Real-time communication with encoders and current sensing is typically handled by the Programmable Real-Time Unit Industrial Communication Subsystem (PRU-ICSS). The PRU-ICSS is a co-processor subsystem containing Programmable Real-Time (PRU) cores which implement the low level firmware. The PRU-ICSS frees up the main ARM cores in the device for other functions, such as control and data processing.

Applications and PRU-ICSS firmwares for position sense and current sense are provided in the SDK.

Attention: This SDK also includes AM243X Industrial Communications SDK and AM243X MCU+ SDK.

Getting Started

To get started, see GETTING STARTED page.

Note: To build examples from Industrial Communications SDK and MCU+ SDK using CCS projects, user has to add ${SDK_INSTALL_PATH}/ind_comms_sdk path and ${SDK_INSTALL_PATH}/mcu_plus_sdk path to "Product discovery path" respectively in CCS (from Window->Preferences->Code Composer Studio->Products)

Block Diagram

Given below is a block diagram of the SW modules in this SDK

Software Block Diagram

The main software components in the block diagram specific to motor control are described below

Software Components	Documentation Page	Description
Position Sense Encoders
BISS-C	BISS-C	Driver and PRU-ICSS firmware for BISS-C encoder interface
EnDat	EnDat	Driver and PRU-ICSS firmware for EnDat encoder interface
HDSL	HDSL	Driver and PRU-ICSS firmware for Hiperface DSL encoder interface
Nikon A-Format	Nikon A-Format	Driver and PRU-ICSS firmware for Nikon A-Format encoder interface
Tamagawa	Tamagawa	Driver and PRU-ICSS firmware for Tamagawa encoder interface
Current Sense
SDFM	SDFM	Driver and firmware for current sense using Sigma-Delta Filtering Module
Real Time Libraries
Control algorithms	Control algorithms	Library for control algorithms and techniques used in motors such as PMSM and BLDC
Digital Control Library (DCL)	Digital Control Library (DCL)	Header-only library for digital control applications
Observer algorithms	Observer algorithms	Header-only library for encoder/observer algorithms used in both sensored/sensorless field oriented control (FOC)
Transforms	Transformation Algorithm	Transformation including Clarke, Park, Space Vector Generation used in motor control applications.
PRU-ICSS PWM
PRU-ICSS PWM	PRU-ICSS PWM	Driver for using PRU-ICSS PWM Peripheral
Examples and Demos
Examples and Demos	Examples and Demos	Examples and demos showing usage of different SW libraries and APIs for motor control

For details on software components of Industrial Communications SDK and MCU+ SDK, please refer to AM243X Industrial Communications SDK and AM243X MCU+ SDK respectively.

Directory Structure

Given below is a overview of the directory structure to help you navigate the SDK and related tools.

Folder/Files	Description
${SDK_INSTALL_PATH}/
README_FIRST_AM243X.html	Open this file in a web browser to reach this user guide
makefile	Top level makefile to build the whole SDK using "make"
imports.mak	Top level makefile to list paths to dependent tools
docs/	Offline browseable HTML documentation
examples/	Example applications for AM243X, across multiple boards
source/	Device drivers, middleware libraries and APIs
ind_comms_sdk/	Industrial Communications SDK
mcu_plus_sdk/	MCU+ SDK

Given below are the paths where the different tools needed outside the SDK, like CCS, SysConfig are installed by default in Windows. In Linux, the tools are installed by default in ${HOME}/ti.

Folder/Files	Description
C:/ti/ccs1270	Code composer studio
C:/ti/sysconfig_1.20.0	SysConfig. NOTE, SysConfig is also installed as part of CCS at ${CCS_INSTALL_PATH}/ccs/utils/sysconfig_x.x.x
C:/ti/ti-cgt-armllvm_3.2.2.LTS	TI ARM CLANG compiler tool chain

Licenses

The licensing information of this SDK, as well as any third-party components included which are made available under a number of other open-source licenses are enumerated as part of the manifest. A complete manifest along with export control information is detailed here [LINK] and the SDK Software License Agreement (SLA) is here [LINK]

Help and Support

For additional help and support, see https://e2e.ti.com/support/microcontrollers/arm-based-microcontrollers-group/arm-based-microcontrollers/f/arm-based-microcontrollers-forum

Documentation Credits

This user guide is generated using doxygen, v1.8.20. See https://www.doxygen.nl/index.html