56 lines
1.8 KiB
Markdown
56 lines
1.8 KiB
Markdown
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# EnDat {#ENDAT}
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[TOC]
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## Introduction
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EnDat is a bidirectional interface for position encoders. During EnDat operation the EnDat receiver receives position information from the EnDat position encoder.
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## Features Supported
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- EnDat 2.2 command set
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- EnDat 2.1 command set
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- Interrupted and continuous clock mode
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- Cable length up to 100m @8MHz
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- Propagation delay compensation (capable of handling different propagation delay of different
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propagation delay of different channels in concurrent multi
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channel configuration)
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- Automatic estimation of propagation delay
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- Receive on-the-fly CRC verification of position, parameters and additional information
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- Two modes of operation - host trigger and periodic trigger
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- Channel select
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- Concurrent multi channel support (up-to 3 encoders with identical part number @ 8MHz maximum)
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- "Multi Channel with Encoders of Different Make" using load share mode (Each of PRU, RTU-PRU, and TX-PRU from one PRU-ICSSG slice handles one channel)
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- Safety Readiness: Recovery time
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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 in this release, including the below
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- Safety
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- Clock configuration up to 16MHz
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- Independent clocks on multi channel mode.
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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 ICSSG instance. (Tested on ICSSG0)
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- Selecting the ICSSG0PRUx instance.(Tested on ICSSG0-PRU1)
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- Configuring PINMUX.
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- Channel selection.
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- Selecting Multi Channel with Encoders of Different Make" using load share mode.
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## ENDAT Design
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\subpage ENDAT_DESIGN explains the design in detail.
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## Example
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\ref EXAMPLE_MOTORCONTROL_ENDAT
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## API
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\ref ENDAT_API_MODULE
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