Hello Fisher!

A lot of questions ...

The eHRPWM modules use a 16 bit counter (max. resolution 17 bit in up-down 
mode). Each A output has extended time resolution capability, while the B 
output only has conventional PWM capabilities.

The eCAP modules use a 32 bit counter. (AFAIR just one header pin is 
connected.)

There're 3 eQEP modules.

There's an 8 channel ADC in the CPU, but the last channel (AIN7) is not 
connected to a header pin (instead it measures the board voltage). So 12 
bit / 7 channel ADC is available.

Find some inspiration on using the PRUSS in my project libpruio 
<http://beagleboard.org/project/libpruio/>. Here's a direct link to the 
online-documentation 
<http://users.freebasic-portal.de/tjf/Projekte/libpruio/doc/html/>.

Good luck for your project.

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