to optimally locate the sampling of the received bit within the transmitted bit time. The sampling point is between Phase1 Seg and Phase2 Seg. These segments are lengthened or shortened by resynchronization. The end of the Phase1 Seg determines the sampling point within a bit period. The segment is programmable from 1 TQ to 8 TQ. Phase2 Seg provides delay to the next transmitted data transition. The segment is programmable from 1 TQ to 8 TQ, or it may be defined to be equal to the greater of Phase1 Seg or the information processing time (2 TQ). The Phase1 Seg is initialized by setting bits SEG1PH<2:0> (CiCFG2<5:3>) and Phase2 Seg is initialized by setting SEG2PH<2:0> (CiCFG2<10:8>). The following requirement must be fulfilled while setting the lengths of the phase segments: Prop Seg + Phase1 Seg Phase2 Seg
20.6.5
SAMPLE POINT
The sample point is the point of time at which the bus level is read and interpreted as the value of that respective bit. The location is at the end of Phase1 Seg. If the bit timing is slow and contains many TQ, it is possible to specify multiple sampling of the bus line at the sample point. The level determined by the CAN bus then corresponds to the result from the majority decision of three values. The majority samples are taken at the sample point and twice before with a distance of TQ/2. The CAN module allows the user to choose between sampling three times at the same point or once at the same point, by setting or clearing the SAM bit (CiCFG2<6>).
Advance Information
DS70165A-page 261
dsPIC33F
REGISTER 20-1:
U-0 bit 15 R-1 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-14 bit 13 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R-0 OPMODE<2:0> R-0 U-0 R/W-0 CANCAP U-0 U-0
CiCTRL1: ECAN CONTROL REGISTER 1

U-0 R/W-0 CSIDL R/W-0 ABAT R/W-0 CANCKS R/W-1 R/W-0 REQOP<2:0> bit 8 R/W-0 WIN bit 0 R/W-0
Unimplemented: Read as 0 CSIDL: Stop in Idle Mode bit

1 = Discontinue module operation when device enters Idle mode 0 = Continue module operation in Idle mode
bit 12
ABAT: Abort All Pending Transmissions bit Signal all transmit buffers to abort transmission. Module will clear this bit when all transmissions are aborted CANCKS: CAN Master Clock Select bit
1 = CAN FCAN clock is FCY 0 = CAN FCAN clock is FOSC
bit 11
bit 10-8
000 001 010 011 100 101 110 111
REQOP<2:0>: Request Operation Mode bits = Set Normal Operation mode = Set Disable mode = Set Loopback mode = Set Listen Only Mode = Set Configuration mode = Reserved do not use = Reserved do not use = Set Listen All Messages mode
bit 7-5
OPMODE<2:0>: Operation Mode bits 000 = Module is in Normal Operation mode 001 = Module is in Disable mode 010 = Module is in Loopback mode 011 = Module is in Listen Only mode 100 = Module is in Configuration mode 101 = Reserved 110 = Reserved 111 = Module is in Listen All Messages mode Unimplemented: Read as 0 CANCAP: CAN Message Receive Timer Capture Event Enable bit
1 = Enable input capture based on CAN message receive 0 = Disable CAN capture
bit 4 bit 3
bit 2-1 bit 0
Unimplemented: Read as 0 WIN: SFR Map Window Select bit

1 = Use filter window 0 = Use buffer window
DS70165A-page 262
Advance Information
dsPIC33F
REGISTER 20-2:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-5 bit 4-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 R-0 R-0 R-0 DNCNT<4:0> bit 0 R-0 R-0
CiCTRL2: ECAN CONTROL REGISTER 2

U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8
Unimplemented: Read as 0 DNCNT<4:0>: DeviceNet Filter Bit Number bits 10010-11111 = Invalid selection 10001 = Compare up to data byte 3, bit 6 with EID<17> .... 00001 = Compare up to data byte 1, bit 7 with EID<0> 00000 = Do not compare data bytes
Advance Information
DS70165A-page 263
dsPIC33F
REGISTER 20-3:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-13 bit 12-8 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R-1 R-0 R-0 R-0 ICODE<6:0> bit 0 R-0 R-0 R-0
CiVEC: ECAN INTERRUPT CODE REGISTER

U-0 U-0 R-0 R-0 R-0 FILHIT<4:0> bit 8 R-0 R-0
Unimplemented: Read as 0 FILHIT<4:0>: Filter Hit Number bits 11111 = Filter 31 11110 = Filter 30 .... 00001 = Filter 1 00000 = Filter 0 Unimplemented: Read as 0 ICODE<6:0>: Interrupt Flag Code bits 1000101-1111111 = Reserved 1000100 = FIFO almost full interrupt 1000011 = Receiver overflow interrupt 1000010 = Wake-up interrupt 1000001 = Error interrupt 1000000 = No interrupt 0100000-0111111 = Reserved 0011111 = RB31 buffer interrupt 0011110 = RB30 buffer Interrupt .... 0001001 = RB9 buffer interrupt 0001000 = RB8 buffer interrupt 0000111 = TRB7 buffer interrupt 0000110 = TRB6 buffer interrupt 0000101 = TRB5 buffer interrupt 0000100 = TRB4 buffer interrupt 0000011 = TRB3 buffer interrupt 0000010 = TRB2 buffer interrupt 0000001 = TRB1 buffer interrupt 0000000 = TRB0 Buffer interrupt
bit 7 bit 6-0
DS70165A-page 264
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REGISTER 20-4:
R/W-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-13 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 R/W-0 R/W-0 R/W-0 FSA<4:0> bit 0 R/W-0
CiFCTRL: ECAN FIFO CONTROL REGISTER

R/W-0 R/W-0 U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0
DMABS<2:0>
DMABS<2:0>: DMA Buffer Size bits 111 = Reserved 110 = 32 buffers in DMA RAM 101 = 24 buffers in DMA RAM 100 = 16 buffers in DMA RAM 011 = 12 buffers in DMA RAM 010 = 8 buffers in DMA RAM 001 = 6 buffers in DMA RAM 000 = 4 buffers in DMA RAM Unimplemented: Read as 0 FSA<4:0>: FIFO Area Starts with Buffer bits 11111 = RB31 buffer 11110 = RB30 buffer .... 00001 = TRB1 buffer 00000 = TRB0 buffer
bit 12-5 bit 4-0
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REGISTER 20-5:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-14 bit 13-8 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 R-0 R-0 R-0 R-0 FNRB<5:0> bit 0 R-0 R-0
CiFIFO: ECAN FIFO STATUS REGISTER

U-0 R-0 R-0 R-0 R-0 FBP<5:0> bit 8 R-0 R-0
Unimplemented: Read as 0 FBP<5:0>: FIFO Write Buffer Pointer bits 011111 = RB31 buffer 011110 = RB30 buffer .... 000001 = TRB1 buffer 000000 = TRB0 buffer Unimplemented: Read as 0 FNRB<5:0>: FIFO Next Read Buffer Pointer bits 011111 = RB31 buffer 011110 = RB30 buffer .... 000001 = TRB1 buffer 000000 = TRB0 buffer
bit 7-6 bit 5-0
DS70165A-page 266
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REGISTER 20-6:
U-0 bit 15 R/C-0 IVRIF bit 7 Legend: R = Readable bit -n = Value at POR bit 15-14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/C-0 WAKIF R/C-0 ERRIF U-0 R/C-0 FIFOIF R/C-0 RBOVIF R/C-0 RBIF
CiINTF: ECAN INTERRUPT FLAG REGISTER

U-0 R-0 TXBO R-0 TXBP R-0 RXBP R-0 TXWAR R-0 RXWAR R-0 EWARN bit 8 R/C-0 TBIF bit 0
Unimplemented: Read as 0 TXBO: Transmitter in Error State Bus Off bit TXBP: Transmitter in Error State Bus Passive bit RXBP: Receiver in Error State Bus Passive bit TXWAR: Transmitter in Error State Warning bit RXWAR: Receiver in Error State Warning bit EWARN: Transmitter or Receiver in Error State Warning bit IVRIF: Invalid Message Received Interrupt Flag bit WAKIF: Bus Wake-up Activity Interrupt Flag bit ERRIF: Error Interrupt Flag bit (multiple sources in CiINTF<13:8> register) Unimplemented: Read as 0 FIFOIF: FIFO Almost Full Interrupt Flag bit RBOVIF: RX Buffer Overflow Interrupt Flag bit RBIF: RX Buffer Interrupt Flag bit TBIF: TX Buffer Interrupt Flag bit
Advance Information
DS70165A-page 267
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REGISTER 20-7:
U-0 bit 15 R/W-0 IVRIE bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 WAKIE R/W-0 ERRIE R/W-0 R/W-0 FIFOIE R/W-0 RBOVIE R/W-0 RBIE
CiINTE: ECAN INTERRUPT ENABLE REGISTER

U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 TBIE bit 0
Unimplemented: Read as 0 IVRIE: Invalid Message Received Interrupt Enable bit WAKIE: Bus Wake-up Activity Interrupt Flag bit ERRIE: Error Interrupt Enable bit Unimplemented: Read as 0 FIFOIE: FIFO Almost Full Interrupt Enable bit RBOVIE: RX Buffer Overflow Interrupt Enable bit RBIE: RX Buffer Interrupt Enable bit TBIE: TX Buffer Interrupt Enable bit
DS70165A-page 268
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REGISTER 20-8:
R-0 bit 15 R-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 bit 7-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R-0 R-0 R-0 R-0 R-0 R-0 R-0 bit 0
CiEC: ECAN TRANSMIT/RECEIVE ERROR COUNT REGISTER

R-0 R-0 R-0 R-0 R-0 R-0 R-0 bit 8 TERRCNT<7:0>
RERRCNT<7:0>
TERRCNT<7:0>: Transmit Error Count bits RERRCNT<7:0>: Receive Error Count bits
Advance Information
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REGISTER 20-9:
U-0 bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 bit 7-6 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0
CiCFG1: ECAN BAUD RATE CONFIGURATION REGISTER 1

U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 bit 0
SJW<1:0>
BRP<5:0>
Unimplemented: Read as 0
11 10 01 00
SJW<1:0>: Synchronization Jump Width bits = Length is 4 x TQ = Length is 3 x TQ = Length is 2 x TQ = Length is 1 x TQ
bit 5-0
11 00 00 00
BRP<5:0>: Baud Rate Prescaler bits 1111 = TQ = 2 x 64 x 1/FCAN 0010 = TA = 2 x 3 x 1/FCAN 0001 = TA = 2 x 2 x 1/FCAN 0000 = TQ = 2 x 1 x 1/FCAN
DS70165A-page 270
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REGISTER 20-10: CiCFG2: ECAN BAUD RATE CONFIGURATION REGISTER 2
U-0 bit 15 R/W-x SEG2PHTS bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x SAM R/W-x R/W-x SEG1PH<2:0> R/W-x R/W-x R/W-x PRSEG<2:0> bit 0 R/W-x WAKFIL U-0 U-0 U-0 R/W-x R/W-x SEG2PH<2:0> bit 8 R/W-x R/W-x
Unimplemented: Read as 0 WAKFIL: Select CAN bus Line Filter for Wake-up bit
1 = Use CAN bus line filter for wake-up 0 = CAN bus line filter is not used for wake-up
bit 13-11 bit 10-8
Unimplemented: Read as 0 SEG2PH<2:0>: Phase Buffer Segment 2 bits

111 = Length is 8 x TQ 000 = Length is 1 x TQ
bit 7
SEG2PHTS: Phase Segment 2 Time Select bit

1 = Freely programmable 0 = Maximum of SEG1PH bits or Information Processing Time (IPT), whichever is greater
bit 6
SAM: Sample of the CAN bus Line bit

1 = Bus line is sampled three times at the sample point 0 = Bus line is sampled once at the sample point
bit 5-3
SEG1PH<2:0>: Phase Buffer Segment 1 bits

bit 2-0
PRSEG<2:0>: Propagation Time Segment bits

Advance Information
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REGISTER 20-11: CiFEN1: ECAN ACCEPTANCE FILTER ENABLE REGISTER
R/W-0 FLTEN15 bit 15 R/W-0 FLTEN7 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 FLTEN6 R/W-1 FLTEN5 R/W-1 FLTEN4 R/W-1 FLTEN3 R/W-1 FLTEN2 R/W-1 FLTEN1 R/W-0 FLTEN14 R/W-0 FLTEN13 R/W-0 FLTEN12 R/W-0 FLTEN11 R/W-0 FLTEN10 R/W-0 FLTEN9 R/W-0 FLTEN8 bit 8 R/W-1 FLTEN0 bit 0
FLTENn: Enable Filter n to Accept Messages bits

1 = Enable Filter n 0 = Disable Filter n
REGISTER 20-12: CiBUFPNT1: ECAN FILTER 0-3 BUFFER POINTER REGISTER

R/W-0 bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-12 bit 11-8 bit 7-4 bit 3-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 bit 8 R/W-0 bit 0 F3BP<3:0> F2BP<3:0>
F1BP<3:0>
F0BP<3:0>
F3BP<3:0>: RX Buffer Written when Filter 3 Hits bits F2BP<3:0>: RX Buffer Written when Filter 2 Hits bits F1BP<3:0>: RX Buffer Written when Filter 1 Hits bits F0BP<3:0>: RX Buffer Written when Filter 0 Hits bits 1111 = Filter hits received in RX FIFO buffer 1110 = Filter hits received in RX Buffer 14 .... 0001 = Filter hits received in RX Buffer 1 0000 = Filter hits received in RX Buffer 0
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F5BP<3:0>
F4BP<3:0>
F7BP<3:0>: RX Buffer Written when Filter 7 Hits bits F6BP<3:0>: RX Buffer Written when Filter 6 Hits bits F5BP<3:0>: RX Buffer Written when Filter 5 Hits bits F4BP<3:0>: RX Buffer Written when Filter 4 Hits bits

F9BP<3:0>
F8BP<3:0>
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F13BP<3:0>
F12BP<3:0>
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REGISTER 20-16:
R/W-x SID10 bit 15 R/W-x SID2 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-5 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x SID1 R/W-x SID0 U-0 R/W-x EXIDE U-0 R/W-x EID17
CiRXFnSID: ECAN ACCEPTANCE FILTER n STANDARD IDENTIFIER (n = 0, 1, ..., 15)

R/W-x SID9 R/W-x SID8 R/W-x SID7 R/W-x SID6 R/W-x SID5 R/W-x SID4 R/W-x SID3 bit 8 R/W-x EID16 bit 0
SID<10:0>: Standard Identifier bits 1 = Message address bit SIDx must be 1 to match filter 0 = Message address bit SIDx must be 0 to match filter Unimplemented: Read as 0 EXIDE: Extended Identifier Enable bit If MIDE = 1 then: 1 = Match only messages with extended identifier addresses 0 = Match only messages with standard identifier addresses If MIDE = 0 then: Ignore EXIDE bit. Unimplemented: Read as 0 EID<17:16>: Extended Identifier bits 1 = Message address bit EIDx must be 1 to match filter 0 = Message address bit EIDx must be 0 to match filter
bit 4 bit 3
bit 2 bit 1-0
REGISTER 20-17:
R/W-x EID15 bit 15 R/W-x EID7 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0
CiRXFnEID: ECAN ACCEPTANCE FILTER n EXTENDED IDENTIFIER (n = 0, 1, ..., 15)

R/W-x EID14 R/W-x EID13 R/W-x EID12 R/W-x EID11 R/W-x EID10 R/W-x EID9 R/W-x EID8 bit 8 R/W-x EID6 R/W-x EID5 R/W-x EID4 R/W-x EID3 R/W-x EID2 R/W-x EID1 R/W-x EID0 bit 0
EID<15:0>: Extended Identifier bits 1 = Message address bit EIDx must be 1 to match filter 0 = Message address bit EIDx must be 0 to match filter
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REGISTER 20-18: CiFMSKSEL1: ECAN FILTER 7-0 MASK SELECTION REGISTER
R/W-0 bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-14 bit 13-12 bit 11-10 bit 9-8 bit 7-6 bit 5-4 bit 3-2 bit 1-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 bit 8 R/W-0 bit 0 F7MSK<1:0> F6MSK<1:0> F5MSK<1:0> F4MSK<1:0>
F3MSK<1:0>
F2MSK<1:0>
F1MSK<1:0>
F0MSK<1:0>
F7MSK<1:0>: Mask Source for Filter 7 bit F6MSK<1:0>: Mask Source for Filter 6 bit F5MSK<1:0>: Mask Source for Filter 5 bit F4MSK<1:0>: Mask Source for Filter 4 bit F3MSK<1:0>: Mask Source for Filter 3 bit F2MSK<1:0>: Mask Source for Filter 2 bit F1MSK<1:0>: Mask Source for Filter 1 bit
11 10 01 00
F0MSK<1:0>: Mask Source for Filter 0 bit = No mask = Acceptance Mask 2 registers contain mask = Acceptance Mask 1 registers contain mask = Acceptance Mask 0 registers contain mask
DS70165A-page 276
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REGISTER 20-19: CiRXMnSID: ECAN ACCEPTANCE FILTER MASK n STANDARD IDENTIFIER
R/W-x SID10 bit 15 R/W-x SID2 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-5 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x SID1 R/W-x SID0 U-0 R/W-x MIDE U-0 R/W-x EID17 R/W-x SID9 R/W-x SID8 R/W-x SID7 R/W-x SID6 R/W-x SID5 R/W-x SID4 R/W-x SID3 bit 8 R/W-x EID16 bit 0
SID<10:0>: Standard Identifier bits 1 = Include bit SIDx in filter comparison 0 = Bit SIDx is dont care in filter comparison Unimplemented: Read as 0 MIDE: Identifier Receive Mode bit
1 = Match only message types (standard or extended address) that correspond to EXIDE bit in filter 0 = Match either standard or extended address message if filters match
bit 4 bit 3
(i.e., if (Filter SID) = (Message SID) or if (Filter SID/EID) = (Message SID/EID)) bit 2 bit 1-0 Unimplemented: Read as 0 EID<17:16>: Extended Identifier bits
1 = Include bit EIDx in filter comparison 0 = Bit EIDx is dont care in filter comparison
REGISTER 20-20: CiRXMnEID: ECAN ACCEPTANCE FILTER MASK n EXTENDED IDENTIFIER

R/W-x EID15 bit 15 R/W-x EID7 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x EID6 R/W-x EID5 R/W-x EID4 R/W-x EID3 R/W-x EID2 R/W-x EID1 R/W-x EID14 R/W-x EID13 R/W-x EID12 R/W-x EID11 R/W-x EID10 R/W-x EID9 R/W-x EID8 bit 8 R/W-x EID0 bit 0
EID<15:0>: Extended Identifier bits 1 = Include bit EIDx in filter comparison 0 = Bit EIDx is dont care in filter comparison
Advance Information
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REGISTER 20-21: CiRXFUL1: ECAN RECEIVE BUFFER FULL REGISTER 1
R/C-0 RXFUL15 bit 15 R/C-0 RXFUL7 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/C-0 RXFUL6 R/C-0 RXFUL5 R/C-0 RXFUL4 R/C-0 RXFUL3 R/C-0 RXFUL2 R/C-0 RXFUL1 R/C-0 RXFUL14 R/C-0 RXFUL13 R/C-0 RXFUL12 R/C-0 RXFUL11 R/C-0 RXFUL10 R/C-0 RXFUL9 R/C-0 RXFUL8 bit 8 R/C-0 RXFUL0 bit 0
RXFUL<15:0>: Receive Buffer n Full bits 1 = Buffer is full (set by module) 0 = Buffer is empty (clear by application software)
REGISTER 20-22: CiRXFUL2: ECAN RECEIVE BUFFER FULL REGISTER 2

R/C-0 RXFUL31 bit 15 R/C-0 RXFUL23 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/C-0 RXFUL22 R/C-0 RXFUL21 R/C-0 RXFUL20 R/C-0 RXFUL19 R/C-0 RXFUL18 R/C-0 RXFUL17 R/C-0 RXFUL30 R/C-0 RXFUL29 R/C-0 RXFUL28 R/C-0 RXFUL27 R/C-0 RXFUL26 R/C-0 RXFUL25 R/C-0 RXFUL24 bit 8 R/C-0 RXFUL16 bit 0
RXFUL<31:16>: Receive Buffer n Full bits

1 = Buffer is full (set by module) 0 = Buffer is empty (clear by application software)
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REGISTER 20-23: CiRXOVF1: ECAN RECEIVE BUFFER OVERFLOW REGISTER 1
R/C-0 RXOVF15 bit 15 R/C-0 RXOVF7 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/C-0 RXOVF6 R/C-0 RXOVF5 R/C-0 RXOVF4 R/C-0 RXOVF3 R/C-0 RXOVF2 R/C-0 RXOVF1 R/C-0 RXOVF14 R/C-0 RXOVF13 R/C-0 RXOVF12 R/C-0 RXOVF11 R/C-0 RXOVF10 R/C-0 RXOVF9 R/C-0 RXOVF8 bit 8 R/C-0 RXOVF0 bit 0
RXOVF<15:0>: Receive Buffer n Overflow bits 1 = Module pointed a write to a full buffer (set by module) 0 = Overflow is cleared (clear by application software)
REGISTER 20-24: CiRXOVF2: ECAN RECEIVE BUFFER OVERFLOW REGISTER 2

R/C-0 RXOVF31 bit 15 R/C-0 RXOVF23 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/C-0 RXOVF22 R/C-0 RXOVF21 R/C-0 RXOVF20 R/C-0 RXOVF19 R/C-0 RXOVF18 R/C-0 RXOVF17 R/C-0 RXOVF30 R/C-0 RXOVF29 R/C-0 RXOVF28 R/C-0 RXOVF27 R/C-0 RXOVF26 R/C-0 RXOVF25 R/C-0 RXOVF24 bit 8 R/C-0 RXOVF16 bit 0
RXOVF<31:16>: Receive Buffer n Overflow bits

1 = Module pointed a write to a full buffer (set by module) 0 = Overflow is cleared (clear by application software)
Advance Information
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REGISTER 20-25:
R/W-0 TXENn bit 15 R/W-0 TXENm bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 bit 7 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R-0 TXABTm(1) R-0 R-0 R/W-0 TXREQm R/W-0 RTRENm R/W-0
CiTRmnCON: ECAN TX/RX BUFFER m CONTROL REGISTER (m = 0,2,4,6; n = 1,3,5,7)

R-0 R-0 TXLARBn R-0 TXERRn R/W-0 TXREQn R/W-0 RTRENn R/W-0 R/W-0 bit 8 R/W-0 bit 0 TXnPRI<1:0>
TXABTn
TXLARBm(1) TXERRm(1)
TXmPRI<1:0>
See Definition for Bits 7-0, Controls Buffer n TXENm: TX/RX Buffer Selection bit 1 = Buffer TRBn is a transmit buffer 0 = Buffer TRBn is a receive buffer TXABTm: Message Aborted bit(1) 1 = Message was aborted 0 = Message completed transmission successfully TXLARBm: Message Lost Arbitration bit(1) 1 = Message lost arbitration while being sent 0 Message did not lose arbitration while being sent TXERRm: Error Detected During Transmission bit(1) 1 = A bus error occurred while the message was being sent 0 = A bus error did not occur while the message was being sent TXREQm: Message Send Request bit Setting this bit to 1 requests sending a message. The bit will automatically clear when the message is successfully sent. Clearing the bit to 0 while set will request a message abort. RTRENm: Auto-Remote Transmit Enable bit 1 = When a remote transmit is received, TXREQ will be set 0 = When a remote transmit is received, TXREQ will be unaffected TXmPRI<1:0>: Message Transmission Priority bits 11 = Highest message priority 10 = High intermediate message priority 01 = Low intermediate message priority 00 = Lowest message priority This bit is cleared when TXREQ is set.
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1-0
Note 1:
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Note: The buffers, SID, EID, DLC, Data Field and Receive Status registers are located in DMA RAM.
REGISTER 20-26: CiTRBnSID: ECAN BUFFER n STANDARD IDENTIFIER (n = 0, 1, ..., 63)

U-0 bit 15 R/W-x SID5 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-13 bit 12-2 bit 1 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x SID4 R/W-x SID3 R/W-x SID2 R/W-x SID1 R/W-x SID0 R/W-x SRR U-0 U-0 R/W-x SID10 R/W-x SID9 R/W-x SID8 R/W-x SID7 R/W-x SID6 bit 8 R/W-x IDE bit 0
Unimplemented: Read as 0 SID<10:0>: Standard Identifier bits SRR: Substitute Remote Request bit
1 = Message will request remote transmission 0 = Normal message
bit 0
IDE: Extended Identifier bit

1 = Message will transmit extended identifier 0 = Message will transmit standard identifier
REGISTER 20-27: CiTRBnEID: ECAN BUFFER n EXTENDED IDENTIFIER (n = 0, 1, ..., 63)

U-0 bit 15 R/W-x EID13 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-12 bit 11-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x EID12 R/W-x EID11 R/W-x EID10 R/W-x EID9 R/W-x EID8 R/W-x EID7 U-0 U-0 U-0 R/W-x EID17 R/W-x EID16 R/W-x EID15 R/W-x EID14 bit 8 R/W-x EID6 bit 0
Unimplemented: Read as 0 EID<17:6>: Extended Identifier bits
Advance Information
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REGISTER 20-28: CiTRBnDLC: ECAN BUFFER n DATA LENGTH CONTROL (n = 0, 1, ..., 63)
R/W-x EID5 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-10 bit 9 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 R/W-x RB0 R/W-x DLC3 R/W-x DLC2 R/W-x DLC1 R/W-x EID4 R/W-x EID3 R/W-x EID2 R/W-x EID1 R/W-x EID0 R/W-x RTR R/W-x RB1 bit 8 R/W-x DLC0 bit 0
EID<5:0>: Extended Identifier bits RTR: Remote Transmission Request bit 1 = Message will request remote transmission 0 = Normal message RB1: Reserved Bit 1 User must set this bit to 0 per CAN protocol. Unimplemented: Read as 0 RB0: Reserved Bit 0 User must set this bit to 0 per CAN protocol. DLC<3:0>: Data Length Code bits
bit 8 bit 7-5 bit 4 bit 3-0
REGISTER 20-29:
R/W-x TRBnDm7 bit 7 Legend: R = Readable bit -n = Value at POR bit 7-0 Note 1:
CiTRBnDm: ECAN BUFFER n DATA FIELD BYTE m (n = 0, 1, ..., 63; m = 0, 1, ..., 8)(1)
R/W-x TRBnDm5 R/W-x TRBnDm4 R/W-x TRBnDm3 R/W-x TRBnDm2 R/W-x TRBnDm1 R/W-x TRBnDm0 bit 0
R/W-x TRBnDm6
TRnDm<7:0>: Data Field Buffer n Byte m bits The Most Significant Byte contains byte (m + 1) of the buffer.
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REGISTER 20-30: CiTRBnSTAT: ECAN RECEIVE BUFFER n STATUS (n = 0, 1, ..., 63)
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-13 bit 12-8 bit 7-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 0 U-0 U-0 R/W-x FILHIT4 R/W-x FILHIT3 R/W-x FILHIT2 R/W-x FILHIT1 R/W-x FILHIT0 bit 8
Unimplemented: Read as 0 FILHIT<4:0>: Filter Hit Code bits (only written by module for receive buffers, unused for transmit buffers) Encodes number of filter that resulted in writing this buffer. Unimplemented: Read as 0
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NOTES:
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21.0
Note:
CAN MODULE
This data sheet summarizes the features of this group of dsPIC33F devices. It is not intended to be a comprehensive reference source. To complement the information in this data sheet, refer to the dsPIC30F Family Reference Manual (DS70046). This module is present only in devices marked PS.
Note:
The CAN bus module consists of a protocol engine and message buffering/control. The CAN protocol engine handles all functions for receiving and transmitting messages on the CAN bus. Messages are transmitted by first loading the appropriate data registers. Status and errors can be checked by reading the appropriate registers. Any message detected on the CAN bus is checked for errors and then matched against filters to see if it should be received and stored in one of the receive registers.
21.2
Frame Types
21.1
Overview
The Controller Area Network (CAN) module is a serial interface, useful for communicating with other CAN modules or microcontroller devices. This interface/ protocol was designed to allow communications within noisy environments. The CAN module is a communication controller implementing the CAN 2.0 A/B protocol, as defined in the BOSCH specification. The module will support CAN 1.2, CAN 2.0A, CAN 2.0B Passive and CAN 2.0B Active versions of the protocol. The module implementation is a full CAN system. The CAN specification is not covered within this data sheet. The reader may refer to the BOSCH CAN specification for further details. The module features are as follows: Implementation of the CAN protocol CAN 1.2, CAN 2.0A and CAN 2.0B Standard and extended data frames 0-8 bytes data length Programmable bit rate up to 1 Mbit/sec Support for remote frames Double-buffered receiver with two prioritized received message storage buffers (each buffer may contain up to 8 bytes of data) 6 full (standard/extended identifier) acceptance filters, 2 associated with the high priority receive buffer and 4 associated with the low priority receive buffer 2 full acceptance filter masks, one each associated with the high and low priority receive buffers Three transmit buffers with application specified prioritization and abort capability (each buffer may contain up to 8 bytes of data) Programmable wake-up functionality with integrated low-pass filter Programmable Loopback mode supports self-test operation Signaling via interrupt capabilities for all CAN receiver and transmitter error states Programmable clock source Programmable link to input capture module (IC2 for both CAN1 and CAN2) for time-stamping and network synchronization Low-power Sleep and Idle mode
The CAN module transmits various types of frames which include data messages or remote transmission requests initiated by the user, as other frames that are automatically generated for control purposes. The following frame types are supported: Standard Data Frame: A standard data frame is generated by a node when the node wishes to transmit data. It includes an 11-bit Standard Identifier (SID) but not an 18-bit Extended Identifier (EID). Extended Data Frame: An extended data frame is similar to a standard data frame but includes an extended identifier as well. Remote Frame: It is possible for a destination node to request the data from the source. For this purpose, the destination node sends a remote frame with an identifier that matches the identifier of the required data frame. The appropriate data source node will then send a data frame as a response to this remote request. Error Frame: An error frame is generated by any node that detects a bus error. An error frame consists of two fields: an error flag field and an error delimiter field. Overload Frame: An overload frame can be generated by a node as a result of two conditions. First, the node detects a dominant bit during interframe space which is an illegal condition. Second, due to internal conditions, the node is not yet able to start reception of the next message. A node may generate a maximum of two sequential overload frames to delay the start of the next message. Interframe Space: Interframe space separates a proceeding frame (of whatever type) from a following data or remote frame.
Advance Information
DS70165A-page 285
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FIGURE 21-1: CAN BUFFERS AND PROTOCOL ENGINE BLOCK DIAGRAM
Acceptance Mask RXM1 Acceptance Filter RXF2 TXB0 MSGREQ TXABT TXLARB TXERR MTXBUFF MESSAGE TXB1 MSGREQ TXABT TXLARB TXERR MTXBUFF MESSAGE TXB2 A c c e p t MSGREQ TXABT TXLARB TXERR MTXBUFF MESSAGE Acceptance Mask RXM0 Acceptance Filter RXF0 Acceptance Filter RXF1 Acceptance Filter RXF3 Acceptance Filter RXF4 Acceptance Filter RXF5 A c c e p t
BUFFERS
Message Queue Control
R X B 0 Transmit Byte Sequencer
Identifier
M A B
Identifier
R X B 1
Data Field
Data Field
PROTOCOL ENGINE
Receive Error Counter
RERRCNT TERRCNT Err Pas Bus Off
Transmit Error Counter Transmit Shift Receive Shift
CRC Generator
CRC Check
Protocol Finite State Machine
Transmit Logic
Bit Timing Logic
Bit Timing Generator
CiTX(1)
CiRX(1)
Note 1:
i = 1 or 2 refers to a particular CAN module (CAN1 or CAN2).
DS70165A-page 286
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21.3 Modes of Operation
Note: The CAN module can operate in one of several operation modes selected by the user. These modes include: Initialization Mode Disable Mode Normal Operation Mode Listen Only Mode Listen All Messages Mode Loopback Mode Typically, if the CAN module is allowed to transmit in a particular mode of operation and a transmission is requested immediately after the CAN module has been placed in that mode of operation, the module waits for 11 consecutive recessive bits on the bus before starting transmission. If the user switches to Disable mode within this 11-bit period, then this transmission is aborted and the corresponding TXABT bit is set and TXREQ bit is cleared.
Modes are requested by setting the REQOP<2:0> bits (CiCTRL<10:8>). Entry into a mode is Acknowledged by monitoring the OPMODE<2:0> bits (CiCTRL<7:5>). The module will not change the mode and the OPMODE bits until a change in mode is acceptable, generally during bus Idle time, which is defined as at least 11 consecutive recessive bits.
21.3.3
NORMAL OPERATION MODE
Normal Operation mode is selected when REQOP<2:0> = 000. In this mode, the module is activated and the I/O pins will assume the CAN bus functions. The module will transmit and receive CAN bus messages via the CiTX and CiRX pins.
21.3.1
INITIALIZATION MODE
21.3.4
LISTEN ONLY MODE
In the Initialization mode, the module will not transmit or receive. The error counters are cleared and the interrupt flags remain unchanged. The programmer will have access to Configuration registers that are access restricted in other modes. The module will protect the user from accidentally violating the CAN protocol through programming errors. All registers which control the configuration of the module can not be modified while the module is on-line. The CAN module will not be allowed to enter the Configuration mode while a transmission is taking place. The Configuration mode serves as a lock to protect the following registers. All Module Control Registers Baud Rate and Interrupt Configuration Registers Bus Timing Registers Identifier Acceptance Filter Registers Identifier Acceptance Mask Registers
If the Listen Only mode is activated, the module on the CAN bus is passive. The transmitter buffers revert to the port I/O function. The receive pins remain inputs. For the receiver, no error flags or Acknowledge signals are sent. The error counters are deactivated in this state. The Listen Only mode can be used for detecting the baud rate on the CAN bus. To use this, it is necessary that there are at least two further nodes that communicate with each other.
21.3.5
LISTEN ALL MESSAGES MODE
The module can be set to ignore all errors and receive any message. The Listen All Messages mode is activated by setting REQOP<2:0> = 111. In this mode, the data which is in the message assembly buffer until the time an error occurred is copied in the receive buffer and can be read via the CPU interface.
21.3.2
DISABLE MODE
21.3.6
LOOPBACK MODE
In Disable mode, the module will not transmit or receive. The module has the ability to set the WAKIF bit due to bus activity, however, any pending interrupts will remain and the error counters will retain their value. If the REQOP<2:0> bits (CiCTRL<10:8>) = 001, the module will enter the Disable mode. If the module is active, the module will wait for 11 recessive bits on the CAN bus, detect that condition as an Idle bus, then accept the module disable command. When the OPMODE<2:0> bits (CiCTRL<7:5>) = 001, that indicates whether the module successfully went into Disable mode. The I/O pins will revert to normal I/O function when the module is in the Disable mode. The module can be programmed to apply a low-pass filter function to the CiRX input line while the module or the CPU is in Sleep mode. The WAKFIL bit (CiCFG2<14>) enables or disables the filter.
If the Loopback mode is activated, the module will connect the internal transmit signal to the internal receive signal at the module boundary. The transmit and receive pins revert to their port I/O function.
21.4
21.4.1
Message Reception
RECEIVE BUFFERS
The CAN bus module has 3 receive buffers. However, one of the receive buffers is always committed to monitoring the bus for incoming messages. This buffer is called the Message Assembly Buffer (MAB). There are two receive buffers visible, RXB0 and RXB1, that can essentially instantaneously receive a complete message from the protocol engine.
Advance Information
DS70165A-page 287
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All messages are assembled by the MAB and are transferred to the RXBn buffers only if the acceptance filter criterion are met. When a message is received, the RXnIF flag (CiINTF<0> or CiINTF<1>) will be set. This bit can only be set by the module when a message is received. The bit is cleared by the CPU when it has completed processing the message in the buffer. If the RXnIE bit (CiINTE<0> or CiINTE<1>) is set, an interrupt will be generated when a message is received. RXF0 and RXF1 filters with RXM0 mask are associated with RXB0. The filters, RXF2, RXF3, RXF4 and RXF5 and the mask RXM1, are associated with RXB1. indicates that RXB1 is empty, the message for RXB0 will be loaded into RXB1. An overrun error will not be generated for RXB0. If a valid message is received for RXB0 and RXFUL = 1, indicating that both RXB0 and RXB1 are full, the message will be lost and an overrun will be indicated for RXB1.
21.4.5
RECEIVE ERRORS
The CAN module will detect the following receive errors: Cyclic Redundancy Check (CRC) Error Bit Stuffing Error Invalid Message Receive Error These receive errors do not generate an interrupt. However, the receive error counter is incremented by one in case one of these errors occur. The RXWAR bit (CiINTF<9>) indicates that the receive error counter has reached the CPU warning limit of 96 and an interrupt is generated.
21.4.2
MESSAGE ACCEPTANCE FILTERS
The message acceptance filters and masks are used to determine if a message in the message assembly buffer should be loaded into either of the receive buffers. Once a valid message has been received into the Message Assembly Buffer (MAB), the identifier fields of the message are compared to the filter values. If there is a match, that message will be loaded into the appropriate receive buffer. The acceptance filter looks at incoming messages for the RXIDE bit (CiRXnSID<0>) to determine how to compare the identifiers. If the RXIDE bit is clear, the message is a standard frame and only filters with the EXIDE bit (CiRXFnSID<0>) clear are compared. If the RXIDE bit is set, the message is an extended frame and only filters with the EXIDE bit set are compared. Configuring the RXM<1:0> bits to 01 or 10 can override the EXIDE bit.
21.4.6
RECEIVE INTERRUPTS
Receive interrupts can be divided into three major groups, each including various conditions that generate interrupts: Receive Interrupt: A message has been successfully received and loaded into one of the receive buffers. This interrupt is activated immediately after receiving the End-ofFrame (EOF) field. Reading the RXnIF flag will indicate which receive buffer caused the interrupt. Wake-up Interrupt: The CAN module has woken up from Disable mode or the device has woken up from Sleep mode. Receive Error Interrupts: A receive error interrupt will be indicated by the ERRIF bit. This bit shows that an error condition occurred. The source of the error can be determined by checking the bits in the CAN Interrupt Flag register, CiINTF. - Invalid Message Received: If any type of error occurred during reception of the last message, an error will be indicated by the IVRIF bit. - Receiver Overrun: The RXnOVR bit indicates that an overrun condition occurred. - Receiver Warning: The RXWAR bit indicates that the receive error counter (RERRCNT<7:0>) has reached the warning limit of 96. - Receiver Error Passive: The RXEP bit indicates that the receive error counter has exceeded the error passive limit of 127 and the module has gone into error passive state.
21.4.3
MESSAGE ACCEPTANCE FILTER MASKS
The mask bits essentially determine which bits to apply the filter to. If any mask bit is set to a zero, then that bit will automatically be accepted regardless of the filter bit. There are 2 programmable acceptance filter masks associated with the receive buffers, one for each buffer.
21.4.4
RECEIVE OVERRUN
An overrun condition occurs when the Message Assembly Buffer (MAB) has assembled a valid received message, the message is accepted through the acceptance filters and when the receive buffer associated with the filter has not been designated as clear of the previous message. The overrun error flag, RXnOVR (CiINTF<15> or CiINTF<14>), and the ERRIF bit (CiINTF<5>) will be set and the message in the MAB will be discarded. If the DBEN bit is clear, RXB1 and RXB0 operate independently. When this is the case, a message intended for RXB0 will not be diverted into RXB1 if RXB0 contains an unread message and the RX0OVR bit will be set. If the DBEN bit is set, the overrun for RXB0 is handled differently. If a valid message is received for RXB0 and RXFUL = 1 indicates that RXB0 is full and RXFUL = 0
DS70165A-page 288
Advance Information
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21.5
21.5.1
Message Transmission
TRANSMIT BUFFERS
will be processed. The abort is indicated when the module sets the TXABT bit and the TXnIF flag is not automatically set.
The CAN module has three transmit buffers. Each of the three buffers occupies 14 bytes of data. Eight of the bytes are the maximum 8 bytes of the transmitted message. Five bytes hold the standard and extended identifiers and other message arbitration information.
21.5.5
TRANSMISSION ERRORS
The CAN module will detect the following transmission errors: Acknowledge Error Form Error Bit Error These transmission errors will not necessarily generate an interrupt but are indicated by the transmission error counter. However, each of these errors will cause the transmission error counter to be incremented by one. Once the value of the error counter exceeds the value of 96, the ERRIF (CiINTF<5>) and the TXWAR bit (CiINTF<10>) are set. Once the value of the error counter exceeds the value of 96, an interrupt is generated and the TXWAR bit in the Interrupt Flag register is set.
21.5.2
TRANSMIT MESSAGE PRIORITY
Transmit priority is a prioritization within each node of the pending transmittable messages. There are 4 levels of transmit priority. If TXPRI<1:0> (CiTXnCON<1:0>, where n = 0, 1 or 2 represents a particular transmit buffer) for a particular message buffer is set to 11, that buffer has the highest priority. If TXPRI<1:0> for a particular message buffer is set to 10 or 01, that buffer has an intermediate priority. If TXPRI<1:0> for a particular message buffer is 00, that buffer has the lowest priority.
21.5.3
TRANSMISSION SEQUENCE 21.5.6 TRANSMIT INTERRUPTS

