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Pull request #32: Update documentation for 9.0 release - Part 2

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Merge in PINDSW/motor_control_sdk from PINDSW-6907_update_docs to next

* commit 'cc0d7395a312ebca0c1a33057084ead845b03fae':
  am243x/am263x: docs: Add manifest for 9.0 release
  am64x/am243x/am263x: docs: Update the links to IC SDK and MCU+ SDK
  am64x/am243x: hdsl: Update documentation for HDSL examples
This commit is contained in:
Dhaval Khandla 2023-09-15 09:10:53 -05:00 committed by Pratheesh Gangadhar TK
commit 2d51e5e5a4
16 changed files with 2482 additions and 59 deletions
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docs_src/docs/api_guide/components/position_sense/tamagawa_design.md
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@ -26,7 +26,7 @@ Refer PRU-ICSS chapter of AM64x/AM243x Technical Reference Manual
## Software Description ## Software Description
At start-up, the application running on the ARM Cortex-R5 initializes the module clocks and configures the pinmux. The PRU is initialized and the PRU firmware is loaded on PRU slice of choice for a chosen ICSS instance (tested on PRU1 on ICSSG0). After the PRU1 starts executing, the Tamagawa interface is operational and the application can use it to communicate with an encoder. Use the Tamagawa diagnostic example to learn more about initialization and communication with the Tamagawa interface. This Tamagawa diagnostic example (available at the path "examples/motor_control/tamagawa_diagnostic" in the directory where MCU PLUS SDK is installed), also provides an easy way to validate the Tamagawa transactions. The diagnostic example provides menu options on the host PC in a serial terminal application, where the user can select the data ID code to be sent. Based on the data ID code, the application updates the Tamagwa interface with the data ID code and trigger transaction. The application then waits until it receives an indication of complete transaction by the firmware through the interface before displaying the result. At start-up, the application running on the ARM Cortex-R5 initializes the module clocks and configures the pinmux. The PRU is initialized and the PRU firmware is loaded on PRU slice of choice for a chosen ICSS instance (tested on PRU1 on ICSSG0). After the PRU1 starts executing, the Tamagawa interface is operational and the application can use it to communicate with an encoder. Use the Tamagawa diagnostic example to learn more about initialization and communication with the Tamagawa interface. This Tamagawa diagnostic example, also provides an easy way to validate the Tamagawa transactions. The diagnostic example provides menu options on the host PC in a serial terminal application, where the user can select the data ID code to be sent. Based on the data ID code, the application updates the Tamagwa interface with the data ID code and trigger transaction. The application then waits until it receives an indication of complete transaction by the firmware through the interface before displaying the result.
### PRU Firmware Design ### PRU Firmware Design
The firmware first initializes the PRU hardware, after which it waits until a command has been triggered through the interface. Upon triggering, the transmit data is set up based on the data ID code and the data is transmitted. The data ID code then waits until receiving all the data that depends on the data ID. The parsing over the received data then commences, which is again based on the data ID, and the interface is updated with the result. The CRC verification occurs next and the interface indicates command completion. The firmware then waits for the next command trigger from the interface. The firmware first initializes the PRU hardware, after which it waits until a command has been triggered through the interface. Upon triggering, the transmit data is set up based on the data ID code and the data is transmitted. The data ID code then waits until receiving all the data that depends on the data ID. The parsing over the received data then commences, which is again based on the data ID, and the interface is updated with the result. The CRC verification occurs next and the interface indicates command completion. The firmware then waits for the next command trigger from the interface.

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docs_src/docs/api_guide/device/am243x/release_notes_09_00_00.md
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@ -4,7 +4,7 @@
\attention Also refer to individual module pages for more details on each feature, unsupported features, important usage guidelines. \attention Also refer to individual module pages for more details on each feature, unsupported features, important usage guidelines.
\attention For release notes of Industrial Communications SDK and MCU+ SDK, please refer to \htmllink{@VAR_IC_SDK_DOCS_PATH/RELEASE_NOTES_09_00_00_PAGE.html, @VAR_SOC_NAME Industrial Communications SDK Release Notes 09.00.00} and \htmllink{@VAR_MCU_SDK_DOCS_PATH/RELEASE_NOTES_09_00_00_PAGE.html, @VAR_SOC_NAME MCU+ SDK Release Notes 09.00.00} respectively. \attention For release notes of Industrial Communications SDK and MCU+ SDK, please refer to <a href="@VAR_IC_SDK_DOCS_PATH/RELEASE_NOTES_09_00_00_PAGE.html" target="_blank"> @VAR_SOC_NAME Industrial Communications SDK Release Notes 09.00.00</a> and <a href="@VAR_MCU_SDK_DOCS_PATH/RELEASE_NOTES_09_00_00_PAGE.html" target="_blank"> @VAR_SOC_NAME MCU+ SDK Release Notes 09.00.00</a> respectively.
