C2000™ Position Manager EnDat22 Library

Module

User's Guide

Literature Number: SPRUI35

November 2015
 Contents

1 Introduction ......................................................................................................................... 4
1.1 EnDat interface ........................................................................................................... 4
1.2 Abbreviations/Acronyms................................................................................................. 4
1.3 System Description ...................................................................................................... 4
1.4 C2000 EnDat Master Solution .......................................................................................... 5
1.5 EnDat22 Master Implementation Details .............................................................................. 6
2 PM EnDat22 Library .............................................................................................................. 7
2.1 PM EnDat22 Library Package Contents .............................................................................. 7
3 Module Summary ................................................................................................................. 7
3.1 PM EnDat22 Library Commands ....................................................................................... 7
3.2 PM EnDat22 Library Functions ......................................................................................... 8
3.3 Data Structures ........................................................................................................... 9
3.4 Details of Function Usage ............................................................................................. 10
4 Using PM_ENDAT22 Library ................................................................................................ 28
4.1 Adding EnDat22 Lib to the Project ................................................................................... 28
4.2 Steps for Initialization .................................................................................................. 29
4.3 Using the Library Functions ........................................................................................... 31
5 Resource Requirements ...................................................................................................... 33
6 Test Report ........................................................................................................................ 33
7 FAQs ................................................................................................................................ 34
8 References ........................................................................................................................ 34

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List of Figures
1 Industrial Servo Drive With EnDat 2.2 Position Encoder Interface .................................................... 5
2 EnDat Implementation Diagram Inside TMS320F28379D ............................................................. 6
3 Compiler Options for a Project Using PM EnDat22 Library .......................................................... 28
4 Adding PM EnDat22 Library to the Linker Options in CCS Project .................................................. 29

List of Tables
1 Abbreviations/Acronyms .................................................................................................... 4
2 Commands Supported ..................................................................................................... 7
3 PM EnDat22 Library Functions ............................................................................................ 8
4 Module interface Definition ................................................................................................ 10
5 Summary of Function Details ............................................................................................. 10
6 Resource Requirements ................................................................................................... 33
7 Test Report .................................................................................................................. 33

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 User's Guide
SPRUI35 – November 2015

C2000™ Position Manager EnDat22 Library Module

1 Introduction

1.1 EnDat interface

EnDat, from Heidenhain, is designed for serial transfer of digital data between linear, rotary or angle
encoders, touch probes, accelerometers and the subsequent electronics, such as numerical controls,
servo amplifiers and programmable logic controllers. For more details on the EnDat protocol and
implementation aspects, see the Heidenhain website.

1.2 Abbreviations/Acronyms

Table 1. Abbreviations/Acronyms
Type Description
C28x Refers to devices with the C28x CPU core
CLB Configurable Logic Block
CRC Cyclic Redundancy Check
EnDat22 2.2 version of EnDat Position encoder interface protocol by Heidenhain
EnDat21 2.1 version of EnDat Position encoder interface protocol by Heidenhain
Position Manager – Foundation hardware and software on C28x devices for position encoder
PM
interfaces
PM_endat22 Prefix used for all the library functions
SPI Serial Peripheral Interface
Subsequent Electronics EnDat Master implementation

1.3 System Description

Industrial drives (like servo drives), require accurate, highly reliable, and low-latency position feedback. A
simplified system block diagram of a servo drive using an absolute position encoder with EnDat 2.2
bidirectional digital interface is shown in Figure 1. The EnDat 2.2 interface from HEIDENHAIN is a digital,
bidirectional interface standard for position or rotary encoders. The interface transmits position values or
additional physical quantities. It also allows reading and writing of the encoder’s internal memory. The type
of data transmitted like absolute position, turns, temperature, parameters, diagnostics, and so on is
selected through mode commands that the subsequent electronics, often referred to as EnDat 2.2 Master,
sends to the encoder. The EnDat 2.2 interface is a pure serial digital interface based on RS-485 standard.

C2000 is a trademark of Texas Instruments.

All other trademarks are the property of their respective owners.

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Figure 1. Industrial Servo Drive With EnDat 2.2 Position Encoder Interface

The position encoder with EnDat 2.2 is connected to the subsequent electronics, such as an EnDat
Master implemented in an MCU, through a single, 8-wire shielded cable, as shown in Figure 1. Below are
details of each of the eight wires used for communication.
• Two wires for CLOCK+/CLOCK- transmitted in differential format
• Two wires for DATA+/DATA- transmitted in differential format
• Two wires (Up, Un) are used for the encoder power supply and ground
• Two wires (Up*, Un*) are used for battery buffering or for parallel power supply lines to reduce the
cables losses.

1.4 C2000 EnDat Master Solution

The Texas Instruments C2000 Position Manager EnDat22 (PM_endat22) library is intended to provide
support for implementing the EnDat interface in subsequent electronics.
Features offered by Endat22 library:
• Integrated MCU solution for EnDat interface
• Meets HEIDENHAIN EnDat 2.2/2.1 digital interface protocol requirements
• Clock frequency of up to 8 MHz supported irrespective of cable length
• Verified operation up to 100m cable length
• Easy interface to EnDat commands through driver functions and data structure provided by the library.
• Efficient and optimized CRC algorithm for both position and data CRC calculations
• Unpacking the received data and reversing the position data incorporated in library functions.
• Solution tuned for position control applications, where position information is obtained from encoders
every control cycle, with better control of modular functions and timing.
Key things to note while using Endat22 library:
• This library supports only the basic interface drivers for commands defined in EnDat22 specification.
All the higher level application software needs to be developed by utilizing the basic interface provided
by this library.
• Clock frequency for the EnDat Clock is limited to a maximum of SYSCLOCK/24. This limitation applies
irrespective of the cable length and encoder type.
• The functionality verified using this library, and this alone, is supported, see Section 5. For any
additional functionality or encoder usage not specified in this section, contact your TI support team.

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1.5 EnDat22 Master Implementation Details

This section gives a brief overview of how the EnDat interface is implemented on TMS320F28379D
devices. Communication over EnDat interface is achieved primarily by the following components:
• CPU
• Configurable Logic Block (CLB)
• Serial Peripheral Interface (SPI)
• Device Interconnect (XBARs)
While SPI performs the encoder data transmit and receive functions; clock generation is controlled by
CLB. The following functions are implemented inside the CLB module. Note that the CLB module can only
be accessed via library functions provided in the PM EnDat22 Library and not otherwise configurable by
users.
• Ability to generate two different clocks
– To the serial peripheral interface on chip – on GPIO7 and looped back to SPICLK input
– Clock to the Encoder on GPIO6
• Identification of the critical delay between the clock edges sent to the encoder and the received data
• Ability to adjust the delay between the two clocks mentioned above
• Monitoring the data coming from encoder, via SPISIMO, and poll for start pulse
• Ability to measure the propagation delay at a specific interval as needed by the interface
• Ability to configure the block and adjust delay the via software

ENDAT_CLK GPIO6

SPICLK GPIO7

INPUT
CLB
XBAR

Interface
Block
TxEn OUTPUT GPIO34 ENDAT_DIR
XBAR

SPICLKB GPIO26
Test Setup
SPISMOB GPIO24 ENDAT_DIN
C28x SPI-B
CPU Slave SPISOMIB GPIO25 ENDAT_DOUT

SPISTEB GPIO27
GND
TMS320F28337D GPIO32
PWR CTL

Figure 2. EnDat Implementation Diagram Inside TMS320F28379D

GPIOs indicated in Figure 2 are as implemented on TMDXIDDK379D.

