The industry s first industrial drive control SoC supporting digital and analog position sensors

Transcription

1 The industry s first industrial drive control SoC supporting digital and analog position sensors C2000 DesignDRIVE Position Manager technology solves interfacing challenges with position sensors in industrial servo and AC inverter drives Brian Fortman, C2000 Marketing Industrial Drives and Automation Position Encoder Interface Circuits DesignDRIVE Kit (TMDXIDDK377D)

2 Agenda Top-level overview of DesignDRIVE Position Manager and its benefits Analog position sensor interface solutions Absolute encoder master solutions Getting started 2

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4 Position Manager technology Save at least 10% of the development effort when compared to custom solutions Reduce system cost by up to 10% Supports the leading analog and digital position sensors including resolver, SIN/COS, QEP, T-format, BiSS-C and EnDAT2.2 Reference hardware, example software is compliance tested and future-proof Compliance tested and available for C2000 F28379D and F28379S MCUs Sensor Type Speed Tested Length Resolution C2000 Supported Devices Incremental ~ 12,000 rpm N/A Encoder dependent F2803x, F2806x, F2807x, F2837xS, F2837xD EnDat 2.2 / MHz 100 m Up to 35 bits F28379S, F28379D BiSS-C 5 MHz 100 m Up to 26 bits F28379S, F28379D t-format (Tamagawa) 2.5 MHz 100m Up to 24 bits F28379S, F28379D SIN/COS ~ 12,000 rpm 70 m +/- 4.5 arcsecs F2807x, F2837xS, F2837xD 1 Resolver > 3,000 rpm ~1 m >13.47 ENOB F2802x, F2807x, F2837xS, F2837xD 1 4 Note 1: This project can be ported to other C2000 MCU families but has not been released via controlsuite at this time.

5 C2000 Delfino F28379 MCUs and DesignDRIVE Position Manager technology The industry s first industrial drive control system-on-chip to support digital and analog position sensors Simplify the System Save Development Time Solve Conformance Challenges Reduces system cost by 10% while improving system performance Eliminates up to 10% of the development engineering effort Alleviate months of work proving sensor interface compatibility 5

6 DesignDRIVE Position Manager technology: Simplify the System Reduces system cost by 10% while also improving system performance Digital and analog position sensor interfaces integrated on C2000 MCUs Reduces feedback latency thus improving control loop time Reduces the impact of adding external devices like FPGAs or ASICs 6

7 DesignDRIVE Position Manager technology: Save Development Time Eliminates up to 10% of the development engineering effort TIDM-SERVODRIVE TIDA A complete solution from TI s C2000 MCU team Performance-tuned software Reference hardware & software API, line interface and power supply reference designs from TI High-Level Driver Low-Level Driver Hardware Silicon Traditional FPGA Approach Existing Custom EnDat_HLD Custom Custom FPGA Gates With C2000 Position Manager Example Project PM_endat22 API / Library IDDK Reference C2000 EnDat Peripheral SPI+GPIO+CLB EnDat 2.2 Solution Example: Stackup vs. FPGA 7

8 DesignDRIVE Position Manager technology: Solve Conformance Challenges Gives developers peace-of-mind regarding sensor interface compatibility Compliance testing performed by TI for EnDat 2.2, BiSS-C and T-format DesignDRIVE Development Kit (IDDK) testing reference Roadmap support for more protocol standards, future revisions 8

9 C2000 DesignDRIVE Position Manager Simplify the System Encoder master digital logic integrated on C2000 Reduces the feedback latency improving loop time Reduce the board space impact of external devices, FPGAs, ASICs Reduce system costs by at least 10% Save Development Time Performance-tuned software Reference hardware & software API, line interface and power supply reference designs from TI Eliminate up to 10% of the engineering effort Solve Conformance Challenges Compliance testing performed by TI for EnDat22, BiSS-C & T-format DesignDRIVE Development Kit (IDDK) testing reference Roadmap support for more protocol standards, future revisions Alleviate months of work proving compatibility 9