\note The examples will show usage of SW modules and APIs on a specific CPU instance and OS combination. \n \note The examples will show usage of SW modules and APIs on a specific CPU instance and OS combination. \n
Unless noted otherwise, the SW modules would work in both FreeRTOS and NORTOS environment. \n Unless noted otherwise, the SW modules would work in both FreeRTOS and NORTOS environment. \n
@ -38,7 +38,7 @@ TI ARM CLANG | R5F, M4F | @VAR_TI_ARM_CLANG_VERSION
FreeRTOS Kernel | R5F, M4F, A53 | @VAR_FREERTOS_KERNEL_VERSION FreeRTOS Kernel | R5F, M4F, A53 | @VAR_FREERTOS_KERNEL_VERSION
FreeRTOS SMP Kernel | A53 | @VAR_FREERTOS_SMP_KERNEL_VERSION FreeRTOS SMP Kernel | A53 | @VAR_FREERTOS_SMP_KERNEL_VERSION
\attention TI ARM CLANG @VAR_TI_ARM_CLANG_VERSION is not part of CCS by default, Follow steps at \htmllink{@VAR_MCU_SDK_DOCS_PATH/SDK_DOWNLOAD_PAGE.html#INSTALL_TIARMCLANG, TI CLANG Compiler Toolchain} to install the compiler. \attention TI ARM CLANG @VAR_TI_ARM_CLANG_VERSION is not part of CCS by default, Follow steps at <a href="@VAR_MCU_SDK_DOCS_PATH/SDK_DOWNLOAD_PAGE.html#INSTALL_TIARMCLANG" target="_blank">TI CLANG Compiler Toolchain</a> to install the compiler.
## Key Features ## Key Features

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docs_src/docs/api_guide/device/am263x/includes.cfg
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@ -22,6 +22,6 @@ ALIASES+=VAR_BOARD_NAME="AM263X-CC"
ALIASES+=VAR_BOARD_NAME_LOWER="am263x-cc" ALIASES+=VAR_BOARD_NAME_LOWER="am263x-cc"
ALIASES+=VAR_LP_BOARD_NAME="AM263X-LP" ALIASES+=VAR_LP_BOARD_NAME="AM263X-LP"
ALIASES+=VAR_LP_BOARD_NAME_LOWER="am263x-lp" ALIASES+=VAR_LP_BOARD_NAME_LOWER="am263x-lp"
ALIASES+=VAR_SOC_MANIFEST="mcu_plus_sdk_am263x_manifest.html" ALIASES+=VAR_SOC_MANIFEST="motor_control_sdk_am263x_manifest.html"
ALIASES+=VAR_MCU_SDK_DOCS_PATH="../../mcu_plus_sdk/docs/api_guide_am263x" ALIASES+=VAR_MCU_SDK_DOCS_PATH="../../mcu_plus_sdk/docs/api_guide_am263x"
ALIASES+=VAR_IC_SDK_DOCS_PATH="../../ind_comms_sdk/docs/api_guide_am263x" ALIASES+=VAR_IC_SDK_DOCS_PATH="../../ind_comms_sdk/docs/api_guide_am263x"

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docs_src/docs/api_guide/examples/dcl/dcl_df22/dcl_df22.md
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@ -19,7 +19,7 @@ based on the test input and compare the output with the expected value.
<th>Folder/Files <th>Folder/Files
<th>Description <th>Description
</tr> </tr>
<tr><td colspan="2" bgcolor=#F0F0F0> ${MOTOR_CONTROL_SDK_PATH}/examples/dcl/dcl_df22/</td></tr> <tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/dcl/dcl_df22/</td></tr>
<tr> <tr>
<td>df22_test.c</td> <td>df22_test.c</td>
<td>Main function for DF22 testing</td> <td>Main function for DF22 testing</td>
@ -32,7 +32,7 @@ based on the test input and compare the output with the expected value.
<td>data/</td> <td>data/</td>
<td>Contains pre-generated data files result compares with</td> <td>Contains pre-generated data files result compares with</td>
</tr> </tr>
<tr><td colspan="2" bgcolor=#F0F0F0> ${MOTOR_CONTROL_SDK_PATH}/source/dcl</td></tr> <tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/source/dcl</td></tr>
<tr> <tr>
<td>dcl/</td> <td>dcl/</td>
<td>Folder containing DCL library source</td> <td>Folder containing DCL library source</td>
@ -67,9 +67,9 @@ based on the test input and compare the output with the expected value.
# Steps to Run the Example # Steps to Run the Example
- **When using CCS projects to build**, import the CCS project for the required combination and build it using the CCS project menu (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html, Using SDK with CCS Projects}). - **When using CCS projects to build**, import the CCS project for the required combination and build it using the CCS project menu (see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html" target="_blank"> Using SDK with CCS Projects </a>).
