Hi Lzg,
There is an issue in motor control sdk and mcu plus sdk with AM261x device detection.
Here's the fix:
Replace device detection in these files:
MCU Plus SDK:
- source/drivers/.meta/pruicss/m_v0/ (similar files)
Similar changes need to be made for the Motor Control SDK as well. I am sharing the updated files for the Endat example:
let common = system.getScript("/common");
let is_am261x_soc = (common.getSocName() == "am261x") ? true : false;
let device = is_am261x_soc ? common.getSocName() : common.getDeviceName();
let pinmux = system.getScript("/drivers/pinmux/pinmux");
let is_am263x_soc = (device === "am263x-cc") ? true : false;
let is_am263px_soc = (device === "am263px-cc") ? true : false;
function getInterfaceName(inst)
{
if(is_am263px_soc)
{
return "PRU-ICSS";
}
else if(is_am263x_soc)
{
return inst.instance;
} else if (is_am261x_soc)
{
if(inst.instance === "ICSSM0") {
return "PRU-ICSS0";
} else {
return "PRU-ICSS1";
}
}
}
function getInterfacePinList(inst)
{
let pinList = [];
let Slice = inst["PRU_Slice"];
if (is_am261x_soc) {
if(inst.instance === "ICSSM0") {
Slice = "PR0_"+Slice;
} else {
Slice = "PR1_"+Slice;
}
} else {
Slice = "PR0_"+Slice;
}
pinList.push({ pinName: Slice.toString()+"_GPIO2", displayName: "ENDAT_CHANNEL0_TX_ENABLE", rx: false});
pinList.push({ pinName: Slice.toString()+"_GPIO1", displayName: "ENDAT_CHANNEL0_TX", rx: false});
pinList.push({ pinName: Slice.toString()+"_GPIO0", displayName: "ENDAT_CHANNEL0_CLK", rx: false});
pinList.push({ pinName: Slice.toString()+"_GPIO9", displayName: "ENDAT_CHANNEL0_RX", rx: true});
pinList.push({ pinName: Slice.toString()+"_GPIO5", displayName: "ENDAT_CHANNEL1_TX_ENABLE", rx: false});
pinList.push({ pinName: Slice.toString()+"_GPIO4", displayName: "ENDAT_CHANNEL1_TX", rx: false});
pinList.push({ pinName: Slice.toString()+"_GPIO3", displayName: "ENDAT_CHANNEL1_CLK", rx: false});
pinList.push({ pinName: Slice.toString()+"_GPIO10", displayName: "ENDAT_CHANNEL1_RX", rx: true});
// PR0_PRU0_GPIO7 Pin is only available for AM261x SoC. It's not available for AM263Px & AM263x SoC.
if(is_am261x_soc)
{ pinList.push({ pinName: Slice.toString()+"_GPIO8", displayName: "ENDAT_CHANNEL2_TX_ENABLE", rx: false});
pinList.push({ pinName: Slice.toString()+"_GPIO7", displayName: "ENDAT_CHANNEL2_TX", rx: false});
pinList.push({ pinName: Slice.toString()+"_GPIO6", displayName: "ENDAT_CHANNEL2_CLK", rx: false});
pinList.push({ pinName: Slice.toString()+"_GPIO11", displayName: "ENDAT_CHANNEL2_RX", rx: true});
}
else if(is_am263px_soc || is_am263x_soc)
{
if(Slice == "PR0_PRU1")
{ pinList.push({ pinName: Slice.toString()+"_GPIO8", displayName: "ENDAT_CHANNEL2_TX_ENABLE", rx: false});
pinList.push({ pinName: Slice.toString()+"_GPIO7", displayName: "ENDAT_CHANNEL2_TX", rx: false});
pinList.push({ pinName: Slice.toString()+"_GPIO6", displayName: "ENDAT_CHANNEL2_CLK", rx: false});
pinList.push({ pinName: Slice.toString()+"_GPIO11", displayName: "ENDAT_CHANNEL2_RX", rx: true});
}
}
return pinList;
}
function pinmuxRequirements(inst) {
