SLAU846B June   2023  – November 2024 MSPM0G1105 , MSPM0G1106 , MSPM0G1107 , MSPM0G1505 , MSPM0G1506 , MSPM0G1507 , MSPM0G1519 , MSPM0G3105 , MSPM0G3105-Q1 , MSPM0G3106 , MSPM0G3106-Q1 , MSPM0G3107 , MSPM0G3107-Q1 , MSPM0G3505 , MSPM0G3505-Q1 , MSPM0G3506 , MSPM0G3506-Q1 , MSPM0G3507 , MSPM0G3507-Q1 , MSPM0G3519

 

  1.   1
  2.   Read This First
    1.     About This Manual
    2.     Notational Conventions
    3.     Glossary
    4.     Support Resources
    5.     Trademarks
  3. 1 Architecture
    1. 1.1 Architecture Overview
    2. 1.2 Bus Organization
    3. 1.3 Platform Memory Map
      1. 1.3.1 Code Region
      2. 1.3.2 SRAM Region
      3. 1.3.3 Peripheral Region
      4. 1.3.4 Subsystem Region
      5. 1.3.5 System PPB Region
    4. 1.4 Boot Configuration
      1. 1.4.1 Configuration Memory (NONMAIN)
        1. 1.4.1.1 CRC-Backed Configuration Data
        2. 1.4.1.2 16-bit Pattern Match for Critical Fields
      2. 1.4.2 Boot Configuration Routine (BCR)
        1. 1.4.2.1 Serial Wire Debug Related Policies
          1. 1.4.2.1.1 SWD Security Level 0
          2. 1.4.2.1.2 SWD Security Level 1
          3. 1.4.2.1.3 SWD Security Level 2
        2. 1.4.2.2 SWD Mass Erase and Factory Reset Commands
        3. 1.4.2.3 Flash Memory Protection and Integrity Related Policies
          1. 1.4.2.3.1 Locking the Application (MAIN) Flash Memory
          2. 1.4.2.3.2 Locking the Configuration (NONMAIN) Flash Memory
          3. 1.4.2.3.3 Static Write Protection NONMAIN Fields
        4. 1.4.2.4 Application CRC Verification
        5. 1.4.2.5 Fast Boot
        6. 1.4.2.6 Bootstrap Loader (BSL) Enable/Disable Policy
          1. 1.4.2.6.1 BSL Enable
      3. 1.4.3 Bootstrap Loader (BSL)
        1. 1.4.3.1 GPIO Invoke
        2. 1.4.3.2 Bootstrap Loader (BSL) Security Policies
          1. 1.4.3.2.1 BSL Access Password
          2. 1.4.3.2.2 BSL Read-out Policy
          3. 1.4.3.2.3 BSL Security Alert Policy
        3. 1.4.3.3 Application Version
        4. 1.4.3.4 BSL Triggered Mass Erase and Factory Reset
    5. 1.5 NONMAIN_G350x_G310x_G150x_G110x Registers
    6. 1.6 NONMAIN_G351x_G151x Registers
    7. 1.7 Factory Constants
      1. 1.7.1 FACTORYREGION Registers
  4. 2 PMCU
    1. 2.1 PMCU Overview
      1. 2.1.1 Power Domains
      2. 2.1.2 Operating Modes
        1. 2.1.2.1 RUN Mode
        2. 2.1.2.2 SLEEP Mode
        3. 2.1.2.3 STOP Mode
        4. 2.1.2.4 STANDBY Mode
        5. 2.1.2.5 SHUTDOWN Mode
        6. 2.1.2.6 Supported Functionality by Operating Mode
        7. 2.1.2.7 Suspended Low-Power Mode Operation
    2. 2.2 Power Management (PMU)
      1. 2.2.1 Power Supply
      2. 2.2.2 Core Regulator
      3. 2.2.3 Supply Supervisors
        1. 2.2.3.1 Power-on Reset (POR) Supervisor
        2. 2.2.3.2 Brownout Reset (BOR) Supervisor
        3. 2.2.3.3 POR and BOR Behavior During Supply Changes
      4. 2.2.4 Bandgap Reference
      5. 2.2.5 Temperature Sensor
      6. 2.2.6 VBOOST for Analog Muxes
      7. 2.2.7 Peripheral Power Enable Control
        1. 2.2.7.1 Automatic Peripheral Disable in Low Power Modes
    3. 2.3 Clock Module (CKM)
      1. 2.3.1 Oscillators
        1. 2.3.1.1 Internal Low-Frequency Oscillator (LFOSC)
        2. 2.3.1.2 Internal System Oscillator (SYSOSC)
          1. 2.3.1.2.1 SYSOSC Gear Shift
          2. 2.3.1.2.2 SYSOSC Frequency and User Trims
          3. 2.3.1.2.3 SYSOSC Frequency Correction Loop
            1. 2.3.1.2.3.1 SYSOSC FCL in External Resistor Mode (ROSC)
            2. 2.3.1.2.3.2 SYSOSC FCL in Internal Resistor Mode
          4. 2.3.1.2.4 SYSOSC User Trim Procedure
          5. 2.3.1.2.5 Disabling SYSOSC
        3. 2.3.1.3 System Phase-Locked Loop (SYSPLL)
          1. 2.3.1.3.1 Configuring SYSPLL Output Frequencies
          2. 2.3.1.3.2 Loading SYSPLL Lookup Parameters
          3. 2.3.1.3.3 SYSPLL Startup Time
        4. 2.3.1.4 Low Frequency Crystal Oscillator (LFXT)
        5. 2.3.1.5 LFCLK_IN (Digital Clock)
        6. 2.3.1.6 High Frequency Crystal Oscillator (HFXT)
        7. 2.3.1.7 HFCLK_IN (Digital clock)
      2. 2.3.2 Clocks
        1. 2.3.2.1  MCLK (Main Clock) Tree
        2. 2.3.2.2  CPUCLK (Processor Clock)
        3. 2.3.2.3  ULPCLK (Low-Power Clock)
        4. 2.3.2.4  MFCLK (Middle Frequency Clock)
        5. 2.3.2.5  MFPCLK (Middle Frequency Precision Clock)
        6. 2.3.2.6  LFCLK (Low-Frequency Clock)
        7. 2.3.2.7  HFCLK (High-Frequency External Clock)
        8. 2.3.2.8  HSCLK (High Speed Clock)
        9. 2.3.2.9  ADCCLK (ADC Sample Period Clock)
        10. 2.3.2.10 CANCLK (CAN-FD Functional Clock)
        11. 2.3.2.11 RTCCLK (RTC Clock)
        12. 2.3.2.12 External Clock Output (CLK_OUT)
        13. 2.3.2.13 Direct Clock Connections for Infrastructure
      3. 2.3.3 Clock Tree
        1. 2.3.3.1 Peripheral Clock Source Selection
      4. 2.3.4 Clock Monitors
        1. 2.3.4.1 LFCLK Monitor
        2. 2.3.4.2 MCLK Monitor
        3. 2.3.4.3 Startup Monitors
          1. 2.3.4.3.1 LFOSC Startup Monitor
