Release Notes 09.02.00

Table of Contents

• New in this Release
• Device and Validation Information
• Tools, Compiler and Other Open Source SW Module Information
• Key Features
  • Current Sense
  • Position Sense
  • Real Time Libraries
• Fixed Issues
• Known Issues
• Limitations
• Upgrade and Compatibility Information for Motor Control SDK 09.02.00
  • Examples
  • Drivers

Attention

Also refer to individual module pages for more details on each feature, unsupported features, important usage guidelines.

For release notes of Industrial Communications SDK and MCU+ SDK, please refer to AM243X Industrial Communications SDK Release Notes 09.02.00 and AM243X MCU+ SDK Release Notes 09.02.00 respectively.

Note

The examples will show usage of SW modules and APIs on a specific CPU instance and OS combination.
Unless noted otherwise, the SW modules would work in both FreeRTOS and NORTOS environment.
Unless noted otherwise, the SW modules would work on any of the R5F's present on the SOC.
Unless noted otherwise, the SW modules would work on all supported EVMs

Tamagawa over SoC UART example is not supported for AM243x

New in this Release

Feature	Module
Three channel Nikon A-Format with one PRU-ICSSG Slice	Position Sense Nikon A-Format
Point-to-point and bus connection support for Nikon A-Format	Position Sense Nikon A-Format
Multiple baud rate support : 2.5 MHz, 4 MHz, 6.67 MHz, 8 MHz, and 16 MHz	Position Sense Nikon A-Format
Long cable (upto 100 meters)	Position Sense Nikon A-Format
Updated HDSL position realignment algorithm	Position Sense HDSL
Readiness for BiSS Safety profile by supporting 16 bit CRC and sign-of-life counter	Position Sense BiSS-C
Compare event based command trigger support	Position Sense BiSS-C
SysConfig Enhancements	Current Sense SDFM
SINC1 and SINC2 Filtering	Current Sense SDFM
Deadband Configuration	PRU-ICSS PWM
Control Library	Real Time Libraries
Observer Library	Real Time Libraries

Device and Validation Information

SOC	Supported CPUs	Boards	Host PC
AM243x	R5F	AM243x EVM (referred to as am243x-evm in code), AM243x LAUNCHPAD (referred to as am243x-lp in code)	Windows 10 64b or Ubuntu 18.04 64b

Tools, Compiler and Other Open Source SW Module Information

Tools / SW module	Supported CPUs	Version
Code Composer Studio	R5F, M4F	12.7.0
SysConfig	R5F, M4F	1.20.0, build 3587
TI ARM CLANG	R5F, M4F	3.2.2.LTS
FreeRTOS Kernel	R5F, M4F	10.4.3
Tiny USB	R5F	0.14.0
LwIP	R5F	STABLE-2_2_0_RELEASE
Mbed-TLS	R5F	mbedtls-2.13.1

Key Features

Current Sense

Module	Supported CPUs	SysConfig Support	OS Support	Key features tested	Key features not tested
ICSS SDFM	R5F	YES	FreeRTOS, NORTOS	Three SDFM channels on single PRU core, Nine SDFM channels on three PRU cores (load share mode), SDFM Sync with EPWM, Single/Double Normal Current Sampling per PWM cycle, Continuous Normal Current Sampling, High and Low Threshold Comparator (Over-current detction), Fast Detect, Phase Compensation, Zero Cross Detection, Trip Generation using PRU-ICSS TripZone, Tested with SDFM clock from ECAP, Tested with 5MHz Clock from EPWM	-

Position Sense

Module	Supported CPUs	SysConfig Support	OS Support	Key features tested	Key features not tested
BiSS-C	R5F	YES	FreeRTOS, NORTOS	Single channel, Multi channel using single PRU core and three PRU cores (load share mode), point-to-point connection, daisy chaining, control communication, automatic processing delay detection and compensation, interface speed of 1, 2, 5, 8, and 10 MHz, Long cable (upto 100 meters), safety CRC, sign-of-life counter, Boosterpack with AM243x-LP	-
EnDat	R5F	YES	FreeRTOS, NORTOS	Single channel, Multi channel using single PRU core and three PRU cores (load share mode), Continuous mode, Recovery Time for 2.2 command set, Long cable (upto 100 meters), Boosterpack with AM243x-LP	Encoder receive communication command
HDSL	R5F	YES	FreeRTOS, NORTOS	Single channel, Multi channel using three PRU cores (load share mode), Free Run mode, Sync mode, Short Message Read and Write, Long Message Read and Write, Pipeline Channel Data, Long cable (upto 100 meters) with single channel Free Run mode, Boosterpack with AM243x-LP	225 MHz PRU-ICSSG Core Clock based firmware, Multi-channel with long cables(100m length), Long cable (upto 100 meters) with sync mode
Nikon A-Format	R5F	YES	FreeRTOS, NORTOS	Single channel, Multi channel using single PRU core and three PRU cores (load share mode), point-to-point connection, bus connection, ndividual and multiple transmission mode with encoder addresses ranging between ENC1-ENC8, baud rates from 2.5 MHz, 4 MHz, 6.67 MHz, 8 MHz, and 16 MHz, up to 40-bit absolute position (single turn + multi turn) data with additional information, long cable (upto 100 meters), Boosterpack with AM243x-LP	-
Tamagawa	R5F	YES	FreeRTOS, NORTOS	Absolute position, Encoder ID, Reset, EEPROM Read, EEPROM Write, 2.5 Mbps and 5 Mbps Encoder Support, Boosterpack with AM243x-LP	-

