am243x/am64x: hdsl: Fix reset issue with certain encoders

- Revert commit af129481c2 for free run mode
- Add a separate build macro for SYNC mode

Fixes: PINDSW-7126

Signed-off-by: Dhaval Khandla <dhavaljk@ti.com>

source/position_sense/hdsl/firmware/datalink.asm

@@ -453,7 +453,7 @@ push_2B_0:
     .else
     PUSH_FIFO_CONST		0x03
     .endif
-    .if $defined("FREERUN_300_MHZ")
+    .if $defined("FREERUN_300_MHZ") | $defined("SYNC_300_MHZ")
 	ldi			REG_TMP0, (6*(CLKDIV_FAST+1)-8+2)
     .else
     ldi			REG_TMP0, (6*(CLKDIV_FAST+1)-8)
@@ -1839,7 +1839,7 @@ send_trailer:
 	NOP_2
 	NOP_2
 	NOP_2
-    .if $defined("FREERUN_300_MHZ")
+    .if $defined("FREERUN_300_MHZ") | $defined("SYNC_300_MHZ")
 	NOP_2
 	NOP_2
 	NOP_2
@@ -1946,14 +1946,18 @@ qm_add_end:
 ;--------------------------------------------------------------------------------------------------
 wait_delay:
 	WAIT_TX_DONE
+    .if $defined("FREERUN_300_MHZ") | $defined("SYNC_300_MHZ")
+    NOP_2
+	NOP_2
+	NOP_2
+	NOP_2
+	NOP_2
+	NOP_2
+	NOP_2
+	NOP_2
+	NOP_2
+	.endif
     .if $defined("FREERUN_300_MHZ")
-    NOP_2
-	NOP_2
-	NOP_2
-	NOP_2
-	NOP_2
-	NOP_2
-	NOP_2
 	NOP_2
 	NOP_2
 	.endif

source/position_sense/hdsl/firmware/datalink_init.asm

@@ -275,7 +275,7 @@ datalink_learn:
 	.endif
 ; indication of TX_DONE comes about 53ns after wire timing
 	WAIT_TX_DONE
-    .if $defined("FREERUN_300_MHZ")
+    .if $defined("FREERUN_300_MHZ") | $defined("SYNC_300_MHZ")
 	NOP_2
 	NOP_2
 	NOP_2
@@ -377,7 +377,7 @@ datalink_learn_skip_one_bit_1:
 
 ; pre-load register to save time on last bit
 ;	ldi			REG_TMP2, (74*CYCLES_BIT-9) ; 100 m
-    .if $defined("FREERUN_300_MHZ")
+    .if $defined("FREERUN_300_MHZ") | $defined("SYNC_300_MHZ")
 	ldi			r3, (74*CYCLES_BIT+9)
     .else
     ldi			r3, (74*CYCLES_BIT+9)
@@ -451,7 +451,7 @@ push_3b_0:
 	NOP_2
 	NOP_2
 	NOP_2
-    .if $defined("FREERUN_300_MHZ")
+    .if $defined("FREERUN_300_MHZ") | $defined("SYNC_300_MHZ")
 	NOP_2
 	NOP_2
 	NOP_2
@@ -568,7 +568,7 @@ datalink_learn_end:
 datalink_abort2:
 	qbbs			datalink_abort2_no_wait, r30, RX_ENABLE						;changed here from 24 to 26
 	WAIT_TX_DONE
-    .if $defined("FREERUN_300_MHZ")
+    .if $defined("FREERUN_300_MHZ") | $defined("SYNC_300_MHZ")
 	LOOP no_operation_2cycle,9
 	NOP_2
 no_operation_2cycle:

source/position_sense/hdsl/firmware/defines.inc

@@ -39,7 +39,7 @@ FIRMWARE_VERSION_MINOR	.set			0xB
 ICSS_FIRMWARE_RELEASE	.set            ((FIRMWARE_VERSION_MAJOR << 4) | (FIRMWARE_VERSION_MINOR << 0))
 