10 Delfino F28379 dual-core and single-core MCUs Sampling TMS320F28379D Connectivity USB 2.0 OTG FS MAC & PHY 2x CAN 2.0B 4x SPI 2x McBSP 4x UART 2x I2C (w/ true PMBus) System Modules 3x 32-bit CPU Timers Missing Clock Detection Watchdog Timer 2x 192 Interrupt PIE Power & Clocking 2x 10 MHz OSC Ext OSC Input POR Protection Debug Real-time JTAG Processing C28x DSP core 200 MHz FPU TMU VCU-II CLA core 200 MHz Floating Point Memory Up to 512 KB Flash Up to 102 KB SRAM 6ch DMA Temperatures 105C 125C Q100 2x 128-bit Security Zones Boot ROM 2x EMIF Processing C28x DSP core 200 MHz FPU TMU VCU-II CLA core 200 MHz Floating Point Memory Up to 512 KB Flash Up to 102 KB SRAM 6ch DMA Actuation 12x epwm Modules (Type 3) 24x Outputs (16x High-Res) Fault Trip Zones 3x 12-bit DAC Sensing ADC1: 16-bit, 1.1-MSPS 12-bit, 3.5 MSPS ADC2: 16-bit, 1.1-MSPS 12-bit, 3.5 MSPS ADC3: 16-bit, 1.1-MSPS 12-bit, 3.5 MSPS ADC4: 16-bit, 1.1-MSPS 12-bit, 3.5 MSPS 8x Windowed Comparators w/ Integrated 12-bit DAC 8x Sigma Delta Interface Temperature Sensor 3x eqep 6x ecap Position Manager EnDat, BISS, SINCOS Differentiation Integrated Position Manager Hardware Real-time performance of C28x core with CLA co-processor to run parallel control loops 4 differential 16-bit ADC, 1MSPS each, 4x S/H 3x 12-bit DAC (external) Trigonometric Math Unit (TMU) - 1 to 3 cycle SIN, COS, ARCTAN instructions Direct memory access through dual EMIFs (16bit/32bit) 8x Windowed Comparators w/ 12b DAC which can be used as peak current mode comparators (PCMC) 8x Sigma Delta channels, 2x Filters per channel 10

11 C2000 DesignDRIVE Position Manager Implementation Options Integrated Position Manager First MCU with both digital and analog position sensor support Released on F28379D/S today Integrated sensor master/controller with control loop processor Flexible, multi-protocol support Software stackup and example use application Reference hardware design and compatibility tested Standalone Position Manager Add-On Works independent to control loop processor Leverages same core Position Manager library Position Manager performance and testing Simple SPI (or other) interface to customer s controller Stay tuned for further cost-optimized add-on versions 11

12 Position Manager Development Support TMDXIDDK379D Tools Installer Includes: Library: PMBISSCLib or PMEnDat22Lib Include Files Example Projects and User s Guides License Agreement Included in C2000 controlsuite Software Get help from the C2000 Forum e2e.ti.com/support/microcontrollers/c2000 E2E Documentation (TI.com/c2000Drives and included in download) training.ti.com/c2000-designdrive On Line Video Training 12

13 Position Manager Solutions Sensor Type Speed Tested Length Resolution C2000 Supported Devices Incremental ~ 12,000 rpm N/A Encoder dependent F2803x, F2806x, F2807x, F2837xS, F2837xD CW/CCW Any device with eqep please see lit # SPRABX2 CW/CCW Support on the C2000 eqep Module EnDat 2.2 / MHz 100 m Up to 35 bits F28379S, F28379D BiSS-C 5 MHz 100 m Up to 26 bits F28379S, F28379D t-format (Tamagawa) 2.5 MHz 100m Up to 24 bits F28379S, F28379D SIN/COS ~ 12,000 rpm 70 m +/- 4.5 arcsecs F2807x, F2837xS, F2837xD 1 Resolver > 3,000 rpm ~1 m >13.47 ENOB F2802x, F2807x, F2837xS, F2837xD 1 TI Information Selective Disclosure 13