Figure 2 depicts how EnDat transaction works in the system. For every EnDat transaction initiated using
the PM EnDat22 Library command:
• CPU configures the SPITXFIFO with the command and other data required for transmission to the
Encoder as per the specific requirements of the current EnDat command.
• CPU sets up the configurable logic block to generate clocks for the Encoder and SPI.
• Number of clock pulses and edge placement for these two clocks is different and is precisely controlled
by CLB, as configured by CPU software for the current EnDat command.

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www.ti.com PM EnDat22 Library

• CLB also generates the direction control signal for data line transceiver. This signal is needed to
change the direction of the data line, after sending the mode command from subsequent electronics, to
receive the data from the encoder.
• CLB also monitors the SPISIMO signal, as needed, for detecting the start pulse and adjusts the phase
of the receive clock accordingly.
• CPU configures CLB to generate continuous clocking for the Encoder while waiting for the Start pulse
from Encoder.
• CPU configures CLB to generate a predefined number of clock pulses needed for the SPI (as per the
current command requirements, and continuous clocking for SPI is disabled while waiting for Start
pulse from encoder).
• CLB also provides hooks to perform cable propagation delay compensation via library functions.
More details on various library functions provided and their usage can be found in the reminder of this
document. For more details on usage and establishing basic communication with the Encoder, see the
examples for using the PM EnDat22 library.

2 PM EnDat22 Library

2.1 PM EnDat22 Library Package Contents

The EnDat22 Library consists of the following components:
• Header files and software library for EnDat22 interface
• Documentation - Using Position Manager EnDat22 Library on IDDK Hardware User's Guide (SPRUI34)
• Example project showcasing EnDat22 interface implementation on the TMDXIDDK379D hardware
Library contents are available at the following locations:
<base> install directory is:
C:\ti\controlSUITE\libs\app_libs\position_manager\endat22\vX.X

The following sub-directory structure is used:

<base>\Doc Documentation
<base>\Float Contains implementation of the library and corresponding include file
<base>\examples Example using EnDat22 library

3 Module Summary
This section describes the contents of PM_endat22_Include.h, the include file for using the EnDat22
library.

3.1 PM EnDat22 Library Commands

Details of the endat protocol and commands supported in different modes can be obtained from
Heidenhain EnDat documentation.

Table 2. Commands Supported

EnDat 2.1
Encoder send position values ENCODER_SEND_POSITION_VALUES
Selection of the memory area SELECTION_OF_MEMORY_AREA
Encoder receive parameters ENCODER_RECEIVE_PARAMETER
Encoder send parameter ENCODER_SEND_PARAMETER
Encoder receive reset ENCODER_RECEIVE_RESET
Encoder send test values ENCODER_SEND_TEST_VALUES
Encoder receive test command ENCODER_RECEIVE_TEST_COMMAND
EnDat 2.2
Encoder send position value with additional information ENCODER_SEND_POSITION_VALUES_WITH_ADDITIONAL_DATA

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Table 2. Commands Supported (continued)

EnDat 2.1
Encoder send position value and receive selection of memory ENCODER_SEND_POSITION_VALUES_AND_SELECTION_OF_THE_
area 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

3.2 PM EnDat22 Library Functions

The EnDat22 Library consists of the following functions that enable the user to interface with EnDat
encoders. Table 3 lists the functions existing in the Endat22 library and a summary of cycles taken for
execution.
More details of the functions and their usage in the following sections.

Table 3. PM EnDat22 Library Functions

CPU
Name Description Cycles Type
(1)
PM_endat22_generateCRCTable This function generates a table of 256 entries for a given CRC polynomial 30226 Initializati
(polynomial) with a specified number of bits (nBits). Generated tables are on
stored at the address specified by pTable. time
(1)
PM_endat22_getCrcPos To get the CRC of each byte, calculate the n-bit CRC of a message buffer by 220 Run time
using the lookup table. Use this function for calculating CRC of the position
data.
• Encoder send position values (EnDat 2.1)
• Encoder send position values (EnDat 2.2)
(1)
PM_endat22_getCrcTest To get the CRC of each byte, calculate the n-bit CRC of a message buffer by 183 Run time
using the lookup table. Use this function for calculating CRC of the Test data.
• Encoder send test values
(1)
PM_endat22_getCrcNorm To get the CRC of each byte, calculate the n-bit CRC of a message buffer by 95 Run time
using the lookup table. Use this function for calculating CRC for below
commands.
• Selection of memory area
• Encoder receive parameter
• Encoder send parameter
• Encoder receive reset
• Encoder receive test command
• Additional data (EnDat 2.2)
(1)
PM_endat22_setupCommand Setup an SPI and other modules for a given command to be transmitted. All of 1160 Run time
the transactions should start with this command. This function call sets up the
peripherals for upcoming EnDat transfer, but does not actually perform any
transfer or activity on the EnDat interface. This function call populates the
sdata array of ENDAT_DATA_STRUCT with the data to be transmitted to the
Encoder.
PM_endat22_startOperation This function initiates the EnDat transfer to be called after the 46 Run time
PM_endat22_setupCommand. it performs the EnDat transaction set up by
previous commands. Note that the setup up and start operation are separate
function calls. You can setup the EnDat transfer and start the actual transfer
using this function call, as needed, at a different time.

(1)
Implies that the CPU cycle data depends on the Encoder under test as well as the commands and data being used along with certain
functions. These numbers could vary significantly depending on the command and corresponding data, additional data, and so forth.

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Table 3. PM EnDat22 Library Functions (continued)

CPU
Name Description Cycles Type
(1)
PM_endat22_receiveData Function for unpacking and populating the EnDat data structure with the data 500 Run time
received from the Encoder. This function is called when the data from the
Encoder is available in the SPI data buffer and transferred to the rdata array of
ENDAT_DATA_STRUCT. Upon the function call, received data is unpacked as
per the current command and unpacked results are stored accordingly.
PM_endat22_setupPeriph Setup for SPI, CLB and other interconnect XBARs for EnDat are performed 8822 Initializati
with this function during system initialization. This function needs to be called on
after every system reset. No EnDat transactions will be performed until the time
setup peripheral function is called.
PM_endat22_setFreq This function sets the EnDat clock frequency. EnDat transfers, typically start 220 nitializati
with low frequency during initialization and switch to higher frequency during on
runtime. time
Endat Clock Frequency = SYSCLK/(4*ENDAT_FREQ_DIVIDER)
• Used during initialization (~200 KHz)
• Used during application (~8 MHz)
PM_endat22_getDelayCompVal This function is used while performing delay compensation when long cables 21 Initializati
are used. This function returns the measured delay from the rising edge of on time
EnDat Clock to the start bit received (see the provided examples directory on
usage and performing delay compensation). For cable delays and propagation
requirements, see the EnDat documentation from Heidenhain.