 ;number of cycles for 1 bit
-    .if $defined("FREERUN_300_MHZ")
+    .if $isdefed("FREERUN_300_MHZ") | $isdefed("SYNC_300_MHZ")
 ;number of cycles for 1 bit
 CYCLES_BIT .set							32
 ;clock divider

source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h

@@ -56,7 +56,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x91003c82,
 0x1308e2e2,
 0x81003c82,
-0x21063400,
+0x21063600,
 0x21000000,
 0x2eff8f8e,
 0x24000725,
@@ -120,7 +120,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x230330d1,
 0x1d03c4c4,
 0x2302cfd1,
-0x2305a19d,
+0x2305a39d,
 0x05014545,
 0x51074514,
 0x49004502,
@@ -162,7 +162,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x10000020,
 0x0b018001,
 0x14000130,
-0x230356d1,
+0x230358d1,
 0x6f0005f6,
 0x24001d05,
 0xc918ff00,
@@ -174,7 +174,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x10000020,
 0x0b018001,
 0x14000130,
-0x230356d1,
+0x230358d1,
 0x6f0105f6,
 0xc918ff00,
 0x101f1f00,
@@ -275,7 +275,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x1e05cdcd,
 0x0b018001,
 0x14000130,
-0x230356d1,
+0x230358d1,
 0x6f0005f7,
 0x240120eb,
 0xf0cd0b0d,
@@ -294,7 +294,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x1e05cdcd,
 0x0b018001,
 0x14000130,
-0x230356d1,
+0x230358d1,
 0x6f0005f7,
 0x24000001,
 0x1c2d5050,
@@ -317,7 +317,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x1f00cdcd,
 0x0b018021,
 0x14002130,
-0x230356d1,
+0x230358d1,
 0x110fcdc0,
 0x240168eb,
 0xf0c00b00,
@@ -342,7 +342,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x1e05cdcd,
 0x0b018001,
 0x14000130,
-0x230356d1,
+0x230358d1,
 0x6f0005f7,
 0x240120eb,
 0xf0cd0b0d,
@@ -361,7 +361,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x1e05cdcd,
 0x0b018001,
 0x14000130,
-0x230356d1,
+0x230358d1,
 0x6f0005f7,
 0x24000001,
 0x1c2d5050,
@@ -384,7 +384,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x1f00cdcd,
 0x0b018021,
 0x14002130,
-0x230356d1,
+0x230358d1,
 0x110fcdc0,
 0x240168eb,
 0xf0c00b00,
@@ -578,14 +578,14 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0xd703ffff,
 0x2400001e,
 0x2400ff1e,
-0x2103a100,
+0x2103a300,
 0x69074507,
 0xc901c405,
 0xd104ff00,
 0xd703ffff,
 0x2400ff1e,
 0x2400ff1e,
-0x2103f500,
+0x2103f700,
 0x51000c2d,
 0x51015b04,
 0x100c0c02,
@@ -694,7 +694,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x79000002,
 0x2400ff1e,
 0x09017979,
-0x21051400,
+0x21051600,
 0xd1077905,
 0xd104ff00,
 0xd703ffff,
@@ -746,12 +746,12 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0xd1047905,
 0x106d6d79,
 0x2400037b,
-0x21035b00,
+0x21035d00,
 0x2102ba00,
 0x106d6d79,
 0x2400027b,
-0x21035b00,
+0x21035d00,
-0x21043f00,
+0x21044100,
 0xd104ff00,
 0xd703ffff,
 0xd1074d03,
@@ -867,7 +867,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x91a91800,
 0x01010000,
 0x81a91800,
-0x21063400,
+0x21063600,
 0x20d10000,
 0x117f6666,
 0xc9066604,
@@ -896,6 +896,8 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x31010001,
 0x31010001,
 0x31010001,
+0x31010001,
+0x31010001,
 0x1f007e7e,
 0x810c3c80,
 0x24000c10,
@@ -945,7 +947,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x2400017b,
 0x2102bb00,
 0x2400017b,
-0x21043f00,
+0x21044100,
 0xd104ff00,
 0xd703ffff,
 0xd1077903,
@@ -973,7 +975,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x2400ff1e,
 0x09017979,
 0x2400017b,
-0x21043f00,
+0x21044100,
 0x2eff838e,
 0x24003f00,
 0x81401800,
@@ -1035,7 +1037,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x686e5303,
 0x24000019,
 0x79000002,
-0x230614d1,
+0x230616d1,
 0x10535300,
 0x10333320,
 0x10131340,
@@ -1047,7 +1049,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x815618c4,
 0x815818d8,
 0x81637894,
-0x2103e800,
+0x2103ea00,
 0x31010004,
 0xd104ff00,
 0xd703ffff,
@@ -1242,7 +1244,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x24003001,
 0xd1066b0e,
 0x2400010d,
-0x230776d1,
+0x230778d1,
 0x68ab8d45,
 0x13803b3b,
 0x913d1880,
@@ -1255,7 +1257,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x81531800,
 0x7900003b,
 0x2400020d,
-0x230776d1,
+0x230778d1,
 0x688b8d38,
 0x8137184b,
 0x13803b3b,
@@ -1298,7 +1300,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x1d09c4c4,
 0x2400040d,
 0x24003001,
-0x230776d1,
+0x230778d1,
 0x15ff8d9c,
 0x69005c34,
 0x51009c33,
@@ -1541,7 +1543,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0xd703ffff,
 0x2400001e,
 0x2400001e,
-0x2305fbd1,
+0x2305fdd1,
 0x108b8b9d,
 0x91aa1800,
 0x1f018000,
@@ -1565,7 +1567,7 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0xd703ffff,
 0x2400001e,
 0x2400001e,
-0x2305fbd1,
+0x2305fdd1,
 0x91983880,
 0x10eeeee1,
 0x24000061,
@@ -1655,11 +1657,11 @@ const uint32_t Hiperface_DSL2_0_RTU_0[] = {
 0x81080580,
 0x240003c0,
 0x810605c0,
-0x24000a00,
+0x24000b00,
 0x810b1800,
 0x81441800,
 0x2eff8383,
-0x2303999d,
+0x23039b9d,
 0x24000866,
 0x2400000c,
 0x2400002c,

