AM243x MCU+ SDK  08.05.00
ENDAT

Introduction

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

Features Supported

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

Features Not Supported

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

  • Safety
  • Clock configuration up to 16MHz

SysConfig Features

Note
It is strongly recommend to use SysConfig where it is available instead of using direct SW API calls. This will help simplify the SW application and also catch common mistakes early in the development cycle.

SysConfig can be used to configure things mentioned below:

  • Selecting the ICSSG0PRUx instance.(Tested on ICSSG0-PRU1)
  • Configuring PINMUX.

ENDAT Design

ENDAT Protocol Design explains the design in detail.

Example

EnDAT Diagnostic

API

APIs for ENDAT Encoder