BBAI-64 Quadrature Encoder setup eQEP1

General Discussion
1

Has anyone had success with P8_33 and P8_35 on the BBAI-64 PRU0_ICSSG using eQEP1? The following code was ported from the SK-AM64B starter kit.

#include <sys_eqep.h
static void initQep(void) // sys_pwmss.h
{
// Set RPM memory to 0
sharedMem.encoderCps = 0;
EQEP1.QDEC_QEP_CTL_bit.SWAP = 0; // Don’t swap A & B inputs, bit 10
EQEP1.QDEC_QEP_CTL_bit.UTE = 1; // Enable unit timer, bit 17
EQEP1.QDEC_QEP_CTL_bit.QCLM = 1; // Enable capture latch on unit time out, bit 18
EQEP1.QDEC_QEP_CTL_bit.QPEN = 1; // Enable quadrature position counter, bit 19
EQEP1.QDEC_QEP_CTL_bit.SWI = 1; // Enable software loading of position counter, bit 23
EQEP1.QCAP_QPOS_CTL_bit.CCPS = 7; // EQEP_FICLK/128, UPEVENT = QCLK/1
EQEP1.QPOSCNT_bit.QPOSCNT = 0x00000000; // Clear eQEP POS counter
EQEP1.QPOSMAX_bit.QPOSMAX = UINT_MAX; // Set max encoder count
EQEP1.QUTMR_bit.UNITTMR = 0x00000000; // Clear unit timer
EQEP1.QINT_CLR_FRC = 0x0000FFFF; // Clear interrupt flagso
}

I am using the following overlay MotorControl.dts to access the pins
// SPDX-License-Identifier: GPL-2.0
/*

/dts-v1/;
/plugin/;

#include <dt-bindings/gpio/gpio.h>
#include <dt-bindings/interrupt-controller/arm-gic.h>
#include <dt-bindings/interrupt-controller/irq.h>
#include <dt-bindings/pinctrl/k3.h>
#include <dt-bindings/board/k3-j721e-bone-pins.h>
#include <dt-bindings/soc/ti,sci_pm_domain.h>
#include <dt-bindings/input/linux-event-codes.h>
&{/chosen} {
overlays {
MotorControl.kernel = TIMESTAMP;
};
};

&cape_header {
pinctrl-names = “default”;
pinctrl-0 = <
&P8_07_gpio_pin /* GPIO_bit15 /
&P8_12_pruout_pin / Direction bit PRU0 /
&P8_15_pruout_pin / APWM mode /
&P8_16_gpio_pin / GPIO0_bit62 Scope debug pin /
&P8_33_qep_pin / QEP2_B - EQEP1_B /
&P8_35_qep_pin / QEP2_A - EQEP1_A /
&P8_14_pruout_pin / Scope debug pin PRU1 */
>;
};
sys_eqep.h (8.7 KB)