am64x/am243x: hdsl: Update documentation for HDSL examples
- DDR Trace example was removed - Update the paths in documentation Fixes: PINDSW-6651 Signed-off-by: Dhaval Khandla <dhavaljk@ti.com>
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Dhaval Khandla
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@ -26,7 +26,7 @@ Refer PRU-ICSS chapter of AM64x/AM243x Technical Reference Manual
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## Software Description
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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.
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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.
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### PRU Firmware Design
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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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@ -19,7 +19,7 @@ based on the test input and compare the output with the expected value.
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<th>Folder/Files
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<th>Description
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> ${MOTOR_CONTROL_SDK_PATH}/examples/dcl/dcl_df22/</td></tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/dcl/dcl_df22/</td></tr>
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<tr>
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<td>df22_test.c</td>
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<td>Main function for DF22 testing</td>
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@ -32,7 +32,7 @@ based on the test input and compare the output with the expected value.
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<td>data/</td>
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<td>Contains pre-generated data files result compares with</td>
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> ${MOTOR_CONTROL_SDK_PATH}/source/dcl</td></tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/source/dcl</td></tr>
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<tr>
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<td>dcl/</td>
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<td>Folder containing DCL library source</td>
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@ -17,7 +17,7 @@ based on the test input and compare the output with the expected value.
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<th>Folder/Files
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<th>Description
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> ${MOTOR_CONTROL_SDK_PATH}/examples/dcl/dcl_pi/</td></tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/dcl/dcl_pi/</td></tr>
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<tr>
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<td>pi_test.c</td>
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<td>Main function for PI testing</td>
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@ -30,7 +30,7 @@ based on the test input and compare the output with the expected value.
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<td>data/</td>
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<td>Contains pre-generated data files result compares with</td>
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> ${MOTOR_CONTROL_SDK_PATH}/source/dcl</td></tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/source/dcl</td></tr>
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<tr>
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<td>dcl/</td>
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<td>Folder containing DCL library source</td>
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@ -89,7 +89,7 @@ Following section describes the Example implementation of EnDat on ARM(R5F).
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PRU | PRU1, TXPRU1 and RTUPRU1
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Toolchain | ti-arm-clang
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Board | @VAR_BOARD_NAME_LOWER
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Example folder | examples/motorcontrol/endat_example
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Example folder | examples/position_sense/endat_diagnostic
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\endcond
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@ -102,7 +102,7 @@ Following section describes the Example implementation of EnDat on ARM(R5F).
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PRU | PRU1, TXPRU1 and RTUPRU1
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Toolchain | ti-arm-clang
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Board | @VAR_BOARD_NAME_LOWER, @VAR_LP_BOARD_NAME_LOWER
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Example folder | examples/motorcontrol/endat_example
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Example folder | examples/position_sense/endat_diagnostic
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\endcond
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@ -5,7 +5,6 @@ This page lists all the examples and demos supported in this SDK.
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- Position Sense
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-# \subpage EXAMPLE_MOTORCONTROL_ENDAT
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-# \subpage EXAMPLE_MOTORCONTROL_HDSL
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-# \subpage EXAMPLE_MOTORCONTROL_HDSL_TRACE
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-# \subpage EXAMPLE_MOTORCONTROL_TAMAGAWA
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- Current Sense
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-# \subpage EXAMPLE_MOTORCONTROL_SDFM
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@ -15,7 +14,6 @@ This page lists all the examples and demos supported in this SDK.