- **When using makefiles to build**, note the required combination and build using make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}). - **When using makefiles to build**, note the required combination and build using make command (see <a href="@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html" target="_blank"> Using SDK with Makefiles </a>).
- Launch a CCS debug session and run the executable, see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html, CCS Launch\, Load and Run} - Launch a CCS debug session and run the executable, see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html" target="_blank"> CCS Launch, Load and Run </a>
### Sample Output ### Sample Output

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docs_src/docs/api_guide/examples/dcl/dcl_pi/dcl_pi.md
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@ -17,7 +17,7 @@ based on the test input and compare the output with the expected value.
<th>Folder/Files <th>Folder/Files
<th>Description <th>Description
</tr> </tr>
<tr><td colspan="2" bgcolor=#F0F0F0> ${MOTOR_CONTROL_SDK_PATH}/examples/dcl/dcl_pi/</td></tr> <tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/dcl/dcl_pi/</td></tr>
<tr> <tr>
<td>pi_test.c</td> <td>pi_test.c</td>
<td>Main function for PI testing</td> <td>Main function for PI testing</td>
@ -30,7 +30,7 @@ based on the test input and compare the output with the expected value.
<td>data/</td> <td>data/</td>
<td>Contains pre-generated data files result compares with</td> <td>Contains pre-generated data files result compares with</td>
</tr> </tr>
<tr><td colspan="2" bgcolor=#F0F0F0> ${MOTOR_CONTROL_SDK_PATH}/source/dcl</td></tr> <tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/source/dcl</td></tr>
<tr> <tr>
<td>dcl/</td> <td>dcl/</td>
<td>Folder containing DCL library source</td> <td>Folder containing DCL library source</td>
@ -66,9 +66,9 @@ based on the test input and compare the output with the expected value.
# Steps to Run the Example # Steps to Run the Example
- **When using CCS projects to build**, import the CCS project for the required combination and build it using the CCS project menu (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html, Using SDK with CCS Projects}). - **When using CCS projects to build**, import the CCS project for the required combination and build it using the CCS project menu (see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html" target="_blank"> Using SDK with CCS Projects </a>).
- **When using makefiles to build**, note the required combination and build using make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}). - **When using makefiles to build**, note the required combination and build using make command (see <a href="@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html" target="_blank"> Using SDK with Makefiles </a>).
- Launch a CCS debug session and run the executable, see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html, CCS Launch\, Load and Run} - Launch a CCS debug session and run the executable, see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html" target="_blank"> CCS Launch, Load and Run </a>

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docs_src/docs/api_guide/examples/endat_example.md
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@ -89,7 +89,7 @@ Following section describes the Example implementation of EnDat on ARM(R5F).
PRU | PRU1, TXPRU1 and RTUPRU1 PRU | PRU1, TXPRU1 and RTUPRU1
Toolchain | ti-arm-clang Toolchain | ti-arm-clang
Board | @VAR_BOARD_NAME_LOWER Board | @VAR_BOARD_NAME_LOWER
Example folder | examples/motorcontrol/endat_example Example folder | examples/position_sense/endat_diagnostic
\endcond \endcond
@ -102,7 +102,7 @@ Following section describes the Example implementation of EnDat on ARM(R5F).
PRU | PRU1, TXPRU1 and RTUPRU1 PRU | PRU1, TXPRU1 and RTUPRU1
Toolchain | ti-arm-clang Toolchain | ti-arm-clang
Board | @VAR_BOARD_NAME_LOWER, @VAR_LP_BOARD_NAME_LOWER Board | @VAR_BOARD_NAME_LOWER, @VAR_LP_BOARD_NAME_LOWER
Example folder | examples/motorcontrol/endat_example Example folder | examples/position_sense/endat_diagnostic
\endcond \endcond
@ -110,9 +110,9 @@ Following section describes the Example implementation of EnDat on ARM(R5F).
## Hardware Prerequisites ## Hardware Prerequisites
Other than the basic EVM setup mentioned in \htmllink{@VAR_MCU_SDK_DOCS_PATH/EVM_SETUP_PAGE.html, EVM Setup}, below additional HW is required to run this demo Other than the basic EVM setup mentioned in <a href="@VAR_MCU_SDK_DOCS_PATH/EVM_SETUP_PAGE.html" target="_blank"> EVM Setup </a>, below additional HW is required to run this demo
- EnDAT encoder - EnDAT encoder
- TIDA-00179 Universal Digital Interface to Absolute Position Encoders, http://www.ti.com/tool/TIDA-00179 - <a href="http://www.ti.com/tool/TIDA-00179" target="_blank"> TIDA-00179 Universal Digital Interface to Absolute Position Encoders </a>
- TIDEP-01015 3 Axis board - TIDEP-01015 3 Axis board
- Interface card connecting EVM and TIDEP-01015 3 Axis board - Interface card connecting EVM and TIDEP-01015 3 Axis board
@ -121,7 +121,7 @@ Other than the basic EVM setup mentioned in \htmllink{@VAR_MCU_SDK_DOCS_PATH/EVM
- EnDat encoder - EnDat encoder
- AM243x-LP board - AM243x-LP board
- BP-AM2BLDCSERVO, https://www.ti.com/tool/BP-AM2BLDCSERVO - <a href="https://www.ti.com/tool/BP-AM2BLDCSERVO" target="_blank"> BP-AM2BLDCSERVO </a>
\endcond \endcond
## Hardware Setup ## Hardware Setup
@ -205,10 +205,10 @@ Other than the basic EVM setup mentioned in \htmllink{@VAR_MCU_SDK_DOCS_PATH/EVM
\endcond \endcond
## Build, load and run ## Build, load and run
- **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html, Using SDK with CCS Projects}). - **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html" target="_blank"> Using SDK with CCS Projects </a>).