14 DesignDRIVE Position Manager SIN/COS Sensor Type Speed Tested Length Resolution C2000 Supported Devices Incremental ~ 12,000 rpm N/A Encoder dependent F2803x, F2806x, F2807x, F2837xS, F2837xD An overview of the C2000 SIN/COS solution CW/CCW EnDat 2.2 / MHz 100 m Up to 35 bits F28379S, F28379D BiSS-C 5 MHz 100 m Up to 26 bits F28379S, F28379D t-format (Tamagawa) 2.5 MHz 100m Up to 24 bits F28379S, F28379D Any device with eqep please see lit # SPRABX2 CW/CCW Support on the C2000 eqep Module SIN/COS ~ 12,000 rpm 70 m +/- 4.5 arcsecs F2807x, F2837xS, F2837xD 1 Resolver > 3,000 rpm ~1 m >13.47 ENOB F2802x, F2807x, F2837xS, F2837xD 1 TI Information Selective Disclosure 14

15 DesignDRIVE Position Manager SIN/COS technology: Simplify the System Reduce system cost by AND improve system performance Features Integrated MCU solution for interface to SIN/COS transducers Supports high shaft speeds as well as high resolution at low speeds - 3 operating modes based on shaft speed Error detection Robust data integrity Benefits Lowers system cost - no additional external sensing circuitry (sensor power supply and diff amps are still required) Potentially lowers sensing latency (depending on existing architecture) Optimum precision across a wide speed range Continuous calibration (at low speed) Automatic correction of drift and offset errors Delivers position and speed information Tunable for each application Tuned for position control applications (information obtained every control cycle) Built for position and timing performance Packaged library module Easy to integrate and use Available now! Begin development today! 15

16 How does the DesignDRIVE SIN/COS solution work? ADC-B ADC-A CMP INDEX C28x Core(s) Angle = arctan(a/b) CMP CMP QEP Speed = PulseCount C2000 MCU SINCOS User s Guide: TI.com/lit/SPRUI54

17 Position Manager SIN/COS Solution Motor SinCos position encoder Cable Check out TI Designs TIDA TIDM-SERVODRIVE Connector Signal Conditioning Board SIN/COS Receiver Simultaneously sampling ADC Converts quadrature sinusoidal signals low speeds Comparators Convert sinusoids to pulses high speeds Quadrature Encoder Pulse Module (QEP) Counts high speed pulses and indicates direction C28x CPU Filtering, Calibration, Offset Correction, Gain Control Fine angle calculation A B I Encoder Power Supply Analog Sub-System F2837x PM SinCos Library System Block Diagram SinCos solution supported on C2000 MCUs with dual ADCs, comparators and QEP Software project is based on F2837x Requires buffer interfaces and transducer power supply circuits outside MCU Interface circuits included on the DesignDRIVE Development Kit IDDK TMS320F2837x

18 SINCOS Commands Supported Command Description PM_sincos_calcAngle PM_sincos_updateCalData Computes the mechanical shaft angle in scaler per-unit Calculates the gain and offset calibration coefficients and updates active values PM_sincos_initLib Sets the elements of the specified SINCOS data structure to their default values. The function clears all data from both input filters, and initializes the selected QEP peripheral. PM_sincos_reset Resets the dynamic SINCOS variables to default 18