3.3 Data Structures

The PM EnDat22 library defines the EnDat data structure handle as below:
Object Definition:
typedef struct { // bit descriptions
uint32_t position_lo;
uint32_t position_hi;
uint16_t error1;
uint16_t error2;
uint16_t data_crc;
uint16_t address;
uint32_t additional_data1;
uint32_t additional_data2;
uint32_t additional_data1_crc;
uint32_t additional_data2_crc;
uint32_t test_lo;
uint32_t test_hi;
uint32_t position_clocks;
volatile struct SPI_REGS *spi;
uint32_t delay_comp;
uint32_t sdata[16];
uint32_t rdata[16];
uint16_t dataReady;
uint16_t fifo_level;

} ENDAT_DATA_STRUCT;

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Table 4. Module interface Definition

Module Element
Name Description Type
position_lo Lower 32 bits of the position data 32 bits
position_hi Upper 32 bits of the position data Max 16 bits
error1 Error1 status received in EnDat21 0 or 1
error2 Error2 status received in EnDat22 0 or 1
data_crc CRC for Position and other commands (see each command for details) 5-Bits CRC
address Received address in multiple commands 8-bit address
additional_data1 Additional data 1 received in EnDat22 32-bit unsigned int
additional_data2 Additional data 2 received in EnDat22 32-bit unsigned int
additional_data1_crc CRC for Additional data 1 received in EnDat22 5-Bits CRC
additional_data2_crc CRC for Additional data 2 received in EnDat22 5-Bits CRC
test_lo Lower 32 bits of the test data for encoder send test values command 32 bits
test_hi Upper 32 bits of the test data for encoder send test values command – test data is 40bits Max 8 bits
only
position_clocks Word 13 of the parameter area for the encoder manufacturer to be read and stored in Max value 48
this. Number of clock pulses for transfer of position value.
delay_comp Measured cable propagation delay to be updated in this variable Unsigned int
spi SPI instance used for EnDat22 implementation Pointer to Spi*Regs
dataReady Flag indicating dataReady – set by PM_endat22_receiveData function, cleared by 0 or 1
PM_endat22_setupCommand function
sdata Internal variables used by library – for debug purposes Array of 32-bit
unsigned integers
rdata Internal variables used by library – for debug purposes Array of 32-bit
unsigned integers
fifo_level Internal variables used by library – for debug purposes Max value 8

3.4 Details of Function Usage

Detailed description of various library functions in PM EnDat22 library and their usage can be found in the
following sections.
Table 5. Summary of Function Details
Title ...................................................................................................................................... Page

PM_endat22_generateCRCTable — ................................................................................................ 11
PM_endat22_getCrcPos — ........................................................................................................... 12
PM_endat22_getCrcTest — .......................................................................................................... 13
PM_endat22_getCrcNorm — ......................................................................................................... 14
PM_endat22_setupCommand — .................................................................................................... 16
PM_endat22_receiveData — ......................................................................................................... 19
PM_endat22_startOperation — ...................................................................................................... 24
PM_endat22_setupPeriph — ......................................................................................................... 25
PM_endat22_setFreq — ............................................................................................................... 26
PM_endat22_getDelayCompVal — ................................................................................................. 27

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www.ti.com PM_endat22_generateCRCTable —

PM_endat22_generateCRCTable

Directions 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.
Definition void PM_endat22_generateCRCTable(uint16_t nBits, uint16_t polynomial, uint16_t
*pTable)

Parameters

Input
nBits Number of bits of the given polynomial
polynomial Polynomial used for CRC calculations
pTable Pointer to the table where the CRC table values are stored
Return
None

Usage #define NBITS_POLY1 5

#define POLY1 0x0B
#define SIZEOFTABLE 256
uint16_t table1[SIZEOFTABLE];

// Generate table for poly 1

PM_endat22_generateCRCTable(
NBITS_POLY1,
POLY1,
table1);

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PM_endat22_getCrcPos

Description To get the CRC of each byte, calculate the 5-bit CRC of a message buffer by using the
lookup table. This function should be used for calculating CRC of the position data.
• Encoder send position values (EnDat 2.1)
• Encoder send position values (EnDat 2.2)
Definition uint32_t PM_endat22_getCrcPos(uint32_t total_clocks,uint32_t endat22,uint32_t
lowpos,uint32_t highpos,
uint32_t error1,uint32_t error2, uint16_t *crc_table);

Parameters

Input
total_clocks Word 13 of the parameter area of the encoder manufacturer. Number of clock pulses for transfer of position value.
endat22 1 for EnDat22, 0 for EnDat21 position CRC
lowpos Lower 32 bits of the position data
highpos Upper 32 bits of the position data
error1 Error1 status received in EnDat21
error2 Error2 status received in EnDat22
crc_table Pointer to the table where the CRC table values are stored
Return
crc 5-bit CRC value calculated

Usage Define Endat Data structure during initialization.

(ENDAT_DATA_STRUCT endat22Data;)

Function call in 2.1 mode:

crc5_result = PM_endat22_getCrcPos (
endat22Data.position_clocks,
ENDAT21, //EnDat21 mode => ENDAT21=0
endat22Data.position_lo,
endat22Data.position_hi,
endat22Data.error1,
endat22Data.error2, // ignored in EnDat21 mode
table1); //crc table

Function call in 2.2 mode:

crc5_result = = PM_endat22_getCrcPos (
endat22Data.position_clocks,
ENDAT22, //EnDat22 mode => ENDAT22=1
endat22Data.position_lo,
endat22Data.position_hi,
endat22Data.error1,
endat22Data.error2,
table1); //crc table

Example Code:
Val = PM_endat22_setupCommand(ENCODER_SEND_POSITION_VALUES, 0, 0, 0);
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(ENCODER_SEND_POSITION_VALUES, 0);
crc5_result1 = PM_endat22_getCrcPos(endat22Data.position_clocks, 0,
endat22Data.position_lo, endat22Data.position_hi, endat22Data.error1,
endat22Data.error2, table1);

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www.ti.com PM_endat22_getCrcTest —

PM_endat22_getCrcTest

Description To get the CRC of each byte, calculate the 5-bit CRC of a message buffer by using the
lookup table. This function should be used for calculating CRC of the Test data.
• Encoder send test values
Definition uint32_t PM_endat22_getCrcTest(uint32_t lowtest,uint32_t hightest, uint32_t
error1, uint16_t *crc_table);

Parameters

Input
lowtest Lower 32 bits of the test data
hightest Upper 32 bits of the test data
error1 Error1 status received in EnDat21
crc_table Pointer to the table where the CRC table values are stored
Return
crc 5-bit CRC value calculated

Usage Define Endat Data structure during initialization.

(ENDAT_DATA_STRUCT endat22Data;)

Function call in 2.1 mode:

crc5_result1 = PM_endat22_getCrcTest(
endat22Data.test_lo,
endat22Data.test_hi,
endat22Data.error1,
table1); //crc table

This function is exclusively used for calculating the CRC values for
ENCODER_SEND_TEST_VALUES command. This is EnDat2.1 mode command.
Example Code:
Val = PM_endat22_setupCommand(ENCODER_SEND_TEST_VALUES, 0x0, 0x0, 0);
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(ENCODER_SEND_TEST_VALUES, 0);
crc5_result1 = PM_endat22_getCrcTest(endat22Data.test_lo,
endat22Data.test_hi,
endat22Data.error1, table1);

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PM_endat22_getCrcNorm

Description To get the CRC of each byte, calculate the 5-bit CRC of a message buffer by using the
lookup table. This function should be used for calculating CRC for the following
commands:
• Selection of memory area
• Encoder receive parameter
• Encoder send parameter
• Encoder receive reset
• Encoder receive test command
• Additional data (EnDat 2.2)
Definition uint32_t PM_endat22_getCrcNorm (uint32_t param8,uint32_t param16, uint16_t
*crc_table);

Parameters

Input
param8 Typically 8-bit Address or MRS code, and so forth, depending on the command
param16 Typically16-bit Data or Acknowledgment, and so forth, depending on the command
crc_table Pointer to the table where the CRC table values are stored
Return
crc 5-bit CRC value calculated

Usage Example Code:

Val = PM_endat22_setupCommand(SELECTION_OF_MEMORY_AREA, 0xA1, 0x5555, 0);
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(SELECTION_OF_MEMORY_AREA, 0);
crc5_result1 = PM_endat22_getCrcNorm(endat22Data.address, endat22Data.data,
table1);

For the details on where the data received, for different EnDat commands, is unpacked
and stored, see the PM_endat22_receiveData function. Below are few examples:
Define Endat Data structure during initialization.
ENDAT_DATA_STRUCT endat22Data;

While checking CRC for the data received by using:

• SELECTION_OF_MEMORY_AREA
• ENCODER_SEND_PARAMETER
• ENCODER_RECEIVE_PARAMETER
• ENCODER_RECEIVE_TEST_COMMAND
crc5_result = PM_endat22_getCrcNorm(
endat22Data.address,
endat22Data.data,
table1); //crc table

