AM243x Motor Control SDK  09.00.00


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

Tamagawa firmware and examples are based on EnDAT hardware interface from PRU-ICSSG.

Features Supported

  • Supports full-absolute SmartAbs & SmartInc encoders compatible with Smartceiver AU5561N1
  • Channel selection
  • Baud rate selection
  • 2.5 Mbps and 5 Mbps encoder support
  • Supports all Data Readout, Reset and EEPROM commands

Features Not Supported

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

  • Other baud rates.

SysConfig Features

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 ICSSG instance
  • Selecting the PRUx slice (Tested on ICSSG0-PRU1)
  • Configuring PINMUX, GPIO and ICSS clock to 200MHz
  • Channel selection
  • Baud rate selection

Tamagawa Design

Tamagawa Protocol Design explains the design in detail.