The concept of the application is to create a speed and current closed loop DC driver using an optical, Hall-like position sensor. It serves as an example of a DC motor control system design using a Freescale microprocessor with the eTPU. It also illustrates the usage of dedicated motor control eTPU functions that are included in the DC motor control eTPU function set. This application note also includes basic motor theory, system design concept, hardware implementation, and microprocessor and eTPU software design, including the FreeMASTER visualization tool.