TIDUE74F April   2018  – March 2026

 

  1.   1
  2.   Description
  3.   Resources
  4.   Features
  5.   Applications
  6.   6
  7. 1System Description
    1. 1.1 Key System Specifications
  8. 2System Overview
    1. 2.1 Block Diagram
    2. 2.2 Highlighted Products
      1. 2.2.1 C2000™ Real-Time MCU LaunchPad™ Development Kit
      2. 2.2.2 SN65HVD78
      3. 2.2.3 TLV702
      4. 2.2.4 TPS22918-Q1
    3. 2.3 Design Considerations
      1. 2.3.1 Tamagawa T-Format Protocol
      2. 2.3.2 C2000 T-Format Encoder Interface Overview
      3. 2.3.3 TIDM-1011 Board Implementation
      4. 2.3.4 MCU Resource Requirements
      5. 2.3.5 Device-Specific Resource Usage
        1. 2.3.5.1 CRC Calculations
        2. 2.3.5.2 Input, Output Signals, and CLB Tiles
      6. 2.3.6 CLB T-Format Implementation Details
        1. 2.3.6.1 Transaction Waveforms
          1. 2.3.6.1.1 IDLE State
          2. 2.3.6.1.2 TRANSMIT_DATA State
          3. 2.3.6.1.3 WAIT_FOR_START State
          4. 2.3.6.1.4 RECEIVE_DATA State
        2. 2.3.6.2 Communication Tile Design
        3. 2.3.6.3 Logic View
      7. 2.3.7 CLB Receive Data CRC Implementation
      8. 2.3.8 PM T-Format Encoder Interface Library
        1. 2.3.8.1 PM T-Format Reference Implementation Commands
        2. 2.3.8.2 Functions Supported in PM T-Format Reference Implementation
  9. 3Hardware, Software, Testing Requirements, and Test Results
    1. 3.1 Hardware
      1. 3.1.1 TIDM-1011 Jumper Configuration
    2. 3.2 Software
      1. 3.2.1 C2000 Driver Library (DriverLib)
      2. 3.2.2 C2000 SysConfig
      3. 3.2.3 C2000 Configurable Logic Block Tool
      4. 3.2.4 Installing Code Composer Studio™ and C2000WARE-MOTORCONTROL-SDK
      5. 3.2.5 Locating the Reference Software
    3. 3.3 Testing and Results
      1. 3.3.1 Hardware Configuration
      2. 3.3.2 Building and Loading Project
      3. 3.3.3 Running Code
      4. 3.3.4 Cable Length Validation
      5. 3.3.5 Benchmarks
      6. 3.3.6 Troubleshooting
  10. 4Design Files
  11. 5Related Documentation
    1. 5.1 Trademarks
  12. 6Terminology
  13. 7About the Authors
  14. 8Revision History

3.3.3 Running Code

The T-Format System Solution is a communications-only demonstration. The demo sends a command, receives the response, and checks for errors. This pattern is repeated for each of the T-Format commands. While running the demo, you can monitor output signals of the MCU with a logic analyzer or scope. Example transactions for Data ID 2 and Data ID D are shown in Figure 3-7 and Figure 3-8.

TIDM-1011 Data ID 2 Waveform Figure 3-7 Data ID 2 Waveform
TIDM-1011 Data ID D Waveform Figure 3-8 Data ID D Waveform
Note: Only the F2837xD requires an external connection between the CLB's generated SPI clock and the SPICLK pin. Other devices have an internal connection between the CLB and the SPICLK. For devices with an internal connection, the SPICLK can also be brought out to a pin for monitoring. The test connection for SPI CLK is shown in the device input/output diagrams inSection 2.3.5.2.

Examine the waveforms:

  1. The SPI CLK frequency is 2.5 MHz as required by the T-Format specification.
  2. The ControlField in the request matches the ControlField in the response. For example, in Data ID2, the ControlField is 0x49. The example software checks for this match and will halt if there is an error.
  3. The number of fields in the response is expected based on the request.
  4. The CRCField (last field) in the response is correct for the data received. The example software checks for this and will halt if there is an error.
  5. Verify the encoder ID based on your encoder's specification.
  6. Try different cable lengths, up to 100 m, and observe the change in the waveforms. Only the time between the request and response should change.

Manually turn the motor or encoder's shaft:

  1. Turn the shaft in one direction. Notice the position and turns in the watch-window changes.
  2. Turn the shaft in the opposite direction. Observe the position and turns change in the opposite direction.