Transmit interrupts can be divided into two major groups, each including various conditions that generate interrupts: Transmit Interrupt: At least one of the three transmit buffers is empty (not scheduled) and can be loaded to schedule a message for transmission. Reading the TXnIF flags will indicate which transmit buffer is available and caused the interrupt. Transmit Error Interrupts: A transmission error interrupt will be indicated by the ERRIF flag. This flag shows that an error condition occurred. The source of the error can be determined by checking the error flags in the CAN Interrupt Flag register, CiINTF. The flags in this register are related to receive and transmit errors. - Transmitter Warning Interrupt: The TXWAR bit indicates that the transmit error counter has reached the CPU warning limit of 96. - Transmitter Error Passive: The TXEP bit (CiINTF<12>) indicates that the transmit error counter has exceeded the error passive limit of 127 and the module has gone to error passive state. - Bus Off: The TXBO bit (CiINTF<13>) indicates that the transmit error counter has exceeded 255 and the module has gone to the bus off state.
To initiate transmission of the message, the TXREQ bit (CiTXnCON<3>) must be set. The CAN bus module resolves any timing conflicts between the setting of the TXREQ bit and the Start-of-Frame (SOF), ensuring that if the priority was changed, it is resolved correctly before the SOF occurs. When TXREQ is set, the TXABT (CiTXnCON<6>), TXLARB (CiTXnCON<5>) and TXERR (CiTXnCON<4>) flag bits are automatically cleared. Setting TXREQ bit simply flags a message buffer as enqueued for transmission. When the module detects an available bus, it begins transmitting the message which has been determined to have the highest priority. If the transmission completes successfully on the first attempt, the TXREQ bit is cleared automatically and an interrupt is generated if TXnIE was set. If the message transmission fails, one of the error condition flags will be set and the TXREQ bit will remain set, indicating that the message is still pending for transmission. If the message encountered an error condition during the transmission attempt, the TXERR bit will be set and the error condition may cause an interrupt. If the message loses arbitration during the transmission attempt, the TXLARB bit is set. No interrupt is generated to signal the loss of arbitration.
21.5.4
ABORTING MESSAGE TRANSMISSION
The system can also abort a message by clearing the TXREQ bit associated with each message buffer. Setting the ABAT bit (CiCTRL<12>) will request an abort of all pending messages. If the message has not yet started transmission, or if the message started but is interrupted by loss of arbitration or an error, the abort
Advance Information
DS70165A-page 289
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21.6 Baud Rate Setting
All nodes on any particular CAN bus must have the same nominal bit rate. In order to set the baud rate, the following parameters have to be initialized: Synchronization Jump Width Baud Rate Prescaler Phase Segments Length Determination of Phase Segment 2 Sample Point Propagation Segment bits clock. At different clock frequencies of the individual controllers, the baud rate has to be adjusted by adjusting the number of time quanta in each segment. The nominal bit time can be thought of as being divided into separate non-overlapping time segments. These segments are shown in Figure 21-2. Synchronization Segment (Sync Seg) Propagation Time Segment (Prop Seg) Phase Segment 1 (Phase1 Seg) Phase Segment 2 (Phase2 Seg)
21.6.1
BIT TIMING
All controllers on the CAN bus must have the same baud rate and bit length. However, different controllers are not required to have the same master oscillator
The time segments and also the nominal bit time are made up of integer units of time called time quanta, or TQ. By definition, the nominal bit time has a minimum of 8 TQ and a maximum of 25 TQ. Also, by definition, the minimum nominal bit time is 1 sec corresponding to a maximum bit rate of 1 MHz.
FIGURE 21-2:
Input Signal
CAN BIT TIMING
Sync
Prop Segment
Phase Segment 1 Sample Point
Phase Segment 2
Sync
TQ
21.6.2
PRESCALER SETTING
21.6.4
PHASE SEGMENTS
There is a programmable prescaler with integral values ranging from 1 to 64, in addition to a fixed divide-by-2 for clock generation. The time quantum (TQ) is a fixed unit of time derived from the oscillator period and is given by Equation 21-1. Note: FCAN must not exceed 30 MHz. If CANCKS = 0, then FCY must not exceed 7.5 MHz.
EQUATION 21-1:
TIME QUANTUM FOR CLOCK GENERATION
TQ = 2 (BRP<5:0> + 1)/FCAN
The phase segments are used to optimally locate the sampling of the received bit within the transmitted bit time. The sampling point is between Phase1 Seg and Phase2 Seg. These segments are lengthened or shortened by resynchronization. The end of the Phase1 Seg determines the sampling point within a bit period. The segment is programmable from 1 TQ to 8 TQ. Phase2 Seg provides delay to the next transmitted data transition. The segment is programmable from 1 TQ to 8 TQ, or it may be defined to be equal to the greater of Phase1 Seg or the information processing time (2 TQ). The Phase1 Seg is initialized by setting bits SEG1PH<2:0> (CiCFG2<5:3>) and Phase2 Seg is initialized by setting SEG2PH<2:0> (CiCFG2<10:8>). The following requirement must be fulfilled while setting the lengths of the phase segments: Prop Seg + Phase1 Seg Phase2 Seg
21.6.3
PROPAGATION SEGMENT
This part of the bit time is used to compensate physical delay times within the network. These delay times consist of the signal propagation time on the bus line and the internal delay time of the nodes. The Prop Seg can be programmed from 1 TQ to 8 TQ by setting the PRSEG<2:0> bits (CiCFG2<2:0>).
DS70165A-page 290
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21.6.5 SAMPLE POINT 21.6.6.1 Hard Synchronization
The sample point is the point of time at which the bus level is read and interpreted as the value of that respective bit. The location is at the end of Phase1 Seg. If the bit timing is slow and contains many TQ, it is possible to specify multiple sampling of the bus line at the sample point. The level determined by the CAN bus then corresponds to the result from the majority decision of three values. The majority samples are taken at the sample point and twice before with a distance of TQ/2. The CAN module allows the user to choose between sampling three times at the same point or once at the same point, by setting or clearing the SAM bit (CiCFG2<6>). Typically, the sampling of the bit should take place at about 60-70% through the bit time, depending on the system parameters. Hard synchronization is only done whenever there is a recessive to dominant edge during bus Idle, indicating the start of a message. After hard synchronization, the bit time counters are restarted with the Sync Seg. Hard synchronization forces the edge which has caused the hard synchronization to lie within the synchronization segment of the restarted bit time. If a hard synchronization is done, there will not be a resynchronization within that bit time.
21.6.6.2
Resynchronization
21.6.6
SYNCHRONIZATION
To compensate for phase shifts between the oscillator frequencies of the different bus stations, each CAN controller must be able to synchronize to the relevant signal edge of the incoming signal. When an edge in the transmitted data is detected, the logic will compare the location of the edge to the expected time (Synchronous Segment). The circuit will then adjust the values of Phase1 Seg and Phase2 Seg. There are two mechanisms used to synchronize.
As a result of resynchronization, Phase1 Seg may be lengthened or Phase2 Seg may be shortened. The amount of lengthening or shortening of the phase buffer segment has an upper boundary known as the synchronization jump width, and is specified by the SJW<1:0> bits (CiCFG1<7:6>). The value of the synchronization jump width will be added to Phase1 Seg or subtracted from Phase2 Seg. The resynchronization jump width is programmable between 1 TQ and 4 TQ . The following requirement must be fulfilled while setting the SJW<1:0> bits: Phase2 Seg > Synchronization Jump Width
Advance Information
DS70165A-page 291
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REGISTER 21-1:
R/W-x CANCAP(1) bit 15 R-1 bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R-0 OPMODE<2:0>(3) R-0 U-0 R-0 R-0 ICODE<2:0> R-0 U-0 bit 0
CiCTRL: CAN MODULE CONTROL AND STATUS REGISTER

U-0 R/W-0 CSIDL R/W-0 ABAT(2) R/W-0 CANCKS R/W-1 R/W-0 REQOP<2:0> bit 8 R/W-0
CANCAP: CAN Message Receive Capture Enable bit(1) 1 = Enable CAN capture 0 = Disable CAN capture Unimplemented: Read as 0 CSIDL: Stop in Idle Mode bit 1 = Discontinue CAN module operation when device enters Idle mode 0 = Continue CAN module operation in Idle mode ABAT: Abort All Pending Transmissions bit(2) 1 = Abort pending transmissions in all transmit buffers 0 = No effect CANCKS: CAN Master Clock Select bit 1 = FCAN clock is FCY 0 = FCAN clock is 4 FCY REQOP<2:0>: Request Operation Mode bits 111 = Set Listen All Messages mode 110 = Reserved 101 = Reserved 100 = Set Configuration mode 011 = Set Listen Only mode 010 = Set Loopback mode 001 = Set Disable mode 000 = Set Normal Operation mode OPMODE<2:0>: Operation Mode bits(3) Unimplemented: Read as 0 ICODE<2:0>: Interrupt Flag Code bits 111 = Wake-up interrupt 110 = RXB0 interrupt 101 = RXB1 interrupt 100 = TXB0 interrupt 011 = TXB1 interrupt 010 = TXB2 interrupt 001 = Error interrupt 000 = No interrupt Unimplemented: Read as 0 CANCAP is always writable, regardless of CAN module operating mode. Module will clear this bit when all transmissions aborted. These bits indicate the current operating mode of the CAN module. See description for REQOP bits (CiCTRL<10:8>).
bit 14 bit 13
bit 12
bit 11
bit 10-8
bit 7-5 bit 4 bit 3-1
bit 0 Note 1: 2: 3:
DS70165A-page 292
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REGISTER 21-2:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-7 bit 6 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R-0 TXABT(1) R-0 TXLARB(1) R-0 TXERR(1) R/W-0 TXREQ(2) U-0 R/W-0
CiTXnCON: CAN TRANSMIT BUFFER n STATUS AND CONTROL REGISTER

U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 bit 0
TXPRI<1:0>
Unimplemented: Read as 0 TXABT: Message Aborted bit(1) 1 = Message was aborted 0 = Message has not been aborted TXLARB: Message Lost Arbitration bit(1) 1 = Message lost arbitration while being sent 0 = Message did not lose arbitration while being sent TXERR: Error Detected During Transmission bit(1) 1 = A bus error occurred while the message was being sent 0 = A bus error did not occur while the message was being sent TXREQ: Message Send Request bit(2) 1 = Request message transmission 0 = Abort message transmission if TXREQ already set, otherwise no effect Unimplemented: Read as 0 TXPRI<1:0>: Message Transmission Priority bits 11 = Highest message priority 10 = High intermediate message priority 01 = Low intermediate message Priority 00 = Lowest message priority This bit is cleared when TXREQ is set. The bit will automatically clear when the message is successfully sent.
bit 5
bit 4
bit 3
bit 2 bit 1-0
Note 1: 2:
Advance Information
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REGISTER 21-3:
R/W-x bit 15 R/W-x bit 7 Legend: R = Readable bit -n = Value at POR bit 15-11 bit 10-8 bit 7-2 bit 1 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x SRR
CiTXnSID: CAN TRANSMIT BUFFER n STANDARD IDENTIFIER

R/W-x R/W-x SID<10:6> R/W-x R/W-x U-0 U-0 U-0 bit 8 R/W-x TXIDE bit 0
SID<5:0>
SID<10:6>: Standard Identifier bits Unimplemented: Read as 0 SID<5:0>: Standard Identifier bits SRR: Substitute Remote Request Control bit
1 = Message will request a remote transmission 0 = Normal message
bit 0
TXIDE: Extended Identifier bit 1 = Message will transmit extended identifier 0 = Message will transmit standard identifier
REGISTER 21-4:
R/W-x bit 15 R/W-x bit 7 Legend: R = Readable bit -n = Value at POR bit 15-12 bit 11-8 bit 7-0
CiTXnEID: CAN TRANSMIT BUFFER n EXTENDED IDENTIFIER

R/W-x R/W-x R/W-x U-0 U-0 U-0 U-0 bit 8 R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x bit 0 EID<17:14>
EID<13:6>
EID<17:14>: Extended Identifier bits Unimplemented: Read as 0 EID<13:6>: Extended Identifier bits
DS70165A-page 294
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REGISTER 21-5:
R/W-x bit 15 R/W-x TXRB0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-10 bit 9 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown
(1)
CiTXnDLC: CAN TRANSMIT BUFFER n DATA LENGTH CONTROL REGISTER

R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x TXRTR R/W-x TXRB1(1) bit 8 R/W-x R/W-x R/W-x R/W-x U-0 U-0 U-0 bit 0 EID<5:0>
DLC<3:0>
EID<5:0>: Extended Identifier bits TXRTR: Remote Transmission Request bit

1 = Message will request a remote transmission 0 = Normal message
bit 8-7 bit 6-3 bit 2-0 Note 1:
TXRB<1:0>: Reserved bits(1) DLC<3:0>: Data Length Code bits Unimplemented: Read as 0 User must set these bits to 0 according to CAN protocol.
REGISTER 21-6:
R/W-x bit 15 R/W-x bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0
CiTXnBm: CAN TRANSMIT BUFFER n DATA FIELD WORD m REGISTER

R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x bit 8 R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x bit 0 CTXB<15:8>
CTXB<7:0>
CTXB<15:0>: Transmit Buffer n Byte m bits
Advance Information
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REGISTER 21-7:
U-0 bit 15 R/C-0 RXFUL bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 bit 7 C = Clearable bit W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown
(1)
CiRX0CON: CAN RECEIVE BUFFER 0 STATUS AND CONTROL REGISTER

U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8 U-0 U-0 U-0 R-0 RXRTRRO
(2)
R/W-0 DBEN
R/W-0 JTOFF
R-0 FILHIT0(2) bit 0
Unimplemented: Read as 0 RXFUL: Receive Full Status bit(1) 1 = Receive buffer contains a valid received message 0 = Receive buffer is open to receive a new message Unimplemented: Read as 0 RXRTRRO: Received Remote Transfer Request bit (read-only)(2) 1 = Remote transfer request was received 0 = Remote transfer request not received DBEN: Receive Buffer 0 Double Buffer Enable bit 1 = Receive Buffer 0 overflow will write to Receive Buffer 1 0 = No Receive Buffer 0 overflow to Receive Buffer 1 JTOFF: Jump Table Offset bit (read-only copy of DBEN) 1 = Allows jump table offset between 6 and 7 0 = Allows jump table offset between 0 and 1 FILHIT0: Indicates Which Acceptance Filter Enabled the Message Reception bit(2) 1 = Acceptance Filter 1 (RXF1) 0 = Acceptance Filter 0 (RXF0) This bit is set by the CAN module and should be cleared by software after the buffer is read. This bit reflects the status of the last message loaded into Receive Buffer 0.
bit 6-4 bit 3
bit 2
bit 1
bit 0
Note 1: 2:
DS70165A-page 296
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dsPIC33F
REGISTER 21-8:
U-0 bit 15 R/C-0 RXFUL(1) bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 bit 7 C = Clearable bit W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 U-0 R-0 RXRTRRO(2) R-0 R-0 FILHIT<2:0> bit 0 R-0
CiRX1CON: CAN RECEIVE BUFFER 1 STATUS AND CONTROL REGISTER

U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8
Unimplemented: Read as 0 RXFUL: Receive Full Status bit(1) 1 = Receive buffer contains a valid received message 0 = Receive buffer is open to receive a new message Unimplemented: Read as 0 RXRTRRO: Received Remote Transfer Request bit (read-only)(2) 1 = Remote transfer request was received 0 = Remote transfer request not received FILHIT0<2:0>: Indicates Which Acceptance Filter Enabled the Message Reception bits 101 = Acceptance Filter 5 (RXF5) 100 = Acceptance Filter 4 (RXF4) 011 = Acceptance Filter 3 (RXF3) 010 = Acceptance Filter 2 (RXF2) 001 = Acceptance Filter 1 (RXF1) only possible when DBEN bit is set 000 = Acceptance Filter 0 (RXF0) only possible when DBEN bit is set This bit is set by the CAN module and should be cleared by software after the buffer is read. This bit reflects the status of the last message loaded into Receive Buffer 1.
bit 6-4 bit 3
bit 2-0
Note 1: 2:
Advance Information
DS70165A-page 297
dsPIC33F
REGISTER 21-9:
U-0 bit 15 R/W-x bit 7 Legend: R = Readable bit -n = Value at POR bit 15-13 bit 12-2 bit 1 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x SRR
CiRXnSID: CAN RECEIVE BUFFER n STANDARD IDENTIFIER

U-0 U-0 R/W-x R/W-x R/W-x SID<10:6> bit 8 R/W-x RXIDE bit 0 R/W-x R/W-x
SID<5:0>
Unimplemented: Read as 0 SID<10:0>: Standard Identifier bits SRR: Substitute Remote Request bit (only when RXIDE = 1) 1 = Remote transfer request occurred 0 = No remote transfer request occurred RXIDE: Extended Identifier Flag bit 1 = Received message is an extended data frame, SID<10:0> are EID<28:18> 0 = Received message is a standard data frame
bit 0
REGISTER 21-10: CiRXnEID: CAN RECEIVE BUFFER n EXTENDED IDENTIFIER

U-0 bit 15 R/W-x bit 7 Legend: R = Readable bit -n = Value at POR bit 15-12 bit 11-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x U-0 U-0 U-0 R/W-x R/W-x R/W-x R/W-x bit 8 R/W-x bit 0 EID<17:14>
EID<13:6>
DS70165A-page 298
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dsPIC33F
REGISTER 21-11: CiRXnBm: CAN RECEIVE BUFFER n DATA FIELD WORD m REGISTER
R/W-x bit 15 R/W-x bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x bit 8 R/W-x bit 0 CRXB<15:8>
CRXB<7:0>
CTXB<15:0>: Receive Buffer n Byte m bits
REGISTER 21-12: CiRXnDLC: CAN RECEIVE BUFFER n DATA LENGTH CONTROL REGISTER
R/W-x bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-10 bit 9 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 R/W-x RXRB0 R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x RXRTR
(1)
R/W-x RXRB1 bit 8 R/W-x bit 0
EID<5:0>
DLC<3:0>
EID<5:0>: Extended Identifier bits RXRTR: Receive Remote Transmission Request bit(1) 1 = Remote transfer request 0 = No remote transfer request RXRB1: Reserved bit 1 Reserved by CAN Spec and read as 0. Unimplemented: Read as 0 RXRB0: Reserved bit 0 Reserved by CAN Spec and read as 0. DLC<3:0>: Data Length Code bits (contents of receive buffer) This bit reflects the status of the RXRTR bit in the last received message.
bit 8 bit 7-5 bit 4 bit 3-0 Note 1:
Advance Information
DS70165A-page 299
dsPIC33F
REGISTER 21-13: CiRXFnSID: CAN ACCEPTANCE FILTER n STANDARD IDENTIFIER
U-0 bit 15 R/W-x bit 7 Legend: R = Readable bit -n = Value at POR bit 15-13 bit 12-2 bit 1 bit 0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x R/W-x R/W-x R/W-x R/W-x U-0 U-0 U-0 R/W-x R/W-x R/W-x SID<10:6> bit 8 R/W-x EXIDE bit 0 R/W-x R/W-x
SID<5:0>
Unimplemented: Read as 0 SID<10:0>: Standard Identifier bits Unimplemented: Read as 0 EXIDE: Extended Identifier Enable bits If MIDE = 1, then: 1 = Enable filter for extended identifier 0 = Enable filter for standard identifier If MIDE = 0, then: EXIDE is dont care.
DS70165A-page 300
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dsPIC33F
REGISTER 21-14: CiRXFnEIDH: CAN ACCEPTANCE FILTER n EXTENDED IDENTIFIER HIGH
U-0 bit 15 R/W-x bit 7 Legend: R = Readable bit -n = Value at POR bit 15-12 bit 11-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x U-0 U-0 U-0 R/W-x R/W-x R/W-x R/W-x bit 8 R/W-x bit 0 EID<17:14>
EID<13:6>
REGISTER 21-15: CiRXFnEIDL: CAN ACCEPTANCE FILTER n EXTENDED IDENTIFIER LOW

R/W-x bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-10 bit 9-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 0 R/W-x R/W-x R/W-x R/W-x R/W-x U-0 U-0 bit 8 EID<5:0>
EID<5:0>: Extended Identifier bits Unimplemented: Read as 0
Advance Information
DS70165A-page 301
dsPIC33F
REGISTER 21-16: CiRXMnSID: CAN ACCEPTANCE FILTER MASK n STANDARD IDENTIFIER
U-0 bit 15 R/W-x bit 7 Legend: R = Readable bit -n = Value at POR bit 15-13 bit 12-2 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x R/W-x R/W-x R/W-x R/W-x U-0 U-0 U-0 R/W-x R/W-x R/W-x SID<10:6> bit 8 R/W-x MIDE bit 0 R/W-x R/W-x
SID<5:0>
Unimplemented: Read as 0 SID<10:0>: Standard Identifier Mask bits 1 = Include bit in the filter comparison 0 = Dont include bit in the filter comparison Unimplemented: Read as 0 MIDE: Identifier Mode Selection bit 1 = Match only message types (standard or extended address) as determined by EXIDE bit in filter 0 = Match either standard or extended address message if the filters match
bit 1 bit 0
DS70165A-page 302
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dsPIC33F
REGISTER 21-17: CiRXMnEIDH: CAN ACCEPTANCE FILTER MASK n EXTENDED IDENTIFIER HIGH
U-0 bit 15 R/W-x bit 7 Legend: R = Readable bit -n = Value at POR bit 15-12 bit 11-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x U-0 U-0 R/W-x R/W-x R/W-x EID<17:14> bit 8 R/W-x bit 0 R/W-x R/W-x
EID<13:6>
Unimplemented: Read as 0 EID<17:6>: Extended Identifier Mask bits 1 = Include bit in the filter comparison 0 = Dont include bit in the filter comparison
REGISTER 21-18: CiRXMnEIDL: CAN ACCEPTANCE FILTER MASK n EXTENDED IDENTIFIER LOW
R/W-x bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-10 bit 9-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 0 R/W-x R/W-x R/W-x R/W-x R/W-x U-0 U-0 bit 8 EID<5:0>
EID<5:0>: Extended Identifier Mask bits Unimplemented: Read as 0
Advance Information
DS70165A-page 303
dsPIC33F
REGISTER 21-19: CiCFG1: CAN BAUD RATE CONFIGURATION REGISTER 1
U-0 bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 bit 7-6 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 R/W-0 R/W-0 R/W-0 R/W-0
(1)
U-0
U-0
U-0
U-0
U-0
U-0
U-0 bit 8
R/W-0
R/W-0 bit 0
SJW<1:0>
BRP<5:0>
Unimplemented: Read as 0 SJW<1:0>: Synchronized Jump Width bits 11 = Synchronized jump width time is 4 x TQ 10 = Synchronized jump width time is 3 x TQ 01 = Synchronized jump width time is 2 x TQ 00 = Synchronized jump width time is 1 x TQ BRP<5:0>: Baud Rate Prescaler bits(1) 11 1111 = TQ = 2 x (BRP + 1)/FCAN = 128/FCAN 11 1110 = TQ = 2 x (BRP + 1)/FCAN = 126/FCAN 00 0001 = TQ = 2 x (BRP + 1)/FCAN = 4/FCAN 00 0000 = TQ = 2 x (BRP + 1)/FCAN = 2/FCAN FCAN is FCY or 4 FCY, depending on the CANCKS bit setting.
bit 5-0
Note 1:
DS70165A-page 304
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dsPIC33F
REGISTER 21-20: CiCFG2: CAN BAUD RATE CONFIGURATION REGISTER 2
U-0 bit 15 R/W-x SEG2PHTS bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-x SAM R/W-x R/W-x SEG1PH<2:0> R/W-x R/W-x R/W-x PRSEG<2:0> bit 0 R/W-x WAKFIL U-0 U-0 U-0 R/W-x R/W-x SEG2PH<2:0> bit 8 R/W-x R/W-x
Unimplemented: Read as 0 WAKFIL: Select CAN bus Line Filter for Wake-up bit 1 = Use CAN bus line filter for wake-up 0 = CAN bus line filter is not used for wake-up Unimplemented: Read as 0 SEG2PH<2:0>: Phase Buffer Segment 2 bits 111 = Length is 8 x TQ 000 = Length is 1 x TQ SEG2PHTS: Phase Segment 2 Time Select bit 1 = Freely programmable 0 = Maximum of SEG1PH or information processing time (3 TQs), whichever is greater SAM: Sample of the CAN bus Line bit 1 = Bus line is sampled three times at the sample point 0 = Bus line is sampled once at the sample point SEG1PH<2:0>: Phase Buffer Segment 1 bits 111 = Length is 8 x TQ 000 = Length is 1 x TQ PRSEG<2:0>: Propagation Time Segment bits 111 = Length is 8 x TQ 000 = Length is 1 x TQ
bit 13-11 bit 10-8
bit 7
bit 6
bit 5-3
bit 2-0
Advance Information
DS70165A-page 305
dsPIC33F
REGISTER 21-21: CiEC: CAN TRANSMIT/RECEIVE ERROR COUNT REGISTER
R-0 bit 15 R-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 bit 7-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R-0 R-0 R-0 R-0 R-0 R-0 R-0 bit 0 R-0 R-0 R-0 R-0 R-0 R-0 R-0 bit 8 TERRCNT<7:0>
RERRCNT<7:0>
TERRCNT<7:0>: Transmit Error Count bits RERRCNT<7:0>: Receive Error Count bits
DS70165A-page 306
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dsPIC33F
REGISTER 21-22: CiINTE: CAN INTERRUPT ENABLE REGISTER
U-0 bit 15 R/W-0 IVRIE bit 7 Legend: R = Readable bit -n = Value at POR bit 15-8 bit 7 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 WAKIE R/W-0 ERRIE R/W-0 TX2IE R/W-0 TX1IE R/W-0 TX0IE R/W-0 RX1IE U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0 RX0IE bit 0
Unimplemented: Read as 0 IVRIE: Invalid Message Received Interrupt Enable bit 1 = Enabled 0 = Disabled WAKIE: Bus Wake-up Activity Interrupt Enable bit 1 = Enabled 0 = Disabled ERRIE: Error Interrupt Enable bit 1 = Enabled 0 = Disabled TX2IE: Transmit Buffer 2 Interrupt Enable bit 1 = Enabled 0 = Disabled TX1IE: Transmit Buffer 1 Interrupt Enable bit 1 = Enabled 0 = Disabled TX0IE: Transmit Buffer 0 Interrupt Enable bit 1 = Enabled 0 = Disabled RX1IE: Receive Buffer 1 Interrupt Enable bit 1 = Enabled 0 = Disabled RX0IE: Receive Buffer 0 Interrupt Enable bit 1 = Enabled 0 = Disabled
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Advance Information
DS70165A-page 307
dsPIC33F
REGISTER 21-23: CiINTF: CAN INTERRUPT FLAG REGISTER
R/C-0 RX0OVR bit 15 R/W-0 IVRIF bit 7 Legend: R = Readable bit -n = Value at POR bit 15 C = Clearable bit W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 WAKIF R/W-0 ERRIF R/W-0 TX2IF R/W-0 TX1IF R/W-0 TX0IF R/W-0 RX1IF R/C-0 RX1OVR R-0 TXBO R-0 TXEP R-0 RXEP R-0 TXWAR R-0 RXWAR R-0 EWARN bit 8 R/W-0 RX0IF bit 0
RX0OVR: Receive Buffer 0 Overflow bit 1 = Receive Buffer 0 overflowed 0 = Receive Buffer 0 not overflowed RX1OVR: Receive Buffer 1 Overflow bit 1 = Receive Buffer 1 overflowed 0 = Receive Buffer 1 not overflowed TXBO: Transmitter in Error State, Bus Off bit 1 = Transmitter in error state, bus off 0 = Transmitter not in error state, bus off TXEP: Transmitter in Error State, Bus Passive bit 1 = Transmitter in error state, bus passive 0 = Transmitter not in error state, bus passive RXEP: Receiver in Error State, Bus Passive bit 1 = Receiver in error state, bus passive 0 = Receiver not in error state, bus passive TXWAR: Transmitter in Error State, Warning bit 1 = Transmitter in error state, warning 0 = Transmitter not in error state, warning RXWAR: Receiver in Error State, Warning bit 1 = Receiver in error state, warning 0 = Receiver not in error state, warning EWARN: Transmitter or Receiver is in Error State, Warning bit 1 = Transmitter or receiver is in error state, warning 0 = Transmitter and receiver are not in error state IVRIF: Invalid Message Received Interrupt Flag bit 1 = Some type of error occurred during reception of the last message 0 = Receive error has not occurred WAKIF: Bus Wake-up Activity Interrupt Flag bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred ERRIF: Error Interrupt Flag bit (multiple sources in CiINTF<15:8> register) 1 = Interrupt request has occurred 0 = Interrupt request has not occurred TX2IF: Transmit Buffer 2 Interrupt Flag bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
DS70165A-page 308
Advance Information
dsPIC33F
REGISTER 21-23: CiINTF: CAN INTERRUPT FLAG REGISTER (CONTINUED)
bit 3 TX1IF: Transmit Buffer 1 Interrupt Flag bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred TX0IF: Transmit Buffer 0 Interrupt Flag bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred RX1IF: Receive Buffer 1 Interrupt Flag bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred RX0IF: Receive Buffer 0 Interrupt Flag bit 1 = Interrupt request has occurred 0 = Interrupt request has not occurred
bit 2
bit 1
bit 0
Advance Information
DS70165A-page 309
dsPIC33F
NOTES:
DS70165A-page 310
Advance Information
dsPIC33F
22.0
Note:
DATA CONVERTER INTERFACE (DCI) MODULE