19 SINCOS Fine Angle Calculation PM_sincos_calcAngle() 19

20 SinCos Quadrature Counter and Mode Control PM_sincos_calcAngle() 20

21 Angle calculation and mode selection 21

22 PM_SinCos Resource Requirements for TMS320F28379 Resource Name Type Purpose Usage Restrictions eqep Module and IOs Dedicated Resources AD-C0 AIO Sine channel input AIO dedicated for SinCos AD-D0 AIO Cosine channel input AIO dedicated for SinCos AD-D2 AIO Index input AIO dedicated for SinCos GPIO15 AIO CMPSS-4 high output IO dedicated for SinCos GPIO14 AIO CMPSS-7 high output Configurable Resources One QEP instance to support high speed mode Shared Resources CPU and Memory Module Check CPU and Memory utilization for various functions IO dedicated for SinCos GPIO59 AIO CMPSS-8 high output IO dedicated for SinCos Any QEP instance can be chosen. The module and three corresponding IOs will then be dedicated for SinCos Application to ensure enough CPU cycles and Memory are allocated Dedicated Resource Configurable Resource Shared Resource - hardwired and consumed by the SinCos project. can be customized by the user to choose an alternate instance, however, the IDDK hardware has defined the resource used in the EnDat22 project. EnDat22 project uses a portion of the capabilities/channels available 22

23 DesignDRIVE Position Manager Resolver Sensor Type Speed Tested Length Resolution C2000 Supported Devices Incremental ~ 12,000 rpm N/A Encoder dependent F2803x, F2806x, F2807x, F2837xS, F2837xD An overview of the C2000 Resolver solution on Delfino F2837x MCUs CW/CCW EnDat 2.2 / MHz 100 m Up to 35 bits F28379S, F28379D BiSS-C 5 MHz 100 m Up to 26 bits F28379S, F28379D t-format (Tamagawa) 2.5 MHz 100m Up to 24 bits F28379S, F28379D Any device with eqep please see lit # SPRABX2 CW/CCW Support on the C2000 eqep Module SIN/COS ~ 12,000 rpm 70 m +/- 4.5 arcsecs F2807x, F2837xS, F2837xD 1 Resolver > 3,000 rpm ~1 m >13.47 ENOB F2802x, F2807x, F2837xS, F2837xD 1 TI Information Selective Disclosure 23

24 How Does A Resolver Work? When the primary is excited with a sinusoidal carrier wave, amplitude modulated sinusoidal signals are generated in the secondary windings whose envelopes are nothing but the sine and cosine of shaft angle Position Manager Resolver Interface Observer constructs smooths sinusoidal output between peak samples of the carriers. Minimizes error over all dynamic conditions Signal cleansing - band pass filter Decimation Error computation Band pass delay compensation TI Whitepaper: SPRY212A 25

25 Position Manager Resolver Solution Motor Resolver Cable Check out TI Design TIDM-SERVODRIVE and the Resolver Whitepaper Connector A B X Analog Sub-System F2837x PM Resolver Library Resolver to Digital Simultaneously sampling ADC Converts quadrature sinusoidal signals low speeds DAC Generates analog excitation signal C28x CPU Excitation algorithm Observer Worst Case Loading: System Block Diagram Resolver solution supported on C2000 MCUs with dual ADCs and DAC (or PWM) Software project is based on F2837x Requires buffer interfaces and exciter circuits outside MCU Interface circuits included on the DesignDRIVE Development Kit IDDK TMS320F2837x

26 DesignDRIVE PosiTIonManager Absolute Encoders Sensor Type Speed Tested Length Resolution C2000 Supported Devices Incremental ~ 12,000 rpm N/A Encoder dependent F2803x, F2806x, F2807x, F2837xS, F2837xD EnDat2.2, EnDat 2.1 CW/CCW BiSS-C EnDat 2.2 / MHz 100 m Up to 35 bits F28379S, F28379D Tamagawa T-format BiSS-C 5 MHz 100 m Up to 26 bits F28379S, F28379D t-format (Tamagawa) 2.5 MHz 100m Up to 24 bits F28379S, F28379D Any device with eqep please see lit # SPRABX2 CW/CCW Support on the C2000 eqep Module SIN/COS ~ 12,000 rpm 70 m +/- 4.5 arcsecs F2807x, F2837xS, F2837xD 1 Resolver > 3,000 rpm ~1 m >13.47 ENOB F2802x, F2807x, F2837xS, F2837xD 1 TI Information Selective Disclosure 27