          2. 2.3.4.3.2 LFXT Startup Monitor
          3. 2.3.4.3.3 HFCLK Startup Monitor
          4. 2.3.4.3.4 SYSPLL Startup Monitor
          5. 2.3.4.3.5 HSCLK Status
      5. 2.3.5 Frequency Clock Counter (FCC)
        1. 2.3.5.1 Using the FCC
        2. 2.3.5.2 FCC Frequency Computation and Accuracy
    4. 2.4 System Controller (SYSCTL)
      1. 2.4.1  Resets and Device Initialization
        1. 2.4.1.1 Reset Levels
          1. 2.4.1.1.1 Power-on Reset (POR) Reset Level
          2. 2.4.1.1.2 Brownout Reset (BOR) Reset Level
          3. 2.4.1.1.3 Boot Reset (BOOTRST) Reset Level
          4. 2.4.1.1.4 System Reset (SYSRST) Reset Level
          5. 2.4.1.1.5 CPU-only Reset (CPURST) Reset Level
        2. 2.4.1.2 Initial Conditions After POR
        3. 2.4.1.3 NRST Pin
        4. 2.4.1.4 SWD Pins
        5. 2.4.1.5 Generating Resets in Software
        6. 2.4.1.6 Reset Cause
        7. 2.4.1.7 Peripheral Reset Control
        8. 2.4.1.8 Boot Fail Handling
      2. 2.4.2  Operating Mode Selection
      3. 2.4.3  Asynchronous Fast Clock Requests
      4. 2.4.4  SRAM Write Protection
      5. 2.4.5  Flash Wait States
      6. 2.4.6  Flash Bank Address Swap
      7. 2.4.7  Shutdown Mode Handling (if present)
      8. 2.4.8  Configuration Lockout
      9. 2.4.9  System Status
      10. 2.4.10 Error Handling
      11. 2.4.11 SYSCTL Events
        1. 2.4.11.1 CPU Interrupt Event (CPU_INT)
        2. 2.4.11.2 Nonmaskable Interrupt Event (NMI)
    5. 2.5 Quick Start Reference
      1. 2.5.1 Default Device Configuration
      2. 2.5.2 Leveraging MFCLK
      3. 2.5.3 Optimizing Power Consumption in STOP Mode
      4. 2.5.4 Optimizing Power Consumption in STANDBY Mode
      5. 2.5.5 Increasing MCLK and ULPCLK Precision
      6. 2.5.6 Configuring MCLK for Maximum Speed
      7. 2.5.7 High Speed Clock (SYSPLL, HFCLK) Handling in Low-Power Modes
      8. 2.5.8 Optimizing for Lowest Wakeup Latency
      9. 2.5.9 Optimizing for Lowest Peak Current in RUN/SLEEP Mode
    6. 2.6 SYSCTL_G350x_G310x_G150x_G110x Registers
    7. 2.7 SYSCTL_G351x_G151x Registers
  5. 3 CPU
    1. 3.1 Overview
    2. 3.2 Arm Cortex-M0+ CPU
      1. 3.2.1 CPU Register File
      2. 3.2.2 Stack Behavior
      3. 3.2.3 Execution Modes and Privilege Levels
      4. 3.2.4 Address Space and Supported Data Sizes
    3. 3.3 Interrupts and Exceptions
      1. 3.3.1 Peripheral Interrupts (IRQs)
        1. 3.3.1.1 Nested Vectored Interrupt Controller (NVIC)
        2. 3.3.1.2 Interrupt Groups
        3. 3.3.1.3 Wake Up Controller (WUC)
      2. 3.3.2 Interrupt and Exception Table
      3. 3.3.3 Processor Lockup Scenario
    4. 3.4 CPU Peripherals
      1. 3.4.1 System Control Block (SCB)
      2. 3.4.2 System Tick Timer (SysTick)
      3. 3.4.3 Memory Protection Unit (MPU)
    5. 3.5 Read-Only Memory (ROM)
    6. 3.6 CPUSS Registers
    7. 3.7 WUC Registers
  6. 4 SECURITY
    1. 4.1 Overview
      1. 4.1.1 Secure Boot
      2. 4.1.2 Customer Secure Code (CSC)
    2. 4.2 Boot and Startup Sequence
      1. 4.2.1 CSC Programming Overview
    3. 4.3 Secure Key Storage
    4. 4.4 Flash Memory Protection
      1. 4.4.1 Bank Swapping
      2. 4.4.2 Write Protection
      3. 4.4.3 Read-Execute Protection
      4. 4.4.4 IP Protection
      5. 4.4.5 Data Bank Protection
      6. 4.4.6 Hardware Monotonic Counter
    5. 4.5 SRAM Protection
    6. 4.6 SECURITY Registers
  7. 5 DMA
    1. 5.1 DMA Overview
    2. 5.2 DMA Operation
      1. 5.2.1  Addressing Modes
      2. 5.2.2  Channel Types
      3. 5.2.3  Transfer Modes
        1. 5.2.3.1 Single Transfer
        2. 5.2.3.2 Block Transfer
        3. 5.2.3.3 Repeated Single Transfer
        4. 5.2.3.4 Repeated Block Transfer
        5. 5.2.3.5 Stride Mode
      4. 5.2.4  Extended Modes
        1. 5.2.4.1 Fill Mode
        2. 5.2.4.2 Table Mode
      5. 5.2.5  Initiating DMA Transfers
      6. 5.2.6  Stopping DMA Transfers
      7. 5.2.7  Channel Priorities
      8. 5.2.8  Burst Block Mode
      9. 5.2.9  Using DMA with System Interrupts
      10. 5.2.10 DMA Controller Interrupts
      11. 5.2.11 DMA Trigger Event Status
      12. 5.2.12 DMA Operating Mode Support
        1. 5.2.12.1 Transfer in RUN Mode
        2. 5.2.12.2 Transfer in SLEEP Mode
        3. 5.2.12.3 Transfer in STOP Mode
        4. 5.2.12.4 Transfers in STANDBY Mode
      13. 5.2.13 DMA Address and Data Errors
      14. 5.2.14 Interrupt and Event Support
    3. 5.3 DMA Registers
  8. 6 MATHACL
    1. 6.1 Overview
    2. 6.2 Data Format
      1. 6.2.1 Unsigned 32-bit integers
      2. 6.2.2 Signed 32-bit integers
      3. 6.2.3 Unsigned 32-bit numbers
      4. 6.2.4 Signed 32-bit numbers
    3. 6.3 Basic Operation
    4. 6.4 Configuration Details with Examples
      1. 6.4.1 Sine and Cosine (SINCOS)
      2. 6.4.2 Arc Tangent (ATAN2)
      3. 6.4.3 Square Root (SQRT)
      4. 6.4.4 Division (DIV)
      5. 6.4.5 Multiplication
        1. 6.4.5.1 Multiply32 (MPY32)
        2. 6.4.5.2 Square32 (SQUARE32)
        3. 6.4.5.3 Multiply64 (MPY64)
        4. 6.4.5.4 Square64 (SQUARE64)