22.2.3
CSDI PIN
The Serial Data Input (CSDI) pin is configured as an input only pin when the module is enabled.
22.2.3.1
COFS Pin
22.1
Module Introduction
The Codec Frame Synchronization (COFS) pin is used to synchronize data transfers that occur on the CSDO and CSDI pins. The COFS pin may be configured as an input or an output. The data direction for the COFS pin is determined by the COFSD control bit in the DCICON1 register. The DCI module accesses the shadow registers while the CPU is in the process of accessing the memory mapped buffer registers.
The dsPIC33F Data Converter Interface (DCI) module allows simple interfacing of devices, such as audio coder/decoders (Codecs), A/D converters and D/A converters. The following interfaces are supported: Framed Synchronous Serial Transfer (Single or Multi-Channel) Inter-IC Sound (I2S) Interface AC-Link Compliant mode The DCI module provides the following general features: Programmable word size up to 16 bits Supports up to 16 time slots, for a maximum frame size of 256 bits Data buffering for up to 4 samples without CPU overhead
22.2.4
BUFFER DATA ALIGNMENT
Data values are always stored left justified in the buffers since most Codec data is represented as a signed 2s complement fractional number. If the received word length is less than 16 bits, the unused Least Significant bits in the Receive Buffer registers are set to 0 by the module. If the transmitted word length is less than 16 bits, the unused LSbs in the Transmit Buffer register are ignored by the module. The word length setup is described in subsequent sections of this document.
22.2.5
22.2
Module I/O Pins
TRANSMIT/RECEIVE SHIFT REGISTER
There are four I/O pins associated with the module. When enabled, the module controls the data direction of each of the four pins.
The DCI module has a 16-bit shift register for shifting serial data in and out of the module. Data is shifted in/ out of the shift register, MSb first, since audio PCM data is transmitted in signed 2s complement format.
22.2.1
CSCK PIN
22.2.6
DCI BUFFER CONTROL
The CSCK pin provides the serial clock for the DCI module. The CSCK pin may be configured as an input or output using the CSCKD control bit in the DCICON1 SFR. When configured as an output, the serial clock is provided by the dsPIC33F. When configured as an input, the serial clock must be provided by an external device.
22.2.2
CSDO PIN
The Serial Data Output (CSDO) pin is configured as an output only pin when the module is enabled. The CSDO pin drives the serial bus whenever data is to be transmitted. The CSDO pin is tri-stated, or driven to 0, during CSCK periods when data is not transmitted depending on the state of the CSDOM control bit. This allows other devices to place data on the serial bus during transmission periods not used by the DCI module.
The DCI module contains a buffer control unit for transferring data between the shadow buffer memory and the Serial Shift register. The buffer control unit is a simple 2-bit address counter that points to word locations in the shadow buffer memory. For the receive memory space (high address portion of DCI buffer memory), the address counter is concatenated with a 0 in the MSb location to form a 3-bit address. For the transmit memory space (high portion of DCI buffer memory), the address counter is concatenated with a 1 in the MSb location. Note: The DCI buffer control unit always accesses the same relative location in the transmit and receive buffers, so only one address counter is provided.
Advance Information
DS70165A-page 311
dsPIC33F
FIGURE 22-1: DCI MODULE BLOCK DIAGRAM
BCG Control bits SCKD FOSC/4 Sample Rate Generator CSCK
FSD Word Size Selection bits Frame Length Selection bits DCI Mode Selection bits 16-bit Data Bus Frame Synchronization Generator COFS
Receive Buffer Registers w/Shadow DCI Buffer Control Unit 15 Transmit Buffer Registers w/Shadow DCI Shift Register 0 CSDI
CSDO
DS70165A-page 312
Advance Information
dsPIC33F
22.3
22.3.1
DCI Module Operation

MODULE ENABLE
22.3.4
FRAME SYNC MODE CONTROL BITS
The DCI module is enabled or disabled by setting/ clearing the DCIEN control bit in the DCICON1 SFR. Clearing the DCIEN control bit has the effect of resetting the module. In particular, all counters associated with CSCK generation, frame sync and the DCI buffer control unit are reset. The DCI clocks are shut down when the DCIEN bit is cleared. When enabled, the DCI controls the data direction for the four I/O pins associated with the module. The PORT, LAT and TRIS register values for these I/O pins are overridden by the DCI module when the DCIEN bit is set. It is also possible to override the CSCK pin separately when the bit clock generator is enabled. This permits the bit clock generator to operate without enabling the rest of the DCI module.
The type of frame sync signal is selected using the Frame Synchronization mode control bits (COFSM<1:0>) in the DCICON1 SFR. The following operating modes can be selected: Multi-Channel mode I2S mode AC-Link mode (16-bit) AC-Link mode (20-bit)
The operation of the COFSM control bits depends on whether the DCI module generates the frame sync signal as a master device, or receives the frame sync signal as a slave device. The master device in a DSP/Codec pair is the device that generates the frame sync signal. The frame sync signal initiates data transfers on the CSDI and CSDO pins and usually has the same frequency as the data sample rate (COFS). The DCI module is a frame sync master if the COFSD control bit is cleared and is a frame sync slave if the COFSD control bit is set.
22.3.2
WORD SIZE SELECTION BITS
The WS<3:0> word size selection bits in the DCICON2 SFR determine the number of bits in each DCI data word. Essentially, the WS<3:0> bits determine the counting period for a 4-bit counter clocked from the CSCK signal. Any data length, up to 16-bits, may be selected. The value loaded into the WS<3:0> bits is one less the desired word length. For example, a 16-bit data word size is selected when WS<3:0> = 1111. Note: These WS<3:0> control bits are used only in the Multi-Channel and I2S modes. These bits have no effect in AC-Link mode since the data slot sizes are fixed by the protocol.
22.3.5
MASTER FRAME SYNC OPERATION
When the DCI module is operating as a frame sync master device (COFSD = 0), the COFSM mode bits determine the type of frame sync pulse that is generated by the frame sync generator logic. A new COFS signal is generated when the frame sync generator resets to 0. In the Multi-Channel mode, the frame sync pulse is driven high for the CSCK period to initiate a data transfer. The number of CSCK cycles between successive frame sync pulses will depend on the word size and frame sync generator control bits. A timing diagram for the frame sync signal in Multi-Channel mode is shown in Figure 22-2. In the AC-Link mode of operation, the frame sync signal has a fixed period and duty cycle. The AC-Link frame sync signal is high for 16 CSCK cycles and is low for 240 CSCK cycles. A timing diagram with the timing details at the start of an AC-Link frame is shown in Figure 22-3. In the I2S mode, a frame sync signal having a 50% duty cycle is generated. The period of the I2S frame sync signal in CSCK cycles is determined by the word size and frame sync generator control bits. A new I2S data transfer boundary is marked by a high-to-low or a low-to-high transition edge on the COFS pin.
22.3.3
FRAME SYNC GENERATOR
The frame sync generator (COFSG) is a 4-bit counter that sets the frame length in data words. The frame sync generator is incremented each time the word size counter is reset (refer to Section 22.3.2 Word Size Selection Bits). The period for the frame synchronization generator is set by writing the COFSG<3:0> control bits in the DCICON2 SFR. The COFSG period in clock cycles is determined by the following formula:
EQUATION 22-1:
COFSG PERIOD
Frame Length = Word Length (FSG Value + 1) Frame lengths, up to 16 data words, may be selected. The frame length in CSCK periods can vary up to a maximum of 256 depending on the word size that is selected. Note: The COFSG control bits will have no effect in AC-Link mode since the frame length is set to 256 CSCK periods by the protocol.
Advance Information
DS70165A-page 313
dsPIC33F
22.3.6 SLAVE FRAME SYNC OPERATION
When the DCI module is operating as a frame sync slave (COFSD = 1), data transfers are controlled by the Codec device attached to the DCI module. The COFSM control bits control how the DCI module responds to incoming COFS signals. In the Multi-Channel mode, a new data frame transfer will begin one CSCK cycle after the COFS pin is sampled high (see Figure 22-2). The pulse on the COFS pin resets the frame sync generator logic. In the I2S mode, a new data word will be transferred one CSCK cycle after a low-to-high or a high-to-low transition is sampled on the COFS pin. A rising or falling edge on the COFS pin resets the frame sync generator logic. In the AC-Link mode, the tag slot and subsequent data slots for the next frame will be transferred one CSCK cycle after the COFS pin is sampled high. The COFSG and WS bits must be configured to provide the proper frame length when the module is operating in the Slave mode. Once a valid frame sync pulse has been sampled by the module on the COFS pin, an entire data frame transfer will take place. The module will not respond to further frame sync pulses until the data frame transfer has completed.
FIGURE 22-2:
FRAME SYNC TIMING, MULTI-CHANNEL MODE

CSCK COFS
CSDI/CSDO
MSB
LSB
FIGURE 22-3:
FRAME SYNC TIMING, AC-LINK START-OF-FRAME

BIT_CLK CSDO or CSDI S12 S12 S12 Tag Tag Tag bit 2 bit 1 LSb MSb bit 14 bit 13
SYNC
FIGURE 22-4:
I2S INTERFACE FRAME SYNC TIMING
CSCK CSDI or CSDO
MSB
LSB MSB
LSB
WS
Note:
A 5-bit transfer is shown here for illustration purposes. The I2S protocol does not specify word length this will be system dependent.
DS70165A-page 314
Advance Information
dsPIC33F
22.3.7 BIT CLOCK GENERATOR EQUATION 22-2: BIT CLOCK FREQUENCY
FCY 2 The DCI module has a dedicated 12-bit time base that produces the bit clock. The bit clock rate (period) is set by writing a non-zero 12-bit value to the BCG<11:0> control bits in the DCICON3 SFR. When the BCG<11:0> bits are set to zero, the bit clock will be disabled. If the BCG<11:0> bits are set to a nonzero value, the bit clock generator is enabled. These bits should be set to 0 and the CSCKD bit set to 1 if the serial clock for the DCI is received from an external device. The formula for the bit clock frequency is given in Equation 22-2. FBCK =
(BCG + 1)
The required bit clock frequency will be determined by the system sampling rate and frame size. Typical bit clock frequencies range from 16x to 512x the converter sample rate depending on the data converter and the communication protocol that is used. To achieve bit clock frequencies associated with common audio sampling rates, the user will need to select a crystal frequency that has an even binary value. Examples of such crystal frequencies are listed in Table 22-1.
TABLE 22-1:
FS (kHz) 8 12 32 44.1 48 Note 1: 2:
DEVICE FREQUENCIES FOR COMMON CODEC CSCK FREQUENCIES

FCSCK/FS 256 256 32 32 64 FCSCK (MHz)(1) 2.048 3.072 1.024 1.4112 3.072 FOSC (MHZ) 8.192 6.144 8.192 5.6448 6.144 PLL 4 8 8 8 16 FCY (MIPS) 8.192 12.288 16.384 11.2896 24.576 BCG(2) 1 1 7 3 3
When the CSCK signal is applied externally (CSCKD = 1), the external clock high and low times must meet the device timing requirements. When the CSCK signal is applied externally (CSCKD = 1), the BCG<11:0> bits have no effect on the operation of the DCI module.
Advance Information
DS70165A-page 315
dsPIC33F
22.3.8 SAMPLE CLOCK EDGE CONTROL BIT 22.3.11 RECEIVE SLOT ENABLE BITS
The sample clock edge (CSCKE) control bit determines the sampling edge for the CSCK signal. If the CSCK bit is cleared (default), data will be sampled on the falling edge of the CSCK signal. The AC-Link protocols and most Multi-Channel formats require that data be sampled on the falling edge of the CSCK signal. If the CSCK bit is set, data will be sampled on the rising edge of CSCK. The I2S protocol requires that data be sampled on the rising edge of the CSCK signal. The RSCON SFR contains control bits that are used to enable up to 16 time slots for reception. These control bits are the RSE<15:0> bits. The size of each receive time slot is determined by the WS<3:0> word size selection bits and can vary from 1 to 16 bits. If a receive time slot is enabled via one of the RSE bits (RSEx = 1), the DCI Shift register contents will be written to the current DCI receive shadow buffer location and the buffer control unit will be incremented to point to the next buffer location. Data is not packed in the receive memory buffer locations if the selected word size is less than 16 bits. Each received slot data word is stored in a separate 16-bit buffer location. Data is always stored in a left justified format in the receive memory buffer.
22.3.9
DATA JUSTIFICATION CONTROL BIT
In most applications, the data transfer begins one CSCK cycle after the COFS signal is sampled active. This is the default configuration of the DCI module. An alternate data alignment can be selected by setting the DJST control bit in the DCICON1 SFR. When DJST = 1, data transfers will begin during the same CSCK cycle when the COFS signal is sampled active.
22.3.12
SLOT ENABLE BITS OPERATION WITH FRAME SYNC
22.3.10
TRANSMIT SLOT ENABLE BITS
The TSCON SFR has control bits that are used to enable up to 16 time slots for transmission. These control bits are the TSE<15:0> bits. The size of each time slot is determined by the WS<3:0> word size selection bits and can vary up to 16 bits. If a transmit time slot is enabled via one of the TSE bits (TSEx = 1), the contents of the current transmit shadow buffer location will be loaded into the DCI Shift register and the DCI buffer control unit is incremented to point to the next location. During an unused transmit time slot, the CSDO pin will drive 0s, or will be tri-stated during all disabled time slots, depending on the state of the CSDOM bit in the DCICON1 SFR. The data frame size in bits is determined by the chosen data word size and the number of data word elements in the frame. If the chosen frame size has less than 16 elements, the additional slot enable bits will have no effect. Each transmit data word is written to the 16-bit transmit buffer as left justified data. If the selected word size is less than 16 bits, then the LSbs of the transmit buffer memory will have no effect on the transmitted data. The user should write 0s to the unused LSbs of each transmit buffer location.
The TSE and RSE control bits operate in concert with the DCI frame sync generator. In Master mode, a COFS signal is generated whenever the frame sync generator is reset. In Slave mode, the frame sync generator is reset whenever a COFS pulse is received. The TSE and RSE control bits allow up to 16 consecutive time slots to be enabled for transmit or receive. After the last enabled time slot has been transmitted/ received, the DCI will stop buffering data until the next occurring COFS pulse.
22.3.13
SYNCHRONOUS DATA TRANSFERS
The DCI buffer control unit will be incremented by one word location whenever a given time slot has been enabled for transmission or reception. In most cases, data input and output transfers will be synchronized, which means that a data sample is received for a given channel at the same time a data sample is transmitted. Therefore, the transmit and receive buffers will be filled with equal amounts of data when a DCI interrupt is generated. In some cases, the amount of data transmitted and received during a data frame may not be equal. As an example, assume a two-word data frame is used. Furthermore, assume that data is only received during slot #0 but is transmitted during slot #0 and slot #1. In this case, the buffer control unit counter would be incremented twice during a data frame, but only one receive register location would be filled with data.
DS70165A-page 316
Advance Information
dsPIC33F
22.3.14 BUFFER LENGTH CONTROL 22.3.16 TRANSMIT STATUS BITS
The amount of data that is buffered between interrupts is determined by the Buffer Length (BLEN<1:0>) control bits in the DCICON2 SFR. The size of the transmit and receive buffers can vary from 1 to 4 data words using the BLEN control bits. The BLEN control bits are compared to the current value of the DCI buffer control unit address counter. When the 2 LSbs of the DCI address counter match the BLEN<1:0> value, the buffer control unit will be reset to 0. In addition, the contents of the Receive Shadow registers are transferred to the Receive Buffer registers and the contents of the Transmit Buffer registers are transferred to the Transmit Shadow registers. Note 1: DCI can trigger a DMA data transfer. If DCI is selected as a DMA IRQ source, a DMA transfer occurs when the DCIIF bit gets set as a result of a DCI transmission or reception. 2: If DMA transfers are required, the DCI TX/RX buffer must be set to a size of 1 word (i.e., BLEN<1:0> = 00). There are two transmit status bits in the DCISTAT SFR. The TMPTY bit is set when the contents of the transmit buffer registers are transferred to the transmit shadow registers. The TMPTY bit may be polled in software to determine when the transmit buffer registers may be written. The TMPTY bit is cleared automatically by the hardware when a write to one of the four transmit buffers occurs. The TUNF bit is read-only and indicates that a transmit underflow has occurred for at least one of the transmit buffer registers that is in use. The TUNF bit is set at the time the transmit buffer registers are transferred to the transmit shadow registers. The TUNF status bit is cleared automatically when the buffer register that underflowed is written by the CPU. Note: The transmit status bits only indicate status for buffer locations that are used by the module. If the buffer length is set to less than four words, for example, the unused buffer locations will not affect the transmit status bits.
22.3.15
BUFFER ALIGNMENT WITH DATA FRAMES
22.3.17
RECEIVE STATUS BITS
There is no direct coupling between the position of the AGU Address Pointer and the data frame boundaries. This means that there will be an implied assignment of each transmit and receive buffer that is a function of the BLEN control bits and the number of enabled data slots via the TSE and RSE control bits. As an example, assume that a 4-word data frame is chosen and that we want to transmit on all four time slots in the frame. This configuration would be established by setting the TSE0, TSE1, TSE2 and TSE3 control bits in the TSCON SFR. With this module setup, the TXBUF0 register would naturally be assigned to slot #0, the TXBUF1 register would naturally be assigned to slot #1, and so on. Note: When more than four time slots are active within a data frame, the user code must keep track of which time slots are to be read/written at each interrupt. In some cases, the alignment between transmit/ receive buffers and their respective slot assignments could be lost. Examples of such cases include an emulation breakpoint or a hardware trap. In these situations, the user should poll the SLOT status bits to determine what data should be loaded into the buffer registers to resynchronize the software with the DCI module.
There are two receive status bits in the DCISTAT SFR. The RFUL status bit is read-only and indicates that new data is available in the receive buffers. The RFUL bit is cleared automatically when all receive buffers in use have been read by the CPU. The ROV status bit is read-only and indicates that a receive overflow has occurred for at least one of the receive buffer locations. A receive overflow occurs when the buffer location is not read by the CPU before new data is transferred from the shadow registers. The ROV status bit is cleared automatically when the buffer register that caused the overflow is read by the CPU. When a receive overflow occurs for a specific buffer location, the old contents of the buffer are overwritten. Note: The receive status bits only indicate status for buffer locations that are used by the module. If the buffer length is set to less than four words, for example, the unused buffer locations will not affect the transmit status bits.
Advance Information
DS70165A-page 317
dsPIC33F
22.3.18 SLOT STATUS BITS
22.4
DCI Module Interrupts
The SLOT<3:0> status bits in the DCISTAT SFR indicate the current active time slot. These bits will correspond to the value of the frame sync generator counter. The user may poll these status bits in software when a DCI interrupt occurs to determine what time slot data was last received and which time slot data should be loaded into the TXBUF registers.
22.3.19
CSDO MODE BIT
The frequency of DCI module interrupts is dependent on the BLEN<1:0> control bits in the DCICON2 SFR. An interrupt to the CPU is generated each time the set buffer length has been reached and a shadow register transfer takes place. A shadow register transfer is defined as the time when the previously written TXBUF values are transferred to the transmit shadow registers and new received values in the receive shadow registers are transferred into the RXBUF registers.
The CSDOM control bit controls the behavior of the CSDO pin during unused transmit slots. A given transmit time slot is unused if its corresponding TSEx bit in the TSCON SFR is cleared. If the CSDOM bit is cleared (default), the CSDO pin will be low during unused time slot periods. This mode will be used when there are only two devices attached to the serial bus. If the CSDOM bit is set, the CSDO pin will be tri-stated during unused time slot periods. This mode allows multiple devices to share the same CSDO line in a multi-channel application. Each device on the CSDO line is configured to only transmit data during specific time slots. No two devices will transmit data during the same time slot.
22.5
22.5.1
DCI Module Operation During CPU Sleep and Idle Modes

DCI MODULE OPERATION DURING CPU SLEEP MODE
The DCI module has the ability to operate while in Sleep mode and wake the CPU when the CSCK signal is supplied by an external device (CSCKD = 1). The DCI module will generate an asynchronous interrupt when a DCI buffer transfer has completed and the CPU is in Sleep mode.
22.5.2
DCI MODULE OPERATION DURING CPU IDLE MODE
22.3.20
DIGITAL LOOPBACK MODE
Digital Loopback mode is enabled by setting the DLOOP control bit in the DCICON1 SFR. When the DLOOP bit is set, the module internally connects the CSDO signal to CSDI. The actual data input on the CSDI I/O pin will be ignored in Digital Loopback mode.
If the DCISIDL control bit is cleared (default), the module will continue to operate normally even in Idle mode. If the DCISIDL bit is set, the module will halt when Idle mode is asserted.
22.6
AC-Link Mode Operation
22.3.21
UNDERFLOW MODE CONTROL BIT
When an underflow occurs, one of two actions can occur, depending on the state of the Underflow mode (UNFM) control bit in the DCICON1 SFR. If the UNFM bit is cleared (default), the module will transmit 0s on the CSDO pin during the active time slot for the buffer location. In this operating mode, the Codec device attached to the DCI module will simply be fed digital silence. If the UNFM control bit is set, the module will transmit the last data written to the buffer location. This operating mode permits the user to send continuous data to the Codec device without consuming CPU overhead.
The AC-Link protocol is a 256-bit frame with one 16-bit data slot, followed by twelve 20-bit data slots. The DCI module has two operating modes for the AC-Link protocol. These operating modes are selected by the COFSM<1:0> control bits in the DCICON1 SFR. The first AC-Link mode is called 16-bit AC-Link mode and is selected by setting COFSM<1:0> = 10. The second AC-Link mode is called 20-bit AC-Link mode and is selected by setting COFSM<1:0> = 11.
22.6.1
16-BIT AC-LINK MODE
In the 16-bit AC-Link mode, data word lengths are restricted to 16 bits. Note that this restriction only affects the 20-bit data time slots of the AC-Link protocol. For received time slots, the incoming data is simply truncated to 16 bits. For outgoing time slots, the four Least Significant bits of the data word are set to 0 by the module. This truncation of the time slots limits the A/D and DAC data to 16 bits but permits proper data alignment in the TXBUF and RXBUF registers. Each RXBUF and TXBUF register will contain one data time slot value.
DS70165A-page 318
Advance Information
dsPIC33F
22.6.2 20-BIT AC-LINK MODE 22.7.1
The 20-bit AC-Link mode allows all bits in the data time slots to be transmitted and received but does not maintain data alignment in the TXBUF and RXBUF registers. The 20-bit AC-Link mode functions similar to the MultiChannel mode of the DCI module, except for the duty cycle of the frame synchronization signal. The AC-Link frame synchronization signal should remain high for 16 CSCK cycles and should be low for the following 240 cycles. The 20-bit mode treats each 256-bit AC-Link frame as sixteen, 16-bit time slots. In the 20-bit AC-Link mode, the module operates as if COFSG<3:0> = 1111 and WS<3:0> = 1111. The data alignment for 20-bit data slots is ignored. For example, an entire AC-Link data frame can be transmitted and received in a packed fashion by setting all bits in the TSCON and RSCON SFRs. Since the total available buffer length is 64 bits, it would take 4 consecutive interrupts to transfer the AC-Link frame. The application software must keep track of the current AC-Link frame segment.
I2S FRAME AND DATA WORD LENGTH SELECTION
The WS and COFSG control bits are set to produce the period for one half of an I2S data frame. That is, the frame length is the total number of CSCK cycles required for a left or right data word transfer. The BLEN bits must be set for the desired buffer length. Setting BLEN<1:0> = 01 will produce a CPU interrupt, once per I2S frame.
22.7.2
I2S DATA JUSTIFICATION
As per the I2S specification, a data word transfer will, by default, begin one CSCK cycle after a transition of the WS signal. A Most Significant bit left justified option can be selected using the DJST control bit in the DCICON1 SFR. If DJST = 1, the I2S data transfers will be MSb left justified. The MSb of the data word will be presented on the CSDO pin during the same CSCK cycle as the rising or falling edge of the COFS signal. The CSDO pin is tri-stated after the data word has been sent.
22.7
I2S Mode Operation
The DCI module is configured for I2S mode by writing a value of 01 to the COFSM<1:0> control bits in the DCICON1 SFR. When operating in the I2S mode, the DCI module will generate frame synchronization signals with a 50% duty cycle. Each edge of the frame synchronization signal marks the boundary of a new data word transfer. The user must also select the frame length and data word size using the COFSG and WS control bits in the DCICON2 SFR.
Advance Information
DS70165A-page 319
dsPIC33F
REGISTER 22-1:
R/W-0 DCIEN bit 15 R/W-0 UNFM bit 7 Legend: R = Readable bit -n = Value at POR bit 15 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 CSDOM R/W-0 DJST U-0 U-0 U-0 R/W-0
DCICON1: DCI CONTROL REGISTER 1

U-0 R/W-0 DCISIDL U-0 R/W-0 DLOOP R/W-0 CSCKD R/W-0 CSCKE R/W-0 COFSD bit 8 R/W-0 bit 0
COFSM<1:0>
DCIEN: DCI Module Enable bit 1 = Module is enabled 0 = Module is disabled Reserved: Read as 0 DCISIDL: DCI Stop in Idle Control bit 1 = Module will halt in CPU Idle mode 0 = Module will continue to operate in CPU Idle mode Reserved: Read as 0 DLOOP: Digital Loopback Mode Control bit 1 = Digital Loopback mode is enabled. CSDI and CSDO pins internally connected. 0 = Digital Loopback mode is disabled CSCKD: Sample Clock Direction Control bit 1 = CSCK pin is an input when DCI module is enabled 0 = CSCK pin is an output when DCI module is enabled CSCKE: Sample Clock Edge Control bit 1 = Data changes on serial clock falling edge, sampled on serial clock rising edge 0 = Data changes on serial clock rising edge, sampled on serial clock falling edge COFSD: Frame Synchronization Direction Control bit 1 = COFS pin is an input when DCI module is enabled 0 = COFS pin is an output when DCI module is enabled UNFM: Underflow Mode bit 1 = Transmit last value written to the transmit registers on a transmit underflow 0 = Transmit 0s on a transmit underflow CSDOM: Serial Data Output Mode bit 1 = CSDO pin will be tri-stated during disabled transmit time slots 0 = CSDO pin drives 0s during disabled transmit time slots DJST: DCI Data Justification Control bit 1 = Data transmission/reception is begun during the same serial clock cycle as the frame synchronization pulse 0 = Data transmission/reception is begun one serial clock cycle after frame synchronization pulse Reserved: Read as 0 COFSM<1:0>: Frame Sync Mode bits 11 = 20-bit AC-Link mode 10 = 16-bit AC-Link mode 01 = I2S Frame Sync mode 00 = Multi-Channel Frame Sync mode
bit 14 bit 13
bit 12 bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4-2 bit 1-0
DS70165A-page 320
Advance Information
dsPIC33F
REGISTER 22-2:
U-0 bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-12 bit 11-10 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 COFSG<2:0> R/W-0 U-0 R/W-0 R/W-0 R/W-0

U-0 U-0 U-0 R/W-0 R/W-0 U-0 R/W-0 COFSG3 bit 8 R/W-0 bit 0 BLEN<1:0>
WS<3:0>
Reserved: Read as 0 BLEN<1:0>: Buffer Length Control bits 11 = Four data words will be buffered between interrupts 10 = Three data words will be buffered between interrupts 01 = Two data words will be buffered between interrupts 00 = One data word will be buffered between interrupts Reserved: Read as 0 COFSG<3:0>: Frame Sync Generator Control bits 1111 = Data frame has 16 words 0010 = Data frame has 3 words 0001 = Data frame has 2 words 0000 = Data frame has 1 word Reserved: Read as 0 WS<3:0>: DCI Data Word Size bits 1111 = Data word size is 16 bits 0100 = Data word size is 5 bits 0011 = Data word size is 4 bits 0010 = Invalid Selection. Do not use. Unexpected results may occur. 0001 = Invalid Selection. Do not use. Unexpected results may occur. 0000 = Invalid Selection. Do not use. Unexpected results may occur.
bit 9 bit 8-5
bit 4 bit 3-0
Advance Information
DS70165A-page 321
dsPIC33F
REGISTER 22-3:
U-0 bit 15 R/W-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-12 bit 11-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0

U-0 U-0 U-0 R/W-0 R/W-0 R/W-0 R/W-0 bit 8 R/W-0 bit 0 BCG<11:8>
BCG<7:0>
Reserved: Read as 0 BCG<11:0>: DCI bit Clock Generator Control bits
DS70165A-page 322
Advance Information
dsPIC33F
REGISTER 22-4:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-12 bit 11-8 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 U-0 R-0 ROV R-0 RFUL R-0 TUNF R-0 TMPTY bit 0
DCISTAT: DCI STATUS REGISTER

U-0 U-0 U-0 R-0 R-0 R-0 R-0 bit 8 SLOT<3:0>
Reserved: Read as 0 SLOT<3:0>: DCI Slot Status bits 1111 = Slot #15 is currently active 0010 = Slot #2 is currently active 0001 = Slot #1 is currently active 0000 = Slot #0 is currently active Reserved: Read as 0 ROV: Receive Overflow Status bit 1 = A receive overflow has occurred for at least one receive register 0 = A receive overflow has not occurred RFUL: Receive Buffer Full Status bit 1 = New data is available in the receive registers 0 = The receive registers have old data TUNF: Transmit Buffer Underflow Status bit 1 = A transmit underflow has occurred for at least one transmit register 0 = A transmit underflow has not occurred TMPTY: Transmit Buffer Empty Status bit 1 = The transmit registers are empty 0 = The transmit registers are not empty
bit 7-4 bit 3
bit 2
bit 1
bit 0
Advance Information
DS70165A-page 323
dsPIC33F
REGISTER 22-5:
R/W-0 RSE15 bit 15 R/W-0 RSE7 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 RSE6 R/W-0 RSE5 R/W-0 RSE4 R/W-0 RSE3 R/W-0 RSE2 R/W-0 RSE1
RSCON: DCI RECEIVE SLOT CONTROL REGISTER

R/W-0 RSE14 R/W-0 RSE13 R/W-0 RSE12 R/W-0 RSE11 R/W-0 RSE10 R/W-0 RSE9 R/W-0 RSE8 bit 8 R/W-0 RSE0 bit 0
RSE<15:0>: Receive Slot Enable bits 1 = CSDI data is received during the individual time slot n 0 = CSDI data is ignored during the individual time slot n
REGISTER 22-6:
R/W-0 TSE15 bit 15 R/W-0 TSE7 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0
TSCON: DCI TRANSMIT SLOT CONTROL REGISTER

R/W-0 TSE14 R/W-0 TSE13 R/W-0 TSE12 R/W-0 TSE11 R/W-0 TSE10 R/W-0 TSE9 R/W-0 TSE8 bit 8 R/W-0 TSE6 R/W-0 TSE5 R/W-0 TSE4 R/W-0 TSE3 R/W-0 TSE2 R/W-0 TSE1 R/W-0 TSE0 bit 0
TSE<15:0>: Transmit Slot Enable Control bits 1 = Transmit buffer contents are sent during the individual time slot n 0 = CSDO pin is tri-stated or driven to logic 0, during the individual time slot, depending on the state of the CSDOM bit
DS70165A-page 324
Advance Information
dsPIC33F
23.0
Note:
10-BIT/12-BIT A/D CONVERTER

23.2
1.
A/D Initialization
The following configuration steps should be performed. Configure the A/D module: a) Select port pins as analog inputs (ADxPCFGH<15:0> or ADxPCFGL<15:0>) b) Select voltage reference source to match expected range on analog inputs (ADxCON2<15:13>) c) Select the analog conversion clock to match desired data rate with processor clock (ADxCON3<5:0>) d) Determine how many S/H channels will be used (ADxCON2<9:8> and ADxPCFGH<15:0> or ADxPCFGL<15:0>) e) Select the appropriate sample/conversion sequence (ADxCON1<7:5> and ADxCON3<12:8>) f) Select how conversion results are presented in the buffer (ADxCON1<9:8>) g) Turn on A/D module (ADxCON1<15>) Configure A/D interrupt (if required): a) Clear the ADxIF bit b) Select A/D interrupt priority
The dsPIC33F devices have up to 32 A/D input channels. These devices also have up to 2 A/D converter modules (ADCx, where x = 1 or 2), each with its own set of Special Function Registers. The AD12B bit (ADxCON1<10>) allows each of the A/D modules to be configured by the user as either a 10-bit, 4-sample/hold A/D (default configuration) or a 12-bit, 1-sample/hold A/D. Note: The A/D module needs to be disabled before modifying the AD12B bit.
23.1
Key Features
2.
The 10-bit A/D configuration has the following key features: Successive Approximation (SAR) conversion Conversion speeds of up to 1.1 Msps Up to 32 analog input pins External voltage reference input pins Simultaneous sampling of up to four analog input pins Automatic Channel Scan mode Selectable conversion trigger source Selectable Buffer Fill modes Four result alignment options (signed/unsigned, fractional/integer) Operation during CPU Sleep and Idle modes
23.3
ADC and DMA
If more than one conversion result needs to be buffered before triggering an interrupt, DMA data transfers can be used. Both ADC1 and ADC2 can trigger a DMA data transfer. If ADC1 or ADC2 is selected as the DMA IRQ source, a DMA transfer occurs when the AD1IF or AD2IF bit gets set as a result of an ADC1 or ADC2 sample conversion sequence. The SMPI<3:0> bits (ADxCON2<5:2>) are used to select how often the DMA RAM buffer pointer is incremented. The ADDMABM bit (ADxCON1<12>) determines how the conversion results are filled in the DMA RAM buffer area being used for ADC. If this bit is set, DMA buffers are written in the order of conversion. The module will provide an address to the DMA channel that is the same as the address used for the non-DMA stand-alone buffer. If the ADDMABM bit is cleared, then DMA buffers are written in Scatter/Gather mode. The module will provide a scatter/gather address to the DMA channel, based on the index of the analog input and the size of the DMA buffer. Note 1: The ADDMABM bit is not present in devices marked PS. Instead, these devices contain an ADDMAEN bit which can be set to enable DMA data transfers. 2: Devices marked PS contain a 16-word result buffer (ADCxBUF0-ADCxBUFF). The SMPI bits define the number of sample conversion sequences per interrupt.
The 12-bit A/D configuration supports all the above features, except: In the 12-bit configuration, conversion speeds of up to 500 ksps are supported There is only 1 sample/hold amplifier in the 12-bit configuration, so simultaneous sampling of multiple channels is not supported. Depending on the particular device pinout, the A/D converter can have up to 32 analog input pins, designated AN0 through AN31. In addition, there are two analog input pins for external voltage reference connections. These voltage reference inputs may be shared with other analog input pins. The actual number of analog input pins and external voltage reference input configuration will depend on the specific device. Refer to the device data sheet for further details. A block diagram of the A/D converter is shown in Figure 23-1.
Advance Information
DS70165A-page 325
dsPIC33F
FIGURE 23-1:
VREF+(1) AVSS VREF-(1)
A/D MODULE BLOCK DIAGRAM

