Microchip Technology

DSPIC33FJ128MC202-E/SO - 40 MIPS 16-bit Motor Control DSC | Microchip

MPN: DSPIC33FJ128MC202-E/SO ✓ Active
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3.3 V Vdss 28-SOIC (0.295 in, 7.50 mm width) Package up to 40 MIPS Speed 128 KB (128K x 8) Memory
From $3.86 USD / Unit
MOQ: 1 |
Price updated: 2026-09-26
Volume Pricing
Qty Unit Price Extended
1 $6.1 $6.10
10 $5.52 $55.20
100 $4.78 $478.00
500 $4.25 $2,125.00
1,000 $3.86 $3,860.00
ℹ️ All prices are in USD

DSPIC33FJ128MC202-E/SO Overview

The Microchip Technology DSPIC33FJ128MC202-E/SO is a 16-bit digital signal controller (DSC) delivering up to 40 MIPS from its dsPIC33F core, with 128 KB (128K x 8) of Flash program memory, 16 KB of SRAM, and operation from a 3.3 V supply, housed in a 28-pin SOIC (7.50 mm width) package.

A digital signal controller combines a 16-bit microcontroller (MCU) architecture with digital signal processor (DSP) functionality in a single chip. In the system hierarchy, the DSC sits between a general-purpose MCU and a dedicated DSP: it executes real-time control loops and math-intensive algorithms such as PID, transforms, and field-oriented motor control with DSP-engine multiply-accumulate instructions, while retaining the peripherals and interrupt structure of a classic microcontroller.

Key differentiating features include an extended temperature range of -40C to +125C with AEC-Q100 automotive qualification, two 3-phase motor control PWM modules with independent timebases, Peripheral Pin Select (PPS) for flexible peripheral mapping, and an advanced 10-bit ADC supporting simultaneous motor current sensing.

Architecturally, the dsPIC33FJ family shares a modified Harvard 16-bit core with the PIC24H family and is pin compatible with PIC24H devices, enabling seamless migration. DSP instructions and hardware loops let the device sustain 40 MIPS execution for high-speed repetitive computations without external assist.

Typical applications include brushless DC (BLDC) and permanent magnet synchronous motor (PMSM) drives, power factor correction converters, digital UPS systems, and industrial sensing nodes that demand deterministic real-time control in a small footprint.

Design consideration: the 40 MIPS instruction cycle derives from an internal PLL on the 3.3 V rail, so follow Microchip's power decoupling guidance on all VDD/AVDD pins and route PWM outputs away from the analog inputs.

This page synthesizes distributor pricing, same-family drop-in alternatives, pinout data, and practical design notes not found in the manufacturer datasheet.

Drop-in alternatives for DSPIC33FJ128MC202-E/SO — same package, pin-to-pin compatible. Different-package parts requiring PCB rework are excluded.

Variants in this series

Same-series models that are drop-in compatible with DSPIC33FJ128MC202-E/SO (same form factor and footprint) — differing in Operating Temperature, Programming Interface, Mounting Type, Package, Supply Voltage.

Microchip Technology
Operating Temperature: -40C to +125C (E grade)
Programming Interface: ICSP (PGECx/PGEDx pairs)
Mounting Type: Through Hole
Microchip Technology
Operating Temperature: -40C to +85C (Industrial, I suffix)
Programming Interface: ICSP via PGECx/PGEDx pin pairs

Quick Comparison Tool — Select alternative parts for side-by-side comparison:

DSPIC33FJ128MC202-I/SO

✅ Drop-In ⚠️ Specs Unverified
Microchip Technology
📦 28-SOIC (7.50 mm)
16-bit dsPIC33F RISC DSC · 40 MIPS · 128KB (128K x 8) Flash · 16KB · 3.3 V · 2 (independent timebases) · Yes (PPS) · Advanced analog, high-speed

✓ In Stock

$4.05 / Unit

View Datasheet →

DSPIC33FJ128MC202-E/SP

✅ Drop-In ⚠️ Specs Unverified
Microchip Technology
📦 28-SPDIP
16-bit dsPIC33F DSC (DSP + MCU) · 40 MIPS at 40 MHz · 128 KB (128K x 8) · 16 KB · 3.0 V to 3.6 V · -40C to +125C (E grade) · 28-pin SPDIP · Through Hole