27 DesignDRIVE PositionManager Absolute Encoders EnDat2.2, EnDat2.1, BiSS-C, T-format Features Benefits Integrated MCU solution for encoder interface No additional external logic required Meets digital interface protocol requirements Worry-free and future-proof Up to 8MHz clock operation verified up to 100m cable length (2.5 MHz for t-format) High performance for industrial applications Easy interface to encoder commands through driver functions and data structures Incorporates data unpacking and position reversal functions Simplified software development with library Integrated, configurable cable propagation delay compensation Optimized CRC algorithm for both position and data CRC calculations (as applicable) Tuned for position control applications (information obtained every control cycle) Tunable for each application Robust data integrity and error detection Built for position and timing performance 28

28 Position Manager EnDat2.2 Implementation Check out TI Design TIDA System Block Diagram EnDat 2.2 (and 2.1) Protocol Master is integrated onto C2000 MCUs that are PositionManager-ready Requires only RS-485 line interface and encoder power supply circuits outside MCU Interface circuits included on DesignDRIVE Development Kit IDDK EnDat Protocol Master Configurable Logic Block (CLB) Generates Clock To SPI Generates Clock and Direction to Encoder Performs Delay Compensation Synchronous Serial Port (SPI) De-serializes data for handoff to CPU or CLA C28x CPU Performs ENDAT De-Framing CRC comparison Configures SPI and CLB

29 TMS320F28379X BiSS-C Master Position Manager BiSS-C Implementation Check out TI Designs TIDA TIDA TIDA TIDM-SERVODRIVE System Block Diagram BiSS-C Protocol Master is integrated onto C2000 MCUs that are Position Managerready like the F28379 Requires only RS-485 line interface and encoder power supply circuits outside MCU Interface circuits included on the DesignDRIVE Development Kit IDDK BiSS-C Protocol Master Configurable Logic Block (CLB) Generates Clock To SPI Generates Clock and Direction to Encoder Performs Delay Compensation Synchronous Serial Port (SPI) De-serializes data for handoff to CPU or CLA C28x CPU Performs BiSS De-Framing CRC comparison Configures SPI and CLB

30 Position Manager T-format Implementation TMS320F28379X BiSS-C Master Check out TI Designs TIDM-SERVODRIVE System Block Diagram T-format Protocol Master is integrated onto C2000 MCUs that are Position Managerready like the F28379 Requires only RS-485 line interface and encoder power supply circuits outside MCU Interface circuits included on the DesignDRIVE Development Kit IDDK BiSS-C Protocol Master Configurable Logic Block (CLB) Generates Clock To SPI Generates Clock and Direction to Encoder Performs Delay Compensation Synchronous Serial Port (SPI) De-serializes data for handoff to CPU or CLA C28x CPU Performs BiSS De-Framing CRC comparison Configures SPI and CLB

31 EnDat Commands Supported EnDat 2.1 Encoder send position values Selection of the memory area Encoder receive parameters Encoder send parameter Encoder receive reset Encoder send test values Encoder receive test command EnDat 2.2 Encoder send position value with additional information ENCODER_SEND_POSITION_VALUES SELECTION_OF_MEMORY_AREA ENCODER_RECEIVE_PARAMETER ENCODER_SEND_PARAMETER ENCODER_RECEIVE_RESET ENCODER_SEND_TEST_VALUES ENCODER_RECEIVE_TEST_COMMAND ENCODER_SEND_POSITION_VALUES_WITH_ADDITIONAL_DATA Encoder send position value and receive selection of memory area ENCODER_SEND_POSITION_VALUES_AND_SELECTION_OF_THE_MEMORY_AREA Encoder send position value and receive parameters ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_PARAMETER Encoder send position value and send parameters ENCODER_SEND_POSITION_VALUES_AND_SEND_PARAMETER Encoder send position value and receive test command ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_TEST_COMMAND Encoder send position value and receive error reset ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_ERROR_RESET Encoder receive communication command ENCODER_RECEIVE_COMMUNICATION_COMMAND 32

