2023-07-04 15:32:46 +03:00
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/*
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* Copyright (C) 2021-23 Texas Instruments Incorporated
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the
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* distribution.
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*
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* Neither the name of Texas Instruments Incorporated nor the names of
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* its contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPgResS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef ENDAT_API_H_
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#define ENDAT_API_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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2023-09-01 12:05:56 +03:00
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* \defgroup POSITION_SENSE_API APIs for Position Sense
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2023-07-04 15:32:46 +03:00
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*
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2023-09-01 12:05:56 +03:00
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* This module contains APIs for device drivers for various position sense encoders supported in this SDK.
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2023-07-04 15:32:46 +03:00
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*/
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/**
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* \defgroup ENDAT_API_MODULE APIs for ENDAT Encoder
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2023-09-01 12:05:56 +03:00
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* \ingroup POSITION_SENSE_API
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2023-07-04 15:32:46 +03:00
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*
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* Here is the list of APIs used for EnDAT encoder communication protocol
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*
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* @{
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*/
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/**
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* \brief process raw recieved data and format based on the command
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] cmd EnDat command number
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* \param[out] u pointer to union for storing formatted data based on cmd
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*
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* \retval 0 for success, -EINVAL for failure
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*
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*/
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int32_t endat_recvd_process(struct endat_priv *priv, int32_t cmd,
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union endat_format_data *u);
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/**
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* \brief CRC result indicated in return value as follows, <br>
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* 0th bit high position/address/params/test CRC success <br>
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* 0th bit low position/address/params/test CRC failure <br>
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* 1st bit high if addinfo 1 present, addinfo 1 CRC success <br>
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* 1st bit low if addinfo 1 present, addinfo 1 CRC failure <br>
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* 2nd bit high if addinfo 2 present, addinfo 2 CRC success <br>
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* 2nd bit low if addinfo 2 present, addinfo 2 CRC failure
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] cmd EnDat command number
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* \param[in] u pointer to union having formatted data based on cmd
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*
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* \retval status position/address/params/test CRC status
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*
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*/
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uint32_t endat_recvd_validate(struct endat_priv *priv, int32_t cmd,
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union endat_format_data *u);
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/**
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* \brief send the EnDat command and wait till firmware acknowledges
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] cmd EnDat command number
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* \param[in] cmd_supplement Supplement information needed to setup EnDat cmd
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*
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* \retval 0 for success, -EINVAL for failure
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*
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*/
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int32_t endat_command_process(struct endat_priv *priv, int32_t cmd,
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struct cmd_supplement *cmd_supplement);
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/**
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* \brief setup the EnDat command in the PRU interface buffer
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] cmd EnDat command number
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* \param[in] cmd_supplement Supplement information needed to setup EnDat cmd
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*
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* \retval 0 for success, -EINVAL for failure
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*
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*/
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int32_t endat_command_build(struct endat_priv *priv, int32_t cmd,
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struct cmd_supplement *cmd_supplement);
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/**
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* \brief trigger sending the EnDat command in PRU
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*
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* \param[in] priv cookie returned by endat_init
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*
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*
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*/
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void endat_command_send(struct endat_priv *priv);
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/**
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* \brief wait till PRU finishes EnDat transaction
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*
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* \param[in] priv cookie returned by endat_init
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*
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*
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*/
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void endat_command_wait(struct endat_priv *priv);
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/**
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* \brief read RT from DMEM
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*
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* \param[in] priv cookie returned by endat_init
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*
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* \retval Value of Recovery Time in nanoseconds
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*
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*/
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uint32_t endat_get_recovery_time(struct endat_priv *priv);
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/**
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* \brief update priv with position resolution, id, serial number, encoder
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* type and supported command set
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*
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* \param[in] priv cookie returned by endat_init
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*
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* \retval 0 for success, -EINVAL for failure
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*
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*/
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int32_t endat_get_encoder_info(struct endat_priv *priv);
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/**
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* \brief get propagation delay automatically estimated by the firmware
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*
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* \param[in] priv cookie returned by endat_init
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*
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* \retval delay estimated propogation delay
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*
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*/
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uint32_t endat_get_prop_delay(struct endat_priv *priv);
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/**
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* \brief track presence of additional information in priv
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] cmd EnDat command number
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* \param[in] cmd_supplement Supplement information needed to setup EnDat cmd
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*
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*
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*/
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void endat_addinfo_track(struct endat_priv *priv, int32_t cmd,
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struct cmd_supplement *cmd_supplement);
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/**
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* \brief configure EnDat clock
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] clk_cfg pointer to structure containing clock configuration data
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*
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*
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*/
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void endat_config_clock(struct endat_priv *priv,
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struct endat_clk_cfg *clk_cfg);
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/**
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* \brief configure tST delay
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] delay tST delay value
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*
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*
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*/
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void endat_config_tst_delay(struct endat_priv *priv, uint16_t delay);
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/**
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* \brief configure rx arm counter
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] val rx arm counter value in ns
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*
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*
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*/
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void endat_config_rx_arm_cnt(struct endat_priv *priv, uint16_t val);
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/**
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* \brief configure wire delay for the selected channel
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] val wire delay in ns
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*
