diff --git a/.gitignore b/.gitignore index 44c7dfb..f07d620 100644 --- a/.gitignore +++ b/.gitignore @@ -54,6 +54,7 @@ source/usb/tinyusb/tinyusb-stack source/dsplib_c66x_3_4_0_0/ docs/industrial_protocol_docs mcusdk_tagfile +mcsdk_tagfile __pycache__/ source/position_sense/hdsl/firmware/*.lst source/position_sense/hdsl/firmware/*.obj diff --git a/docs_src/docs/api_guide/components/current_sense/current_sense.md b/docs_src/docs/api_guide/components/current_sense/current_sense.md new file mode 100644 index 0000000..7aebeb5 --- /dev/null +++ b/docs_src/docs/api_guide/components/current_sense/current_sense.md @@ -0,0 +1,29 @@ +# Current Sense {#CURRENT_SENSE} + +[TOC] + +Current sensing is handled by the Programmable Real-Time Unit Industrial Communication Subsystem (PRU-ICSS). The PRU-ICSS is a co-processor subsystem containing Programmable Real-Time (PRU) cores which implements the low level firmware. The PRU-ICSS frees up the main ARM cores in the device for other functions, such as control and data processing. + +## SDFM {#SDFM} + +ICSS %SDFM is a sigma delta interface for phase current measurement in high performance motor and servo drives. During Sigma delta decimation filtering (SDDF) the PRU hardware provides hardware integrators that do the accumulation part of Sinc filtering, while the ICSS %SDFM firmware does differentiation part. + +## Features Supported + - 3 %SDFM channels on single PRU core + - Overcurrent (OC) for comparator: free running SINC3 filter with OSR 32-256 + - Normal current (NC) for data read: free running SINC3 filter with OSR 32-256, always multiple of OC OSR (NC OSR = K*OC OSR :: K ∈ Z) + - Event generation(ARM interrupt for data read from DMEM, GPIO toggle for high and low thresholds) + - High and Low threshold comparator + +## Features Not Supported +- Zero cross comparator +- Below 32 OSR + +## ICSS SDFM Design +\subpage SDFM_DESIGN explains the design in detail. + +## Example +\ref EXAMPLE_MOTORCONTROL_SDFM + +## API +\ref SDFM_API_MODULE \ No newline at end of file diff --git a/docs_src/docs/api_guide/components/sdfm_design.md b/docs_src/docs/api_guide/components/current_sense/sdfm_design.md similarity index 87% rename from docs_src/docs/api_guide/components/sdfm_design.md rename to docs_src/docs/api_guide/components/current_sense/sdfm_design.md index 5d24dd0..61c3849 100644 --- a/docs_src/docs/api_guide/components/sdfm_design.md +++ b/docs_src/docs/api_guide/components/current_sense/sdfm_design.md @@ -4,8 +4,8 @@ ## Introduction This design implements Sigma delta interface on TI Sitara™ AM64x/AM243x. -ICSS SDFM is a Sigma delta filter for phase current measurement. -Only two lines are required for each channel, differential pair each for SDFM clock & SDFM data. +ICSS %SDFM is a Sigma delta filter for phase current measurement. +Only two lines are required for each channel, differential pair each for %SDFM clock & %SDFM data. Clock is provided by external device or internal device and data comes from sigma delta modulator in form of digital bit stream. @@ -16,8 +16,8 @@ Clock is provided by external device or internal device and data comes from sigm ## Implementation The Sigma delta filter is implemented on TI Sitara™ Devices. Design is split into three parts – Sigma delta hardware support in PRU, firmware running in PRU and driver running in ARM. -Application is supposed to use the ICSS SDFM driver APIs to leverage SDFM functionality. -SDK example uses the SDFM hardware capability in Slice 1 of PRU-ICSSG0. +Application is supposed to use the ICSS %SDFM driver APIs to leverage %SDFM functionality. +SDK example uses the %SDFM hardware capability in Slice 1 of PRU-ICSSG0. ### Specifications @@ -67,8 +67,8 @@ Following section describes the firmware implementation of Sigma delta decimatio \image html SDFM_FIRMWARE_FLOWCHART.png "Overall Block Diagram" Firmware first clear PRU registers & Task manager. -Then it waits for the R5 to set SDFM enable bit. After the enable set then it acknowledge to R5. -After above these initial steps firmware does initialization of PRU-ICSSG's SDFM hardware interface, task manager & IEP0 then it comes in infinite waiting loop. +Then it waits for the R5 to set %SDFM enable bit. After the enable set then it acknowledge to R5. +After above these initial steps firmware does initialization of PRU-ICSSG's %SDFM hardware interface, task manager & IEP0 then it comes in infinite waiting loop. When the COMP4 event hits the task manager assign OC loop to PC and Firmware starts execution of OC loop In OC loop firmware read sample data from accumulator and it checks for NC sample if the current OC sample belongs to NC sample then it does sampling for NC. @@ -151,6 +151,6 @@ NOTE: There is some jitter in sample read timing, Sample data can be sampled bef SD8_CLK PIN_PRG0_PRU0_GPO16 - SDFM clock input pin + %SDFM clock input pin \ No newline at end of file diff --git a/docs_src/docs/api_guide/components/motor_control.md b/docs_src/docs/api_guide/components/motor_control.md deleted file mode 100644 index 7c84c37..0000000 --- a/docs_src/docs/api_guide/components/motor_control.md +++ /dev/null @@ -1,22 +0,0 @@ -# Motor Control {#ENCODERS_DOC} - -[TOC] - -## Introduction -\cond SOC_AM64X || SOC_AM243X -The Motor Control-Encoder Toolkit enables real-time communications with encoders for TI processors/MCUs. Communication is typically handled by the Programmable Real-Time Unit Industrial Communication Subsystem (PRU-ICSS). The PRU-ICSS is a co-processor subsystem containing Programmable Real-Time (PRU) cores which implement the low level firmware. The upper application layer are implemented in software running on Arm cores. - -PRU cores are primarily used for communication with encoder, and can also be used for other applications such as motor control and custom interfaces. The PRU-ICSS frees up the main Arm cores in the device for other functions, such as control and data processing. - -Applications and PRU-ICSS firmware to communicate with following are provided in the SDK: - -- \subpage ENDAT -- \subpage HDSL -- \subpage TAMAGAWA -- \subpage SDFM -\endcond - -\cond SOC_AM263X -The Motor Control-Encoder Toolkit enables real-time communications with encoders for TI processors/MCUs. -- \subpage TAMAGAWA_OVER_UART -\endcond \ No newline at end of file diff --git a/docs_src/docs/api_guide/components/endat.md b/docs_src/docs/api_guide/components/position_sense/endat.md similarity index 100% rename from docs_src/docs/api_guide/components/endat.md rename to docs_src/docs/api_guide/components/position_sense/endat.md diff --git a/docs_src/docs/api_guide/components/endat_design.md b/docs_src/docs/api_guide/components/position_sense/endat_design.md similarity index 100% rename from docs_src/docs/api_guide/components/endat_design.md rename to docs_src/docs/api_guide/components/position_sense/endat_design.md diff --git a/docs_src/docs/api_guide/components/hdsl.md b/docs_src/docs/api_guide/components/position_sense/hdsl.md similarity index 100% rename from docs_src/docs/api_guide/components/hdsl.md rename to docs_src/docs/api_guide/components/position_sense/hdsl.md diff --git a/docs_src/docs/api_guide/components/hdsl_design.md b/docs_src/docs/api_guide/components/position_sense/hdsl_design.md similarity index 100% rename from docs_src/docs/api_guide/components/hdsl_design.md rename to docs_src/docs/api_guide/components/position_sense/hdsl_design.md diff --git a/docs_src/docs/api_guide/components/hdsl_exceptions_list.md b/docs_src/docs/api_guide/components/position_sense/hdsl_exceptions_list.md similarity index 100% rename from docs_src/docs/api_guide/components/hdsl_exceptions_list.md rename to docs_src/docs/api_guide/components/position_sense/hdsl_exceptions_list.md diff --git a/docs_src/docs/api_guide/components/hdsl_registers_list.md b/docs_src/docs/api_guide/components/position_sense/hdsl_registers_list.md similarity index 100% rename from docs_src/docs/api_guide/components/hdsl_registers_list.md rename to docs_src/docs/api_guide/components/position_sense/hdsl_registers_list.md diff --git a/docs_src/docs/api_guide/components/position_sense/position_sense.md b/docs_src/docs/api_guide/components/position_sense/position_sense.md new file mode 100644 index 0000000..063155e --- /dev/null +++ b/docs_src/docs/api_guide/components/position_sense/position_sense.md @@ -0,0 +1,23 @@ +# Position Sense {#POSITION_SENSE} + +[TOC] + +\cond SOC_AM64X || SOC_AM243X + +Real-time communication with encoders and current sensing is typically handled by the Programmable Real-Time Unit Industrial Communication Subsystem (PRU-ICSS). The PRU-ICSS is a co-processor subsystem containing Programmable Real-Time (PRU) cores which implement the low level firmware. The PRU-ICSS frees up the main ARM cores in the device for other functions, such as control and data processing. + +Applications and PRU-ICSS firmwares for following position sense encoders are provided in the SDK. + +- \subpage ENDAT +- \subpage HDSL +- \subpage TAMAGAWA + +\endcond + +\cond SOC_AM263X + +Applications and PRU-ICSS firmwares for following position sense