let interfaceName = getInterfaceName(inst);
let pinList = getInterfacePinList(inst);
let resources = [];
let Slice = inst["PRU_Slice"];
if (is_am261x_soc) {
if(inst.instance === "ICSSM0") {
Slice = "PR0_"+Slice;
} else {
Slice = "PR1_"+Slice;
}
} else {
Slice = "PR0_"+Slice;
}
for(let pin of pinList)
{
let pinResource = pinmux.getPinRequirements(interfaceName, pin.pinName, pin.displayName);
pinmux.setConfigurableDefault( pinResource, "rx", pin.rx );
if(inst["Channel_0"]==true){
if( (pin.pinName == Slice.toString()+"_GPIO2") || (pin.pinName == Slice.toString()+"_GPIO1") || (pin.pinName == Slice.toString()+"_GPIO0") || (pin.pinName == Slice.toString()+"_GPIO9")){
pinResource.used = true;
}
}else{
if( (pin.pinName == Slice.toString()+"_GPIO2") || (pin.pinName == Slice.toString()+"_GPIO1") || (pin.pinName == Slice.toString()+"_GPIO0") || (pin.pinName == Slice.toString()+"_GPIO9")){
pinResource.used = false;
}
}
if(inst["Channel_1"]==true){
if( (pin.pinName == Slice.toString()+"_GPIO5") || (pin.pinName == Slice.toString()+"_GPIO4") || (pin.pinName == Slice.toString()+"_GPIO3") || (pin.pinName == Slice.toString()+"_GPIO10")){
pinResource.used = true;
}
}else{
if( (pin.pinName == Slice.toString()+"_GPIO5") || (pin.pinName == Slice.toString()+"_GPIO4") || (pin.pinName == Slice.toString()+"_GPIO3") || (pin.pinName == Slice.toString()+"_GPIO10")){
pinResource.used = false;
}
}
if(is_am263x_soc || is_am263px_soc)
{
if(Slice =="PR0_PRU1")
{
if(inst["Channel_2"]==true){
if( (pin.pinName == Slice.toString()+"_GPIO8") || (pin.pinName == Slice.toString()+"_GPIO7") || (pin.pinName == Slice.toString()+"_GPIO6") || (pin.pinName == Slice.toString()+"_GPIO11")){
pinResource.used = true;
}
}else{
if( (pin.pinName == Slice.toString()+"_GPIO8") || (pin.pinName == Slice.toString()+"_GPIO7") || (pin.pinName == Slice.toString()+"_GPIO6") || (pin.pinName == Slice.toString()+"_GPIO11")){
pinResource.used = false;
}
}
}
}
else
{
if(inst["Channel_2"]==true){
if( (pin.pinName == Slice.toString()+"_GPIO8") || (pin.pinName == Slice.toString()+"_GPIO7") || (pin.pinName == Slice.toString()+"_GPIO6") || (pin.pinName == Slice.toString()+"_GPIO11")){
pinResource.used = true;
}
}else{
if( (pin.pinName == Slice.toString()+"_GPIO8") || (pin.pinName == Slice.toString()+"_GPIO7") || (pin.pinName == Slice.toString()+"_GPIO6") || (pin.pinName == Slice.toString()+"_GPIO11")){
pinResource.used = false;
}
}
}
resources.push( pinResource );
}
let peripheralRequirements = {
name: interfaceName,
displayName: interfaceName,
interfaceName: interfaceName,
resources: resources,
canShareWith: "/motor_control"
};
return [peripheralRequirements];
}
function getPeripheralPinNames(inst)
{
let pinList = [];
let pinNameList = [];
pinList = getInterfacePinList(inst);
for(let pin of pinList)
{
pinNameList.push( pin.pinName );
}
return pinNameList;
}
exports = {
pinmuxRequirements,
getInterfaceName,
getPeripheralPinNames,
};
let common = system.getScript("/common");
let endat_module_name = "/position_sense/endat";