      6. 6.4.6 Multiply-Accumulate (MAC)
      7. 6.4.7 Square Accumulate (SAC)
    5. 6.5 MATHACL Registers
    6. 6.6 DMA Support for Accumulation Functions
  9. 7 NVM (Flash)
    1. 7.1 NVM Overview
      1. 7.1.1 Key Features
      2. 7.1.2 System Components
      3. 7.1.3 Terminology
    2. 7.2 Flash Memory Bank Organization
      1. 7.2.1 Banks
      2. 7.2.2 Flash Memory Regions
      3. 7.2.3 Addressing
        1. 7.2.3.1 Flash Memory Map
      4. 7.2.4 Memory Organization Examples
    3. 7.3 Flash Controller
      1. 7.3.1 Overview of Flash Controller Commands
      2. 7.3.2 NOOP Command
      3. 7.3.3 PROGRAM Command
        1. 7.3.3.1 Program Bit Masking Behavior
        2. 7.3.3.2 Programming Less Than One Flash Word
        3. 7.3.3.3 Target Data Alignment (Devices with Single Flash Word Programming Only)
        4. 7.3.3.4 Target Data Alignment (Devices With Multiword Programming)
        5. 7.3.3.5 Executing a PROGRAM Operation
      4. 7.3.4 ERASE Command
        1. 7.3.4.1 Erase Sector Masking Behavior
        2. 7.3.4.2 Executing an ERASE Operation
      5. 7.3.5 READVERIFY Command
        1. 7.3.5.1 Executing a READVERIFY Operation
      6. 7.3.6 BLANKVERIFY Command
        1. 7.3.6.1 Executing a BLANKVERIFY Operation
      7. 7.3.7 Command Diagnostics
        1. 7.3.7.1 Command Status
        2. 7.3.7.2 Address Translation
        3. 7.3.7.3 Pulse Counts
      8. 7.3.8 Overriding the System Address With a Bank ID, Region ID, and Bank Address
      9. 7.3.9 FLASHCTL Events
        1. 7.3.9.1 CPU Interrupt Event Publisher
    4. 7.4 Write Protection
      1. 7.4.1 Write Protection Resolution
      2. 7.4.2 Static Write Protection
      3. 7.4.3 Dynamic Write Protection
        1. 7.4.3.1 Configuring Protection for the MAIN Region
        2. 7.4.3.2 Configuring Protection for the NONMAIN Region
    5. 7.5 Read Interface
      1. 7.5.1 Bank Address Swapping
      2. 7.5.2 ECC Error Handling
        1. 7.5.2.1 Single bit (correctable) errors
        2. 7.5.2.2 Dual bit (uncorrectable) errors
    6. 7.6 FLASHCTL_G350x_G310x_G150x_G110x Registers
    7. 7.7 FLASHCTL_G351x_G151x Registers
  10. 8 Events
    1. 8.1 Events Overview
      1. 8.1.1 Event Publisher
      2. 8.1.2 Event Subscriber
      3. 8.1.3 Event Fabric Routing
        1. 8.1.3.1 CPU Interrupt Event Route (CPU_INT)
        2. 8.1.3.2 DMA Trigger Event Route (DMA_TRIGx)
        3. 8.1.3.3 Generic Event Route (GEN_EVENTx)
      4. 8.1.4 Event Routing Map
      5. 8.1.5 Event Propagation Latency
    2. 8.2 Events Operation
      1. 8.2.1 CPU Interrupt
      2. 8.2.2 DMA Trigger
      3. 8.2.3 Peripheral to Peripheral Event
      4. 8.2.4 Extended Module Description Register
      5. 8.2.5 Using Event Registers
        1. 8.2.5.1 Event Registers
        2. 8.2.5.2 Configuring Events
        3. 8.2.5.3 Responding to CPU Interrupts in Application Software
        4. 8.2.5.4 Hardware Event Handling
  11. 9 Low Frequency Subsystem (LFSS)
    1. 9.1 Overview
    2. 9.2 Clock System
    3. 9.3 LFSS Reset
    4. 9.4 Real Time Counter (RTC_x)
    5. 9.5 Independent Watchdog Timer (IWDT)
    6. 9.6 Scratchpad Memory
    7. 9.7 Lock Function of RTC and WDT
    8. 9.8 LFSS Registers
  12. 10IOMUX
    1. 10.1 IOMUX Overview
      1. 10.1.1 IO Types and Analog Sharing
    2. 10.2 IOMUX Operation
      1. 10.2.1 Peripheral Function (PF) Assignment
      2. 10.2.2 Logic High to Hi-Z Conversion
      3. 10.2.3 Logic Inversion
      4. 10.2.4 SHUTDOWN Mode Wakeup Logic
      5. 10.2.5 Pullup/Pulldown Resistors
      6. 10.2.6 Drive Strength Control
      7. 10.2.7 Hysteresis and Logic Level Control
    3. 10.3 IOMUX Registers
  13. 11GPIO
    1. 11.1 GPIO Overview
    2. 11.2 GPIO Operation
      1. 11.2.1 GPIO Ports
      2. 11.2.2 GPIO Read/Write Interface
      3. 11.2.3 GPIO Input Glitch Filtering and Synchronization
      4. 11.2.4 GPIO Fast Wake
      5. 11.2.5 GPIO DMA Interface
      6. 11.2.6 Event Publishers and Subscribers
    3. 11.3 GPIO Registers
  14. 12ADC
    1. 12.1 ADC Overview
    2. 12.2 ADC Operation
      1. 12.2.1  ADC Core
      2. 12.2.2  Voltage Reference Options
      3. 12.2.3  Generic Resolution Modes
      4. 12.2.4  Hardware Averaging
      5. 12.2.5  ADC Clocking
      6. 12.2.6  Common ADC Use Cases
      7. 12.2.7  Power Down Behavior
      8. 12.2.8  Sampling Trigger Sources and Sampling Modes
        1. 12.2.8.1 AUTO Sampling Mode
        2. 12.2.8.2 MANUAL Sampling Mode
      9. 12.2.9  Sampling Period
      10. 12.2.10 Conversion Modes
      11. 12.2.11 Data Format
      12. 12.2.12 Advanced Features
        1. 12.2.12.1 Simultaneous Sampling
        2. 12.2.12.2 Window Comparator
        3. 12.2.12.3 DMA and FIFO Operation
        4. 12.2.12.4 Analog Peripheral Interconnection
      13. 12.2.13 Status Register
      14. 12.2.14 ADC Events
        1. 12.2.14.1 CPU Interrupt Event Publisher (CPU_INT)
        2. 12.2.14.2 Generic Event Publisher (GEN_EVENT)
        3. 12.2.14.3 DMA Trigger Event Publisher (DMA_TRIG)
