From b89b36ccb103cabd1a49d3a9e051f1a5e7e15610 Mon Sep 17 00:00:00 2001 From: Achala Ram Date: Fri, 15 Dec 2023 14:41:19 +0530 Subject: [PATCH] am243x/am64x: Endat: Update register offset - Update register offset - Update Multi channel single PRU firmware binary Fixes: PINDSW-7125 Signed-off-by: Achala Ram --- source/position_sense/endat/firmware/endat_main.asm | 6 +++--- .../position_sense/endat/firmware/endat_master_multi_bin.h | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/source/position_sense/endat/firmware/endat_main.asm b/source/position_sense/endat/firmware/endat_main.asm index 6840fa9..c5944ab 100644 --- a/source/position_sense/endat/firmware/endat_main.asm +++ b/source/position_sense/endat/firmware/endat_main.asm @@ -460,7 +460,7 @@ SKIP_CLOCK_CONFIG1: LOOP PROP_DELAY_MULTI_END, 3 - ; # read position bits (offset ch[0,1,2]: [0x44, 0x64, 0x84]) + ; # read position bits (offset ch[0,1,2]: [0x30, 0x40, 0x50]) LBCO &R2.b1, PRUx_DMEM, R8.b0, 1 ; bypass prop delay estimation if encoder not detected for the ch, else would wait indefinitely in prop delay fn @@ -470,13 +470,13 @@ SKIP_CLOCK_CONFIG1: CALL FN_PROP_DELAY_CALC ENDAT_SKIP_PROP_DELAY_CALC: - ; write prop delay (offset ch[0,1,2]: [0x28, 0x48, 0x68]) + ; write prop delay (offset ch[0,1,2]: [0x34, 0x44, 0x48]) ADD R8.b0, R8.b0, 0x4 SBCO &R9, PRUx_DMEM, R8.b0, 4 ; update per ch variables for next channel ; 0x4 + 0x1C = 0x20, corresponds to i/f buffer of one channel - ADD R8.b0, R8.b0, 0x1C + ADD R8.b0, R8.b0, 0x0C ADD R3.b0, R3.b0, 1 ; ENDAT_TX_CHx_SEL ADD R3.b1, R3.b1, 1 ; ENDAT_CHx_CLK ADD R3.b2, R3.b2, 1 ; ENDAT_CHx_SB diff --git a/source/position_sense/endat/firmware/endat_master_multi_bin.h b/source/position_sense/endat/firmware/endat_master_multi_bin.h index bb594c9..f0ea8b3 100644 --- a/source/position_sense/endat/firmware/endat_master_multi_bin.h +++ b/source/position_sense/endat/firmware/endat_master_multi_bin.h @@ -105,7 +105,7 @@ const uint32_t EnDatFirmwareMulti_0[] = { 0x2305d29d, 0x01040808, 0x80083889, -0x011c0808, +0x010c0808, 0x01010303, 0x01012323, 0x01014343,