let is_am261x_soc = (common.getSocName() == "am261x") ? true : false;
let device = is_am261x_soc ? common.getSocName() : common.getDeviceName();
let is_am26x_soc = (device === "am263x-cc" || device === "am261x" || device === "am263px-cc") ? true : false;
let is_am263x_soc = (device === "am263x-cc") ? true : false;
let is_am263px_soc = (device === "am263px-cc") ? true : false;
let hdsl_endat_pins = (is_am26x_soc) ? system.getScript("/position_sense/endat/am26x_pins.js") : system.getScript("/position_sense/hdsl_endat_pins.js");
function validateCmpEventWarnings(instance, inst, validation) {
/* Helper function to check and warn about CMP0 and CMP1 usage */
const checkCmpEvent = (cmpEvent, fieldName) => {
if (cmpEvent === 0) {
validation.logWarning(
"CMP0 is used for IEP counter reset in periodic CMP mode. Using CMP0 may cause conflicts.",
inst,
fieldName
);
} else if (cmpEvent === 1) {
validation.logWarning(
"CMP1 is used for SYNC OUT0 generation in periodic CAP mode. Using CMP1 may cause conflicts if CAP mode is used.",
inst,
fieldName
);
}
};
if (!instance.Multi_Channel_Load_Share) {
/* Non-load share mode - check global CMP event */
checkCmpEvent(instance.CMP_Event_Num, "CMP_Event_Num");
} else {
/* Load share mode - check per-channel CMP events */
if (instance.Channel_0) {
checkCmpEvent(instance.CMP_Event_Num_CH0, "CMP_Event_Num_CH0");
}
if (instance.Channel_1) {
checkCmpEvent(instance.CMP_Event_Num_CH1, "CMP_Event_Num_CH1");
}
if (instance.Channel_2) {
checkCmpEvent(instance.CMP_Event_Num_CH2, "CMP_Event_Num_CH2");
}
}
}
function onValidate(inst, validation) {
for (let instance_index in inst.$module.$instances)
{
let instance = inst.$module.$instances[instance_index];
/* Validate CMP0 and CMP1 usage warnings */
validateCmpEventWarnings(instance, inst, validation);
/* select atleast one cahnnel */
if ((!instance.Channel_0)&&(!instance.Channel_2)&&(!instance.Channel_1))
validation.logError("Select atleast one channel", inst, "Channel_0");
/* Calculate total channels for validation */
let total_channels = (instance.Channel_0 ? 1 : 0) + (instance.Channel_1 ? 1 : 0) + (instance.Channel_2 ? 1 : 0);
/* AM26x SOC specific validation - only single channel supported */
if(is_am26x_soc && total_channels > 1)
{
validation.logError("AM26x devices support only single channel operation per PRU core", inst, "Channel_0");
}
/* channel 0 and channel 2 are supported on am243x-lp*/
if((device === "am243x-lp") && (instance.Channel_1) && (instance.Booster_Pack))
{
validation.logError("Channel 1 is not supported on BP-AM2BLDCSERVO BoosterPack due to pinout limitations", inst, "Booster_Pack");
}
/* validation for BP-AM2BLDCSERVO BoosterPack */
if((device!="am243x-lp" && device != "am263x-cc" && device!="am261x" && device != "am263px-cc" )&&(instance.Booster_Pack))
{
validation.logError("Select only when using BP-AM2BLDCSERVO BoosterPack with LP", inst, "Booster_Pack");
}
if(is_am26x_soc)
{
if(is_am263x_soc || is_am263px_soc)
{
if(instance.PRU_Slice == "PRU0" && instance.Channel_2)
{