- **When using makefiles to build**, note the required combination and build using - **When using makefiles to build**, note the required combination and build using
make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}) make command (see <a href="@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html" target="_blank"> Using SDK with Makefiles </a>)
- Launch a CCS debug session and run the executable, see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html, CCS Launch\, Load and Run} - Launch a CCS debug session and run the executable, see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html" target="_blank"> CCS Launch, Load and Run </a>
- Refer to UART terminal for user interface menu options. - Refer to UART terminal for user interface menu options.
### Sample Output ### Sample Output

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docs_src/docs/api_guide/examples/examples.md
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@ -5,7 +5,6 @@ This page lists all the examples and demos supported in this SDK.
- Position Sense - Position Sense
-# \subpage EXAMPLE_MOTORCONTROL_ENDAT -# \subpage EXAMPLE_MOTORCONTROL_ENDAT
-# \subpage EXAMPLE_MOTORCONTROL_HDSL -# \subpage EXAMPLE_MOTORCONTROL_HDSL
-# \subpage EXAMPLE_MOTORCONTROL_HDSL_TRACE
-# \subpage EXAMPLE_MOTORCONTROL_TAMAGAWA -# \subpage EXAMPLE_MOTORCONTROL_TAMAGAWA
- Current Sense - Current Sense
-# \subpage EXAMPLE_MOTORCONTROL_SDFM -# \subpage EXAMPLE_MOTORCONTROL_SDFM
@ -15,7 +14,6 @@ This page lists all the examples and demos supported in this SDK.
- Position Sense - Position Sense
-# \subpage EXAMPLE_MOTORCONTROL_ENDAT -# \subpage EXAMPLE_MOTORCONTROL_ENDAT
-# \subpage EXAMPLE_MOTORCONTROL_HDSL -# \subpage EXAMPLE_MOTORCONTROL_HDSL
-# \subpage EXAMPLE_MOTORCONTROL_HDSL_TRACE
-# \subpage EXAMPLE_MOTORCONTROL_TAMAGAWA -# \subpage EXAMPLE_MOTORCONTROL_TAMAGAWA
- Current Sense - Current Sense
-# \subpage EXAMPLE_MOTORCONTROL_SDFM -# \subpage EXAMPLE_MOTORCONTROL_SDFM

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docs_src/docs/api_guide/examples/hdsl_example.md
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@ -30,7 +30,7 @@ This example also allows the capability to save the HDSL register data into memo
<th>Folder/Files <th>Folder/Files
<th>Description <th>Description
</tr> </tr>
<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/motor_control/hdsl_diagnostic</td></tr> <tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/position_sense/hdsl_diagnostic</td></tr>
<tr> <tr>
<td>hdsl_diagnostic.c <td>hdsl_diagnostic.c
hdsl_diagnostic.h</td> hdsl_diagnostic.h</td>
@ -61,7 +61,7 @@ This example also allows the capability to save the HDSL register data into memo
PRU | PRU1 PRU | PRU1
Toolchain | ti-arm-clang Toolchain | ti-arm-clang
Board | @VAR_BOARD_NAME_LOWER Board | @VAR_BOARD_NAME_LOWER
Example folder | examples/motorcontrol/hdsl_example Example folder | examples/position_sense/hdsl_diagnostic
\endcond \endcond
@ -74,7 +74,7 @@ This example also allows the capability to save the HDSL register data into memo
PRU | PRU1 PRU | PRU1
Toolchain | ti-arm-clang Toolchain | ti-arm-clang
Board | @VAR_BOARD_NAME_LOWER (2 channel and 1 channel examples), @VAR_LP_BOARD_NAME_LOWER (1 channel example) Board | @VAR_BOARD_NAME_LOWER (2 channel and 1 channel examples), @VAR_LP_BOARD_NAME_LOWER (1 channel example)
Example folder | examples/motorcontrol/hdsl_example Example folder | examples/position_sense/hdsl_diagnostic
\endcond \endcond
@ -82,11 +82,11 @@ This example also allows the capability to save the HDSL register data into memo
## Hardware Prerequisites ## Hardware Prerequisites
Other than the basic EVM setup mentioned in \htmllink{@VAR_MCU_SDK_DOCS_PATH/EVM_SETUP_PAGE.html, EVM Setup}, below additional HW is required to run this demo Other than the basic EVM setup mentioned in <a href="@VAR_MCU_SDK_DOCS_PATH/EVM_SETUP_PAGE.html" target="_blank"> EVM Setup </a>, below additional HW is required to run this demo
- HDSL encoder - HDSL encoder
- Below are two options to connect encoder to AM64x/AM243x EVM. - Below are two options to connect encoder to AM64x/AM243x EVM.