AVDD
AN0(2)
AN0 AN3 AN6 AN9 VREF-
+ S/H
CH1(3)
ADC
AN1(2)
AN1 AN4 AN7 AN10 VREF-
+ S/H
CH2(3)
Conversion Result
Conversion Logic
AN2(2)
AN2 AN5 AN8 AN11 VREF00000 00001 00010 00011 00100 00101 00110 00111 01000 01001 01010 01011
+ S/H
CH3(3) CH1,CH2, CH3,CH0 Sample/Sequence Control
Sample
AN3(2) AN4(2) AN5(2) AN6(2) AN7(2) AN8(2) AN9(2) AN10(2) AN11(2)
Input Switches
Input MUX Control
AN30(2) AN31(2)
11110 11111 VREFAN1 + S/H
CH0
Note 1: 2: 3:
VREF+, VREF- inputs may be multiplexed with other analog inputs. See device data sheet for details. ADC2 only supports analog inputs AN0-AN15. Channels 1, 2 and 3 are not applicable for the 12-bit mode of operation.
DS70165A-page 326
Advance Information
Bus Interface
16-bit ADC Output Buffer
Data Format
dsPIC33F
EQUATION 23-1: A/D CONVERSION CLOCK PERIOD
TAD = TCY(ADCS + 1) 2 2 TAD 1 TCY
ADCS =
FIGURE 23-2:
Output Code
A/D TRANSFER FUNCTION (10-BIT EXAMPLE)
11 1111 1111 (= 1023) 11 1111 1110 (= 1022)
10 0000 0011 (= 515) 10 0000 0010 (= 514) 10 0000 0001 (= 513) 10 0000 0000 (= 512) 01 1111 1111 (= 511) 01 1111 1110 (= 510) 01 1111 1101 (= 509)
00 0000 0001 (= 1) 00 0000 0000 (= 0) VREFL VREFL + VREFH VREFL 1024 VREFL + 512 * (VREFH VREFL) 1024 VREFL + 1023 * (VREFH VREFL) 1024 (VINH VINL) VREFH
Advance Information
DS70165A-page 327
dsPIC33F
REGISTER 23-1:
R/W-0 ADON bit 15 R/W-0 R/W-0 SSRC<2:0> bit 7 Legend: R = Readable bit -n = Value at POR bit 15 HC = Cleared by hardware W = Writable bit 1 = Bit is set HS = Set by hardware U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 U-0 R/W-0 SIMSAM R/W-0 ASAM R/W-0 HC,HS SAMP
ADxCON1: ADCx CONTROL REGISTER 1

U-0 R/W-0 ADSIDL R/W-0 ADDMABM U-0 R/W-0 AD12B R/W-0 R/W-0 bit 8 R/C-0 HC, HS CONV bit 0 FORM<1:0>
ADON: A/D Operating Mode bit 1 = A/D converter module is operating 0 = A/D converter is off Unimplemented: Read as 0 ADSIDL: Stop in Idle Mode bit 1 = Discontinue module operation when device enters Idle mode 0 = Continue module operation in Idle mode ADDMABM: DMA Buffer Build Mode bit 1 = DMA buffers are written in the order of conversion. The module will provide an address to the DMA channel that is the same as the address used for the non-DMA stand-alone buffer. 0 = DMA buffers are written in Scatter/Gather mode. The module will provide a scatter/gather address to the DMA channel, based on the index of the analog input and the size of the DMA buffer. Unimplemented: Read as 0 AD12B: 10-bit or 12-bit Operation Mode bit 1 = 12-bit, 1-channel A/D operation 0 = 10-bit, 4-channel A/D operation FORM<1:0>: Data Output Format bits For 10-bit operation: 11 = Signed fractional (DOUT = sddd dddd dd00 0000, where s = .NOT.d<9>) 10 = Fractional (DOUT = dddd dddd dd00 0000) 01 = Signed integer (DOUT = ssss sssd dddd dddd, where s = .NOT.d<9>) 00 = Integer (DOUT = 0000 00dd dddd dddd) For 12-bit operation: 11 = Signed fractional (DOUT = sddd dddd dddd 0000, where s = .NOT.d<11>) 10 = Fractional (DOUT = dddd dddd dddd 0000) 01 = Signed Integer (DOUT = ssss sddd dddd dddd, where s = .NOT.d<11>) 00 = Integer (DOUT = 0000 dddd dddd dddd) SSRC<2:0>: Sample Clock Source Select bits 111 = Internal counter ends sampling and starts conversion (auto-convert) 110 = Reserved 101 = Reserved 100 = Reserved 011 = MPWM interval ends sampling and starts conversion 010 = GP timer compare ends sampling and starts conversion 001 = Active transition on INTx pin ends sampling and starts conversion 000 = Clearing sample bit ends sampling and starts conversion Unimplemented: Read as 0
bit 14 bit 13
bit 12
bit 11 bit 10
bit 9-8
bit 7-5
bit 4
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dsPIC33F
REGISTER 23-1:
bit 3
ADxCON1: ADCx CONTROL REGISTER 1 (CONTINUED)
SIMSAM: Simultaneous Sample Select bit (only applicable when CHPS<1:0> = 01 or 1x) When AD12B = 1, SIMSAM is: U-0, Unimplemented, Read as 0 1 = Samples CH0, CH1, CH2, CH3 simultaneously (when CHPS<1:0> = 1x); or Samples CH0 and CH1 simultaneously (when CHPS<1:0> = 01) 0 = Samples multiple channels individually in sequence ASAM: A/D Sample Auto-Start bit 1 = Sampling begins immediately after last conversion. SAMP bit is auto-set. 0 = Sampling begins when SAMP bit is set SAMP: A/D Sample Enable bit 1 = A/D sample/hold amplifiers are sampling 0 = A/D sample/hold amplifiers are holding If ASAM = 0, software may write 1 to begin sampling. Automatically set by hardware if ASAM = 1. If SSRC = 000, software may write 0 to end sampling and start conversion. If SSRC 000, automatically cleared by hardware to end sampling and start conversion. CONV: A/D Conversion Status bit 1 = A/D conversion cycle is completed. 0 = A/D conversion not started or in progress Automatically set by hardware when A/D conversion is complete. Software may write 0 to clear CONV status (software not allowed to write 1). Clearing this bit will NOT affect any operation in progress. Automatically cleared by hardware at start of a new conversion.
bit 2
bit 1
bit 0
Advance Information
DS70165A-page 329
dsPIC33F
REGISTER 23-2:
R/W-0 ADON bit 15 R/W-0 R/W-0 SSRC<2:0> bit 7 Legend: R = Readable bit -n = Value at POR bit 15 HC = Cleared by hardware W = Writable bit 1 = Bit is set HS = Set by hardware U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 U-0 R/W-0 SIMSAM R/W-0 ASAM R/W-0 HC,HS SAMP
ADxCON1: ADCx CONTROL REGISTER 1 (FOR DEVICES MARKED PS)

U-0 R/W-0 ADSIDL R/W-0 ADDMAEM U-0 R/W-0 AD12B R/W-0 R/W-0 bit 8 R/C-0 HC, HS CONV bit 0 FORM<1:0>
ADON: A/D Operating Mode bit 1 = A/D converter module is operating 0 = A/D converter is off Unimplemented: Read as 0 ADSIDL: Stop in Idle Mode bit 1 = Discontinue module operation when device enters Idle mode 0 = Continue module operation in Idle mode ADDMAEM: DMA Transfer Enable bit 1 = DMA data transfers are enabled 0 = DMA data transfers are disabled Unimplemented: Read as 0 AD12B: 10-bit or 12-bit Operation Mode bit 1 = 12-bit, 1-channel A/D operation 0 = 10-bit, 4-channel A/D operation FORM<1:0>: Data Output Format bits For 10-bit operation: 11 = Signed fractional (DOUT = sddd dddd dd00 0000, where s = .NOT.d<9>) 10 = Fractional (DOUT = dddd dddd dd00 0000) 01 = Signed integer (DOUT = ssss sssd dddd dddd, where s = .NOT.d<9>) 00 = Integer (DOUT = 0000 00dd dddd dddd) For 12-bit operation: 11 = Signed fractional (DOUT = sddd dddd dddd 0000, where s = .NOT.d<11>) 10 = Fractional (DOUT = dddd dddd dddd 0000) 01 = Signed Integer (DOUT = ssss sddd dddd dddd, where s = .NOT.d<11>) 00 = Integer (DOUT = 0000 dddd dddd dddd) SSRC<2:0>: Sample Clock Source Select bits 111 = Internal counter ends sampling and starts conversion (auto-convert) 110 = Reserved 101 = Reserved 100 = Reserved 011 = MPWM interval ends sampling and starts conversion 010 = GP timer compare ends sampling and starts conversion 001 = Active transition on INTx pin ends sampling and starts conversion 000 = Clearing sample bit ends sampling and starts conversion Unimplemented: Read as 0
bit 14 bit 13
bit 12
bit 11 bit 10
bit 9-8
bit 7-5
bit 4
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dsPIC33F
REGISTER 23-2:
bit 3
SIMSAM: Simultaneous Sample Select bit (only applicable when CHPS<1:0> = 01 or 1x) When AD12B = 1, SIMSAM is: U-0, Unimplemented, Read as 0 1 = Samples CH0, CH1, CH2, CH3 simultaneously (when CHPS<1:0> = 1x); or Samples CH0 and CH1 simultaneously (when CHPS<1:0> = 01) 0 = Samples multiple channels individually in sequence ASAM: A/D Sample Auto-Start bit 1 = Sampling begins immediately after last conversion. SAMP bit is auto-set. 0 = Sampling begins when SAMP bit is set SAMP: A/D Sample Enable bit 1 = A/D sample/hold amplifiers are sampling 0 = A/D sample/hold amplifiers are holding If ASAM = 0, software may write 1 to begin sampling. Automatically set by hardware if ASAM = 1. If SSRC = 000, software may write 0 to end sampling and start conversion. If SSRC 000, automatically cleared by hardware to end sampling and start conversion. CONV: A/D Conversion Status bit 1 = A/D conversion cycle is completed. 0 = A/D conversion not started or in progress Automatically set by hardware when A/D conversion is complete. Software may write 0 to clear CONV status (software not allowed to write 1). Clearing this bit will NOT affect any operation in progress. Automatically cleared by hardware at start of a new conversion.
bit 2
bit 1
bit 0
Advance Information
DS70165A-page 331
dsPIC33F
REGISTER 23-3:
R/W-0 bit 15 R-0 BUFS bit 7 Legend: R = Readable bit -n = Value at POR bit 15-13 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 BUFM

R/W-0 R/W-0 U-0 U-0 R/W-0 CSCNA R/W-0 R/W-0 bit 8 R/W-0 ALTS bit 0 CHPS<1:0>
VCFG<2:0>
SMPI<3:0>
VCFG<2:0>: Converter Voltage Reference Configuration bits

ADREF+ 000 001 010 011 1xx AVDD External VREF+ AVDD External VREF+ AVDD ADREFAVSS AVSS External VREFExternal VREFAvss
bit 12-11 bit 10
Unimplemented: Read as 0 CSCNA: Scan Input Selections for CH0+ during Sample A bit 1 = Scan inputs 0 = Do not scan inputs CHPS<1:0>: Selects Channels Utilized bits When AD12B = 1, CHPS<1:0> is: U-0, Unimplemented, Read as 0 1x = Converts CH0, CH1, CH2 and CH3 01 = Converts CH0 and CH1 00 = Converts CH0 BUFS: Buffer Fill Status bit (only valid when BUFM = 1) 1 = A/D is currently filling buffer 0x8-0xF, user should access data in 0x0-0x7 0 = A/D is currently filling buffer 0x0-0x7, user should access data in 0x8-0xF Unimplemented: Read as 0 SMPI<3:0>: Selects Increment Rate for DMA Addresses bits 1111 = Increments the DMA address after completion of every 16th sample/conversion operation 1110 = Increments the DMA address after completion of every 15th sample/conversion operation 0001 = Increments the DMA address after completion of every 2nd sample/conversion operation 0000 = Increments the DMA address after completion of every sample/conversion operation BUFM: Buffer Fill Mode Select bit 1 = Starts buffer filling at address 0x0 on first interrupt and 0x8 on next interrupt 0 = Always starts filling buffer at address 0x0 ALTS: Alternate Input Sample Mode Select bit 1 = Uses channel input selects for Sample A on first sample and Sample B on next sample 0 = Always uses channel input selects for Sample A
bit 9-8
bit 7
bit 6 bit 5-2
bit 1
bit 0
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dsPIC33F
REGISTER 23-4:
R/W-0 bit 15 R-0 BUFS bit 7 Legend: R = Readable bit -n = Value at POR bit 15-13 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 BUFM

R/W-0 R/W-0 U-0 U-0 R/W-0 CSCNA R/W-0 R/W-0 bit 8 R/W-0 ALTS bit 0 CHPS<1:0>
VCFG<2:0>
SMPI<3:0>
VCFG<2:0>: Converter Voltage Reference Configuration bits

ADREF+ 000 001 010 011 1xx AVDD External VREF+ AVDD External VREF+ AVDD ADREFAVSS AVSS External VREFExternal VREFAvss
bit 12-11 bit 10
Unimplemented: Read as 0 CSCNA: Scan Input Selections for CH0+ during Sample A bit 1 = Scan inputs 0 = Do not scan inputs CHPS<1:0>: Selects Channels Utilized bits When AD12B = 1, CHPS<1:0> is: U-0, Unimplemented, Read as 0 1x = Converts CH0, CH1, CH2 and CH3 01 = Converts CH0 and CH1 00 = Converts CH0 BUFS: Buffer Fill Status bit (only valid when BUFM = 1) 1 = A/D is currently filling buffer 0x8-0xF, user should access data in 0x0-0x7 0 = A/D is currently filling buffer 0x0-0x7, user should access data in 0x8-0xF Unimplemented: Read as 0 SMPI<3:0>: Selects Number of Samples per Interrupt bits 1111 = Interrupts at the completion of conversion for every 16th sample 1110 = Interrupts at the completion of conversion for every 15th sample 0001 = Interrupts at the completion of conversion for every 2nd sample 0000 = Interrupts at the completion of conversion for every sample BUFM: Buffer Fill Mode Select bit 1 = Starts buffer filling at address 0x0 on first interrupt and 0x8 on next interrupt 0 = Always starts filling buffer at address 0x0 ALTS: Alternate Input Sample Mode Select bit 1 = Uses channel input selects for Sample A on first sample and Sample B on next sample 0 = Always uses channel input selects for Sample A
bit 9-8
bit 7
bit 6 bit 5-2
bit 1
bit 0
Advance Information
DS70165A-page 333
dsPIC33F
REGISTER 23-5:
U-0 bit 15 R/W-0 ADRC bit 7 Legend: R = Readable bit -n = Value at POR bit 15-13 bit 12-8 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0

U-0 U-0 R/W-0 R/W-0 R/W-0 SAMC<4:0> bit 8 R/W-0 bit 0 R/W-0 R/W-0
ADCS<5:0>
Unimplemented: Read as 0 SAMC<4:0>: Auto Sample Time bits 11111 = 31 TAD 00001 = 1 TAD 00000 = 0 TAD ADRC: A/D Conversion Clock Source bit 1 = A/D internal RC clock 0 = Clock derived from system clock Unimplemented: Read as 0 ADCS<5:0>: A/D Conversion Clock Select bits 111111 = TCY/2 (ADCS<7:0> + 1) = 64 TCY/2 = TAD 000010 = TCY/2 (ADCS<7:0> + 1) = 3 TCY/2 = TAD 000001 = TCY/2 (ADCS<7:0> + 1) = 2 TCY/2 = TAD 000000 = TCY/2 (ADCS<7:0> + 1) = 1 TCY/2 = TAD
bit 7
bit 6 bit 5-0
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dsPIC33F
REGISTER 23-6:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-3 bit 2-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 U-0 U-0 R/W-0 R/W-0 DMABL<2:0> bit 0
ADxCON4: ADCx CONTROL REGISTER 4(1)

U-0 U-0 U-0 U-0 U-0 U-0 U-0 bit 8 R/W-0
Unimplemented: Read as 0 DMABL<2:0>: Selects Number of DMA Buffer Locations per Analog Input bits 111 = Allocates 128 words of buffer to each analog input 110 = Allocates 64 words of buffer to each analog input 101 = Allocates 32 words of buffer to each analog input 100 = Allocates 16 words of buffer to each analog input 011 = Allocates 8 words of buffer to each analog input 010 = Allocates 4 words of buffer to each analog input 001 = Allocates 2 words of buffer to each analog input 000 = Allocates 1 word of buffer to each analog input This register is not present in devices marked PS.
Note 1:
Advance Information
DS70165A-page 335
dsPIC33F
REGISTER 23-7:
U-0 bit 15 U-0 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-11 bit 10-9 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 U-0 U-0 R/W-0 R/W-0
ADxCHS123: ADCx INPUT CHANNEL 1, 2, 3 SELECT REGISTER

U-0 U-0 U-0 U-0 R/W-0 R/W-0 R/W-0 CH123SB bit 8 R/W-0 CH123NB bit 0 CH123NB<1:0>
CH123NA<1:0>
Unimplemented: Read as 0 CH123NB<1:0>: Channel 1, 2, 3 Negative Input Select for Sample B bits When AD12B = 1, CHxNB is: U-0, Unimplemented, Read as 0 11 = CH1 negative input is AN9, CH2 negative input is AN10, CH3 negative input is AN11 10 = CH1 negative input is AN6, CH2 negative input is AN7, CH3 negative input is AN8 0x = CH1, CH2, CH3 negative input is VREFCH123SB: Channel 1, 2, 3 Positive Input Select for Sample B bit When AD12B = 1, CHxSA is: U-0, Unimplemented, Read as 0 1 = CH1 positive input is AN3, CH2 positive input is AN4, CH3 positive input is AN5 0 = CH1 positive input is AN0, CH2 positive input is AN1, CH3 positive input is AN2 Unimplemented: Read as 0 CH123NA<1:0>: Channel 1, 2, 3 Negative Input Select for Sample A bits When AD12B = 1, CHxNA is: U-0, Unimplemented, Read as 0 11 = CH1 negative input is AN9, CH2 negative input is AN10, CH3 negative input is AN11 10 = CH1 negative input is AN6, CH2 negative input is AN7, CH3 negative input is AN8 0x = CH1, CH2, CH3 negative input is VREFCH123SB: Channel 1, 2, 3 Positive Input Select for Sample A bit When AD12B = 1, CHxSA is: U-0, Unimplemented, Read as 0 1 = CH1 positive input is AN3, CH2 positive input is AN4, CH3 positive input is AN5 0 = CH1 positive input is AN0, CH2 positive input is AN1, CH3 positive input is AN2
bit 8
bit 7-3 bit 2-1
bit 0
DS70165A-page 336
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dsPIC33F
REGISTER 23-8:
R/W-0 CH0NB bit 15 R/W-0 CH0NA bit 7 Legend: R = Readable bit -n = Value at POR bit 15 bit 14-13 bit 12-8 bit 7 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown U-0 U-0 R/W-0 R/W-0 R/W-0 CH0SA<4:0> bit 0 R/W-0
ADxCHS0: ADCx INPUT CHANNEL 0 SELECT REGISTER

U-0 U-0 R/W-0 R/W-0 R/W-0 CH0SB<4:0> bit 8 R/W-0 R/W-0 R/W-0
CH0NB: Channel 0 Negative Input Select for Sample B bit Same definition as bit 7. Unimplemented: Read as 0 CH0SB<4:0>: Channel 0 Positive Input Select for Sample B bits Same definition as bit<4:0>. CH0NA: Channel 0 Negative Input Select for Sample A bit 1 = Channel 0 negative input is AN1 0 = Channel 0 negative input is VREFUnimplemented: Read as 0 CH0SA<4:0>: Channel 0 Positive Input Select for Sample A bits 11111 = Channel 0 positive input is AN31 11110 = Channel 0 positive input is AN30 00010 = Channel 0 positive input is AN2 00001 = Channel 0 positive input is AN1 00000 = Channel 0 positive input is AN0
bit 6-5 bit 4-0
Advance Information
DS70165A-page 337
dsPIC33F
REGISTER 23-9:
R/W-0 CSS31 bit 15 R/W-0 CSS23 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 CSS22 R/W-0 CSS21 R/W-0 CSS20 R/W-0 CSS19 R/W-0 CSS18 R/W-0 CSS17
ADxCSSH: ADCx INPUT SCAN SELECT REGISTER HIGH(1)

R/W-0 CSS30 R/W-0 CSS29 R/W-0 CSS28 R/W-0 CSS27 R/W-0 CSS26 R/W-0 CSS25 R/W-0 CSS24 bit 8 R/W-0 CSS16 bit 0
CSS<31:16>: A/D Input Scan Selection bits 1 = Select ANx for input scan 0 = Skip ANx for input scan On devices without 32 analog inputs, all ADxCSSL bits may be selected by user. However, inputs selected for scan without a corresponding input on device will convert ADREF-.
Note 1:
REGISTER 23-10: ADxCSSL: ADCx INPUT SCAN SELECT REGISTER LOW(1)

R/W-0 CSS15 bit 15 R/W-0 CSS7 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 CSS6 R/W-0 CSS5 R/W-0 CSS4 R/W-0 CSS3 R/W-0 CSS2 R/W-0 CSS1 R/W-0 CSS14 R/W-0 CSS13 R/W-0 CSS12 R/W-0 CSS11 R/W-0 CSS10 R/W-0 CSS9 R/W-0 CSS8 bit 8 R/W-0 CSS0 bit 0
CSS<15:0>: A/D Input Scan Selection bits 1 = Select ANx for input scan 0 = Skip ANx for input scan On devices without 16 analog inputs, all ADxCSSL bits may be selected by user. However, inputs selected for scan without a corresponding input on device will convert ADREF-.
Note 1:
DS70165A-page 338
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dsPIC33F
REGISTER 23-11: ADxPCFGH: ADCx PORT CONFIGURATION REGISTER HIGH(1)
R/W-0 PCFG31 bit 15 R/W-0 PCFG23 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 PCFG22 R/W-0 PCFG21 R/W-0 PCFG20 R/W-0 PCFG19 R/W-0 PCFG18 R/W-0 PCFG17 R/W-0 PCFG30 R/W-0 PCFG29 R/W-0 PCFG28 R/W-0 PCFG27 R/W-0 PCFG26 R/W-0 PCFG25 R/W-0 PCFG24 bit 8 R/W-0 PCFG16 bit 0
PCFG<31:16>: A/D Port Configuration Control bits 1 = Port pin in Digital mode, port read input enabled, A/D input multiplexor connected to AVSS 0 = Port pin in Analog mode, port read input disabled, A/D samples pin voltage On devices without 32 analog inputs, all PCFG bits are R/W by user. However, PCFG bits are ignored on ports without a corresponding input on device.
Note 1:
REGISTER 23-12: ADxPCFGL: ADCx PORT CONFIGURATION REGISTER LOW(1)

R/W-0 PCFG15 bit 15 R/W-0 PCFG7 bit 7 Legend: R = Readable bit -n = Value at POR bit 15-0 W = Writable bit 1 = Bit is set U = Unimplemented bit, read as 0 0 = Bit is cleared x = Bit is unknown R/W-0 PCFG6 R/W-0 PCFG5 R/W-0 PCFG4 R/W-0 PCFG3 R/W-0 PCFG2 R/W-0 PCFG1 R/W-0 PCFG14 R/W-0 PCFG13 R/W-0 PCFG12 R/W-0 PCFG11 R/W-0 PCFG10 R/W-0 PCFG9 R/W-0 PCFG8 bit 8 R/W-0 PCFG0 bit 0
PCFG<15:0>: A/D Port Configuration Control bits 1 = Port pin in Digital mode, port read input enabled, A/D input multiplexor connected to AVSS 0 = Port pin in Analog mode, port read input disabled, A/D samples pin voltage On devices without 16 analog inputs, all PCFG bits are R/W by user. However, PCFG bits are ignored on ports without a corresponding input on device.
Note 1:
Advance Information
DS70165A-page 339
dsPIC33F
NOTES:
DS70165A-page 340
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dsPIC33F
24.0
Note:
SPECIAL FEATURES
The device Configuration register map is shown in Table 24-1. The individual Configuration bit descriptions for the RESERVED1, RESERVED2, FGS, FOSCSEL, FOSC, FWDT, FPOR and FICD Configuration registers are shown in Table 24-2. Note that address F80000h is beyond the user program memory space. In fact, it belongs to the configuration memory space (0x800000-0xFFFFFF) which can only be accessed using table reads and table writes. The upper byte of all device Configuration registers should always be 1111 1111. This makes them appear to be NOP instructions in the remote event that their locations are ever executed by accident. Since Configuration bits are not implemented in the corresponding locations, writing 1s to these locations has no effect on device operation. To prevent inadvertent configuration changes during code execution, all programmable Configuration bits are write-once. After a bit is initially programmed during a power cycle, it cannot be written to again. Changing a device configuration requires that power to the device be cycled.
dsPIC33F devices include several features intended to maximize application flexibility and reliability, and minimize cost through elimination of external components. These are: Flexible Configuration Watchdog Timer (WDT) Code Protection JTAG Boundary Scan Interface In-Circuit Serial Programming (ICSP) In-Circuit Emulation
24.1
Configuration Bits
The Configuration bits can be programmed (read as 0), or left unprogrammed (read as 1), to select various device configurations. These bits are mapped starting at program memory location 0xF80000.
TABLE 24-1:
Address
DEVICE CONFIGURATION REGISTER MAP

Name Bit 7 Bit 6 Bit 5 Bit 4 Reserved(2) Reserved(2) Reserved(2) Reserved
(2)
Bit 3
Bit 2
Bit 1
Bit 0
0xF8000 RESERVED1 0xF8002 RESERVED2 0xF8004 FGS 0xF8006 FOSCSEL 0xF8008 FOSC 0xF800A FWDT 0xF800C FPOR 0xF800E Reserved 0xF8010 FUID0 0xF8012 FUID1 0xF8014 FUID2 0xF8016 FUID3 Note 1: 2: 3:
Reserved(3) Reserved(3) Reserved(2)
Reserved(2)
GCP FNOSC<2:0>
GWRP
FCKSM<1:0> FWDTEN PWMPIN

(1)
OSCIOFNC POSCMD<1:0> WDTPOST<3:0> FPWRT<2:0>

(2)
WINDIS HPOL(1)
Reserved(2) LPOL(1)
WDTPRE Reserved(2) PWRTEN Reserved User Unit ID Byte 0 User Unit ID Byte 1 User Unit ID Byte 2 User Unit ID Byte 3
On the dsPIC33F General Purpose Family devices (dsPIC33FJXXXGPXXX), these bits are reserved (read as 1 and must be programmed as 1). These reserved bits read as 1 and must be programmed as 1. These reserved bits are read as 1 and must be programmed as 1. For devices marked PS, these bits are read as 0 and must be programmed as 0.
Advance Information
DS70165A-page 341
dsPIC33F
TABLE 24-2:
Bit Field GCP
dsPIC33F CONFIGURATION BITS DESCRIPTION

Register FGS Description General Segment Code-Protect bit 1 = User program memory is not code-protected 0 = User program memory is code-protected General Segment Write-Protect bit 1 = User program memory is not write-protected 0 = User program memory is write-protected Initial Oscillator Source Selection bits 111 = Internal Fast RC (FRC) oscillator with postscaler 110 = Reserved 101 = LPRC oscillator 100 = Secondary (LP) oscillator 011 = Primary (XT, HS, EC) oscillator with PLL 010 = Primary (XT, HS, EC) oscillator 001 = Internal Fast RC (FRC) oscillator with PLL 000 = FRC oscillator Clock Switching Mode bits 1x = Clock switching is disabled, Fail-Safe Clock Monitor is disabled 01 = Clock switching is enabled, Fail-Safe Clock Monitor is disabled 00 = Clock switching is enabled, Fail-Safe Clock Monitor is enabled OSC2 Pin Function bit (except in XT and HS modes) 1 = OSC2 is clock output 0 = OSC2 is general purpose digital I/O pin Primary Oscillator Mode Select bits 11 = Primary oscillator disabled 10 = HS Crystal Oscillator mode 01 = XT Crystal Oscillator mode 00 = EC (External Clock) mode Watchdog Timer Enable bit 1 = Watchdog Timer always enabled (LPRC oscillator cannot be disabled. Clearing the SWDTEN bit in the RCON register will have no effect.) 0 = Watchdog Timer enabled/disabled by user software (LPRC can be disabled by clearing the SWDTEN bit in the RCON register) Watchdog Timer Window Enable bit 1 = Watchdog Timer in Non-Window mode 0 = Watchdog Timer in Window mode Watchdog Timer Postscaler bit 1 = 1:128 0 = 1:32 Watchdog Timer Prescaler bits 1111 = 1:32,768 1110 = 1:16,384 . . . 0001 = 1:2 0000 = 1:1 Motor Control PWM Module Pin Mode bit 1 = PWM module pins controlled by PORT register at device Reset (tri-stated) 0 = PWM module pins controlled by PWM module at device Reset (configured as output pins) Motor Control PWM High Side Polarity bit 1 = PWM module high side output pins have active-high output polarity 0 = PWM module high side output pins have active-low output polarity
GWRP
FGS
FNOSC<2:0>
FOSCSEL
FCKSM<1:0>
FOSC
OSCIOFNC
FOSC
POSCMD<1:0>
FOSC
FWDTEN
FWDT
WINDIS
FWDT
WDTPRE
FWDT
WDTPOST
FWDT
PWMPIN
FPOR
HPOL
FPOR
DS70165A-page 342
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dsPIC33F
TABLE 24-2:
Bit Field LPOL
dsPIC33F CONFIGURATION BITS DESCRIPTION (CONTINUED)

Register FPOR Description Motor Control PWM Low Side Polarity bit 1 = PWM module low side output pins have active-high output polarity 0 = PWM module low side output pins have active-low output polarity Power-on Reset Timer Enable bit 1 = Power-on Reset Timer (PWRT) disabled 0 = Power-on Reset Timer (PWRT) enabled Power-on Reset Timer Value Select bits 111 = PWRT = 128 ms 110 = PWRT = 64 ms 101 = PWRT = 32 ms 100 = PWRT = 16 ms 011 = PWRT = 8 ms 010 = PWRT = 4 ms 001 = PWRT = 2 ms 000 = PWRT = 1 ms Reserved (either read as 1 and write as 1, or read as 0 and write as 0)
PWRTEN
FPOR
FPWRT<2:0>
FPOR
Reserved
RESERVED1, RESERVED2, FOSC, FWDT, FPOR, FICD
FGS, FOSCSEL Unimplemented (read as 0, write as 0)
24.2
On-Chip Voltage Regulator
FIGURE 24-1:
All of the dsPIC33F devices power their core digital logic at a nominal 2.5V. This may create an issue for designs that are required to operate at a higher typical voltage, such as 3.3V. To simplify system design, all devices in the dsPIC33F family incorporate an on-chip regulator that allows the device to run its core logic from VDD. The regulator provides power to the core from the other VDD pins. When the regulator is enabled, a low-ESR capacitor (such as tantalum) must be connected to the VDDCORE/VCAP pin (Figure 24-1). This helps to maintain the stability of the regulator. The recommended value for the filter capacitor is provided in Section 27.1 DC Characteristics. On a POR, it takes approximately 20 s for the on-chip voltage regulator to generate an output voltage. During this time, designated as TSTARTUP, code execution is disabled. TSTARTUP is applied every time the device resumes operation after any power-down.
CONNECTIONS FOR THE ON-CHIP VOLTAGE REGULATOR(1)
3.3V dsPIC33F VDD VDDCORE/VCAP CF VSS
Note 1:
These are typical operating voltages. Refer to Section 27.1 DC Characteristics for the full operating ranges of VDD and VDDCORE.
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24.3 Watchdog Timer (WDT)
For dsPIC33F devices, the WDT is driven by the LPRC oscillator. When the WDT is enabled, the clock source is also enabled. The nominal WDT clock source from LPRC is 32 kHz. This feeds a prescaler than can be configured for either 5-bit (divide-by-32) or 7-bit (divide-by-128) operation. The prescaler is set by the WDTPRE Configuration bit. With a 32 kHz input, the prescaler yields a nominal WDT time-out period (TWDT) of 1 ms in 5-bit mode, or 4 ms in 7-bit mode. A variable postscaler divides down the WDT prescaler output and allows for a wide range of time-out periods. The postscaler is controlled by the WDTPOST<3:0> Configuration bits (FWDT<3:0>) which allow the selection of a total of 16 settings, from 1:1 to 1:32,768. Using the prescaler and postscaler, time-out periods ranging from 1 ms to 131 seconds can be achieved. The WDT, prescaler and postscaler are reset: On any device Reset On the completion of a clock switch, whether invoked by software (i.e., setting the OSWEN bit after changing the NOSC bits) or by hardware (i.e., Fail-Safe Clock Monitor) When a PWRSAV instruction is executed (i.e., Sleep or Idle mode is entered) When the device exits Sleep or Idle mode to resume normal operation By a CLRWDT instruction during normal execution If the WDT is enabled, it will continue to run during Sleep or Idle modes. When the WDT time-out occurs, the device will wake the device and code execution will continue from where the PWRSAV instruction was executed. The corresponding SLEEP or IDLE bits (RCON<3,2>) will need to be cleared in software after the device wakes up. The WDT flag bit, WDTO (RCON<4>), is not automatically cleared following a WDT time-out. To detect subsequent WDT events, the flag must be cleared in software. Note: The CLRWDT and PWRSAV instructions clear the prescaler and postscaler counts when executed.
The WDT is enabled or disabled by the FWDTEN Configuration bit in the FWDT Configuration register. When the FWDTEN Configuration bit is set, the WDT is always enabled. The WDT can be optionally controlled in software when the FWDTEN Configuration bit has been programmed to 0. The WDT is enabled in software by setting the SWDTEN control bit (RCON<5>). The SWDTEN control bit is cleared on any device Reset. The software WDT option allows the user to enable the WDT for critical code segments and disable the WDT during non-critical segments for maximum power savings. Note: If the WINDIS bit (FWDT<6>) is cleared, the CLRWDT instruction should be executed by the application software only during the last 1/4 of the WDT period. This CLRWDT window can be determined by using a timer. If a CLRWDT instruction is executed before this window, a WDT Reset occurs.
FIGURE 24-2:
SWDTEN FWDTEN
WDT BLOCK DIAGRAM

LPRC Control WDTPRE Prescaler 32.768 kHz 1 ms/4 ms WDT Counter WDTPOST<3:0> Postscaler WDT Overflow Reset Wake from Sleep
LPRC Input
All Device Resets Transition to New Clock Source Exit Sleep or Idle Mode CLRWDT Instr. PWRSAV Instr. Sleep or Idle Mode
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24.4 JTAG Interface 24.7 In-Circuit Debugger
dsPIC33F devices implement a JTAG interface, which supports boundary scan device testing, as well as in-circuit programming. Detailed information on the interface will be provided in future revisions of the document. When MPLAB ICD 2 is selected as a debugger, the in-circuit debugging functionality is enabled. This function allows simple debugging functions when used with MPLAB IDE. Debugging functionality is controlled through the EMUCx (Emulation/Debug Clock) and EMUDx (Emulation/Debug Data) pin functions. Any 1 out of 3 pairs of debugging clock/data pins may be used: PGC1/EMUC1 and PGD1/EMUD1 PGC2/EMUC2 and PGD2/EMUD2 PGC3/EMUC3 and PGD3/EMUD3 Devices marked PS contain 4 pairs of alternate debugging pins: PGC/EMUC and PGD/EMUD EMUC1 and EMUD1 EMUC2 and EMUD2 EMUC3 and EMUD3
24.5
Code Protection
For all devices in the dsPIC33F family of devices, the on-chip program memory space is treated as a single block. Code protection for this block is controlled by a pair of Configuration bits, GCP and GWRP. These bits inhibit program memory reads and writes, respectively.
24.6
In-Circuit Serial Programming
dsPIC33F family digital signal controllers can be serially programmed while in the end application circuit. This is simply done with two lines for clock and data and three other lines for power, ground and the programming sequence. This allows customers to manufacture boards with unprogrammed devices and then program the digital signal controller just before shipping the product. This also allows the most recent firmware or a custom firmware, to be programmed. Please refer to the dsPIC33F Flash Programming Specification (DS70152) document for details about ICSP. Any 1 out of 3 pairs of programming clock/data pins may be used: PGC1/EMUC1 and PGD1/EMUD1 PGC2/EMUC2 and PGD2/EMUD2 PGC3/EMUC3 and PGD3/EMUD3 Devices marked PS contain only 1 pair of programming pins: PGC/EMUC and PGD/EMUD.
To use the in-circuit debugger function of the device, the design must implement ICSP connections to MCLR, VDD, VSS, PGC, PGD and the EMUDx/EMUCx pin pair. In addition, when the feature is enabled, some of the resources are not available for general use. These resources include the first 80 bytes of data RAM and two I/O pins.
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NOTES:
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25.0
Note:
INSTRUCTION SET SUMMARY

