http://www.freescale.com/files/microcontrollers/doc/support_info/BeyondBits2article18.pdf

Interesting looking White Paper on using the TPM module in a Freescale HCS08 
series micro for PWM motor driving. Discusses the various aspects of 
edge/centre aligned PWM, unipolar/bipolar, independent/complementary and 
sinusoidal modulation principles.

Looks like a good explanatory paper for those with minimal to no experience 
of doing this. 

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