32 BiSS-C Commands Supported Name Description PM_bissc_generateCRCTable PM_bissc_getCrc PM_bissc_getBits PM_bissc_setCDBit PM_bissc_startOperation PM_bissc_setupPeriph M_bissc_setFreq PM_bissc_setupNewSCDTransfer This function generates table of 256 entries for a given CRC polynomial (polynomial) with specified number of bits (nbits). Generated tables are stored at the address specified by ptable. Calculate the n-bit CRC of a message buffer by using the lookup table, to get the CRC of each byte. This function can be used for both position and data CRC checks with corresponding CRC table and polynomial. This function is used for extracting the bits of interest from the receive data buffer. After every transaction, data received from the encoder is stored in the receive buffer. This function can be used to extract position bits, CRC, CDS data etc. from the receive data buffer. This function is used to configure what the CDM bit will be in the upcoming SCD transfer. Every BiSS frame ends with a timeout and during this time no further clocks are transmitted by BiSS Master. Clock line MA is held to the state of the bit set by this function. The inverse of the same is interpreted as the CDM bit by the slave. This function will initiate the BiSS-C transfer. To be called after PM_bissc_setupNewSCDTransfer. This function starts the transaction set up by the PM_bissc_setupNewSCDTransfer function earlier. Note that the setup up and start operation are separate function calls. User can setup the transfer when needed and start the actual transfer using this function call, as needed, at a different time. Setup for SPI, CLB and other interconnect XBARs for BiSS-C are performed with this function during system initialization. This function needs to be called after every system reset. No transactions will be performed until the setup peripheral function is called. Function to set the clock frequency. Clock Frequency = SYSCLK/(4*BISSC_FREQ_DIVIDER) - Ex: set BISSC_FREQ_DIVIDER to 25 for 2MHz operation Setup a SPI and other modules for a given transaction. All the transactions should start with this command. This function call sets up the peripherals for upcoming BiSS-C transfer but does not actually perform any transfer or activity on the interface. Once the transfer is setup using this function, PM_bissc_startOperation can be called to start the transfer. 33

33 T-format Commands Supported Name PM_tformat_generateCRCTable PM_tformat_getCrc PM_tformat_setupCommand PM_tformat_startOperation PM_tformat_receiveData Description This function generates table of 256 entries for a given CRC polynomial (polynomial) with specified number of bits (nbits). Generated tables are stored at the address specified by ptable. Calculate the n-bit CRC of a message buffer by using the lookup table, to get the CRC of each byte. This function can be used for both position and data CRC checks with corresponding CRC table and polynomial. Setup a SPI and other modules for a given command to be transmitted. All the transactions should start with this command. This function call sets up the peripherals for upcoming transfer but does not actually perform any transfer or activity on the encoder interface. This function call in turn populates the sdata array of TFORMAT_DATA_STRUCT with the data to be transmitted to the Encoder. This function will initiate the transfer on the interface. To be called after PM_tformat_setupCommand. Performs the transaction set up by earlier. Note that the setup up and start operation are separate function calls. User can setup the transfer when needed and start the actual transfer using this function call, as needed, at a different time. Function for unpacking and populating the tformat data structure with the data received from Encoder. This function will be called when the data from Encoder is available in the SPI data buffer and transferred to rdata array of TFORMAT_DATA_STRUCT. Upon the function call, received data is unpacked as per the current command and unpacked results are stored accordingly. PM_tformat_setupPeriph M_tformat_setFreq Setup for SPI, CLB and other interconnect XBARs for BiSS-C are performed with this function during system initialization. This function needs to be called after every system reset. No transactions will be performed until the setup peripheral function is called. Function to set the clock frequency. Clock Frequency = SYSCLK/(4*tformat_FREQ_DIVIDER) - Ex: set tformat_freq_divider to 25 for 2MHz operation 34

