4.8. Diagnostic Kernel

The diagnostic kernel allows real-time diagnostics and testing through interaction with an external host PC. At this time, two variants can be used:

  • X2C-Scope from the Linz Center of Mechatronics GmbH, for use with the X2C-Scope plugin for MPLAB® X. This is the default variant.

  • RTDM from Microchip, for use with the MPLAB® DMCI plugin. Please contact Microchip if you wish to use this variant instead.

Both variants are configured to sample data at the control ISR (nominally 20 kHz) and use a UART channel for communication with the host PC.

4.8.1. Implementation Notes

4.8.1.1. Modules

Module

Files

Description

Comments

diagnostics
diagnostics.c
diagnostics.h

Top-level diagnostics

rtdm
rtdm.c
rtdm.h
rtdm_hal_adapter.h
rtdm_select_channels.c
rtdm_select_channels.h

RTDM testing and diagnostics