- **Option 1** - **Option 1**
- TIDA-00179 Universal Digital Interface to Absolute Position Encoders, http://www.ti.com/tool/TIDA-00179 - <a href="http://www.ti.com/tool/TIDA-00179" target="_blank"> TIDA-00179 Universal Digital Interface to Absolute Position Encoders </a>
- TIDEP-01015 3 Axis board - TIDEP-01015 3 Axis board
- Interface card connecting EVM and TIDEP-01015 3 Axis board - Interface card connecting EVM and TIDEP-01015 3 Axis board
- Connect the Hiperface DSL encoder to HDSL+/-(Pin number 6 and 7) signals available on header J7 or Sub-D15 connector of the "Universal Digital Interface to Absolute Position Encoders" board. - Connect the Hiperface DSL encoder to HDSL+/-(Pin number 6 and 7) signals available on header J7 or Sub-D15 connector of the "Universal Digital Interface to Absolute Position Encoders" board.
@ -95,14 +95,14 @@ Other than the basic EVM setup mentioned in \htmllink{@VAR_MCU_SDK_DOCS_PATH/EVM
- Connect the Hiperface DSL encoder to J10. - Connect the Hiperface DSL encoder to J10.
- HDSL AM64xE1 Transceiver supports two channels that can be used to support HDSL safety, multi axis servo drives. - HDSL AM64xE1 Transceiver supports two channels that can be used to support HDSL safety, multi axis servo drives.
- Schematics are shared in the MCU+SDK package. For more design details of the transceiver card, please contact TI via E2E/FAE. - Schematics are shared in the MCU+SDK package. For more design details of the transceiver card, please contact TI via E2E/FAE.
- \htmllink{../am64x_am243x/HDSL_AM64xE1_Schematics.pdf, HDSL Transceiver Card Schematics} document. - <a href="../HDSL_AM64xE1_Schematics.pdf" target="_blank"> HDSL Transceiver Card Schematics </a> document.
\cond SOC_AM243X \cond SOC_AM243X
### Hardware Prerequisities for Booster Pack ### Hardware Prerequisities for Booster Pack
- HDSL encoder - HDSL encoder
- AM243x-LP board - AM243x-LP board
- BP-AM2BLDCSERVO, https://www.ti.com/tool/BP-AM2BLDCSERVO - <a href="https://www.ti.com/tool/BP-AM2BLDCSERVO" target="_blank"> BP-AM2BLDCSERVO </a>
\endcond \endcond
@ -192,10 +192,10 @@ Other than the basic EVM setup mentioned in \htmllink{@VAR_MCU_SDK_DOCS_PATH/EVM
\endcond \endcond
## Build, load and run ## Build, load and run
- **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html, Using SDK with CCS Projects}). - **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html" target="_blank"> Using SDK with CCS Projects </a>).
- **When using makefiles to build**, note the required combination and build using - **When using makefiles to build**, note the required combination and build using
make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}) make command (see <a href="@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html" target="_blank"> Using SDK with Makefiles </a>)
- Launch a CCS debug session and run the executable, see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html, CCS Launch\, Load and Run} - Launch a CCS debug session and run the executable, see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html" target="_blank"> CCS Launch, Load and Run </a>
- Refer to UART terminal for user interface menu options. - Refer to UART terminal for user interface menu options.
# Mode, Channel(s) and Board Selection from sysconfig: # Mode, Channel(s) and Board Selection from sysconfig:

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docs_src/docs/api_guide/examples/sdfm_example.md
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@ -84,7 +84,7 @@ Following section describes the Example implementation of ICSS %SDFM on ARM(R5F)
# Steps to Run the Example # Steps to Run the Example
## Hardware Prerequisites ## Hardware Prerequisites
Other than the basic EVM setup mentioned in \htmllink{@VAR_MCU_SDK_DOCS_PATH/EVM_SETUP_PAGE.html, EVM Setup}, below additional HW is required to run this demo Other than the basic EVM setup mentioned in <a href="@VAR_MCU_SDK_DOCS_PATH/EVM_SETUP_PAGE.html" target="_blank"> EVM Setup </a>, below additional HW is required to run this demo
- TIDEP-01015 3 Axis board - TIDEP-01015 3 Axis board
- Interface card connecting EVM and TIDEP-01015 3 Axis board - Interface card connecting EVM and TIDEP-01015 3 Axis board
- Signal generator - Signal generator
@ -105,10 +105,10 @@ Other than the basic EVM setup mentioned in \htmllink{@VAR_MCU_SDK_DOCS_PATH/EVM
\endcond \endcond
## Build, load and run ## Build, load and run
- **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html, Using SDK with CCS Projects}). - **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html" target="_blank"> Using SDK with CCS Projects </a>).
