Adv. MotorControlCo-Processors

[erikraynolds]

I would like to gain a deeper technical understanding of the Advanced Motor Control Co-Processors.
Could you please refer me to relevant documentation and technical presentations that describe this peripheral in detail?

In particular, I would appreciate clarification on how this block differs from, or is connected to, the dual eFlexPWM / NanoEdge PWM modules (2×, 8 channels each), including any functional overlap, interaction mechanisms, or intended use cases.

Since the Advanced Motor Control Co-Processors are highlighted as providing 16-channel programmable I/O timers, while eFlexPWM represents a set of dedicated motor-control PWM timers, I would like to better understand how these two subsystems complement each other within the overall motor-control architecture.

[petervlna]

Hello,

Generally the operation of motor control timers like eTPU, FLexPWM, eMIOS is described in reference manual.

On S32K39/37/36 devices, NXP includes the eTPU: a programmable, microcoded timing engine with its own instruction and data RAM, designed to offload real‑time I/O timing tasks (PWM wave shaping, commutation scheduling, sensor decoding, capture/measure, etc.). This is what NXP materials call the “advanced motor‑control coprocessor.”

On broader S32K3 family, NXP highlights eMIOS (Enhanced Modular I/O Subsystem) plus LCU as the standard motor‑control timer/logic combo. eMIOS is a highly flexible 16‑bit timer subsystem with many channels and modes (buffered PWM, center‑aligned, complementary with dead‑time, single‑pulse/DAOC, input‑capture, etc.). Many community docs refer to eMIOS informally as a “NanoEdge PWM” style module because of its small per‑channel footprint and flexible edge handling.

If you’re on S32K39 and need maximum determinism or complex schedules (resolver, multi‑motor commutation, custom waveforms), use eTPU as the supervisor; attach eFlexPWM to the power stage; use eMIOS for auxiliary timing/capture; wire TRGMUX/BCTU for ADC windows.

If you’re on S32K344/358 (no eTPU), pick eFlexPWM for the inverter, and use eMIOS + LCU/TRGMUX/BCTU to manage captures/triggers/aux PWMs. RTD’s PWM driver lets you mix eFlexPWM and eMIOS channels in one configuration. 

For specific implementation you can refer to following literature:

• S32K3xx DS (Rev. 13, 2025-11-12), features & blocks. [nxp.com]
• S32K39/37/36 DS timing sections for eTPU/eMIOS/LCU. [nxp.com.cn]
• S32K396 LV MC Kit (explicit “eTPU motor-control coprocessor”). [nxp.com]
• S32K3 motor‑control brochures (eMIOS, LCU, triggers, ADC/CMP called out). [nxp.com],
• S32K3 family brochure (16‑bit eMIOS timers noted). [nxp.jp]
• RTD PWM driver discussion (eFlexPWM covered under unified PWM). [community.nxp.com]
• eMIOS usage guide & examples (OPWMB/OPWMCB/DAOC/OPWFMB, capture modes). [community.nxp.com]
• Single‑pulse PWM with eMIOS (DAOC/OPWMB examples). [community.nxp.com]

Best regards,

Peter