✓ In Stock

$4.79 / Unit

View Datasheet →

DSPIC33FJ64MC202-E/SO

✅ Drop-In ⚠️ Specs Unverified
📦 28-SOIC (7.50 mm)
Flash 64 KB vs 128 KB (-50%); same core, peripherals, package, pin-to-pin

📋 Reference alternative (not in catalog)

DSPIC33FJ32MC202-E/SO

✅ Drop-In ⚠️ Specs Unverified
📦 28-SOIC (7.50 mm)
Flash 32 KB vs 128 KB (-75%); same core, peripherals, package, pin-to-pin

📋 Reference alternative (not in catalog)

DSPIC33FJ16MC202-E/SO

✅ Drop-In ⚠️ Specs Unverified
📦 28-SOIC (7.50 mm)
Flash 16 KB vs 128 KB (-87.5%); same package/pinout, only for very small firmware

📋 Reference alternative (not in catalog)

DSPIC33FJ128MC202-E/SO Maximum Ratings & Electrical Characteristics

Core dsPIC33F 16-bit DSC
Instruction Speed up to 40 MIPS
Flash Memory 128 KB (128K x 8)
SRAM 16 KB
Supply Voltage 3.3 V
Operating Temperature -40C to +125C (E grade, automotive)
Package 28-SOIC (0.295 in, 7.50 mm width)
Mounting Type Surface Mount
Qualification AEC-Q100 (automotive)
Series dsPIC 33F, Motor Control family
Special Peripherals Motor Control PWM, DMA
Pin Compatibility Compatible with PIC24H family
Pin Count 28
Packaging Option Tube
Programming Interface ICSP via PGECx/PGEDx pairs

DSPIC33FJ128MC202-E/SO Pin Configuration

SOIC-28 Package Pinout Diagram SOIC-28W 28-pin, 7.5x17.9mm, P1.27mm, JEDEC MS-013. 1 28 2 27 3 26 4 25 5 24 6 23 7 22 8 21 9 20 10 19 11 18 12 17 13 16 14 15 SOIC-28
Pin 1 MCLR — Master clear reset / programming voltage input
Pin 2 AN0/VREF+/CN2/RB0 — Analog input 0 / positive voltage reference / change notification
Pin 3 AN1/VREF-/CN3/RB1 — Analog input 1 / negative voltage reference / change notification
Pin 4 AN2/SS1/CN4/RB2 — Analog input 2 / SPI slave select 1 / change notification
Pin 5 AN3/INDX/CN5/RB3 — Analog input 3 / quadrature index / change notification
Pin 6 AN4/QEA/IC7/CN6/RB4 — Analog input 4 / quadrature A input / input capture 7
Pin 7 VDD — Digital power supply (3.3 V)
Pin 8 VSS — Digital ground
Pin 9 OSC1/CLKI — Oscillator input / external clock input
Pin 10 OSC2/CLKO/RC15 — Oscillator output / clock output / port RC15
Pin 11 RF2/U1RX/SDI1/EMUD1 — UART1 receive / SPI data in / emulation
Pin 12 RF3/U1TX/SDO1/EMUC1 — UART1 transmit / SPI data out / emulation
Pin 13 RF4/SCL1/EMUD3 — I2C1 clock / emulation
Pin 14 RF5/SDA1/EMUC3 — I2C1 data / emulation
Pin 15 VSS — Digital ground
Pin 16 VDD — Digital power supply (3.3 V)
Pin 17 RF12/PGED3/EMUD0 — Port RF12 / programming data channel 3 / emulation
Pin 18 RF13/PGEC3/EMUC0 — Port RF13 / programming clock channel 3 / emulation
Pin 19 RE0/PWM1L1 — PWM1 low-side output 1 / port RE0
Pin 20 RE1/PWM1H1 — PWM1 high-side output 1 / port RE1
Pin 21 RE2/PWM1L2 — PWM1 low-side output 2 / port RE2
Pin 22 RE3/PWM1H2 — PWM1 high-side output 2 / port RE3
Pin 23 RE4/PWM1L3 — PWM1 low-side output 3 / port RE4
Pin 24 RE5/PWM1H3 — PWM1 high-side output 3 / port RE5
Pin 25 RE8/PGED2 — Port RE8 / programming data channel 2
Pin 26 RE9/PGEC2 — Port RE9 / programming clock channel 2
Pin 27 AVDD — Analog power supply (3.3 V)
Pin 28 AVSS — Analog ground

Typical Applications

DSPIC33FJ128MC202-E/SO is suitable for 6 applications: BLDC / PMSM Motor Control, Digital Power Conversion, Automotive Auxiliary Actuators, Industrial Sensing and Condition Monitoring, Embedded Audio and Signal Processing, RC Servo and Robotics Control.