Most bit-oriented instructions (including simple rotate/ shift instructions) have two operands: The W register (with or without an address modifier) or file register (specified by the value of Ws or f) The bit in the W register or file register (specified by a literal value or indirectly by the contents of register Wb) The literal instructions that involve data movement may use some of the following operands: A literal value to be loaded into a W register or file register (specified by the value of k) The W register or file register where the literal value is to be loaded (specified by Wb or f) However, literal instructions that involve arithmetic or logical operations use some of the following operands: The first source operand which is a register Wb without any address modifier The second source operand which is a literal value The destination of the result (only if not the same as the first source operand) which is typically a register Wd with or without an address modifier The MAC class of DSP instructions may use some of the following operands: The accumulator (A or B) to be used (required operand) The W registers to be used as the two operands The X and Y address space prefetch operations The X and Y address space prefetch destinations The accumulator write back destination The other DSP instructions do not involve any multiplication and may include: The accumulator to be used (required) The source or destination operand (designated as Wso or Wdo, respectively) with or without an address modifier The amount of shift specified by a W register Wn or a literal value The control instructions may use some of the following operands: A program memory address The mode of the table read and table write instructions
The dsPIC33F instruction set is identical to that of the dsPIC30F. Most instructions are a single program memory word (24 bits). Only three instructions require two program memory locations. Each single-word instruction is a 24-bit word, divided into an 8-bit opcode, which specifies the instruction type and one or more operands, which further specify the operation of the instruction. The instruction set is highly orthogonal and is grouped into five basic categories: Word or byte-oriented operations Bit-oriented operations Literal operations DSP operations Control operations
Table 25-1 shows the general symbols used in describing the instructions. The dsPIC33F instruction set summary in Table 25-2 lists all the instructions, along with the status flags affected by each instruction. Most word or byte-oriented W register instructions (including barrel shift instructions) have three operands: The first source operand which is typically a register Wb without any address modifier The second source operand which is typically a register Ws with or without an address modifier The destination of the result which is typically a register Wd with or without an address modifier However, word or byte-oriented file register instructions have two operands: The file register specified by the value f The destination, which could either be the file register f or the W0 register, which is denoted as WREG
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All instructions are a single word, except for certain double-word instructions, which were made doubleword instructions so that all the required information is available in these 48 bits. In the second word, the 8 MSbs are 0s. If this second word is executed as an instruction (by itself), it will execute as a NOP. Most single-word instructions are executed in a single instruction cycle, unless a conditional test is true, or the program counter is changed as a result of the instruction. In these cases, the execution takes two instruction cycles with the additional instruction cycle(s) executed as a NOP. Notable exceptions are the BRA (unconditional/computed branch), indirect CALL/GOTO, all table reads and writes and RETURN/RETFIE instructions, which are single-word instructions but take two or three cycles. Certain instructions that involve skipping over the subsequent instruction require either two or three cycles if the skip is performed, depending on whether the instruction being skipped is a single-word or two-word instruction. Moreover, double-word moves require two cycles. The double-word instructions execute in two instruction cycles. Note: For more details on the instruction set, refer to the dsPIC30F/33F Programmers Reference Manual (DS70157).
TABLE 25-1:
Field #text (text) [text] { } <n:m> .b .d .S .w Acc AWB bit4 C, DC, N, OV, Z Expr f lit1 lit4 lit5 lit8 lit10 lit14 lit16 lit23 None OA, OB, SA, SB PC Slit10 Slit16 Slit6 Wb Wd Wdo Wm,Wn
SYMBOLS USED IN OPCODE DESCRIPTIONS

Description Means literal defined by text Means content of text Means the location addressed by text Optional field or operation Register bit field Byte mode selection Double-Word mode selection Shadow register select Word mode selection (default) One of two accumulators {A, B} Accumulator write back destination address register {W13, [W13]+ = 2} 4-bit bit selection field (used in word addressed instructions) {0...15} MCU Status bits: Carry, Digit Carry, Negative, Overflow, Sticky Zero Absolute address, label or expression (resolved by the linker) File register address {0x0000...0x1FFF} 1-bit unsigned literal {0,1} 4-bit unsigned literal {0...15} 5-bit unsigned literal {0...31} 8-bit unsigned literal {0...255} 10-bit unsigned literal {0...255} for Byte mode, {0:1023} for Word mode 14-bit unsigned literal {0...16384} 16-bit unsigned literal {0...65535} 23-bit unsigned literal {0...8388608}; LSB must be 0 Field does not require an entry, may be blank DSP Status bits: AccA Overflow, AccB Overflow, AccA Saturate, AccB Saturate Program Counter 10-bit signed literal {-512...511} 16-bit signed literal {-32768...32767} 6-bit signed literal {-16...16} Base W register {W0..W15} Destination W register { Wd, [Wd], [Wd++], [Wd--], [++Wd], [--Wd] } Destination W register { Wnd, [Wnd], [Wnd++], [Wnd--], [++Wnd], [--Wnd], [Wnd+Wb] } Dividend, Divisor working register pair (direct addressing)
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TABLE 25-1:
Field Wm*Wm Wm*Wn Wn Wnd Wns WREG Ws Wso Wx
SYMBOLS USED IN OPCODE DESCRIPTIONS (CONTINUED)

Description Multiplicand and Multiplier working register pair for Square instructions {W4*W4,W5*W5,W6*W6,W7*W7} Multiplicand and Multiplier working register pair for DSP instructions {W4*W5,W4*W6,W4*W7,W5*W6,W5*W7,W6*W7} One of 16 working registers {W0..W15} One of 16 destination working registers {W0..W15} One of 16 source working registers {W0..W15} W0 (working register used in file register instructions) Source W register { Ws, [Ws], [Ws++], [Ws--], [++Ws], [--Ws] } Source W register { Wns, [Wns], [Wns++], [Wns--], [++Wns], [--Wns], [Wns+Wb] } X data space prefetch address register for DSP instructions {[W8]+ = 6, [W8]+ = 4, [W8]+ = 2, [W8], [W8]- = 6, [W8]- = 4, [W8]- = 2, [W9]+ = 6, [W9]+ = 4, [W9]+ = 2, [W9], [W9]- = 6, [W9]- = 4, [W9]- = 2, [W9 + W12], none} X data space prefetch destination register for DSP instructions {W4..W7} Y data space prefetch address register for DSP instructions {[W10]+ = 6, [W10]+ = 4, [W10]+ = 2, [W10], [W10]- = 6, [W10]- = 4, [W10]- = 2, [W11]+ = 6, [W11]+ = 4, [W11]+ = 2, [W11], [W11]- = 6, [W11]- = 4, [W11]- = 2, [W11 + W12], none} Y data space prefetch destination register for DSP instructions {W4..W7}
Wxd Wy
Wyd
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TABLE 25-2:
Base Instr # 1 Assembly Mnemonic ADD ADD ADD ADD ADD ADD ADD ADD 2 ADDC ADDC ADDC ADDC ADDC ADDC 3 AND AND AND AND AND AND 4 ASR ASR ASR ASR ASR ASR 5 BCLR BCLR BCLR 6 BRA BRA BRA BRA BRA BRA BRA BRA BRA BRA BRA BRA BRA BRA BRA BRA BRA BRA BRA BRA BRA BRA BRA 7 BSET BSET BSET 8 BSW BSW.C BSW.Z 9 BTG BTG BTG
INSTRUCTION SET OVERVIEW

Assembly Syntax Acc f f,WREG #lit10,Wn Wb,Ws,Wd Wb,#lit5,Wd Wso,#Slit4,Acc f f,WREG #lit10,Wn Wb,Ws,Wd Wb,#lit5,Wd f f,WREG #lit10,Wn Wb,Ws,Wd Wb,#lit5,Wd f f,WREG Ws,Wd Wb,Wns,Wnd Wb,#lit5,Wnd f,#bit4 Ws,#bit4 C,Expr GE,Expr GEU,Expr GT,Expr GTU,Expr LE,Expr LEU,Expr LT,Expr LTU,Expr N,Expr NC,Expr NN,Expr NOV,Expr NZ,Expr OA,Expr OB,Expr OV,Expr SA,Expr SB,Expr Expr Z,Expr Wn f,#bit4 Ws,#bit4 Ws,Wb Ws,Wb f,#bit4 Ws,#bit4 Description Add Accumulators f = f + WREG WREG = f + WREG Wd = lit10 + Wd Wd = Wb + Ws Wd = Wb + lit5 16-bit Signed Add to Accumulator f = f + WREG + (C) WREG = f + WREG + (C) Wd = lit10 + Wd + (C) Wd = Wb + Ws + (C) Wd = Wb + lit5 + (C) f = f .AND. WREG WREG = f .AND. WREG Wd = lit10 .AND. Wd Wd = Wb .AND. Ws Wd = Wb .AND. lit5 f = Arithmetic Right Shift f WREG = Arithmetic Right Shift f Wd = Arithmetic Right Shift Ws Wnd = Arithmetic Right Shift Wb by Wns Wnd = Arithmetic Right Shift Wb by lit5 Bit Clear f Bit Clear Ws Branch if Carry Branch if greater than or equal Branch if unsigned greater than or equal Branch if greater than Branch if unsigned greater than Branch if less than or equal Branch if unsigned less than or equal Branch if less than Branch if unsigned less than Branch if Negative Branch if Not Carry Branch if Not Negative Branch if Not Overflow Branch if Not Zero Branch if Accumulator A overflow Branch if Accumulator B overflow Branch if Overflow Branch if Accumulator A saturated Branch if Accumulator B saturated Branch Unconditionally Branch if Zero Computed Branch Bit Set f Bit Set Ws Write C bit to Ws<Wb> Write Z bit to Ws<Wb> Bit Toggle f Bit Toggle Ws # of # of Words Cycles 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 1 (2) 2 1 (2) 2 1 1 1 1 1 1 Status Flags Affected OA,OB,SA,SB C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z OA,OB,SA,SB C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z N,Z N,Z N,Z N,Z N,Z C,N,OV,Z C,N,OV,Z C,N,OV,Z N,Z N,Z None None None None None None None None None None None None None None None None None None None None None None None None None None None None None None
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TABLE 25-2:
Base Instr # 10 Assembly Mnemonic BTSC BTSC BTSC 11 BTSS BTSS BTSS 12 BTST BTST BTST.C BTST.Z BTST.C BTST.Z 13 BTSTS BTSTS BTSTS.C BTSTS.Z 14 CALL CALL CALL 15 CLR CLR CLR CLR CLR 16 17 CLRWDT COM CLRWDT COM COM COM 18 CP CP CP CP 19 CP0 CP0 CP0 20 CP1 CP1 CP1 21 CPB CPB CPB CPB 22 23 24 25 26 27 CPSEQ CPSGT CPSLT CPSNE DAW DEC CPSEQ CPSGT CPSLT CPSNE DAW DEC DEC DEC 28 DEC2 DEC2 DEC2 DEC2 29 DISI DISI f f,WREG Ws,Wd f Wb,#lit5 Wb,Ws f Ws f Ws f Wb,#lit5 Wb,Ws Wb, Wn Wb, Wn Wb, Wn Wb, Wn Wn f f,WREG Ws,Wd f f,WREG Ws,Wd #lit14
INSTRUCTION SET OVERVIEW (CONTINUED)

Assembly Syntax f,#bit4 Ws,#bit4 f,#bit4 Ws,#bit4 f,#bit4 Ws,#bit4 Ws,#bit4 Ws,Wb Ws,Wb f,#bit4 Ws,#bit4 Ws,#bit4 lit23 Wn f WREG Ws Acc,Wx,Wxd,Wy,Wyd,AWB Description Bit Test f, Skip if Clear Bit Test Ws, Skip if Clear Bit Test f, Skip if Set Bit Test Ws, Skip if Set Bit Test f Bit Test Ws to C Bit Test Ws to Z Bit Test Ws<Wb> to C Bit Test Ws<Wb> to Z Bit Test then Set f Bit Test Ws to C, then Set Bit Test Ws to Z, then Set Call subroutine Call indirect subroutine f = 0x0000 WREG = 0x0000 Ws = 0x0000 Clear Accumulator Clear Watchdog Timer f=f WREG = f Wd = Ws Compare f with WREG Compare Wb with lit5 Compare Wb with Ws (Wb Ws) Compare f with 0x0000 Compare Ws with 0x0000 Compare f with 0xFFFF Compare Ws with 0xFFFF Compare f with WREG, with Borrow Compare Wb with lit5, with Borrow Compare Wb with Ws, with Borrow (Wb Ws C) Compare Wb with Wn, skip if = Compare Wb with Wn, skip if > Compare Wb with Wn, skip if < Compare Wb with Wn, skip if Wn = decimal adjust Wn f=f1 WREG = f 1 Wd = Ws 1 f=f2 WREG = f 2 Wd = Ws 2 Disable Interrupts for k instruction cycles # of # of Words Cycles 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 (2 or 3) 1 (2 or 3) 1 (2 or 3) 1 (2 or 3) 1 1 1 1 1 1 1 1 2 2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 (2 or 3) 1 (2 or 3) 1 (2 or 3) 1 (2 or 3) 1 1 1 1 1 1 1 1 Status Flags Affected None None None None Z C Z C Z Z C Z None None None None None OA,OB,SA,SB WDTO,Sleep N,Z N,Z N,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z None None None None C C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z None
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TABLE 25-2:
Base Instr # 30 Assembly Mnemonic DIV DIV.S DIV.SD DIV.U DIV.UD 31 32 DIVF DO DIVF DO DO 33 34 35 36 37 38 39 ED EDAC EXCH FBCL FF1L FF1R GOTO ED EDAC EXCH FBCL FF1L FF1R GOTO GOTO 40 INC INC INC INC 41 INC2 INC2 INC2 INC2 42 IOR IOR IOR IOR IOR IOR 43 44 45 LAC LNK LSR LAC LNK LSR LSR LSR LSR LSR 46 MAC MAC MAC 47 MOV MOV MOV MOV MOV MOV.b MOV MOV MOV MOV.D MOV.D 48 MOVSAC

Assembly Syntax Wm,Wn Wm,Wn Wm,Wn Wm,Wn Wm,Wn #lit14,Expr Wn,Expr Wm*Wm,Acc,Wx,Wy,Wxd Wm*Wm,Acc,Wx,Wy,Wxd Wns,Wnd Ws,Wnd Ws,Wnd Ws,Wnd Expr Wn f f,WREG Ws,Wd f f,WREG Ws,Wd f f,WREG #lit10,Wn Wb,Ws,Wd Wb,#lit5,Wd Wso,#Slit4,Acc #lit14 f f,WREG Ws,Wd Wb,Wns,Wnd Wb,#lit5,Wnd Wm*Wn,Acc,Wx,Wxd,Wy,Wyd, AWB Wm*Wm,Acc,Wx,Wxd,Wy,Wyd f,Wn f f,WREG #lit16,Wn #lit8,Wn Wn,f Wso,Wdo WREG,f Wns,Wd Ws,Wnd Description Signed 16/16-bit Integer Divide Signed 32/16-bit Integer Divide Unsigned 16/16-bit Integer Divide Unsigned 32/16-bit Integer Divide Signed 16/16-bit Fractional Divide Do code to PC + Expr, lit14 + 1 times Do code to PC + Expr, (Wn) + 1 times Euclidean Distance (no accumulate) Euclidean Distance Swap Wns with Wnd Find Bit Change from Left (MSb) Side Find First One from Left (MSb) Side Find First One from Right (LSb) Side Go to address Go to indirect f=f+1 WREG = f + 1 Wd = Ws + 1 f=f+2 WREG = f + 2 Wd = Ws + 2 f = f .IOR. WREG WREG = f .IOR. WREG Wd = lit10 .IOR. Wd Wd = Wb .IOR. Ws Wd = Wb .IOR. lit5 Load Accumulator Link Frame Pointer f = Logical Right Shift f WREG = Logical Right Shift f Wd = Logical Right Shift Ws Wnd = Logical Right Shift Wb by Wns Wnd = Logical Right Shift Wb by lit5 Multiply and Accumulate Square and Accumulate Move f to Wn Move f to f Move f to WREG Move 16-bit literal to Wn Move 8-bit literal to Wn Move Wn to f Move Ws to Wd Move WREG to f Move Double from W(ns):W(ns + 1) to Wd Move Double from Ws to W(nd + 1):W(nd) Prefetch and store accumulator # of # of Words Cycles 1 1 1 1 1 2 2 1 1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 18 18 18 18 18 2 2 1 1 1 1 1 1 2 2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 1 Status Flags Affected N,Z,C,OV N,Z,C,OV N,Z,C,OV N,Z,C,OV N,Z,C,OV None None OA,OB,OAB, SA,SB,SAB OA,OB,OAB, SA,SB,SAB None C C C None None C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z N,Z N,Z N,Z N,Z N,Z OA,OB,OAB, SA,SB,SAB None C,N,OV,Z C,N,OV,Z C,N,OV,Z N,Z N,Z OA,OB,OAB, SA,SB,SAB OA,OB,OAB, SA,SB,SAB None N,Z N,Z None None None None N,Z None None None
MOVSAC Acc,Wx,Wxd,Wy,Wyd,AWB
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TABLE 25-2:
Base Instr # 49 Assembly Mnemonic MPY MPY MPY 50 51 52 MPY.N MSC MUL MPY.N MSC MUL.SS MUL.SU MUL.US MUL.UU MUL.SU MUL.UU MUL 53 NEG NEG NEG NEG NEG 54 NOP NOP NOPR 55 POP POP POP POP.D POP.S 56 PUSH PUSH PUSH PUSH.D PUSH.S 57 58 PWRSAV RCALL PWRSAV RCALL RCALL 59 REPEAT REPEAT REPEAT 60 61 62 63 64 RESET RETFIE RETLW RETURN RLC RESET RETFIE RETLW RETURN RLC RLC RLC 65 RLNC RLNC RLNC RLNC 66 RRC RRC RRC RRC 67 RRNC RRNC RRNC RRNC f f,WREG Ws,Wd f f,WREG Ws,Wd f f,WREG Ws,Wd f f,WREG Ws,Wd #lit10,Wn #lit1 Expr Wn #lit14 Wn f Wso Wns f Wdo Wnd

Assembly Syntax Wm*Wn,Acc,Wx,Wxd,Wy,Wyd Wm*Wm,Acc,Wx,Wxd,Wy,Wyd Wm*Wn,Acc,Wx,Wxd,Wy,Wyd Wm*Wm,Acc,Wx,Wxd,Wy,Wyd, AWB Wb,Ws,Wnd Wb,Ws,Wnd Wb,Ws,Wnd Wb,Ws,Wnd Wb,#lit5,Wnd Wb,#lit5,Wnd f Acc f f,WREG Ws,Wd Description Multiply Wm by Wn to Accumulator Square Wm to Accumulator -(Multiply Wm by Wn) to Accumulator Multiply and Subtract from Accumulator {Wnd + 1, Wnd} = signed(Wb) * signed(Ws) {Wnd + 1, Wnd} = signed(Wb) * unsigned(Ws) {Wnd + 1, Wnd} = unsigned(Wb) * signed(Ws) {Wnd + 1, Wnd} = unsigned(Wb) * unsigned(Ws) {Wnd + 1, Wnd} = signed(Wb) * unsigned(lit5) {Wnd + 1, Wnd} = unsigned(Wb) * unsigned(lit5) W3:W2 = f * WREG Negate Accumulator f=f+1 WREG = f + 1 Wd = Ws + 1 No Operation No Operation Pop f from Top-of-Stack (TOS) Pop from Top-of-Stack (TOS) to Wdo Pop from Top-of-Stack (TOS) to W(nd):W(nd + 1) Pop Shadow Registers Push f to Top-of-Stack (TOS) Push Wso to Top-of-Stack (TOS) Push W(ns):W(ns + 1) to Top-of-Stack (TOS) Push Shadow Registers Go into Sleep or Idle mode Relative Call Computed Call Repeat Next Instruction lit14 + 1 times Repeat Next Instruction (Wn) + 1 times Software device Reset Return from interrupt Return with literal in Wn Return from Subroutine f = Rotate Left through Carry f WREG = Rotate Left through Carry f Wd = Rotate Left through Carry Ws f = Rotate Left (No Carry) f WREG = Rotate Left (No Carry) f Wd = Rotate Left (No Carry) Ws f = Rotate Right through Carry f WREG = Rotate Right through Carry f Wd = Rotate Right through Carry Ws f = Rotate Right (No Carry) f WREG = Rotate Right (No Carry) f Wd = Rotate Right (No Carry) Ws # of # of Words Cycles 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1 1 2 1 1 2 2 1 1 1 3 (2) 3 (2) 3 (2) 1 1 1 1 1 1 1 1 1 1 1 1 Status Flags Affected OA,OB,OAB, SA,SB,SAB OA,OB,OAB, SA,SB,SAB None OA,OB,OAB, SA,SB,SAB None None None None None None None OA,OB,OAB, SA,SB,SAB C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z None None None None None All None None None None WDTO,Sleep None None None None None None None None C,N,Z C,N,Z C,N,Z N,Z N,Z N,Z C,N,Z C,N,Z C,N,Z N,Z N,Z N,Z
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TABLE 25-2:
Base Instr # 68 Assembly Mnemonic SAC SAC SAC.R 69 70 SE SETM SE SETM SETM SETM 71 SFTAC SFTAC SFTAC 72 SL SL SL SL SL SL 73 SUB SUB SUB SUB SUB SUB SUB 74 SUBB SUBB SUBB SUBB SUBB SUBB 75 SUBR SUBR SUBR SUBR SUBR 76 SUBBR SUBBR SUBBR SUBBR SUBBR 77 SWAP SWAP.b SWAP 78 79 80 81 82 83 TBLRDH TBLRDL TBLWTH TBLWTL ULNK XOR TBLRDH TBLRDL TBLWTH TBLWTL ULNK XOR XOR XOR XOR XOR 84 ZE ZE f f,WREG #lit10,Wn Wb,Ws,Wd Wb,#lit5,Wd Ws,Wnd

Assembly Syntax Acc,#Slit4,Wdo Acc,#Slit4,Wdo Ws,Wnd f WREG Ws Acc,Wn Acc,#Slit6 f f,WREG Ws,Wd Wb,Wns,Wnd Wb,#lit5,Wnd Acc f f,WREG #lit10,Wn Wb,Ws,Wd Wb,#lit5,Wd f f,WREG #lit10,Wn Wb,Ws,Wd Wb,#lit5,Wd f f,WREG Wb,Ws,Wd Wb,#lit5,Wd f f,WREG Wb,Ws,Wd Wb,#lit5,Wd Wn Wn Ws,Wd Ws,Wd Ws,Wd Ws,Wd Description Store Accumulator Store Rounded Accumulator Wnd = sign-extended Ws f = 0xFFFF WREG = 0xFFFF Ws = 0xFFFF Arithmetic Shift Accumulator by (Wn) Arithmetic Shift Accumulator by Slit6 f = Left Shift f WREG = Left Shift f Wd = Left Shift Ws Wnd = Left Shift Wb by Wns Wnd = Left Shift Wb by lit5 Subtract Accumulators f = f WREG WREG = f WREG Wn = Wn lit10 Wd = Wb Ws Wd = Wb lit5 f = f WREG (C) WREG = f WREG (C) Wn = Wn lit10 (C) Wd = Wb Ws (C) Wd = Wb lit5 (C) f = WREG f WREG = WREG f Wd = Ws Wb Wd = lit5 Wb f = WREG f (C) WREG = WREG f (C) Wd = Ws Wb (C) Wd = lit5 Wb (C) Wn = nibble swap Wn Wn = byte swap Wn Read Prog<23:16> to Wd<7:0> Read Prog<15:0> to Wd Write Ws<7:0> to Prog<23:16> Write Ws to Prog<15:0> Unlink Frame Pointer f = f .XOR. WREG WREG = f .XOR. WREG Wd = lit10 .XOR. Wd Wd = Wb .XOR. Ws Wd = Wb .XOR. lit5 Wnd = Zero-extend Ws # of # of Words Cycles 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 1 1 1 1 1 1 1 Status Flags Affected None None C,N,Z None None None OA,OB,OAB, SA,SB,SAB OA,OB,OAB, SA,SB,SAB C,N,OV,Z C,N,OV,Z C,N,OV,Z N,Z N,Z OA,OB,OAB, SA,SB,SAB C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z C,DC,N,OV,Z None None None None None None None N,Z N,Z N,Z N,Z N,Z C,Z,N
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26.0 DEVELOPMENT SUPPORT
26.1
The PICmicro microcontrollers are supported with a full range of hardware and software development tools: Integrated Development Environment - MPLAB IDE Software Assemblers/Compilers/Linkers - MPASMTM Assembler - MPLAB C18 and MPLAB C30 C Compilers - MPLINKTM Object Linker/ MPLIBTM Object Librarian - MPLAB ASM30 Assembler/Linker/Library Simulators - MPLAB SIM Software Simulator Emulators - MPLAB ICE 2000 In-Circuit Emulator - MPLAB ICE 4000 In-Circuit Emulator In-Circuit Debugger - MPLAB ICD 2 Device Programmers - PICSTART Plus Development Programmer - MPLAB PM3 Device Programmer Low-Cost Demonstration and Development Boards and Evaluation Kits
MPLAB Integrated Development Environment Software
The MPLAB IDE software brings an ease of software development previously unseen in the 8/16-bit microcontroller market. The MPLAB IDE is a Windows operating system-based application that contains: A single graphical interface to all debugging tools - Simulator - Programmer (sold separately) - Emulator (sold separately) - In-Circuit Debugger (sold separately) A full-featured editor with color-coded context A multiple project manager Customizable data windows with direct edit of contents High-level source code debugging Visual device initializer for easy register initialization Mouse over variable inspection Drag and drop variables from source to watch windows Extensive on-line help Integration of select third party tools, such as HI-TECH Software C Compilers and IAR C Compilers The MPLAB IDE allows you to: Edit your source files (either assembly or C) One touch assemble (or compile) and download to PICmicro MCU emulator and simulator tools (automatically updates all project information) Debug using: - Source files (assembly or C) - Mixed assembly and C - Machine code MPLAB IDE supports multiple debugging tools in a single development paradigm, from the cost-effective simulators, through low-cost in-circuit debuggers, to full-featured emulators. This eliminates the learning curve when upgrading to tools with increased flexibility and power.
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26.2 MPASM Assembler 26.5
The MPASM Assembler is a full-featured, universal macro assembler for all PICmicro MCUs. The MPASM Assembler generates relocatable object files for the MPLINK Object Linker, Intel standard HEX files, MAP files to detail memory usage and symbol reference, absolute LST files that contain source lines and generated machine code and COFF files for debugging. The MPASM Assembler features include: Integration into MPLAB IDE projects User-defined macros to streamline assembly code Conditional assembly for multi-purpose source files Directives that allow complete control over the assembly process
MPLAB ASM30 Assembler, Linker and Librarian
MPLAB ASM30 Assembler produces relocatable machine code from symbolic assembly language for dsPIC30F devices. MPLAB C30 C Compiler uses the assembler to produce its object file. The assembler generates relocatable object files that can then be archived or linked with other relocatable object files and archives to create an executable file. Notable features of the assembler include: Support for the entire dsPIC30F instruction set Support for fixed-point and floating-point data Command line interface Rich directive set Flexible macro language MPLAB IDE compatibility
26.6 26.3 MPLAB C18 and MPLAB C30 C Compilers
MPLAB SIM Software Simulator
The MPLAB C18 and MPLAB C30 Code Development Systems are complete ANSI C compilers for Microchips PIC18 family of microcontrollers and dsPIC30F family of digital signal controllers. These compilers provide powerful integration capabilities, superior code optimization and ease of use not found with other compilers. For easy source level debugging, the compilers provide symbol information that is optimized to the MPLAB IDE debugger.
The MPLAB SIM Software Simulator allows code development in a PC-hosted environment by simulating the PICmicro MCUs and dsPIC DSCs on an instruction level. On any given instruction, the data areas can be examined or modified and stimuli can be applied from a comprehensive stimulus controller. Registers can be logged to files for further run-time analysis. The trace buffer and logic analyzer display extend the power of the simulator to record and track program execution, actions on I/O, as well as internal registers. The MPLAB SIM Software Simulator fully supports symbolic debugging using the MPLAB C18 and MPLAB C30 C Compilers, and the MPASM and MPLAB ASM30 Assemblers. The software simulator offers the flexibility to develop and debug code outside of the laboratory environment, making it an excellent, economical software development tool.
26.4
MPLINK Object Linker/ MPLIB Object Librarian
The MPLINK Object Linker combines relocatable objects created by the MPASM Assembler and the MPLAB C18 C Compiler. It can link relocatable objects from precompiled libraries, using directives from a linker script. The MPLIB Object Librarian manages the creation and modification of library files of precompiled code. When a routine from a library is called from a source file, only the modules that contain that routine will be linked in with the application. This allows large libraries to be used efficiently in many different applications. The object linker/library features include: Efficient linking of single libraries instead of many smaller files Enhanced code maintainability by grouping related modules together Flexible creation of libraries with easy module listing, replacement, deletion and extraction
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26.7 MPLAB ICE 2000 High-Performance In-Circuit Emulator 26.9 MPLAB ICD 2 In-Circuit Debugger
Microchips In-Circuit Debugger, MPLAB ICD 2, is a powerful, low-cost, run-time development tool, connecting to the host PC via an RS-232 or high-speed USB interface. This tool is based on the Flash PICmicro MCUs and can be used to develop for these and other PICmicro MCUs and dsPIC DSCs. The MPLAB ICD 2 utilizes the in-circuit debugging capability built into the Flash devices. This feature, along with Microchips In-Circuit Serial ProgrammingTM (ICSPTM) protocol, offers cost-effective, in-circuit Flash debugging from the graphical user interface of the MPLAB Integrated Development Environment. This enables a designer to develop and debug source code by setting breakpoints, single stepping and watching variables, and CPU status and peripheral registers. Running at full speed enables testing hardware and applications in real time. MPLAB ICD 2 also serves as a development programmer for selected PICmicro devices.
The MPLAB ICE 2000 In-Circuit Emulator is intended to provide the product development engineer with a complete microcontroller design tool set for PICmicro microcontrollers. Software control of the MPLAB ICE 2000 In-Circuit Emulator is advanced by the MPLAB Integrated Development Environment, which allows editing, building, downloading and source debugging from a single environment. The MPLAB ICE 2000 is a full-featured emulator system with enhanced trace, trigger and data monitoring features. Interchangeable processor modules allow the system to be easily reconfigured for emulation of different processors. The architecture of the MPLAB ICE 2000 In-Circuit Emulator allows expansion to support new PICmicro microcontrollers. The MPLAB ICE 2000 In-Circuit Emulator system has been designed as a real-time emulation system with advanced features that are typically found on more expensive development tools. The PC platform and Microsoft Windows 32-bit operating system were chosen to best make these features available in a simple, unified application.
26.10 MPLAB PM3 Device Programmer

The MPLAB PM3 Device Programmer is a universal, CE compliant device programmer with programmable voltage verification at VDDMIN and VDDMAX for maximum reliability. It features a large LCD display (128 x 64) for menus and error messages and a modular, detachable socket assembly to support various package types. The ICSP cable assembly is included as a standard item. In Stand-Alone mode, the MPLAB PM3 Device Programmer can read, verify and program PICmicro devices without a PC connection. It can also set code protection in this mode. The MPLAB PM3 connects to the host PC via an RS-232 or USB cable. The MPLAB PM3 has high-speed communications and optimized algorithms for quick programming of large memory devices and incorporates an SD/MMC card for file storage and secure data applications.
26.8
MPLAB ICE 4000 High-Performance In-Circuit Emulator
The MPLAB ICE 4000 In-Circuit Emulator is intended to provide the product development engineer with a complete microcontroller design tool set for high-end PICmicro MCUs and dsPIC DSCs. Software control of the MPLAB ICE 4000 In-Circuit Emulator is provided by the MPLAB Integrated Development Environment, which allows editing, building, downloading and source debugging from a single environment. The MPLAB ICE 4000 is a premium emulator system, providing the features of MPLAB ICE 2000, but with increased emulation memory and high-speed performance for dsPIC30F and PIC18XXXX devices. Its advanced emulator features include complex triggering and timing, and up to 2 Mb of emulation memory. The MPLAB ICE 4000 In-Circuit Emulator system has been designed as a real-time emulation system with advanced features that are typically found on more expensive development tools. The PC platform and Microsoft Windows 32-bit operating system were chosen to best make these features available in a simple, unified application.
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26.11 PICSTART Plus Development Programmer
The PICSTART Plus Development Programmer is an easy-to-use, low-cost, prototype programmer. It connects to the PC via a COM (RS-232) port. MPLAB Integrated Development Environment software makes using the programmer simple and efficient. The PICSTART Plus Development Programmer supports most PICmicro devices in DIP packages up to 40 pins. Larger pin count devices, such as the PIC16C92X and PIC17C76X, may be supported with an adapter socket. The PICSTART Plus Development Programmer is CE compliant.
26.12 Demonstration, Development and Evaluation Boards

A wide variety of demonstration, development and evaluation boards for various PICmicro MCUs and dsPIC DSCs allows quick application development on fully functional systems. Most boards include prototyping areas for adding custom circuitry and provide application firmware and source code for examination and modification. The boards support a variety of features, including LEDs, temperature sensors, switches, speakers, RS-232 interfaces, LCD displays, potentiometers and additional EEPROM memory. The demonstration and development boards can be used in teaching environments, for prototyping custom circuits and for learning about various microcontroller applications. In addition to the PICDEM and dsPICDEM demonstration/development board series of circuits, Microchip has a line of evaluation kits and demonstration software for analog filter design, KEELOQ security ICs, CAN, IrDA, PowerSmart battery management, SEEVAL evaluation system, Sigma-Delta ADC, flow rate sensing, plus many more. Check the Microchip web page (www.microchip.com) and the latest Product Selector Guide (DS00148) for the complete list of demonstration, development and evaluation kits.
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27.0 ELECTRICAL CHARACTERISTICS
This section provides an overview of dsPIC33F electrical characteristics. Additional information will be provided in future revisions of this document as it becomes available. Absolute maximum ratings for the dsPIC33F family are listed below. Exposure to these maximum rating conditions for extended periods may affect device reliability. Functional operation of the device at these or any other conditions above the parameters indicated in the operation listings of this specification is not implied.
Absolute Maximum Ratings()

