Starting NULL Bootloader ... 

DMSC Firmware Version 11.0.7--v11.00.07 (Fancy Rat)
DMSC Firmware revision 0xb
DMSC ABI revision 4.0

INFO: Bootloader_runCpu:205: CPU r5f1-0  is initialized to 800000000 Hz !!!
INFO: Bootloader_runCpu:205: CPU r5f1-1 is initialized to 800000000 Hz !!!
INFO: Bootloader_runCpu:205: CPU m4f0-0 is initialized to 400000000 Hz !!!
INFO: Bootloader_loadSelfCpu:257: CPU r5f0-0 is initialized to 800000000 Hz !!!
INFO: Bootloader_loadSelfCpu:257: CPU r5f0-1 is initialized to 800000000 Hz !!!
INFO: Bootloader_runSelfCpu:267: All done, reseting self ...


EnDAT firmware for channel 0 (RTU-PRU)  : 1.0.10 (release)


EnDAT firmware for channel 2 (TX-PRU)   : 1.0.10 (release)


|------------------------------------------------------------------------------|
PRU-ICSS instance: 0, PRU-ICSS slice number: 1

EnDAT Load Share Demo application is running......

Channel 0 is enabled

Channel 2 is enabled

|------------------------------------------------------------------------------|


PRU-ICSS firmware loading started

PRU-ICSS firmware loading is complete
Channel 0 initialization is successful
ERROR: EnDAT initialization timeout for instance 0 channel 2 -


CHANNEL 0
EnDat 2.2 rotary encoder 
ID: 1149206 02 
SN:   644409059   
Position: 18 bits 
Singleturn: 18, Multiturn: 0
Resolution: 262144 M/rev 
Propagation delay: 135ns 

Configuring clock frequency to 8000000 Hz (EnDAT 2.2)

Clock configuration completed

|--------------------------------------------------------------------------------|
| NOTE: If target frequency is not achievable with the current clock source,     |
|       Use command 100 from the menu to manually set a different frequency.     |
|--------------------------------------------------------------------------------|

|------------------ EnDat Command Menu ------------------|
|------------------------------------------------------------------------------|
|              Select value for the encoder command from following             |
|------------------------------------------------------------------------------|
| 1 : Encoder send position values                                             |
| 2 : Selection of memory area                                                 |
| 3 : Encoder receive parameter                                                |
| 4 : Encoder send parameter                                                   |
| 5 : Encoder receive reset                                                    |
| 6 : Encoder send test values                                                 |
| 7 : Encoder receive test command                                             |
| 8 : Encoder to send position + AI(s)                                         |
| 9 : Encoder to send position + AI(s) and receive selection of memory area    |
| 10: Encoder to send position + AI(s) and receive parameter                   |
| 11: Encoder to send position + AI(s) and send parameter                      |
| 12: Encoder to send position + AI(s) and receive error reset                 |
| 13: Encoder to send position + AI(s) and receive test command                |
| 14: Encoder receive communication command                                    |
|                                                                              |
|100: Configure clock                                                          |
|101: Simulate motor control 2.1 position loop                                 |
|102: Toggle raw data display                                                  |
|103: Configure tST delay                                                      |
|104: Start continuous mode                                                    |
|105: Configure rx arm counter (account tD)                                    |
|106: Configure rx clock disable time (for tD)                                 |
|107: Simulate motor control 2.2 position loop (safety)                        |
|108: Configure propagation delay (tD)                                         |
|110: Recovery Time (RT)                                                       |
|111: Simulate motor control 2.1 position loop for long time                   |
|112: Start/Stop Recovery Time counter                                         |
|200: Start periodic continuous mode (CMP trigger)                             |
|201: Start periodic continuous mode (CAP trigger)                             |
|------------------------------------------------------------------------------|
|
| Enter command: