RTOS/AMIC120: asynchronous encoder support by PRU

Hi,

TI provides examples for encoder protocols in the Industrial Drives package located here: software-dl.ti.com/.../index_FDS.html

The documentation for the package can be found here: processors.wiki.ti.com/.../PRU_ICSS_Industrial_Drives

As the documentation shows, we have support for EnDat 2.1/2.2, HIPERFACE DSL, and Tamagawa encoders. We can also support BiSS-C encoders through one of our third parties.

The hardware used to support the EnDat 2.1/2.2 and HIPERFACE DSL encoders is called the 'Peripheral Interface' and it is found in the PRU-ICSS subsystem and is documented in section 30.4.1.2.6 of the AMIC120 TRM here: www.ti.com/.../spruhl7h.

This 'Peripheral Interface' should be able to support the hardware portion of an asynchronous encoder at 10MHz. However, PRU firmware will also need to be written that implements the encoder protocol. You can use the existing examples provided in the Industrial Drives package as a starting point on how to write PRU firmware to use this peripheral.

Jason Reeder