AM243x Motor Control SDK  09.01.00
EnDAT Diagnostic

Table of Contents

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

  • initialize EnDat,
  • select one configuration among concurrent multi channel with Encoders of Same make, multi channel with Encoders of Different Make and single channel configuration based on SysConfig.
  • select the channel (channels in the case of concurrent multi channel with encoders of same make or multi channel with Encoders of Different Make),
  • configure the host trigger mode,
  • and run the firmware.
  • If using "Multi Channel with Encoders of Different Make" configuration is selected" :
    • enable load share mode.
    • select primary core for global configuration.
    • configuration of synchronization bits.

Once these steps are executed,

  • the driver waits for the EnDat to be initialized.
  • It then sets clock frequency to 200KHz (as propagation delay is not yet compensated)
  • and obtains the encoder details including serial number, position resolution etc, and displays on the console/UART.
  • Based on the whether encoder is 2.2 or 2.1 type, it sets clock to either 8MHz or 1MHz respectively.
  • While configuring clock, propagation delay is taken care using the automatically estimated propagation delay (user can override it too).
  • In the case of concurrent Multi Channel with Encoders of Same Make or Multi Channel with Encoders of Different Make, if propagation delay between various channels are different, that too is automatically taken care.

Once initial setup is over,

  • the diagnostic provides the user with a self explanatory menu.
  • Two types of menu options are presented. One type (1-14) will send an EnDat command as per EnDat 2.2 specification.
  • The other type (100-108) allows the user to configure clock frequency, various timing parameters, simulate motor control loop using 2.1 command as well as 2.2 command with safety (redundant position information), switch to continuous clock mode and monitor raw data.
  • Concurrent multi channel with Encoder of Same Make configuration can work simultaneously for up-to three encoders with identical part number, all variants of 2.2 position commands as well as the 2.1 position command is supported and an additional option (109) to configure wire delay (useful when propagation delay in each channel is different) is available.
  • Single PRU core handles enabled channels in single channel and Multi Channel with Encoders of Same Make configuration.
  • Application by default, handles wire delay as required, the menu option provides a way to override it.

After the user selects an EnDat command,

  • the diagnostic asks for more details to frame the command and performs a basic sanity check on the user entered values.
  • Then the EnDat APIs are invoked to process the command set, set the host trigger bit and waiting until the host trigger bit cleared, If multi-channel with Encoders of Different make is used, these operations are done for each channel".
  • The received EnDat is processed & validated using the defined APIs. The result is then presented to the user.

Channel Selection In Sysconfig

Channel Selection In Sysconfig
EnDAT configuration seletion between Single/Multi channel

Endat Example Implementation

Following section describes the Example implementation of EnDat on ARM(R5F).

Endat Example

Important files and directory structure

Folder/Files Description
${SDK_INSTALL_PATH}/examples/position_sense/endat_diagnostic
endat_diagnostic.c EnDAT diagnostic application
${SDK_INSTALL_PATH}/source/position_sense/endat
firmware/ Folder containing EnDAT firmware sources.
driver/ EnDAT diagnostic driver.

Supported Combinations

Parameter Value
CPU + OS r5fss0-0 freertos
ICSSG ICSSG0
PRU PRU1 (single channel, multi channel using single PRU)
PRU1, RTU-PRU1, TXPRU1 (multi channel using three PRUs - load share mode)
Toolchain ti-arm-clang
Board am243x-evm (3 channel and 1 channel examples), am243x-lp (2 channel and 1 channel examples)
Example folder examples/position_sense/endat_diagnostic

Steps to Run the Example

Hardware Prerequisites

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

Note
For more design details of the TIDEP-01015 3 Axis Board, or Interface card connecting EVM and TIDEP-01015 3 Axis, please contact TI via E2E/FAE.

Hardware Prerequisities for Booster Pack

Hardware Setup

Hardware Setup

Hardware Setup(Using Booster Pack & AM243x-LP)

Hardware Setup of Booster Pack + LP for EnDat

Booster Pack Jumper Configuration

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

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:

EnDAT Usage

Test Case Description

S.No Test Details Steps Pass/Fail Criteria
1. To check position value 1. Enter 1 to select "Encoder send position values" CRC success
2. To receive 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 4 to select "Encoder to send parameter"
4. Enter 00 in "parameter address" for selecting "Error message" CRC success
3. To receive encoder's operating parameters (Warning message) 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 01 in "parameter address" for selecting "Error message" CRC success
4. 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 1" CRC success
5. To set values to encoder's operating parameters (Clear 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
6. To set values to encoder's operating parameters (Clear warning 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 01 in "parameter address" for selecting "Error message"
5. Enter 0 in "parameter value" for seting value in " Error message" CRC success
7. To set values to encoder's manufacturing parameters for Endat 2.2(Status of additional info) 1. Enter 9 to select "Encoder send position values + Additional Information(s) and Selection of memory area"
2. Enter "45" in MRS code to select "Parameters of encoder manufacturer for Endat 2.2" CRC success
3. Enter 9 to select "Encoder send position values + Additional Information(s) and Selection of memory area" CRC success
4. Enter "BD" in MRS code to select "Memory parameter (LSB)" of Additional Information 1 CRC success
5. Enter 10 to select "Encoder send position values + Additional Information(s) and receive parameter"
6. Enter 0 in "parameter address" for selecting "Status of additional info"
7. Enter 1235 (or any 2 byte value) in "parameter value" for seting value in " Status of additional info" CRC success
8. Enter 8 to select "Encoder send position values + Additional Information(s)"
  Note: Write is not permenant. When read again using Command 11, encoder will return the default value 		Values followed by 0x45 represents last byte of the data received by encoder
Crc success
8. To reset encoder 1. Enter 5 to select "Encoder receive reset" CRC success
9. 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
10. 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
11. To check position value with aditional info. 1. Enter 9 to select "Encoder send position values + Additional Information(s) and Selection of memory area" CRC success
2. Enter "47" in MRS code to select "Acknowledge MRS code" of Additional Information 1 CRC success
3. Enter 9 to select "Encoder send position values + Additional Information(s) and Selection of memory area"
4. Enter "56" in MRS code to select "Asynchronous Position value word 1 LSB" of Additional Information 2 CRC success
5. Enter 8 to select "Encoder send position values + Additional Information(s)" CRC success
12. To receive encoder's operating parameters(error messege) +receive position value with additional info 1. Enter 9 to select "Encoder send position values + Additional Information(s) and Selection of memory area"
2. Enter "45" in MRS code to select "Memory parameter (LSB)" of Additional Information 1 CRC success
3. Enter 9 to select "Encoder send position values + Additional Information(s) and Selection of memory area"
4. Enter "B9" in MRS code to select "Operating parameters" CRC success
5. Enter 11 to select "Encoder send position values + Additional Information(s) and send parameter"
6. Enter 0 in "parameter address" for selecting "Error message" CRC success
7. Enter 8 to select "Encoder send position values + Additional Information(s)" CRC success
13. 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 + Additional Information(s) and Selection of memory area"
2. Enter "45" in MRS code to select "Memory parameter (LSB)" of Additional Information 1 CRC success
3. Enter 9 to select "Encoder send position values + Additional Information(s) and Selection of memory area"
4. Enter "BD" in MRS code to select "Parameters of encoder manufacturer for Endat 2.2" CRC success
5. Enter 11 to select "Encoder send position values + Additional Information(s) and send parameter"
6. Enter 0 in "parameter address" for selecting "Status of additional info 1"
7. Enter 8 to select "Encoder send position values + Additional Information(s)" CRC success
14. To acknowledge MRS code for Endat 2.2 1. Enter 9 to select "Encoder send position values + Additional Information(s) and Selection of memory area"
2. Enter "47" in MRS code to select "Acknowledge MRS code" of Additional Information 1 CRC success
3. Enter 9 to select "Encoder send position values + Additional Information(s) and Selection of memory area
4. Enter "BD" or any other valid MRS code CRC success
5. Enter 8 to select "Encoder send position values + Additional Information(s)" Additional Information 1:0x47bd00
    (for MRS code = BD)
15. 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 + Additional Information(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 + Additional Information(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
16. 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 + Additional Information(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 + Additional Information(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
17. To receive encoder's OEM (Original Equipment Manufacturer) data 1. Enter 9 to select "Encoder send position values + Additional Information(s) and Selection of memory area"
2. Enter "45" in MRS code to select "Memory parameter (LSB)" of Additional Information 1 CRC success
3. Enter 9 to select "Encoder send position values + Additional Information(s) and Selection of memory area"
4. Enter A9 (or AB or AD) in MRS code to select the OEM memory CRC success
5. Enter 11 to select "Encoder send position values + Additional Information(s) and send parameter"
6. Enter 40 in "parameter address"
7. Enter 8 to select "Encoder send position values + Additional Information(s)" CRC success
18. To set values in OEM memory area 1. Enter 9 to select "Encoder send position values + Additional Information(s) and Selection of memory area"
2. Enter "A9" in MRS code to select "Operating parameters" CRC success
3. Enter 10 to select "Encoder send position values + Additional Information(s) and receive parameter"
4. Enter 40 in "parameter address"
5. Enter E9 in "parameter value" CRC success
19. To reset encoder +receive position value with additional info 1. Enter 12 to select "Encoder send position values + Additional Information(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
20. Configure Clock 1. Enter 100 to select "configure clock"
2. Enter ___ for clock frequency(in Hz) CRC success(Tested up to 8MHz)
21. Simulate motor control 2.1 position loop 1. Enter 101 to select "Simulate motor control 2.1 position loop"
2. Enter 1000 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
22. 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
23. Configure TST delay
24. Start continuous mode 1. Enter 104 to select "Start continuous mode"
2. Rotate the rotor of motor and see the changes in Position value on UART Position Values are changing when rotor moves
25. Configure rx arm counter 1. Enter 105 to select "Configure rx arm counter"
2. Enter 0 to select channel 0
3. Enter ___ to "select time in ns"
26. configure rx clock disable time 1. Enter 106 to select "configure rx clock disable time"
2. Enter 0 to select channel 0
3. Enter ___ to "select time in ns"
27. Simulate motor control 2.2 position loop(safety) 1. Enter 107 to select "Simulate motor control 2.2 position loop"
2. Enter 1000 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
28. Configure propogation delay(td) 1. Enter 108 to select configure propagation delay
2. Enter 0 to select channel 0
29. Configure Recovery time (tr) using EnDat 2.2 mode transmission 1. Enter 9 to select "Encoder send position values + Additional Information(s) and Selection of memory area"
2. Enter "B9" in MRS code to select "Operating parameters"
3. Enter 10 to select "Encoder send position values + Additional Information(s) and receive parameter"
4. Enter 03 in "parameter address" for selecting "Initializing the functions"
5. Enter 01 in "parameter value" for selecting low recovery time
               or
   Enter 02 in "parameter value" for selecting high recovery time 		CRC success
30. To read Recovery Time 1. Enter 8 to select "Encoder send position values + Additional Information(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
31. To test periodic continuous mode 1. Enter 200 to enable periodic mode
2. Enter 5000 (in ns) for position read time Position Values are changing when rotor moves
32. Long term test 1. Enter 111 to enable Long time continuous mode
2. press enter to stop the long term test The result shows the number of position command sent and the number of CRC failures received