34 PM_EnDat22 Resource Requirements for TMS320F28379 Resource Name Type Purpose Usage Restrictions Dedicated Resources GPIO6 IO EnDat Clock from master to Encoder IO dedicated for EnDat GPIO7 IO SPI clock generated by MCU IO dedicated for EnDat EPWM4 IO Internal clock generation EPWM4 dedicated for EnDat GPIO32 IO For EnDat Power control on IDDK Shared Resources CPU and Memory Module Configurable Resources GPIO34 IO EnDat Direction control for Data on IDDK SPI Module and IOs One SPI instance to emulate EnDat interface (SPIB on IDDK) required Check CPU and Memory utilization for various functions Which GPIO is used for direction is user configurable in project Any instance of SPI can be chosen Module and corresponding IOs will be dedicated for EnDat Can choose any available GPIO for power control (CPU managed) Application to ensure enough CPU cycles and Memory are allocated ECAP2 Output Module ECAP2 output ECAP2 o/p path (GPIO34) dedicated for Endat. ECAP2 input remains available to user.. Input XBAR 1 channel To be connected to SPISIMO of the corresponding SPI instance dedicated for EnDat INPUTXBAR1 is used for EnDat implementation. Remaining inputs are available for application use Output XBAR 1 channel Bringing out EnDat TxEn (Direction Control) signal on GPIO32 via OUTPUT1 of Output XBAR OUTPUT1 is used for EnDat implementation. Remaining outputs are available for application use 35

35 PM_BiSS-C Resource Requirements for TMS320F28379 Resource Name Type Purpose Usage Restrictions Configurable Resources BiSS-TxEn / GPIO34 IO For Transmit Enable control of RS485 SPI Module and IOs Dedicated Resources GPIO6 IO BiSS clock from master to Encoder IO dedicated for BiSS-C GPIO7 IO SPI clock generated by MCU IO dedicated for BiSS-CBiSS-C EPWM4 IO Internal clock generation EPWM4 dedicated for BiSS-C One SPI instance to emulate BiSS interface (SPIB on IDDK) required Biss-PwrCtl / GPIO32 IO For BiSS-C Power control on IDDK Shared Resources CPU and Memory Module Check CPU and Memory utilization for various functions Can choose any IO. GPIO34 is used on IDDK and example projects Any instance of SPI can be chosen Module and corresponding IOs will be dedicated for BiSS-C Can choose any available GPIO for power control. GPIO34 is used on IDDK and example projects Application to ensure enough CPU cycles and Memory are allocated ECAP2 Output Module ECAP2 output ECAP2 o/p path (GPIO34) dedicated for BiSS. ECAP2 input remains available to user.. Input XBAR 1 channel To be connected to SPISIMO of the corresponding SPI instance dedicated for BiSS-C INPUTXBAR1 is used for BiSS-C implementation. Remaining inputs are available for application use Dedicated Resource Configurable Resource Shared Resource - hardwired and consumed by the BiSS-C project. can be customized by the user to choose an alternate instance, however, the IDDK hardware has defined the resource used in the BiSS-C project. BiSS-C project uses a portion of the capabilities/channels available 36

