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Pull request #120: am243x: ReferenceDesign: Add example documentation page

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Merge in PINDSW/motor_control_sdk from PINDSW-5516_add_docs to next

* commit '7cf2a42921a8a6c1f31291f8eb840f303c1d3ce4':
  am243x: ReferenceDesign: Add example documentation page
This commit is contained in:
Dhaval Khandla 2024-01-08 05:03:29 -06:00 committed by Naresh A
commit 248e492d19
20 changed files with 34 additions and 18 deletions
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1
docs_src/docs/api_guide/device/am243x/examples.cfg
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@ -1,4 +1,5 @@
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/examples.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/tidep_01032_reference_design_example.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/hdsl_example.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/endat_example.md
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/examples/tamagawa_example.md

2
docs_src/docs/api_guide/device/am243x/release_notes_09_01_00.md
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@ -34,7 +34,7 @@ SYNC Mode support for 1 to 10 frames per cycle and 8 kHz to 50 kHz cycle frequen
API support for Parameter Channel Long Message Read and Write | Position Sense HDSL
Add support for PIPE_D register for SensorHub Channel | Position Sense HDSL
Add support for PIPE_D register for SensorHub Channel | Position Sense HDSL
Long cable (upto 100 meters) with Free Run mode | Position Sense HDSL
Long cable (upto 100 meters) with Free Run mode | Position Sense HDSL
Two channel example with LP-AM243 + BP-AM2BLDCSERVO | Position Sense HDSL
Compare event based command trigger support | Position Sense Tamagawa
Two channel example with LP-AM243 + BP-AM2BLDCSERVO | Position Sense Tamagawa

2
docs_src/docs/api_guide/examples/examples.md
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@ -13,6 +13,8 @@ This page lists all the examples and demos supported in this SDK.
\endcond
\cond SOC_AM243X
- Reference Design
- \subpage EXAMPLE_TIDEP_01032_REFERENCE_DESIGN
- Position Sense
-# \subpage EXAMPLE_MOTORCONTROL_ENDAT
-# \subpage EXAMPLE_MOTORCONTROL_HDSL

14
docs_src/docs/api_guide/examples/tidep_01032_reference_design_example.md Normal file
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@ -0,0 +1,14 @@
# TIDEP-01032 EtherCAT-Connected Single-Chip Dual-Servo Motor Drive Reference Design {#EXAMPLE_TIDEP_01032_REFERENCE_DESIGN}
This reference design showcases the ability of the AM243x device to support a fully-integrated real-time servo motor drive control and industrial communication path. This path extends from receiving EtherCAT CiA402 target commands for velocity, to performing closed-loop FOC velocity control of dual connected motors, to passing the actual velocity values back up to the EtherCAT PLC.
## Features Supported
- Support EtherCAT CiA402 device profile for motor velocity control
- Single-chip, dual-servo motor control
- BOOST-XL TI BoosterPack Plug-in Module design - 80 digital and analog I/O compatible with AM2x LaunchPad Development Kits
- Two axes of 3-phase BLDC motor drive with the DRV8316R 24 V, 8 A monolithic gate drive and amplifier bridges
- Two axes (6 channels) of 3-phase current feedback through AMC1035D Sigma-Delta modulator and INA241A current sense path
- Two axes of RS-485 based absolute encoder feedback supporting multiple industrial encoder standards
\note Currently the FOC loop used for Closed Speed (Velocity) Control is based on the CMSIS library. We will switch to the RTLib functions and DCL functions in the near future.

2
examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
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@ -117,7 +117,7 @@
</file>
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
</file>
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_MOTORCONTROL_SDFM.html"
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/BASIC_SDFM_EXAMPLES.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">

2
examples/current_sense/icss_sdfm_nine_channel_load_share_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
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@ -117,7 +117,7 @@
</file>
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
</file>
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_MOTORCONTROL_SDFM.html"
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/BASIC_SDFM_EXAMPLES.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">

2
examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
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@ -117,7 +117,7 @@
</file>
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
</file>
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_MOTORCONTROL_SDFM.html"
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/BASIC_SDFM_EXAMPLES_WITH_CONTINUOUS_NC.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">

2
examples/current_sense/icss_sdfm_nine_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
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@ -117,7 +117,7 @@
</file>
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
</file>
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_MOTORCONTROL_SDFM.html"
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/BASIC_SDFM_EXAMPLES_WITH_CONTINUOUS_NC.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">

2
examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
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@ -117,7 +117,7 @@
</file>
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
</file>
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_MOTORCONTROL_SDFM.html"
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/BASIC_SDFM_EXAMPLES.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">

