Naresh A 354e989698 am64x/am243x/am263x : add documentation

add documentation

Fixes: PINDSW-6434

Signed-off-by: Naresh A <nareshk@ti.com>

2023-07-28 12:02:00 +05:30

1.8 KiB

Raw Blame History

EnDat

[TOC]

Introduction

EnDat is a bidirectional interface for position encoders. During EnDat operation the EnDat receiver receives position information from the EnDat position encoder.

Features Supported

EnDat 2.2 command set
EnDat 2.1 command set
Interrupted and continuous clock mode
Cable length up to 100m @8MHz
Propagation delay compensation (capable of handling different propagation delay of different propagation delay of different channels in concurrent multi channel configuration)
Automatic estimation of propagation delay
Receive on-the-fly CRC verification of position, parameters and additional information
Two modes of operation - host trigger and periodic trigger
Channel select
Concurrent multi channel support (up-to 3 encoders with identical part number @ 8MHz maximum)
"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)
Safety Readiness: Recovery time

Features Not Supported

In general, peripherals or features not mentioned as part of "Features Supported" section are not supported in this release, including the below

Safety
Clock configuration up to 16MHz
Independent clocks on multi channel mode.

SysConfig Features

@VAR_SYSCFG_USAGE_NOTE

SysConfig can be used to configure things mentioned below:

Selecting the ICSSG instance. (Tested on ICSSG0)
Selecting the ICSSG0PRUx instance.(Tested on ICSSG0-PRU1)
Configuring PINMUX.
Channel selection.
Selecting Multi Channel with Encoders of Different Make" using load share mode.

ENDAT Design

\subpage ENDAT_DESIGN explains the design in detail.

Example

\ref EXAMPLE_MOTORCONTROL_ENDAT

API

\ref ENDAT_API_MODULE

1.8 KiB Raw Blame History