The SM function provides the eTPU with the capability
of driving two-phase or three-phase stepper motors in
full-step or half-step modes. The eTPU can accelerate
the motors, run them at constant speed (or slew), and
decelerate the motor independently of the device's CPU.
The CPU need only initialize the function once, and then
supply a desired position each time a move is required.
The acceleration/deceleration profile is freely configured
by the user via a table of step rates.
The SM eTPU function is based on the table stepper motor (TSM) TPU function. The SM eTPU function expands the TSM TPU functionality in the following items:
For full description refer to AN2869.