        4. 12.2.14.4 Generic Event Subscriber (FSUB_0)
    3. 12.3 ADC12 Registers
  15. 13COMP
    1. 13.1 Comparator Overview
    2. 13.2 Comparator Operation
      1. 13.2.1  Comparator Configuration
      2. 13.2.2  Comparator Channels Selection
      3. 13.2.3  Comparator Output
      4. 13.2.4  Output Filter
      5. 13.2.5  Sampled Output Mode
      6. 13.2.6  Blanking Mode
      7. 13.2.7  Reference Voltage Generator
      8. 13.2.8  Window Comparator Mode
      9. 13.2.9  Comparator Hysteresis
      10. 13.2.10 Input SHORT Switch
      11. 13.2.11 Interrupt and Events Support
        1. 13.2.11.1 CPU Interrupt Event Publisher (CPU_INT)
        2. 13.2.11.2 Generic Event Publisher (GEN_EVENT)
        3. 13.2.11.3 Generic Event Subscribers
    3. 13.3 COMP Registers
  16. 14OPA
    1. 14.1 OPA Overview
    2. 14.2 OPA Operation
      1. 14.2.1 Analog Core
      2. 14.2.2 Power Up Behavior
      3. 14.2.3 Inputs
      4. 14.2.4 Output
      5. 14.2.5 Clock Requirements
      6. 14.2.6 Chopping
      7. 14.2.7 OPA Amplifier Modes
        1. 14.2.7.1 General-Purpose Mode
        2. 14.2.7.2 Buffer Mode
        3. 14.2.7.3 OPA PGA Mode
          1. 14.2.7.3.1 Inverting PGA Mode
          2. 14.2.7.3.2 Non-inverting PGA Mode
        4. 14.2.7.4 Difference Amplifier Mode
        5. 14.2.7.5 Cascade Amplifier Mode
      8. 14.2.8 OPA Configuration Selection
      9. 14.2.9 Burnout Current Source
    3. 14.3 OA Registers
  17. 15GPAMP
    1. 15.1 GPAMP Overview
    2. 15.2 GPAMP Operation
      1. 15.2.1 Analog Core
      2. 15.2.2 Power Up Behavior
      3. 15.2.3 Inputs
      4. 15.2.4 Output
      5. 15.2.5 GPAMP Amplifier Modes
        1. 15.2.5.1 General-Purpose Mode
        2. 15.2.5.2 ADC Buffer Mode
        3. 15.2.5.3 Unity Gain Mode
      6. 15.2.6 Chopping
    3. 15.3 GPAMP Registers
  18. 16DAC
    1. 16.1 DAC Introduction
    2. 16.2 DAC Operation
      1. 16.2.1  DAC Core
      2. 16.2.2  DAC Output
      3. 16.2.3  DAC Voltage Reference
      4. 16.2.4  DAC Output Buffers
      5. 16.2.5  DAC Data Formats
      6. 16.2.6  Sample Time Generator
      7. 16.2.7  DAC FIFO Structure
        1. 16.2.7.1 Loading Data From FIFO to Internal DAC Data Register
      8. 16.2.8  DAC Operation With DMA Controller
        1. 16.2.8.1 DMA Trigger Interface
        2. 16.2.8.2 DMA Status Interface
        3. 16.2.8.3 DMA Trigger Generation Scheme
      9. 16.2.9  DAC Operation With CPU
        1. 16.2.9.1 Interrupt conditions for DAC operation with CPU
      10. 16.2.10 Data Register Format
      11. 16.2.11 DAC Output Amplifier Offset Calibration
      12. 16.2.12 Interrupt and Event Support
        1. 16.2.12.1 CPU Interrupt Event Publisher (CPU_INT)
        2. 16.2.12.2 Generic Event Publisher (GEN_EVENT)
        3. 16.2.12.3 DMA Trigger Event Publisher
        4. 16.2.12.4 Generic Event Subscriber (FSUB_0)
    3. 16.3 DAC12 Registers
  19. 17VREF
    1. 17.1 VREF Overview
    2. 17.2 VREF Operation
      1. 17.2.1 Internal Reference Generation
      2. 17.2.2 External Reference Input
      3. 17.2.3 Analog Peripheral Interface
    3. 17.3 VREF Registers
  20. 18UART
    1. 18.1 UART Overview
      1. 18.1.1 Purpose of the Peripheral
      2. 18.1.2 Features
      3. 18.1.3 Functional Block Diagram
    2. 18.2 UART Operation
      1. 18.2.1 Clock Control
      2. 18.2.2 Signal Descriptions
      3. 18.2.3 General Architecture and Protocol
        1. 18.2.3.1  Transmit Receive Logic
        2. 18.2.3.2  Bit Sampling
        3. 18.2.3.3  Majority Voting Feature
        4. 18.2.3.4  Baud Rate Generation
        5. 18.2.3.5  Data Transmission
        6. 18.2.3.6  Error and Status
        7. 18.2.3.7  Local Interconnect Network (LIN) Support
          1. 18.2.3.7.1 LIN Responder Transmission Delay
        8. 18.2.3.8  Flow Control
        9. 18.2.3.9  Idle-Line Multiprocessor
        10. 18.2.3.10 9-Bit UART Mode
        11. 18.2.3.11 RS485 Support
        12. 18.2.3.12 DALI Protocol
        13. 18.2.3.13 Manchester Encoding and Decoding
        14. 18.2.3.14 IrDA Encoding and Decoding
        15. 18.2.3.15 ISO7816 Smart Card Support
        16. 18.2.3.16 Address Detection
        17. 18.2.3.17 FIFO Operation
        18. 18.2.3.18 Loopback Operation
        19. 18.2.3.19 Glitch Suppression
      4. 18.2.4 Low Power Operation
      5. 18.2.5 Reset Considerations
      6. 18.2.6 Initialization
      7. 18.2.7 Interrupt and Events Support
        1. 18.2.7.1 CPU Interrupt Event Publisher (CPU_INT)
        2. 18.2.7.2 DMA Trigger Publisher (DMA_TRIG_RX, DMA_TRIG_TX)
      8. 18.2.8 Emulation Modes
    3. 18.3 UART Registers
  21. 19SPI
    1. 19.1 SPI Overview
      1. 19.1.1 Purpose of the Peripheral
      2. 19.1.2 Features
      3. 19.1.3 Functional Block Diagram
      4. 19.1.4 External Connections and Signal Descriptions
    2. 19.2 SPI Operation
      1. 19.2.1 Clock Control
      2. 19.2.2 General Architecture
        1. 19.2.2.1 Chip Select and Command Handling
          1. 19.2.2.1.1 Chip Select Control