36 T-format Resource Requirements for TMS320F28379 Resource Name Type Purpose Usage Restrictions SPI Shared Resources CPU and Memory Module Check CPU and Memory utilization for various functions Output XBAR Input XBAR Module and IOs 1 channel 1 channel Dedicated Resources GPIO7 IO SPI clock generated by MCU IO dedicated for t-format implementation EPWM4 IO Internal clock generation EPWM4 dedicated for t-format Configurable Resources One SPI instance to emulate t-format interface (SPIB on IDDK) required PwrCtl / GPIO32 IO For encoder control on IDDK TxEn IO Direction control on data Bringing out tformat TxEn (Direction Control) signal on GPIO32 via OUTPUT1 of Output XBAR To be connected to SPISIMO of the corresponding SPI instance dedicated for BiSS-C Any instance of SPI can be chosen Module and corresponding IOs will be dedicated for t-format Can choose any available GPIO for power control. GPIO32 is used on IDDK and example projects GPIO34 is used for this purpose on IDDK and example projects. User can choose any GPIO with OUTPUTXBAR1 mux option Application to ensure enough CPU cycles and Memory are allocated OUTPUT1 is used for implementation. Remaining outputs are available for application use. INPUTXBAR1 is used for mplementation. Remaining inputs are available for application use Dedicated Resource Configurable Resource Shared Resource - hardwired and consumed by the BiSS-C project. can be customized by the user to choose an alternate instance, however, the IDDK hardware has defined the resource used in the BiSS-C project. BiSS-C project uses a portion of the capabilities/channels available 37

37 Position Manager - TMS320F28379x System Resource Requirements Reference QEP ADC CMPSS DAC SPI CLB PWM GPIO C28 Cyc/ Sample Pgm (KB) RAM (KB) QEP 1 QEP peripheral Resolver 2 Ch 1 Ch EPWM SinCos 1 3 Ch EnDat Y EPWM4 2x DIR, PWR BiSS 1 Y EPWM4 1 PWR Refer to table* Refer to table* Tamagawa 1 Y EPWM4 2x DIR, PWR Refer to table* *Different functions have different execution times details captured in corresponding library documentation ** Complete resource requirements specified in the Resource requirements section of corresponding lib user guide 38

38 EnDat Testing Results at Heidenhain Lab Encoder Name Type Resolution Cable Length In Meters Max EnDat Clock In MHz Test Result ROC425 Rotary 25-bits 70m 8MHz Pass LC415 Linear 35-bits 70m 8MHz Pass RCN8310 Rotary 29-bits 70m 8MHz Pass ROQ437 Multi Turn 25-bits, 12-bits (Turns) 70m 8MHz Pass LIC211 Linear 32-bits 70m 8MHz Pass ROC413 Rotary 13-bits 70m 8MHz Pass Note: Cable lengths up to 100m have also been tested with some of the encoders. Users are free to deploy longer cable lengths, perform delay compensation, switch to higher EnDat clock frequencies and perform tests. 39

39 BiSS Testing Results at TI Lab Encoder Manufacturer Encoder Name Type Resolution Cable Length In Meters Max BiSS Clock In MHz CD interface used Test Result Lika HS58S18/I7 Rotary Kuebler 8.F C bits (padded to 24bits) 100m 3.33MHz Yes Pass Rotary 26-bits (12+14) 100m 5MHz No Pass Note: Users are free to deploy longer cable lengths, perform delay compensation, switch BiSS-C clock frequency and perform tests. 40

40 T-format Testing Results at TI Lab Encoder Manufacturer Encoder Name Type Resolution Cable Length In Meters Max t-format Clock In MHz Test Result Tamagawa TS5643N100 Rotary 17-bits (padded to 24bits) 70m 2.5 Mbps Pass Tamagawa TS5700N8501 Rotary 24-bits 70m 2.5 Mbps Pass Note: Users are free to deploy longer cable lengths, perform delay compensation, and perform tests on their own. 41

41 What Next? Learn more about DesignDRIVE Position Manager at: And Training.ti.com/c2000-designdrive 42

42 Position Manager Development Support TMDXIDDK379D Tools Installer Includes: Library: PMBISSCLib or PMEnDat22Lib Include Files Example Projects and User s Guides License Agreement Included in C2000 controlsuite Software Get help from the E2E C2000 Forum Download related documentation Watch online training video 43