AM6442: PRU : HDSL - Access to encoder resources

Hi,

When encoder is detected by by the HDSL diagnostic example, it will print the Encoder ID and also displays the list of commands it can take from user.

It's possible to read some of the registers from the encoder and also write to some of the registers.

I would recommend you to go through the HDSL example in AM64x MCU+ SDK package. 

Hi Reddy

Thank you for the suggestion. I downloaded the latest AMD64x MCU+SDK from ti web. I noticed that  ti\mcu_plus_sdk_am64x_07_03_00_19\source\motor_control\position_sense\hdsl\include\hdsl_interface.h includes all interface register defined in standard HDSL core. Are these registers available for user to develop our own function as per HDSL implementation guide by Sick.

Thanks

Alan I

Hi Alan,

Yes, all the registers are available for the user. You can refer hdsl_diagnostic.c file. Look into hdsl_get_rssi(), hdsl_get_acc_err_cnt() etc on how to access the required registers.

Hi Reddy

I am trying to develop an app to access ( read and write) the EEPROM residing on HDSL Encoder via PRU-ICSS.  Is this achievable?

Hi Alan,

Yes  it's possible. In the file hdsl_diagnostic.c, please look into hdsl_get_rssi(), to see how RSSI value in read from DELAY register. Similarly other registers can be read/written.