2
examples/current_sense/icss_sdfm_three_channel_single_pru_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
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@ -117,7 +117,7 @@
</file>
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
</file>
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_MOTORCONTROL_SDFM.html"
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/BASIC_SDFM_EXAMPLES.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">

2
examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
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@ -117,7 +117,7 @@
</file>
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
</file>
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_MOTORCONTROL_SDFM.html"
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/BASIC_SDFM_EXAMPLES_WITH_CONTINUOUS_NC.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">

2
examples/current_sense/icss_sdfm_three_channel_with_continuous_mode/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
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@ -117,7 +117,7 @@
</file>
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
</file>
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_MOTORCONTROL_SDFM.html"
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/BASIC_SDFM_EXAMPLES_WITH_CONTINUOUS_NC.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">

2
examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-evm/r5fss0-0_freertos/ti-arm-clang/example.projectspec
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@ -119,7 +119,7 @@
</file>
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
</file>
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_MOTORCONTROL_SDFM.html"
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/BASIC_SDFM_EXAMPLE_WITH_PHASE_DELAY.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">

2
examples/current_sense/icss_sdfm_three_channel_with_phase_compensation/am243x-lp/r5fss0-0_freertos/ti-arm-clang/example.projectspec
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@ -119,7 +119,7 @@
</file>
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
</file>
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_MOTORCONTROL_SDFM.html"
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/BASIC_SDFM_EXAMPLE_WITH_PHASE_DELAY.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="syscfg_c.rov.xs" openOnCreation="false" excludeFromBuild="false" action="copy">

2
examples/tidep_01032_dual_motor_drive/single_chip_servo/.project/mcsdk_project_am243x.js
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@ -277,7 +277,7 @@ const lnkfiles_r5f = {
const syscfgfile = "../example.syscfg";
const readmeDoxygenPageTag = "EXAMPLES_DUAL_MOTOR_DRIVE";
const readmeDoxygenPageTag = "EXAMPLE_TIDEP_01032_REFERENCE_DESIGN";
const templates_r5f_0_0 =
[

2
examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss0-0_nortos/ti-arm-clang/example.projectspec
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@ -133,7 +133,7 @@
</file>
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
</file>
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLES_DUAL_MOTOR_DRIVE.html"
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_TIDEP_01032_REFERENCE_DESIGN.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="../DRV8350_defs.h" openOnCreation="false" excludeFromBuild="true" action="copy">

2
examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss0-1_nortos/ti-arm-clang/example.projectspec
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@ -127,7 +127,7 @@
</file>
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
</file>
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLES_DUAL_MOTOR_DRIVE.html"
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_TIDEP_01032_REFERENCE_DESIGN.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="../epwm_drv_aux.h" openOnCreation="false" excludeFromBuild="true" action="copy">

2
examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/r5fss1-0_freertos/ti-arm-clang/example.projectspec
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@ -156,7 +156,7 @@
</file>
<file path="../example.syscfg" openOnCreation="false" excludeFromBuild="false" action="copy">
</file>
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLES_DUAL_MOTOR_DRIVE.html"
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_TIDEP_01032_REFERENCE_DESIGN.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="../project.h" openOnCreation="false" excludeFromBuild="true" action="copy">

3
examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/readme.txt
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@ -1,2 +1 @@
This folder contains the reference design software for the TIDEP-01032 (EtherCAT-Connected, Single-Chip, Dual-Servo Motor Drive Reference Design for AM243x Systems). It will be release as part of the Motor Control SDK 09.01.00. Currently the FOC loop used for Closed Speed (Velocity) Control is based on the CMSIS library. We will switch to the RTLib functions and DCL functions in the near future.
This folder contains the reference design software for the TIDEP-01032 (EtherCAT-Connected, Single-Chip, Dual-Servo Motor Drive Reference Design for AM243x Systems). It is included as a part of the Motor Control SDK 09.01.00. Currently the FOC loop used for Closed Speed (Velocity) Control is based on the CMSIS library. We will switch to the RTLib functions and DCL functions in the near future.

2
examples/tidep_01032_dual_motor_drive/single_chip_servo/am243x-lp/system_freertos_nortos/system.projectspec
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@ -16,7 +16,7 @@
toolChain="TICLANG"
>
<pathVariable name="MOTOR_CONTROL_SDK_PATH" path="${COM_TI_MOTOR_CONTROL_SDK_AMXXX_INSTALL_DIR}" scope="project" />
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLES_DUAL_MOTOR_DRIVE.html"
<file path="${MOTOR_CONTROL_SDK_PATH}/docs/api_guide_am243x/EXAMPLE_TIDEP_01032_REFERENCE_DESIGN.html"
openOnCreation="false" excludeFromBuild="false" targetName="README.html" action="link">
</file>
<file path="system.xml" action="copy" openOnCreation="true"/>