The EnDat diagnostic application, described here, demonstrates the EnDat receiver operation.
The EnDat driver provides a well defined set of APIs to expose EnDat receiver interface.
The diagnostic invokes these APIs to
Once these steps are executed,
Once initial setup is over,
After the user selects an EnDat command,
Following section describes the Example implementation of EnDat on ARM(R5F).
Folder/Files | Description |
---|---|
${SDK_INSTALL_PATH}/examples/motor_control/endat_diagnostic | |
endat_diagnostic.c | EnDAT diagnostic application |
${SDK_INSTALL_PATH}/source/motor_control/position_sense/endat | |
firmware/ | Folder containing EnDAT firmware sources. |
driver/ | EnDAT diagnostic driver. |
Parameter | Value |
---|---|
CPU + OS | r5fss0-0 freertos |
ICSSG | ICSSG0 |
PRU | PRU1 |
Toolchain | ti-arm-clang |
Board | am243x-evm, am243x-lp |
Example folder | examples/motorcontrol/endat_example |
Other than the basic EVM setup mentioned in EVM Setup, below additional HW is required to run this demo
Designator | ON/OFF | Description |
---|---|---|
J11 | OFF | VSENSE/ISENSE select |
J13 | OFF | VSENSE/ISENSE select |
J17 | Pin 1-2 Connected | SDFM Clock Feedback Select |
J18/J19 | J18 OFF & J19 ON | Axis 1: Encoder/Resolver Voltage Select |
J20/J21 | J20 ON & J21 OFF | Axis 2: Encoder/Resolver Voltage Select |
J22 | OFF | Axis 1: Manchester Encoding Select |
J23 | OFF | Axis 2: Manchester Encoding Select |
J24 | OFF | Axis 1: RS485/DSL MUX |
J25 | OFF | Axis 2: RS485/DSL MUX |
J26 | OFF | VSENSE/ISENSE Select |
J27 | ON | 3WIRE/SDFM MUX |
J28 | OFF | 3WIRE MUX |
Shown below is a sample output when the application is run:
Test detail | Steps | Pass/fail crieteria |
---|---|---|
To check position value | 1. Enter 1 to select "Encoder send position values" | Crc success |
To receive encoder's operating parameters(error messege) | 1. Enter 2 to select "Selection of memory area" | |
2. Enter "B9" in MRS code to select "Operating parameters" | Crc success | |
3. Enter 4 to select "Encoder to send parameter" | ||
4. Enter 0 in "parameter address" for selecting "Error message" | Crc success | |
To receive encoder's manufacture parameters for Endat 2.2 | 1. Enter 2 to select "Selection of memory area" | |
2. Enter "BD" in MRS code to select "Parameters of encoder manufacturer for Endat 2.2" | Crc success | |
3. Enter 4 to select "Encoder to send parameter" | Crc success | |
4. Enter 0 in "parameter address" for selecting "Status of additional info" | Crc success | |
To set values to encoder's operating parameters (error message) | 1. Enter 2 to select "Selection of memory area" | |
2. Enter "B9" in MRS code to select "Operating parameters" | Crc success | |
3. Enter 3 to select "Encoder to receive parameter" | ||
4. Enter 0 in "parameter address" for selecting "Error message" | ||
5. Enter 0 in "parameter value" for seting value in " Error message" | Crc success | |
To set values to encoder's manufacturing parameters for Endat 2.2(Status of additional info) | 1. Enter 2 to select "Selection of memory area" | |
2. Enter "BD" in MRS code to select "Parameters of encoder manufacturer for Endat 2.2" | Crc success | |
3. Enter 3 to select "Encoder to receive parameter" | ||
4. Enter 0 in "parameter address" for selecting "Status of additional info" | ||
5. Enter 0 in "parameter value" for seting value in " Status of additional info" | Crc success | |
To reset encoder | 1. Enter 5 to select "Encoder receive reset" | Crc success |
To receive test values from encoder with port address "0" | 1. Enter 7 to select "Encoder receive test command" | |
2. Enter 0 in "enter port address" | ||
3. Enter 6 to select "Encoder send test values" | Crc success | |
To receive test values from encoder with port address "E" | 1. Enter 7 to select "Encoder receive test command" | |
2. Enter "E" in "enter port address" | ||
3. Enter 6 to select "Encoder send test values" | Crc success | |
To check position value with aditional info. | 1. Enter 8 to select "Encoder send position values + AI(s)" | Crc success |
To receive encoder's operating parameters(error messege) +receive position value with additional info | 1. Enter 9 to select "Encoder send position values + AI(s) and Selection of memory area" | |