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*
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*/
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void endat_config_wire_delay(struct endat_priv *priv, uint16_t val);
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/**
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* \brief configure clocks to be disabled at the end of rx to account for tD
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] val number of clocks to be disabled
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*
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*
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*/
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void endat_config_rx_clock_disable(struct endat_priv *priv,
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uint16_t val);
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/**
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* \brief start continuous mode
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*
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* \param[in] priv cookie returned by endat_init
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*
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* \retval 0 success, -EINVAL for failure
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*
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*/
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int32_t endat_start_continuous_mode(struct endat_priv *priv);
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/**
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* \brief stop continuous mode
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*
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* \param[in] priv cookie returned by endat_init
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*
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*
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*/
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void endat_stop_continuous_mode(struct endat_priv *priv);
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/**
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* \brief configure EnDat master for host trigger mode
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*
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* \param[in] priv cookie returned by endat_init
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*
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*
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*/
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void endat_config_host_trigger(struct endat_priv *priv);
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/**
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* \brief configure EnDat master in periodic trigger mode
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*
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* \param[in] priv cookie returned by endat_init
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*
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*
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*/
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void endat_config_periodic_trigger(struct endat_priv *priv);
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/* brief set syn_bits of all connected channels for synchronization before global_TX_init
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] mask channels mask
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*
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*/
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void endat_config_syn_bits(struct endat_priv *priv, uint8_t mask);
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/**
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* \brief set a core as primay core for global configuration, clk configuration and TX_GLOBAL_INIT
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] mask channels mask
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*
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*
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*/
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void endat_config_primary_core_mask(struct endat_priv *priv, uint8_t mask);
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/**
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* \brief enable load share mode if encoders has diffent make
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*
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* \param[in] priv cookie returned by endat_init
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*
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*/
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void endat_enable_load_share_mode(struct endat_priv *priv);
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/**
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* \brief select channel to be used by EnDat master
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] ch channel to be selected
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*
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*
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*/
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void endat_config_channel(struct endat_priv *priv, int32_t ch);
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/**
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* \brief select mask of channels to be used in multi channel configuration by EnDat master
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] mask channel mask
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* \param[in] loadshare value for loadshare mode enable.
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*
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*/
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void endat_config_multi_channel_mask(struct endat_priv *priv,
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uint8_t mask,
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uint8_t loadshare);
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/**
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* \brief select channels detected in multi channel configuration by EnDat master. <br>
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* required to be invoked only if firmware indicates initialization failure <br>
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* to know the channels that has been detected. Initialization success implies <br>
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* that all channels indicated has been detected.
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*
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* \param[in] priv cookie returned by endat_init
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*
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* \retval mask mask of the detected channels
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*
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*/
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uint8_t endat_multi_channel_detected(struct endat_priv *priv);
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/**
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* \brief In multi channel configuration, select channel before receive processing in <br>
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* multi channel configuration. After receive is complete, select each channel <br>
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* and invoke rx API's to parse data recieved in each channel.
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] ch channel number to be selected
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*
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*
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*/
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void endat_multi_channel_set_cur(struct endat_priv *priv, int32_t ch);
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/**
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* \brief wait for EnDat master firmware to initialize
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*
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* \param[in] priv cookie returned by endat_init
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* \param[in] timeout timeout to wait for initialization
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* \param[in] mask channel mask
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* \retval 0 for success, -EINVAL for failure
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*
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*/
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int32_t endat_wait_initialization(struct endat_priv *priv, uint32_t timeout, uint8_t mask);
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/**
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* \brief Initialize EnDat firmware interface address and get the pointer
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* to struct endat_priv instance
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*
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* \param[in] pruss_xchg EnDat firmware interface address
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* \param[in] pruss_cfg ICSS PRU config base address
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2023-08-22 16:46:42 +03:00
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* \param[in] pruss_iep ICSS PRU iep base address
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2023-07-04 15:32:46 +03:00
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* \param[in] slice ICSS PRU SLICE
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*
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* \retval priv pointer to struct endat_priv instance
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*
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*/
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struct endat_priv *endat_init(struct endat_pruss_xchg *pruss_xchg,
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2023-08-22 16:46:42 +03:00
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void *pruss_cfg, void *pruss_iep, int32_t slice);
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2023-07-04 15:32:46 +03:00
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/**
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* \brief Read EnDat 2.2 angular position in steps for rotary encoders <br>
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* (prior to invoking this, 2.2 position command has to be completed)<br>
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* This checks the CRC status (updated on-the-fly by firmware), <br>
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* checks the group alarm errors (F1/F2 bits) and the angle value <br>
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* recieved in reverse are reversed in a highly optimized way using <br>
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* inline assembly. <br>
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* Assumptions (that holds good for quite a few encoders): <br>
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* 1. Total resolution >= 25 <br>
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* 2. Single turn resolution <= 30
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*
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* \param[in] priv cookie returned by endat_init
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*
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* \retval angle for angular position in steps on success, -1 for failure
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*
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*/
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int32_t endat_get_2_2_angle(struct endat_priv *priv);
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/** @} */
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#ifdef __cplusplus
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}
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#endif
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#endif
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