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DSA00408635.pdf
by Freescale Semiconductor
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Freescale Semiconductor Application Note Document Number: AN2844 Rev. 0, 04/2005 Using the Current Controller (CC) eTPU Function Covers the MCF523x, MPC5500, and all eTPU-equipped Devices
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AN2353
an2844
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AN2958
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MPC5500 Configuration and Initialization
MPC5554
PI CONTROLLER circuit
PID controller
PID controller datasheet