67.6.18 Fault Mode

At any time, the TC_RCx registers can be used to perform a comparison on the respective current channel counter value (TC_CVx) with the value of TC_RCx register.

The CPCSx flags can be set accordingly and an interrupt can be generated.

This interrupt is processed but requires an unpredictable amount of time to be achieve the required action.

It is possible to trigger the FAULT output of the TIMER1 with CPCS from TC_SR0 and/or CPCS from TC_SR1. Each source can be independently enabled/disabled in the TC_FMR.

This can be useful to detect an overflow on speed and/or position when QDEC is processed and to act immediately by using the FAULT output.