Ambient temperature under bias.............................................................................................................. .-40C to +85C Storage temperature .............................................................................................................................. -65C to +150C Voltage on VDD with respect to VSS ......................................................................................................... -0.3V to +4.0V Voltage on any combined analog and digital pin and MCLR, with respect to VSS ......................... -0.3V to (VDD + 0.3V) Voltage on any digital-only pin with respect to VSS .................................................................................. -0.3V to +5.6V Voltage on VDDCORE with respect to VSS ................................................................................................ 2.25V to 2.75V Maximum current out of VSS pin ...........................................................................................................................300 mA Maximum current into VDD pin (Note 1)................................................................................................................250 mA Maximum output current sunk by any I/O pin............................................................................................................4 mA Maximum output current sourced by any I/O pin ......................................................................................................4 mA Maximum current sunk by all ports .......................................................................................................................200 mA Maximum current sourced by all ports (Note 1)....................................................................................................200 mA Note 1: Maximum allowable current is a function of device maximum power dissipation (see Table 27-2).
NOTICE:
Stresses above those listed under Absolute Maximum Ratings may cause permanent damage to the device. This is a stress rating only and functional operation of the device at those or any other conditions above those indicated in the operation listings of this specification is not implied. Exposure to maximum rating conditions for extended periods may affect device reliability.
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27.1 DC Characteristics
OPERATING MIPS VS. VOLTAGE
VDD Range (in Volts) 3.0-3.6V Temp Range (in C) -40C to +85C Max MIPS dsPIC33F 40
TABLE 27-1:
Characteristic DC5
TABLE 27-2:
dsPIC33F
THERMAL OPERATING CONDITIONS

Rating Symbol Min Typ Max Unit
Operating Junction Temperature Range Operating Ambient Temperature Range Power Dissipation: Internal chip power dissipation: PINT = VDD x (IDD IOH) I/O Pin Power Dissipation: I/O = ({VDD VOH} x IOH) + (VOL x IOL) Maximum Allowed Power Dissipation
TJ TA
-40 -40
+85 +85
C C
PD
PINT + PI/O
PDMAX
(TJ TA)/JA
TABLE 27-3:
THERMAL PACKAGING CHARACTERISTICS

Characteristic Symbol Typ 50 TBD 69.4 76.6 Max Unit C/W C/W C/W C/W Notes 1 1 1 1
Package Thermal Resistance, 100-pin TQFP (14x14x1 mm) Package Thermal Resistance, 100-pin TQFP (12x12x1 mm) Package Thermal Resistance, 80-pin TQFP (12x12x1 mm) Package Thermal Resistance, 64-pin TQFP (10x10x1 mm)
JA JA JA JA
Legend: TBD = To Be Determined Note 1: Junction to ambient thermal resistance, Theta-JA (JA) numbers are achieved by package simulations.
TABLE 27-4:
DC TEMPERATURE AND VOLTAGE SPECIFICATIONS

Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C for Industrial Characteristic Min Typ(1) Max Units Conditions
DC CHARACTERISTICS Param Symbol No. Operating Voltage DC10 DC12 DC16 Supply Voltage VDD VDR VPOR RAM Data Retention Voltage(2) VDD Start Voltage to ensure internal Power-on Reset signal VDD Rise Rate to ensure internal Power-on Reset signal
3.0
2.8 VSS
3.6
V V V
DC17
SVDD
0.05
V/ms 0-3.3V in 0.1s 0-2.5V in 60 ms
Note 1: 2:
Data in Typ column is at 3.3V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested. This is the limit to which VDD can be lowered without losing RAM data.
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TABLE 27-5: DC CHARACTERISTICS: OPERATING CURRENT (IDD)
Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C for Industrial Max Units Conditions DC CHARACTERISTICS Parameter No. Typical(1)
Operating Current (IDD)(2) DC20 DC20a DC20b DC21 DC21a DC21b DC22 DC22a DC22b DC23 DC23a DC23b DC24 DC24a DC24b TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD mA mA mA mA mA mA mA mA mA mA mA mA A A A -40C +25C +85C -40C +25C +85C -40C +25C +85C -40C +25C +85C -40C +25C +85C 3.0V 40 MIPS 3.0V 30 MIPS 3.0V 20 MIPS 3.0V 16 MIPS 3.0V 10 MIPS
Legend: TBD = To Be Determined Note 1: Data in Typical column is at 3.3V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested. 2: The supply current is mainly a function of the operating voltage and frequency. Other factors, such as I/O pin loading and switching rate, oscillator type, internal code execution pattern and temperature, also have an impact on the current consumption. The test conditions for all IDD measurements are as follows: OSC1 driven with external square wave from rail to rail. All I/O pins are configured as inputs and pulled to VDD. MCLR = VDD, WDT and FSCM are disabled. CPU, SRAM, program memory and data memory are operational. No peripheral modules are operating.
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TABLE 27-6: DC CHARACTERISTICS: IDLE CURRENT (IIDLE)
Standard Operating Conditions: 2.5V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C for Industrial Max Units Conditions DC CHARACTERISTICS Parameter No. Typical(1)
Idle Current (IIDLE): Core OFF Clock ON Base Current(2) DC40 DC40a DC40b DC41 DC41a DC41b DC42 DC42a DC42b DC43 DC43a DC43b DC44 DC44a DC44b TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD mA mA mA mA mA mA mA mA mA mA mA mA A A A -40C +25C +85C -40C +25C +85C -40C +25C +85C -40C +25C +85C -40C +25C +85C 3.0V 40 MIPS 3.0V 30 MIPS 3.0V 20 MIPS 3.0V 16 MIPS 3.0V 10 MIPS
Legend: TBD = To Be Determined Note 1: Data in Typical column is at 3.3V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested. 2: Base IIDLE current is measured with core off, clock on and all modules turned off.
TABLE 27-7:
DC CHARACTERISTICS: POWER-DOWN CURRENT (IPD)

Standard Operating Conditions: 2.5V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C for Industrial Max Units Conditions
DC CHARACTERISTICS Parameter No. Typical(1)
Power-Down Current (IPD)(2) DC60 DC60a DC60b DC61 DC61a DC61b TBD TBD TBD TBD TBD TBD A A A A A A -40C +25C +85C -40C +25C +85C 3.0V Watchdog Timer Current: IWDT(3) 3.0V Base Power-Down Current(3)
Legend: TBD = To Be Determined Note 1: Data in the Typical column is at 3.3V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested. 2: Base IPD is measured with all peripherals and clocks shut down. All I/Os are configured as inputs and pulled high. WDT, etc., are all switched off. 3: The current is the additional current consumed when the module is enabled. This current should be added to the base IPD current.
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TABLE 27-8: DC CHARACTERISTICS: I/O PIN INPUT SPECIFICATIONS
Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C for Industrial Characteristic Input Low Voltage I/O pins MCLR OSC1 (XT mode) OSC1 (HS mode) SDAx, SCLx SDAx, SCLx VIH DI20 Input High Voltage I/O pins: with analog functions digital-only MCLR OSC1 (XT mode) OSC1 (HS mode) SDAx, SCLx SDAx, SCLx ICNPU DI30 IIL DI50 DI51 DI55 DI56 Input Leakage I/O ports Analog Input Pins MCLR OSC1 Current(2)(3) TBD TBD TBD TBD TBD TBD TBD TBD A A A A VSS VPIN VDD, Pin at high-impedance VSS VPIN VDD, Pin at high-impedance VSS VPIN VDD VSS VPIN VDD, XT and HS modes CNx Pull-up Current 50 250 400 A VDD = 3.3V, VPIN = VSS 0.8 VDD 0.8 VDD 0.8 VDD 0.7 VDD 0.7 VDD TBD TBD VDD 5.5 VDD VDD VDD TBD TBD V V V V V V V SMBus disabled SMBus enabled VSS VSS VSS VSS TBD TBD 0.2 VDD 0.2 VDD 0.2 VDD 0.2 VDD TBD TBD V V V V V V SMBus disabled SMBus enabled Min Typ(1) Max Units Conditions DC CHARACTERISTICS Param Symbol No. VIL DI10 DI15 DI16 DI17 DI18 DI19
DI25 DI26 DI27 DI28 DI29
Legend: TBD = To Be Determined Note 1: Data in Typ column is at 3.3V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested. 2: The leakage current on the MCLR pin is strongly dependent on the applied voltage level. The specified levels represent normal operating conditions. Higher leakage current may be measured at different input voltages. 3: Negative current is defined as current sourced by the pin.
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TABLE 27-9: DC CHARACTERISTICS: I/O PIN OUTPUT SPECIFICATIONS
Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C for Industrial Characteristic Output Low Voltage I/O ports OSC2/CLKO VOH DO20 DO26 Note 1: Output High Voltage I/O ports OSC2/CLKO 2.4 2.4 V V IOH = -3.0 mA, VDD = 3.3V IOH = -1.3 mA, VDD = 3.3V 0.4 0.4 V V IOL = 8.5 mA, VDD = 3.3V IOL = 1.6 mA, VDD = 3.3V Min Typ(1) Max Units Conditions DC CHARACTERISTICS Param Symbol No. VOL DO10 DO16
Data in Typ column is at 3.3V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested.
TABLE 27-10: DC CHARACTERISTICS: PROGRAM MEMORY

DC CHARACTERISTICS Param Symbol No. Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C for Industrial Characteristic Program Flash Memory D130 D131 D132B D133A D134 D135 Note 1: EP VPR VPEW TIW TRETD IDDP Cell Endurance VDD for Read VDD for Self-Timed Write Self-Timed Write Cycle Time Characteristic Retention Supply Current during Programming 100 VMIN VMIN 10 1000 1.5 20 10 3.6 3.6 E/W -40C to +85C V V ms Year Provided no other specifications are violated mA VMIN = Minimum operating voltage VMIN = Minimum operating voltage Min Typ(1) Max Units Conditions
Data in Typ column is at 3.3V, 25C unless otherwise stated.
TABLE 27-11: INTERNAL VOLTAGE REGULATOR SPECIFICATIONS

Operating Conditions: -40C < TA < +85C (unless otherwise stated) Param No. Symbol CEFC Characteristics External Filter Capacitor Value Min 1 Typ 10 Max Units F Comments Capacitor must be low series resistance
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dsPIC33F
27.2 AC Characteristics and Timing Parameters
The information contained in this section defines dsPIC33F AC characteristics and timing parameters.
TABLE 27-12: TEMPERATURE AND VOLTAGE SPECIFICATIONS AC

Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C for Industrial Operating voltage VDD range as described in Section 27.0 Electrical Characteristics.
AC CHARACTERISTICS
FIGURE 27-1:
LOAD CONDITIONS FOR DEVICE TIMING SPECIFICATIONS

Load Condition 2 for OSC2
Load Condition 1 for all pins except OSC2 VDD/2
RL
Pin VSS
CL
Pin VSS
CL
RL = 464 CL = 50 pF for all pins except OSC2 15 pF for OSC2 output
TABLE 27-13: CAPACITIVE LOADING REQUIREMENTS ON OUTPUT PINS

Param Symbol No. DO50 COSC2 Characteristic OSC2/SOSC2 pin Min Typ(1) Max 15 Units pF Conditions In XT and HS modes when external clock is used to drive OSC1 EC mode In I2C mode
DO56 DO58 Note 1:
CIO CB
All I/O pins and OSC2 SCLx, SDAx
50 400
pF pF
Data in Typ column is at 3.3V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested.
Advance Information
DS70165A-page 365
dsPIC33F
FIGURE 27-2: EXTERNAL CLOCK TIMING
Q4 Q1 Q2 Q3 Q4 Q1
OSC1
OS20 OS30 OS25 OS30 OS31 OS31
CLKO
OS40 OS41
TABLE 27-14: EXTERNAL CLOCK TIMING REQUIREMENTS

AC CHARACTERISTICS Param No. OS10 Standard Operating Conditions: 2.5V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C for Industrial Characteristic External CLKI Frequency (External clocks allowed only in EC and ECPLL modes) Oscillator Crystal Frequency Min 0.8 4 3 3 10 10 6.25 25 0.45 x TOSC Typ(1) 6 6 Max 64 8 10 10 40 40 33 DC DC TBD TBD TBD Units MHz MHz MHz MHz MHz MHz kHz ns ns ns ns ns ns EC EC Conditions EC ECPLL XT XTPLL HS HSPLL SOSC
Symb FIN
OS20 OS25 OS30 OS31 OS40 OS41
TOSC TCY TosL, TosH TosR, TosF TckR TckF
TOSC = 1/FOSC Instruction Cycle Time(2) External Clock in (OSC1) High or Low Time External Clock in (OSC1) Rise or Fall Time CLKO Rise Time(3) CLKO Fall Time
(3)
Legend: TBD = To Be Determined Note 1: Data in Typ column is at 3.3V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested. 2: Instruction cycle period (TCY) equals four times the input oscillator time-base period. All specified values are based on characterization data for that particular oscillator type under standard operating conditions with the device executing code. Exceeding these specified limits may result in an unstable oscillator operation and/or higher than expected current consumption. All devices are tested to operate at min. values with an external clock applied to the OSC1/CLKI pin. When an external clock input is used, the max. cycle time limit is DC (no clock) for all devices. 3: Measurements are taken in EC mode. The CLKO signal is measured on the OSC2 pin.
DS70165A-page 366
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dsPIC33F
TABLE 27-15: PLL CLOCK TIMING SPECIFICATIONS (VDD = 3.0V TO 3.6V)
AC CHARACTERISTICS Param No. OS50 Symbol FPLLI Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C for Industrial Characteristic(1) PLL Voltage Controlled Oscillator (VCO) Input Frequency Range(2) On-Chip VCO System Frequency PLL Start-up Time (Lock Time) CLKO Stability (Jitter) Min 0.8 Typ(2) Max 8 Units MHz Conditions ECPLL, HSPLL, XTPLL modes
OS51 OS52 OS53
FSYS TLOC DCLK
100 TBD TBD
100 1
200 TBD TBD
MHz s % Measured over 100 ms period
Legend: TBD = To Be Determined Note 1: These parameters are characterized but not tested in manufacturing. 2: Data in Typ column is at 3.3V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested.
TABLE 27-16: AC CHARACTERISTICS: INTERNAL RC ACCURACY

AC CHARACTERISTICS Param No. Characteristic Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C for industrial Min Typ Max Units Conditions
Internal FRC Accuracy @ 7.3728 MHz(1) F20 FRC TBD TBD TBD TBD % % +25C -40C TA +85C VDD = 3.0-3.6V VDD = 3.0-3.6V
Legend: TBD = To Be Determined Note 1: Frequency calibrated at 25C and 3.3V. TUN bits can be used to compensate for temperature drift.
TABLE 27-17: INTERNAL RC ACCURACY

AC CHARACTERISTICS Param No. Characteristic LPRC @ 32.768 kHz(1) F21 TBD TBD TBD TBD % % +25C -40C TA +85C VDD = 3.0-3.6V VDD = 3.0-3.6V Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C for Industrial Min Typ Max Units Conditions
Legend: TBD = To Be Determined Note 1: Change of LPRC frequency as VDD changes.
Advance Information
DS70165A-page 367
dsPIC33F
FIGURE 27-3: CLKO AND I/O TIMING CHARACTERISTICS
I/O Pin (Input) DI35 DI40 I/O Pin (Output) Old Value DO31 DO32 Note: Refer to Figure 27-1 for load conditions. New Value
TABLE 27-18: CLKO AND I/O TIMING REQUIREMENTS

AC CHARACTERISTICS Param No. DO31 DO32 DI35 DI40 Note 1: Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C for Industrial Characteristic Port Output Rise Time Port Output Fall Time INTx Pin High or Low Time (output) CNx High or Low Time (input) Min 20 2 Typ(1) 10 10 Max 25 25 Units ns ns ns TCY Conditions
Symbol TIOR TIOF TINP TRBP
Data in Typ column is at 3.3V, 25C unless otherwise stated.
DS70165A-page 368
Advance Information
dsPIC33F
FIGURE 27-4: RESET, WATCHDOG TIMER, OSCILLATOR START-UP TIMER AND POWER-UP TIMER TIMING CHARACTERISTICS
VDD MCLR Internal POR
SY12
SY10
SY11 PWRT Time-out OSC Time-out Internal Reset Watchdog Timer Reset SY13 I/O Pins SY35 FSCM Delay Note: Refer to Figure 27-1 for load conditions. SY20 SY13 SY30
Advance Information
DS70165A-page 369
dsPIC33F
TABLE 27-19: RESET, WATCHDOG TIMER, OSCILLATOR START-UP TIMER, POWER-UP TIMER AND BROWN-OUT RESET TIMING REQUIREMENTS
AC CHARACTERISTICS Param Symbol No. SY10 SY11 TMCL TPWRT Characteristic(1) MCLR Pulse Width (low) Power-up Timer Period Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Min 2 3 12 50 3 1.8 1.9 Brown-out Reset Pulse Width(3) Oscillator Start-up Timer Period Fail-Safe Clock Monitor Delay 100 Typ(2) 4 16 64 10 0.8 2.0 2.1 1024 TOSC 500 Max 6 22 90 30 1.0 2.2 2.3 900 Units s ms Conditions -40C to +85C -40C to +85C User programmable -40C to +85C
SY12 SY13 SY20
TPOR TIOZ TWDT1 TWDT2
Power-on Reset Delay I/O High-Impedance from MCLR Low or Watchdog Timer Reset Watchdog Timer Time-out Period (No Prescaler)
s s ms ms s s
VDD = 5V, -40C to +85C VDD = 3V, -40C to +85C VDD VBOR (D034) TOSC = OSC1 period -40C to +85C
SY25 SY30 SY35 Note 1: 2: 3:
TBOR TOST TFSCM
These parameters are characterized but not tested in manufacturing. Data in Typ column is at 5V, 25C unless otherwise stated. Characterized by design but not tested.
DS70165A-page 370
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dsPIC33F
FIGURE 27-5: TIMER1, 2, 3, 4, 5, 6, 7, 8 AND 9 EXTERNAL CLOCK TIMING CHARACTERISTICS
TxCK Tx10 Tx15 OS60 TMRx Tx11 Tx20
Note: Refer to Figure 27-1 for load conditions.
TABLE 27-20: TIMER1 EXTERNAL CLOCK TIMING REQUIREMENTS(1)

AC CHARACTERISTICS Param No. TA10 Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Characteristic TxCK High Time Synchronous, no prescaler Synchronous, with prescaler Asynchronous TA11 TTXL TxCK Low Time Synchronous, no prescaler Synchronous, with prescaler Asynchronous TA15 TTXP TxCK Input Period Synchronous, no prescaler Synchronous, with prescaler Asynchronous OS60 Ft1 SOSC1/T1CK Oscillator Input frequency Range (oscillator enabled by setting bit TCS (T1CON<1>)) Min 0.5 TCY + 20 10 10 0.5 TCY + 20 10 10 TCY + 10 Greater of: 20 ns or (TCY + 40)/N 20 DC Typ Max Units ns ns ns ns ns ns ns N = prescale value (1, 8, 64, 256) Must also meet parameter TA15 Conditions Must also meet parameter TA15
Symbol TTXH
50
ns kHz
TA20 Note 1:
TCKEXTMRL Delay from External TxCK Clock Edge to Timer Increment Timer1 is a Type A.
0.5 TCY
1.5 TCY
Advance Information
DS70165A-page 371
dsPIC33F
TABLE 27-21: TIMER2, TIMER4, TIMER6 AND TIMER8 EXTERNAL CLOCK TIMING REQUIREMENTS
AC CHARACTERISTICS Param No. TB10 Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Characteristic TxCK High Time Synchronous, no prescaler Synchronous, with prescaler TB11 TtxL TxCK Low Time Synchronous, no prescaler Synchronous, with prescaler TB15 TtxP TxCK Input Period Synchronous, no prescaler Synchronous, with prescaler TB20 TCKEXTMRL Delay from External TxCK Clock Edge to Timer Increment Min 0.5 TCY + 20 10 0.5 TCY + 20 10 TCY + 10 Greater of: 20 ns or (TCY + 40)/N 0.5 TCY 1.5 TCY Typ Max Units ns ns ns ns ns N = prescale value (1, 8, 64, 256) Must also meet parameter TB15 Conditions Must also meet parameter TB15
Symbol TtxH
TABLE 27-22: TIMER3, TIMER5, TIMER7 AND TIMER9 EXTERNAL CLOCK TIMING REQUIREMENTS
AC CHARACTERISTICS Param No. TC10 TC11 TC15 Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Characteristic TxCK High Time TxCK Low Time Synchronous Synchronous Min 0.5 TCY + 20 0.5 TCY + 20 TCY + 10 Greater of: 20 ns or (TCY + 40)/N 0.5 TCY 1.5 TCY Typ Max Units ns ns ns Conditions Must also meet parameter TC15 Must also meet parameter TC15 N = prescale value (1, 8, 64, 256)
Symbol TtxH TtxL TtxP
TxCK Input Period Synchronous, no prescaler Synchronous, with prescaler
TC20
TCKEXTMRL Delay from External TxCK Clock Edge to Timer Increment
DS70165A-page 372
Advance Information
dsPIC33F
FIGURE 27-6: TIMERQ (QEI MODULE) EXTERNAL CLOCK TIMING CHARACTERISTICS
QEB TQ10 TQ15 POSCNT TQ11 TQ20
TABLE 27-23: QEI MODULE EXTERNAL CLOCK TIMING REQUIREMENTS

AC CHARACTERISTICS Param No. TQ10 TQ11 TQ15 TQ20 Note 1: Characteristic(1) TQCK High Time TQCK Low Time Synchronous, with prescaler Synchronous, with prescaler Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Min TCY + 20 TCY + 20 2 * TCY + 40 0.5 TCY Typ Max 1.5 TCY Units ns ns ns Conditions Must also meet parameter TQ15 Must also meet parameter TQ15
Symbol TtQH TtQL TtQP
TQCP Input Period Synchronous, with prescaler
TCKEXTMRL Delay from External TxCK Clock Edge to Timer Increment
These parameters are characterized but not tested in manufacturing.
Advance Information
DS70165A-page 373
dsPIC33F
FIGURE 27-7: INPUT CAPTURE (CAPx) TIMING CHARACTERISTICS
ICx
IC10 IC15 Note: Refer to Figure 27-1 for load conditions.
IC11
TABLE 27-24: INPUT CAPTURE TIMING REQUIREMENTS

AC CHARACTERISTICS Param No. IC10 IC11 IC15 Note 1: Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Characteristic(1) ICx Input Low Time ICx Input High Time ICx Input Period No Prescaler With Prescaler TccH TccP No Prescaler With Prescaler Min 0.5 TCY + 20 10 0.5 TCY + 20 10 (2 TCY + 40)/N Max Units ns ns ns ns ns N = prescale value (1, 4, 16) Conditions
Symbol TccL
These parameters are characterized but not tested in manufacturing.
FIGURE 27-8:
OUTPUT COMPARE MODULE (OCx) TIMING CHARACTERISTICS
OCx (Output Compare or PWM Mode)
OC11
OC10
TABLE 27-25: OUTPUT COMPARE MODULE TIMING REQUIREMENTS

AC CHARACTERISTICS Param Symbol No. OC10 OC11 Note 1: 2: TccF TccR Characteristic(1) OCx Output Fall Time OCx Output Rise Time Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Min Typ(2) Max Units ns ns Conditions See parameter D032 See parameter D031
These parameters are characterized but not tested in manufacturing. Data in Typ column is at 5V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested.
DS70165A-page 374
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dsPIC33F
FIGURE 27-9: OC/PWM MODULE TIMING CHARACTERISTICS
OC20 OCFA/OCFB OC15 OCx
TABLE 27-26: SIMPLE OC/PWM MODE TIMING REQUIREMENTS

AC CHARACTERISTICS Param No. OC15 OC20 Note 1: 2: Characteristic(1) Fault Input to PWM I/O Change Fault Input Pulse Width Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Min 50 Typ(2) Max 50 Units ns ns Conditions
Symbol TFD TFLT
Advance Information
DS70165A-page 375
dsPIC33F
FIGURE 27-10: MOTOR CONTROL PWM MODULE FAULT TIMING CHARACTERISTICS
MP30 FLTA/B MP20 PWMx
FIGURE 27-11:
MOTOR CONTROL PWM MODULE TIMING CHARACTERISTICS

MP11 MP10
PWMx Note: Refer to Figure 27-1 for load conditions.
TABLE 27-27: MOTOR CONTROL PWM MODULE TIMING REQUIREMENTS

AC CHARACTERISTICS Param No. MP10 MP11 MP20 MP30 Note 1: 2: Characteristic(1) PWM Output Fall Time PWM Output Rise Time Fault Input to PWM I/O Change Minimum Pulse Width Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Min 50 Typ(2) Max 50 Units ns ns ns ns Conditions See parameter D032 See parameter D031
Symbol TFPWM TRPWM TFD TFH
DS70165A-page 376
Advance Information
dsPIC33F
FIGURE 27-12: QEA/QEB INPUT CHARACTERISTICS
TQ36 QEA (input) TQ31 TQ35 TQ30
QEB (input) TQ41 TQ40
TQ31 TQ35
TQ30
QEB Internal
TABLE 27-28: QUADRATURE DECODER TIMING REQUIREMENTS

AC CHARACTERISTICS Param No. TQ30 TQ31 TQ35 TQ36 TQ40 TQ41 Note 1: 2: 3: Characteristic(1) Quadrature Input Low Time Quadrature Input High Time Quadrature Input Period Quadrature Phase Period Filter Time to Recognize Low, with Digital Filter Filter Time to Recognize High, with Digital Filter Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Typ(2) 6 TCY 6 TCY 12 TCY 3 TCY 3 * N * TCY 3 * N * TCY Max Units ns ns ns ns ns ns Conditions N = 1, 2, 4, 16, 32, 64, 128 and 256 (Note 3) N = 1, 2, 4, 16, 32, 64, 128 and 256 (Note 3)
Symbol TQUL TQUH TQUIN TQUP TQUFL TQUFH
These parameters are characterized but not tested in manufacturing. Data in Typ column is at 5V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested. N = Index Channel Digital Filter Clock Divide Select bits. Refer to Section 16. Quadrature Encoder Interface (QEI) in the dsPIC30F Family Reference Manual.
Advance Information
DS70165A-page 377
dsPIC33F
FIGURE 27-13:
QEA (input)
QEI MODULE INDEX PULSE TIMING CHARACTERISTICS
QEB (input)
Ungated Index TQ51 Index Internal TQ50
TQ55 Position Counter Reset
TABLE 27-29: QEI INDEX PULSE TIMING REQUIREMENTS

AC CHARACTERISTICS Param No. TQ50 TQ51 TQ55 Note 1: 2: Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Characteristic(1) Filter Time to Recognize Low, with Digital Filter Filter Time to Recognize High, with Digital Filter Index Pulse Recognized to Position Counter Reset (ungated index) Min 3 * N * TCY 3 * N * TCY 3 TCY Max Units ns ns ns Conditions N = 1, 2, 4, 16, 32, 64, 128 and 256 (Note 2) N = 1, 2, 4, 16, 32, 64, 128 and 256 (Note 2)
Symbol TqIL TqiH Tqidxr
These parameters are characterized but not tested in manufacturing. Alignment of index pulses to QEA and QEB is shown for position counter Reset timing only. Shown for forward direction only (QEA leads QEB). Same timing applies for reverse direction (QEA lags QEB) but index pulse recognition occurs on falling edge.
DS70165A-page 378
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dsPIC33F
FIGURE 27-14:
SCKx (CKP = 0) SP11 SCKx (CKP = 1) SP35 SP20 SP21 SP10
SPIx MODULE MASTER MODE (CKE = 0) TIMING CHARACTERISTICS
SP21
SP20
SDOx SP31 SDIx
MSb
Bit 14 - - - - - -1 SP30 Bit 14 - - - -1
LSb
MSb In SP40 SP41
LSb In
TABLE 27-30: SPIx MASTER MODE (CKE = 0) TIMING REQUIREMENTS

AC CHARACTERISTICS Param No. SP10 SP11 SP20 SP21 SP30 SP31 SP35 SP40 SP41 Note 1: 2: 3: 4: Characteristic(1) SCKx Output Low Time(3) SCKx Output High Time(3) SCKx Output Fall Time(4) SCKx Output Rise Time(4) SDOx Data Output Fall Time(4) SDOx Data Output Rise Time(4) SDOx Data Output Valid after SCKx Edge Setup Time of SDIx Data Input to SCKx Edge Hold Time of SDIx Data Input to SCKx Edge Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Min TCY/2 TCY/2 20 20 Typ(2) Max 30 Units ns ns ns ns ns ns ns ns ns Conditions See parameter D032 See parameter D031 See parameter D032 See parameter D031
Symbol TscL TscH TscF TscR TdoF TdoR TscH2doV, TscL2doV TdiV2scH, TdiV2scL TscH2diL, TscL2diL
These parameters are characterized but not tested in manufacturing. Data in Typ column is at 5V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested. The minimum clock period for SCKx is 100 ns. Therefore, the clock generated in Master mode must not violate this specification. Assumes 50 pF load on all SPIx pins.
Advance Information
DS70165A-page 379
dsPIC33F
FIGURE 27-15: SPIx MODULE MASTER MODE (CKE = 1) TIMING CHARACTERISTICS
SP36 SCKX (CKP = 0) SP11 SP10 SP21 SP20
SCKX (CKP = 1) SP35 SP20 SP21
SDOX
MSb SP40
Bit 14 - - - - - -1 SP30,SP31 Bit 14 - - - -1
LSb
SDIX
MSb In SP41
LSb In
TABLE 27-31: SPIx MODULE MASTER MODE (CKE = 1) TIMING REQUIREMENTS

AC CHARACTERISTICS Param No. SP10 SP11 SP20 SP21 SP30 SP31 SP35 SP36 SP40 SP41 Note 1: 2: 3: 4: Characteristic(1) SCKx Output Low Time(3) SCKx Output High Time(3) SCKx Output Fall Time(4) SCKx Output Rise Time(4) SDOx Data Output Fall Time(4) SDOx Data Output Rise Time(4) Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Min TCY/2 TCY/2 30 20 20 Typ(2) Max Units ns ns ns ns ns ns ns ns ns ns Conditions See parameter D032 See parameter D031 See parameter D032 See parameter D031
Symbol TscL TscH TscF TscR TdoF TdoR
TscH2doV, SDOx Data Output Valid after TscL2doV SCKx Edge TdoV2sc, SDOx Data Output Setup to TdoV2scL First SCKx Edge TdiV2scH, Setup Time of SDIx Data TdiV2scL Input to SCKx Edge TscH2diL, TscL2diL Hold Time of SDIx Data Input to SCKx Edge
DS70165A-page 380
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dsPIC33F
FIGURE 27-16:
SSX SP50 SCKX (CKP = 0) SP71 SP70 SP73 SP72 SP52
SPIx MODULE SLAVE MODE (CKE = 0) TIMING CHARACTERISTICS
SCKX (CKP = 1) SP35 SDOX MSb SP72 SP73
Bit 14 - - - - - -1 SP30,SP31
LSb SP51 LSb In
SDIX
MSb In SP41 SP40
Bit 14 - - - -1
TABLE 27-32: SPIx MODULE SLAVE MODE (CKE = 0) TIMING REQUIREMENTS

AC CHARACTERISTICS Param No. SP70 SP71 SP72 SP73 SP30 SP31 SP35 SP40 SP41 SP50 SP51 SP52 Note 1: 2: 3: Characteristic(1) SCKx Input Low Time SCKx Input High Time SCKx Input Fall Time(3) SCKx Input Rise Time(3) SDOx Data Output Fall Time
(3)
Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Min 30 30 20 20 120 10 1.5 TCY +40 Typ(2) 10 10 Max 25 25 30 50 Units ns ns ns ns ns ns ns ns ns ns ns ns Conditions See parameter D032 See parameter D031
SDOx Data Output Rise Time(3)
TscH2doV, SDOx Data Output Valid after TscL2doV SCKx Edge TdiV2scH, Setup Time of SDIx Data Input TdiV2scL to SCKx Edge TscH2diL, TscL2diL Hold Time of SDIx Data Input to SCKx Edge
TssL2scH, SSx to SCKx or SCKx Input TssL2scL TssH2doZ SSx to SDOx Output High-Impedance(3) TscH2ssH SSx after SCKx Edge TscL2ssH
These parameters are characterized but not tested in manufacturing. Data in Typ column is at 5V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested. Assumes 50 pF load on all SPIx pins.
Advance Information
DS70165A-page 381
dsPIC33F
FIGURE 27-17:
SSx SP50 SCKx (CKP = 0) SP71 SCKx (CKP = 1) SP35 SP52 SDOx MSb Bit 14 - - - - - -1 SP30,SP31 SDIx SDI MSb In SP41 SP40 Note: Refer to Figure 27-1 for load conditions. Bit 14 - - - -1 LSb In SP72 LSb SP51 SP73 SP70 SP73 SP72 SP52
SPIx MODULE SLAVE MODE (CKE = 1) TIMING CHARACTERISTICS

SP60
DS70165A-page 382
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dsPIC33F
TABLE 27-33: SPIx MODULE SLAVE MODE (CKE = 1) TIMING REQUIREMENTS
AC CHARACTERISTICS Param No. SP70 SP71 SP72 SP73 SP30 SP31 SP35 SP40 SP41 SP50 SP51 SP52 SP60 Note 1: 2: 3: 4: Characteristic(1) SCKx Input Low Time SCKx Input High Time SCKx Input Fall Time(3) SCKx Input Rise Time(3) SDOx Data Output Fall Time
(3)
Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Min 30 30 20 20 120 10 1.5 TCY + 40 Typ(2) 10 10 Max 25 25 30 50 50 Units ns ns ns ns ns ns ns ns ns ns ns ns ns Conditions See parameter D032 See parameter D031
SDOx Data Output Rise Time(3)
TscH2doV, SDOx Data Output Valid after TscL2doV SCKx Edge TdiV2scH, Setup Time of SDIx Data Input TdiV2scL to SCKx Edge TscH2diL, Hold Time of SDIx Data Input TscL2diL to SCKx Edge TssL2scH, SSx to SCKx or SCKx TssL2scL Input TssH2doZ SSx to SDOX Output High-Impedance(4) TscH2ssH SSx after SCKx Edge TscL2ssH TssL2doV SDOx Data Output Valid after SSx Edge
Advance Information
DS70165A-page 383
dsPIC33F
FIGURE 27-18: I2Cx BUS START/STOP BITS TIMING CHARACTERISTICS (MASTER MODE)
SCLx
IM31 IM30 IM33 IM34
SDAx
Start Condition Note: Refer to Figure 27-1 for load conditions.
Stop Condition
FIGURE 27-19:
I2Cx BUS DATA TIMING CHARACTERISTICS (MASTER MODE)