Real Time Libraries

Module	Supported CPUs	SysConfig Support	OS Support	Key features tested	Key features not tested
Control	R5F	YES	FreeRTOS, NORTOS	Field Weakening Control, Maximum Torque Per Ampere, Strator voltage frequency generator support	-
Digital Control Library (DCL)	R5F	YES	FreeRTOS, NORTOS	Linear PI, Linear PID, Linear PI with double integrator (PI2), Direct Form 1 (first order), Direct Form 1 (second order), Direct Form 1 (third order), Direct Form 2 (second order), Direct Form 2 (third order), Non-linear PID controller	-
Observer	R5F	YES	FreeRTOS, NORTOS	Sensored eQEP-based encoder, Hall sensor, Sensorless Enhanced Sliding Mode Observer, both speed measurement for sensored (speedcalc) and sensorless (speedfr)	-
Transforms	R5F	YES	FreeRTOS, NORTOS	Clarke transformation, Park transformation, Inverse Park transformation, Space Vector Generation (SVGEN), Common-mode subtraction approach, DPWM Generation (Part of SVGEN), Maximum Modulation, Minimum Modulation, SVGEN current reconstruction for single-shunt (SVGENCURRENT), Phase voltage reconstruction in overmodulation (VOLTS_RECON)	-

Fixed Issues

ID	Head Line	Module	Applicable Releases	Resolution/Comments
PINDSW-6630	HDSL: POS bit is not set during initial fast position alignment	Position Sense HDSL	9.0 onwards	-
PINDSW-7158	HDSL: Reset Value of SSUM bit is not correct	Position Sense HDSL	9.0 onwards	-
PINDSW-7480	HDSL: Continuous short/long message requests cause PRU to get stuck	Position Sense HDSL	9.0 onwards	-
PINDSW-7498	ROV is not working for the Industrial Communication SDK Examples which are part of Motor Control SDK	Examples	9.1 onwards	-
PINDSW-7560	PRU firmware build in Motor Control SDK is failing in Linux environment	Examples	9.1 onwards	-
PINDSW-7567	PRUICSS PWM : Mapping of pwm signals PWMm_0_NEG to PWMm_A1, PWMm_1_POS to PWMm_A2, PWMm_1_NEG to PWMm_B0, PWMm_2_POS to PWMm_B1 is not correct	PRUICSS PWM	9.1 onwards	-
PINDSW-7595	SDFM: SDFM_init API does not have support for ICSSG1	Current Sense SDFM	9.0 onwards	-
PINDSW-7642	Docs: The tool versions of older releases in Release Notes are not correct	Documentation	9.1 onwards	-
PINDSW-7696	Unable to use SBL OSPI boot mode for all the demo applications of Motor Control SDK	Examples	9.1 onwards	-
PINDSW-7756	Tamagawa: After stopping periodic trigger mode, firmware gets stuck	Position Sense Tamagawa	9.1 onwards	-
PINDSW-7758	BiSS-C: Firmware does not work when changing ICSSG Core Clock Frequency to 300MHz	Position Sense BiSS-C	9.1 onwards	Clock dividers for Three Channel Peripheral Interface were not being set correctly for 300MHz
PINDSW-7940	Transforms: UART Log does not work in transforms_test example	Real Time Libraries	9.1 onwards	-

Known Issues

ID	Head Line	Module	Applicable Releases	Workaround
PINDSW-5537	HDSL not working with 225 MHz PRU-ICSSG Core Clock Frequency	Position Sense HDSL	9.0 onwards	Use 300 MHz frequency for PRU-ICSSG Core Clock
PINDSW-5690	HDSL: EDGE register is not updated	Position Sense HDSL	9.0 onwards	-
PINDSW-6486	HDSL: RSSI register shows higher values than expected for a non-noisy setup	Position Sense HDSL	9.0 onwards	-
PINDSW-6544	SDFM: Incorrect samples seen intermittently with EPWM as SDFM clock	Current Sense SDFM	9.0 onwards	Use 5MHz SDFM clock from EPWM1 (tested with 5MHz clock from EPWM) or use PRU-ICSSG ECAP as SDFM clock source
PINDSW-7130	HDSL: Few protocol resets seen during initialization with Free Run mode on AM243x-LP	Position Sense HDSL	9.0 onwards	-
PINDSW-7163	HDSL: Trailer data contains 4 zeros instead of 5	Position Sense HDSL	9.0 onwards	-
PINDSW-7474	HDSL : 100 meter cable length does not work for sync mode in 300MHz PRU clock	Position Sense HDSL	9.0 onwards	-

Limitations

ID	Head Line	Module	Reported in Release	Applicable Devices	Workaround
MCUSDK-208	gmake with -j can sometimes lock up Windows command prompt	Build	7.3.0	AM64x, AM243x	Use bash for windows as part of git for windows or don't use -j option

Upgrade and Compatibility Information for Motor Control SDK 09.02.00

Attention

When migrating from MCU+ SDK, see Migration Guide for more details.

