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BOOSTXL-POSMGR: absolute encoder use with FCL in C2000Ware motor control SDK

keith hall
Prodigy 105 points
Part Number: BOOSTXL-POSMGR
Other Parts Discussed in Thread: LAUNCHXL-F280049C, , C2000WARE, CONTROLSUITE

I have a launchxl-f280049c which I have successfully used to drive a motor using the C2000Ware motor control SDK example project dual_axis_servo_drive_fcl_qep_f28004x. I now want to add a boostxl-posmgr to implement a BISS-C absolute encoder interface. However I cannot find the relevant library functions. In fcl_sensored_pmsm_iddk_users_guide SPRACL1A table 1 lists the FCL interface function FCL_runAbsEncPICtrl(). However this is not in the FCL motor control SDK library users guide and is unresolved when added to the project.

  • 0
    TI__Guru* 92160 points

    keith hall said:
    I now want to add a boostxl-posmgr to implement a BISS-C absolute encoder interface. However I cannot find the relevant library functions.

    Hi Keith,

    Currently we do not have the library source code for the BiSS-C absolute encoder interface available as a general release.  The plan is to make it available before the end of the year.  Having said that, within our older software, ControlSuite, the BiSS-C is available as a black-box binary library which you can use for evaluation until the source is available. Refer to the following document for more information: http://www.ti.com/lit/tidue73

    We do have an example library for the Tamagawa T-Format encoder interface within the C2000Ware Motor Control SDK, if you would like to look at that example. Refer to http://www.ti.com/lit/tidue74

    I will look into your question regarding the function FCL_runAbsEncPICtrl() and respond by Wednesday. 

    Regards

    Lori

  • 0 in reply to Lori Heustess
    TI__Guru* 92160 points

    Hello -

    The function FCL_runAbsEncPICtrl() is located in the source here:

    C:\ti\c2000\C2000Ware_MotorControl_SDK<version>\libraries\fcl\source\fcl_cpu_code.c

    Best regards

    Lori

  • 0 in reply to Lori Heustess
    Prodigy 105 points

    Thanks Lori, I have found the function, not had time to try it yet.

  • 0 in reply to keith hall
    Prodigy 105 points

    Hi Lori, 

    I have successfully ported the ControlSuite PM_bissc-SystemTest code onto the launchxl280049 board. However I need to add a second encoder interface as I am developing a dual motor controller. Looking at fig 5 in tidue73 I assume that I can use the same BISSC_CLK and SPICLK for both encoders (as they are the same type in this case), however what about the BISSC_DIN which goes into the CLB through the XBAR, will it be ok to just connect this on 1 encoder?

    Thanks,

    Keith

  • 0 in reply to Lori Heustess
    Prodigy 105 points

    Hi Lori, 

    Realised I just replied to my post not yours so you may not see this -I have successfully ported the ControlSuite PM_bissc-SystemTest code onto the launchxl280049 board. However I need to add a second encoder interface as I am developing a dual motor controller. Looking at fig 5 in tidue73 I assume that I can use the same BISSC_CLK and SPICLK for both encoders (as they are the same type in this case), however what about the BISSC_DIN which goes into the CLB through the XBAR, will it be ok to just connect this on 1 encoder?

    Thanks,

    Keith

  • 0 in reply to keith hall
    TI__Guru* 92160 points

    Hi Keith,

    Unfortunately the closed library isn't designed for multiple encoder support.  It was designed only for the point-to-point structure shown on page 2 of http://www.ti.com/lit/TIDUE73 

    Regards

    Lori

  • 0 in reply to Lori Heustess
    Prodigy 105 points

    Hi Lori,

    I need to get this working somehow, can you see any problem with my suggestion? I am dismayed that TI should market these processors so heavily as suitable for 2 motor control but then provide a closed library for the CLB that only supports 1 motor.

    Thanks,

    Keith

  • 0 in reply to keith hall
    TI__Guru* 92160 points

    Keith,

    I understand your frustration.  We have a goal to get the library opened up and available at the end of the year, but unfortunately we are not there yet. 

    For your proposal, the CLB will need the data.  It uses this to compensate for cable delay and also to detect a CDS (command data from the slave) bit.  The closed library doesn't use the ID when sending commands.  it assumes there is one slave on the bus and the ID is always 0.  

    Regards

    Lori

  • 0 in reply to Lori Heustess
    TI__Guru* 92160 points

    Keith, please check your E2E inbox for a message from me. 

    Thank you

    Lori

  • 0 in reply to Lori Heustess
    Prodigy 105 points

    Hi Lori,

    I have also found another problem - the PM BISSC library only seems to support one BISSC_DATA_STRUCT so it is not possible to add a second encoder anyway.

    Keith

  • 0 in reply to keith hall
    TI__Guru* 92160 points

    Keith,

    Yes, that is a good point. 

    Regards

    Lori