motor-control-sdk/source/position_sense/hdsl/firmware/defines.inc

; Copyright (C) 2021-2023 Texas Instruments Incorporated
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;  bit7..4		major number
FIRMWARE_VERSION_MAJOR	.set			0x0
;  bit3..0		minor number
FIRMWARE_VERSION_MINOR	.set			0xC

ICSS_FIRMWARE_RELEASE	.set            ((FIRMWARE_VERSION_MAJOR << 4) | (FIRMWARE_VERSION_MINOR << 0))

;number of cycles for 1 bit
    .if $isdefed("FREERUN_300_MHZ") | $isdefed("SYNC_300_MHZ")
;number of cycles for 1 bit
CYCLES_BIT .set							32
;clock divider
CLKDIV_225MHZ .set						0
CLKDIV_FAST .set						3
CLKDIV_FASTER .set						22
CLKDIV_DOUBLE .set						15
CLKDIV_NORMAL .set						31
CLKDIV_HALF .set						63
CLKDIV_SLOWER .set						82
CLKDIV_SLOW .set						63

    .else
;number of cycles for 1 bit
CYCLES_BIT .set                         24

;clock divider
CLKDIV_225MHZ .set                      0
CLKDIV_FAST .set                        2
CLKDIV_FASTER .set                      16
CLKDIV_DOUBLE .set                      11
CLKDIV_NORMAL .set                      23
CLKDIV_HALF .set                        47
CLKDIV_SLOWER .set                      61;60
CLKDIV_SLOW .set                        47;50;47

    .endif

;6 bits sync + 2 bits sample
SYNC .set								0x2f
;1 bit sample + 3 bit cycle_reset
CYCLE_RESET .set						0x06
; cycle_reset + equalization in first state
FIRST_CYCLE_EQ .set						((0x06<<4) | 0x0a)
;8 bits trailer
TRAILER .set							0x03
;line delay is 12 bits
LINE_DELAY .set							12

;m_par symbols
M_PAR_IDLE .set							0x10
M_PAR_SYNC .set							0x19
M_PAR_START .set						0x1a
M_PAR_LEARN .set						0x1b
M_PAR_CHECK .set						0x1c
M_PAR_IDREQ .set						0x1d
M_PAR_INIT .set							0x1e
M_PAR_RESET .set						0x1f
M_PAR_0x1 .set							0x01
M_PAR_0x2 .set							0x02
M_PAR_0x3 .set							0x03
M_PAR_0x4 .set							0x04
M_PAR_0x5 .set							0x05
M_PAR_0x6 .set							0x06
M_PAR_0x7 .set							0x07
M_PAR_0x8 .set							0x08
M_PAR_0x9 .set							0x09
M_PAR_0xa .set							0x0a
M_PAR_0xb .set							0x0b
M_PAR_0xc .set							0x0c
M_PAR_0xd .set							0x0d
M_PAR_0xe .set							0x0e
M_PAR_0xf .set							0x0f

;s_par symbols
S_PAR_IDLE .set							0x10
S_PAR_SNAK .set							0x15
S_PAR_LNAK .set							0x1a
S_PAR_INIT .set							0x1f

;datalink parameters
LINK_TIMEOUT .set						((DELAY_BITS-3)*CYCLES_BIT)
DELAY_BITS .set							12

;FLAGS
FLAG_NORMAL_FLOW .set						1
FLAG_MSYNC .set							2
FLAG_ERR_ACC .set						3
FLAG_ERR_VERT .set						4
FLAG_ERR_SEC .set						5
UPDATE_FPOS_WITH_SPOS .set					6
MPAR_BUSY .set							7
FLAG_DRIVE_SYNC .set						8
FLAG_PARA_BUSY .set						9
FLAG_WAIT_IDLE .set						10

FLAG_ERRORS .set						((~((1<<FLAG_ERR_VERT) | (1<<FLAG_ERR_SEC)))&0xff)


;Fixed values here
NUM_MT_BITS .set						12

;Masks
MASK_SPEED .set							0x00FFFFFF
;Special Characters

K28_0 .set							0x1c
K28_1 .set							0x3c
K28_2 .set							0x5c
K28_3 .set							0x7c
K28_4 .set							0x9c
K28_5 .set							0xbc
K28_6 .set							0xdc
K28_7 .set							0xfc
K23_7 .set							0xf7
K27_7 .set							0xfb
K30_7 .set							0xfe
K29_7 .set							0xFD
DOUBLE_K29_7 .set						(K29_7 << 8) | K29_7