validation.logError("Channel 2 TX signal is not pinned out at the device level", inst, "Channel_2");
}
if((instance.Channel_2 || instance.Channel_0)&&(instance.Booster_Pack))
{
validation.logError("Channel 0 and Channel 2 are not supported on BP-AM2BLDCSERVO BoosterPack due to pinout limitations", inst, "Booster_Pack");
}
}
if(is_am261x_soc)
{
if((instance.Channel_2 || instance.Channel_1)&&(instance.Booster_Pack))
{
validation.logError("Channel 1 and Channel 2 are not supported on BP-AM2BLDCSERVO BoosterPack due to pinout limitations", inst, "Booster_Pack");
}
}
}
/* Validate CMP and CAP event numbers don't conflict across channels in load share mode */
if (instance.Multi_Channel_Load_Share) {
let enabled_channels = [];
/* Collect enabled channels and their event numbers */
if (instance.Channel_0) {
enabled_channels.push({
name: "Channel 0",
cmp_event: instance.CMP_Event_Num_CH0,
cap_event: instance.CAP_Event_Num_CH0,
cmp_field: "CMP_Event_Num_CH0",
cap_field: "CAP_Event_Num_CH0"
});
}
if (instance.Channel_1) {
enabled_channels.push({
name: "Channel 1",
cmp_event: instance.CMP_Event_Num_CH1,
cap_event: instance.CAP_Event_Num_CH1,
cmp_field: "CMP_Event_Num_CH1",
cap_field: "CAP_Event_Num_CH1"
});
}
if (instance.Channel_2) {
enabled_channels.push({
name: "Channel 2",
cmp_event: instance.CMP_Event_Num_CH2,
cap_event: instance.CAP_Event_Num_CH2,
cmp_field: "CMP_Event_Num_CH2",
cap_field: "CAP_Event_Num_CH2"
});
}
/* Check for CMP event conflicts between channels */
for (let i = 0; i < enabled_channels.length; i++) {
for (let j = i + 1; j < enabled_channels.length; j++) {
if (enabled_channels[i].cmp_event === enabled_channels[j].cmp_event) {
validation.logError(
enabled_channels[i].name + " and " + enabled_channels[j].name +
" cannot use the same IEP CMP event number (CMP" + enabled_channels[i].cmp_event + ")",
inst,
enabled_channels[j].cmp_field
);
}
}
}
/* Check for CAP event conflicts between channels */
for (let i = 0; i < enabled_channels.length; i++) {
for (let j = i + 1; j < enabled_channels.length; j++) {
if (enabled_channels[i].cap_event === enabled_channels[j].cap_event) {
validation.logError(
enabled_channels[i].name + " and " + enabled_channels[j].name +
" cannot use the same IEP CAP event number (CAP" + enabled_channels[i].cap_event + ")",
inst,
enabled_channels[j].cap_field
);
}
}
}
}
}
}
let endat_module = {
displayName: "EnDat Position Encoder",
templates: {
"/drivers/system/system_config.c.xdt": {
driver_config: "/position_sense/endat/endat_templates.c.xdt",
moduleName: endat_module_name,
},
"/drivers/system/system_config.h.xdt": {
driver_config:"/.meta/position_sense/endat/endat_templates.h.xdt",
moduleName: endat_module_name,
},
"/drivers/pinmux/pinmux_config.c.xdt": {
moduleName: endat_module_name,
},
},
defaultInstanceName: "CONFIG_ENDAT",
config: [
{
name: "instance",
displayName: "Instance",
default: (is_am261x_soc) ? "ICSSM1" : ((is_am263x_soc || is_am263px_soc ) ? "ICSSM" : "ICSSG0"),
options: (is_am261x_soc) ?
[
{
name: "ICSSM0",
},
{
name: "ICSSM1",
}
]
:
((is_am263x_soc || is_am263px_soc) ?