          2. 19.2.2.1.2 Command Data Control
        2. 19.2.2.2 Data Format
        3. 19.2.2.3 Delayed data sampling
        4. 19.2.2.4 Clock Generation
        5. 19.2.2.5 FIFO Operation
        6. 19.2.2.6 Loopback mode
        7. 19.2.2.7 DMA Operation
        8. 19.2.2.8 Repeat Transfer mode
        9. 19.2.2.9 Low Power Mode
      3. 19.2.3 Protocol Descriptions
        1. 19.2.3.1 Motorola SPI Frame Format
        2. 19.2.3.2 Texas Instruments Synchronous Serial Frame Format
      4. 19.2.4 Reset Considerations
      5. 19.2.5 Initialization
      6. 19.2.6 Interrupt and Events Support
        1. 19.2.6.1 CPU Interrupt Event Publisher (CPU_INT)
        2. 19.2.6.2 DMA Trigger Publisher (DMA_TRIG_RX, DMA_TRIG_TX)
      7. 19.2.7 Emulation Modes
    3. 19.3 SPI Registers
  22. 20I2C
    1. 20.1 I2C Overview
      1. 20.1.1 Purpose of the Peripheral
      2. 20.1.2 Features
      3. 20.1.3 Functional Block Diagram
      4. 20.1.4 Environment and External Connections
    2. 20.2 I2C Operation
      1. 20.2.1 Clock Control
        1. 20.2.1.1 Clock Select and I2C Speed
        2. 20.2.1.2 Clock Startup
      2. 20.2.2 Signal Descriptions
      3. 20.2.3 General Architecture
        1. 20.2.3.1  I2C Bus Functional Overview
        2. 20.2.3.2  START and STOP Conditions
        3. 20.2.3.3  Data Format with 7-Bit Address
        4. 20.2.3.4  Acknowledge
        5. 20.2.3.5  Repeated Start
        6. 20.2.3.6  SCL Clock Low Timeout
        7. 20.2.3.7  Clock Stretching
        8. 20.2.3.8  Dual Address
        9. 20.2.3.9  Arbitration
        10. 20.2.3.10 Multiple Controller Mode
        11. 20.2.3.11 Glitch Suppression
        12. 20.2.3.12 FIFO operation
          1. 20.2.3.12.1 Flushing Stale Tx Data in Target Mode
        13. 20.2.3.13 Loopback mode
        14. 20.2.3.14 Burst Mode
        15. 20.2.3.15 DMA Operation
        16. 20.2.3.16 Low-Power Operation
      4. 20.2.4 Protocol Descriptions
        1. 20.2.4.1 I2C Controller Mode
          1. 20.2.4.1.1 Controller Configuration
          2. 20.2.4.1.2 Controller Mode Operation
          3. 20.2.4.1.3 Read On TX Empty
        2. 20.2.4.2 I2C Target Mode
          1. 20.2.4.2.1 Target Mode Operation
      5. 20.2.5 Reset Considerations
      6. 20.2.6 Initialization
      7. 20.2.7 Interrupt and Events Support
        1. 20.2.7.1 CPU Interrupt Event Publisher (CPU_INT)
        2. 20.2.7.2 DMA Trigger Publisher (DMA_TRIG1, DMA_TRIG0)
      8. 20.2.8 Emulation Modes
    3. 20.3 I2C Registers
  23. 21CAN-FD
    1. 21.1 MCAN Overview
      1. 21.1.1 MCAN Features
    2. 21.2 MCAN Environment
    3. 21.3 CAN Network Basics
    4. 21.4 MCAN Functional Description
      1. 21.4.1  Clock Set up
      2. 21.4.2  Module Clocking Requirements
      3. 21.4.3  Interrupt Requests
      4. 21.4.4  Operating Modes
        1. 21.4.4.1 Normal Operation
        2. 21.4.4.2 CAN Classic
        3. 21.4.4.3 CAN FD Operation
      5. 21.4.5  Software Initialization
      6. 21.4.6  Transmitter Delay Compensation
        1. 21.4.6.1 Description
        2. 21.4.6.2 Transmitter Delay Compensation Measurement
      7. 21.4.7  Restricted Operation Mode
      8. 21.4.8  Bus Monitoring Mode
      9. 21.4.9  Disabled Automatic Retransmission (DAR) Mode
        1. 21.4.9.1 Frame Transmission in DAR Mode
      10. 21.4.10 Clock Stop Mode
        1. 21.4.10.1 Suspend Mode
        2. 21.4.10.2 Wakeup Request
      11. 21.4.11 Test Modes
        1. 21.4.11.1 External Loop Back Mode
        2. 21.4.11.2 Internal Loop Back Mode
      12. 21.4.12 Timestamp Generation
        1. 21.4.12.1 External Timestamp Counter
      13. 21.4.13 Timeout Counter
      14. 21.4.14 Safety
        1. 21.4.14.1 ECC Wrapper
        2. 21.4.14.2 ECC Aggregator
          1. 21.4.14.2.1 ECC Aggregator Overview
          2. 21.4.14.2.2 ECC Aggregator Registers
        3. 21.4.14.3 Reads to ECC Control and Status Registers
        4. 21.4.14.4 ECC Interrupts
      15. 21.4.15 Tx Handling
        1. 21.4.15.1 Transmit Pause
        2. 21.4.15.2 Dedicated Tx Buffers
        3. 21.4.15.3 Tx FIFO
        4. 21.4.15.4 Tx Queue
        5. 21.4.15.5 Mixed Dedicated Tx Buffers/Tx FIFO
        6. 21.4.15.6 Mixed Dedicated Tx Buffers/Tx Queue
        7. 21.4.15.7 Transmit Cancellation
        8. 21.4.15.8 Tx Event Handling
        9. 21.4.15.9 FIFO Acknowledge Handling
      16. 21.4.16 Rx Handling
        1. 21.4.16.1 Acceptance Filtering
          1. 21.4.16.1.1 Range Filter
          2. 21.4.16.1.2 Filter for Specific IDs
          3. 21.4.16.1.3 Classic Bit Mask Filter
          4. 21.4.16.1.4 Standard Message ID Filtering
          5. 21.4.16.1.5 Extended Message ID Filtering
      17. 21.4.17 Rx FIFOs
        1. 21.4.17.1 Rx FIFO Blocking Mode
        2. 21.4.17.2 Rx FIFO Overwrite Mode
      18. 21.4.18 Dedicated Rx Buffers
        1. 21.4.18.1 Rx Buffer Handling
      19. 21.4.19 Message RAM
        1. 21.4.19.1 Message RAM Configuration
        2. 21.4.19.2 Rx Buffer and FIFO Element
        3. 21.4.19.3 Tx Buffer Element