While checking CRC for additional data1 received using:

• ENCODER_SEND_POSITION_VALUES_WITH_ADDITIONAL_DATA
• ENCODER_SEND_POSITION_VALUES_AND_SELECTION_OF_THE_MEMORY_A
REA
• ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_PARAMETER
• ENCODER_SEND_POSITION_VALUES_AND_SEND_PARAMETER
• ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_TEST_COMMAND

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www.ti.com PM_endat22_getCrcNorm —

• ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_ERROR_RESET
crc5_result = PM_endat22_getCrcNorm(
endat22Data.additional_data1 >> 16, // top 8-
bits of additional data 1as param8
endat22Data.additional_data1, // Uses lower 16-
bits of this field as param16
table1); //crc table

While checking CRC for additional data2 received using:

• ENCODER_SEND_POSITION_VALUES_WITH_ADDITIONAL_DATA
• ENCODER_SEND_POSITION_VALUES_AND_SELECTION_OF_THE_MEMORY_A
REA
• ENCODER_SEND_POSITION_VALUES_AND_SELECTION_OF_THE_MEMORY_A
REA
• ENCODER_SEND_POSITION_VALUES_AND_SEND_PARAMETER
• ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_TEST_COMMAND
• ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_ERROR_RESET
crc5_result = PM_endat22_getCrcNorm(
endat22Data.additional_data2 >> 16, // top 8-
bits of additional data 2 as param8
endat22Data.additional_data2, // Uses lower 16-
bits of this field as param16
table1); //crc table

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PM_endat22_setupCommand — www.ti.com

PM_endat22_setupCommand

Description 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 EnDat transfer but does not actually perform any transfer or activity on the
EnDat interface. This function call populates the sdata array of ENDAT_DATA_STRUCT
with the data to be transmitted to the Encoder.
Definition void Val = PM_endat22_setupCommand(uint16_t command, uint16_t data1, uint16_t
data2, uint16_t nAddData);

Parameters

Input
command Mode command for the EnDat transfer to be done
data1 Typically18/6-bit Data or Address depending on the mode command
data2 Typically18/6-bit Data or Address depending on the mode command
nAddData Number of additional data enabled (0, 1 or 2 depending on the number of additional data enabled or not)
Return
If incorrect, command value is passed to this function, which would return zero. For all other cases function
Val
returns a value of one.

Usage Example Code:

Val = PM_endat22_setupCommand(SELECTION_OF_MEMORY_AREA, 0xA1, 0x5555, 0);
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(SELECTION_OF_MEMORY_AREA, 0);
crc5_result1 = PM_endat22_getCrcNorm(endat22Data.address, endat22Data.data,
table1);

Below are few examples of how the PM_endat22_setupCommand function is used with
various mode commands. For further details, see the Heidenhain documentation.
Define Endat Data structure during initialization.
ENDAT_DATA_STRUCT endat22Data;
• SELECTION_OF_MEMORY_AREA
In order to send or read parameters, the memory area must first be selected. This is
done with the mode command, followed by a code for the memory area to be
selected: the Memory Range Select (MRS) code. The encoder acknowledges the
command.
Val = PM_endat22_setupCommand(
SELECTION_OF_MEMORY_AREA,
0xA1, // MRS code
0x5555, // Any
0); // No. of additional data – 0 for EnDat21 commands
• ENCODER_SEND_PARAMETER
This mode command is required for reading parameters of encoder. It is read from
the memory area that was last selected as being valid. The encoder acknowledges
the command.
Val = PM_endat22_setupCommand(
ENCODER_SEND_PARAMETER,
0xD, // Address
0x5555, // Any
0); // No. of additional data – 0 for EnDat21 commands

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www.ti.com PM_endat22_setupCommand —

• ENCODER_RECEIVE_PARAMETER
This mode command is required for writing parameters of encoder. It is written to the
memory area that was last selected as being valid. The encoder acknowledges the
command.
Val = PM_endat22_setupCommand(
ENCODER_RECEIVE_PARAMETER,
0xA1, // Address
0x5555, // Parameters
0); // No. of additional data – 0 for EnDat21 commands
• ENCODER_RECEIVE_RESET
This mode command is required for executing encoder reset.
Val = PM_endat22_setupCommand(
ENCODER_RECEIVE_RESET,
0xA1, // Any
0x5555, // Any
0); // No. of additional data – 0 for EnDat21 commands
• ENCODER_SEND_POSITION_VALUES
The following mode command requests position values without additional data.
Val = PM_endat22_setupCommand(
ENCODER_SEND_POSITION_VALUES,
0x0, // Not applicable
0x0, // Not applicable
0); // No. of additional data – 0 for EnDat21 commands
• ENCODER_RECEIVE_TEST_COMMAND
This command is used as first step in interrogating the test values. Encoder receive
test command sent along with the port address will to be interrogated for test values.
Val = PM_endat22_setupCommand(
ENCODER_RECEIVE_TEST_COMMAND,
0x0, // Port address
0x0, // Any
0); // No. of additional data – 0 for EnDat21 commands
• ENCODER_SEND_TEST_VALUES
The following mode is necessary to interrogate test values.
Val = PM_endat22_setupCommand(
ENCODER_SEND_TEST_VALUES,
0x0, // Not applicable
0x0, // Not applicable
0); // No. of additional data – 0 for EnDat21 commands
• ENCODER_SEND_POSITION_VALUES_WITH_ADDITIONAL_DATA
This mode command can be used to request additional data, such as diagnostic
values, commutating values, and acceleration values etc. See the encoder
specifications to determine which additional data are supported by the encoder. This
information is also saved in the encoder memory for parameters according to EnDat
2.2 (word 0 and word 1).
Val = PM_endat22_setupCommand(
ENCODER_SEND_POSITION_VALUES_WITH_ADDITIONAL_DATA,
0x0, // Not applicable
0x0, // Not applicable
0); // No. of additional data (0, 1 or 2 depending on no.of
additional data enabled)

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PM_endat22_setupCommand — www.ti.com

• ENCODER_SEND_POSITION_VALUES_AND_SELECTION_OF_THE_MEMORY_A
REA
This mode command is necessary in order to request a position value and to select
the memory area or block address in the same cycle.
Val = PM_endat22_setupCommand(
ENCODER_SEND_POSITION_VALUES_AND_SELECTION_OF_THE_MEMORY_AREA,
0x0, // MRS code
0x0, // Block address
0); // No. of additional data (0, 1 or 2 depending on no.of
additional data enabled)
• ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_PARAMETER
This mode command is necessary in order to request a position value and write
parameters in the same cycle.
Val = PM_endat22_setupCommand(
ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_PARAMETER,
0x0, // Address
0x0, // Parameters
0); // No. of additional data (0, 1 or 2 depending on no.of
additional data enabled)
• ENCODER_SEND_POSITION_VALUES_AND_SEND_PARAMETER
This mode command is necessary if you want to request a position value and in the
same cycle send parameters necessary for read access.
Val = PM_endat22_setupCommand(
ENCODER_SEND_POSITION_VALUES_AND_SEND_PARAMETER,
0x0, // Address
0x0, // Any
0); // No. of additional data (0, 1 or 2 depending on no.of
additional data enabled)
• ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_TEST_COMMAND
This mode command is necessary in order to request position values and write a test
command in the same cycle.
Val = PM_endat22_setupCommand(
ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_TEST_COMMAND,
0x0, // Port address
0x0, // Any
0); // No. of additional data (0, 1 or 2 depending on no.of
additional data enabled)
• ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_ERROR_RESET
This mode command is necessary in order to request position values and reset errors
in the same cycle.
Val = PM_endat22_setupCommand(
ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_ERROR_RESET,
0x0, // Any
0x0, // Any
0); // No. of additional data (0, 1 or 2 depending on no.of
additional data enabled)
• ENCODER_RECEIVE_COMMUNICATION_COMMAND
This mode command is necessary to send communication data. After the address
has been assigned with the "Write parameters" mode command, all other mode
commands for data exchange can be used. Only the encoder with the previously
selected address reacts to the following mode commands, until a new address is
given.
Val = PM_endat22_setupCommand(
ENCODER_RECEIVE_COMMUNICATION_COMMAND,
0x0, // Address
0x0, // Instructions
0); // Zero

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www.ti.com PM_endat22_receiveData —

PM_endat22_receiveData

Description Function for unpacking and populating the EnDat 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 ENDAT_DATA_STRUCT. Upon the
function call, received data is unpacked as per the current command and unpacked
results are stored accordingly.

