Tamagawa diagnostic application does below,
Configures pinmux, GPIO, UART, ICSS clock to 200MHz, Initializes ICSS0-PRU1, Loads the initialization section of PRU firmware & executes it.
This application is controlled with a terminal interface using a serial over USB connection between the PC host and the EVM. Please connect a USB cable between the PC and the EVM/LP. A serial terminal application (like teraterm/ hyperterminal/ minicom) is then run on the host. To configure, select the serial port corresponding to the port emulated over USB by the EVM. The host serial port should be configured to 115200 baud, no parity, 1 stop bit and no flow control.
Connect the Tamagawa encoders via TIDA-00179 cards on a 3 axis board (TIDEP-01015) to the EVM. On AM243x LP, a Tamagawa encoder can be directly connected using a TIDA-00179 card.
The connections between AM243x LP and TIDA-00179 for Channel 0 are:
TAMAGAWA_CHANNEL0_TX -> PRG0_PRU1_GPO1, TAMAGAWA_CHANNEL0_TX_ENABLE -> PRG0_PRU1_GPO2, TAMAGAWA_CHANNEL0_RX -> PRG0_PRU1_GPO13, TAMAGAWA_CHANNEL0_CLK -> PRG0_PRU1_GPO0.
The Tamagawa receiver firmware running on ICSS0-PRU1 provides a defined interface. The Tamagawa diagnostic application interacts with the Tamagawa receiver firmware interface. It then presents the user with menu options to select Data ID code (as defined by Tamagawa) to be sent to the encoder. The application collects the data entered by the user and configures the relevant interface. Then via the Tamagawa receiver interface, the command is triggered. Once the command completion is indicated by the interface, the status of the transaction is checked. If the Status indicates success, the result is presented to the user.
Folder/Files | Description |
---|---|
${SDK_INSTALL_PATH}/examples/motor_control/tamagawa_diagnostic | |
tamagawa_diagnostic.c | Tamagawa diagnostic application |
${SDK_INSTALL_PATH}/source/motor_control/position_sense/tamagawa | |
firmware/ | Folder containing TAMAGAWA PRU firmware sources. |
driver/ | Tamagawa diagnostic driver. |
Parameter | Value |
---|---|
CPU + OS | r5fss0-0 freertos |
ICSSG | ICSSG0 |
PRU | PRU1 |
Toolchain | ti-arm-clang |
Board | am243x-evm, am243x-lp (E3 Revision) |
Example folder | examples/motor_control/tamagawa_diagnostic |
Other than the basic EVM setup mentioned in EVM Setup, additional hardware required to run this demo is mentioned below
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:
Data_ID | Name | Description | Pass/fail Criteria |
---|---|---|---|
Data ID 0 | Data readout (absolute position data) | In this command we will receive: Absolute rotor position value in field name ABS.. Errors and warnings in field name SF(status field) | CRC success with ABS, SF, CF and CRC values printed in the terminal. |
Data ID 1 | Data readout (multi-turn data) | In this command we will receive data about: No. of rotor turns in field name ABM. Errors and warnings in field name SF(status field). | CRC success with ABM, SF, CF and CRC values printed in the terminal. |
Data ID 2 | Endoder-ID | In this command we will receive data about : Tamagawa encoder make-ID in ENID field . Errors and warnings in field name SF(status field) | CRC success with ENID, SF, CF and CRC values printed in the terminal. |
Data ID 3 | Data readout(absolute+multiturn+encoder-ID) | In this command we will receive : Absolute rotor position value in field name ABS. No. of rotor turns in field name ABM. Tamagawa encoder make-ID in ENID field . Errors and warnings in field name SF(status field) Other warnings in field name ALMC | CRC success with ABS, ENID, ABM, ALMC, SF, CF and CRC values printed in the terminal. |
Data ID 6 | Writing to EEPROM | In this command you provide : Proper address of the EEPROM where you want to write Proper data that you want to write. As a response you recieve: Control Field for EEPROM Write command EEPROM address that you want to write to Data that you want to write to the EEPROM CRC value | CRC success with EDF, ADF, CF and CRC values printed in the terminal. |
Data ID D | Readout from EEPROM | In this command you provide : Proper address of the EEPROM that you want to read. As a response you recieve: Control Field for EEPROM Write command EEPROM address that you want to write to Data that you want to write to the EEPROM CRC value | CRC success with EDF, ADF, CF and CRC values printed in the terminal. |
Data ID 7 | Reset-Error | This command used to reset errors. | CRC success with ABS, SF, CF and CRC values printed in the terminal. |
Data ID 8 | Reset- absolute | This command used to reset absolute position data(ABS) | CRC success with ABS, SF, CF and CRC values printed in the terminal. |
Data ID C | Reset- multiturn | This command used to reset multi-turn data(ABM) | CRC success with ABS, SF, CF and CRC values printed in the terminal. |