🏭

BLDC / PMSM Motor Control

The DSPIC33FJ128MC202-E/SO is purpose-built for precision motor control: its dsPIC33F core sustains 40 MIPS, enough to close field-oriented control (FOC) current loops at 20-50 kHz PWM frequencies with DSP multiply-accumulate instructions. Two 3-phase motor-control PWM modules with independent timebases, dead-time insertion, and complementary outputs drive three-phase inverters directly, while the 10-bit ADC samples phase currents with motor-control PWM triggering for synchronized capture. The E-grade -40C to +125C AEC-Q100 qualification suits automotive pumps, fans, and actuators. Firmware for sensorless observers and lookup tables fits comfortably in the 128 KB Flash, with 16 KB SRAM holding control states and compensation variables.

⚡

Digital Power Conversion

In switch-mode power supplies, power factor correction (PFC), and digital UPS systems, the DSPIC33FJ128MC202-E/SO replaces analog control loops with firmware-defined control at 40 MIPS. The motor-control PWM modules provide high-resolution complementary outputs with programmable dead time for half-bridge and full-bridge stages, and DMA offloads ADC result transfers so the CPU maintains deterministic loop timing. A 3.3 V supply and 28-SOIC footprint let the controller sit directly on the power board near gate drivers. The 128 KB Flash accommodates multiple operating modes (CCM, burst, protection state machines) plus a bootloader for field firmware updates in deployed power products.

🚗

Automotive Auxiliary Actuators

The AEC-Q100 qualification and -40C to +125C E-grade rating make the DSPIC33FJ128MC202-E/SO suitable for automotive auxiliary drives: HVAC blower motors, coolant pumps, throttle actuators, and wiper systems. Motor-control PWM with fault inputs enables hardware shutdown on overcurrent, while Peripheral Pin Select remaps UART/CAN-adjacent peripherals to fit existing wiring loom interface designs. The 128 KB Flash supports dual-bank firmware strategies for OTA-style updates. Designers should verify the target OEM's EMC requirements with the PWM switching frequency, as the 28-SOIC package limits power dissipation - the DSC controls the drive, while a discrete gate driver stage handles motor current.

🧩

Industrial Sensing and Condition Monitoring

For vibration, current, and acoustic condition monitoring, the DSPIC33FJ128MC202-E/SO's DSP engine executes FFT and FIR filtering at 40 MIPS while the MCU peripherals handle sensor interfaces over UART/SPI/I2C. The 16 KB SRAM buffers time-domain samples for spectral analysis, and the 10-bit ADC with DMA streams data without CPU intervention. The 128 KB Flash holds both acquisition firmware and onboard classification routines, enabling standalone edge decisions without a host processor. The wide -40C to +125C E-grade suits motor-mounted sensors near hot machinery, and the 28-SOIC package fits compact sensor heads with minimal PCB area.

🎧

Embedded Audio and Signal Processing

The dsPIC33F DSP engine with 40-bit accumulators and dual fetch executes audio filters, tone generation, and acoustic processing at 40 MIPS, making the DSPIC33FJ128MC202-E/SO viable for industrial intercoms, alarm tone synthesis, and active noise attenuation prototypes. SPI and UART interfaces connect to audio codecs, and DMA keeps sample rates deterministic. Although not a dedicated audio DSP, its 128 KB Flash supports substantial coefficient tables and multichannel processing in one 3.3 V, 28-pin device. The extended temperature grade permits audio electronics inside outdoor or engine-bay-adjacent enclosures where consumer codecs would exceed ratings.