[
{
name: "ICSSM",
displayName:"ICSSM0"
}
]
:
[
{
name: "ICSSG0",
},
{
name: "ICSSG1",
}
])
},
{
name: "G_MUX_EN",
displayName: "Enable G Mux",
longDescription : `The G_MUX_EN bit (bit 7) in the ICSSG_SA_MX_REG register is a multiplexer control bit that enables alternative pin configurations for the PRUICSS Peripheral Interface mode.
This bit allows remapping of receive pins to support different hardware configurations and use cases.
#### Pin Multiplexing Behavior
| G_MUX_EN Value | Channel 0 Receive | Channel 1 Receive | Channel 2 Transmit | Description |
|----------------|-------------------|-------------------|--------------------|--------------------------------|
| 0 (Default) | GPI9 | GPI10 | GPO7 | Default pinmux configuration |
| 1 (Enabled) | GPI13 | GPI14 | GPO12 | Alternate pinmux configuration |`,
default: false,
hidden: (device == "am243x-lp" ||device == "am243x-evm" ||device == "am64x-evm") ? false : true,
},
{
name: "Tx_Rx_Clk_Source",
displayName: "TX RX FIFO Clock Source",
description: "TX RX FIFO Clock Source Options. See module specific page in SDK documentation for more details and known limitations.",
default: "0",
options: [
{
name: "0",
displayName: "ICSS UART Clock",
},
{
name: "1",
displayName: "ICSS Core Clock",
},
],
},
{
name: "Channel_0",
displayName: "Enable Channel 0",
description: "Channel 0 Selection",
default: true,
onChange: function(inst, ui) {
if (inst.Multi_Channel_Load_Share) {
ui.CMP_Event_Num_CH0.hidden = !inst.Channel_0;
ui.CAP_Event_Num_CH0.hidden = !inst.Channel_0;
}
},
},
{
name: "Channel_1",
displayName: "Enable Channel 1",
description: "Channel 1 Selection",
default: false,
onChange: function(inst, ui) {
if (inst.Multi_Channel_Load_Share) {
ui.CMP_Event_Num_CH1.hidden = !inst.Channel_1;
ui.CAP_Event_Num_CH1.hidden = !inst.Channel_1;
}
},
},
{
name: "Channel_2",
displayName: "Enable Channel 2",
description: "Channel 2 Selection",
default: false,
onChange: function(inst, ui) {
if (inst.Multi_Channel_Load_Share) {
ui.CMP_Event_Num_CH2.hidden = !inst.Channel_2;
ui.CAP_Event_Num_CH2.hidden = !inst.Channel_2;
}
},
},
{
name: "Multi_Channel_Load_Share",
displayName: "Multi Channel Load Share",
description: "Selected Channels have different make",
hidden :(is_am26x_soc) ? true : false,
default: false,
onChange: function(inst, ui) {
/* When load share is toggled, update visibility of event selectors */
if (inst.Multi_Channel_Load_Share) {
/* Hide global CMP and CAP event selectors */
ui.CMP_Event_Num.hidden = true;
ui.CAP_Event_Num.hidden = true;
/* Show per-channel CMP and CAP selectors based on enabled channels */
ui.CMP_Event_Num_CH0.hidden = !inst.Channel_0;
ui.CAP_Event_Num_CH0.hidden = !inst.Channel_0;
ui.CMP_Event_Num_CH1.hidden = !inst.Channel_1;
ui.CAP_Event_Num_CH1.hidden = !inst.Channel_1;
ui.CMP_Event_Num_CH2.hidden = !inst.Channel_2;
ui.CAP_Event_Num_CH2.hidden = !inst.Channel_2;
} else {
/* Show global CMP and CAP event selectors */
ui.CMP_Event_Num.hidden = false;
ui.CAP_Event_Num.hidden = false;
/* Hide all per-channel selectors */
ui.CMP_Event_Num_CH0.hidden = true;
ui.CAP_Event_Num_CH0.hidden = true;
ui.CMP_Event_Num_CH1.hidden = true;
ui.CAP_Event_Num_CH1.hidden = true;
ui.CMP_Event_Num_CH2.hidden = true;
ui.CAP_Event_Num_CH2.hidden = true;
}
},
},
{
name: "Booster_Pack",
displayName: "Using BP-AM2BLDCSERVO BoosterPack",
description: "Only for BP-AM2BLDCSERVO BoosterPack",
default: false,
},
{
name: "PRU_Slice",
displayName: "Select PRU Slice",
description: "ICSSM PRU Slice",
hidden :(is_am26x_soc) ? false : true,
default: "PRU1",
options: [
{
name: "PRU0",
},
{
name: "PRU1",
},
],
},
{
name: "Periodic_Trigger_Mode_Config",
displayName: "Periodic Trigger Mode Configuration",
description: "Configure periodic trigger mode using IEP CMP and CAP events.",
config: [
{
name: "IEP_Instance",
displayName: "Select IEP Instance",
description: "Select IEP instance for periodic trigger",
default: "IEP0",
options: (is_am26x_soc) ?