source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h

@@ -1787,7 +1787,7 @@ const uint32_t Hiperface_DSL_SYNC2_0_RTU_0[] = {
 0x81080580,
 0x240003c0,
 0x810605c0,
-0x24000a00,
+0x24000b00,
 0x810b1800,
 0x81441800,
 0x2eff8383,

source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h

@@ -56,7 +56,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x91003c82,
 0x1308e2e2,
 0x81003c82,
-0x21063400,
+0x21063600,
 0x21000000,
 0x2eff8f8e,
 0x24000725,
@@ -120,7 +120,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x230330d1,
 0x1d03c4c4,
 0x2302cfd1,
-0x2305a19d,
+0x2305a39d,
 0x05014545,
 0x51074514,
 0x49004502,
@@ -162,7 +162,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x10000020,
 0x0b018001,
 0x14000130,
-0x230356d1,
+0x230358d1,
 0x6f0005f6,
 0x24001d05,
 0xc919ff00,
@@ -174,7 +174,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x10000020,
 0x0b018001,
 0x14000130,
-0x230356d1,
+0x230358d1,
 0x6f0105f6,
 0xc919ff00,
 0x103f3f00,
@@ -275,7 +275,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x1e05cdcd,
 0x0b018001,
 0x14000130,
-0x230356d1,
+0x230358d1,
 0x6f0005f7,
 0x240820eb,
 0xf0cd0b0d,
@@ -294,7 +294,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x1e05cdcd,
 0x0b018001,
 0x14000130,
-0x230356d1,
+0x230358d1,
 0x6f0005f7,
 0x24000001,
 0x1c2d5050,
@@ -317,7 +317,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x1f00cdcd,
 0x0b018021,
 0x14002130,
-0x230356d1,
+0x230358d1,
 0x110fcdc0,
 0x240868eb,
 0xf0c00b00,
@@ -342,7 +342,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x1e05cdcd,
 0x0b018001,
 0x14000130,
-0x230356d1,
+0x230358d1,
 0x6f0005f7,
 0x240820eb,
 0xf0cd0b0d,
@@ -361,7 +361,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x1e05cdcd,
 0x0b018001,
 0x14000130,
-0x230356d1,
+0x230358d1,
 0x6f0005f7,
 0x24000001,
 0x1c2d5050,
@@ -384,7 +384,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x1f00cdcd,
 0x0b018021,
 0x14002130,
-0x230356d1,
+0x230358d1,
 0x110fcdc0,
 0x240868eb,
 0xf0c00b00,
@@ -578,14 +578,14 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0xd70bffff,
 0x2400001e,
 0x2400ff1e,
-0x2103a100,
+0x2103a300,
 0x69074507,
 0xc901c405,
 0xd10cff00,
 0xd70bffff,
 0x2400ff1e,
 0x2400ff1e,
-0x2103f500,
+0x2103f700,
 0x51000c2d,
 0x51015b04,
 0x100c0c02,
@@ -694,7 +694,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x79000002,
 0x2400ff1e,
 0x09017979,
-0x21051400,
+0x21051600,
 0xd1077905,
 0xd10cff00,
 0xd70bffff,
@@ -746,12 +746,12 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0xd1047905,
 0x106d6d79,
 0x2400037b,
-0x21035b00,
+0x21035d00,
 0x2102ba00,
 0x106d6d79,
 0x2400027b,
-0x21035b00,
+0x21035d00,
-0x21043f00,
+0x21044100,
 0xd10cff00,
 0xd70bffff,
 0xd1074d03,
