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am64x/am243: tamagawa: add global reinit

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- add global reinit
- remove redudant code

Fixes: PINDSW-5472

Signed-off-by: Manoj Koppolu <manoj_koppolu@ti.com>
This commit is contained in:
Manoj Koppolu 2023-12-20 19:41:12 +05:30
parent e79cc36228
commit 70a05f6dae
2 changed files with 61 additions and 53 deletions
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16
source/position_sense/tamagawa/firmware/tamagawa_main.asm
View File

@ -173,11 +173,13 @@ TAMAGAWA_SKIP_INIT_SUCCESS:
;Initialization successful status update ends here
SBCO &R0.b0, PRUx_DMEM, TAMAGAWA_INTFC_CMD_STATUS_OFFSET, 1
HANDLE_PERIODIC_TRIGGER_MODE:
CHECK_OPERATING_MODE:
LBCO &R0.b0, PRUx_DMEM, TAMAGAWA_OPMODE_CONFIG_OFFSET, 1
;If opmode=1, Host trigger is done
;If opmode=0, Periodic trigger is done
QBNE HANDLE_HOST_TRIGGER_MODE, R0.b0, 0
HANDLE_PERIODIC_TRIGGER_MODE:
;Get compare event status
LBCO &R0, ICSS_IEP, ICSS_IEP_CMP_STATUS_REG, 4
; wait till IEP CMP3 event
@ -187,6 +189,7 @@ HANDLE_PERIODIC_TRIGGER_MODE:
; store compare event status
SBCO &R0, ICSS_IEP, ICSS_IEP_CMP_STATUS_REG, 4
; SET command TRIGGER
LDI R0.b0, 1
SBCO &R0.b0, PRUx_DMEM, TAMAGAWA_INTFC_CMD_TRIGGER_OFFSET, 1
HANDLE_HOST_TRIGGER_MODE:
@ -212,12 +215,15 @@ TAMAGAWA_HOST_CMD_END:
;check PRU host trigger for all three channels
LBCO &R3.b0, PRUx_DMEM, TAMAGAWA_OPMODE_CONFIG_OFFSET, 1
;skip interrupt to R5F in host trigger
QBNE SKIP_INTERRUPT_TRIGGER, R3.b0, 0
QBNE SKIP_INTERRUPT_TRIGGER, R3.b0, 0
;Generate interrupt to R5F
LDI R31.w0, 34;PRU_TRIGGER_HOST_TAMAGAWA_EVT0 ( pr0_pru_mst_intr[2]_intr_req )
SKIP_INTERRUPT_TRIGGER:
LDI R31.w0, 34;PRU_TRIGGER_HOST_TAMAGAWA_EVT0 ( pr0_pru_mst_intr[2]_intr_req )
;Global reinit
set R31, TAMAGAWA_TX_GLOBAL_REINIT
;Handle next Postition in periodic trigger
QBEQ HANDLE_PERIODIC_TRIGGER_MODE, R3.b0, 0
JMP HANDLE_PERIODIC_TRIGGER_MODE
SKIP_INTERRUPT_TRIGGER:
;Handle next Position request by user.
JMP HANDLE_HOST_TRIGGER_MODE