;Number of V-Frames the average error should be calculated
NUM_FRAMES_AVG .set						10

;Byte number of channel in slave answer
BYTE_CH_VERTICAL .set						0
BYTE_CH_PARAMETER .set						1
BYTE_CH_PIPE .set						2
BYTE_CH_ACC_H .set						3
BYTE_CH_ACC_L .set						4
BYTE_CH_SECONDARY .set						5

;int number of sync pulse event
INT_SYNC_PULSE .set						35
INT_SAMPLE_EDGE .set						36

;size of fastpos
SIZE_FAST_POS .set						5

;
RSSI_MAX .set							12
QM_MAX .set							15

;Message constants
MSG_SHORT .set							0
MSG_LONG .set							1
MSG_WRITE .set							0
MSG_READ .set							1
;Message flags
FLAG_ACK .set							7
LOFF .set							5


; This interrupt is used for EVENT interrupt
PRU_ARM_EVENT0 .set						(18 - 16) ;SYS_EVENT_18 is pr1_pru_mst_intr<2>_int_req
PRU0_ARM_IRQ .set						(0x20 | PRU_ARM_EVENT0)

PRU_ARM_EVENT1 .set						(19 - 16) ;SYS_EVENT_19 is pr1_pru_mst_intr<3>_int_req
PRU0_ARM_IRQ1 .set						(0x20 | PRU_ARM_EVENT1)

PRU_ARM_EVENT2 .set						(20 - 16) ;SYS_EVENT_20 is pr1_pru_mst_intr<4>_int_req
PRU0_ARM_IRQ2 .set						(0x20 | PRU_ARM_EVENT2)

PRU_ARM_EVENT3 .set						(21 - 16) ;SYS_EVENT_21 is pr1_pru_mst_intr<5>_int_req
PRU0_ARM_IRQ3 .set						(0x20 | PRU_ARM_EVENT3)

; This interrupt is used for EVENT_S interrupt
PRU_ARM_EVENT4 .set						(22 - 16) ;SYS_EVENT_22 is pr1_pru_mst_intr<6>_int_req
PRU0_ARM_IRQ4 .set						(0x20 | PRU_ARM_EVENT4)

;constants for event_h/l (event_h is saved in low part of register when read from memory!)
;event_h
EVENT_INT .set							7
EVENT_SUM .set							6
; EVENT_SCE is moved to EVENT_S_SCE
EVENT_POS .set							3
; EVENT_VPOS is moved to EVENT_S_VPOS
EVENT_DTE .set							1
EVENT_PRST .set							0

;event_l
EVENT_MIN .set							(5+8)
EVENT_ANS .set							(4+8)
EVENT_QMLW .set							(2+8)
EVENT_FREL .set							(1+8)
; EVENT_FRES is moved to EVENT_S_FRES

;constants for event_s
EVENT_S_SINT .set						7
EVENT_S_SSUM .set						6
EVENT_S_SCE .set						5
EVENT_S_VPOS .set						4
EVENT_S_QMLW .set						3
EVENT_S_PRST .set						2
EVENT_S_MIN .set						1
EVENT_S_FRES .set						0

; ONLINE_STATUS_D constants
; ONLINE_STATUS_D high byte
ONLINE_STATUS_D_INT .set						7
ONLINE_STATUS_D_SUM .set						6
ONLINE_STATUS_D_HIGH_BIT5_FIX0 .set				5
ONLINE_STATUS_D_HIGH_BIT4_FIX1 .set				4
ONLINE_STATUS_D_POS .set						3
ONLINE_STATUS_D_HIGH_BIT2_FIX0 .set				2
ONLINE_STATUS_D_DTE .set						1
ONLINE_STATUS_D_PRST .set						0
; ONLINE_STATUS_D low byte
ONLINE_STATUS_D_POSTX_HIGH .set					(7+8)
ONLINE_STATUS_D_POSTX_LOW .set					(6+8)
ONLINE_STATUS_D_MIN .set					    (5+8)
ONLINE_STATUS_D_ANS .set					    (4+8)
ONLINE_STATUS_D_LOW_BIT3_FIX0 .set				(3+8)
ONLINE_STATUS_D_QMLW .set					    (2+8)
ONLINE_STATUS_D_FREL .set						(1+8)
ONLINE_STATUS_D_LOW_BIT0_FIX0 .set				(0+8)

