50 lines
1.1 KiB
Markdown
50 lines
1.1 KiB
Markdown
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# HDSL {#HDSL}
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[TOC]
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## Introduction
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The HDSL firmware running on ICSS-PRU provides a defined well interface to execute the HDSL protocol.
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## Features Supported
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- External pulse synchronization
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- Safe position
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- Supports upto 100m cable
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- Communication status
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- Register interface to be compatible with SICK HDSL FPGA IP Core.
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(except registers that have different functionality for read and
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write)
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- Fast position, speed
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- Parameter channel communication
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short message write
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Short message read
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Long message read
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Long message write
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## Features Not Supported
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In general, peripherals or features not mentioned as part of "Features Supported" section are not
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supported, including the below
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- Pipeline channel
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- Safety
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## SysConfig Features
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@VAR_SYSCFG_USAGE_NOTE
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SysConfig can be used to configure things mentioned below:
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- Selecting the ICSSG0PRUx instance.(Tested on ICSSG0-PRU1)
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- Configuring PINMUX.
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## HDSL Design
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\subpage HDSL_DESIGN explains the design in detail.
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## Example
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- \ref EXAMPLE_MOTORCONTROL_HDSL
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- \ref EXAMPLE_MOTORCONTROL_HDSL_TRACE
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## API
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\ref HDSL_API_MODULE
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