- **When using makefiles to build**, note the required combination and build using - **When using makefiles to build**, note the required combination and build using
make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}) make command (see <a href="@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html" target="_blank"> Using SDK with Makefiles </a>)
- Launch a CCS debug session and run the executable, see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html, CCS Launch\, Load and Run} - Launch a CCS debug session and run the executable, see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html" target="_blank"> CCS Launch, Load and Run </a>
- Refer to UART terminal for user interface menu options. - Refer to UART terminal for user interface menu options.

18
docs_src/docs/api_guide/examples/tamagawa_example.md
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@ -37,7 +37,7 @@ The Tamagawa receiver firmware running on ICSS0-PRU1 provides a defined interfac
<th>Folder/Files <th>Folder/Files
<th>Description <th>Description
</tr> </tr>
<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/motor_control/tamagawa_diagnostic</td></tr> <tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/position_sense/tamagawa_diagnostic</td></tr>
<tr> <tr>
<td>tamagawa_diagnostic.c</td> <td>tamagawa_diagnostic.c</td>
<td>Tamagawa diagnostic application</td> <td>Tamagawa diagnostic application</td>
@ -64,7 +64,7 @@ The Tamagawa receiver firmware running on ICSS0-PRU1 provides a defined interfac
PRU | PRU1 PRU | PRU1
Toolchain | ti-arm-clang Toolchain | ti-arm-clang
Board | @VAR_BOARD_NAME_LOWER Board | @VAR_BOARD_NAME_LOWER
Example folder | examples/motor_control/tamagawa_diagnostic Example folder | examples/position_sense/tamagawa_diagnostic
\endcond \endcond
@ -77,16 +77,16 @@ The Tamagawa receiver firmware running on ICSS0-PRU1 provides a defined interfac
PRU | PRU1 PRU | PRU1
Toolchain | ti-arm-clang Toolchain | ti-arm-clang
Board | @VAR_BOARD_NAME_LOWER, @VAR_LP_BOARD_NAME_LOWER (E3 Revision) Board | @VAR_BOARD_NAME_LOWER, @VAR_LP_BOARD_NAME_LOWER (E3 Revision)
Example folder | examples/motor_control/tamagawa_diagnostic Example folder | examples/position_sense/tamagawa_diagnostic
\endcond \endcond
# Steps to Run the Example # Steps to Run the Example
## Hardware Prerequisites ## Hardware Prerequisites
Other than the basic EVM setup mentioned in \htmllink{@VAR_MCU_SDK_DOCS_PATH/EVM_SETUP_PAGE.html, EVM Setup}, additional hardware required to run this demo is mentioned below Other than the basic EVM setup mentioned in <a href="@VAR_MCU_SDK_DOCS_PATH/EVM_SETUP_PAGE.html" target="_blank"> EVM Setup </a>, additional hardware required to run this demo is mentioned below
- Tamagawa Encoders - Tamagawa Encoders
- TIDA-00179 Universal Digital Interface to Absolute Position Encoders, http://www.ti.com/tool/TIDA-00179 - <a href="http://www.ti.com/tool/TIDA-00179" target="_blank"> TIDA-00179 Universal Digital Interface to Absolute Position Encoders </a>
- TIDEP-01015 3 Axis board - TIDEP-01015 3 Axis board
- Interface card connecting EVM and TIDEP-01015 3 Axis board - Interface card connecting EVM and TIDEP-01015 3 Axis board
@ -95,7 +95,7 @@ Other than the basic EVM setup mentioned in \htmllink{@VAR_MCU_SDK_DOCS_PATH/EVM
- Tamagawa encoder - Tamagawa encoder
- AM243x-LP board - AM243x-LP board
- BP-AM2BLDCSERVO, https://www.ti.com/tool/BP-AM2BLDCSERVO - <a href="https://www.ti.com/tool/BP-AM2BLDCSERVO" target="_blank"> BP-AM2BLDCSERVO </a>
\endcond \endcond
@ -191,10 +191,10 @@ Other than the basic EVM setup mentioned in \htmllink{@VAR_MCU_SDK_DOCS_PATH/EVM
## Build, load and run ## Build, load and run
- **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html, Using SDK with CCS Projects}). - **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html" target="_blank"> Using SDK with CCS Projects </a>).
