AM6442: Signal configuration on Single Chip Servo Motor Control

Tsurumoto

Part Number: AM6442

Is it possible to send "PRG0_ECAP0_IN_APWM_OUT" signal from the same PRU slice at the same time while the PRU slice is processing EnDat2.2?

According to

https://www.ti.com/lit/an/sprad03/sprad03.pdf

https://www.ti.com/lit/zip/sprad03

It seems that the signal "PRG0_ECAP0_IN_APWM_OUT" (Ball U5, Signal name PRG0_PRU1_GPIO15, MuxMode10)

is output from PRU_ICSSG0 slice1.

And, this signal is connected to SN74AXC4T245PWT on TIDEP-01015 3-axis adapter board.

At the same time, PRU_ICSSG0 slice0 could be using to handle EnDat2.2.

I believe that "PRG0_ECAP0_IN_APWM_OUT" signal can only be output at GPIO mode.

And, EnDat2.2 could be running on MII mode.

Is it possible to send "PRG0_ECAP0_IN_APWM_OUT" signals from the same PRU slice at the same time while the PRU slice is processing EnDat2.2?

How does the "www.ti.com/.../sprad03.pdf" work

over 2 years ago

+1 Thomas Leyrer over 2 years ago

TI__Intellectual 2060 points

Hi Tsurumoto-san,

PRU GPIO mode do not conflict with ICSS peripherals such as ECAP, UART or IEP. Attached IO summary to see which pins are used for different PRU IO modes. There can be a pin-mux conflict. In case of 3 x peripheral interface (ENDAT) there is no conflict with ECAP PWM signal as it maps to a PRU1 pin which does not overlap with ENDAT pins.

Once you select a PRU GPIO mode only the mapped pins can be used from PRU. For example in "serial shift out" mode the PRU GPIO2-19 can not be used as direct output pins. However you can use these pins in a mux mode for ICSS peripheral.

- Thomas

6180.PRU_IO summary.pdf

+1 Tsurumoto over 2 years ago in reply to Thomas Leyrer

TI__Genius 15715 points

Hi Thomas

Now I understood that the mode (GP mode, PERIF mode, MII mode and SD mode) only affects to the signals in red circle in the below, and the signals in blue circle can be used at any time regardless of the mode.

And these PRUx_PRUx_GPx signals can be controlled by R30/31 and details are in /cfs-file/__key/communityserver-discussions-components-files/791/6180.PRU_5F00_IO-summary.pdf

Thanks so much!

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AM6442: Signal configuration on Single Chip Servo Motor Control