AM2434: AM243x-LP

Jinlong Shen

Part Number: AM2434
Other Parts Discussed in Thread: LP-AM243

Tool/software:

Subject: motor control sdk 9.2.0.9

Hi there,

in previous post I know how sync0 and sync1 signals are exposed on some pins on LP-AM243 board. I have more questions.
Can one also get PDI events on an external pin on SOC?

In addition, I see Sync0_Isr(), Sync1_Isr(), EcatIsr() among others in tiescbsp.c and macros in tiescbsp.h (ENABLE_SYNC_TASK and ENABLE_PDI_TASK).
Are Sync0, Sync1 and PDI interrupts enabled by default? If yes, the default ISRs will just clear the interrupt status bits by default, right?

Best regards,
Jinlong

Reference:

dev.ti.com/.../ETHERCAT_SUBDEVICE_FWHAL.html

7 months ago

0 Aaron Thomas 7 months ago

TI__Genius 9325 points

Hi Jinlong,

Jinlong Shen said:
Can one also get PDI events on an external pin on SOC?

In the current EtherCAT implementation for the AM243x, PDI events are not directly mapped to SOC pins by default. You can configure the vendor specific register PDI ISR DIGIO pin selection register (0x0E0A) in TI ESC Vendor Specific Registers to map the pins (Refer to the description).

Jinlong Shen said:
Are Sync0, Sync1 and PDI interrupts enabled by default? If yes, the default ISRs will just clear the interrupt status bits by default, right?

Yes they are enabled by default during init and the interrupts status bits are cleared.

Regards,
Aaron

0 Jinlong Shen 7 months ago in reply to Aaron Thomas

Intellectual 540 points

Hi Aaron,

I guess it is a typo while the relevant register is 0x0E0A.

The purpose behind my questions is about how to use these interrupts control the timing where inputs are latched in connection with results of sensor measurements and when outputs are valid in connection with setting reference values for digital controllers. These can be achieved by setting respective registers (as I just learned from you) and some object dictionaries.

I think it is possible to rewrite the ISRs as have been demonstrated in one of the examples. It does not matter to me if ISRs are directly used or delegating threads for these ISR signals.

Best regards,

Jinlong

0 Aaron Thomas 7 months ago in reply to Jinlong Shen

TI__Genius 9325 points

Hi Jinlong,

Jinlong Shen said:
I guess it is a typo while the relevant register is 0x0E0A.

Sorry for my typo. Yes I was referring to 0x0E0A.

Jinlong Shen said:
I think it is possible to rewrite the ISRs as have been demonstrated in one of the examples. It does not matter to me if ISRs are directly used or delegating threads for these ISR signals.

Yes I understand your use case. You can make changes based on your use-case.

Regards,
Aaron

0 Jinlong Shen 7 months ago in reply to Aaron Thomas

Intellectual 540 points

Thank you very much.

I will expect the next release to enable shift time of sync0 and sync1 with different values for aforementioned purpose in motor control sdk.
Do you have mailing list such that I can be notified automatically on next release of motor control sdk?

0 Aaron Thomas 7 months ago in reply to Jinlong Shen

TI__Genius 9325 points

Hi Jinlong,

Jinlong Shen said:
Do you have mailing list such that I can be notified automatically on next release of motor control sdk?

You can receive release alerts by choosing the following option in MOTOR-CONTROL-SDK-AM243X Downloads Page

Regards,
Aaron

0 Jinlong Shen 7 months ago in reply to Aaron Thomas

Intellectual 540 points

Done - thank you.

Arm-based microcontrollers

Arm-based microcontrollers forum

AM2434: AM243x-LP