IM20 IM11 IM10 IM21
SCLx
IM11 IM10 IM26 IM25 IM33
SDAx In
IM40 IM40 IM45
SDAx Out Note: Refer to Figure 27-1 for load conditions.
DS70165A-page 384
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dsPIC33F
TABLE 27-34: I2Cx BUS DATA TIMING REQUIREMENTS (MASTER MODE)
AC CHARACTERISTICS Param Symbol No. IM10 Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Characteristic Min(1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) 20 + 0.1 CB 20 + 0.1 CB 250 100 TBD 0 0 TBD TCY/2 (BRG + 1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) TCY/2 (BRG + 1) 4.7 1.3 TBD Max 300 300 100 1000 300 300 0.9 3500 1000 400 Units s s s s s s ns ns ns ns ns ns ns ns ns ns s ns s s s s s s s s s ns ns ns ns ns ns s s s pF Time the bus must be free before a new transmission can start Only relevant for Repeated Start condition After this period the first clock pulse is generated CB is specified to be from 10 to 400 pF Conditions CB is specified to be from 10 to 400 pF
TLO:SCL Clock Low Time 100 kHz mode 400 kHz mode 1 MHz mode(2)
IM11
THI:SCL
Clock High Time 100 kHz mode 400 kHz mode 1 MHz mode
(2)
IM20
TF:SCL
SDAx and SCLx 100 kHz mode Fall Time 400 kHz mode 1 MHz mode(2) SDAx and SCLx 100 kHz mode Rise Time 400 kHz mode 1 MHz mode(2) 100 kHz mode 400 kHz mode 1 MHz mode(2) 100 kHz mode 400 kHz mode 1 MHz mode(2) 100 kHz mode 400 kHz mode 1 MHz mode(2) 100 kHz mode 400 kHz mode 1 MHz mode(2) 100 kHz mode 400 kHz mode 1 MHz mode(2) 100 kHz mode 400 kHz mode 1 MHz mode(2) 100 kHz mode 400 kHz mode 1 MHz mode(2) 100 kHz mode 400 kHz mode 1 MHz mode(2)
IM21
TR:SCL
IM25
TSU:DAT Data Input Setup Time
IM26
THD:DAT Data Input Hold Time
IM30
TSU:STA
Start Condition Setup Time
IM31
THD:STA Start Condition Hold Time
IM33
TSU:STO Stop Condition Setup Time
IM34
THD:STO Stop Condition Hold Time
IM40
TAA:SCL
Output Valid From Clock
IM45
TBF:SDA Bus Free Time
IM50
CB
Bus Capacitive Loading
Legend: TBD = To Be Determined Note 1: BRG is the value of the I2C Baud Rate Generator. Refer to Section 21. Inter-Integrated Circuit (I2C) in the dsPIC30F Family Reference Manual. 2: Maximum pin capacitance = 10 pF for all I2Cx pins (for 1 MHz mode only).
Advance Information
DS70165A-page 385
dsPIC33F
FIGURE 27-20: I2Cx BUS START/STOP BITS TIMING CHARACTERISTICS (SLAVE MODE)
SCLx
IS31 IS30 IS33 IS34
SDAx
Start Condition
Stop Condition
FIGURE 27-21:
I2Cx BUS DATA TIMING CHARACTERISTICS (SLAVE MODE)

IS20 IS11 IS10 IS30 IS26 IS21
SCLx
IS31
IS25
IS33
SDAx In
IS40 IS40 IS45
SDAx Out
DS70165A-page 386
Advance Information
dsPIC33F
TABLE 27-35: I2Cx BUS DATA TIMING REQUIREMENTS (SLAVE MODE)
AC CHARACTERISTICS Param No. IS10 Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Characteristic Clock Low Time 100 kHz mode 400 kHz mode 1 MHz mode(1) IS11 THI:SCL Clock High Time 100 kHz mode 400 kHz mode 1 MHz mode(1) IS20 TF:SCL SDAx and SCLx Fall Time 100 kHz mode 400 kHz mode 1 MHz IS21 TR:SCL SDAx and SCLx Rise Time mode(1) 100 kHz mode 400 kHz mode 1 MHz mode(1) IS25 TSU:DAT Data Input Setup Time 100 kHz mode 400 kHz mode 1 MHz IS26 THD:DAT Data Input Hold Time mode(1) 100 kHz mode 400 kHz mode 1 MHz mode(1) IS30 TSU:STA Start Condition Setup Time 100 kHz mode 400 kHz mode 1 MHz IS31 THD:STA Start Condition Hold Time mode(1) 100 kHz mode 400 kHz mode 1 MHz mode(1) IS33 TSU:STO Stop Condition Setup Time 100 kHz mode 400 kHz mode 1 MHz IS34 THD:STO Stop Condition Hold Time mode(1) 100 kHz mode 400 kHz mode 1 MHz mode(1) IS40 TAA:SCL Output Valid From 100 kHz mode Clock 400 kHz mode 1 MHz IS45 TBF:SDA Bus Free Time mode(1) 100 kHz mode 400 kHz mode 1 MHz mode(1) IS50 Note 1: CB Bus Capacitive Loading Min 4.7 1.3 0.5 4.0 0.6 0.5 20 + 0.1 CB 20 + 0.1 CB 250 100 100 0 0 0 4.7 0.6 0.25 4.0 0.6 0.25 4.7 0.6 0.6 4000 600 250 0 0 0 4.7 1.3 0.5 3500 1000 350 400 Max 300 300 100 1000 300 300 0.9 0.3 Units s s s s s s ns ns ns ns ns ns ns ns ns ns s s s s s s s s s s s ns ns ns ns ns ns s s s pF Time the bus must be free before a new transmission can start After this period, the first clock pulse is generated Only relevant for Repeated Start condition CB is specified to be from 10 to 400 pF Conditions Device must operate at a minimum of 1.5 MHz Device must operate at a minimum of 10 MHz Device must operate at a minimum of 1.5 MHz Device must operate at a minimum of 10 MHz CB is specified to be from 10 to 400 pF
Symbol TLO:SCL
Maximum pin capacitance = 10 pF for all I2Cx pins (for 1 MHz mode only).
Advance Information
DS70165A-page 387
dsPIC33F
FIGURE 27-22: DCI MODULE (MULTI-CHANNEL, I2S MODES) TIMING CHARACTERISTICS
CSCK (SCKE = 0) CS11 CSCK (SCKE = 1) CS20 COFS CS55 CS56 CS35 CS51 CSDO High-Z CS50 MSb CS30 CSDI MSb In CS40 CS41 CS31 LSb In LSb 70 High-Z CS21 CS10 CS21 CS20
DS70165A-page 388
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dsPIC33F
TABLE 27-36: DCI MODULE (MULTI-CHANNEL, I2S MODES) TIMING REQUIREMENTS
AC CHARACTERISTICS Param No. CS10 Characteristic(1) CSCK Input Low Time (CSCK pin is an input) CSCK Output Low Time(3) (CSCK pin is an output) CS11 TCSCKH CSCK Input High Time (CSCK pin is an input) CSCK Output High Time(3) (CSCK pin is an output) CS20 CS21 CS30 CS31 CS35 CS36 CS40 TCSCKF TCSCKR TCSDOF TCSDOR TDV TDIV TCSDI CSCK Output Fall Time(4) (CSCK pin is an output) CSCK Output Rise Time(4) (CSCK pin is an output) CSDO Data Output Fall Time(4) CSDO Data Output Rise Time(4) Clock Edge to CSDO Data Valid Clock Edge to CSDO Tri-Stated Setup Time of CSDI Data Input to CSCK Edge (CSCK pin is input or output) Hold Time of CSDI Data Input to CSCK Edge (CSCK pin is input or output) COFS Fall Time (COFS pin is output) COFS Rise Time (COFS pin is output) Setup Time of COFS Data Input to CSCK Edge (COFS pin is input) Hold Time of COFS Data Input to CSCK Edge (COFS pin is input) Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Min TCY/2 + 20 30 TCY/2 + 20 30 10 20 Typ(2) 10 10 10 10 Max 25 25 25 25 10 20 Units ns ns ns ns ns ns ns ns ns ns ns Conditions
Symbol TCSCKL
CS41
THCSDI
20
ns
CS50 CS51 CS55
TCOFSF TCOFSR TSCOFS
20
10 10
25 25
ns ns ns
Note 1 Note 1
CS56 Note 1: 2: 3: 4:
THCOFS
20
ns
These parameters are characterized but not tested in manufacturing. Data in Typ column is at 5V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested. The minimum clock period for CSCK is 100 ns. Therefore, the clock generated in Master mode must not violate this specification. Assumes 50 pF load on all DCI pins.
Advance Information
DS70165A-page 389
dsPIC33F
FIGURE 27-23:
BIT_CLK (CSCK) CS61 CS60 CS62 CS21 CS20
DCI MODULE (AC-LINK MODE) TIMING CHARACTERISTICS
CS71 CS72
CS70
SYNC (COFS) CS76 CS80 CS75
SDOx (CSDO)
LSb
MSb
LSb CS76 CS75
SDIx (CSDI)
MSb In CS65 CS66
DS70165A-page 390
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dsPIC33F
TABLE 27-37: DCI MODULE (AC-LINK MODE) TIMING REQUIREMENTS
AC CHARACTERISTICS Param No. CS60 CS61 CS62 CS65 CS66 CS70 CS71 CS72 CS75 CS76 CS77 CS78 CS80 Legend: Note 1: 2: 3: Characteristic(1,2) BIT_CLK Low Time BIT_CLK High Time BIT_CLK Period Input Setup Time to Falling Edge of BIT_CLK Input Hold Time from Falling Edge of BIT_CLK SYNC Data Output Low Time SYNC Data Output High Time SYNC Data Output Period Rise Time, SYNC, SDATA_OUT Fall Time, SYNC, SDATA_OUT Rise Time, SYNC, SDATA_OUT Fall Time, SYNC, SDATA_OUT Output Valid Delay from Rising Edge of BIT_CLK Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Min 36 36 Typ(3) 40.7 40.7 81.4 19.5 1.3 20.8 10 10 TBD TBD Max 45 45 10 10 25 25 TBD TBD 15 Units ns ns ns ns ns s s s ns ns ns ns ns Note 1 Note 1 Note 1 CLOAD = 50 pF, VDD = 5V CLOAD = 50 pF, VDD = 5V CLOAD = 50 pF, VDD = 3V CLOAD = 50 pF, VDD = 3V Conditions Bit clock is input
Symbol TBCLKL TBCLKH TBCLK TSACL THACL TSYNCLO TSYNCHI TSYNC TRACL TFACL TRACL TFACL TOVDACL
TBD = To Be Determined These parameters are characterized but not tested in manufacturing. These values assume BIT_CLK frequency is 12.288 MHz. Data in Typ column is at 5V, 25C unless otherwise stated. Parameters are for design guidance only and are not tested.
Advance Information
DS70165A-page 391
dsPIC33F
FIGURE 27-24: CAN MODULE I/O TIMING CHARACTERISTICS
CiTx Pin (output)
Old Value CA10 CA11
New Value
CiRx Pin (input) CA20
TABLE 27-38: CAN MODULE I/O TIMING REQUIREMENTS

