Welcome to Motor Control SDK for AM243X. This SDK contains examples, libraries and tools to develop RTOS and no-RTOS based applications enabling real-time communication for position and current sense from motors, and real-time control libraries for Arm® Cortex®-R5F CPU and related peripherals.

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-based 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, users have 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)
To build Networking examples from MCU+ SDK using CCS projects:
- Import the project in CCS.
- Backup your .project file before making any changes.
- Open the .project file.
- Find all instances of "COM_TI_MOTOR_CONTROL_SDK_AM243X_INSTALL_DIR/mcu_plus_sdk" in locationURI attributes.
- Replace them with "MCU_PLUS_SDK_PATH".
- Save the file and rebuild the project in CCS.
- After these changes, all the linked files will be correctly resolved and the project will build as expected in CCS.

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
Datalog	Datalog	Library for storing the real time values of user selectable variables
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)
Software Frequency Response Analyzer	Software Frequency Response Analyzer	Library that enables developers to quickly measure the frequency response of their digital power converter.
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
TIDEP-01032 EtherCAT-Connected Single-Chip Dual-Servo Motor Drive Reference Design
Reference design	TIDEP-01032 EtherCAT-Connected Single-Chip Dual-Servo Motor Drive Reference Design	Reference design showcasing the ability of the AM243x device to support a fully integrated real-time servo motor drive control and industrial communication.
PRU-ICSS TIME SYNC
Timesync	PRU-ICSS TIME SYNC	Example showing clock synchronization between multiple devices using PRU-ICSS.
Examples and Demos
Examples and Demos	Examples and Demos	Examples and demos showing usage of different SW libraries and APIs for position sense, current sense, PRU-ICSS PWM and real-time libraries.

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 an 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/ccs1281	Code composer studio
C:/ti/sysconfig_1.22.0	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_4.0.1.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 in "${SDK_INSTALL_PATH}/docs/motor_control_sdk_*_manifest.html" file 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

Note: Arm is a registered trademark of Arm Limited (or its subsidiaries or affiliates) in the US and/or elsewhere.