encoder is provided in the SDK. + +\subpage TAMAGAWA_OVER_UART + +\endcond \ No newline at end of file diff --git a/docs_src/docs/api_guide/components/tamagawa.md b/docs_src/docs/api_guide/components/position_sense/tamagawa.md similarity index 89% rename from docs_src/docs/api_guide/components/tamagawa.md rename to docs_src/docs/api_guide/components/position_sense/tamagawa.md index 4f76713..63206d6 100644 --- a/docs_src/docs/api_guide/components/tamagawa.md +++ b/docs_src/docs/api_guide/components/position_sense/tamagawa.md @@ -5,8 +5,9 @@ ## Introduction The Tamagawa receiver firmware running on PRU-ICSS provides a defined well interface to execute the Tamagawa protocol. The Tamagawa diagnostic application interacts with the Tamagawa receiver firmware interface. + \note -Starting with MCU+ SDK version 08.05.00, the Tamagawa firmware and examples are based on EnDAT hardware interface from PRU-ICSSG. +Tamagawa firmware and examples are based on EnDAT hardware interface from PRU-ICSSG. ## Features Supported diff --git a/docs_src/docs/api_guide/components/tamagawa_design.md b/docs_src/docs/api_guide/components/position_sense/tamagawa_design.md similarity index 100% rename from docs_src/docs/api_guide/components/tamagawa_design.md rename to docs_src/docs/api_guide/components/position_sense/tamagawa_design.md diff --git a/docs_src/docs/api_guide/components/tamagawa_uart.md b/docs_src/docs/api_guide/components/position_sense/tamagawa_uart.md similarity index 100% rename from docs_src/docs/api_guide/components/tamagawa_uart.md rename to docs_src/docs/api_guide/components/position_sense/tamagawa_uart.md diff --git a/docs_src/docs/api_guide/components/sdfm.md b/docs_src/docs/api_guide/components/sdfm.md deleted file mode 100644 index ec51bd9..0000000 --- a/docs_src/docs/api_guide/components/sdfm.md +++ /dev/null @@ -1,27 +0,0 @@ -# SDFM {#SDFM} - -[TOC] - -## Introduction -ICSS SDFM is a sigma delta interface for phase current measurement in high performance motor and servo drives. During Sigma delta decimation filtering (SDDF) the PRU hardware provides hardware integrators that do the accumulation part of Sinc filtering, while the ICSS SDFM firmware does differentiation part. - -## Features Supported - - 3 SDFM channels on single PRU core - - Overcurrent (OC) for comparator: free running SINC3 filter with OSR 32-256 - - Normal current (NC) for data read: free running SINC3 filter with OSR 32-256, always multiple of OC OSR (NC OSR = K*OC OSR :: K ∈ Z) - - Event generation(ARM interrupt for data read from DMEM, GPIO toggle for high and low thresholds) - - High and Low threshold comparator - -## Features Not Supported -- Zero cross comparator -- Below 32 OSR - - -## ICSS SDFM Design -\subpage SDFM_DESIGN explains the design in detail. - -## Example -\ref EXAMPLE_MOTORCONTROL_SDFM - -## API -\ref SDFM_API_MODULE diff --git a/docs_src/docs/api_guide/device/am243x/components.cfg b/docs_src/docs/api_guide/device/am243x/components.cfg index 3b54898..ee6c538 100644 --- a/docs_src/docs/api_guide/device/am243x/components.cfg +++ b/docs_src/docs/api_guide/device/am243x/components.cfg @@ -1,17 +1,19 @@ -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/endat.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/endat_design.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/hdsl.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/hdsl_design.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/hdsl_registers_list.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/hdsl_exceptions_list.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/tamagawa.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/tamagawa_design.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/sdfm.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/sdfm_design.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/position_sense.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/endat.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/endat_design.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/hdsl.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/hdsl_design.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/hdsl_registers_list.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/hdsl_exceptions_list.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/tamagawa.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/tamagawa_design.md + +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/current_sense/current_sense.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/current_sense/sdfm_design.md INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/position_sense/endat/include/endat_api.h INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/position_sense/endat/include/endat_drv.h INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/position_sense/hdsl/include/hdsl_drv.h INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/position_sense/tamagawa/include/tamagawa_drv.h -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/current_sense/sdfm/include/sddf_api.h +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/current_sense/sdfm/include/sdfm_api.h INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/current_sense/sdfm/include/sdfm_drv.h diff --git a/docs_src/docs/api_guide/device/am243x/includes.cfg b/docs_src/docs/api_guide/device/am243x/includes.cfg index 9238e40..f3c5b15 100644 --- a/docs_src/docs/api_guide/device/am243x/includes.cfg +++ b/docs_src/docs/api_guide/device/am243x/includes.cfg @@ -5,20 +5,25 @@ # title of most generated pages and in a few other places. # The default value is: My Project. -PROJECT_NAME = "AM243x MOTOR CONTROL SDK" +PROJECT_NAME = "AM243x Motor Control SDK" INPUT += $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/main_page/main_page.md +INPUT += $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/migration_guides/mcusdk_migration_guide.md +INPUT += $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/device/$(DEVICE)/release_notes.md +INPUT += $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/device/$(DEVICE)/release_notes_09_00_00.md @INCLUDE = $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/device/$(DEVICE)/examples.cfg @INCLUDE = $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/device/$(DEVICE)/components.cfg # Used to selectively pick DEVICE specific sections within .md files -ENABLED_SECTIONS = SOC_AM64X +ENABLED_SECTIONS = SOC_AM243X # SOC specific aliases -ALIASES+=VAR_SOC_NAME="AM64X" -ALIASES+=VAR_SOC_NAME_LOWER="am64x" -ALIASES+=VAR_BOARD_NAME="AM64X-EVM" -ALIASES+=VAR_BOARD_NAME_LOWER="am64x-evm" -ALIASES+=VAR_SK_BOARD_NAME="AM64X-SK" -ALIASES+=VAR_SK_BOARD_NAME_LOWER="am64x-sk" -ALIASES+=VAR_SOC_MANIFEST="motor_control_sdk_am64x_manifest.html" +ALIASES+=VAR_SOC_NAME="AM243X" +ALIASES+=VAR_SOC_NAME_LOWER="am243x" +ALIASES+=VAR_BOARD_NAME="AM243X-EVM" +ALIASES+=VAR_BOARD_NAME_LOWER="am243x-evm" +ALIASES+=VAR_LP_BOARD_NAME="AM243X-LP" +ALIASES+=VAR_LP_BOARD_NAME_LOWER="am243x-lp" +ALIASES+=VAR_SOC_MANIFEST="motor_control_sdk_am243x_manifest.html" +ALIASES+=VAR_MCU_SDK_DOCS_PATH="../../mcu_plus_sdk/docs/api_guide_am243x" +ALIASES+=VAR_IC_SDK_DOCS_PATH="../../ind_comms_sdk/docs/api_guide_am243x" \ No newline at end of file diff --git a/docs_src/docs/api_guide/device/am243x/release_notes.md b/docs_src/docs/api_guide/device/am243x/release_notes.md new file mode 100644 index 0000000..d4c7104 --- /dev/null +++ b/docs_src/docs/api_guide/device/am243x/release_notes.md @@ -0,0 +1,8 @@ +# Release Notes {#RELEASE_NOTES_PAGE} + +[TOC] + +Refer the below pages for release specific information + +- \subpage RELEASE_NOTES_09_00_00_PAGE + diff --git a/docs_src/docs/api_guide/device/am243x/release_notes_09_00_00.md b/docs_src/docs/api_guide/device/am243x/release_notes_09_00_00.md new file mode 100644 index 0000000..b362b0f --- /dev/null +++ b/docs_src/docs/api_guide/device/am243x/release_notes_09_00_00.md @@ -0,0 +1,378 @@ +# Release Notes 09.00.00 {#RELEASE_NOTES_09_00_00_PAGE} + +[TOC] + +\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. + +\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 on any of the R5F's present on the SOC. \n + Unless noted otherwise, the SW modules would work on all supported EVMs \n + +## New in this Release + +Feature | Module +------------------------------------------------------------------------------------------------|----------------------------------- +SYNC Mode Support with 2 channels | Position Sense HDSL +Trigger based normal current sampling | Current Sense %SDFM +Double sampling per PWM cycle | Current Sense %SDFM + +## Device and Validation Information + +SOC | Supported CPUs | Boards | Host PC +-------|-----------------|-------------------------------------------------------------------------------------------------------------|----------------------------------- +AM243x | R5F | AM243x GP EVM (referred to as am243x-evm in code), \n AM243x LAUNCHPAD (referred to as am243x-lp in code) | Windows 10 64b or Ubuntu 18.04 64b + +## Tools, Compiler and Other Open Source SW Module Information + +Tools / SW module | Supported