A system and method is provided for improved monitoring and controlling of
mechanically commutated DC motors. The system and method include DC
motors, pulse-count driver circuitry for driving the motors, motor
position sensing circuitry, and motor control circuitry. The system and
method provide for improved motor current waveform sensing that is able
to effectively reject false brake pulses, avoid erroneous processing due
to fluctuating battery voltage levels, and reduce the sensitivity to
variations in motor current signals due to dynamic motor load,
manufacturing variation, system aging, temperature, brush bounce, EMI,
and other factors. The system and method also include an improved ability
to multiplex additional external motor drivers to the motor control
circuitry, select between sequential and simultaneous drive modes using
an SPI bit, and monitor the system controller for an error condition and
simultaneously driver motors in response to the error condition.