**Part Number:**C2000WARE-MOTORCONTROL-SDK

**Tool/software:**

Hi everyone,

I need deep orientation to make calculation of speed and Angle for the absolute encoder RM22SC with signal (data+, Data-, Clock +, Clock -) using Launchpad F28379D and Simulink.

I did interface the absolute encoder with IC DS26LS32CN and I did get signal Data and Clock. I did use the GPIO20 for Data and GPIO21 for Clock and connect both to the Matlab Function block to get as output the position. See the code on attached. The output of the Matlab function times 2*pi/8192 to get the angle. However, I don't get anything as value.

function position = decodeSSI(data, clock) %#codegen persistent bitCounter shiftRegister prevClock if isempty(bitCounter) bitCounter = uint32(0); shiftRegister = uint32(0); prevClock = uint32(0); end % Parameters numBits = 13; % Number of bits in the SSI word % Rising edge detection for clock clock = uint32(clock); % Ensure clock is of type integer clockRisingEdge = (clock == 1) && (prevClock == 0); prevClock = clock; if clockRisingEdge bitCounter = bitCounter + 1; % Shift in the data bit shiftRegister = bitor(bitshift(shiftRegister, 1), uint32(data)); % Check if we have received the full word if bitCounter == numBits position = shiftRegister; % Reset for the next word bitCounter = uint32(0); shiftRegister = uint32(0); else position = uint32(0); % or NaN to indicate incomplete data end else position = uint32(0); % or retain the last valid position end end