CPUs | Version +------------------------|----------------|----------------------- +Code Composer Studio | R5F, M4F, A53 | @VAR_CCS_VERSION +SysConfig | R5F, M4F, A53 | @VAR_SYSCFG_VERSION, build @VAR_SYSCFG_BUILD +TI ARM CLANG | R5F, M4F | @VAR_TI_ARM_CLANG_VERSION +FreeRTOS Kernel | R5F, M4F, A53 | @VAR_FREERTOS_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. + +## Key Features + + + + + + + + + +### Position Sense + +Module | Supported CPUs | SysConfig Support | OS Support | Key features tested | Key features not tested +-------------|----------------|-------------------|-------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------- +EnDat | R5F | YES | FreeRTOS, NORTOS | Single channel, Multi channel, Continuous mode for single channel, Load share mode, Recovery Time for 2.2 command set, Boosterpack with AM243x-LP | 16 MHz Baud Rate Different cable lengths, Continuous clock mode for multi channel +HDSL | R5F | YES | FreeRTOS, NORTOS | Freerun mode(300MHz,225MHz), Sync mode(225MHz), Short Message Read & Write, Long Message Read & Write, Boosterpack with AM243x-LP | Long cables +Tamagawa | R5F | YES | FreeRTOS, NORTOS | Absolute position, Encoder ID, Reset, EEPROM Read, EEPROM Write, 2.5 Mbps and 5 Mbps Encoder Support, Boosterpack with AM243x-LP | - + +### Current Sense + + +Module | Supported CPUs | SysConfig Support | OS Support | Key features tested | Key features not tested +-------------|----------------|-------------------|-------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------- +%SDFM | R5F | YES | FreeRTOS, NORTOS | | - + + +## Fixed Issues + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ID + Head Line + Module + Applicable Releases + Resolution/Comments +
PINDSW-5651 + HDSL: Multi-turn bits of fast position do not contain correct data + Position Sense HDSL + - + - +
PINDSW-5689 + HDSL: High deviation in fast position when encoder shaft is fixed + Position Sense HDSL + - + - +
PINDSW-6487 + HDSL: FIX bits in ONLINE STATUS 1 register are losing the expected fix value + Position Sense HDSL + - + - +
PINDSW-6488 + HDSL: SUM/SSUM bit not working in ONLINE STATUS registers + Position Sense HDSL + - + - +
PINDSW-6492 + HDSL: Protocol reset is not working + Position Sense HDSL + - + - +
PINDSW-6530 + HDSL: QMLW bit not working in ONLINE STATUS registers + Position Sense HDSL + - + - +
PINDSW-5538 + HDSL: Long message not working with multi-channel application + Position Sense HDSL + - + - +
PINDSW-6489 + HDSL: Offsets for ONLINE STATUS registers in C structure are not correct + Position Sense HDSL + - + - +
PINDSW-6607 + %SDFM: NULL pointer dereferenced in \ref SDFM_getFilterData + Current Sense %SDFM + - + - +
PINDSW-6526 + HDSL: FREL/FRES bits in EVENT/EVENT_S registers are not sticky + Position Sense HDSL + - + - +
PINDSW-5681 + EnDat: Recovery Time not correct for 2.1 commands + Position Sense EnDat + - + - +
PINDSW-5681 + %SDFM: Sampling does not work with EPWM as %SDFM clock + Current Sense %SDFM + - + - +
+ +## Known Issues + + + + + + + + + + + + + + + + + + +
ID + Head Line + Module + Applicable Releases + Workaround +
PINDSW-5537 + HDSL not working with 225 MHz PRU-ICSSG Core Clock Frequency + Position Sense HDSL + 9.0 onwards + Use 300 MHz frequency for PRU-ICSSG Core Clock +
PINDSW-6628 + HDSL: Reset value of PRST bit is not correct + Position Sense HDSL + 9.0 onwards + - +
PINDSW-6608 + %SDFM: Incorrect samples seen intermittently with EPWM as %SDFM clock + Current Sense %SDFM + 9.0 onwards + - +
PINDSW-6630 + HDSL: POS bit is not set during initial fast position alignment + Position Sense HDSL + 9.0 onwards + - +
PINDSW-6629 + HDSL: SSUM bit in EVENT_S is not set when SUMMARY is non-zero + Position Sense HDSL + 9.0 onwards + - +
PINDSW-5690 + HDSL: EDGE register is not updated + Position Sense HDSL + 9.0 onwards + - +
PINDSW-6486 + HDSL: RSSI register shows higher values than expected for a non-noisy setup + Position Sense HDSL + 9.0 onwards + - +
+ + + +## Limitations + + + + + +
ID + Head Line + Module + Reported in Release + Applicable Devices + Workaround +
MCUSDK-208 + gmake with -j can sometimes lock up Windows command prompt + Build + 7.3.0 + AM64x, AM243x + Use bash for windows as part of git for windows or don't use -j option +
+ +## Upgrade and Compatibility Information {#UPGRADE_AND_COMPATIBILITY_INFORMATION_9_0_0} + + + +This section lists changes which could affect user applications developed using older SDK versions. +Read this carefully to see if you need to do any changes in your existing application when migrating to this SDK version relative to +previous SDK version. Also refer to older SDK version release notes to see changes in +earlier SDKs. + + + +### Examples + + + + + + +
Module + Affected API + Change + Additional Remarks +
+ + + +
+ +### Drivers + + + + + + +
Module + Affected API + Change + Additional Remarks +
+ + + +
+ diff --git a/docs_src/docs/api_guide/device/am263x/components.cfg b/docs_src/docs/api_guide/device/am263x/components.cfg index a46ef93..baac63a 100644 --- a/docs_src/docs/api_guide/device/am263x/components.cfg +++ b/docs_src/docs/api_guide/device/am263x/components.cfg @@ -1,2 +1,4 @@ -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/tamagawa_uart.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/position_sense.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/tamagawa_uart.md + INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/position_sense/tamagawa_over_soc_uart/include/tamagawa_soc_uart_interface.h \ No newline at end of file diff --git a/docs_src/docs/api_guide/device/am263x/includes.cfg b/docs_src/docs/api_guide/device/am263x/includes.cfg index 14b8ab6..daafc25 100644 --- a/docs_src/docs/api_guide/device/am263x/includes.cfg +++ b/docs_src/docs/api_guide/device/am263x/includes.cfg @@ -5,7 +5,7 @@ # title of most generated pages and in a few other places. # The default value is: My Project. -PROJECT_NAME = "AM263x MOTOR CONTROL SDK" +PROJECT_NAME = "AM263x Motor Control SDK" INPUT += $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/main_page/main_page.md @INCLUDE = $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/device/$(DEVICE)/examples.cfg @@ -22,3 +22,5 @@ ALIASES+=VAR_BOARD_NAME_LOWER="am263x-cc" ALIASES+=VAR_LP_BOARD_NAME="AM263X-LP" ALIASES+=VAR_LP_BOARD_NAME_LOWER="am263x-lp" ALIASES+=VAR_SOC_MANIFEST="mcu_plus_sdk_am263x_manifest.html" +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" \ No newline at end of file diff --git a/docs_src/docs/api_guide/device/am64x/components.cfg b/docs_src/docs/api_guide/device/am64x/components.cfg index 3b54898..ee6c538 100644 --- a/docs_src/docs/api_guide/device/am64x/components.cfg +++ b/docs_src/docs/api_guide/device/am64x/components.cfg @@ -1,17 +1,19 @@ -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/endat.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/endat_design.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/hdsl.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/hdsl_design.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/hdsl_registers_list.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/hdsl_exceptions_list.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/tamagawa.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/tamagawa_design.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/sdfm.md -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/sdfm_design.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/position_sense.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/endat.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/endat_design.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/hdsl.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/hdsl_design.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/hdsl_registers_list.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/hdsl_exceptions_list.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/tamagawa.