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 AM261X Industrial Communications SDK Release Notes 10.02.00 and AM261X MCU+ SDK Release Notes 10.02.00 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

New in this Release

Feature	Module
Nikon A-format version 3.0	Position Sense Nikon A-format
Support for up to 8 encoders in bus connection	Position Sense Nikon A-format
Control algorithms	Real Time Libraries
Datalog	Real Time Libraries
Digital Control Library (DCL)	Real Time Libraries
Observer algorithms	Real Time Libraries
Software Frequency Response Analyzer	Real Time Libraries
Transformation Algorithm	Real Time Libraries

Device and Validation Information

SOC	Supported CPUs	EVM	Host PC
AM261x	R5F	AM261x Launchpad Rev E2 (referred to as am261x-lp in code).	Windows 10 64b or Ubuntu 18.04 64b or MacOS

Dependent Tools and Compiler Information

Tools	Supported CPUs	Version
Code Composer Studio	R5F	12.8.1
SysConfig	R5F	1.23.0 build, build 4000
TI ARM CLANG	R5F	4.0.1.LTS
FreeRTOS Kernel	R5F	11.1.0
LwIP	R5F	STABLE-2_2_0_RELEASE
Mbed-TLS	R5F	2.13.1

Key Features

Position Sense

Module	Supported CPUs	SysConfig Support	OS Support	Key features tested	Key features not tested
BiSS-C	R5F	YES	FreeRTOS, NORTOS	Single channel, point-to-point connection, control communication, automatic processing delay detection and compensation, Interface speed of 1, 2, 5, 8, and 10 MHz, Boosterpack with LP-AM261	Daisy chaining, Multi Transmission Mode
EnDat	R5F	YES	FreeRTOS, NORTOS	Single channel, Continuous mode, Recovery Time for 2.2 command set, Interface speed of 5 and 10 MHz, Boosterpack with LP-AM261	Encoder receive communication command
HDSL	R5F	YES	FreeRTOS, NORTOS	Single channel, 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 LP-AM261, 225 MHz PRU firmware	Long cable (upto 100 meters) with sync mode, Trace feature for logging registers
Nikon A-format	R5F	YES	FreeRTOS, NORTOS	Nikon A-format version 2.1 and version 3.0, Single channel, Multi channel using single PRU core, point-to-point connection, bus connection up to 8 encoders, Individual 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 LP-AM261	-
Tamagawa	R5F	YES	FreeRTOS, NORTOS	Absolute position, Encoder ID, Reset, EEPROM Read, EEPROM Write, 2.5 Mbps Encoder, Boosterpack with LP-AM261	5 Mbps encoder

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)	-
SFRA	R5F	YES	FreeRTOS, NORTOS	Software Frequency Response Analyzer support	-
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)	-
Utilities	R5F	YES	FreeRTOS, NORTOS	Angle Compensation Generator, Step Response, Datalog, Trapezoid generator	-

Fixed Issues

ID	Head Line	Module	Applicable Releases	Resolution/Comments
PINDSW-8087	Tamagawa: UART clock source is used for TX fifo	Position Sense Tamagawa	10.0.0 onwards	-
PINDSW-8353	AM261x: HDSL Long message UART Commands (8, 9 and 10) not working	Position Sense HDSL	10.0.0 onwards	-
PINDSW-8358	BiSS-C/Nikon/EnDat/Tamagawa: Exiting Periodic Trigger mode UART option does not work	Position Sense BiSS-C, Position Sense EnDat, Position Sense Nikon A-format, Position Sense Tamagawa	10.0.1	-
PINDSW-8399	EnDat: Implementation of Recovery time is not as per specification (RT counter is missing)	Position Sense EnDat	10.0.0 onwards	-
PINDSW-9123	Nikon: Data reversal not done correctly for EEPROM and ID commands	Position Sense Nikon A-format	10.0.1	Fixes done in nikon_update_eeprom_addr, nikon_update_eeprom_data, nikon_update_id_code and nikon_get_pos
PINDSW-9124	Nikon: Data reversal not done correctly for encoder status received in response	Position Sense Nikon A-format	10.0.1	Fixes done in nikon_get_pos
PINDSW-9127	Nikon: For commands 8 to 12, 9 requests are sent instead of 8	Position Sense Nikon A-format	10.0.1	Fixes done in nikon_get_pos
PINDSW-9128	Nikon: For EEPROM commands, request is sent 2 times from firmware	Position Sense Nikon A-format	10.0.1	Fixes done in nikon_get_pos, and updates in the application code for EEPROM command handling
PINDSW-9131	Nikon: EEPROM read for temperature does not use 10 bit data	Position Sense Nikon A-format	10.0.1	Fixes done in nikon_get_pos, and updated the application code for EEPROM command handling
PINDSW-9144	Nikon: For EEPROM/ID commands, same data is used for all channels in multi-channel mode	Position Sense Nikon A-format	10.0.1	Added provision for different address/data per channel
PINDSW-9180	Nikon: 10 us delay between CDF-MDF and MDF-MDF is used for commands needing MDF	Position Sense Nikon A-format	10.0.1	-
PINDSW-9238	Nikon: IEP compare value is not set correctly for continuous mode	Position Sense Nikon A-format	10.0.1	Change the units to IEP clock cycle count
PINDSW-9239	Nikon: nikon_config_periodic_trigger assumes fixed receive size of response	Position Sense Nikon A-format	10.0.1	Remove receive size hard-coding in driver
PINDSW-9248	EnDat: RX arm delay and TST delay settings are hard-coded for a 200MHz core clock	Position Sense EnDat	10.0.0 onwards	-
PINDSW-9255	Nikon: If Debug log/scan is removed and encoder resolution is fixed in application code, initialization fails	Position Sense Nikon A-format	10.0.1	Add 0.5 seconds delay in application after powering up the encoder

