Introduction

The HDSL firmware running on ICSS-PRU provides a defined well interface to execute the HDSL protocol. The HDSL diagnostic application described here interacts with the firmware interface.

HDSL diagnostic application does below,

Configures pinmux, GPIO, ICSS clock to 225MHz,
Initializes ICSS0-PRU1, ICSS0-IEP0 and IEP1(for SYNC mode support.Timesync router is used to latch the loopback.),
Loads lookup table for encoding/decoding of Hiperface data
Loads the initialization section of PRU firmware & executes it.

Firmware is split to three sections, initialization, datalink and transport. At startup, the application displays details about encoder and status. It then presents the user with menu options, based on the option selected, application communicates with HDSL interface and the result is presented to the user.

Features Supported

PRU firmware source
External pulse synchronization
Safe position
Supports upto 100m cable
Communication status
Register interface to be compatible with SICK HDSL FPGA IP Core. (except registers that have different functionality for read and write)
Parameter channel communication (short message write)

SysConfig Features

Note: It is strongly recommend to use SysConfig where it is available instead of using direct SW API calls. This will help simplify the SW application and also catch common mistakes early in the development cycle.

SysConfig can be used to configure things mentioned below:

Selecting the ICSSG0PRUx instance.(Tested on ICSSG0-PRU1)
Configuring PINMUX.

Features Not Supported

In general, peripherals or features not mentioned as part of "Features Supported" section are not supported, including the below

Fast position, speed
Pipeline channel
Short message read
Safety

Important files and directory structure

Folder/Files	Description
${SDK_INSTALL_PATH}/examples/motor_control/hdsl_diagnostic
hdsl_diagnostic.c	Hdsl diagnostic application
hdsl_lut.c	Look up tables for HDSL.
${SDK_INSTALL_PATH}/source/motor_control/position_sense/hdsl
firmware/	Folder containing HDSL PRU firmware sources.

Supported Combinations

Parameter	Value
CPU + OS	r5fss0-0 freertos
ICSSG	ICSSG0
PRU	PRU1
Toolchain	ti-arm-clang
Board	am64x-evm
Example folder	examples/motorcontrol/hdsl_example

Steps to Run the Example

Hardware Prerequisites

Other than the basic EVM setup mentioned in EVM Setup, below additional HW is required to run this demo

HDSL encoder
Below are two options to connect encoder to AM64x EVM.
- Option 1
  - TIDA-00179 Universal Digital Interface to Absolute Position Encoders, https://www.ti.com/tool/TIDA-00179
  - TIDEP-01015 3 Axis board
  - Interface card connecting EVM and TIDEP-01015 3 Axis board
  - Connect the Hiperface DSL encoder to HDSL+/-(Pin number 6 and 7) signals available on header J7 or Sub-D15 connector of the "Universal Digital Interface to Absolute Position Encoders" board.
- Option 2
  - HDSL AM64xE1 Transceiver. If application is using this card, define the macro HDSL_AM64xE1_TRANSCEIVER in the CCS project/make file.
  - Connect the Hiperface DSL encoder to J10.
  - HDSL AM64xE1 Transceiver supports two channels that can be used to support HDSL safety, multi axis servo drives.
  - Schematics are shared in the MCU+SDK package. For more design details of the transceiver card, please contact TI via E2E/FAE.
  - HDSL Transceiver Card Schematics document.

Hardware Setup(Using TIDA-00179, TIDEP-01015 and Interface board)

Hardware Setup

Hardware Setup(Using HDSL AM64xE1 Transceiver)

Hardware Setup

Build, load and run

When using CCS projects to build, import the CCS project and build it using the CCS project menu (see Using SDK with CCS Projects).
When using makefiles to build, note the required combination and build using make command (see Using SDK with Makefiles)
Launch a CCS debug session and run the executable, see CCS Launch, Load and Run
Refer to UART terminal for user interface menu options.

Sample Output

Shown below is a sample output when the application is run:

Freerun mode,

HDSL Diagnostic in freerun mode
Sync Mode,

HDSL Diagnostic in SYNC mode