TMDS243EVM: Add new task to the Task Manager

Again, I'm trying to create a new Task on the PRU.

You can map EPWM1 system event to task manager host event via INTC - sys event to channel to host mapping

Refer to Table 9-84. PRU_ICSSG0 Interrupt Map (continued) for 64-159 events.

Also see Table 6-505

Hello Ariel, 

In SDFM project, EPWM0 SynOut is used to align ICSSG IEP timer to PWM cycle. IEP timer comparators (CMP1..CMP15) are used to schedule task via PRU's task manger. You can follow sdfm motor control sdk documents for more information about sync implementation: AM243x Motor Control SDK: SDFM Interface Design (ti.com). This SynOut event is only mapped with IEP timers for EPWM0 and EPWM3.

But there is another way to sync EPWM and Task Manager. You can map EPWM1 event to task manager via INTC - system event to channel to host event mapping. Below example shows the routing of epwm event to INTC and INTC host events to task manager. The ICSS interrupt controller connects to task manager which triggers PRU0 task.

Please see below mentioned table in am243x TRM for detailed event routing scheme:

Table 9-84.  section 9.4.1.6:   This is mapping table for PRU_ICSSG0 Interrupt, where you can see EPWM1 as source interrupt for PRU interrupt.

Table 6-464. section 6.4.6.2.8.1.1:  Mapping table for task manager and events, where you can find mapping between task and interrupt host event.

Also see below image for INTC -system event to host event mapping. 

Best regards,

Achala Ram