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/position_sense/tamagawa_design.md + +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/current_sense/current_sense.md +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/components/current_sense/sdfm_design.md INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/position_sense/endat/include/endat_api.h INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/position_sense/endat/include/endat_drv.h INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/position_sense/hdsl/include/hdsl_drv.h INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/position_sense/tamagawa/include/tamagawa_drv.h -INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/current_sense/sdfm/include/sddf_api.h +INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/current_sense/sdfm/include/sdfm_api.h INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/current_sense/sdfm/include/sdfm_drv.h diff --git a/docs_src/docs/api_guide/device/am64x/includes.cfg b/docs_src/docs/api_guide/device/am64x/includes.cfg index edd869d..fe94c59 100644 --- a/docs_src/docs/api_guide/device/am64x/includes.cfg +++ b/docs_src/docs/api_guide/device/am64x/includes.cfg @@ -5,7 +5,7 @@ # title of most generated pages and in a few other places. # The default value is: My Project. -PROJECT_NAME = "AM64x MOTOR CONTROL SDK" +PROJECT_NAME = "AM64x Motor Control SDK" INPUT += $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/main_page/main_page.md @INCLUDE = $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/device/$(DEVICE)/examples.cfg @@ -22,3 +22,5 @@ ALIASES+=VAR_BOARD_NAME_LOWER="am64x-evm" ALIASES+=VAR_SK_BOARD_NAME="AM64X-SK" ALIASES+=VAR_SK_BOARD_NAME_LOWER="am64x-sk" ALIASES+=VAR_SOC_MANIFEST="motor_control_sdk_am64x_manifest.html" +ALIASES+=VAR_MCU_SDK_DOCS_PATH="../../mcu_plus_sdk/docs/api_guide_am64x" +ALIASES+=VAR_IC_SDK_DOCS_PATH="../../ind_comms_sdk/docs/api_guide_am64x" \ No newline at end of file diff --git a/docs_src/docs/api_guide/doxy_warnings_am243x.txt b/docs_src/docs/api_guide/doxy_warnings_am243x.txt index 10ae173..e69de29 100644 --- a/docs_src/docs/api_guide/doxy_warnings_am243x.txt +++ b/docs_src/docs/api_guide/doxy_warnings_am243x.txt @@ -1,55 +0,0 @@ -warning: tag INPUT: input source 'C:/ti/motor_control_sdk/source/current_sense/sdfm/include/sddf_api.h' does not exist -warning: source C:/ti/motor_control_sdk/source/current_sense/sdfm/include/sddf_api.h is not a readable file or directory... skipping. -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:114: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:209: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:211: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:212: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:77: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:187: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:189: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:190: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:61: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:88: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:90: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:91: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:88: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:195: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:197: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:198: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:83: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:93: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:95: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:96: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:77: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:187: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:189: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:190: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:61: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:88: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:90: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:91: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:114: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:209: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:211: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:212: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:88: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:195: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:197: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:198: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:83: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:93: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:95: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:96: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/components/sdfm.md:28: warning: unable to resolve reference to 'SDFM_API_MODULE' for \ref command -C:/ti/motor_control_sdk/source/position_sense/hdsl/include/hdsl_drv.h:263: warning: explicit link request to 'PRUICSS_Handle' could not be resolved -C:/ti/motor_control_sdk/source/position_sense/hdsl/include/hdsl_drv.h:398: warning: explicit link request to 'SystemP_SUCCESS' could not be resolved -C:/ti/motor_control_sdk/source/position_sense/hdsl/include/hdsl_drv.h:398: warning: explicit link request to 'SystemP_TIMEOUT' could not be resolved -C:/ti/motor_control_sdk/source/position_sense/hdsl/include/hdsl_drv.h:411: warning: explicit link request to 'SystemP_SUCCESS' could not be resolved -C:/ti/motor_control_sdk/source/position_sense/hdsl/include/hdsl_drv.h:411: warning: explicit link request to 'SystemP_TIMEOUT' could not be resolved -C:/ti/motor_control_sdk/source/position_sense/hdsl/include/hdsl_drv.h:231: warning: explicit link request to 'PRUICSS_PRU0' could not be resolved -C:/ti/motor_control_sdk/docs_src/docs/api_guide/main_page/main_page.md:14: warning: unable to resolve reference to 'GETTING_STARTED' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/main_page/main_page.md:21: warning: image file am64x/block_diagram.png is not found in IMAGE_PATH: assuming external image. -C:/ti/motor_control_sdk/docs_src/docs/api_guide/main_page/main_page.md:35: warning: unable to resolve reference to 'EXAMPLES_MOTORCONTROL' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/main_page/main_page.md:14: warning: unable to resolve reference to 'GETTING_STARTED' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/main_page/main_page.md:21: warning: image file am64x/block_diagram.png is not found in IMAGE_PATH: assuming external image. -C:/ti/motor_control_sdk/docs_src/docs/api_guide/main_page/main_page.md:35: warning: unable to resolve reference to 'EXAMPLES_MOTORCONTROL' for \ref command diff --git a/docs_src/docs/api_guide/doxy_warnings_am263x.txt b/docs_src/docs/api_guide/doxy_warnings_am263x.txt index 8f215c7..e69de29 100644 --- a/docs_src/docs/api_guide/doxy_warnings_am263x.txt +++ b/docs_src/docs/api_guide/doxy_warnings_am263x.txt @@ -1,5 +0,0 @@ -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_uart_example.md:89: warning: unable to resolve reference to `CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_uart_example.md:91: warning: unable to resolve reference to `MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_uart_example.md:92: warning: unable to resolve reference to `CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/main_page/main_page.md:13: warning: unable to resolve reference to `GETTING_STARTED' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/main_page/main_page.md:34: warning: unable to resolve reference to `EXAMPLES_MOTORCONTROL' for \ref command diff --git a/docs_src/docs/api_guide/doxy_warnings_am64x.txt b/docs_src/docs/api_guide/doxy_warnings_am64x.txt index 10ae173..e69de29 100644 --- a/docs_src/docs/api_guide/doxy_warnings_am64x.txt +++ b/docs_src/docs/api_guide/doxy_warnings_am64x.txt @@ -1,55 +0,0 @@ -warning: tag INPUT: input source 'C:/ti/motor_control_sdk/source/current_sense/sdfm/include/sddf_api.h' does not exist -warning: source C:/ti/motor_control_sdk/source/current_sense/sdfm/include/sddf_api.h is not a readable file or directory... skipping. -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:114: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:209: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:211: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:212: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:77: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:187: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:189: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:190: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:61: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:88: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:90: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:91: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:88: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:195: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:197: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:198: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:83: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:93: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:95: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:96: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:77: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:187: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:189: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example.md:190: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:61: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:88: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:90: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/hdsl_example_trace.md:91: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:114: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:209: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:211: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/endat_example.md:212: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:88: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:195: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:197: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/tamagawa_example.md:198: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:83: warning: unable to resolve reference to 'EVM_SETUP_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:93: warning: unable to resolve reference to 'CCS_PROJECTS_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:95: warning: unable to resolve reference to 'MAKEFILE_BUILD_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/examples/sdfm_example.md:96: warning: unable to resolve reference to 'CCS_LAUNCH_PAGE' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/components/sdfm.md:28: warning: unable to resolve reference to 'SDFM_API_MODULE' for \ref command -C:/ti/motor_control_sdk/source/position_sense/hdsl/include/hdsl_drv.h:263: warning: explicit link request to 'PRUICSS_Handle' could not be resolved -C:/ti/motor_control_sdk/source/position_sense/hdsl/include/hdsl_drv.h:398: warning: explicit link request to 'SystemP_SUCCESS' could not be resolved -C:/ti/motor_control_sdk/source/position_sense/hdsl/include/hdsl_drv.h:398: warning: explicit link request to 'SystemP_TIMEOUT' could not be resolved -C:/ti/motor_control_sdk/source/position_sense/hdsl/include/hdsl_drv.h:411: warning: explicit link request to 'SystemP_SUCCESS' could not be resolved -C:/ti/motor_control_sdk/source/position_sense/hdsl/include/hdsl_drv.h:411: warning: explicit link request to 'SystemP_TIMEOUT' could not be resolved -C:/ti/motor_control_sdk/source/position_sense/hdsl/include/hdsl_drv.h:231: warning: explicit link request to 'PRUICSS_PRU0' could not be resolved -C:/ti/motor_control_sdk/docs_src/docs/api_guide/main_page/main_page.md:14: warning: unable to resolve reference to 'GETTING_STARTED' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/main_page/main_page.md:21: warning: image file am64x/block_diagram.png is not found in IMAGE_PATH: assuming external image. -C:/ti/motor_control_sdk/docs_src/docs/api_guide/main_page/main_page.md:35: warning: unable to resolve reference to 'EXAMPLES_MOTORCONTROL' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/main_page/main_page.md:14: warning: unable to resolve reference to 'GETTING_STARTED' for \ref command -C:/ti/motor_control_sdk/docs_src/docs/api_guide/main_page/main_page.md:21: warning: image file am64x/block_diagram.png is not found in IMAGE_PATH: assuming external image. -C:/ti/motor_control_sdk/docs_src/docs/api_guide/main_page/main_page.md:35: warning: unable to resolve reference to 'EXAMPLES_MOTORCONTROL' for \ref command diff --git a/docs_src/docs/api_guide/doxygen.cfg b/docs_src/docs/api_guide/doxygen.cfg index 2d99f72..344cff3 100644 --- a/docs_src/docs/api_guide/doxygen.cfg +++ b/docs_src/docs/api_guide/doxygen.cfg @@ -218,7 +218,7 @@ ALIASES+=imageStyle{2}="\htmlonly \e ALIASES+=inlineVideo{3}="\htmlonly

\2

\endhtmlonly" ALIASES+=VAR_MY_NAME="my_value" ALIASES+=VAR_TI_HOME_PAGE="\htmllink{https://www.ti.com,TI}" -ALIASES+=VAR_SDK_NAME="MCU+ SDK" +ALIASES+=VAR_SDK_NAME="Motor Control SDK" ALIASES+=VAR_CCS_VERSION="12.4.0" ALIASES+=VAR_CCS_FOLDER_VERSION="1240" ALIASES+=VAR_CCS_VERSION_AM263X="12.4.0" @@ -853,7 +853,9 @@ EXAMPLE_RECURSIVE = NO # \image command). IMAGE_PATH+=$(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/images/ -IMAGE_PATH+=$(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/images/motorcontrol +IMAGE_PATH+=$(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/images/$(DEVICE)/ +IMAGE_PATH+=$(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/images/position_sense +IMAGE_PATH+=$(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/api_guide/images/current_sense # The INPUT_FILTER tag can be used to specify a program that doxygen should # invoke to filter for each input file. Doxygen will invoke the filter program @@ -1992,7 +1994,7 @@ TAGFILES = # tag file that is based on the input files it reads. See section "Linking to # external documentation" for more information about the usage of tag files. -GENERATE_TAGFILE = $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/mcusdk_tagfile +GENERATE_TAGFILE = $(MOTOR_CONTROL_SDK_PATH)/docs_src/docs/mcsdk_tagfile # If the ALLEXTERNALS tag is set to YES all external class will be listed in the # class index. If set to NO only the inherited external classes will be listed. diff --git a/docs_src/docs/api_guide/examples/endat_example.md b/docs_src/docs/api_guide/examples/endat_example.md index f158e52..a75b8f7 100644 --- a/docs_src/docs/api_guide/examples/endat_example.md +++ b/docs_src/docs/api_guide/examples/endat_example.md @@ -110,7 +110,7 @@ Following section describes the Example implementation of EnDat on ARM(R5F). ## Hardware Prerequisites -Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, below additional HW is required to run this demo +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 - EnDAT encoder - TIDA-00179 Universal Digital Interface to Absolute Position Encoders, http://www.ti.com/tool/TIDA-00179 - TIDEP-01015 3 Axis board @@ -154,7 +154,7 @@ Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, below additiona J17 Pin 1-2 Connected - SDFM Clock Feedback Select + %SDFM Clock Feedback Select J18/J19 @@ -194,7 +194,7 @@ Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, below additiona J27 ON - 3WIRE/SDFM MUX + 3WIRE/%SDFM MUX J28 @@ -205,10 +205,10 @@ Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, below additiona \endcond ## Build, load and run -- **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see \ref CCS_PROJECTS_PAGE). +- **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 makefiles to build**, note the required combination and build using - make command (see \ref MAKEFILE_BUILD_PAGE) -- Launch a CCS debug session and run the executable, see \ref CCS_LAUNCH_PAGE + make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}) +- 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} - Refer to UART terminal for user interface menu options. ### Sample Output diff --git a/docs_src/docs/api_guide/examples/hdsl_example.md b/docs_src/docs/api_guide/examples/hdsl_example.md index 12d3ac5..b570a9e 100644 --- a/docs_src/docs/api_guide/examples/hdsl_example.md +++ b/docs_src/docs/api_guide/examples/hdsl_example.md @@ -73,7 +73,7 @@ It then presents the user with menu options, based on the option selected, appli ## Hardware Prerequisites -Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, below additional HW is required to run this demo +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 - HDSL encoder - Below are two options to connect encoder to AM64x/AM243x EVM. - **Option 1** @@ -132,7 +132,7 @@ Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, below additiona J17 Pin 1-2 Connected - SDFM Clock Feedback Select + %SDFM Clock Feedback Select J18/J19 @@ -172,7 +172,7 @@ Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, below additiona J27 ON - 3WIRE/SDFM MUX + 3WIRE/%SDFM MUX J28 @@ -183,10 +183,10 @@ Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, below additiona \endcond ## Build, load and run -- **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see \ref CCS_PROJECTS_PAGE). +- **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 makefiles to build**, note the required combination and build using - make command (see \ref MAKEFILE_BUILD_PAGE) -- Launch a CCS debug session and run the executable, see \ref CCS_LAUNCH_PAGE + make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}) +- 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} - Refer to UART terminal for user interface menu options. # Sync Mode: diff --git a/docs_src/docs/api_guide/examples/hdsl_example_trace.md b/docs_src/docs/api_guide/examples/hdsl_example_trace.md index 12c3fa1..8909282 100644 --- a/docs_src/docs/api_guide/examples/hdsl_example_trace.md +++ b/docs_src/docs/api_guide/examples/hdsl_example_trace.md @@ -57,7 +57,7 @@ Firmware is split to three sections, initialization, datalink and transport. At ## Hardware Prerequisites -Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, below additional HW is required to run this demo +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 - HDSL encoder - Below are two options to connect encoder to AM64x/AM243x EVM. - **Option 1** @@ -84,10 +84,10 @@ Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, below additiona ## Build, load and run -- **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see \ref CCS_PROJECTS_PAGE). +- **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 makefiles to build**, note the required combination and build using - make command (see \ref MAKEFILE_BUILD_PAGE) -- Launch a CCS debug session and run the executable, see \ref CCS_LAUNCH_PAGE + make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}) +- 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} - Refer to UART terminal for user interface menu options. \imageStyle{hdsl_ddr_trace.png,width:60%} diff --git a/docs_src/docs/api_guide/examples/sdfm_example.md b/docs_src/docs/api_guide/examples/sdfm_example.md index 1df82a5..b506cde 100644 --- a/docs_src/docs/api_guide/examples/sdfm_example.md +++ b/docs_src/docs/api_guide/examples/sdfm_example.md @@ -4,24 +4,24 @@ -The ICSS SDFM driver provides a well defined set of APIs to expose sigma delta interface. +The ICSS %SDFM driver provides a well defined set of APIs to expose sigma delta interface. -The ICSS SDFM example invokes these APIs to -- Set SDFM channels +The ICSS %SDFM example invokes these APIs to +- Set %SDFM channels - Set ACC source, NC OSR, OC OSR, Clock source & Clock inversion - Enable & disable threshold comparators - Set high, low & zero cross threshold values - configure sample trigger time (time for read sample) -- Inform firmware to enable SDFM mode +- Inform firmware to enable %SDFM mode - Configure GPIO pins for high, low & zero cross thresholds Once these steps are executed -- ICSS SDFM example waits for a interrupt (trigger by SDFM firmware) to read sample data +- ICSS %SDFM example waits for a interrupt (trigger by %SDFM firmware) to read sample data - when interrupt occurs, example reads sample data from DMEM and again comes back to waiting loop ### ICSS SDFM Example Implementation -Following section describes the Example implementation of ICSS SDFM on ARM(R5F). +Following section describes the Example implementation of ICSS %SDFM on ARM(R5F). \image html SDFM_EXAMPLE_FLOWCHART.png "ICSS SDFM Example" ## Important files and directory structure @@ -34,16 +34,16 @@ Following section describes the Example implementation of ICSS SDFM on ARM(R5F). ${SDK_INSTALL_PATH}/examples/motor_control/icss_sdfm app_sddf.c & sddf.c - ICSS SDFM application + ICSS %SDFM application ${SDK_INSTALL_PATH}/source/current_sense/sdfm firmware/ - Folder containing SDFM firmware sources. + Folder containing %SDFM firmware sources driver/ - ICSS SDFM driver. + ICSS %SDFM driver @@ -79,7 +79,7 @@ Following section describes the Example implementation of ICSS SDFM on ARM(R5F). # Steps to Run the Example ## Hardware Prerequisites -Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, below additional HW is required to run this demo +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 - TIDEP-01015 3 Axis board - Interface card connecting EVM and TIDEP-01015 3 Axis board - Signal generator @@ -89,10 +89,10 @@ Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, below additiona ## Build, load and run -- **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see \ref CCS_PROJECTS_PAGE). +- **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 makefiles to build**, note the required combination and build using - make command (see \ref MAKEFILE_BUILD_PAGE) -- Launch a CCS debug session and run the executable, see \ref CCS_LAUNCH_PAGE + make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}) +- 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} - Refer to UART terminal for user interface menu options. diff --git a/docs_src/docs/api_guide/examples/tamagawa_example.md b/docs_src/docs/api_guide/examples/tamagawa_example.md index 91acda9..764a774 100644 --- a/docs_src/docs/api_guide/examples/tamagawa_example.md +++ b/docs_src/docs/api_guide/examples/tamagawa_example.md @@ -84,7 +84,7 @@ The Tamagawa receiver firmware running on ICSS0-PRU1 provides a defined interfac # Steps to Run the Example ## Hardware Prerequisites -Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, additional hardware required to run this demo is mentioned below +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 - Tamagawa Encoders - TIDA-00179 Universal Digital Interface to Absolute Position Encoders, http://www.ti.com/tool/TIDA-00179 - TIDEP-01015 3 Axis board @@ -137,7 +137,7 @@ Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, additional hard J17 Pin 1-2 Connected - SDFM Clock Feedback Select + %SDFM Clock Feedback Select J18/J19 @@ -177,7 +177,7 @@ Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, additional hard J27 ON - 3WIRE/SDFM MUX + 3WIRE/%SDFM MUX J28 @@ -191,10 +191,10 @@ Other than the basic EVM setup mentioned in \ref EVM_SETUP_PAGE, additional hard ## Build, load and run -- **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see \ref CCS_PROJECTS_PAGE). +- **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 makefiles to build**, note the required combination and build using - make command (see \ref MAKEFILE_BUILD_PAGE) -- Launch a CCS debug session and run the executable, see \ref CCS_LAUNCH_PAGE + make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}) +- 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} - Refer to UART terminal for user interface menu options. ### Sample Output diff --git a/docs_src/docs/api_guide/examples/tamagawa_uart_example.md b/docs_src/docs/api_guide/examples/tamagawa_uart_example.md index 59a2e37..2f3b2f9 100644 --- a/docs_src/docs/api_guide/examples/tamagawa_uart_example.md +++ b/docs_src/docs/api_guide/examples/tamagawa_uart_example.md @@ -82,10 +82,10 @@ The tamagawa over uart example runs on R5 and communicates with tamagawa encoder ## Build, load and run -- **When using CCS projects to build**, import the CCS project and build it using the CCS project menu (see \ref CCS_PROJECTS_PAGE). +- **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 makefiles to build**, note the required combination and build using - make command (see \ref MAKEFILE_BUILD_PAGE) -- Launch a CCS debug session and run the executable, see \ref CCS_LAUNCH_PAGE + make command (see \htmllink{@VAR_MCU_SDK_DOCS_PATH/MAKEFILE_BUILD_PAGE.html, Using SDK with Makefiles}) +- 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} - Refer to UART terminal for user interface menu options. ### Sample Output diff --git a/docs_src/docs/api_guide/images/am243x/block_diagram.png b/docs_src/docs/api_guide/images/am243x/block_diagram.png new file mode 100644 index 0000000..5ea5796 Binary files /dev/null and b/docs_src/docs/api_guide/images/am243x/block_diagram.png differ diff --git a/docs_src/docs/api_guide/images/am263x/block_diagram.png b/docs_src/docs/api_guide/images/am263x/block_diagram.png new file mode 100644 index 0000000..5ea5796 Binary files /dev/null and b/docs_src/docs/api_guide/images/am263x/block_diagram.png differ diff --git a/docs_src/docs/api_guide/images/am64x/block_diagram.png b/docs_src/docs/api_guide/images/am64x/block_diagram.png new file mode 100644 index 0000000..6e8d619 Binary files /dev/null and b/docs_src/docs/api_guide/images/am64x/block_diagram.png differ diff --git a/docs_src/docs/api_guide/images/block_diagram.png b/docs_src/docs/api_guide/images/block_diagram.png deleted file mode 100644 index 9082213..0000000 Binary files a/docs_src/docs/api_guide/images/block_diagram.png and /dev/null differ diff --git a/docs_src/docs/api_guide/images/motorcontrol/SDFM_FIRMWARE_FLOWCHART.png b/docs_src/docs/api_guide/images/current_sense/SDFM_FIRMWARE_FLOWCHART.png similarity index 100% rename from docs_src/docs/api_guide/images/motorcontrol/SDFM_FIRMWARE_FLOWCHART.png rename to docs_src/docs/api_guide/images/current_sense/SDFM_FIRMWARE_FLOWCHART.png diff --git a/docs_src/docs/api_guide/images/motorcontrol/SDFM_HwSetup_image.PNG b/docs_src/docs/api_guide/images/current_sense/SDFM_HwSetup_image.PNG similarity index 100% rename from docs_src/docs/api_guide/images/motorcontrol/SDFM_HwSetup_image.PNG rename to docs_src/docs/api_guide/images/current_sense/SDFM_HwSetup_image.PNG diff --git a/docs_src/docs/api_guide/images/motorcontrol/SDFM_sample_output.PNG b/docs_src/docs/api_guide/images/current_sense/SDFM_sample_output.PNG similarity index 100% rename from docs_src/docs/api_guide/images/motorcontrol/SDFM_sample_output.PNG rename to docs_src/docs/api_guide/images/current_sense/SDFM_sample_output.PNG diff --git a/docs_src/docs/api_guide/images/motorcontrol/SDFM_threshold_comparator_salea_capture.png b/docs_src/docs/api_guide/images/current_sense/SDFM_threshold_comparator_salea_capture.png similarity index 100% rename from docs_src/docs/api_guide/images/motorcontrol/SDFM_threshold_comparator_salea_capture.png rename to docs_src/docs/api_guide/images/current_sense/SDFM_threshold_comparator_salea_capture.png diff --git a/docs_src/docs/api_guide/images/motorcontrol/Threshold_comparator_flow.png b/docs_src/docs/api_guide/images/current_sense/Threshold_comparator_flow.png similarity index 100% rename from docs_src/docs/api_guide/images/motorcontrol/Threshold_comparator_flow.png rename to docs_src/docs/api_guide/images/current_sense/Threshold_comparator_flow.png diff --git a/docs_src/docs/api_guide/images/images.pptx b/docs_src/docs/api_guide/images/images.pptx index a069efb..1569566 100644 Binary files a/docs_src/docs/api_guide/images/images.pptx and b/docs_src/docs/api_guide/images/images.pptx differ diff --git a/docs_src/docs/api_guide/images/motorcontrol/OOB_Demo_DDRInit.png b/docs_src/docs/api_guide/images/motorcontrol/OOB_Demo_DDRInit.png deleted file mode 100644 index 4f2532c..0000000 Binary files a/docs_src/docs/api_guide/images/motorcontrol/OOB_Demo_DDRInit.png and /dev/null differ diff --git a/docs_src/docs/api_guide/images/motorcontrol/OOB_GUI_root.png b/docs_src/docs/api_guide/images/motorcontrol/OOB_GUI_root.png deleted file mode 100644 