Peripheral Features:
• High current sink/source I/O pins: 25 mA/25 mA • Three 16-bit timers/counters; optionally pair up 16-bit timers into 32-bit timer modules • Four 16-bit Capture input functions • Two 16-bit Compare/PWM output functions - Dual Compare mode available • 3-wire SPI TM modules (supports 4 Frame modes) •I 2CTM module supports Multi-Master/Slave mode and 7-bit/10-bit addressing • Addressable UART modules with FIFO buffers
Motor Control PWM Module Features:
• 6 PWM output channels - Complementary or Independent Output modes - Edge and Center Aligned modes • 4 duty cycle generators • Dedicated time base with 4 modes • Programmable output polarity • Dead time control for Complementary mode • Manual output control • Trigger for synchronized A/D conversions
Quadrature Encoder Interface Module Features:
• 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

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