[
{
name: "IEP0",
},
]
:
[
{
name: "IEP0",
},
{
name: "IEP1",
},
],
},
{
name: "CMP_Event_Num",
displayName: "IEP CMP Event Number",
description: "CMP event number (0-15) for periodic CMP trigger mode",
default: 2,
hidden: false,
options: [
{ name: 0, displayName: "CMP0" },
{ name: 1, displayName: "CMP1" },
{ name: 2, displayName: "CMP2" },
{ name: 3, displayName: "CMP3" },
{ name: 4, displayName: "CMP4" },
{ name: 5, displayName: "CMP5" },
{ name: 6, displayName: "CMP6" },
{ name: 7, displayName: "CMP7" },
{ name: 8, displayName: "CMP8" },
{ name: 9, displayName: "CMP9" },
{ name: 10, displayName: "CMP10" },
{ name: 11, displayName: "CMP11" },
{ name: 12, displayName: "CMP12" },
{ name: 13, displayName: "CMP13" },
{ name: 14, displayName: "CMP14" },
{ name: 15, displayName: "CMP15" },
],
},
{
name: "CAP_Event_Num",
displayName: "IEP CAP Event Number",
description: "CAP event number (0-7) for periodic CAP trigger mode. Note: Routing (SYNC out to CAP) is done in application code (endat_config_iep_cap_for_sync). Correct router signal should be configured for selected CAP event if needed",
default: 6,
hidden: false,
options: [
{ name: 0, displayName: "CAP0" },
{ name: 1, displayName: "CAP1" },
{ name: 2, displayName: "CAP2" },
{ name: 3, displayName: "CAP3" },
{ name: 4, displayName: "CAP4" },
{ name: 5, displayName: "CAP5" },
{ name: 6, displayName: "CAP6 (LATCH_IN0)" },
{ name: 7, displayName: "CAP7 (LATCH_IN1)" },
],
},
/* Channel event numbers (only shown when load share is enabled) */
/* CMP Event Numbers for each channel */
{
name: "CMP_Event_Num_CH0",
displayName: "Channel 0 - CMP Event Number",
description: "CMP event number (0-15) for Channel 0 periodic CMP trigger mode",
default: 2,
hidden: true,
options: [
{ name: 0, displayName: "CMP0" },
{ name: 1, displayName: "CMP1" },
{ name: 2, displayName: "CMP2" },
{ name: 3, displayName: "CMP3" },
{ name: 4, displayName: "CMP4" },
{ name: 5, displayName: "CMP5" },
{ name: 6, displayName: "CMP6" },
{ name: 7, displayName: "CMP7" },
{ name: 8, displayName: "CMP8" },
{ name: 9, displayName: "CMP9" },
{ name: 10, displayName: "CMP10" },
{ name: 11, displayName: "CMP11" },
{ name: 12, displayName: "CMP12" },
{ name: 13, displayName: "CMP13" },
{ name: 14, displayName: "CMP14" },
{ name: 15, displayName: "CMP15" },
],
},
{
name: "CAP_Event_Num_CH0",
displayName: "Channel 0 - CAP Event Number",
description: "CAP event number (0-7) for Channel 0 periodic CAP trigger mode. Note: Routing (SYNC out to CAP) is done in application code (endat_config_iep_cap_for_sync). Correct router signal should be configured for selected CAP event if needed",
default: 6,
hidden: true,
options: [
{ name: 0, displayName: "CAP0" },
{ name: 1, displayName: "CAP1" },