NOTE: The format for transfer of position values varies in length depending on
the encoder model. The number of clock pulses required for transferring
the position value (without mode, start, error or CRC bits) must be read
from the encoder manufacturer’s memory area. This information should
be stored in ndat22Data.position_clocks. Encoder transmits the position
value with LSB first. The values stored in endat22Data.position_hi and
endat22Data.position_lo however are already bit reversed and right
justified. This is applicable to all the commands that receive position
information in both EnDat21 and EnDat22 formats. For further details,
see the Heidenhain documentation.

Definition void PM_endat22_receiveData (uint16_t command, uint16_t nAddData);

Parameters

Input
Mode command for the EnDat transfer done. This function should be called with the same mode command that
command
was used to initiate the transfer.
nAddData Number of additional data enabled (0, 1 or 2 depending on the number of additional data enabled or not)
Return
If the incorrect command value is passed to this function it will return zero. For all other cases, function returns a
val
value of one.

Usage Example Code:

Val = PM_endat22_setupCommand(SELECTION_OF_MEMORY_AREA, 0xA1, 0x5555, 0);
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(SELECTION_OF_MEMORY_AREA, 0);
crc5_result1 = PM_endat22_getCrcNorm(endat22Data.address, endat22Data.data,
table1);

Below are few examples of how the PM_endat22_setupData function is used with
various mode commands. For further details, see the Heidenhain documentation.
Define Endat Data structure during initialization.
ENDAT_DATA_STRUCT endat22Data;
• SELECTION_OF_MEMORY_AREA
In order to send or read parameters, the memory area must first be selected. This is
done with the mode command, followed by a code for the memory area to be
selected: the Memory Range Select (MRS) code. The encoder acknowledges the
command.
Val = PM_endat22_receiveData(
SELECTION_OF_MEMORY_AREA,
0); // No. of additional data – 0 for EnDat21 commands
Unpacked data stored in EnDat Data structure for this command:

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endat22Data.address = MRS code

endat22Data.data = Any
endat22Data.data_crc = CRC for the received data
• ENCODER_SEND_PARAMETER
This mode command is required for reading parameters of the encoder. It is read
from the memory area that was last selected as being valid. The encoder
acknowledges the command.
Val = PM_endat22_receiveData(
ENCODER_SEND_PARAMETER,
0); // No. of additional data – 0 for EnDat21 commands
Unpacked data stored in EnDat Data structure for this command:

endat22Data.address = Address Acknowledgment

endat22Data.data = Parameters
endat22Data.data_crc = CRC for the received data
• ENCODER_RECEIVE_PARAMETER
This mode command is required for writing parameters of the encoder. It is written to
the memory area that was last selected as being valid. The encoder acknowledges
the command.
Val = PM_endat22_receiveData(
ENCODER_RECEIVE_PARAMETER,
0); // No. of additional data – 0 for EnDat21 commands
Unpacked data stored in EnDat Data structure for this command:

endat22Data.address = Address Acknowledgment

endat22Data.data = Parameter Acknowledgment
endat22Data.data_crc = CRC for the received data
• ENCODER_RECEIVE_RESET
This mode command is required for executing encoder reset.
Val = PM_endat22_receiveData(
ENCODER_RECEIVE_RESET,
0); // No. of additional data – 0 for EnDat21 commands
Unpacked data stored in EnDat Data structure for this command:

endat22Data.address = Any
endat22Data.data = Anyt
endat22Data.data_crc = CRC for the received data
• ENCODER_SEND_POSITION_VALUES
The following mode command requests position values without additional data.
Val = PM_endat22_receiveData(
ENCODER_SEND_POSITION_VALUES,
0); // No. of additional data – 0 for EnDat21 commands
Unpacked data stored in EnDat Data structure for this command:

endat22Data.address = Higher 32 bits of position

endat22Data.data = Lower 32 bits of position
endat22Data.data_crc = CRC for the received position data

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www.ti.com PM_endat22_receiveData —

• ENCODER_RECEIVE_TEST_COMMAND
This command is used as first step in interrogating the test values. The Encoder
receive test command sent along with the port address will to be interrogated for test
values.
Val = PM_endat22_receiveData(
ENCODER_RECEIVE_TEST_COMMAND,
0); // No. of additional data – 0 for EnDat21 commands
Unpacked data stored in EnDat Data structure for this command:

endat22Data.address = Port address acknowledgment

endat22Data.data = Any
endat22Data.data_crc = CRC for the received data
• ENCODER_SEND_TEST_VALUES
The following mode is necessary to interrogate test values.
Val = PM_endat22_receiveData(
ENCODER_SEND_TEST_VALUES,
0); // No. of additional data – 0 for EnDat21 commands
Unpacked data stored in EnDat Data structure for this command:

endat22Data.address = Higher 8 bits of test data

endat22Data.data = Lower 32 bits of test data
endat22Data.data_crc = CRC for the received test data

NOTE: Test values transmitted by the encoder are always 40 bits.

• ENCODER_SEND_POSITION_VALUES_WITH_ADDITIONAL_DATA
This mode command can be used to request additional data, such as diagnostic
values, commutating values, and acceleration values etc. See the encoder
specifications to determine which additional data are supported by the encoder. This
information is also saved in the encoder memory for parameters according to EnDat
2.2 (word 0 and word 1).
Val = PM_endat22_receiveData(
ENCODER_SEND_POSITION_VALUES_WITH_ADDITIONAL_DATA,
0); // No. of additional data (0, 1 or 2 depending on no.of
additional data enabled)
Unpacked data stored in EnDat Data structure for this command:

endat22Data.address = Higher 8 bits of test data

endat22Data.data = Lower 32 bits of test data
endat22Data.data_crc = CRC for the received position data
endat22Data.additional_data1 = Additional data 1
endat22Data.additional_data1_crc = CRC for additional data 1
endat22Data.additional_data2 = Additional data 2
endat22Data.additional_data2_crc = CRC for additional data 2