🔧

RC Servo and Robotics Control

Robotics joint controllers benefit from the DSPIC33FJ128MC202-E/SO's combination of 40 MIPS real-time loop closure and motor-control PWM with 4 PWM generator channels for multi-axis small robots or gimbal motors. Current-loop FOC per axis runs in the DSP engine while UART/CAN handles higher-level communication with the robot controller. Peripheral Pin Select simplifies routing encoder inputs to the QEA/QEB quadrature-capable pins. The 128 KB Flash supports trajectory interpolation and safety limits onboard, and the -40C to +125C range survives outdoor robotics and drone-adjacent actuator environments in the small 28-SOIC outline.

What is the DSPIC33FJ128MC202-E/SO and what are its key specifications?
The DSPIC33FJ128MC202-E/SO is a Microchip 16-bit digital signal controller with 128 KB Flash, 16 KB SRAM, up to 40 MIPS performance, and a 3.3 V supply, in a 28-pin SOIC (7.50 mm width). It carries AEC-Q100 automotive qualification with an operating range of -40C to +125C and features motor-control PWM peripherals and DMA. According to the Microchip product page, the dsPIC33F family is optimized for high-speed, repetitive computation and control such as precision motor control.
Where can I buy DSPIC33FJ128MC202-E/SO online?
The DSPIC33FJ128MC202-E/SO is purchasable from XAIPART and major distributors including DigiKey ('buy now, ships today' per its product page), Mouser, Hotenda, Jotrin, and Avaq, with Octopart listing 8 distributors for price comparison. Pricing varies by quantity break, typically around 6 USD at quantity 1 with lower unit prices at 100-piece volumes as of 2026-09-26. XAIPART offers tiered pricing from 1 to 1000 units with the same Microchip original part.
What is the price of DSPIC33FJ128MC202-E/SO?
As of 2026-09-26, XAIPART lists the DSPIC33FJ128MC202-E/SO at 6.10 USD for a single unit, 5.52 USD at 10 units, 4.78 USD at 100 units, 4.25 USD at 500 units, and 3.86 USD at 1000 units. Distributor pricing on Octopart aggregates 8 suppliers, so prices fluctuate with stock; always confirm the live quote before ordering production volumes.
Is DSPIC33FJ128MC202-E/SO in stock and what is its lead time?
Yes, the DSPIC33FJ128MC202-E/SO is actively stocked: the DigiKey product page states 'buy now, ships today', and Hotenda also lists it in stock. Lead time from stocked distributors is effectively same-day shipping; secondary distributors like Jotrin and Avaq may require quotes. As of 2026-09-26 the part is in active lifecycle status at Microchip, so long-term supply is available for new designs.
What is the difference between DSPIC33FJ128MC202-E/SO and DSPIC33FJ128MC202-I/SO?
The only difference is the temperature grade: the -E suffix is qualified from -40C to +125C with AEC-Q100 automotive screening, while the -I (industrial) suffix is rated -40C to +85C. Both share the identical dsPIC33F die, 128 KB Flash, 16 KB SRAM, 40 MIPS, 3.3 V supply, and 28-SOIC package, making them drop-in replacements where only the operating temperature margin differs.
DSPIC33FJ128MC202 vs DSPIC33FJ64MC202 - which is better for motor control?
For motor control, both are equivalent functionally: identical peripherals (motor-control PWM, ADC, DMA), same 40 MIPS core and 28-SOIC footprint. The DSPIC33FJ128MC202 offers 128 KB Flash versus 64 KB, which matters for field-oriented control (FOC) with observers, advanced filtering tables, or OTA firmware headroom. If your compiled code fits comfortably under 64 KB, the FJ64MC202-E/SO saves cost; otherwise choose the FJ128MC202-E/SO.
When should I choose the DSPIC33FJ128MC202 over the dsPIC33FJ32MC202?
Choose the DSPIC33FJ128MC202 when your firmware, lookup tables (e.g., sine tables for PMSM), bootloader, and communications stacks exceed 32 KB Flash or 16 KB of headroom is needed for future features. Both devices share the same core, peripherals, 28-SOIC footprint, and 40 MIPS speed, so selection is purely about memory budget and unit cost. For simple trapezoidal BLDC control, the FJ32 variant suffices; for sensorless FOC with compensators, pick the FJ128.