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- Position Sense
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-# \subpage EXAMPLE_MOTORCONTROL_ENDAT
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-# \subpage EXAMPLE_MOTORCONTROL_HDSL
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-# \subpage EXAMPLE_MOTORCONTROL_HDSL_TRACE
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-# \subpage EXAMPLE_MOTORCONTROL_TAMAGAWA
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- Current Sense
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-# \subpage EXAMPLE_MOTORCONTROL_SDFM
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@ -30,7 +30,7 @@ This example also allows the capability to save the HDSL register data into memo
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<th>Folder/Files
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<th>Description
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/motor_control/hdsl_diagnostic</td></tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/position_sense/hdsl_diagnostic</td></tr>
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<tr>
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<td>hdsl_diagnostic.c
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hdsl_diagnostic.h</td>
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@ -61,7 +61,7 @@ This example also allows the capability to save the HDSL register data into memo
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PRU | PRU1
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Toolchain | ti-arm-clang
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Board | @VAR_BOARD_NAME_LOWER
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Example folder | examples/motorcontrol/hdsl_example
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Example folder | examples/position_sense/hdsl_diagnostic
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\endcond
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@ -74,7 +74,7 @@ This example also allows the capability to save the HDSL register data into memo
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PRU | PRU1
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Toolchain | ti-arm-clang
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Board | @VAR_BOARD_NAME_LOWER (2 channel and 1 channel examples), @VAR_LP_BOARD_NAME_LOWER (1 channel example)
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Example folder | examples/motorcontrol/hdsl_example
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Example folder | examples/position_sense/hdsl_diagnostic
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\endcond
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@ -37,7 +37,7 @@ The Tamagawa receiver firmware running on ICSS0-PRU1 provides a defined interfac
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<th>Folder/Files
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<th>Description
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/motor_control/tamagawa_diagnostic</td></tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/position_sense/tamagawa_diagnostic</td></tr>
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<tr>
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<td>tamagawa_diagnostic.c</td>
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<td>Tamagawa diagnostic application</td>
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@ -64,7 +64,7 @@ The Tamagawa receiver firmware running on ICSS0-PRU1 provides a defined interfac
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PRU | PRU1
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Toolchain | ti-arm-clang
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Board | @VAR_BOARD_NAME_LOWER
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Example folder | examples/motor_control/tamagawa_diagnostic
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Example folder | examples/position_sense/tamagawa_diagnostic
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\endcond
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@ -77,7 +77,7 @@ The Tamagawa receiver firmware running on ICSS0-PRU1 provides a defined interfac
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PRU | PRU1
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Toolchain | ti-arm-clang
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Board | @VAR_BOARD_NAME_LOWER, @VAR_LP_BOARD_NAME_LOWER (E3 Revision)
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Example folder | examples/motor_control/tamagawa_diagnostic
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Example folder | examples/position_sense/tamagawa_diagnostic
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\endcond
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@ -34,7 +34,7 @@ The tamagawa over uart example runs on R5 and communicates with tamagawa encoder
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<th>Folder/Files
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<th>Description
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/motor_control/tamagawa_diagnostic_over_soc_uart/uart_tamagawa.c</td></tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> ${SDK_INSTALL_PATH}/examples/position_sense/tamagawa_diagnostic_over_soc_uart</td></tr>
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<tr>
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<td>uart_tamagawa.c</td>
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<td>Tamagawa UART application</td>
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@ -46,7 +46,7 @@ The tamagawa over uart example runs on R5 and communicates with tamagawa encoder
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</tr>
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<tr>
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<td>driver/</td>
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<td>Tamagawa Uart driver.</td>
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<td>Tamagawa uart driver</td>
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</tr>
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</table>
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@ -58,7 +58,7 @@ The tamagawa over uart example runs on R5 and communicates with tamagawa encoder
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CPU + OS | r5fss0-0 freertos
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Toolchain | ti-arm-clang
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Board | @VAR_LP_BOARD_NAME_LOWER
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Example folder | examples/motor_control/tamagawa_diagnostic_over_soc_uart
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Example folder | examples/position_sense/tamagawa_diagnostic_over_soc_uart
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\endcond
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@ -4,6 +4,9 @@ Components under Motor Control SDK were available in MCU+ SDK 7.x and 8.x releas
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If you are a user of MCU+ SDK, then items listed on this page that will assist you in migration to Motor Control SDK.
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- 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.
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\cond SOC_AM64X || SOC_AM243X
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- 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.
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@ -12,7 +15,8 @@ If you are a user of MCU+ SDK, then items listed on this page that will assist y
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----------------------------|------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------
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Position Sense EnDat | `examples/motor_control/endat_diagnostic` | `examples/position_sense/endat_diagnostic`
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^ | `source/motor_control/position_sense/endat` | `source/position_sense/endat`
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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`
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Position Sense HDSL | `examples/motor_control/hdsl_diagnostic` | `examples/position_sense/hdsl_diagnostic`
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^ | `examples/motor_control/hdsl_diagnostic_with_traces` | Merged with `hdsl_diagnostic` example
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^ | `source/motor_control/position_sense/hdsl` | `source/position_sense/hdsl`
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Position Sense Tamagawa | `examples/motor_control/tamagawa_diagnostic` | `examples/position_sense/tamagawa_diagnostic`
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^ | `source/motor_control/position_sense/tamagawa` | `source/position_sense/tamagawa`
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@ -34,4 +38,4 @@ If you are a user of MCU+ SDK, then items listed on this page that will assist y
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- 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.
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- \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.
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- \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.
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