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• ENCODER_SEND_POSITION_VALUES_AND_SELECTION_OF_THE_MEMORY_A
REA
This mode command is necessary in order to request a position value and to select
the memory area or block address in the same cycle.
Val = PM_endat22_receiveData(
ENCODER_SEND_POSITION_VALUES_AND_SELECTION_OF_THE_MEMORY_AREA,
0); // No. of additional data (0, 1 or 2 depending on no.of
additional data enabled)
Unpacked data stored in EnDat Data structure for this command:

endat22Data.position_hi = Higher 32 bits of position

endat22Data.position_lo = Lower 32 bits of position
endat22Data.data_crc = CRC for the received position data
endat22Data.additional_data1 = Additional data 1
endat22Data.additional_data1_crc = CRC for additional data 1
endat22Data.additional_data2 = Additional data 2
endat22Data.additional_data2_crc = CRC for additional data 2
• ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_PARAMETER
This mode command is necessary in order to request a position value and write
parameters in the same cycle.
Val = PM_endat22_receiveData(
ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_PARAMETER,
0); // No. of additional data (0, 1 or 2 depending on no.of
additional data enabled)
Unpacked data stored in EnDat Data structure for this command:

endat22Data.position_hi = Higher 32 bits of position

endat22Data.position_lo = Lower 32 bits of position
endat22Data.data_crc = CRC for the received position data
endat22Data.additional_data1 = Additional data 1
endat22Data.additional_data1_crc = CRC for additional data 1
endat22Data.additional_data2 = Additional data 2
endat22Data.additional_data2_crc = CRC for additional data 2
• ENCODER_SEND_POSITION_VALUES_AND_SEND_PARAMETER
This mode command is necessary if you want to request a position value and in the
same cycle send parameters necessary for read access.
Val = PM_endat22_receiveData(
ENCODER_SEND_POSITION_VALUES_AND_SEND_PARAMETER,
0); // No. of additional data (0, 1 or 2 depending on no.of
additional data enabled)
Unpacked data stored in EnDat Data structure for this command:

endat22Data.position_hi = Higher 32 bits of position

endat22Data.position_lo = Lower 32 bits of position
endat22Data.data_crc = CRC for the received position data
endat22Data.additional_data1 = Additional data 1
endat22Data.additional_data1_crc = CRC for additional data 1
endat22Data.additional_data2 = Additional data 2
endat22Data.additional_data2_crc = CRC for additional data 2

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www.ti.com PM_endat22_receiveData —

• ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_TEST_COMMAND
This mode command is necessary in order to request position values and write a test
command in the same cycle.
Val = PM_endat22_receiveData(
ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_TEST_COMMAND,
0); // No. of additional data (0, 1 or 2 depending on no.of
additional data enabled)
Unpacked data stored in EnDat Data structure for this command:

endat22Data.position_hi = Higher 32 bits of position

endat22Data.position_lo = Lower 32 bits of position
endat22Data.data_crc = CRC for the received position data
endat22Data.additional_data1 = Additional data 1
endat22Data.additional_data1_crc = CRC for additional data 1
endat22Data.additional_data2 = Additional data 2
endat22Data.additional_data2_crc = CRC for additional data 2
• ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_ERROR_RESET
This mode command is necessary in order to request position values and reset errors
in the same cycle.
Val = PM_endat22_receiveData(
ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_ERROR_RESET,
0); // No. of additional data (0, 1 or 2 depending on no.of
additional data enabled)
Unpacked data stored in EnDat Data structure for this command:

endat22Data.position_hi = Higher 32 bits of position

endat22Data.position_lo = Lower 32 bits of position
endat22Data.data_crc = CRC for the received position data
endat22Data.additional_data1 = Additional data 1
endat22Data.additional_data1_crc = CRC for additional data 1
endat22Data.additional_data2 = Additional data 2
endat22Data.additional_data2_crc = CRC for additional data 2
• ENCODER_RECEIVE_COMMUNICATION_COMMAND
This mode command is necessary to send communication data. After the address
has been assigned with the "Write parameters" mode command, all other mode
commands for data exchange can be used. Only the encoder with the previously
selected address reacts to the following mode commands, until a new address is
given.
Val = PM_endat22_receiveData(
ENCODER_RECEIVE_COMMUNICATION_COMMAND,
0); // Zero
Unpacked data stored in EnDat Data structure for this command:

endat22Data.position_hi = Address Acknowledgment

endat22Data.position_lo = Instructions Acknowledgment
endat22Data.data_crc = CRC for the received data

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PM_endat22_startOperation — www.ti.com

PM_endat22_startOperation

Description This function initiates the EnDat transfer. This function should only be called after
PM_endat22_setupCommand. Hence the PM_endat22_startOperation function kick
starts the EnDat transaction that was set up earlier by PM_endat22_setupCommand.
Note that the setup up and start operation are separate function calls. User can setup
the EnDat transfer when needed and start the actual transfer using this function call, as
needed, at a different time.
Definition void PM_endat22_startOperation(void);

Parameters

Input
None
Return
None

Usage Example Code:

Val = PM_endat22_setupCommand(SELECTION_OF_MEMORY_AREA, 0xA1, 0x5555, 0);
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(SELECTION_OF_MEMORY_AREA, 0);
crc5_result1 = PM_endat22_getCrcNorm(endat22Data.address, endat22Data.data,
table1);

This function clears the endat22Data.dataReady flag zero when called. This flag should
subsequently be set by the SPI Interrupt service routine when the data is received from
the encoder. You can poll for this flag to know if the data from the encoder is
successfully received after the PM_endat22_startOperation function call.

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www.ti.com PM_endat22_setupPeriph —

PM_endat22_setupPeriph

Description Setup for SPI, CLB and other interconnect XBARs for EnDat are performed with this
function during system initialization. This function needed to be called after every system
reset. No EnDat transactions will be performed until the setup peripheral function is
called.
Definition void PM_endat22_setupPeriph (void);

Parameters

Input
None
Return
None

Usage Example Code:

endat22Data.spi = &amp;SpibRegs
PM_endat22_setupPeriph();

This function clears the endat22Data.dataReady flag zero when called. This flag should
subsequently be set by the SPI Interrupt service routine when the data is received from
the encoder. You can poll for this flag to know if the data from the encoder is
successfully received after the PM_endat22_startOperation function call.

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PM_endat22_setFreq — www.ti.com

PM_endat22_setFreq

Description Function to set the EnDat clock frequency. EnDat transfers typically start with low
frequency during initialization and switch to higher frequency during runtime.
Typical frequencies used during initialization and runtime:
• Used during initialization (~200 KHz)
• Used during application (~8 MHz) C2000 EnDat implementation currently supports 8
MHz only, irrespective of cable length.
Definition void PM_endat22_setFreq(uint32_t Freq_us);
Endat Clock Frequency = SYSCLK/(4* Freq_us

Parameters

Input
Freq_us: A clock divider for the system clock sets Endat Clock Frequency = SYSCLK/(4* Freq_us)
Return
None

Usage Example Code:

//during initialization and delay compensation
PM_endat22_setFreq(ENDAT_INIT_FREQ_DIVIDER);

//during runtime
PM_endat22_setFreq(ENDAT_RUNTIME_FREQ_DIVIDER);

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www.ti.com PM_endat22_getDelayCompVal —

PM_endat22_getDelayCompVal

Description This function is used while performing delay compensation when long cables are used.
This function returns the measured delay from rising edge of EnDat Clock to the start bit
received. Please refer to examples provided on usage and performing delay
compensation. Refer to EnDat documentation from Heidenhain for cable delays and
propagation requirements.
Definition uint16_t PM_endat22_getDelayCompVal(void);

Parameters

Input
Freq_us: A clock divider for the system clock sets Endat Clock Frequency = SYSCLK/(4* Freq_us)
Return
None

Usage Example Code:

//during initialization and delay compensation
delay = PM_endat22_getDelayCompVal();

endat22Data.delay_comp = delay;

NOTE: Propagation delay should be measured using this function multiple times
and the average value needs to be update into endat22Data.delay_comp
field before switching to higher frequency operation. For delay
compensation, see the TI provided examples on usage of this function.

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Using PM_ENDAT22 Library www.ti.com

4 Using PM_ENDAT22 Library

4.1 Adding EnDat22 Lib to the Project

1. Include the library in {ProjectName}-Includes.h.
#include "PM_endat22_Include.h"
Add the PM_endat22 library path in the include paths under Project Properties → Build → C2000
Compiler → Include Options.
Path for the library: C:\ti\controlSUITE\libs\app_libs\position_manager\v1_00_00_00\endat22\Float\lib

Figure 3. Compiler Options for a Project Using PM EnDat22 Library

NOTE: Note that the exact location may vary depending on where controlSUITE is installed and
which other libraries the project is using.