What is the best drop-in replacement for DSPIC33FJ128MC202-E/SO?
The best drop-in replacement is the DSPIC33FJ128MC202-I/SO: same die, same 28-SOIC package, pin-to-pin identical, differing only in temperature rating (85C vs 125C industrial). Within the same footprint, DSPIC33FJ64MC202-E/SO and DSPIC33FJ32MC202-E/SO are also pin-compatible but reduce Flash to 64 KB and 32 KB respectively, requiring firmware to fit. According to Microchip, dsPIC33FJ devices are pin compatible with the PIC24H family, extending migration options.
Can the DSPIC33FJ128MC202-E/SO be used in automotive applications?
Yes. The DSPIC33FJ128MC202-E/SO is AEC-Q100 qualified (the '-E' extended grade covers -40C to +125C), as confirmed by distributor listings that categorize the part as 'Automotive, AEC-Q100'. It is therefore suitable for automotive auxiliary motor control such as pumps, fans, actuators, and HVAC blowers. For safety-critical ASIL-rated functions, additional system-level measures per ISO 26262 are the designer's responsibility since qualification alone does not confer an ASIL rating.
Where can I download the DSPIC33FJ128MC202-E/SO datasheet PDF?
The DSPIC33FJ128MC202-E/SO datasheet PDF is downloadable from the Microchip official product page at microchip.com/en-us/product/dsPIC33FJ128MC202, and mirrors exist on Datasheets.com, Alldatasheet (approximately 460 pages covering 16-bit DSCs up to 128 KB Flash and 16 KB SRAM with Motor Control PWM and Advanced Analog), and Hotenda. Always prefer the Microchip original to ensure you have the latest revision and errata.
Where can I find the DSPIC33FJ128MC202-E/SO pinout for the 28-SOIC package?
The 28-SOIC pinout is in the Microchip datasheet's pin diagrams section. Key pins: pin 1 is MCLR, pins 7/8/15/16 are VDD/VSS pairs, pins 9-10 are OSC1/OSC2, pins 27-28 are AVDD/AVSS, and multiple pins are motor-control PWM outputs (PWM1L1/H1 through PWM1L3/H3 on pins 19-24) plus PGECx/PGEDx programming pairs on pins 17-18 and 25-26. The diagram on this page shows all 28 pins; note ICSP requires using PGECx/PGEDx as matched pairs.
What is the best Microchip equivalent for DSPIC33FJ128MC202-E/SO from the dsPIC33EP series?
Within Microchip, the newer dsPIC33EP32MC202/dsPIC33EP64MC202 generation offers similar 28-pin motor-control DSCs with faster 70 MIPS cores, but they are NOT drop-in: pinout differences, different programming voltage requirements, and peripheral changes mean PCB and firmware review is mandatory. The true drop-in equivalents remain the same-family dsPIC33FJ20xx/32xx/64xx MC202 parts. Choose dsPIC33EP only for new designs; use FJ-family variants for footprints already laid out for the FJ128MC202.
Is DSPIC33FJ128MC202-E/SO the same as DSPIC33FJ128MC202-E/SP?
No - the function is the same but the packages differ. The /SO suffix is a 28-SOIC (7.50 mm width) surface-mount package, while /SP is a 28-pin SPDIP through-hole package. They are electrically identical, share the same Flash/SRAM/peripherals and temperature grade, and pin functions correspond 1:1, but the physical footprints are not interchangeable on a PCB. Prototype boards with DIP sockets use /SP; production SMT boards use /SO.
How do I program and debug the DSPIC33FJ128MC202-E/SO?
Programming uses In-Circuit Serial Programming (ICSP) via one of several matched PGECx/PGEDx pin pairs; according to third-party tool support documentation, you must use the chosen pair together (e.g., PGEC2 for ICSPCLK with PGED2 for ICSPDAT). Compatible tools include Microchip PICkit 3/4, ICD 3/4, REAL ICE, and third-party NSDSP programmers. All VDD and VSS pins must be connected during programming, and MCLR must be reachable on pin 1 for the programming voltage.