98
source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h
View File

@ -76,15 +76,16 @@ const unsigned int TamagawaFirmware[]= {
0x91401880,
0x914418c0,
0x91481801,
0x23019788,
0x23019988,
0x24000100,
0x81031800,
0x91001800,
0x69000006,
0x69000007,
0x91743a80,
0xcf03e0fd,
0xcf03e0ff,
0x1f03e0e0,
0x81743a80,
0x24000100,
0x81021800,
0x91021800,
0x570000ff,
@ -92,14 +93,15 @@ const unsigned int TamagawaFirmware[]= {
0x9105183b,
0x91081821,
0x91091806,
0x23002d88,
0x23002f88,
0x24000083,
0x81021803,
0x91001803,
0x69000302,
0x69000304,
0x2400229f,
0x570003ed,
0x21001f00,
0x1f13ffff,
0x21001a00,
0x21002000,
0xc9000702,
0x240000de,
0xc9010702,
@ -114,30 +116,30 @@ const unsigned int TamagawaFirmware[]= {
0x51047a1b,
0x101b1b1e,
0x103b3b1e,
0x230159c8,
0x21009500,
0x23015bc8,
0x21009700,
0xc9000705,
0x11035e1a,
0x69001a03,
0x2400881a,
0x21004c00,
0x21004e00,
0xc9010705,
0x11035e1a,
0x69011a03,
0x2400b01a,
0x21004c00,
0x21004e00,
0xc9020705,
0x11035e1a,
0x69021a03,
0x2400d81a,
0x21004c00,
0x21004e00,
0x901a3899,
0x1079791e,
0x1059591e,
0x1039391e,
0x1019191e,
0x230159c8,
0x21009500,
0x23015bc8,
0x21009700,
0xc900070c,
0x11035e1a,
0x69001a0a,
@ -149,7 +151,7 @@ const unsigned int TamagawaFirmware[]= {
0x1079791e,
0x1059591e,
0x1039391e,
0x21007700,
0x21007900,
0xc901070c,
0x11035e1a,
0x69011a0a,
@ -161,7 +163,7 @@ const unsigned int TamagawaFirmware[]= {
0x1079791e,
0x1059591e,
0x1039391e,
0x21007700,
0x21007900,
0xc902070c,
0x11035e1a,
0x69021a0a,
@ -173,8 +175,8 @@ const unsigned int TamagawaFirmware[]= {
0x1079791e,
0x1059591e,
0x1039391e,
0x21007700,
0x230159c8,
0x21007900,
0x23015bc8,
0x2eff819a,
0x100a0a5e,
0xc9000709,
@ -185,7 +187,7 @@ const unsigned int TamagawaFirmware[]= {
0x2400881a,
0x901a1819,
0x1019191e,
0x21009500,
0x21009700,
0xc9010709,
0x11035e1a,
0x69011a07,
@ -194,7 +196,7 @@ const unsigned int TamagawaFirmware[]= {
0x2400b01a,
0x901a1819,
0x1019191e,
0x21009500,
0x21009700,
0xc9020709,
0x11035e1a,
0x69021a07,
@ -203,7 +205,7 @@ const unsigned int TamagawaFirmware[]= {
0x2400d81a,
0x901a1819,
0x1019191e,
0x21009500,
0x21009700,
0x2eff9d8b,
0x2eff8183,
0x2eff8185,
@ -229,7 +231,7 @@ const unsigned int TamagawaFirmware[]= {
0x11017f1c,
0x6f011cff,
0xd104ff02,
0x2100b000,
0x2100b200,
0x1f070b0b,
0x101c1c7f,
0x100b0b0c,
@ -241,10 +243,10 @@ const unsigned int TamagawaFirmware[]= {
0x09010303,
0x09010b0b,
0x12630303,
0x2100c000,
0x2100c200,
0x24000023,
0x50030b02,
0x2100bf00,
0x2100c100,
0x24000123,
0x811838a3,
0x01012424,
@ -256,19 +258,19 @@ const unsigned int TamagawaFirmware[]= {
0x51082408,
0x510c240b,
0x5100060e,
0x2100a200,
0x2100a400,
0x10ececf0,
0x2eff818c,
0x5100440e,
0x2100c800,
0x2100ca00,
0x10ececf1,
0x2eff818c,
0x5100440a,
0x2100c800,
0x2100ca00,
0x10ececf2,
0x2eff818c,
0x51004406,
0x2100c800,
0x2100ca00,
0x24000044,
0x670424f3,
0x670824f6,
@ -291,7 +293,7 @@ const unsigned int TamagawaFirmware[]= {
0x11027f1c,
0x6f021cff,
0xd10cff02,
0x2100ee00,
0x2100f000,
0x1f070b0b,
0x101c1c7f,
0x100b0b0c,
@ -303,10 +305,10 @@ const unsigned int TamagawaFirmware[]= {
0x09010303,
0x09010b0b,
0x12630303,
0x2100fe00,
0x21010000,
0x24000023,
0x50030b02,
0x2100fd00,
0x2100ff00,
0x24000123,
0x812838a3,
0x01012424,
@ -318,19 +320,19 @@ const unsigned int TamagawaFirmware[]= {
0x51082408,
0x510c240b,
0x5100060e,
0x2100e000,
0x2100e200,
0x10ececf0,
0x2eff818c,
0x5100440e,
0x21010600,
0x21010800,
0x10ececf1,
0x2eff818c,
0x5100440a,
0x21010600,
0x21010800,
0x10ececf2,
0x2eff818c,
0x51004406,
0x21010600,
0x21010800,
0x24000044,
0x670424f3,
0x670824f6,
@ -353,7 +355,7 @@ const unsigned int TamagawaFirmware[]= {
0x11047f1c,
0x6f041cff,
0xd114ff02,
0x21012c00,
0x21012e00,
0x1f070b0b,
0x101c1c7f,
0x100b0b0c,
@ -365,10 +367,10 @@ const unsigned int TamagawaFirmware[]= {
0x09010303,
0x09010b0b,
0x12630303,
0x21013c00,
0x21013e00,
0x24000023,
0x50030b02,
0x21013b00,
0x21013d00,
0x24000123,
0x813838a3,
0x01012424,
@ -380,19 +382,19 @@ const unsigned int TamagawaFirmware[]= {
0x51082408,
0x510c240b,
0x5100060e,
0x21011e00,
0x21012000,
0x10ececf0,
0x2eff818c,
0x5100440e,
0x21014400,
0x21014600,
0x10ececf1,
0x2eff818c,
0x5100440a,
0x21014400,
0x21014600,
0x10ececf2,
0x2eff818c,
0x51004406,
0x21014400,
0x21014600,
0x24000044,
0x670424f3,
0x670824f6,
@ -409,9 +411,9 @@ const unsigned int TamagawaFirmware[]= {
0x51087a04,
0x51047a05,
0x13500202,
0x21016600,
0x21016800,
0x13f00202,
0x21016600,
0x21016800,
0x11000202,
0x2401099d,
0x809d0402,
@ -426,9 +428,9 @@ const unsigned int TamagawaFirmware[]= {
0x51087a04,
0x51047a05,
0x13500202,
0x21017700,
0x21017900,
0x13f00202,
0x21017700,
0x21017900,
0x11000202,
0x2401119d,
0x809d0402,
@ -443,9 +445,9 @@ const unsigned int TamagawaFirmware[]= {
0x51087a04,
0x51047a05,
0x13500202,
0x21018800,
0x21018a00,
0x13f00202,
0x21018800,
0x21018a00,
0x11000202,
0x2401199d,
0x809d0402,