        4. 21.4.19.4 Tx Event FIFO Element
        5. 21.4.19.5 Standard Message ID Filter Element
        6. 21.4.19.6 Extended Message ID Filter Element
    5. 21.5 MCAN Integration
    6. 21.6 Interrupt and Event Support
      1. 21.6.1 CPU Interrupt Event Publisher (CPU_INT)
    7. 21.7 MCAN Registers
  24. 22CRC
    1. 22.1 CRC Overview
      1. 22.1.1 CRC16-CCITT
      2. 22.1.2 CRC32-ISO3309
    2. 22.2 CRC Operation
      1. 22.2.1 CRC Generator Implementation
      2. 22.2.2 Configuration
        1. 22.2.2.1 Polynomial Selection
        2. 22.2.2.2 Bit Order
        3. 22.2.2.3 Byte Swap
        4. 22.2.2.4 Byte Order
        5. 22.2.2.5 CRC C Library Compatibility
    3. 22.3 CRCP0 Registers
  25. 23AES
    1. 23.1 AES Overview
      1. 23.1.1 AES Performance
    2. 23.2 AES Operation
      1. 23.2.1 AES Register Access Rules
      2. 23.2.2 Loading the Key
      3. 23.2.3 Loading Data
      4. 23.2.4 Reading Data
      5. 23.2.5 Triggering an Encryption or Decryption
      6. 23.2.6 Single Block Operations
        1. 23.2.6.1 Encryption
        2. 23.2.6.2 Decryption
          1. 23.2.6.2.1 Pregenerating a Decryption Key
      7. 23.2.7 Block Cipher Mode Operations
        1. 23.2.7.1 Electronic Codebook (ECB) Mode
          1. 23.2.7.1.1 ECB Encryption
          2. 23.2.7.1.2 ECB Decryption
        2. 23.2.7.2 Cipher Block Chaining (CBC) Mode
          1. 23.2.7.2.1 CBC Encryption
          2. 23.2.7.2.2 CBC Decryption
        3. 23.2.7.3 Output Feedback (OFB) Mode
          1. 23.2.7.3.1 OFB Encryption
          2. 23.2.7.3.2 OFB Decryption
        4. 23.2.7.4 Cipher Feedback (CFB) Mode
          1. 23.2.7.4.1 CFB Encryption
          2. 23.2.7.4.2 CFB Decryption
        5. 23.2.7.5 Counter (CTR) Mode
          1. 23.2.7.5.1 CTR Encryption
          2. 23.2.7.5.2 CTR Decryption
      8. 23.2.8 AES Events
        1. 23.2.8.1 CPU Interrupt Event Publisher (CPU_EVENT)
        2. 23.2.8.2 DMA Trigger Event Publisher (DMA_TRIG0)
        3. 23.2.8.3 DMA Trigger Event Publisher (DMA_TRIG1)
        4. 23.2.8.4 DMA Trigger Event Publisher (DMA_TRIG2)
    3. 23.3 AES Registers
  26. 24AESADV
    1. 24.1 AESADV Overview
      1. 24.1.1 AESADV Performance
    2. 24.2 AESADV Operation
      1. 24.2.1 Loading the Key
      2. 24.2.2 Writing Input Data
      3. 24.2.3 Reading Output Data
      4. 24.2.4 Operation Descriptions
        1. 24.2.4.1 Single Block Operation
        2. 24.2.4.2 Electronic Codebook (ECB) Mode
          1. 24.2.4.2.1 ECB Encryption
          2. 24.2.4.2.2 ECB Decryption
        3. 24.2.4.3 Cipher Block Chaining (CBC) Mode
          1. 24.2.4.3.1 CBC Encryption
          2. 24.2.4.3.2 CBC Decryption
        4. 24.2.4.4 Output Feedback (OFB) Mode
          1. 24.2.4.4.1 OFB Encryption
          2. 24.2.4.4.2 OFB Decryption
        5. 24.2.4.5 Cipher Feedback (CFB) Mode
          1. 24.2.4.5.1 CFB Encryption
          2. 24.2.4.5.2 CFB Decryption
        6. 24.2.4.6 Counter (CTR) Mode
          1. 24.2.4.6.1 CTR Encryption
          2. 24.2.4.6.2 CTR Decryption
        7. 24.2.4.7 Galois Counter (GCM) Mode
          1. 24.2.4.7.1 GHASH Operation
          2. 24.2.4.7.2 GCM Operating Modes
            1. 24.2.4.7.2.1 Autonomous GCM Operation
              1. 24.2.4.7.2.1.1 GMAC
            2. 24.2.4.7.2.2 GCM With Pre-Calculations
            3. 24.2.4.7.2.3 GCM Operation With Precalculated H- and Y0-Encrypted Forced to Zero
        8. 24.2.4.8 Counter With Cipher Block Chaining Message Authentication Code (CCM)
          1. 24.2.4.8.1 CCM Operation
      5. 24.2.5 AES Events
        1. 24.2.5.1 CPU Interrupt Event Publisher (CPU_EVENT)
        2. 24.2.5.2 DMA Trigger Event Publisher (DMA_TRIG_DATAIN)
        3. 24.2.5.3 DMA Trigger Event Publisher (DMA_TRIG_DATAOUT)
    3. 24.3 AESADV Registers
  27. 25Keystore
    1. 25.1 Overview
    2. 25.2 Detailed Description
    3. 25.3 KEYSTORECTL Registers
  28. 26TRNG
    1. 26.1 TRNG Overview
    2. 26.2 TRNG Operation
      1. 26.2.1 TRNG Generation Data Path
      2. 26.2.2 Clock Configuration and Output Rate
      3. 26.2.3 Behavior in Low Power Modes
      4. 26.2.4 Health Tests
        1. 26.2.4.1 Digital Block Startup Self-Test
        2. 26.2.4.2 Analog Block Startup Self-Test
        3. 26.2.4.3 Runtime Health Test
          1. 26.2.4.3.1 Repetition Count Test
          2. 26.2.4.3.2 Adaptive Proportion Test
          3. 26.2.4.3.3 Handling Runtime Health Test Failures
      5. 26.2.5 Configuration
        1. 26.2.5.1 TRNG State Machine
          1. 26.2.5.1.1 Changing TRNG States
        2. 26.2.5.2 Using the TRNG
        3. 26.2.5.3 TRNG Events
          1. 26.2.5.3.1 CPU Interrupt Event Publisher (CPU_INT)
    3. 26.3 TRNG Registers
  29. 27Timers (TIMx)
    1. 27.1 TIMx Overview
      1. 27.1.1 TIMG Overview
        1. 27.1.1.1 TIMG Features
        2. 27.1.1.2 Functional Block Diagram
      2. 27.1.2 TIMA Overview
        1. 27.1.2.1 TIMA Features
        2. 27.1.2.2 Functional Block Diagram
      3. 27.1.3 TIMx Instance Configuration