2. Enter "B9" in MRS code to select "Operating parameters" | Crc success | |
3. Enter 11 to select "Encoder send position values + AI(s) and send parameter" | ||
4. Enter 0 in "parameter address" for selecting "Error message" | Crc success | |
To receive encoder's manufacture parameters for Endat 2.2 +receive position value with additional info | 1. Enter 9 to select "Encoder send position values + AI(s) and Selection of memory area" | |
2. Enter "BD" in MRS code to select "Parameters of encoder manufacturer for Endat 2.2" | Crc success | |
3. Enter 11 to select "Encoder send position values + AI(s) and send parameter" | ||
4. Enter 0 in "parameter address" for selecting "Status of additional info" | Crc success | |
To set values to encoder's operating parameters (error message) +receive position value with additional info | 1. Enter 9 to select "Encoder send position values + AI(s) and Selection of memory area" | |
2. Enter "B9" in MRS code to select "Operating parameters" | Crc success | |
3. Enter 10 to select "Encoder send position values + AI(s) and receive parameter" | ||
4. Enter 0 in "parameter address" for selecting "Error message" | ||
5. Enter 0 in "parameter value" for seting value in " Error message" | Crc success | |
To set values to encoder's manufacturing parameters for Endat 2.2(Status of additional info) +receive position value with additional info | 1. Enter 9 to select "Encoder send position values + AI(s) and Selection of memory area" | |
2. Enter "BD" in MRS code to select "Parameters of encoder manufacturer for Endat 2.2" | Crc success | |
3. Enter 10 to select "Encoder send position values + AI(s) and receive parameter" | ||
4. Enter 0 in "parameter address" for selecting "Status of additional info" | ||
5. Enter 0 in "parameter value" for seting value in " Status of additional info" | Crc success | |
To reset encoder +receive position value with additional info | 1. Enter 12 to select "Encoder send position values + AI(s) and receive error reset" | Crc success |
1. Enter 14 to select "Encoder receive communication command" | Crc success | |
2. Enter ______in "enter encoder address" | Crc success | |
3. Enter _____ in "instruction hex value" | Crc success | |
1. Enter 14 to select "Encoder receive communication command" | Crc success | |
2. Enter ______in "enter encoder address" | Crc success | |
3. Enter _____ in "instruction hex value" | Crc success | |
Configure Clock | 1. Enter 100 to select "configure clock" | Crc success(Tested up to 8MHz) |
2. Enter ___ for clock frequency(in Hz) | ||
Simulate motor control 2.1 position loop | 1. Enter 101 to select "Simulate motor control 2.1 position loop" | |
2. Enter 10000 to select "clock frequency" | ||
3. Rotate the rotor of motor and see the changes in Position value on UART | Position Values are changing when rotor moves | |
Toggle raw data display | 1. Enter 102 to select "Toggle raw data display" | |
2. Enter 1 to select "Encoder send position value" | raw data can be displayed | |
Configure TST delay | ||
Start continous mode | 1. Enter 104 to select "Start continous mode" | |
2. Rotate the rotor of motor and see the changes in Position value on UART | Position Values are changing when rotor moves | |
Configure rx arm counter | 1. Enter 105 to select "Configure rx arm counter" | |
2. Enter 0 to select channel 0(only for multi channel configuration) | ||
3. Enter ___ to "select time in ns" | ||
configure rx clock disable time | 1. Enter 106 to select "configure rx clock disable time" | |
2. Enter 0 to select channel 0(only for multi channel configuration) | ||
3. Enter ___ to "select time in ns" | ||
Simulate motor control 2.2 position loop(safety) | 1. Enter 107 to select "Simulate motor control 2.2 position loop" | |
3. Enter 10000 to select "clock frequency" | ||
4. Rotate the rotor of motor and see the changes in Position value on UART | Position Values are changing when rotor moves | |
Configure propogation delay(td) | 1. Enter 108 to select configure propagation delay | |
2. Enter 0 to select channel 0(only for multi channel configuration) | ||
To read Recovery Time | 1. Enter 8 to select "Encoder send position values + AI(s)" | Crc Success |
2. Enter 110 for read recovery time from DMEM | Recovery Time is set to 1.25 us <= RT <= 3.75us or 10 us <= RT <= 30 us |