102 lines
4.6 KiB
C
102 lines
4.6 KiB
C
|
; Copyright (C) 2022 Texas Instruments Incorporated
|
||
|
|
;
|
||
|
|
; Redistribution and use in source and binary forms, with or without
|
||
|
|
; modification, are permitted provided that the following conditions
|
||
|
|
; are met:
|
||
|
|
;
|
||
|
|
; Redistributions of source code must retain the above copyright
|
||
|
|
; notice, this list of conditions and the following disclaimer.
|
||
|
|
;
|
||
|
|
; Redistributions in binary form must reproduce the above copyright
|
||
|
|
; notice, this list of conditions and the following disclaimer in the
|
||
|
|
; documentation and/or other materials provided with the
|
||
|
|
; distribution.
|
||
|
|
;
|
||
|
|
; Neither the name of Texas Instruments Incorporated nor the names of
|
||
|
|
; its contributors may be used to endorse or promote products derived
|
||
|
|
; from this software without specific prior written permission.
|
||
|
|
;
|
||
|
|
; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||
|
|
; "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||
|
|
; LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||
|
|
; A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
||
|
|
; OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||
|
|
; SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||
|
|
; LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
||
|
|
; DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
||
|
|
; THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||
|
|
; (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||
|
|
; OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
;
|
||
|
|
|
||
|
|
|
||
|
|
;************************************************************************************
|
||
|
|
;* File: tamagawa_send.h *
|
||
|
|
;* *
|
||
|
|
;* Brief: Macro for sending commands to the Tamagawa encoder *
|
||
|
|
;************************************************************************************
|
||
|
|
|
||
|
|
;*************************************************************************************************************************************
|
||
|
|
; Macro: TAMAGAWA_SEND_MACRO
|
||
|
|
;
|
||
|
|
; Send the Tx data for non-EEPROM commands to the Tamagawa encoders.
|
||
|
|
;
|
||
|
|
; Registers:
|
||
|
|
; R27.b0- Stores the first byte of the TX data
|
||
|
|
; R27.b1- Stores the second byte of the TX data
|
||
|
|
; R30.b0- Used to load Tx FIFO for a selected channel
|
||
|
|
; R30.b2- Used to select the channel (R30[17:16])
|
||
|
|
;
|
||
|
|
;
|
||
|
|
;
|
||
|
|
; PseudoCode:
|
||
|
|
; (start code)
|
||
|
|
; 1.Load the Tx FIFO with the first byte for the currently selected channel by writing to the R30.b0.
|
||
|
|
; 2.Load the Tx FIFO with the second byte for the currently selected channel by writing to the R30.b0.
|
||
|
|
; 3.Loop through the steps 1-4 thrice in case of multi-channel configuration to fill Tx FIFO for all selected channels.
|
||
|
|
; 4.Once the Tx FIFO of all the selected channels is loaded with 2 bytes, make a call to the FN_SEND function that performs Tx in single shot mode with Tx frame size = 10 bits.
|
||
|
|
; (end code)
|
||
|
|
;
|
||
|
|
; Parameters:
|
||
|
|
; tx_data0 - Stores the first byte of the tx data to be sent to the encoder
|
||
|
|
; tx_data1 - Stores the second byte of the tx data to be sent to the encoder
|
||
|
|
;
|
||
|
|
; Worst case peak cycle usage: 68 (approx.)
|
||
|
|
; For all commands except EEPROM Read and Write, the Control Field (CF) should be transmitted to the encoder in about 2.0 +/- 0.05 μs and 4.0 +/- 0.1 μs for 5 Mbps and 2.5 Mbps Tamagawa encoders respectively.
|
||
|
|
;
|
||
|
|
;**************************************************************************************************************************************
|
||
|
|
|
||
|
|
.if !$isdefed("__tamagawa_send_h")
|
||
|
|
__tamagawa_send_h .set 1
|
||
|
|
|
||
|
|
.include "tamagawa_interface.h"
|
||
|
|
.include "tamagawa_constants.h"
|
||
|
|
.global FN_SEND
|
||
|
|
.global CALL
|
||
|
|
.global CALL2
|
||
|
|
|
||
|
|
TAMAGAWA_SEND_MACRO .macro tx_data0, tx_data1
|
||
|
|
.if $defined("ENABLE_MULTI_CHANNEL")
|
||
|
|
;In each iteration, channel is selected and Tx Fifo is loaded .
|
||
|
|
LOOP SEND_RECEIVE_TAMAGAWA_MULTI_CHANNEL?, 3
|
||
|
|
.endif
|
||
|
|
;In case of non EEPROM commands, we need to send the control field to the encoder. This control field is of 10 bits.
|
||
|
|
;The FIFO is loaded with 16 bits first and then a call to the FN_SEND is made in order to start Tx in Single shot mode with Tx frame size = 10 bits.
|
||
|
|
;load Tx FIFO
|
||
|
|
MOV R30.b0,tx_data0
|
||
|
|
;load Tx FIFO
|
||
|
|
MOV R30.b0,tx_data1
|
||
|
|
|
||
|
|
.if $defined("ENABLE_MULTI_CHANNEL")
|
||
|
|
; last channel would have been selected first
|
||
|
|
;R30[17:16] tx_ch_sel is decremented to select next channel and load Tx Fifo.
|
||
|
|
SUB R30.b2, R30.b2, 1
|
||
|
|
SEND_RECEIVE_TAMAGAWA_MULTI_CHANNEL?:
|
||
|
|
.endif
|
||
|
|
; Sending Tx Fifo data via Data line(PERIF0_OUT,PERIF1_OUT,PERIF2_OUT) to encoders
|
||
|
|
CALL2 FN_SEND
|
||
|
|
|
||
|
|
.endm
|
||
|
|
|
||
|
|
.endif
|