AM6442: About Endat support

Daniel Cheng1

Mastermind 7275 points

Part Number: AM6442

Hi Expert,

Is the plan for AM64x family to support Endat3.0 in PRU-ICSS
PRU-ICSS implementation of Endat2.2. Is there plan to support Functional Safety Endat 2.2 master?
In existing implementation of Endat2.2 master, does the master supports measurement of recovery time as per requirements below

Counter for measuring the recovery time I

The recovery time can, for example, be measured by a counter realized within the EnDat master. The

last rising edge of the EnDat-Clock (positive signal) indicates the starting trigger and the following falling

edge of the EnDat-Data (positive signal) indicates the stop trigger for the recovery time I counter. (The

EnDat 2.2 protocol has to be analyzed within the master to obtain the correct trigger time. Also, the cable

delay has to be taken into account.)
1. In existing implementation of Endat2.2 master, does the master exposed raw data from the encoder to the user
Raw data refers to : F1,F2, POS1 , CRC5 , CONT1 , POS2 WORD1, CRC5

Thanks

Daniel

over 3 years ago

0 Nick Saulnier over 3 years ago

TI__Guru** 103490 points

Hello Daniel,

You can find more information about the EnDat 2.2 functionality built into the AM64x PRU_ICSSG hardware in the TRM chapter PRU_ICSSG > PRU Cores > Three Channel Peripheral Interface.

Regards,

Nick

0 Nick Saulnier over 3 years ago in reply to Nick Saulnier

TI__Guru** 103490 points

Also, you can find EnDat support and documentation in the AM64x MCU+ SDK. Please reference the latest SDK docs:
https://software-dl.ti.com/mcu-plus-sdk/esd/AM64X/08_02_00_28/exports/docs/api_guide_am64x/EXAMPLE_MOTORCONTROL_ENDAT.html

Regards,

Nick

0 Daniel Cheng1 over 3 years ago in reply to Nick Saulnier

Mastermind 7275 points

Hi Nick

Thank you for your reply and these are my feedback

3) We are aware about the master’s capability to set different recovery time by the slave. What I am looking is the capability for PRU-ICSS to measure actual recovery time on the response from the slave. According to Heidenhain, this feature is not included in Endat-Master-Basic. I would like to find out if the Endat Master on PRU-ICSS has this feature/ can be extended to implement this feature

4)We are looking for opportunity to put Endat Master PRU-ICSS to be in the Black Channel for Functional Safety. One of the requirement for black channel is for the Endat master to be able to publish all data received to the Safe Controller without any modification.

Thanks

Daniel

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AM6442: About Endat support