The ePWM outputs can be monitored for proper operation by an input capture peripheral, such as the eCAP . The connection between ePWM output and eCAP input can be made either externally in the board or internally using XBAR. Error response, diagnostic testability, and any necessary software requirements are defined by the software implemented by the system integrator. Similarly eCAP can be tested by periodically measuring ePWM pulse width. XINTxCTR (counter of XINT module), capture mode of eQEP and DCCAP (PWM event filter unit) can also be used to detect rising and falling edges of the PWM and extract the timestamping information. This information can be further used to build additional diagnostics.