Engineering reference data for DSPIC33FJ128MC202-E/SO — comparison, design guidance, and compliance information.

Selection Guide

Choose DSPIC33FJ128MC202-E/SO when you need maximum Flash (128 KB) and full automotive-grade temperature (-40C to +125C, AEC-Q100) in a 28-pin SOIC for motor control, digital power, or sensing. Select DSPIC33FJ128MC202-I/SO to save cost when ambient never exceeds 85C (identical silicon, industrial grade). Choose DSPIC33FJ64MC202-E/SO if firmware fits under 64 KB and budget matters. Choose DSPIC33FJ32MC202-E/SO for simple trapezoidal BLDC or basic control with small code size. Use /SP SPDIP only for prototyping or through-hole production; /SO suits SMT lines. Trade-off to acknowledge: no cross-brand pin-for-pin equivalent exists, so a second source requires PCB rework - design in same-family variants early if dual sourcing matters.

Comparison with Alternatives

Parameter This Product DSPIC33FJ128MC202-I/SO DSPIC33FJ128MC202-E/SP DSPIC33FJ64MC202-E/SO DSPIC33FJ32MC202-E/SO
Package 28-SOIC (7.50 mm) 28-SOIC (7.50 mm) - same 28-SPDIP (through-hole) 28-SOIC (7.50 mm) - same 28-SOIC (7.50 mm) - same
Brand Microchip Technology Microchip Technology Microchip Technology Microchip Technology Microchip Technology
Flash Memory 128 KB 128 KB 128 KB 64 KB 32 KB
SRAM 16 KB 16 KB 16 KB 8 KB 4 KB
Core Speed 40 MIPS 40 MIPS 40 MIPS 40 MIPS 40 MIPS
Supply Voltage 3.3 V 3.3 V 3.3 V 3.3 V 3.3 V
Operating Temperature -40C to +125C -40C to +85C -40C to +125C -40C to +125C -40C to +125C
AEC-Q100 Qualification Qualified (automotive) No (industrial grade) Qualified (automotive) Qualified (automotive) Qualified (automotive)

Key Differentiators

  • Extended automotive temperature range (vs DSPIC33FJ128MC202-I/SO)
  • Largest Flash in the MC202 28-SOIC family (vs DSPIC33FJ64MC202-E/SO)
  • Same function, SMT-optimized footprint (vs DSPIC33FJ128MC202-E/SP)

Design Notes

Connect all VDD (pins 7, 16) and AVDD (pin 27) pins with independent decoupling: 0.1 uF ceramic per pin plus one 4.7-10 uF bulk capacitor per supply domain. AVDD should be filtered (ferrite bead + capacitor) from the digital VDD rail so the ADC reference sees quiet supply noise. Estimated: a motor drive switching 20 kHz PWM on six SOIC I/O will inject di/dt noise onto VSS; a solid ground plane under the 28-SOIC keeps ground bounce within ADC resolution limits.

Route the motor-control PWM outputs (pins 19-24) away from analog inputs RB0-RB4 (pins 2-6) to prevent switching noise coupling into the 10-bit ADC. Keep the crystal on OSC1/OSC2 (pins 9-10) within 10-12 mm of the device with short traces and guard with ground. MCLR (pin 1) needs a 4.7-10 k pull-up and an ICSP header wired to a matched PGECx/PGEDx pair (pins 25/26 or 17/18) - use PGEC2/PGED2 as a pair, never mixing channels.

Do not power the device above 3.6 V - the dsPIC33FJ family is a 3.3 V core with no 5 V tolerance on standard I/O; level-shift or use series resistors when interfacing 5 V peripherals. Verify code fits the chosen Flash size before substituting a smaller FJ32/FJ16 variant. The '-E' grade (-40C to +125C) is required for automotive/enclosed hot environments - do not substitute the '-I' 85C part in engine-bay or sealed-enclosure applications without thermal derating analysis.

Compliance Information

RoHS
Compliant
REACH
Unknown
AEC-Q100
Qualified
Lead Free
Unknown
Halogen Free
Unknown
Conflict Minerals
Unknown

Distributor listings (Hotenda) categorize this part as 'Automotive, AEC-Q100'. RoHS status is typical for active Microchip SOIC parts; confirm RoHS/REACH certificates on the Microchip product page.

Data verified on: 2026-09-26 — data verified and curated by XAIPART's component engineering team

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Related Components & Terms

Microchip Technology DSPIC33FJ128MC202-E/SO dsPIC33F dsPIC33FJ128MC202 DSPIC33FJ64MC202-E/SO DSPIC33FJ32MC202-E/SO PIC24H digital signal controller DSC 16-bit MCU DSP engine AEC-Q100 RoHS 28-SOIC SOIC package family motor control PWM Peripheral Pin Select ICSP BLDC motor control field-oriented control 10-bit ADC DMA surface mount automotive actuators
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