{ name: 2, displayName: "CAP2" },
{ name: 3, displayName: "CAP3" },
{ name: 4, displayName: "CAP4" },
{ name: 5, displayName: "CAP5" },
{ name: 6, displayName: "CAP6 (LATCH_IN0)" },
{ name: 7, displayName: "CAP7 (LATCH_IN1)" },
],
},
{
name: "CMP_Event_Num_CH1",
displayName: "Channel 1 - CMP Event Number",
description: "CMP event number (0-15) for Channel 1 periodic CMP trigger mode",
default: 3,
hidden: true,
options: [
{ name: 0, displayName: "CMP0" },
{ name: 1, displayName: "CMP1" },
{ name: 2, displayName: "CMP2" },
{ name: 3, displayName: "CMP3" },
{ name: 4, displayName: "CMP4" },
{ name: 5, displayName: "CMP5" },
{ name: 6, displayName: "CMP6" },
{ name: 7, displayName: "CMP7" },
{ name: 8, displayName: "CMP8" },
{ name: 9, displayName: "CMP9" },
{ name: 10, displayName: "CMP10" },
{ name: 11, displayName: "CMP11" },
{ name: 12, displayName: "CMP12" },
{ name: 13, displayName: "CMP13" },
{ name: 14, displayName: "CMP14" },
{ name: 15, displayName: "CMP15" },
],
},
{
name: "CAP_Event_Num_CH1",
displayName: "Channel 1 - CAP Event Number",
description: "CAP event number (0-7) for Channel 1 periodic CAP trigger mode. Note: Routing (SYNC out to CAP) is done in application code (endat_config_iep_cap_for_sync). Correct router signal should be configured for selected CAP event if needed",
default: 0,
hidden: true,
options: [
{ name: 0, displayName: "CAP0" },
{ name: 1, displayName: "CAP1" },
{ name: 2, displayName: "CAP2" },
{ name: 3, displayName: "CAP3" },
{ name: 4, displayName: "CAP4" },
{ name: 5, displayName: "CAP5" },
{ name: 6, displayName: "CAP6 (LATCH_IN0)" },
{ name: 7, displayName: "CAP7 (LATCH_IN1)" },
],
},
{
name: "CMP_Event_Num_CH2",
displayName: "Channel 2 - CMP Event Number",
description: "CMP event number (0-15) for Channel 2 periodic CMP trigger mode",
default: 4,
hidden: true,
options: [
{ name: 0, displayName: "CMP0" },
{ name: 1, displayName: "CMP1" },
{ name: 2, displayName: "CMP2" },
{ name: 3, displayName: "CMP3" },
{ name: 4, displayName: "CMP4" },
{ name: 5, displayName: "CMP5" },
{ name: 6, displayName: "CMP6" },
{ name: 7, displayName: "CMP7" },
{ name: 8, displayName: "CMP8" },
{ name: 9, displayName: "CMP9" },
{ name: 10, displayName: "CMP10" },
{ name: 11, displayName: "CMP11" },
{ name: 12, displayName: "CMP12" },
{ name: 13, displayName: "CMP13" },
{ name: 14, displayName: "CMP14" },
{ name: 15, displayName: "CMP15" },
],
},
{
name: "CAP_Event_Num_CH2",
displayName: "Channel 2 - CAP Event Number",
description: "CAP event number (0-7) for Channel 2 periodic CAP trigger mode. Note: Routing (SYNC out to CAP) is done in application code (endat_config_iep_cap_for_sync). Correct router signal should be configured for selected CAP event if needed",
