With t_TMS570_LOW(nominal) = (PWML[7:0]) × 5 µs, the programmable time range is 5 µs to 1.28 ms. The MCU has to decide on an error (whether it should be forwarded) faster than t_TMS570_LOW - 5%. While this is appropriate for motor control/drive train, it is too narrow for a controller implementing strategic thinking for, say, autonomously navigating vessels. The AI may easily take hundreds of ms per cycle, but since required reaction times are even larger, using an RTOS would not be necessary -- given a broader range of t_TMS570_LOW.
For future TPSxxx devices, I suggest using the following parameterization:
t_TMS570_LOW(nominal) = 2^(PWML[4:1]) × (10 + 4 × PWML[0]) µs ~= 10 µs × sqrt(2)^(0...31), range 10 µs ... 0,46 s