AC CHARACTERISTICS Param No. CA10 CA11 CA20 Note 1: 2: Characteristic(1) Port Output Fall Time Port Output Rise Time Pulse Width to Trigger CAN Wake-up Filter Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Min 500 Typ(2) Max Units ns ns ns Conditions See parameter D032 See parameter D031
Symbol TioF TioR Tcwf
DS70165A-page 392
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dsPIC33F
FIGURE 27-25: A/D CONVERSION (10-BIT MODE) TIMING CHARACTERISTICS (CHPS<1:0> = 01, SIMSAM = 0, ASAM = 0, SSRC<2:0> = 000)
AD50 ADCLK Instruction Execution Set SAMP SAMP ch0_dischrg ch0_samp ch1_dischrg ch1_samp eoc AD61 AD60 TSAMP CONV ADxIF Buffer(0) Buffer(1) AD55 AD55 Clear SAMP
1 - Software sets ADxCON. SAMP to start sampling. 2 - Sampling starts after discharge period. TSAMP is described in Section 17 in the dsPIC30F Family Reference Manual. 3 - Software clears ADxCON. SAMP to start conversion. 4 - Sampling ends, conversion sequence starts. 5 - Convert bit 9. 6 - Convert bit 8. 8 - Convert bit 0. 9 - One TAD for end of conversion.
Advance Information
DS70165A-page 393
dsPIC33F
FIGURE 27-26: A/D CONVERSION (10-BIT MODE) TIMING CHARACTERISTICS (CHPS<1:0> = 01, SIMSAM = 0, ASAM = 1, SSRC<2:0> = 111, SAMC<4:0> = 00001)
AD50
ADCLK
Instruction Execution SAMP ch0_dischrg ch0_samp ch1_dischrg ch1_samp eoc
Set ADON
TSAMP
AD55 CONV ADxIF Buffer(0) Buffer(1) AD55
TSAMP TCONV
1 - Software sets ADxCON. ADON to start AD operation. 2 - Sampling starts after discharge period. TSAMP is described in the dsPIC30F Family Reference Manual, Section 17. 3 - Convert bit 9. 4 - Convert bit 8.
5 - Convert bit 0. 6 - One TAD for end of conversion. 7 - Begin conversion of next channel. 8 - Sample for time specified by SAMC<4:0>.
DS70165A-page 394
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dsPIC33F
TABLE 27-39: A/D CONVERSION (10-BIT MODE) TIMING REQUIREMENTS
AC CHARACTERISTICS Param Symbol No. Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Characteristic Min. Typ(1) Max. Units Conditions
Clock Parameters AD50 AD51 AD55 AD56 AD57 TAD tRC tCONV FCNV TSAMP A/D Clock Period A/D Internal RC Oscillator Period Conversion Time Throughput Rate Sample Time 700 154 900 12 TAD 1.0 1 TAD 1100 ns ns Msps See Table 3-16, Table 3-17(2) See Table 3-16, Table 3-17(2) See Table 3-16, Table 3-17(2) Auto-Convert Trigger (SSRC<2:0> = 111) not selected
Conversion Rate
Timing Parameters AD60 tPCS Conversion Start from Sample Trigger(3) Sample Start from Setting Sample (SAMP) bit Conversion Completion to Sample Start (ASAM = 1)(3) Time to Stabilize Analog Stage from A/D Off to A/D On(3) 1.0 TAD
AD61 AD62 AD63 Note 1: 2: 3:
tPSS tCSS tDPU
0.5 TAD
0.5 TAD 20
1.5 TAD
These parameters are characterized but not tested in manufacturing. Because the sample caps will eventually lose charge, clock rates below 10 kHz can affect linearity performance, especially at elevated temperatures. Characterized by design but not tested.
Advance Information
DS70165A-page 395
dsPIC33F
FIGURE 27-27: A/D CONVERSION (12-BIT MODE) TIMING CHARACTERISTICS (ASAM = 0, SSRC<2:0> = 000)
AD50 ADCLK Instruction Execution SAMP ch0_dischrg ch0_samp eoc AD61 AD60 TSAMP CONV ADxIF Buffer(0) AD55 Set SAMP Clear SAMP
1 - Software sets ADxCON. SAMP to start sampling. 2 - Sampling starts after discharge period. TSAMP is described in the dsPIC30F Family Reference Manual, Section 17. 3 - Software clears ADxCON. SAMP to start conversion. 4 - Sampling ends, conversion sequence starts. 5 - Convert bit 11. 6 - Convert bit 10. 7 - Convert bit 1. 8 - Convert bit 0. 9 - One TAD for end of conversion.
DS70165A-page 396
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dsPIC33F
TABLE 27-40: A/D CONVERSION (12-BIT MODE) TIMING REQUIREMENTS)
AC CHARACTERISTICS Param No. Standard Operating Conditions: 3.0V to 3.6V (unless otherwise stated) Operating temperature -40C TA +85C Characteristic Min. Typ Max. Units Conditions
Symbol
Clock Parameters AD50 AD51 AD55 AD56 AD57 TAD tRC tCONV FCNV TSAMP A/D Clock Period A/D Internal RC Oscillator Period Conversion Time Throughput Rate Sample Time 1.2 667 1.5 14 TAD 1 TAD 100 Conversion Rate ns ksps ns VDD = VREF = 3-5.5V VDD = 3-5.5V Source resistance Rs = 0-2.5 k 1.8 ns s VDD = 3-5.5V (Note 1)
Timing Parameters AD60 AD61 AD62 AD63 tPCS tPSS tCSS tDPU Conversion Start from Sample Trigger Sample Start from Setting Sample (SAMP) bit Conversion Completion to Sample Start (ASAM = 1) Time to Stabilize Analog Stage from A/D Off to A/D On 0.5 TAD TAD 1.5 TAD TBD TBD ns ns ns s
Legend: TBD = To Be Determined Note 1: Because the sample caps will eventually lose charge, clock rates below 10 kHz can affect linearity performance, especially at elevated temperatures.
Advance Information
DS70165A-page 397
dsPIC33F
NOTES:
DS70165A-page 398
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dsPIC33F
28.0
28.1
PACKAGING INFORMATION
Package Marking Information
64-Lead TQFP (10x10x1 mm) Example
XXXXXXXXXX XXXXXXXXXX XXXXXXXXXX YYWWNNN 80-Lead TQFP (12x12x1 mm)
dsPIC33FJ 256GP706 -I/PT e3 0510017
Example
XXXXXXXXXXXX XXXXXXXXXXXX YYWWNNN
dsPIC33FJ128 GP708-I/PT e3 0510017
100-Lead TQFP (12x12x1 mm)
Example
dsPIC33FJ256 GP710-I/PT e3 0510017
100-Lead TQFP (14x14x1mm)
100-Lead TQFP (14x14x1mm)
dsPIC33FJ256 GP710-I/PF e3 0510017
Legend: XX...X Y YY WW NNN
e3
Customer-specific information Year code (last digit of calendar year) Year code (last 2 digits of calendar year) Week code (week of January 1 is week 01) Alphanumeric traceability code Pb-free JEDEC designator for Matte Tin (Sn) This package is Pb-free. The Pb-free JEDEC designator ( e3 ) can be found on the outer packaging for this package.
Note:
In the event the full Microchip part number cannot be marked on one line, it will be carried over to the next line, thus limiting the number of available characters for customer-specific information.
Advance Information
DS70165A-page 399
dsPIC33F
28.2 Package Details
The following sections give the technical details of the packages.
64-Lead Plastic Thin-Quad Flatpack (PT) 10x10x1 mm Body, 1.0/0.10 mm Lead Form (TQFP)
E E1 #leads=n1
D1
2 1 B n CH x 45 A c
Units Dimension Limits n p
A1 F INCHES NOM 64 .020 16 .043 .039 .006 .024 .039 REF. 3.5 .472 .472 .394 .394 .007 .009 .035 10 10 MILLIMETERS* NOM 64 0.50 16 1.00 1.10 0.95 1.00 0.05 0.15 0.45 0.60 1.00 REF. 0 3.5 11.75 12.00 11.75 12.00 9.90 10.00 9.90 10.00 0.13 0.18 0.17 0.22 0.64 0.89 5 10 5 10
A2
MAX Number of Pins Pitch Pins per Side n1 Overall Height A .039 .047 1.20 Molded Package Thickness A2 .037 .041 1.05 Standoff A1 .002 .010 0.25 Foot Length L .018 .030 0.75 Footprint F Foot Angle 0 7 7 Overall Width E .463 .482 12.25 Overall Length D .463 .482 12.25 Molded Package Width E1 .390 .398 10.10 Molded Package Length D1 .390 .398 10.10 c Lead Thickness .005 .009 0.23 Lead Width B .007 .011 0.27 Pin 1 Corner Chamfer CH .025 .045 1.14 Mold Draft Angle Top 5 15 15 Mold Draft Angle Bottom 5 15 15 * Controlling Parameter Notes: Dimensions D and E1 do not include mold flash or protrusions. Mold flash or protrusions shall not exceed .010" (0.254mm) per side. REF: Reference Dimension, usually without tolerance, for information purposes only. See ASME Y14.5M JEDEC Equivalent: MS-026 Revised 07-22-05 Drawing No. C04-085
MIN
MAX
MIN
DS70165A-page 400
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dsPIC33F
E E1 #leads=n1 p
D1
B n c
2 1
CH x 45 A
L Units Dimension Limits n p
A1
A2 F MILLIMETERS* NOM 80 0.50 BSC 20 1.00 1.10
MAX Number of Pins Pitch Pins per Side n1 Overall Height A .047 1.20 Molded Package Thickness A2 .037 .039 .041 0.95 1.00 1.05 Standoff A1 .002 .004 .006 0.05 0.10 0.15 Foot Length L .018 .024 .030 0.45 0.60 0.75 F .039 REF. 1.00 REF. Footprint 0 3.5 7 0 3.5 7 Foot Angle Overall Width E .551 BSC 14.00 BSC Overall Length D .551 BSC 14.00 BSC Molded Package Width E1 .472 BSC 12.00 BSC Molded Package Length D1 .472 BSC 12.00 BSC c Lead Thickness .004 .006 .008 0.09 0.15 0.20 Lead Width B .007 .009 .011 0.17 0.22 0.27 Pin 1 Corner Chamfer CH .025 .035 .045 0.64 0.89 1.14 5 10 15 5 10 15 Mold Draft Angle Top 5 10 15 5 10 15 Mold Draft Angle Bottom * Controlling Parameter Notes: Dimensions D1 and E1 do not include mold flash or protrusions. Mold flash or protrusions shall not exceed .010" (0.254mm) per side. BSC: Basic Dimension. Theoretically exact value shown without tolerances. See ASME Y14.5M REF: Reference Dimension, usually without tolerance, for information purposes only. See ASME Y14.5M Revised 07-22-05 JEDEC Equivalent: MS-026 Drawing No. C04-092
MIN
INCHES NOM 80 .020 BSC 20 .039 .043
MAX
MIN
Advance Information
DS70165A-page 401
dsPIC33F
E E1 #leads=n1
p D1 D
2 1 B n c A L Units Dimension Limits Number of Pins Pitch Pins per Side Overall Height Molded Package Thickness Standoff Foot Length Footprint (Reference) Foot Angle Overall Width Overall Length Molded Package Width Molded Package Length Lead Thickness Lead Width Mold Draft Angle Top Mold Draft Angle Bottom n p n1 A A2 A1 L F E D E1 D1 c B .004 .005 5 5 .039 .037 .002 .018 0 MIN A1 INCHES NOM 100 .016 BSC 25 .043 .039 .004 .024 .039 REF. 3.5 .551 BSC .551 BSC .472 BSC .472 BSC .006 .007 10 10 .008 .009 15 15 7 0 .047 .041 .006 .030 1.00 0.95 0.05 0.45 MAX MIN
CH x 45
A2 MILLIMETERS* NOM 100 0.40 BSC 25 1.10 1.00 0.10 0.60 1.00 REF. 3.5 7 14.00 BSC 14.00 BSC 12.00 BSC 12.00 BSC 0.09 0.13 5 5 0.15 0.18 10 10 0.20 0.23 15 15 1.20 1.05 0.15 0.75 MAX
* Controlling Parameter Notes: Dimensions D1 and E1 do not include mold flash or protrusions. Mold flash or protrusions shall not exceed .010" (0.254mm) per side. BSC: Basic Dimension. Theoretically exact value shown without tolerances. See ASME Y14.5M REF: Reference Dimension, usually without tolerance, for information purposes only. See ASME Y14.5M JEDEC Equivalent: MS-026 Revised 07-22-05 Drawing No. C04-100
DS70165A-page 402
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dsPIC33F
100-Lead Plastic Thin-Quad Flatpack (PF) 14x14x1 mm Body, 1.0/0.10 mm Lead Form (TQFP)
E E1 #leads=n1
D1 D
B 2 1 n A
c Units Dimension Limits Number of Pins Pitch Pins per Side Overall Height Molded Package Thickness Standoff Foot Length Footprint Foot Angle Overall Width Overall Length Molded Package Width Molded Package Length Lead Thickness Lead Width Mold Draft Angle Top Mold Draft Angle Bottom n p n1 A A2 A1 L F E D E1 D1 c B .004 .037 .002 .018 MIN
A2
A1
F MILLIMETERS* MAX MIN NOM 100 0.50 BSC 25 .047 1.20 0.95 0.05 0.45 1.00 0.60 1.05 0.15 0.75 7 .041 .006 .030 7 MAX
INCHES NOM 100 .020 BSC 25 .039 .024
.039 REF 0 3.5 .630 BSC .630 BSC .551 BSC .551 BSC
1.00 REF 0 3.5 16.00 BSC 16.00 BSC 14.00 BSC 14.00 BSC
.008 .009 12 12 .011 13 13
0.09 0.17 11 11 0.22 12 12
0.20 0.27 13 13
.007 11 11
* Controlling Parameter Notes: Dimensions D1 and E1 do not include mold flash or protrusions. Mold flash or protrusions shall not exceed .010" (0.254mm) per side. BSC: Basic Dimension. Theoretically exact value shown without tolerances. See ASME Y14.5M REF: Reference Dimension, usually without tolerance, for information purposes only. See ASME Y14.5M JEDEC Equivalent: MS-026 Revised 07-21-05 Drawing No. C04-110
Advance Information
DS70165A-page 403
dsPIC33F
NOTES:
DS70165A-page 404
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dsPIC33F
APPENDIX A: DIFFERENCES BETWEEN PS (PROTOTYPE SAMPLE) DEVICES AND FINAL PRODUCTION DEVICES
The dsPIC33F devices marked PS have some key differences from the final production devices (devices not marked PS). The major differences are listed in this appendix. In addition, there are minor differences in several SFR names, bits and Reset states, which are described in Section 3.0 Memory Organization and the corresponding peripheral sections.
A.5
Oscillator Operation
The default values of the PLL postscaler and feedback divisor bits are different between the PS devices and final production devices. Please refer to Section 8.0 Oscillator Configuration for the register definitions and Reset states.
A.6
CAN and Enhanced CAN
A.1
Device Names
The dsPIC33F devices marked PS have up to two CAN modules. The functionality and register layout of these modules are identical to those of dsPIC30F devices, and are described in Section 21.0 CAN Module of this data sheet. These modules do not provide DMA support. The final production devices have up to two Enhanced CAN (ECAN) modules. These modules have significantly more features than the CAN modules, mainly in the form of an increased number of available buffers, filters and masks, as well as DMA support.
The Prototype Sample devices have a suffix PS in their names, as marked on the device package. This distinguishes them from Engineering Sample devices (which are suffixed ES) and final production devices (that have neither a PS nor an ES suffix on the device package marking). Prototype samples are available only for a subset of the final production devices. Please refer to the device tables in this data sheet for a listing of all devices.
A.7
ADC Differences
Both PS and final production devices contain up to two ADC modules. The PS devices have a 16-word deep ADC result buffer. The final production devices have enhanced DMA support in the form of additional DMA RAM and Peripheral Indirect Addressing. This renders the 16-word ADC buffer redundant. Hence, the buffer has been replaced by a single A/D Result register.
A.2
RAM Sizes
The total RAM size, including the size of the dual ported DMA RAM, is different between each PS device and the corresponding final production device. For example, the final production devices have 2 Kbytes DMA RAM, whereas the PS devices have 1 Kbyte DMA RAM. Please refer to the device tables in this data sheet for the memory sizes of each dsPIC33F device.
A.8
Device Packages
A.3
Interrupts
The final production devices are offered in the following TQFP packages: 64-pin TQFP 10x10x1 mm 80-pin TQFP 12x12x1 mm 100-pin TQFP 12x12x1 mm 100-pin TQFP 14x14x1 mm
The final production devices have four more interrupt sources (vectors) than the PS devices do. Also, two of the interrupt vectors are associated with slightly different events from the corresponding interrupts in the PS devices. Please refer to Section 6.0 Interrupt Controller for more details.
The PS devices are offered in the following TQFP packages: 64-pin TQFP 10x10x1 mm 80-pin TQFP 12x12x1 mm 100-pin TQFP 14x14x1 mm
A.4
DMA Enhancements
Both PS and final production devices can perform Direct Memory Access (DMA) data transfers. In addition to all of the features supported by the DMA controller in the PS devices, the DMA controller in the final production devices also supports the Peripheral Indirect Addressing mode. Please refer to Section 7.0 Direct Memory Access (DMA) for a description of this feature.
Advance Information
DS70165A-page 405
dsPIC33F
NOTES:
DS70165A-page 406
Advance Information
dsPIC33F
INDEX
A
A/D Converter ................................................................... 325 DMA .......................................................................... 325 Initialization ............................................................... 325 Key Features............................................................. 325 AC Characteristics ............................................................ 365 Internal RC Accuracy ................................................ 367 Load Conditions ........................................................ 365 AC-Link Mode Operation .................................................. 318 16-bit Mode ............................................................... 318 20-bit Mode ............................................................... 319 ADC Module ADC1 Register Map (Devices Marked PS)............... 64 ADC11 Register Map .................................................. 63 ADC2 Register Map .................................................... 63 ADC2 Register Map (Devices Marked PS)............... 65 Alternate Vector Table (AIVT) ........................................... 101 Arithmetic Logic Unit (ALU)................................................. 39 Assembler MPASM Assembler................................................... 356 Automatic Clock Stretch.................................................... 239 Receive Mode ........................................................... 239 Transmit Mode .......................................................... 239 Message Reception.................................................. 287 Message Transmission............................................. 289 Modes of Operation .................................................. 287 Overview................................................................... 285 Clock Switching ................................................................ 184 Enabling.................................................................... 184 Sequence ................................................................. 184 Code Examples DMA Sample Initialization Method............................ 165 Erasing a Program Memory Page .............................. 94 Initiating a Programming Sequence ........................... 95 Loading Write Buffers ................................................. 95 Port Write/Read ........................................................ 188 PWRSAV Instruction Syntax .................................... 185 Code Protection ........................................................ 341, 345 Configuration Bits ............................................................. 341 Description (Table) ................................................... 342 Configuration Register Map .............................................. 341 Configuring Analog Port Pins............................................ 188 CPU Control Register.......................................................... 36 CPU Clocking System ...................................................... 178 Options ..................................................................... 178 Selection................................................................... 178 Customer Change Notification Service............................. 413 Customer Notification Service .......................................... 413 Customer Support............................................................. 413
B
Barrel Shifter ....................................................................... 43 Bit-Reversed Addressing .................................................... 84 Example ...................................................................... 85 Implementation ........................................................... 84 Sequence Table (16-Entry)......................................... 85 Block Diagrams 16-bit Timer1 Module ................................................ 189 A/D Module ............................................................... 326 CAN Buffers and Protocol Engine............................. 286 Connections for On-Chip Voltage Regulator............. 343 DCI Module ............................................................... 312 Device Clock ..................................................... 177, 179 DSP Engine ................................................................ 40 dsPIC33F .................................................................... 30 dsPIC33F CPU Core................................................... 34 ECAN Module ........................................................... 256 Input Capture ............................................................ 197 Output Compare ....................................................... 201 PLL............................................................................ 179 PWM Module ............................................................ 204 Quadrature Encoder Interface .................................. 225 Reset System.............................................................. 97 Shared Port Structure ............................................... 187 SPI ............................................................................ 230 Timer2 (16-bit) .......................................................... 193 Timer2/3 (32-bit) ....................................................... 192 UART ........................................................................ 247 Watchdog Timer (WDT) ............................................ 344
D
Data Accumulators and Adder/Subtractor .......................... 41 Data Space Write Saturation ...................................... 43 Overflow and Saturation ............................................. 41 Round Logic ............................................................... 42 Write Back .................................................................. 42 Data Address Space........................................................... 47 Alignment.................................................................... 47 Memory Map for dsPIC33F Devices with 16 KBs RAM ....................................................... 49 Memory Map for dsPIC33F Devices with 17 KBs RAM (PS Devices) ................................. 50 Memory Map for dsPIC33F Devices with 30 KBs RAM ....................................................... 51 Memory Map for dsPIC33F Devices with 33 KBs RAM (PS Devices) ................................. 52 Memory Map for dsPIC33F Devices with 8 KBs RAM ......................................................... 48 Near Data Space ........................................................ 47 Software Stack ........................................................... 81 Width .......................................................................... 47 Data Converter Interface (DCI) Module ............................ 311 DC Characteristics............................................................ 360 I/O Pin Input Specifications ...................................... 363 I/O Pin Output Specifications.................................... 364 Idle Current (IIDLE) .................................................... 362 Operating Current (IDD) ............................................ 361 Power-Down Current (IPD)........................................ 362 Program Memory...................................................... 364 Temperature and Voltage Specifications.................. 360 DCI Bit Clock Generator .................................................. 315 Buffer Alignment with Data Frames.......................... 317 Buffer Control ........................................................... 311 Buffer Data Alignment .............................................. 311 Buffer Length Control ............................................... 317
C
C Compilers MPLAB C18 .............................................................. 356 MPLAB C30 .............................................................. 356 CAN Module...................................................................... 285 Baud Rate Setting..................................................... 290 CAN1 Register Map .................................................... 74 CAN2 Register Map .................................................... 76 Frame Types............................................................. 285
Advance Information
DS70165A-page 407
I C
3 3 F
CSDO Mode Bit ........................................................ 318 Data Justification Control Bit ..................................... 316 Device Frequencies for Common Codec CSCK Frequencies (Table)............................... 315 Digital Loopback Mode ............................................. 318 Frame Sync Generator ............................................. 313 Frame Sync Mode Control Bits ................................. 313 Interrupts ................................................................... 318 Introduction ............................................................... 311 Master Frame Sync Operation .................................. 313 Module Enable .......................................................... 313 Operation .................................................................. 313 Operation During CPU Idle Mode ............................. 318 Operation During CPU Sleep Mode .......................... 318 Receive Slot Enable Bits........................................... 316 Receive Status Bits ................................................... 317 Sample Clock Edge Control Bit................................. 316 Slave Frame Sync Operation .................................... 314 Slot Enable Bits Operation with Frame Sync ............ 316 Slot Status Bits.......................................................... 318 Synchronous Data Transfers .................................... 316 Transmit Slot Enable Bits.......................................... 316 Transmit Status Bits .................................................. 317 Transmit/Receive Shift Register ............................... 311 Underflow Mode Control Bit ...................................... 318 Word Size Selection Bits........................................... 313 DCI I/O Pins ...................................................................... 311 COFS ........................................................................ 311 CSCK ........................................................................ 311 CSDI ......................................................................... 311 CSDO........................................................................ 311 DCI Module Register Map............................................................... 78 Development Support ....................................................... 355 Differences Between PS and Final Production Devices ................................................... 405 DMA Interrupts and Traps.................................................. 164 Request Source Selection ........................................ 164 DMA Module DMA Register Map...................................................... 66 DMA Register Map (Devices Marked PS) ................ 68 DMAC Operating Modes ................................................... 162 Addressing ................................................................ 163 Byte or Word Transfer............................................... 163 Continuous or One-Shot ........................................... 164 Manual Transfer ........................................................ 164 Null Data Peripheral Write ........................................ 163 Ping-Pong ................................................................. 164 Transfer Direction ..................................................... 163 DMAC Registers ............................................................... 162 DMAxCNT ................................................................. 162 DMAxCON ................................................................ 162 DMAxPAD ................................................................. 162 DMAxREQ ................................................................ 162 DMAxSTA ................................................................. 162 DMAxSTB ................................................................. 162 DSP Engine......................................................................... 39 Multiplier...................................................................... 41
ECAN1 Register Map (C1CTRL1.WIN = 1)................ 70 ECAN2 Register Map (C2CTRL1.WIN = 0 or 1) .................................... 71 ECAN2 Register Map (C2CTRL1.WIN = 0)................ 72 ECAN2 Register Map (C2CTRL1.WIN = 1)................ 72 Frame Types............................................................. 255 Message Reception .................................................. 257 Message Transmission............................................. 259 Modes of Operation .................................................. 257 Overview................................................................... 255 Electrical Characteristics .................................................. 359 AC............................................................................. 365 Enhanced CAN Module .................................................... 255 Equations A/D Conversion Clock Period ................................... 327 Bit Clock Frequency.................................................. 315 Calculating the PWM Period..................................... 200 Calculation for Maximum PWM Resolution............................................... 200 COFSG Period.......................................................... 313 Device Operating Frequency .................................... 178 Oscillator Output Frequency ..................................... 178 PWM Period.............................................................. 206 PWM Resolution ....................................................... 206 Relationship Between Device and SPI Clock Speed .............................................. 232 Serial Clock Rate ...................................................... 237 Time Quantum for Clock Generation ................ 261, 290 UART Baud Rate with BRGH = 0 ............................. 248 UART Baud Rate with BRGH = 1 ............................. 248 XT with PLL Mode Example ..................................... 178 Errata .................................................................................. 28
F
Flash Program Memory ...................................................... 91 Control Registers ........................................................ 92 Operations .................................................................. 92 Programming Algorithm .............................................. 94 RTSP Operation ......................................................... 92 Table Instructions ....................................................... 91 Flexible Configuration ....................................................... 341 FSCM Delay for Crystal and PLL Clock Sources ........................................... 100 Device Resets........................................................... 100
I
I/O Ports............................................................................ 187 Parallel I/O (PIO) ...................................................... 187 Write/Read Timing .................................................... 188 I2C Addresses................................................................. 239 Baud Rate Generator ............................................... 237 General Call Address Support .................................. 239 Interrupts .................................................................. 237 IPMI Support............................................................. 239 Master Mode Operation Clock Arbitration ............................................... 240 Multi-Master Communication, Bus Collision and Bus Arbitration .................... 240 Operating Modes ...................................................... 237 Registers .................................................................. 237 Slave Address Masking ............................................ 239 Slope Control ............................................................ 240 Software Controlled Clock Stretching (STREN = 1).................................... 239
E
ECAN Module Baud Rate Setting..................................................... 260 ECAN1 Register Map (C1CTRL1.WIN = 0 or 1) .................................... 69 ECAN1 Register Map (C1CTRL1.WIN = 0) ................ 69
DS70165A-page 408
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dsPIC33F
I2C Module I2C1 Register Map ...................................................... 61 I2C2 Register Map ...................................................... 61 I2S Mode Operation .......................................................... 319 Data Justification....................................................... 319 Frame and Data Word Length Selection................... 319 In-Circuit Debugger ........................................................... 345 In-Circuit Emulation........................................................... 341 In-Circuit Serial Programming (ICSP) ....................... 341, 345 Infrared Support Built-in IrDA Encoder and Decoder........................... 249 External IrDA, IrDA Clock Output.............................. 249 Input Capture Registers................................................................... 198 Input Change Notification Module ..................................... 188 Instruction Addressing Modes............................................. 81 File Register Instructions ............................................ 81 Fundamental Modes Supported.................................. 82 MAC Instructions......................................................... 82 MCU Instructions ........................................................ 81 Move and Accumulator Instructions............................ 82 Other Instructions........................................................ 82 Instruction Set Overview ................................................................... 350 Summary................................................................... 347 Instruction-Based Power-Saving Modes ........................... 185 Idle ............................................................................ 186 Sleep......................................................................... 185 Internal RC Oscillator Use with WDT ........................................................... 344 Internet Address................................................................ 413 Interrupt Control and Status Registers.............................. 105 IECx .......................................................................... 105 IFSx........................................................................... 105 INTCON1 .................................................................. 105 INTCON2 .................................................................. 105 IPCx .......................................................................... 105 Interrupt Setup Procedures ............................................... 159 Initialization ............................................................... 159 Interrupt Disable........................................................ 159 Interrupt Service Routine .......................................... 159 Trap Service Routine ................................................ 159 Interrupt Vector Table (IVT) .............................................. 101 Interrupts Coincident with Power Save Instructions.......... 186 MPLAB ASM30 Assembler, Linker, Librarian ................... 356 MPLAB ICD 2 In-Circuit Debugger ................................... 357 MPLAB ICE 2000 High-Performance Universal In-Circuit Emulator.................................... 357 MPLAB ICE 4000 High-Performance Universal In-Circuit Emulator.................................... 357 MPLAB Integrated Development Environment Software .............................................. 355 MPLAB PM3 Device Programmer .................................... 357 MPLINK Object Linker/MPLIB Object Librarian ................ 356
N
NVM Module Register Map .............................................................. 80
O
Open-Drain Configuration................................................. 188 Output Compare ............................................................... 199 Registers .................................................................. 202
P
Packaging ......................................................................... 399 Details....................................................................... 400 Marking..................................................................... 399 Peripheral Module Disable (PMD) .................................... 186 PICSTART Plus Development Programmer..................... 358 Pinout I/O Descriptions (table)............................................ 31 PMD Module Register Map .............................................................. 80 POR and Long Oscillator Start-up Times ......................... 100 PORTA Register Map .............................................................. 78 PORTB Register Map .............................................................. 78 PORTC Register Map .............................................................. 79 PORTD Register Map .............................................................. 79 PORTE Register Map .............................................................. 79 PORTF Register Map .............................................................. 79 PORTG Register Map .............................................................. 80 Power-Saving Features .................................................... 185 Clock Frequency and Switching ............................... 185 Program Address Space..................................................... 45 Construction ............................................................... 86 Data Access from Program Memory Using Program Space Visibility .......................... 89 Data Access from Program Memory Using Table Instructions ..................................... 88 Data Access from, Address Generation ..................... 87 Memory Map............................................................... 45 Table Read Instructions TBLRDH ............................................................. 88 TBLRDL.............................................................. 88 Visibility Operation...................................................... 89 Program Memory Interrupt Vector........................................................... 46 Organization ............................................................... 46 Reset Vector............................................................... 46 Pulse-Width Modulation Mode.......................................... 200
J
JTAG Boundary Scan Interface ........................................ 341
M
Memory Organization.......................................................... 45 Microchip Internet Web Site .............................................. 413 Modes of Operation Disable .............................................................. 257, 287 Initialization ....................................................... 257, 287 Listen All Messages .......................................... 257, 287 Listen Only ........................................................ 257, 287 Loopback .......................................................... 257, 287 Normal Operation.............................................. 257, 287 Modulo Addressing ............................................................. 82 Applicability ................................................................. 84 Operation Example ..................................................... 83 Start and End Address................................................ 83 W Address Register Selection .................................... 83 Motor Control PWM .......................................................... 203 Motor Control PWM Module 8-Output Register Map................................................ 60
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DS70165A-page 409
dsPIC33F
PWM Center-Aligned .......................................................... 207 Complementary Mode............................................... 208 Complementary Output Mode ................................... 209 Duty Cycle................................................................. 200 Edge-Aligned ............................................................ 206 Independent Output Mode ........................................ 209 Operation During CPU Idle Mode ............................. 211 Operation During CPU Sleep Mode .......................... 211 Output Override ........................................................ 209 Output Override Synchronization .............................. 210 Period................................................................ 200, 206 Single Pulse Mode .................................................... 209 PWM Dead-Time Generators............................................ 208 Assignment ............................................................... 209 Ranges...................................................................... 209 Selection Bits (table) ................................................. 209 PWM Duty Cycle Comparison Units ..................................................... 207 Immediate Updates ................................................... 207 Register Buffers ........................................................ 207 PWM Fault Pins ................................................................ 210 Enable Bits ................................................................ 210 Fault States ............................................................... 210 Input Modes .............................................................. 211 Cycle-by-Cycle.................................................. 211 Latched ............................................................. 211 Priority ....................................................................... 210 PWM Output and Polarity Control ..................................... 210 Output Pin Control .................................................... 210 PWM Special Event Trigger .............................................. 211 Postscaler ................................................................. 211 PWM Time Base ............................................................... 205 Continuous Up/Down Count Modes.......................... 205 Double Update Mode ................................................ 206 Free-Running Mode .................................................. 205 Postscaler ................................................................. 206 Prescaler ................................................................... 206 Single-Shot Mode ..................................................... 205 PWM Update Lockout ....................................................... 211 ADxCON1 (ADCx Control 1, PS Devices).............. 330 ADxCON2 (ADCx Control 2)..................................... 332 ADxCON2 (ADCx Control 2, PS Devices).............. 333 ADxCON3 (ADCx Control 3)..................................... 334 ADxCON4 (ADCx Control 4)..................................... 335 ADxCSSH (ADCx Input Scan Select High)............... 338 ADxCSSL (ADCx Input Scan Select Low) ................ 338 ADxPCFGH (ADCx Port Configuration High) ........... 339 ADxPCFGL (ADCx Port Configuration Low)............. 339 CiBUFPNT1 (ECAN Filter 0-3 Buffer Pointer) .......... 272 CiBUFPNT2 (ECAN Filter 4-7 Buffer Pointer) .......... 273 CiBUFPNT3 (ECAN Filter 8-11 Buffer Pointer) .................................................. 273 CiBUFPNT4 (ECAN Filter 12-15 Buffer Pointer) .................................................. 274 CiCFG1 (CAN Baud Rate Configuration 1) .............. 304 CiCFG1 (ECAN Baud Rate Configuration 1) ............ 270 CiCFG2 (CAN Baud Rate Configuration 2) .............. 305 CiCFG2 (ECAN Baud Rate Configuration 2) ............ 271 CiCTRL (CAN Module Control and Status) .............. 292 CiCTRL1 (ECAN Control 1) ...................................... 262 CiCTRL2 (ECAN Control 2) ...................................... 263 CiEC (CAN Transmit/Receive Error Count).............. 306 CiEC (ECAN Transmit/Receive Error Count) ........... 269 CiFCTRL (ECAN FIFO Control)................................ 265 CiFEN1 (ECAN Acceptance Filter Enable)............... 272 CiFIFO (ECAN FIFO Status) .................................... 266 CiFMSKSEL1 (ECAN Filter 7-0 Mask Selection) ................................................ 276 CiINTE (CAN Interrupt Enable)................................. 307 CiINTE (ECAN Interrupt Enable) .............................. 268 CiINTF (CAN Interrupt Flag) ..................................... 308 CiINTF (ECAN Interrupt Flag)................................... 267 CiRX0CON (CAN Receive Buffer 0 Status and Control)...................................................... 296 CiRX1CON (CAN Receive Buffer 1 Status and Control)...................................................... 297 CiRXFnEID (ECAN Acceptance Filter n Extended Identifier) .......................................... 275 CiRXFnEIDH (CAN Acceptance Filter n Extended Identifier High) .................................. 301 CiRXFnEIDL (CAN Acceptance Filter n Extended Identifier Low)................................... 301 CiRXFnSID (CAN Acceptance Filter n Standard Identifier) ........................................... 300 CiRXFnSID (ECAN Acceptance Filter n Standard Identifier) ........................................... 275 CiRXFUL1 (ECAN Receive Buffer Full 1)................. 278 CiRXFUL2 (ECAN Receive Buffer Full 2)................. 278 CiRXMnEID (ECAN Acceptance Filter Mask n Extended Identifier) .......................................... 277 CiRXMnEIDH (CAN Acceptance Filter Mask n Extended Identifier High) .................................. 303 CiRXMnEIDL (CAN Acceptance Filter Mask n Extended Identifier Low)................................... 303 CiRXMnSID (CAN Acceptance Filter Mask n Standard Identifier) ........................................... 302 CiRXMnSID (ECAN Acceptance Filter Mask n Standard Identifier) ........................................... 277 CiRXnBm (CAN Receive Buffer n Data Field Word m) .......................................... 299 CiRXnDLC (CAN Receive Buffer n Data Length Control) ........................................ 299 CiRXnEID (CAN Receive Buffer n Extended Identifier) .......................................... 298
Q
QEI 16-bit Up/Down Position Counter Mode.................... 226 Alternate 16-bit Timer/Counter.................................. 227 Count Direction Status .............................................. 226 Error Checking .......................................................... 226 Interrupts ................................................................... 228 Logic ......................................................................... 226 Operation During CPU Idle Mode ............................. 227 Operation During CPU Sleep Mode .......................... 227 Position Measurement Mode .................................... 226 Programmable Digital Noise Filters .......................... 227 Timer Operation During CPU Idle Mode ................... 228 Timer Operation During CPU Sleep Mode................ 227 Quadrature Encoder Interface (QEI) ................................. 225 Quadrature Encoder Interface (QEI) Module Register Map............................................................... 60
R
Reader Response ............................................................. 414 Registers ADxCHS0 (ADCx Input Channel 0 Select................. 337 ADxCHS123 (ADCx Input Channel 1, 2, 3 Select) ..................................... 336 ADxCON1 (ADCx Control 1) ..................................... 328
DS70165A-page 410
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dsPIC33F
CiRXnSID (CAN Receive Buffer n Standard Identifier) ........................................... 298 CiRXOVF1 (ECAN Receive Buffer Overflow 1) ....................................................... 279 CiRXOVF2 (ECAN Receive Buffer Overflow 2) ....................................................... 279 CiTRBnDLC (ECAN Buffer n Data Length Control) ........................................ 282 CiTRBnDm (ECAN Buffer n Data Field Byte m) ............................................ 282 CiTRBnEID (ECAN Buffer n Extended Identifier)........................................... 281 CiTRBnSID (ECAN Buffer n Standard Identifier) ........................................... 281 CiTRBnSTAT (ECAN Receive Buffer n Status) ........ 283 CiTRmnCON (ECAN TX/RX Buffer m Control)......... 280 CiTXnBm (CAN Transmit Buffer n Data Field Word m)........................................... 295 CiTXnCON (CAN Transmit Buffer n Status and Control) ...................................................... 293 CiTXnDLC (CAN Transmit Buffer n Data Length Control) ........................................ 295 CiTXnEID (CAN Transmit Buffer n Extended Identifier)........................................... 294 CiTXnSID (CAN Transmit Buffer n Standard Identifier) ........................................... 294 CiVEC (ECAN Interrupt Code).................................. 264 CLKDIV (Clock Divisor)............................................. 181 CORCON (Core Control) .................................... 38, 106 DCICON1 (DCI Control 1)......................................... 320 DCICON2 (DCI Control 2)......................................... 321 DCICON3 (DCI Control 3)......................................... 322 DCISTAT (DCI Status).............................................. 323 DMACS (DMA Controller Status, PS Devices).................................................... 174 DMACS0 (DMA Controller Status 0)......................... 171 DMACS1 (DMA Controller Status 1)......................... 173 DMAxCNT (DMA Channel x Transfer Count) ........... 170 DMAxCON (DMA Channel x Control) ....................... 166 DMAxCON (DMA Channel x Control, PS Devices).................................................... 167 DMAxPAD (DMA Channel x Peripheral Address)..... 170 DMAxREQ (DMA Channel x IRQ Select) ................. 168 DMAxSTA (DMA Channel x RAM Start Address A) ............................................... 169 DMAxSTB (DMA Channel x RAM Start Address B) ............................................... 169 DSADR (Most Recent DMA RAM Address).............. 175 DTCON1 (Dead-Time Control 1) .............................. 217 DTCON2 (Dead-Time Control 2) .............................. 218 FLTACON (Fault A Control)...................................... 219 FLTBCON (Fault B Control)...................................... 220 I2CxCON (I2Cx Control) ........................................... 241 I2CxMSK (I2Cx Slave Mode Address Mask) ............ 245 I2CxSTAT (I2Cx Status) ........................................... 243 ICxCON (Input Capture x Control) ............................ 198 IEC0 (Interrupt Enable Control 0) ............................. 124 IEC1 (Interrupt Enable Control 1) ............................. 126 IEC2 (Interrupt Enable Control 2) ............................. 128 IEC2 (Interrupt Enable Control 2, PS Devices).................................................... 130 IEC3 (Interrupt Enable Control 3) ............................. 132 IEC3 (Interrupt Enable Control 3, PS Devices).................................................... 134 IEC4 (Interrupt Enable Control 4) ............................. 136 IEC4 (Interrupt Enable Control 4, PS Devices) ................................................... 137 IFS0 (Interrupt Flag Status 0) ................................... 110 IFS1 (Interrupt Flag Status 1) ................................... 112 IFS2 (Interrupt Flag Status 2) ................................... 114 IFS2 (Interrupt Flag Status 2, PS Devices) ............ 116 IFS3 (Interrupt Flag Status 3) ................................... 118 IFS3 (Interrupt Flag Status 3, PS Devices) ............ 120 IFS4 (Interrupt Flag Status 4) ................................... 122 IFS4 (Interrupt Flag Status 4, PS Devices) ............ 123 INTCON1 (Interrupt Control 1) ................................. 107 INTCON2 (Interrupt Control 2) ................................. 109 IPC0 (Interrupt Priority Control 0) ............................. 138 IPC1 (Interrupt Priority Control 1) ............................. 139 IPC10 (Interrupt Priority Control 10) ......................... 149 IPC11 (Interrupt Priority Control 11) ......................... 150 IPC12 (Interrupt Priority Control 12) ......................... 151 IPC13 (Interrupt Priority Control 13) ......................... 152 IPC13 (Interrupt Priority Control 13, PS Devices) ................................................... 153 IPC14 (Interrupt Priority Control 14) ......................... 154 IPC14 (Interrupt Priority Control 14, PS Devices) ................................................... 155 IPC15 (Interrupt Priority Control 15) ......................... 156 IPC16 (Interrupt Priority Control 16) ......................... 157 IPC17 (Interrupt Priority Control 17) ......................... 158 IPC2 (Interrupt Priority Control 2) ............................. 140 IPC3 (Interrupt Priority Control 3) ............................. 141 IPC4 (Interrupt Priority Control 4) ............................. 142 IPC5 (Interrupt Priority Control 5) ............................. 143 IPC6 (Interrupt Priority Control 6) ............................. 144 IPC7 (Interrupt Priority Control 7) ............................. 145 IPC8 (Interrupt Priority Control 8) ............................. 146 IPC8 (Interrupt Priority Control 8, PS Devices) ................................................... 147 IPC9 (Interrupt Priority Control 9) ............................. 148 NVMCOM (Flash Memory Control) ............................ 93 OCxCON (Output Compare x Control) ..................... 202 OSCCON (Oscillator Control)................................... 180 OSCTUN (FRC Oscillator Tuning)............................ 183 OVDCON (Override Control) .................................... 221 PDC1 (PWM Duty Cycle 1) ...................................... 222 PDC2 (PWM Duty Cycle 2) ...................................... 222 PDC3 (PWM Duty Cycle 3) ...................................... 223 PDC4 (PWM Duty Cycle 4) ...................................... 223 PLLFBD (PLL Feedback Divisor) ............................. 182 PTCON (PWM Time Base Control) .......................... 212 PTMR (PWM Timer Count Value) ............................ 213 PTPER (PWM Time Base Period)............................ 213 PWMCON1 (PWM Control 1) ................................... 215 PWMCON2 (PWM Control 2) ................................... 216 RCON (Reset Control)................................................ 98 RSCON (DCI Receive Slot Control) ......................... 324 SEVTCMP (Special Event Compare) ....................... 214 SPIxCON1 (SPIx Control 1) ..................................... 234 SPIxCON2 (SPIx Control 2) ..................................... 235 SPIxSTAT (SPIx Status and Control) ....................... 233 SR (CPU Status) ................................................ 36, 106 T1CON (Timer1 Control) .......................................... 190 TSCON (DCI Transmit Slot Control)......................... 324 TxCON (T2CON, T4CON, T6CON or T8CON Control)................................................ 194 TyCON (T3CON, T5CON, T7CON or T9CON Control)................................................ 195 UxMODE (UARTx Mode) ......................................... 250 UxSTA (UARTx Status and Control) ........................ 252
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DS70165A-page 411
dsPIC33F
Reset Clock Source Selection ............................................... 99 Special Function Register Reset States ................... 100 Times .......................................................................... 99 Reset Sequence................................................................ 101 Resets ................................................................................. 97 QEA/QEB Input ........................................................ 377 QEI Module Index Pulse ........................................... 378 Reset, Watchdog Timer, Oscillator Start-up Timer and Power-up Timer ................. 369 SPIx Master Mode (CKE = 0) ................................... 379 SPIx Master Mode (CKE = 1) ................................... 380 SPIx Slave Mode (CKE = 0) ..................................... 381 SPIx Slave Mode (CKE = 1) ..................................... 382 Timer1, 2, 3, 4, 5, 6, 7, 8, 9 External Clock .............. 371 TimerQ (QEI Module) External Clock ....................... 373 Timing Requirements CLKO and I/O ........................................................... 368 DCI AC-Link Mode.................................................... 391 DCI Multi-Channel, I2S Modes.................................. 389 External Clock........................................................... 366 Input Capture ............................................................ 374 Timing Specifications 10-bit A/D Conversion Requirements ....................... 395 12-bit A/D Conversion Requirements ....................... 397 CAN I/O Requirements ............................................. 392 I2Cx Bus Data Requirements (Master Mode)........... 385 I2Cx Bus Data Requirements (Slave Mode)............. 387 Motor Control PWM Requirements........................... 376 Output Compare Requirements................................ 374 PLL Clock ................................................................. 367 QEI External Clock Requirements ............................ 373 QEI Index Pulse Requirements ................................ 378 Quadrature Decoder Requirements.......................... 377 Reset, Watchdog Timer, Oscillator Start-up Timer, Power-up Timer and Brown-out Reset Requirements ....................... 370 Simple OC/PWM Mode Requirements ..................... 375 SPIx Master Mode (CKE = 0) Requirements............ 379 SPIx Master Mode (CKE = 1) Requirements............ 380 SPIx Slave Mode (CKE = 0) Requirements.............. 381 SPIx Slave Mode (CKE = 1) Requirements.............. 383 Timer1 External Clock Requirements ....................... 371 Timer2, Timer4, Timer6 and Timer8 External Clock Requirements ........................... 372 Timer3, Timer5, Timer7 and Timer9 External Clock Requirements ........................... 372
S
Serial Peripheral Interface (SPI) ....................................... 229 Setup for Continuous Output Pulse Generation................ 199 Setup for Single Output Pulse Generation ........................ 199 Software Simulator (MPLAB SIM)..................................... 356 Software Stack Pointer, Frame Pointer CALL Stack Frame...................................................... 81 Special Features of the CPU............................................. 341 SPI Master, Frame Master Connection ........................... 231 Master/Slave Connection .......................................... 231 Slave, Frame Master Connection ............................. 232 Slave, Frame Slave Connection ............................... 232 SPI Module SPI1 Register Map ...................................................... 62 SPI2 Register Map ...................................................... 62 Symbols Used in Opcode Descriptions............................. 348 System Control Register Map............................................................... 80
T
Temperature and Voltage Specifications AC ............................................................................. 365 Timer1 ............................................................................... 189 Timer2/3, Timer4/5, Timer6/7 and Timer8/9 ..................... 191 Timing Characteristics CLKO and I/O ........................................................... 368 Timing Diagrams 10-bit A/D Conversion (CHPS = 01, SIMSAM = 0, ASAM = 0, SSRC = 000) ............ 393 10-bit A/D Conversion (CHPS = 01, SIMSAM = 0, ASAM = 1, SSRC = 111, SAMC = 00001)........ 394 12-bit A/D Conversion (ASAM = 0, SSRC = 000)..................................................... 396 CAN Bit ..................................................................... 290 CAN I/O..................................................................... 392 Center-Aligned PWM ................................................ 207 DCI AC-Link Mode .................................................... 390 DCI Multi -Channel, I2S Modes ................................. 388 Dead-Time ................................................................ 208 ECAN Bit ................................................................... 260 Edge-Aligned PWM................................................... 206 External Clock ........................................................... 366 Frame Sync, AC-Link Start-of-Frame ....................... 314 Frame Sync, Multi-Channel Mode ............................ 314 I2Cx Bus Data (Master Mode) .................................. 384 I2Cx Bus Data (Slave Mode) .................................... 386 I2Cx Bus Start/Stop Bits (Master Mode) ................... 384 I2Cx Bus Start/Stop Bits (Slave Mode) ..................... 386 I2S Interface Frame Sync.......................................... 314 Input Capture (CAPx)................................................ 374 Motor Control PWM .................................................. 376 Motor Control PWM Fault ......................................... 376 OC/PWM ................................................................... 375 Output Compare (OCx) ............................................. 374
U
UART Baud Rate Generator (BRG) .................................... 248 Break and Sync Transmit Sequence ........................ 249 Flow Control Using UxCTS and UxRTS Pins ........... 249 Receiving in 8-bit or 9-bit Data Mode ....................... 249 Transmitting in 8-bit Data Mode................................ 249 Transmitting in 9-bit Data Mode................................ 249 UART Module UART1 Register Map.................................................. 62 UART2 Register Map.................................................. 62
V
Voltage Regulator (On-Chip) ............................................ 343
W
Watchdog Timer (WDT)............................................ 341, 344 Programming Considerations ................................... 344 WWW Address ................................................................. 413 WWW, On-Line Support ..................................................... 28
DS70165A-page 412
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dsPIC33F
THE MICROCHIP WEB SITE
Microchip provides online support via our WWW site at www.microchip.com. This web site is used as a means to make files and information easily available to customers. Accessible by using your favorite Internet browser, the web site contains the following information: Product Support Data sheets and errata, application notes and sample programs, design resources, users guides and hardware support documents, latest software releases and archived software General Technical Support Frequently Asked Questions (FAQ), technical support requests, online discussion groups, Microchip consultant program member listing Business of Microchip Product selector and ordering guides, latest Microchip press releases, listing of seminars and events, listings of Microchip sales offices, distributors and factory representatives
CUSTOMER SUPPORT
Users of Microchip products can receive assistance through several channels: Distributor or Representative Local Sales Office Field Application Engineer (FAE) Technical Support Development Systems Information Line
Customers should contact their distributor, representative or field application engineer (FAE) for support. Local sales offices are also available to help customers. A listing of sales offices and locations is included in the back of this document. Technical support is available through the web site at: http://support.microchip.com
CUSTOMER CHANGE NOTIFICATION SERVICE

Microchips customer notification service helps keep customers current on Microchip products. Subscribers will receive e-mail notification whenever there are changes, updates, revisions or errata related to a specified product family or development tool of interest. To register, access the Microchip web site at www.microchip.com, click on Customer Change Notification and follow the registration instructions.
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DS70165A-page 413
dsPIC33F
READER RESPONSE
It is our intention to provide you with the best documentation possible to ensure successful use of your Microchip product. If you wish to provide your comments on organization, clarity, subject matter, and ways in which our documentation can better serve you, please FAX your comments to the Technical Publications Manager at (480) 792-4150. Please list the following information, and use this outline to provide us with your comments about this document. To: RE: Technical Publications Manager Reader Response Total Pages Sent ________
From: Name Company Address City / State / ZIP / Country Telephone: (_______) _________ - _________ Application (optional): Would you like a reply? Device: dsPIC33F Questions: 1. What are the best features of this document? Y N Literature Number: DS70165A FAX: (______) _________ - _________
2. How does this document meet your hardware and software development needs?
3. Do you find the organization of this document easy to follow? If not, why?
4. What additions to the document do you think would enhance the structure and subject?
5. What deletions from the document could be made without affecting the overall usefulness?
6. Is there any incorrect or misleading information (what and where)?
7. How would you improve this document?
DS70165A-page 414
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dsPIC33F
PRODUCT IDENTIFICATION SYSTEM
To order or obtain information, e.g., on pricing or delivery, refer to the factory or the listed sales office. dsPIC 33 FJ 256 GP7 10 T I / PT - XXX Microchip Trademark Architecture Flash Memory Family Program Memory Size (KB) Product Group Pin Count Tape and Reel Flag (if applicable) Temperature Range Package Pattern
b)
Examples:
a) dsPIC33FJ256GP710I/PT-PS: General-purpose dsPIC33, 64 KB program memory, 100-pin, Industrial temp., TQFP package, Prototype Sample. dsPIC33FJ64MC706I/PT-ES: Motor-control dsPIC33, 64 KB program memory, 64-pin, Industrial temp., TQFP package, Engineering Sample.
Architecture
33
16-bit Digital Signal Controller
Flash Memory Family
FJ
Flash program memory, 3.3V
Product Group
GP2 GP3 GP5 GP7 MC5 MC7
= = = = = =
General purpose family General purpose family General purpose family General purpose family Motor control family Motor control family
Pin Count
06 08 10
= = =
64-pin 80-pin 100-pin
Temperature Range
= -40C to
+85C
(Industrial)
Package
PT PF
= =
10x10 or 12x12 mmTQFP (Thin Quad Flatpack) 14x14 mmTQFP (Thin Quad Flatpack)
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DS70165A-page 415
WORLDWIDE SALES AND SERVICE

AMERICAS
Corporate Office 2355 West Chandler Blvd. Chandler, AZ 85224-6199 Tel: 480-792-7200 Fax: 480-792-7277 Technical Support: http://support.microchip.com Web Address: www.microchip.com Atlanta Alpharetta, GA Tel: 770-640-0034 Fax: 770-640-0307 Boston Westborough, MA Tel: 774-760-0087 Fax: 774-760-0088 Chicago Itasca, IL Tel: 630-285-0071 Fax: 630-285-0075 Dallas Addison, TX Tel: 972-818-7423 Fax: 972-818-2924 Detroit Farmington Hills, MI Tel: 248-538-2250 Fax: 248-538-2260 Kokomo Kokomo, IN Tel: 765-864-8360 Fax: 765-864-8387 Los Angeles Mission Viejo, CA Tel: 949-462-9523 Fax: 949-462-9608 San Jose Mountain View, CA Tel: 650-215-1444 Fax: 650-961-0286 Toronto Mississauga, Ontario, Canada Tel: 905-673-0699 Fax: 905-673-6509
ASIA/PACIFIC
Australia - Sydney Tel: 61-2-9868-6733 Fax: 61-2-9868-6755 China - Beijing Tel: 86-10-8528-2100 Fax: 86-10-8528-2104 China - Chengdu Tel: 86-28-8676-6200 Fax: 86-28-8676-6599 China - Fuzhou Tel: 86-591-8750-3506 Fax: 86-591-8750-3521 China - Hong Kong SAR Tel: 852-2401-1200 Fax: 852-2401-3431 China - Qingdao Tel: 86-532-8502-7355 Fax: 86-532-8502-7205 China - Shanghai Tel: 86-21-5407-5533 Fax: 86-21-5407-5066 China - Shenyang Tel: 86-24-2334-2829 Fax: 86-24-2334-2393 China - Shenzhen Tel: 86-755-8203-2660 Fax: 86-755-8203-1760 China - Shunde Tel: 86-757-2839-5507 Fax: 86-757-2839-5571 China - Wuhan Tel: 86-27-5980-5300 Fax: 86-27-5980-5118 China - Xian Tel: 86-29-8833-7250 Fax: 86-29-8833-7256
ASIA/PACIFIC
India - Bangalore Tel: 91-80-2229-0061 Fax: 91-80-2229-0062 India - New Delhi Tel: 91-11-5160-8631 Fax: 91-11-5160-8632 India - Pune Tel: 91-20-2566-1512 Fax: 91-20-2566-1513 Japan - Yokohama Tel: 81-45-471- 6166 Fax: 81-45-471-6122 Korea - Gumi Tel: 82-54-473-4301 Fax: 82-54-473-4302 Korea - Seoul Tel: 82-2-554-7200 Fax: 82-2-558-5932 or 82-2-558-5934 Malaysia - Penang Tel: 604-646-8870 Fax: 604-646-5086 Philippines - Manila Tel: 632-634-9065 Fax: 632-634-9069 Singapore Tel: 65-6334-8870 Fax: 65-6334-8850 Taiwan - Hsin Chu Tel: 886-3-572-9526 Fax: 886-3-572-6459 Taiwan - Kaohsiung Tel: 886-7-536-4818 Fax: 886-7-536-4803 Taiwan - Taipei Tel: 886-2-2500-6610 Fax: 886-2-2508-0102 Thailand - Bangkok Tel: 66-2-694-1351 Fax: 66-2-694-1350
EUROPE
Austria - Weis Tel: 43-7242-2244-399 Fax: 43-7242-2244-393 Denmark - Copenhagen Tel: 45-4450-2828 Fax: 45-4485-2829 France - Paris Tel: 33-1-69-53-63-20 Fax: 33-1-69-30-90-79 Germany - Munich Tel: 49-89-627-144-0 Fax: 49-89-627-144-44 Italy - Milan Tel: 39-0331-742611 Fax: 39-0331-466781 Netherlands - Drunen Tel: 31-416-690399 Fax: 31-416-690340 Spain - Madrid Tel: 34-91-352-30-52 Fax: 34-91-352-11-47 UK - Wokingham Tel: 44-118-921-5869 Fax: 44-118-921-5820
08/24/05
DS70165A-page 416
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dsPIC33F Family Data Sheet

High-Performance, 16-bit Digital Signal Controllers

2005 Microchip Technology Inc.

2005 Microchip Technology Inc.

High-Performance DSC CPU

On-Chip Flash and SRAM

Direct Memory Access (DMA)

2005 Microchip Technology Inc.

Motor Control Peripherals

CMOS Flash Technology

2005 Microchip Technology Inc.

dsPIC33F General Purpose Family Variants

64 64 100 64 80 100 64 64 100 64 80 100 64 100 100

64 64 64 64 64 64 128 128 128 128 128 128 256 256 256

PT PT PF, PT PT PT PF, PT PT PT PF, PT PT PT PF, PT PT PF, PT PF, PT

2005 Microchip Technology Inc.

2005 Microchip Technology Inc.

2005 Microchip Technology Inc.

2005 Microchip Technology Inc.

2005 Microchip Technology Inc.

AN22/CN22/RA6 C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7

OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13

IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1

2005 Microchip Technology Inc.

2005 Microchip Technology Inc.

2005 Microchip Technology Inc.

dsPIC33FJ64GP710 dsPIC33FJ128GP710 dsPIC33FJ256GP710

2005 Microchip Technology Inc.

33FJ128GP706PS 33FJ128GP708PS 33FJ256GP710PS Note 1: 2:

128 128 256

2 A/D, 18 ch 2 A/D, 24 ch 2 A/D, 32 ch

2005 Microchip Technology Inc.

C2RX/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE OC8/CN16/RD7

OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13

IC5/RD12 OC4/RD3 OC3/RD2 EMUD2/OC2/RD1

2005 Microchip Technology Inc.

2005 Microchip Technology Inc.

64 80 100 64 100 64 100 64 80 100 100 100

64 64 64 64 64 128 128 128 128 128 256 256

PT PT PF, PT PT PF, PT PT PF, PT PT PT PF, PT PF, PT PF, PT

2005 Microchip Technology Inc.

2005 Microchip Technology Inc.

dsPIC33FJ128MC506 dsPIC33FJ64MC506 dsPIC33FJ128MC706

2005 Microchip Technology Inc.

OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13

IC5/RD12 OC4/RD3 OC3/RD2 OC2/RD1

2005 Microchip Technology Inc.

CRX2/RG0 C2TX/RG1 C1TX/RF1 C1RX/RF0 VDD VDDCORE

OC8/CN16/UPDN/RD7 OC7/CN15/RD6 OC6/CN14/RD5 OC5/CN13/RD4 IC6/CN19/RD13

PWM2L/RE2 PWM1H/RE1 PWM1L/RE0

IC5/RD12 OC4/RD3 OC3/RD2

2005 Microchip Technology Inc.

2005 Microchip Technology Inc.

2005 Microchip Technology Inc.

dsPIC33FJ64MC710 dsPIC33FJ128MC710 dsPIC33FJ256MC710

2005 Microchip Technology Inc.

33FJ128MC706PS 33FJ128MC708PS 33FJ256MC710PS Note 1: 2:

128 128 256

2 A/D, 16 ch 2 A/D, 18 ch 2 A/D, 24 ch