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Original question:

MCU-PLUS-SDK-AM243X: motor_control_sdk_am243x_09_02_00_09 : Endat recovery time

MCU-PLUS-SDK-AM243X: Endat2.2 Call back function

Alan Ismail
Intellectual 425 points

Part Number: MCU-PLUS-SDK-AM243X

Tool/software:

Hello Experts

When running Endat2.2 command with RT measurement, may I know when is the Endat Call back function being executed. It is after the  Recovery time measurement or right after the last Endat clock.

Thanks

Alan I

  • 0
    TI__Expert 3080 points

    Hi Alan,

    Can you add some additional details here ? 

    Are you running Endat2.2 command in periodic continuous mode ? 

    Thanks & Regards,

    Achala Ram 

  • 0 in reply to Achala Ram
    Intellectual 425 points

    Hi Achala

    Yes, we are running periodic mode similar to reference design https://www.ti.com/document-viewer/lit/html/tiduf42

    The difference is that we are running with Endat Mode 9 with MRS code continuously repeating every 4 cycle to  0x42 , 0x43 , 0x44 , 0x4d  

    Let me know if you have any question

  • 0
    TI__Expert 3080 points
    Alan Ismail said:
    Endat Call back function being executed

    In periodic mode, the callback function is invoked after the RT measurement is completed and the RT value is stored in memory.

    The execution flow for periodic mode is as follows:
    1. The R5 configures the IEP, writes command parameters to memory, sets the firmware to periodic trigger mode. 
    2. The PRU firmware goes into periodic mode and waits for the IEP CMP event.
    3. When IEP CMP event hit, the firmware sends a command to the encoder and reads the encoder’s response.
    4. If the command is 2.2, it measures the RT value.
    5. The firmware stores the response and measured values in memory and triggers an interrupt to the R5 processor for the callback function.
    6. R5 reads interrupt & executes call back function

    From 2->6, flow continues in a loop as the periodic mode operates.

    Thanks & regards,

    Achala Ram