AM263x Motor Control SDK  09.01.00

Welcome to Motor Control SDK for AM263X. This SDK contains examples, libraries and tools to develop RTOS and no-RTOS based applications enabling real-time communication for position sense from motors, and real-time control libraries for ARM R5F CPU and related peripherals.

This SDK also includes AM263X Industrial Communications SDK and AM263X MCU+ SDK.

Getting Started

To get started, see GETTING STARTED page.

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
Tamagawa TAMAGAWA OVER UART Driver for Tamagawa encoder interface
Real Time Libraries
Digital Control Library (DCL) Digital Control Library (DCL) Header-only library for digital control applications
Transforms Transformation Algorithm Transformation including Clarke, Park, Space Vector Generation used in motor control applications.
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 AM263X Industrial Communications SDK and AM263X 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
README_FIRST_AM263X.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 AM263X, 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/ccs1250 Code composer studio
C:/ti/sysconfig_1.18.0 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_3.2.0.LTS TI ARM CLANG compiler tool chain


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

Documentation Credits

This user guide is generated using doxygen, v1.8.20. See