Known Issues

ID	Head Line	Module	Applicable Releases	Workaround
PINDSW-5690	HDSL: EDGE register is not updated	Position Sense HDSL	10.0.1 onwards	-
PINDSW-6486	HDSL: RSSI register shows higher values than expected for a non-noisy setup	Position Sense HDSL	10.0.1 onwards	-
PINDSW-7130	HDSL: Few protocol resets seen during initialization with Free Run mode on LP-AM243 and LP-AM261	Position Sense HDSL	10.0.1 onwards	-
PINDSW-7163	HDSL: Trailer data contains 4 zeros instead of 5	Position Sense HDSL	10.0.1 onwards	-
PINDSW-7474	HDSL: Sync mode does not work 100m long cable	Position Sense HDSL	10.0.1 onwards	-
PINDSW-8296	HDSL: Incorrect SAFE_SUM value is seen	Position Sense HDSL	10.0.1 onwards	-
PINDSW-9179	Nikon: PRU Firmware gets stuck if encoder does not respond with number of bytes expected by driver	Position Sense Nikon A-format	10.0.1 onwards	-

Upgrade and Compatibility Information for Motor Control SDK 10.02.00

This section lists changes which could affect user applications developed using older SDK versions. 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
Position Sense Nikon A-format	Multiple variables	Refactor code to avoid unsigned to signed and signed to unsigned conversion	-

Drivers

Module	Affected API	Change	Additional Remarks
Position Sense Endat	`Endat_ChRxInfo`	Added new variables: `Endat_ChRTInfo` and Removed variables: `resvdInt2`, `resvdInt3" and`recoveryTime`	-
Position Sense Endat	struct `pruss_xchg`	Added new variables: `enableRTM`	-
Position Sense Nikon A-format	structure pos_data_info	Added variables `raw_data4`, `raw_data5`, `velocity` and `acc`	Needed for Nikon A-format version 3.0
Position Sense Nikon A-format	structure alm_bits	Added variables `ov_spd_s`, `st_err_s`, `ps_err_s`, `busy_s` and `inc_err_s`	Needed for Nikon A-format version 3.0
Position Sense Nikon A-format	structure alm_bits	Updated variable `inc_err`'s name to `inc_err`	Updated as per Nikon A-format version 3.0
Position Sense Nikon A-format	structure nikon_priv	Added parameters `tx_rx_clock_source` and `protocol_version`	Needed for configuring clock source selection and specifying protocol version respectively
Position Sense Nikon A-format	structure nikon_priv	Updated parameter `tx_mdf`	Updated the variable type from `uint32_t` to 2D array of type `uint32_t` to store different `tx_mdf` data for each channel and each MDF
Position Sense Nikon A-format	structure nikon_priv	Updated parameter `mem_data`	Updated the variable type from 1D array of type `uint32_t` to 2D array of type `uint32_t` to store different `mem_data` data for each channel and each MDF
Position Sense Nikon A-format	structure nikon_priv	Added variable `velocity_coefficient`, `pm_alm_field`, and `bank_error`	Needed for Nikon A-format version 3.0
Position Sense Nikon A-format	API nikon_init	Added input parameters `tx_rx_clock_source` and `protocol_version`	Needed for configuring clock source selection and specifying protocol version respectively
Position Sense Nikon A-format	structure nikon_pruicss_xchg	Updated parameter `mdf_frame`	Updated the variable type from 1D array of type `uint32_t` to 2D array of type `uint32_t` to store different `mdf_frame` data for each channel and each MDF
Position Sense Nikon A-format	structure nikon_pruicss_xchg	Add parameter `num_mdf`	It stores the number of MDFs to be sent
Position Sense Nikon A-format	structure nikon_pruicss_xchg	Removed `delay_300us`, `delay_30ms`, `delay_10us` and added `delay_1us`	300 us, 30 ms and 10 us delay values are not needed in firmware. 1 us is needed for delay between CDF and MDFs.
Position Sense Nikon A-format	structure nikon_pruicss_xchg	Renamed variable `icssg_clk` to `icss_clk`	-
Position Sense Nikon A-format	API nikon_get_pos	CRC is not removed while copying data into last raw data byte for all commands (`priv->pos_data_info[ch].raw_data<x>[enc_num]`)	-
Position Sense Nikon A-format	APIs nikon_get_pos, nikon_init, nikon_generate_cdf, nikon_reverse_bits, nikon_config_load_share	Refactor code to avoid unsigned to signed and signed to unsigned conversion. Update the data type of function arguments.	-
Position Sense Nikon A-format	APIs nikon_update_eeprom_addr, nikon_update_eeprom_data, nikon_update_id_code	Add channel as function argument, and update the data type based on bit width needed for address, data, and ID code	-

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