.. _tamagawa_encoder_communication:

Tamagawa encoder communication
============================================================

Overview
--------

Communication with Tamagawa encoders using peripherals such as PLA, DMA, SPI, etc.

- Get data with different DataIDs

- Read and write EEPROM

- Error messages (CRC errors, communication errors, encoder error messages)

- Communication delay compensation

Board Setting
-------------

- Expansion board `TMAGAWA RevA` to plug into the core board

- Connect encoder `TS5700N8401`

- Plug in J2 pins 1 and 2 on the board `TMAGAWA RevA`

Running the example
-------------------

When the project is running correctly, the serial terminal will output the following information, and the position information will change when the encoder axis is rotated:

.. code-block:: console

   cmd:3 time:638, abs pos:4170741, abm pos:0, id:23.
   cmd:3 time:631, abs pos:4170741, abm pos:0, id:23.
   cmd:3 time:631, abs pos:4170740, abm pos:0, id:23.
   cmd:3 time:634, abs pos:4170740, abm pos:0, id:23.
   cmd:3 time:639, abs pos:4170741, abm pos:0, id:23.
   cmd:3 time:632, abs pos:4170741, abm pos:0, id:23.
   cmd:3 time:630, abs pos:4170742, abm pos:0, id:23.


.. note::
 - Call tmgw_message_process function to update the data of tmgw_msg, which contains the information of the above function
 - Switching command, you need to modify tmgw_dev.comm_time_delay_config to turn off the communication function, and then do the configuration of PLA , DMA. Otherwise, it will generate an error message once and then return to normal