; ONLINE_STATUS_1 constants
; ONLINE_STATUS_1 high byte
ONLINE_STATUS_1_SINT .set						7
ONLINE_STATUS_1_SSUM .set						6
ONLINE_STATUS_1_SCE .set				        5
ONLINE_STATUS_1_HIGH_BIT4_FIX1 .set				4
ONLINE_STATUS_1_HIGH_BIT3_FIX0 .set				3
ONLINE_STATUS_1_VPOS .set				        2
ONLINE_STATUS_1_HIGH_BIT1_FIX0 .set				1
ONLINE_STATUS_1_PRST .set						0
; ONLINE_STATUS_1 low byte
ONLINE_STATUS_1_POSTX_HIGH .set					(7+8)
ONLINE_STATUS_1_POSTX_LOW .set					(6+8)
ONLINE_STATUS_1_MIN .set					    (5+8)
ONLINE_STATUS_1_LOW_BIT4_FIX0 .set				(4+8)
ONLINE_STATUS_1_LOW_BIT3_FIX0 .set				(3+8)
ONLINE_STATUS_1_QMLW .set					    (2+8)
ONLINE_STATUS_1_LOW_BIT1_FIX0 .set				(1+8)
ONLINE_STATUS_1_FRES .set				        (0+8)

; ONLINE_STATUS_2 constants

; ONLINE_STATUS_2 high byte
ONLINE_STATUS_2_HIGH_BIT7_FIX0 .set				7
ONLINE_STATUS_2_SUM2 .set						6
ONLINE_STATUS_2_SCE2 .set				        5
ONLINE_STATUS_2_HIGH_BIT4_FIX1 .set				4
ONLINE_STATUS_2_HIGH_BIT3_FIX0 .set				3
ONLINE_STATUS_2_VPOS2 .set				        2
ONLINE_STATUS_2_HIGH_BIT1_FIX0 .set				1
ONLINE_STATUS_2_PRST .set						0

; ONLINE_STATUS_2 low byte
ONLINE_STATUS_2_POSTX_HIGH .set					(7+8)
ONLINE_STATUS_2_POSTX_LOW .set					(6+8)
ONLINE_STATUS_2_LOW_BIT5_FIX0 .set			    (5+8)
ONLINE_STATUS_2_LOW_BIT4_FIX0 .set				(4+8)
ONLINE_STATUS_2_LOW_BIT3_FIX0 .set				(3+8)
ONLINE_STATUS_2_QMLW .set					    (2+8)
ONLINE_STATUS_2_LOW_BIT1_FIX0 .set				(1+8)
ONLINE_STATUS_2_LOW_BIT0_FIX0 .set				(0+8)

; STATUS2 constants
STATUS2_TOG2 .set                       7
STATUS2_TEST2 .set                      6
STATUS2_ERR2 .set                       5

;SYS_CTRL constants
SYS_CTRL_PRST .set						7
SYS_CTRL_MRST .set						6
SYS_CTRL_FRST .set						5
SYS_CTRL_LOOP .set						4
SYS_CTRL_PRDY .set						3
SYS_CTRL_SPPE .set						2
SYS_CTRL_SPOL .set						1
SYS_CTRL_OEN .set						0

;SAFE_CTRL constants
SAFE_CTRL_PRST .set						7
SAFE_CTRL_MRST .set						6

;STUFFING is at max. 26*6 bits
MAX_STUFFING .set						26

;Num. of LOADFW states (CODE_SIZE/NUM_LOADFW = size of code per load)
NUM_LOADFW .set							1

;MAX cycle differene allowed between the SYNC pulse and extra edge
MAX_ALLOWED_CYCLE_DIFF .set             10000

;MAX cycle differene allowed between the SYNC pulse and extra edge
CAPPING_CYCLE_DIFF .set             18