@@ -867,7 +867,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x91a91800,
 0x01010000,
 0x81a91800,
-0x21063400,
+0x21063600,
 0x20d10000,
 0x117f6666,
 0xc9066604,
@@ -896,6 +896,8 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x31010001,
 0x31010001,
 0x31010001,
+0x31010001,
+0x31010001,
 0x1f017e7e,
 0x810c3c80,
 0x24000c10,
@@ -945,7 +947,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x2400017b,
 0x2102bb00,
 0x2400017b,
-0x21043f00,
+0x21044100,
 0xd10cff00,
 0xd70bffff,
 0xd1077903,
@@ -973,7 +975,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x2400ff1e,
 0x09017979,
 0x2400017b,
-0x21043f00,
+0x21044100,
 0x2eff838e,
 0x24003f00,
 0x81401800,
@@ -1035,7 +1037,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x686e5303,
 0x24000019,
 0x79000002,
-0x230614d1,
+0x230616d1,
 0x10535300,
 0x10333320,
 0x10131340,
@@ -1047,7 +1049,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x815618c4,
 0x815818d8,
 0x81637894,
-0x2103e800,
+0x2103ea00,
 0x31010004,
 0xd10cff00,
 0xd70bffff,
@@ -1242,7 +1244,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x24003001,
 0xd1066b0e,
 0x2400010d,
-0x230777d1,
+0x230779d1,
 0x68ab8d45,
 0x13803b3b,
 0x913d1880,
@@ -1255,7 +1257,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x81531800,
 0x7900003b,
 0x2400020d,
-0x230777d1,
+0x230779d1,
 0x688b8d38,
 0x8137184b,
 0x13803b3b,
@@ -1298,7 +1300,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x1d09c4c4,
 0x2400040d,
 0x24003001,
-0x230777d1,
+0x230779d1,
 0x15ff8d9c,
 0x69005c34,
 0x51009c33,
@@ -1541,7 +1543,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0xd70bffff,
 0x2400001e,
 0x2400001e,
-0x2305fbd1,
+0x2305fdd1,
 0x108b8b9d,
 0x91aa1800,
 0x1f018000,
@@ -1565,7 +1567,7 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0xd70bffff,
 0x2400001e,
 0x2400001e,
-0x2305fbd1,
+0x2305fdd1,
 0x91983880,
 0x10eeeee1,
 0x24000061,
@@ -1656,11 +1658,11 @@ const uint32_t Hiperface_DSL2_0_PRU_0[] = {
 0x81100580,
 0x240003c0,
 0x810605c0,
-0x24000a00,
+0x24000b00,
 0x810b1800,
 0x81441800,
 0x2eff8383,
-0x2303999d,
+0x23039b9d,
 0x24000866,
 0x2400000c,
 0x2400002c,

source/position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h

@@ -1788,7 +1788,7 @@ const uint32_t Hiperface_DSL_SYNC2_0_PRU_0[] = {
 0x81100580,
 0x240003c0,
 0x810605c0,
-0x24000a00,
+0x24000b00,
 0x810b1800,
 0x81441800,
 0x2eff8383,

source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/.project/project_am243x.js

@@ -37,7 +37,7 @@ const defines = {
         "PRU1",
         "CHANNEL_0",
         "ICSS_G_V_1_0",
-        "FREERUN_300_MHZ",
+        "SYNC_300_MHZ",
         "HDSL_MULTICHANNEL",
         "EXT_SYNC_ENABLE",
     ],

source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/.project/project_am64x.js