Link EnDat22 Library: (PM_endat22_lib.lib) to the project, it is located at:

controlSUITE\libs\app_libs\position_manager\v01_00_00_00\endat22\Float\lib

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www.ti.com Using PM_ENDAT22 Library

2. Figure 4 shows the changes to the linker options that are required to include the EnDat22 library.

Figure 4. Adding PM EnDat22 Library to the Linker Options in CCS Project

NOTE: Note that the exact location may vary depending on where controlSUITE is installed and
which other libraries the project is using.

4.2 Steps for Initialization

The following steps are needed for initialization and proper functioning of the EnDat22 library functions.
For more details, see the examples provided along with the library.
1. Create and add module structure to {ProjectName}-Main.c for EnDat interface.
ENDAT_DATA_STRUCT endat22Data;
2. Define the type of the encoder. If EnDat21, this should be set to 21. If EnDat22, this should be set to
22.
#define ENCODER_TYPE 22
3. Define the frequency of the EnDat clock during initialization and run.
#define ENDAT_RUNTIME_FREQ_DIVIDER 6
#define ENDAT_INIT_FREQ_DIVIDER 250

//Endat Initial Clock Frequency = SYSCLK/(4*ENDAT_INIT_FREQ_DIVIDER) -

used during initialization (~200KHz)
//Endat Clock Frequency = SYSCLK/(4*ENDAT_FREQ_DIVIDER) -
used during applicaiton (~8 MHz)
//Set ENDAT_FREQ_DIVIDER, ENDAT_INIT_FREQ_DIVIDER accordingly. Only even values greater than 6
are supported.

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4. Set the SPI instance to be used for EnDat communication. For usage on TMDXIDDK379D, the SPI
instance has to be set to SpiB and enable the SpiB receive FIFO interrupt.
endat22Data.spi = &SpibRegs;
PieVectTable.SPIB_RX_INT = &spiRxFifoIsr;
PieCtrlRegs.PIECTRL.bit.ENPIE = 1; // Enable the PIE block
PieCtrlRegs.PIEIER6.bit.INTx3 = 1; // Enable PIE Group 6, INT 9
IER = 0x20; // Enable CPU INT6
EINT;

NOTE: Alternatively, users can also poll for the Interrupt Flag and not necessarily use interrupt.
Make sure the SPIRXFIFO contents are copied into endat22Data.rdata after the flag is set.
This is required to be executed before calling PM_endat22_receiveData function. Also,
interrupt flag needs to be cleared to get the SPI ready for next EnDat transaction.

for (i=0;i<=endat22Data.fifo_level;i++){endat22Data.rdata[i]= endat22Data.spi->SPIRXBUF;}

endat22Data.spi->SPIFFRX.bit.RXFFINTCLR=1; // Clear Interrupt flag
5. Enable clocks to EPWM Instances 1, 2, 3 and 4.
CpuSysRegs.PCLKCR2.bit.EPWM1 = 1;
CpuSysRegs.PCLKCR2.bit.EPWM2 = 1;
CpuSysRegs.PCLKCR2.bit.EPWM3 = 1;
CpuSysRegs.PCLKCR2.bit.EPWM4 = 1;
6. Initialize and setup EnDat peripheral configuration by calling PM_endat22_setupPeriph function.
endat22Data.spi = &SpibRegs;
PM_endat22_setupPeriph();
7. Setup GPIOs needed for EnDat configuration, which is required for TMDXIDDK379D. The GPIOs used
for SPI has to be changed based on the chosen SPI instance. GPIO6, GPIO7 and GPIO34 have to be
configured always.
GpioCtrlRegs.GPAMUX1.bit.GPIO6 = 1; // Configure GPIO6 as EnDat Clk master
GpioCtrlRegs.GPAMUX1.bit.GPIO7 = 1; // Configure GPIO7 as SPI Clk slave

GpioCtrlRegs.GPAGMUX2.bit.GPIO24 = 1;
GpioCtrlRegs.GPAGMUX2.bit.GPIO25 = 1;
GpioCtrlRegs.GPAGMUX2.bit.GPIO26 = 1;
GpioCtrlRegs.GPAGMUX2.bit.GPIO27 = 1;

GpioCtrlRegs.GPAMUX2.bit.GPIO24 = 2; // Configure GPIO24 as SPISIMOB

GpioCtrlRegs.GPAMUX2.bit.GPIO25 = 2; // Configure GPIO25 as SPISOMIB
GpioCtrlRegs.GPAMUX2.bit.GPIO26 = 2; // Configure GPIO26 as SPICLKB
GpioCtrlRegs.GPAMUX2.bit.GPIO27 = 2; // Configure GPIO27 as SPISTEB

GpioCtrlRegs.GPAQSEL2.bit.GPIO24 = 3; // Asynch input GPIO24 (SPISIMOB)

GpioCtrlRegs.GPAQSEL2.bit.GPIO25 = 3; // Asynch input GPIO25 (SPISOMIB)
GpioCtrlRegs.GPAQSEL2.bit.GPIO26 = 3; // Asynch input GPIO26 (SPICLKB)
GpioCtrlRegs.GPAQSEL2.bit.GPIO27 = 3; // Asynch input GPIO27 (SPISTEB)

GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 1; // Configure GPIO34 as EnDat TxEN

GpioCtrlRegs.GPBDIR.bit.GPIO32 = 1; // Configure GPIO32 as EnDat Pwr Ctl

8. Setup XBAR as shown below. The GPIOs used for SPI has to be changed based on the chosen SPI
instance.
//SPISIMOB on GPIO24 connected to CLB4 i/p 1 via XTRIP and CLB X-Bars
// XTRIP1 is used inside the CLB for monitoring received data from Encoder.
InputXbarRegs.INPUT1SELECT = 24; // GPTRIP XBAR TRIP1 -> GPIO24

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www.ti.com Using PM_ENDAT22 Library

9. Initialization for CRC related object and table generation.

//CRC tables to be used for CRC calculations
uint16_t table1[SIZEOFTABLE];

// Generate table for poly 1 and generated tables are placed in table1
PM_endat22_generateCRCTable(NBITS_POLY1, POLY1, table1);

-- Constants are defined in PM_endat22_Include.h as below.

#define NBITS_POLY1 5
#define POLY1 0x0B
#define SIZEOFTABLE 256
10. Turn the power ON. GPIO used for Power control can be changed based on the hardware. GPIO32 is
used for power control on TMDXIDDK379D.
// Power up EnDat 5v supply through GPIO32
GpioDataRegs.GPBDAT.bit.GPIO32 = 1;

4.3 Using the Library Functions

Below are some examples for commonly used library functions:
1. Read the position values using EnDat21 command.
Val = PM_endat22_setupCommand(ENCODER_SEND_POSITION_VALUES, 0, 0, 0);
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(ENCODER_SEND_POSITION_VALUES, 0);
2. Read the position values using EnDat22 command.
Val = PM_endat22_setupCommand(ENCODER_SEND_POSITION_VALUES_AND_SELECTION_OF_THE_MEMORY_AREA,
0xA1, 0, 0);
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(ENCODER_SEND_POSITION_VALUES_AND_SELECTION_OF_THE_MEMORY_AREA, 0)
3. Execute the Encoder send parameter EnDat21 command.
Val = PM_endat22_setupCommand(ENCODER_SEND_PARAMETER, 0xD, 0xAAAA, 0);
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(ENCODER_SEND_PARAMETER, 0);

crc5_result1 = PM_endat22_getCrcNorm(endat22Data.address, endat22Data.data, table1);