    2. 27.2 TIMx Operation
      1. 27.2.1  Timer Counter
        1. 27.2.1.1 Clock Source Select and Prescaler
          1. 27.2.1.1.1 Internal Clock and Prescaler
          2. 27.2.1.1.2 External Signal Trigger
        2. 27.2.1.2 Repeat Counter (TIMA only)
      2. 27.2.2  Counting Mode Control
        1. 27.2.2.1 One-shot and Periodic Modes
        2. 27.2.2.2 Down Counting Mode
        3. 27.2.2.3 Up/Down Counting Mode
        4. 27.2.2.4 Up Counting Mode
        5. 27.2.2.5 Phase Load (TIMA only)
      3. 27.2.3  Capture/Compare Module
        1. 27.2.3.1 Capture Mode
          1. 27.2.3.1.1 Input Selection, Counter Conditions, and Inversion
            1. 27.2.3.1.1.1 CCP Input Edge Synchronization
            2. 27.2.3.1.1.2 CCP Input Pulse Conditions
            3. 27.2.3.1.1.3 Counter Control Operation
            4. 27.2.3.1.1.4 CCP Input Filtering
            5. 27.2.3.1.1.5 Input Selection
          2. 27.2.3.1.2 Use Cases
            1. 27.2.3.1.2.1 Edge Time Capture
            2. 27.2.3.1.2.2 Period Capture
            3. 27.2.3.1.2.3 Pulse Width Capture
            4. 27.2.3.1.2.4 Combined Pulse Width and Period Time
          3. 27.2.3.1.3 QEI Mode (TIMG with QEI support only)
            1. 27.2.3.1.3.1 QEI With 2-Signal
            2. 27.2.3.1.3.2 QEI With Index Input
            3. 27.2.3.1.3.3 QEI Error Detection
          4. 27.2.3.1.4 Hall Input Mode (TIMG with QEI support only)
        2. 27.2.3.2 Compare Mode
          1. 27.2.3.2.1 Edge Count
      4. 27.2.4  Shadow Load and Shadow Compare
        1. 27.2.4.1 Shadow Load (TIMG4-7, TIMA only)
        2. 27.2.4.2 Shadow Compare (TIMG4-7, TIMG12-13, TIMA only)
      5. 27.2.5  Output Generator
        1. 27.2.5.1 Configuration
        2. 27.2.5.2 Use Cases
          1. 27.2.5.2.1 Edge-Aligned PWM
          2. 27.2.5.2.2 Center-Aligned PWM
          3. 27.2.5.2.3 Asymmetric PWM (TIMA only)
          4. 27.2.5.2.4 Complementary PWM With Deadband Insertion (TIMA only)
        3. 27.2.5.3 Forced Output
      6. 27.2.6  Fault Handler (TIMA only)
        1. 27.2.6.1 Fault Input Conditioning
        2. 27.2.6.2 Fault Input Sources
        3. 27.2.6.3 Counter Behavior With Fault Conditions
        4. 27.2.6.4 Output Behavior With Fault Conditions
      7. 27.2.7  Synchronization With Cross Trigger
        1. 27.2.7.1 Main Timer Cross Trigger Configuration
        2. 27.2.7.2 Secondary Timer Cross Trigger Configuration
      8. 27.2.8  Low Power Operation
      9. 27.2.9  Interrupt and Event Support
        1. 27.2.9.1 CPU Interrupt Event Publisher (CPU_INT)
        2. 27.2.9.2 Generic Event Publisher and Subscriber (GEN_EVENT0 and GEN_EVENT1)
        3. 27.2.9.3 Generic Subscriber Event Example (COMP to TIMx)
      10. 27.2.10 Debug Handler (TIMA Only)
    3. 27.3 TIMx Registers
  30. 28RTC
    1. 28.1 Overview
      1. 28.1.1 RTC Instances
    2. 28.2 Basic Operation
    3. 28.3 Configuration
      1. 28.3.1  Clocking
      2. 28.3.2  Reading and Writing to RTC Peripheral Registers
      3. 28.3.3  Binary vs. BCD
      4. 28.3.4  Leap Year Handling
      5. 28.3.5  Calendar Alarm Configuration
      6. 28.3.6  Interval Alarm Configuration
      7. 28.3.7  Periodic Alarm Configuration
      8. 28.3.8  Calibration
        1. 28.3.8.1 Crystal Offset Error
          1. 28.3.8.1.1 Offset Error Correction Mechanism
        2. 28.3.8.2 Crystal Temperature Error
          1. 28.3.8.2.1 Temperature Drift Correction Mechanism
      9. 28.3.9  RTC Prescaler Extension
      10. 28.3.10 RTC Timestamp Capture
      11. 28.3.11 RTC Events
        1. 28.3.11.1 CPU Interrupt Event Publisher (CPU_INT)
        2. 28.3.11.2 Generic Event Publisher (GEN_EVENT)
    4. 28.4 RTC Registers
  31. 29IWDT
    1. 29.1 834
    2. 29.2 IWDT Clock Configuration
    3. 29.3 IWDT Period Selection
    4. 29.4 Debug Behavior of the IWDT
    5. 29.5 IWDT Registers
  32. 30WWDT
    1. 30.1 WWDT Overview
      1. 30.1.1 Watchdog Mode
      2. 30.1.2 Interval Timer Mode
    2. 30.2 WWDT Operation
      1. 30.2.1 Mode Selection
      2. 30.2.2 Clock Configuration
      3. 30.2.3 Low-Power Mode Behavior
      4. 30.2.4 Debug Behavior
      5. 30.2.5 WWDT Events
        1. 30.2.5.1 CPU Interrupt Event Publisher (CPU_INT)
    3. 30.3 WWDT Registers
  33. 31Debug
    1. 31.1 DEBUGSS Overview
      1. 31.1.1 Debug Interconnect
      2. 31.1.2 Physical Interface
      3. 31.1.3 Debug Access Ports
    2. 31.2 DEBUGSS Operation
      1. 31.2.1 Debug Features
        1. 31.2.1.1 Processor Debug
          1. 31.2.1.1.1 Breakpoint Unit (BPU)
          2. 31.2.1.1.2 Data Watchpoint and Trace Unit (DWT)
          3. 31.2.1.1.3 Processor Trace (MTB)
        2. 31.2.1.2 Peripheral Debug
        3. 31.2.1.3 EnergyTrace Technology
      2. 31.2.2 Behavior in Low Power Modes
      3. 31.2.3 Restricting Debug Access
      4. 31.2.4 Mailbox (DSSM)
        1. 31.2.4.1 DSSM Events
          1. 31.2.4.1.1 CPU Interrupt Event (CPU_INT)
    3. 31.3 DEBUGSS Registers
  34. 32Revision History