- **When using makefiles to build**, note the required combination and build using - **When using makefiles to build**, note the required combination and build using
make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}) make command (see <a href="@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html" target="_blank"> Using SDK with Makefiles </a>)
- Launch a CCS debug session and run the executable, see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html, CCS Launch\, Load and Run} - Launch a CCS debug session and run the executable, see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html" target="_blank"> CCS Launch, Load and Run </a>
- Refer to UART terminal for user interface menu options. - Refer to UART terminal for user interface menu options.
### Sample Output ### Sample Output

12
docs_src/docs/api_guide/examples/tamagawa_uart_example.md
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@ -34,7 +34,7 @@ The tamagawa over uart example runs on R5 and communicates with tamagawa encoder
<th>Folder/Files <th>Folder/Files
<th>Description <th>Description
</tr> </tr>
<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/motor_control/tamagawa_diagnostic_over_soc_uart/uart_tamagawa.c</td></tr> <tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/position_sense/tamagawa_diagnostic_over_soc_uart</td></tr>
<tr> <tr>
<td>uart_tamagawa.c</td> <td>uart_tamagawa.c</td>
<td>Tamagawa UART application</td> <td>Tamagawa UART application</td>
@ -46,7 +46,7 @@ The tamagawa over uart example runs on R5 and communicates with tamagawa encoder
</tr> </tr>
<tr> <tr>
<td>driver/</td> <td>driver/</td>
<td>Tamagawa Uart driver.</td> <td>Tamagawa uart driver</td>
</tr> </tr>
</table> </table>
@ -58,7 +58,7 @@ The tamagawa over uart example runs on R5 and communicates with tamagawa encoder
CPU + OS | r5fss0-0 freertos CPU + OS | r5fss0-0 freertos
Toolchain | ti-arm-clang Toolchain | ti-arm-clang
Board | @VAR_LP_BOARD_NAME_LOWER Board | @VAR_LP_BOARD_NAME_LOWER
Example folder | examples/motor_control/tamagawa_diagnostic_over_soc_uart Example folder | examples/position_sense/tamagawa_diagnostic_over_soc_uart
\endcond \endcond
@ -82,10 +82,10 @@ The tamagawa over uart example runs on R5 and communicates with tamagawa encoder
## Build, load and run ## Build, load and run
- **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html, Using SDK with CCS Projects}). - **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_PROJECTS_PAGE.html" target="_blank"> Using SDK with CCS Projects </a>).
- **When using makefiles to build**, note the required combination and build using - **When using makefiles to build**, note the required combination and build using
make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}) make command (see <a href="@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html" target="_blank"> Using SDK with Makefiles </a>)
- Launch a CCS debug session and run the executable, see \htmllink{@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html, CCS Launch\, Load and Run} - Launch a CCS debug session and run the executable, see <a href="@VAR_MCU_SDK_DOCS_PATH/CCS_LAUNCH_PAGE.html" target="_blank"> CCS Launch, Load and Run </a>
- Refer to UART terminal for user interface menu options. - Refer to UART terminal for user interface menu options.
### Sample Output ### Sample Output

6
docs_src/docs/api_guide/main_page/main_page.md
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@ -9,11 +9,11 @@ Real-time communication with encoders and current sensing is typically handled b
Applications and PRU-ICSS firmwares for position sense and current sense are provided in the SDK. Applications and PRU-ICSS firmwares for position sense and current sense are provided in the SDK.
\attention This SDK also includes \htmllink{@VAR_IC_SDK_DOCS_PATH/index.html, @VAR_SOC_NAME Industrial Communications SDK} and \htmllink{@VAR_MCU_SDK_DOCS_PATH/index.html, @VAR_SOC_NAME MCU+ SDK}. \attention This SDK also includes <a href="@VAR_IC_SDK_DOCS_PATH/index.html" target="_blank">@VAR_SOC_NAME Industrial Communications SDK</a> and <a href="@VAR_MCU_SDK_DOCS_PATH/index.html" target="_blank">@VAR_SOC_NAME MCU+ SDK</a>.
## Getting Started ## Getting Started
To get started, see \htmllink{@VAR_MCU_SDK_DOCS_PATH/GETTING_STARTED.html, GETTING STARTED} page. To get started, see <a href="@VAR_MCU_SDK_DOCS_PATH/GETTING_STARTED.html" target="_blank"> GETTING STARTED </a> page.