4. Execute the Encoder receive parameter EnDat21 command.
Val = PM_endat22_setupCommand(ENCODER_RECEIVE_PARAMETER, 0x0, 0x0, 0); //data1=MRS; data2=any
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(ENCODER_RECEIVE_PARAMETER, 0);

crc5_result1 = PM_endat22_getCrcNorm(endat22Data.address, endat22Data.data, table1);

5. Execute the Encoder receive test command - EnDat21 command.
Val = PM_endat22_setupCommand(ENCODER_RECEIVE_TEST_COMMAND, 0x1, 0x0, 0); //data1=MRS;
data2=any
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(ENCODER_RECEIVE_TEST_COMMAND, 0);

crc5_result1 = PM_endat22_getCrcNorm(endat22Data.address, endat22Data.data, table1);

6. Execute the Encoder send test values EnDat21 command.
Val = PM_endat22_setupCommand(ENCODER_SEND_TEST_VALUES, 0x0, 0x0, 0); //data1=MRS; data2=any
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(ENCODER_SEND_TEST_VALUES, 0);

crc5_result1 = PM_endat22_getCrcTest(endat22Data.test_lo, endat22Data.test_hi,

endat22Data.error1, table1);

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Using PM_ENDAT22 Library www.ti.com

7. Read the Encoder position values with additional data and selection of memory area - EnDat22
command,
Val = PM_endat22_setupCommand(ENCODER_SEND_POSITION_VALUES_AND_SELECTION_OF_THE_MEMORY_AREA,
0xA1, 0, 0);
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(ENCODER_SEND_POSITION_VALUES_AND_SELECTION_OF_THE_MEMORY_AREA, 0);

crc5_result1 = PM_endat22_getCrcPos(endat22Data.position_clocks, 1, endat22Data.position_lo,

endat22Data.position_hi, endat22Data.error1, endat22Data.error2, table1);
8. Read the Encoder position values with additional data and receive parameter - EnDat22 command.
al = PM_endat22_setupCommand(ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_PARAMETER, 0x0, 0, 0);
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_PARAMETER, 0);

crc5_result1 = PM_endat22_getCrcPos(endat22Data.position_clocks, 1, endat22Data.position_lo,

endat22Data.position_hi, endat22Data.error1, endat22Data.error2, table1);
9. Read the Encoder position values with additional data and send parameter - EnDat22 command.
Val = PM_endat22_setupCommand(ENCODER_SEND_POSITION_VALUES_AND_SEND_PARAMETER, 0xD, 0, 0);
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(ENCODER_SEND_POSITION_VALUES_AND_SEND_PARAMETER, 0);

crc5_result1 = PM_endat22_getCrcPos(endat22Data.position_clocks, 1,
endat22Data.position_lo, endat22Data.position_hi, endat22Data.error1, endat22Data.error2,
table1);
10. Read the Encoder position values with additional data EnDat22 command.
Val = PM_endat22_setupCommand(ENCODER_SEND_POSITION_VALUES_WITH_ADDITIONAL_DATA, 0, 0, 2);
PM_endat22_startOperation();
while (endat22Data.dataReady != 1) {}
Val = PM_endat22_receiveData(ENCODER_SEND_POSITION_VALUES_WITH_ADDITIONAL_DATA, 2);

crc5_result1 = PM_endat22_getCrcPos(endat22Data.position_clocks, 1,
endat22Data.position_lo, endat22Data.position_hi, endat22Data.error1, endat22Data.error2,
table1);

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www.ti.com Resource Requirements

5 Resource Requirements
The resources of the MCU (see Table 6) are consumed by the PM EnDat22 Library for implementing
EnDat interface.

Table 6. Resource Requirements

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 Internally for Clock generation EPWM4 dedicated for EnDat
GPIO34 IO EnDat Direction control for Data on IDDK Dedicated IO for EnDat Direction control
Configurable Resources
SPI Module One SPI instance to emulate EnDat interface Any instance of SPI can be chosen – Module and
and IOs (SPIB on IDDK) corresponding IOs will be dedicated for EnDat
GPIO32 IO For EnDat Power control on IDDK Can choose any IO power control
Shared Resources
CPU and Memory Module Check CPU and Memory utilization for various Application to ensure enough CPU cycles and Memory
functions are allocated
ECAP2 Module/IO ECAP2 output ECAP2 o/p path dedicated for Endat. Can only be
used as Input in application.
Input XBAR Module/IO To be connected to SPISIMO of the INPUTXBAR1 is used for EnDat implementation.
corresponding SPI instance dedicated for Remaining inputs are available for application use
EnDat
Output XBAR Module/IO Bringing out EnDat TxEn (Direction Control) OUTPUT1 is used for EnDat implementation.
signal on GPIO32 via OUTPUT1 of Output Remaining outputs are available for application use
XBAR

6 Test Report
Table 7 lists tests with various types of encoders; cable lengths are performed at Heidenhain Labs. Tests
include basic command set exercising and reading position values, with additional data if applicable.

Table 7. Test Report

Cable Length in Max EnDat Clock in
Encoder Name Type Resolution Meters (1) MHz Test Results
ROC425 Rotary 25 bits 70m 8 MHz Pass
LC415 Linear 35 bits 70m 8 MHz Pass
RCN8310 Rotary 29 bits 70m 8 MHz Pass
ROQ437 Multi Turn 25 bits, 70m 8 MHz Pass
12 bits(Turns)
LIC211 Linear 32 bits 70m 8 MHz Pass
ROC413 Rotary 13 bits 70m 8 MHz Pass

(1)
Cable lengths up to 100m have also been tested with some of the encoders. Users can deploy longer cable lengths, perform delay
compensation, switch to higher EnDat clock frequencies and perform tests.

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FAQs www.ti.com

7 FAQs
1. Question: Why is the position information not received or received incorrectly?
Answer: Perform or cross check the following:
• Make sure the Power-On procedure, specific to the Encoder, is used properly.
• Check for Encoder error messages and warnings
• Clear the Errors and Warnings if any, and perform Encoder Reset
• Check CRC of the received position data
For further help, see the Heidenhain documentation.
2. Question: What are the limitations of the EnDat22 implementation with this library?
Answer: While using the Endat22 library, see the Key things to note ... bulleted list in Section 1.4.
3. Question: I have encountered a CRC failure. What could be the reason for this?
Answer: For details, see the Error Type I, II, III from Heidenhain Endat documentation. CRC errors
can also occur due to noise in transmission path.
4. Question: How is the EnDat22 interface implemented on the TMS320F28379D devices?
Answer: For details, see Section 1.4.
5. Question: Does TI share the source for the PM EnDat22 library to customers?
Answer: TI does not share the source code with customers. For specific requests, contact the TI sales
team.
6. Question: Does TI provide application level interface functions for EnDat22?
Answer: Basic usage examples are provided along with the library. The example has high-level
application layer functions for initialization, running full command set, setting and reading parameters,
performing cable propagation delay compensation, enabling additional data, checking CRC for various
types of received data, and so forth, which are sufficient for most of the applications. Any additional
application layer functionality should be developed by using the basic driver interface commands
provided in the PM EnDat22 Library.

8 References
• Power Supply Reference design for EnDat 2.2 encoder interfaces can be obtained from Texas
Instruments (TIDA-00172): http://www.ti.com/tool/TIDA-00172
• Documentation from Heidenhain:
– Bidirectional Synchronous-Serial Interface for Position Encoders
– EnDat Application notes
• C2000 DesignDRIVE Development Kit for Industrial Motor Control - TMDXIDDK379D:
– DesignDRIVE Development Kit IDDK Hardware Reference Guide (SPRUI23)
– DesignDRIVE Development Kit IDDK User’s Guide (SPRUI24)
– Using Position Manager EnDat22 Library on IDDK Hardware User's Guide (SPRUI34)

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