10.1.1 IO Types and Analog Sharing

The IOMUX manages the selection of which peripheral function is to be used on a digital IO. It also provides the controls for the output driver, input path, and the wakeup logic for wakeup from SHUTDOWN mode.

Digital IO Types

There are several digital IO types which can be included on a given device. Each digital IO type supports different features. Table 10-1 lists the features which are included with each IO type. See the device-specific data sheet for which IO type is used on a given package pin.

Table 10-1 Digital IO Features by IO Type
IO Structure Inversion Control Drive Strength Control Hysteresis Control Pullup Resistor Pulldown Resistor Wakeup Logic
Standard-drive Y Y Y
Standard-drive with wake Y Y Y Y
High-drive Y Y Y Y Y
High-speed Y Y Y Y
5V tolerant open drain Y Y Y Y

Please note that the IOMUX will not support the inversion control and pesudo-open drain (output-high translated to high-impedance) setting on the SPI POCI pins. Also the IOMUX will not support inversion control on the SPI SCLK pins connected on an HSIO pin.

Digital IO Shared with Analog Functions

Certain pins on a device will be digital only and will not have any analog functions connected to the pin. Other pins can have one or more analog functions connected to the pin in addition to the digital IO functions. Analog functions are never selected within the IOMUX; they are always configured within of the respective analog peripheral. Analog peripherals have no knowledge of, or interaction with, the IOMUX.

In general, when analog functionality is used on a pin which also has digital functions, the IOMUX configuration for that pin should be left in its default (high-Z) state so as to not interfere with the proper operation of the analog function. However, it is possible to have the IOMUX active on a pin when an analog peripheral is also interacting with the pin, provided that the application software ensures that there is not a conflict between the functions. For example, it is possible to have the pullup or pulldown resistor on an IO enabled at the same time that the ADC is running a conversion on the same IO. However, an invalid configuration would be enabling the output driver on an IO at the same time that an analog peripheral is driving the IO (for example, a DAC or OPA output). This would create an IO conflict.

Application software is responsible for ensuring that the IOMUX settings do not conflict with any analog peripheral functions which can be enabled on a shared pad.

IO Slice

The mixed-signal IO pin slice diagram for a full featured IO pin is shown in Figure 10-1. Not all pins will have analog functions, wake-up logic, drive strength control, and pullup or pulldown resistors available. See the device-specific data sheet for detailed information on what features are supported for a specific pin.

Superset IO Slice Figure 10-1 Superset IO Slice

Default IOMUX State

The initial state of the IOMUX pin slice for all digital IO after a BOOTRST is as follows:

  • The digital IO is in a high-impedance state
  • The peripheral function selection field (PF) is cleared (no peripheral function selected) and the peripheral connect (PC) and input enable states are cleared (disabled)
  • The inversion logic is disabled
  • The Hi-Z output high mode is disabled
  • The pullup/pulldown resistors (if present) are disabled
  • The input hysteresis control (if present) is disabled to save power
  • The drive strength control (if present) is reset
  • The wakeup logic (if present) is disabled

Note: The SWD pins are a specific exception to the above default state. The SWD debug pins are configured in SWD mode by default, and may be switched to an alternate setting after start-up. See Section 2.4.1.4 in the SYSCTL section of the PMCU chapter.