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AM2432: how to switch different encoder firmware in PRU-ICSS?

Sirui Zhu
Intellectual 2090 points
Part Number: AM2432

Hi team,

In my previous thread I asked a question on different encoder firmware, listed as below.

Q: AM243X supports BISS-C, ENDAT and TAMAGAWA encoders, but is it supported to use the same pins? That is, the fixed pins of the processor are connected to RS485, and the switching of the above three encoder functions can be realized through software settings?At present, in our products, the above three encoder interface functions are implemented in the FPGA. When the interface function is switched, there is no need to change the hardware circuit.

A: [MW] Yes and No. The hardware pin mux may not change when you switch the encoder protocol, but the PRU-ICSSG firmware will need to change, because different encoder protocol uses different PRU-ICGGS firmware and the encoder driver is different too.

Since my customer has no experience on this topology, could you please suggest what steps they should follow? An instruction is preffered, many thank!

BR

Sirui

  • 0
    TI__Guru 55165 points

    Hi Sirui,

    The encoder support in MCU+ SDK for AM243x has been built in such a way that the implementation is mainly done at PRU firmware. There is an encoder driver for R5F cores to provide the APIs for the corresponding PRU firmware. The user application code (runs on R5F cores) can use the APIs provided by the MCU+ SDK to load and run the PRU firmware into the PRU core (from the RAM). Once the PRU firm is running, user can then use the encoder driver APIs to initialize and configure the encoder through the encoder driver APIs, such as set the baud rate, encoder channels etc. You can find the details in the encoder examples in the following folders of MCU+ SDK 08.05.00.24 for AM243x:

    C:\ti\mcu_plus_sdk_am243x_08_05_00_24\examples\motor_control\endat_diagnostic

    C:\ti\mcu_plus_sdk_am243x_08_05_00_24\examples\motor_control\hdsl_diagnostic and

    C:\ti\mcu_plus_sdk_am243x_08_05_00_24\examples\motor_control\tamagawa_diagnostic

    Best regards,

    Ming