Part Number: LP-AM261
Other Parts Discussed in Thread: BP-AM2BLDCSERVO, TIDA-010979
Hi Experts,
We tried BiSS-C example project 'bissc_diagnostic_single_channel_am261x-lp_r5fss0-0_freertos_ti-arm-clang' imported from motor_control_sdk_am261x_2025_00_00_01 SDK on LP-AM261 Rev.A + BP-AM2BLDCSERVO EVMs + Eyou actuator(the one in TIDA-010979).
We can build up source code and run successfully as below uart message where our encoder used is 19-bit resolution without multi-turn (MPN is iC-MU150). One thing weird is that there is always singleturn angel output with CRC failure at the both cases of attaching and de-attaching encoder.
Could you please help check and provide any suggestion? Thanks in advance.
<UART message>
BiSS-C firmware : 1.1.6 (release)
|------------------------------------------------------------------------------|
BiSS-C Instance 0
PRU-ICSS instance: 1, PRU-ICSS slice number: 0
BiSS-C Single channel, Single PRU Demo application is running......
Channel 0 is enabled
=======================================================================
BiSS-C Frame Size Constraints:
- Without Safety: single_turn + multi_turn <= 56 b
its
- With Safety: single_turn + multi_turn <= 40 bits
=======================================================================
Please enter encoder lengths connected to Channel 0:
Please enter 1st encoder single turn length
19
Please enter 1st encoder multiturn length, 0 if not multiturn
0
Please enter 0 as data length if daisy chain is not used
Please enter 2nd encoder single turn length
0
|------------------------------------------------------------------------------|
PRU-ICSS firmware loading is complete
BiSS-C encoder/encoders detected and running at frequency 1 MHz for BiSS-C instance 0
Processing Delay in clock cycles for BiSS-C instance 0 channel 0 : 1
|------------------------------------------------------------------------------|
| Select input parameters |
|------------------------------------------------------------------------------|
| 1 : Number of position data bits |
| 2 : Select clock frequency in MHz(1/2/5/8/10) |
| 3 : Encoder send position values |
| 4 : Control Communication - Register Read/Write |
| 5 : Loop over BiSS-C cycles |
| 6 : Start periodic continuous mode (CMP trigger) |
| 7 : Start periodic continuous mode (CAP trigger) |
| 8 : Enable safety mode |
| 9 : Configure encoder timeout |
| 0 : Exit the application |
|------------------------------------------------------------------------------|
| Enter value:
3
BiSS-C instance 0:
Channel 0:
Encoder-1 Singleturn Angle: 36.851577759000, crc:0x7, otf crc:0x12, e_w:0x0
CRC Status: failure, crc error count: 1
|------------------------------------------------------------------------------|
| Select input parameters |
|------------------------------------------------------------------------------|
| 1 : Number of position data bits |
| 2 : Select clock frequency in MHz(1/2/5/8/10) |
| 3 : Encoder send position values |
| 4 : Control Communication - Register Read/Write |
| 5 : Loop over BiSS-C cycles |
| 6 : Start periodic continuous mode (CMP trigger) |
| 7 : Start periodic continuous mode (CAP trigger) |
| 8 : Enable safety mode |
| 9 : Configure encoder timeout |
| 0 : Exit the application |
|------------------------------------------------------------------------------|
| Enter value:
3
BiSS-C instance 0:
ERROR: Position data measurement timeout for BiSS-C instance 0
Channel 0:
Encoder-1 Singleturn Angle: 36.851577759000, crc:0x7, otf crc:0x12, e_w:0x0
CRC Status: failure, crc error count: 1
|------------------------------------------------------------------------------|
| Select input parameters |
|------------------------------------------------------------------------------|
| 1 : Number of position data bits |
| 2 : Select clock frequency in MHz(1/2/5/8/10) |
| 3 : Encoder send position values |
| 4 : Control Communication - Register Read/Write |
| 5 : Loop over BiSS-C cycles |
| 6 : Start periodic continuous mode (CMP trigger) |
| 7 : Start periodic continuous mode (CAP trigger) |
| 8 : Enable safety mode |
| 9 : Configure encoder timeout |
| 0 : Exit the application |
|------------------------------------------------------------------------------|
| Enter value:
