Tool/software:
Hi,
I have AM243x-LP and modified the code "C:\ti\motor_control_sdk_am243x_09_02_00_09\examples\tidep_01032_dual_motor_drive\single_chip_servo\am243x-lp\r5fss0-0_nortos" to use Biss-C encoder. I want to check cmp1 and cmp2 which are managing SD phase current feedback measurement in each PWM duty cyle, according the sprad03.pdf Figure 9-2. Synchronization Techniques.
How can I trace cmp1 / cmp2, should I use gDebugBuff or some other method?
Regards,
Vedat
Hi Vedat,
Can you share the source of this image?
For the example C:\ti\motor_control_sdk_am243x_09_02_00_09\examples\tidep_01032_dual_motor_drive\single_chip_servo\am243x-lp\r5fss0-0_nortos, we are using CMP4 for SDFM measurement. Here is the relevant document: EtherCAT® Connected, Single-Chip, Dual-Servo Motor Drive Reference Design.
You can refer to the SDFM documentation to understand how CMP4 is being used to measure SDFM feedback:AM243x Motor Control SDK: SDFM Interface Design
In each PWM cycle, the CMP4 value is updated four times. The first value is equal to the SDFM sample trigger time, and then it is updated for the next sample three times & at the last sample it is update with SDFM sample trigger time for next PWM cycle.
This is configuration for SDFM trigger time, 10us is configured in :motor_control_sdk\examples\tidep_01032_dual_motor_drive\single_chip_servo\am243x-lp\r5fss0-0_nortos\single_chip_servo.c
Thanks & Regards,
Achala Ram
Hi Achala,
THanks for you reply. You want my SDFM parameters, don't you?
They are as follows;
Do you have any comment on my post about https://e2e.ti.com/support/microcontrollers/arm-based-microcontrollers-group/arm-based-microcontrollers/f/arm-based-microcontrollers-forum/1452261/lp-am243-converting-sdfm-output-data-to-amps/5595579#5595579
why adc values are multiplied with 30 is still not clear.
fdbkCurPhA = (-((float)gSddfChSamps[0] - gSddfChOffsets[0] - SDDF_HALF_SCALE_FLT) / SDDF_HALF_SCALE_FLT) * 30.0;
fdbkCurPhB = (-((float)gSddfChSamps[1] - gSddfChOffsets[1] - SDDF_HALF_SCALE_FLT) / SDDF_HALF_SCALE_FLT) * 30.0;
Regards,
Vedat