index a727b4b..0000000 Binary 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docs_src/docs/api_guide/images/position_sense/hdsl_sync_algo.png diff --git a/docs_src/docs/api_guide/images/motorcontrol/hdsl_test_pattern.png b/docs_src/docs/api_guide/images/position_sense/hdsl_test_pattern.png similarity index 100% rename from docs_src/docs/api_guide/images/motorcontrol/hdsl_test_pattern.png rename to docs_src/docs/api_guide/images/position_sense/hdsl_test_pattern.png diff --git a/docs_src/docs/api_guide/images/syscfg_00.png b/docs_src/docs/api_guide/images/syscfg_00.png deleted file mode 100644 index 3c3e0b6..0000000 Binary files a/docs_src/docs/api_guide/images/syscfg_00.png and /dev/null differ diff --git a/docs_src/docs/api_guide/main_page/main_page.md b/docs_src/docs/api_guide/main_page/main_page.md index 713e037..31ddc16 100644 --- a/docs_src/docs/api_guide/main_page/main_page.md +++ b/docs_src/docs/api_guide/main_page/main_page.md @@ -2,34 +2,28 @@ [TOC] -\if SOC_AM64X -Welcome to **@VAR_SDK_NAME for @VAR_SOC_NAME**. This SDK contains examples, libraries and tools to develop **RTOS and no-RTOS** based applications for **ARM R5F, ARM M4F, ARM A53 (single core and SMP on both cores) CPUs** and related peripherals. -\else -Welcome to **@VAR_SDK_NAME for @VAR_SOC_NAME**. This SDK contains examples, libraries and tools to develop **RTOS and no-RTOS** based applications for **ARM R5F, ARM M4F CPUs** and related peripherals. -\endif +Welcome to **@VAR_SDK_NAME for @VAR_SOC_NAME**. This SDK contains examples, libraries and tools to develop **RTOS and no-RTOS** based applications enabling real-time communication for position and current sense from motors, and real-time control libraries for **ARM R5F CPU** and related peripherals. -\cond SOC_AM64X -This SDK also contains examples to interface these ARM R5F, ARM M4F applications with **Processor SDK Linux** based Cortex-A applications. -\endcond + +Real-time communication with encoders and current sensing is typically handled by the Programmable Real-Time Unit Industrial Communication Subsystem (PRU-ICSS). The PRU-ICSS is a co-processor subsystem containing Programmable Real-Time (PRU) cores which implement the low level firmware. The PRU-ICSS frees up the main ARM cores in the device for other functions, such as control and data processing. + +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}. ## Getting Started -To get started, see \ref GETTING_STARTED +To get started, see \htmllink{@VAR_MCU_SDK_DOCS_PATH/GETTING_STARTED.html, GETTING STARTED} page. ## Block Diagram -Given below is a block diagram of the SW modules in this SDK, +Given below is a block diagram of the SW modules in this SDK -\if SOC_AM64X -\imageStyle{am64x/block_diagram.png,width:70%} -\image html am64x/block_diagram.png "Software Block Diagram" -\else -\imageStyle{block_diagram.png,width:70%} \image html block_diagram.png "Software Block Diagram" -\endif -The main software components in the block diagram are described below +The main software components in the block diagram specific to motor control are described below +\cond SOC_AM64X || SOC_AM243X @@ -37,20 +31,63 @@ The main software components in the block diagram are described below - + - + + + + + + +
Documentation Page Description
**Protocol Stacks and Middleware**
**Position Sense Encoders**
Motor Control - \ref EXAMPLES_MOTORCONTROL - Drive protocols for EnDAT, HDSL. + EnDat + \ref ENDAT + Driver and PRU-ICSS firmware for EnDat encoder interface +
HDSL + \ref HDSL + Driver and PRU-ICSS firmware for Hiperface DSL encoder interface +
Tamagawa + \ref TAMAGAWA + Driver and PRU-ICSS firmware for Tamagawa encoder interface +
**Current Sense**
%SDFM + \ref SDFM + Driver and firmware for current sense using Sigma-Delta Filtering Module
**Examples and Demos**
Examples and Demos \ref EXAMPLES - Examples and demos showing usage of different SW libraries and APIs + Examples and demos showing usage of different SW libraries and APIs for motor control
+\endcond + +\cond SOC_AM263X + + + + + + + + + +
Software Components + Documentation Page + Description +
**Position Sense Encoders**
Tamagawa + \ref TAMAGAWA_OVER_UART + Driver for Tamagawa encoder interface +
**Examples and Demos**
Examples and Demos + \ref EXAMPLES + Examples and demos showing usage of different SW libraries and APIs for motor control +
+ +\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. + ## Directory Structure Given below is a overview of the directory structure to help you navigate the SDK and related tools. @@ -71,7 +108,7 @@ Given below is a overview of the directory structure to help you navigate the SD imports.mak - Top level makefile to list paths to dependant tools + Top level makefile to list paths to dependent tools docs/ @@ -79,12 +116,20 @@ Given below is a overview of the directory structure to help you navigate the SD examples/ - Example applications for @VAR_SOC_NAME, across multiple boards, CPUs, NO-RTOS, RTOS + Example applications for @VAR_SOC_NAME, across multiple boards source/ Device drivers, middleware libraries and APIs + + ind_comms_sdk/ + Industrial Communications SDK + + + mcu_plus_sdk/ + MCU+ SDK + Given below are the paths where the different tools needed outside the SDK, like CCS, SysConfig are installed by default in Windows. diff --git a/docs_src/docs/api_guide/migration_guides/mcusdk_migration_guide.md b/docs_src/docs/api_guide/migration_guides/mcusdk_migration_guide.md new file mode 100644 index 0000000..340cba2 --- /dev/null +++ b/docs_src/docs/api_guide/migration_guides/mcusdk_migration_guide.md @@ -0,0 +1,37 @@ +# Migration Guide {#MIGRATION_GUIDES} + +Components under Motor Control SDK were available in MCU+ SDK 7.x and 8.x releases. + +If you are a user of MCU+ SDK, then items listed on this page that will assist you in migration to Motor Control SDK. + +\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. + + Module | MCU+ SDK Folder Location | Motor Control SDK Folder Location + ----------------------------|------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------- + Position Sense EnDat | `examples/motor_control/endat_diagnostic` | `examples/position_sense/endat_diagnostic` + ^ | `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` + ^ | `source/motor_control/position_sense/hdsl` | `source/position_sense/hdsl` + Position Sense Tamagawa | `examples/motor_control/tamagawa_diagnostic` | `examples/position_sense/tamagawa_diagnostic` + ^ | `source/motor_control/position_sense/tamagawa` | `source/position_sense/tamagawa` + Current Sense %SDFM | `examples/motor_control/icss_sdfm` | `examples/current_sense/icss_sdfm` + ^ | `source/motor_control/current_sense/sdfm` | `source/current_sense/sdfm` + +\endcond + +\cond SOC_AM263X + +- The example and driver for position sense encoder is moved from MCU+ SDK to Motor Control SDK. Folder location changes are also shown below. + + Module | MCU+ SDK Folder Location | Motor Control SDK Folder Location + ----------------------------|---------------------------------------------------------------------------------------------|----------------------------------------------------------- + Position Sense Tamagawa | `examples/motor_control/tamagawa_diagnostic_over_soc_uart` | `examples/position_sense/tamagawa_diagnostic_over_soc_uart` + ^ | `source/motor_control/position_sense/tamagawa_over_soc_uart` | `source/position_sense/tamagawa_over_soc_uart` + +\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. + +- \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. \ No newline at end of file diff --git a/source/current_sense/sdfm/include/sdfm_api.h b/source/current_sense/sdfm/include/sdfm_api.h index ac7435d..e655fdf 100644 --- a/source/current_sense/sdfm/include/sdfm_api.h +++ b/source/current_sense/sdfm/include/sdfm_api.h @@ -43,14 +43,14 @@ extern "C" { #include /** - * \defgroup MOTOR_CONTROL_API APIs for Motor Control Encoders + * \defgroup CURRENT_SENSE_API APIs for Current Sense * - * This module contains APIs for device drivers for various motor control encoders supported in this SDK. + * This module contains APIs for device drivers for current sense supported in this SDK. */ /** * \defgroup SDFM_API_MODULE APIs for SDFM - * \ingroup MOTOR_CONTROL_API + * \ingroup CURRENT_SENSE_API * * Here is the list of APIs used for Sigma Delta interface * @@ -281,8 +281,7 @@ uint32_t SDFM_getFilterData(sdfm_handle h_sdfm,uint8_t ch); * \brief Configure iep count for normal current sampling * * \param[in] h_sdfm SDFM handle - * \param[in] nc_osr normal current osr value - * \param[in] oc_osr over current osr value + * \param[in] nc_osr Normal current osr value * * */ diff --git a/source/position_sense/endat/include/endat_api.h b/source/position_sense/endat/include/endat_api.h index 78a62f1..5ad8290 100644 --- a/source/position_sense/endat/include/endat_api.h +++ b/source/position_sense/endat/include/endat_api.h @@ -30,162 +30,6 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -/* - * \par - * - * - * Example API usage (host trigger mode, single channel): - * ------------------------------------------------------ - * - * A. Obtain handle - * - * struct endat_priv priv = endat_init(); - * [AM437x: endat_init(0x54440000);] - * - * B. Configure to host trigger mode - * - * endat_config_host_trigger(priv); - * - * C. Select channel - * - * endat_config_channel(priv, <#channel>); - * - * D. Load & run the firmware - * - * E. Wait for firmware to initialize, clock frequency would be set to 8MHz by the end of the following command - * - * endat_wait_initialization(priv, ); - * - * F. Set 200KHz frequency to read encoder information so as to not to be affected by propagation delay - * - * endat_config_clock(priv, clk_cfg); - * - * G. Get encoder information - * - * endat_get_encoder_info(priv); - * - * H. Set operating frequency, say 8MHz - * - * endat_config_clock(priv, &clk_cfg); - * - * I. Get the propagation delay estimated by the firmware - * - * prop_delay = endat_get_prop_delay(priv); - * - * J. Handle propagation delay - * - * endat_config_rx_arm_cnt(priv, ); - * endat_config_rx_clock_disable(priv, ); - * - * K. Configure tST - * - * endat_config_tst_delay(priv, 1MHz, use 2000, else 0)>); - * - * L. Process the EnDat command, transmit, this returns upon receive & command is complete, - * - * endat_command_process(priv, cmd, cmd_supplement); - * - * M. Process the received data - * - * endat_recvd_process(priv, cmd, &endat_format_data); - * - * N. Do CRC verification - * - * endat_recvd_validate(priv, cmd, &endat_format_data); - * - * O. Update additional information state tracking, if needed - * - * endat_addinfo_track(priv, cmd, &cmd_supplement); - * - * Result would be in union endat_format_data - * - * - * Example API usage [simplified] (periodic trigger mode, single channel): - * ----------------------------------------------------------------------- - * - * Note: IEP CMP2 is the trigger event in periodic trigger mode and has to be setup beforehand. - * - * A. Get encoder info, follow steps A, B, C, D, E, G of host trigger mode, firmware defaults to 8MHz frequency - * - * B. Switch to periodic trigger mode, this will take effect after the next command completes - * - * endat_config_periodic_trigger(priv); - * - * C. Setup & send the 2.2 position periodic command, needs to be done only once - * - * endat_command_process(priv, 8, NULL); - * - * D. After giving enough time to complete the command after periodic event, to read angle for rotary encoder quickly - * - * endat_get_2_2_angle(priv); - * - * - * Example API usage (periodic trigger mode, single channel): - * --------------------------------------------------------- - * - * Note: IEP CMP2 is the trigger event in periodic trigger mode and has to be setup beforehand. - * - * A. Get encoder info & set desired timings for required frequency taking care of propagation delay, steps A-K of host trigger mode - * - * B. Switch to periodic trigger mode, this will take effect after the next command completes - * - * endat_config_periodic_trigger(priv); - * - * C. Setup the command to be periodically sent - * - * endat_command_build(priv, cmd, cmd_supplement); - * - * D. Send the command - * - * endat_command_send(priv); - * - * E. Wait for the command to finish - * - * endat_command_wait(priv); - * - * F. Process the received data - * - * endat_recvd_process(priv, cmd, &endat_format_data); - * - * G. Do CRC verification - * - * endat_recvd_validate(priv, cmd, &endat_format_data); - * - * H. Update additional information state tracking, if needed - * - * endat_addinfo_track(priv, cmd, &cmd_supplement); - * - * Result would be in union endat_format_data - * - * Repeat E-H to get periodic update after the next periodic event
- * happens, this can be done in say ISR (which could be linked to the
- * periodic event). For a new command to be executed periodically,
- * endat_command_build() can invoked after step H, this will take effect
- * from the next periodic event. - * - * EnDat commands: - * --------------- - * - * Command description of command numbers passed to endat_command_process() - * and endat_command_build() as follows, - * - * 1: Encoder send position values
- * 2: Selection of memory area
- * 3: Encoder receive parameter
- * 4: Encoder send parameter
- * 5: Encoder receive reset
- * 6: Encoder send test values
- * 7: Encoder receive test command
- * 8: Encoder to send position + AI(s)
- * 9: Encoder to send position + AI(s) and receive selection of memory area
- * 10: Encoder to send position + AI(s) and receive parameter
- * 11: Encoder to send position + AI(s) and send parameter
- * 12: Encoder to send position + AI(s) and receive error reset
- * 13: Encoder to send position + AI(s) and receive test command
- * 14: Encoder receive communication command
- * - */ - #ifndef ENDAT_API_H_ #define ENDAT_API_H_ @@ -194,14 +38,14 @@ extern "C" { #endif /** - * \defgroup MOTOR_CONTROL_API APIs for Motor Control Encoders + * \defgroup POSITION_SENSE_API APIs for Position Sense * - * This module contains APIs for device drivers for various motor control encoders supported in this SDK. + * This module contains APIs for device drivers for various position sense encoders supported in this SDK. */ /** * \defgroup ENDAT_API_MODULE APIs for ENDAT Encoder - * \ingroup MOTOR_CONTROL_API + * \ingroup POSITION_SENSE_API * * Here is the list of APIs used for EnDAT encoder communication protocol * diff --git a/source/position_sense/hdsl/include/hdsl_drv.h b/source/position_sense/hdsl/include/hdsl_drv.h index e10666e..e890d08 100644 --- a/source/position_sense/hdsl/include/hdsl_drv.h +++ b/source/position_sense/hdsl/include/hdsl_drv.h @@ -35,7 +35,7 @@ /** * \defgroup HDSL_API_MODULE APIs for HDSL Encoder - * \ingroup MOTOR_CONTROL_API + * \ingroup POSITION_SENSE_API * * Here is the list of APIs used for HDSL Encoder communication protocol * @@ -229,7 +229,7 @@ typedef struct HDSL_Config_s { /**< PRUICSS_Handle for icssg0 or icssg1 instance*/ uint32_t icssCore; /**< PRUICSS core identifier - * Check #PRUICSS_PRU0 and check other available macros + * Check PRUICSS_PRU0 and check other available macros */ uint32_t *baseMemAddr; // icssgHandle->hwAttrs->baseAddr + PRUICSS_DATARAM(PRUICSS_PRUx) /**< Base Memory Address for HDSL channel configuration */ @@ -262,7 +262,7 @@ void hdsl_enable_load_share_mode(void *gPru_cfg ,uint32_t PRU_SLICE); * \brief Open HDSL handle for the specified core * (interrupt mapping should already be completed) * - * \param[in] icssgHandle #PRUICSS_Handle for the ICSS instance + * \param[in] icssgHandle PRUICSS_Handle for the ICSS instance * \param[in] icssCore Core to map in ICSSG instance * \param[in] PRU_mode 0 for dissabled load share mode, 1 for enabled load share mode * \retval HDSL_Handle @@ -396,7 +396,7 @@ uint8_t HDSL_get_rssi(HDSL_Handle hdslHandle); * \param[in] data Data * \param[in] timeout Timeout in microseconds * - * \return #SystemP_SUCCESS in case of success, #SystemP_TIMEOUT in case of timeout + * \return SystemP_SUCCESS in case of success, SystemP_TIMEOUT in case of timeout * */ int32_t HDSL_write_pc_short_msg(HDSL_Handle hdslHandle,uint8_t addr, uint8_t data, uint64_t timeout); @@ -409,7 +409,7 @@ int32_t HDSL_write_pc_short_msg(HDSL_Handle hdslHandle,uint8_t addr, uint8_t dat * \param[in] data Pointer to data buffer where read data will be stored * \param[in] timeout Timeout in microseconds * - * \return #SystemP_SUCCESS in case of success, #SystemP_TIMEOUT in case of timeout + * \return SystemP_SUCCESS in case of success, SystemP_TIMEOUT in case of timeout * */ int32_t HDSL_read_pc_short_msg(HDSL_Handle hdslHandle,uint8_t addr, uint8_t *data, uint64_t timeout); diff --git a/source/position_sense/tamagawa/include/tamagawa_drv.h b/source/position_sense/tamagawa/include/tamagawa_drv.h index 337ddc5..cb440c5 100644 --- a/source/position_sense/tamagawa/include/tamagawa_drv.h +++ b/source/position_sense/tamagawa/include/tamagawa_drv.h @@ -35,7 +35,7 @@ /** * \defgroup TAMAGAWA_API_MODULE APIs for Tamagawa Encoder - * \ingroup MOTOR_CONTROL_API + * \ingroup POSITION_SENSE_API * * Here is the list of APIs used for Tamagawa encoder communication protocol * diff --git a/source/position_sense/tamagawa_over_soc_uart/include/tamagawa_soc_uart_interface.h b/source/position_sense/tamagawa_over_soc_uart/include/tamagawa_soc_uart_interface.h index 1ff70cb..a4b5f86 100644 --- a/source/position_sense/tamagawa_over_soc_uart/include/tamagawa_soc_uart_interface.h +++ b/source/position_sense/tamagawa_over_soc_uart/include/tamagawa_soc_uart_interface.h @@ -33,14 +33,14 @@ #ifndef TAMAGAWA_UART_DRV_H_ #define TAMAGAWA_UART_DRV_H_ /** - * \defgroup MOTOR_CONTROL_API APIs for Motor Control Encoders + * \defgroup POSITION_SENSE_API APIs for Position Sense * - * This module contains APIs for device drivers for various motor control encoders supported in this SDK. + * This module contains APIs for device drivers for position sense encoders supported in this SDK. */ /** * \defgroup TAMAGAWA_UART_API_MODULE APIs for Tamagawa Encoder Over UART - * \ingroup MOTOR_CONTROL_API + * \ingroup POSITION_SENSE_API * * Here is the list of APIs used for Tamagawa encoder communication protocol *