This section lists changes which could affect user applications developed using Motor Control SDK 09.01.00. Read this carefully to see if you need to do any changes in your existing application when migrating to this SDK version relative to previous SDK version. Also refer to older SDK version release notes to see changes in earlier SDKs.

Examples

Module	Affected API	Change	Additional Remarks
Current Sense SDFM	Structure SdfmPrms_s	Added a variable: icssgInsId	-
Position Sense BiSS-C	bissc_update_data_len	Changed API parameter: pru_num to ch_num	-
Position Sense BiSS-C	bissc_generate_ctrl_cmd	Added an API: bissc_generate_ctrl_cmd	Needed to generate Hex equivalent command
Position Sense BiSS-C	Structure bissc_periodic_interface	Removed pruicss_cfg and pruicss_dmem variables, and added variable cmp0	Needed for time trigger
Current Sense SDFM	Structure SdfmPrms_s	Added sub structures for sdfm parameters: SdfmClkPrms_s, SdfmCompFilterPrms_s, SdfmChannelPrms_s	Split SDFM parameters into multiple structures
Position Sense EnDat	Structure endat_periodic_interface	Removed pruicss_cfg variable and added variable cmp0	-
Position Sense Tamagawa	Structure tamagawa_periodic_interface	Removed pruicss_cfg variable and added variable cmp0	-

Drivers

Module	Affected API	Change	Additional Remarks
PRUICSS PWM	PRUICSS_PWM_actionOnOutputCfgPwmSignalB0	Updated definition to configure action of PWMn_m_0_NEG signal in active, intial, trigger states	-
PRUICSS PWM	PRUICSS_PWM_actionOnOutputCfgPwmSignalA1	Updated definition to configure action of PWMn_m_1_POS signal in active, intial, trigger states	-
PRUICSS PWM	PRUICSS_PWM_actionOnOutputCfgPwmSignalB1	Updated definition to configure action of PWMn_m_1_NEG signal in active, intial, trigger states	-
PRUICSS PWM	PRUICSS_PWM_actionOnOutputCfgPwmSignalA2	Updated definition to configure action of PWMn_m_2_POS signal in active, intial, trigger states	-
Current Sense SDFM	SDFM_init	Added new parameter: PRU-ICSSG handle.	-
Position Sense BiSS-C	Structure bissc_priv	Added variables: is_continuous_mode, ctrl_write_status[NUM_ED_CH_MAX], ctrl_reg_address[NUM_ED_CH_MAX], ctrl_reg_data[NUM_ED_CH_MAX], ctrl_enc_id[NUM_ED_CH_MAX].	Required to generate Hex equivalent control command and continuous mode
Position Sense BiSS-C	bissc_generate_ctrl_cmd	Added API: bissc_generate_ctrl_cmd.	Required to generate Hex equivalent control command
Position Sense BiSS-C	bissc_get_totalchannels, bissc_get_current_channel, bissc_clear_data_len	Added API: bissc_get_totalchannels, bissc_get_current_channel, bissc_clear_data_len.	Required to offload priv variable assignments from examples
Position Sense BiSS-C	bissc_config_host_trigger, bissc_config_periodic_trigger	Updating priv->is_continuous_mode	Required for continuous mode
Position Sense BiSS-C	bissc_command_wait	Checking for priv->is_continuous_mode	Required for continuous mode
Position Sense BiSS-C	bissc_set_default_initialization	Updating Structure variables: is_continuous_mode, ctrl_reg_address, ctrl_enc_id	Required for continuous mode and control command generation
Current Sense SDFM	Structure SDFM_s	Added a variable: gPruPwmHandle
Current Sense SDFM	Structure SDFM_s	Added a void pointer: prussIep
Current Sense SDFM	SDFM_setCompFilterThresholds	Updated parameter type
Current Sense SDFM	SDFM_selectClockSource	Updated parameter name and type
Position Sense EnDat	Structure cmd_supplement	Added a variable: cmp0
Position Sense EnDat	Structure endat_priv	Added a variable: cmp0
Position Sense Tamagawa	Structure tamagawa_priv	Added a variable: cmp0
PRUICSS PWM	PRUICSS_PWM_iepConfig	PRUICSS_PWM_configureIepCompareEnable API call is removed from the PRUICSS_PWM_iepConfig function	PRUICSS_PWM_configureIepCompareEnable needs to be called separately to enable IEP cmp events