## Block Diagram ## Block Diagram
@ -132,7 +132,7 @@ The main software components in the block diagram specific to motor control are
\endcond \endcond
For details on software components of Industrial Communications SDK and MCU+ SDK, please refer to \htmllink{@VAR_IC_SDK_DOCS_PATH/index.html, @VAR_SOC_NAME Industrial Communications SDK} and \htmllink{@VAR_MCU_SDK_DOCS_PATH/index.html, @VAR_SOC_NAME MCU+ SDK} respectively. For details on software components of Industrial Communications SDK and MCU+ SDK, please refer to <a href="@VAR_IC_SDK_DOCS_PATH/index.html" target="_blank">@VAR_SOC_NAME Industrial Communications SDK</a> and <a href="@VAR_MCU_SDK_DOCS_PATH/index.html" target="_blank">@VAR_SOC_NAME MCU+ SDK</a> respectively.
## Directory Structure ## Directory Structure

9
docs_src/docs/api_guide/migration_guides/mcusdk_migration_guide.md
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@ -4,6 +4,9 @@ Components under Motor Control SDK were available in MCU+ SDK 7.x and 8.x releas
If you are a user of MCU+ SDK, then items listed on this page that will assist you in migration to Motor Control SDK. If you are a user of MCU+ SDK, then items listed on this page that will assist you in migration to Motor Control SDK.
- To build examples from Industrial Communications SDK and MCU+ SDK using CCS projects, user has to add <b>${SDK_INSTALL_PATH}/ind_comms_sdk</b> and <b>${SDK_INSTALL_PATH}/mcu_plus_sdk</b> to "Product discovery path" respectively in CCS.
\cond SOC_AM64X || SOC_AM243X \cond SOC_AM64X || SOC_AM243X
- The examples, drivers and PRU-ICSS firmwares for position sense encoders and current sense %SDFM (using PRU-ICSS) are moved from MCU+ SDK to Motor Control SDK. Folder location changes are also shown below. - The examples, drivers and PRU-ICSS firmwares for position sense encoders and current sense %SDFM (using PRU-ICSS) are moved from MCU+ SDK to Motor Control SDK. Folder location changes are also shown below.
@ -12,7 +15,8 @@ If you are a user of MCU+ SDK, then items listed on this page that will assist y
----------------------------|------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------- ----------------------------|------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------
Position Sense EnDat | `examples/motor_control/endat_diagnostic` | `examples/position_sense/endat_diagnostic` Position Sense EnDat | `examples/motor_control/endat_diagnostic` | `examples/position_sense/endat_diagnostic`
^ | `source/motor_control/position_sense/endat` | `source/position_sense/endat` ^ | `source/motor_control/position_sense/endat` | `source/position_sense/endat`
Position Sense HDSL | `examples/motor_control/hdsl_diagnostic`\n `examples/motor_control/hdsl_diagnostic_with_traces`| `examples/position_sense/hdsl_diagnostic`\n `examples/position_sense/hdsl_diagnostic_with_traces` Position Sense HDSL | `examples/motor_control/hdsl_diagnostic` | `examples/position_sense/hdsl_diagnostic`
^ | `examples/motor_control/hdsl_diagnostic_with_traces` | Merged with `hdsl_diagnostic` example
^ | `source/motor_control/position_sense/hdsl` | `source/position_sense/hdsl` ^ | `source/motor_control/position_sense/hdsl` | `source/position_sense/hdsl`
Position Sense Tamagawa | `examples/motor_control/tamagawa_diagnostic` | `examples/position_sense/tamagawa_diagnostic` Position Sense Tamagawa | `examples/motor_control/tamagawa_diagnostic` | `examples/position_sense/tamagawa_diagnostic`
^ | `source/motor_control/position_sense/tamagawa` | `source/position_sense/tamagawa` ^ | `source/motor_control/position_sense/tamagawa` | `source/position_sense/tamagawa`
@ -32,6 +36,7 @@ If you are a user of MCU+ SDK, then items listed on this page that will assist y
\endcond \endcond
- Motor Control SDK also includes \htmllink{@VAR_IC_SDK_DOCS_PATH/index.html, @VAR_SOC_NAME Industrial Communications SDK} under `ind_comms_sdk` folder and \htmllink{@VAR_MCU_SDK_DOCS_PATH/index.html, @VAR_SOC_NAME MCU+ SDK} under `mcu_plus_sdk` folder. - Motor Control SDK also includes <a href="@VAR_IC_SDK_DOCS_PATH/index.html" target="_blank">@VAR_SOC_NAME Industrial Communications SDK</a> under `ind_comms_sdk` folder and <a href="@VAR_MCU_SDK_DOCS_PATH/index.html" target="_blank">@VAR_SOC_NAME MCU+ SDK</a> under `mcu_plus_sdk` folder.
- \ref UPGRADE_AND_COMPATIBILITY_INFORMATION_9_0_0 has details on changes which can affect migration of applications based on MCU+ SDK 08.06.00 to Motor Control SDK 09.00.00. - \ref UPGRADE_AND_COMPATIBILITY_INFORMATION_9_0_0 has details on changes which can affect migration of applications based on MCU+ SDK 08.06.00 to Motor Control SDK 09.00.00.