@@ -37,7 +37,7 @@ const defines = {
         "PRU1",
         "CHANNEL_0",
         "ICSS_G_V_1_0",
-        "FREERUN_300_MHZ",
+        "SYNC_300_MHZ",
         "HDSL_MULTICHANNEL",
         "EXT_SYNC_ENABLE",
     ],

source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec

@@ -38,7 +38,7 @@
             -DPRU1
             -DCHANNEL_0
             -DICSS_G_V_1_0
-            -DFREERUN_300_MHZ
+            -DSYNC_300_MHZ
             -DHDSL_MULTICHANNEL
             -DEXT_SYNC_ENABLE
         "

source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile

@@ -56,7 +56,7 @@ ASM_SRCS__QUOTED += \
 main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
@@ -86,7 +86,7 @@ all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
 hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build

source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec

@@ -38,7 +38,7 @@
             -DPRU1
             -DCHANNEL_0
             -DICSS_G_V_1_0
-            -DFREERUN_300_MHZ
+            -DSYNC_300_MHZ
             -DHDSL_MULTICHANNEL
             -DEXT_SYNC_ENABLE
         "

source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile

@@ -56,7 +56,7 @@ ASM_SRCS__QUOTED += \
 main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch0_sync_mode/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
@@ -86,7 +86,7 @@ all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
 hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_0 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch0_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build

source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/.project/project_am243x.js

@@ -37,7 +37,7 @@ const defines = {
         "PRU1",
         "CHANNEL_1",
         "ICSS_G_V_1_0",
-        "FREERUN_300_MHZ",
+        "SYNC_300_MHZ",
         "HDSL_MULTICHANNEL",
         "EXT_SYNC_ENABLE",
     ],

source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/.project/project_am64x.js

@@ -37,7 +37,7 @@ const defines = {
         "PRU1",
         "CHANNEL_1",
         "ICSS_G_V_1_0",
-        "FREERUN_300_MHZ",
+        "SYNC_300_MHZ",
         "HDSL_MULTICHANNEL",
         "EXT_SYNC_ENABLE",
     ],

source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec

@@ -38,7 +38,7 @@
             -DPRU1
             -DCHANNEL_1
             -DICSS_G_V_1_0
-            -DFREERUN_300_MHZ
+            -DSYNC_300_MHZ
             -DHDSL_MULTICHANNEL
             -DEXT_SYNC_ENABLE
         "

source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am243x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile

@@ -56,7 +56,7 @@ ASM_SRCS__QUOTED += \
 main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
@@ -86,7 +86,7 @@ all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
 hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM243X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_sync_mode_am243x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build

source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/example.projectspec

@@ -38,7 +38,7 @@
             -DPRU1
             -DCHANNEL_1
             -DICSS_G_V_1_0
-            -DFREERUN_300_MHZ
+            -DSYNC_300_MHZ
             -DHDSL_MULTICHANNEL
             -DEXT_SYNC_ENABLE
         "

source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/am64x-evm/icssg0-pru1_fw/ti-pru-cgt/makefile

@@ -56,7 +56,7 @@ ASM_SRCS__QUOTED += \
 main.obj: ${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware/multichannel_ch1_sync_mode/main.asm $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: PRU Compiler'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE --include_path="$(CCS_PATH)" --include_path="$(SYSCFG_DIR)" --include_path="${MOTOR_CONTROL_SDK_PATH}/source/position_sense/hdsl/firmware"  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
@@ -86,7 +86,7 @@ all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
 hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
 	@echo 'Building target: "$@"'
 	@echo 'Invoking: PRU Linker'
-	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=FREERUN_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
+	"$(CG_TOOL_ROOT)/bin/clpru" -DICSSG0 -DPRU1 -DSLICE1 --define=SOC_AM64X --define=icss1 --define=PRU1 --define=CHANNEL_1 --define=ICSS_G_V_1_0 --define=SYNC_300_MHZ --define=HDSL_MULTICHANNEL --define=EXT_SYNC_ENABLE  --define=_DEBUG_=1 -g --diag_warning=225 --diag_wrap=off --display_error_number --endian=little -z -m"hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.map" -i"$(CG_TOOL_ROOT)/lib" --diag_wrap=off --display_error_number --warn_sections --xml_link_info="hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt_linkInfo.xml" --rom_model -o "hdsl_master_multichannel_ch1_sync_mode_am64x-evm_icssg0-pru1_fw_ti-pru-cgt.out" $(ORDERED_OBJS)
 	@echo 'Finished building target: "$@"'
 	@echo ' '
 	@$(MAKE) --no-print-directory post-build