default: 7,
hidden: true,
options: [
{ name: 0, displayName: "CAP0" },
{ name: 1, displayName: "CAP1" },
{ name: 2, displayName: "CAP2" },
{ name: 3, displayName: "CAP3" },
{ name: 4, displayName: "CAP4" },
{ name: 5, displayName: "CAP5" },
{ name: 6, displayName: "CAP6 (LATCH_IN0)" },
{ name: 7, displayName: "CAP7 (LATCH_IN1)" },
],
},
],
collapsed: false,
},
],
moduleStatic: {
modules: function(inst) {
return [{
name: "system_common",
moduleName: "/system_common",
}]
},
},
pinmuxRequirements: hdsl_endat_pins.pinmuxRequirements,
getInterfaceName: hdsl_endat_pins.getInterfaceName,
getPeripheralPinNames: hdsl_endat_pins.getPeripheralPinNames,
sharedModuleInstances: sharedModuleInstances,
moduleInstances: moduleInstances,
validate: onValidate,
};
function moduleInstances(instance){
let modInstances = new Array();
let BoosterPack = instance["Booster_Pack"];
let total_channels = (instance["Channel_0"] ? 1 : 0) + (instance["Channel_1"] ? 1 : 0) + (instance["Channel_2"] ? 1 : 0);
if((device == "am243x-lp") || is_am26x_soc)
{
if(BoosterPack)
{
modInstances.push({
name: "ENC1_EN",
displayName: "BP-AM2BLDCSERVO BoosterPack Axis1 Power Enable Pin",
moduleName: "/drivers/gpio/gpio",
requiredArgs: {
pinDir: "OUTPUT",
defaultValue: "1",
},
});
if((device == "am243x-lp") && (total_channels > 1))
{
modInstances.push({
name: "ENC2_EN",
displayName: "BP-AM2BLDCSERVO BoosterPack Axis2 Power Enable Pin",
moduleName: "/drivers/gpio/gpio",
requiredArgs: {
pinDir: "OUTPUT",
defaultValue: "1",
},
});
}
}
if(is_am263x_soc)
{
modInstances.push({
name: "PRU_MUX_SEL_GPIO64",
displayName: "Select line for PRU MUX",
moduleName: "/drivers/gpio/gpio",
requiredArgs: {
pinDir: "OUTPUT",
defaultValue: "1",
},
});
modInstances.push({
name: "MUX_EN_GPIO58",
displayName: "MUX Enable Pin",
moduleName: "/drivers/gpio/gpio",
requiredArgs: {
pinDir: "OUTPUT",
defaultValue: "1",
},
});
}
}
return (modInstances);
}
function sharedModuleInstances(instance) {
let modInstances = new Array();
let requiredArgs = (is_am263x_soc || is_am263px_soc) ? {instance:`${instance.instance}0`} : {instance: instance.instance};
modInstances.push({
name: "pru",
displayName: "PRU ICSS Configuration",
moduleName: '/drivers/pruicss/pruicss',
requiredArgs
});
return (modInstances);
}
exports = endat_module;
This will resolve the error you are encountering with the Endat example.
Similar changes will be required for other modules like Tamagawa/BiSS-C if you use those modules.
**Change:** Replace `common.getDeviceName()` with:'common.getSocName()` and use "am261x" for check ```javascript let is_am261x_soc = (common.getSocName() == "am261x") ? true : false; let device = is_am261x_soc ? common.getSocName() : common.getDeviceName(); ```
BR,
Achala Ram