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am64x/am243x: hdsl: Remove maximum deviation related processing

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- Remove MAXDEV_H, MAXDEV_L, MAXDEV_H_THRES, MAXDEV_L_THRES from memory map
  in driver
- Fix the typo in register names for threshold registers

Fixes: PINDSW-6543

Signed-off-by: Dhaval Khandla <dhavaljk@ti.com>
This commit is contained in:
Dhaval Khandla 2023-08-26 16:06:37 +05:30
parent 044f71b27d
commit c1f342479a
5 changed files with 46 additions and 109 deletions
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6
source/position_sense/hdsl/driver/hdsl_lut.c
View File

@ -1279,11 +1279,7 @@ static void hdsl_configure_register_if(HDSL_Handle hdslHandle)
{
hdslHandle->hdslInterface->PC_ADD_H = 0x80;
hdslHandle->hdslInterface->PC_OFF_H = 0x80;
hdslHandle->hdslInterface->MAXDEV_H = 0x0;
hdslHandle->hdslInterface->MAXDEV_L = 0x0;
hdslHandle->hdslInterface->MAXDEV_H_THRES = 0xFF;
hdslHandle->hdslInterface->MAXDEV_L_THRES = 0xFF;
hdslHandle->hdslInterface->ACC_ERR_CNT_THRES = 0x1F;
hdslHandle->hdslInterface->ACC_ERR_CNT_THRESH = 0x1F;
HW_WR_REG32(((uint32_t)(hdslHandle->baseMemAddr) + 0xac), 0x4cc8115d);
HW_WR_REG32(((uint32_t)(hdslHandle->baseMemAddr) + 0xac)+4, 0xfb334990);

74
source/position_sense/hdsl/firmware/hdsl_master_icssg_300_mhz_bin.h
View File

@ -55,7 +55,7 @@
*/
const unsigned int Hiperface_DSL2_0[]= {
0x21067700,
0x21065f00,
0x24000125,
0x2eff818f,
0x24001d8d,
@ -151,7 +151,7 @@ const unsigned int Hiperface_DSL2_0[]= {
0xd104ff00,
0xd703ffff,
0x24002f1e,
0x2304689d,
0x2304509d,
0x05014545,
0x4f0045d2,
0x24000070,
@ -453,7 +453,7 @@ const unsigned int Hiperface_DSL2_0[]= {
0x69084502,
0x21028200,
0x69074502,
0x2102df00,
0x2102c700,
0x51000c2b,
0x51015b04,
0x100c0c02,
@ -522,14 +522,14 @@ const unsigned int Hiperface_DSL2_0[]= {
0x0b024d00,
0x12006d6d,
0x09064d4d,
0x2103dd00,
0x2103c500,
0xd104ff00,
0xd703ffff,
0x106d6d1e,
0x511f0d03,
0x51190d02,
0x79000003,
0x23063ed1,
0x230626d1,
0x7900001a,
0xd104ff00,
0xd703ffff,
@ -541,7 +541,7 @@ const unsigned int Hiperface_DSL2_0[]= {
0x511f0d12,
0x51190d11,
0xc901c402,
0x21032200,
0x21030a00,
0x910c3c81,
0x240117e0,
0x04e1e0e0,
@ -636,7 +636,7 @@ const unsigned int Hiperface_DSL2_0[]= {
0x1f00c0c0,
0x1f008181,
0x81505880,
0x2104f200,
0x2104da00,
0x91042580,
0xd708e0ff,
0x91042580,
@ -717,7 +717,7 @@ const unsigned int Hiperface_DSL2_0[]= {
0x2400060d,
0x040d6666,
0x230252d1,
0x79000041,
0x79000029,
0x2400010d,
0x000d6666,
0x230252d1,
@ -729,7 +729,7 @@ const unsigned int Hiperface_DSL2_0[]= {
0x2400269f,
0x1f020202,
0x81521802,
0x79000035,
0x7900001d,
0x81521802,
0x0908f3e2,
0x10727202,
@ -742,35 +742,11 @@ const unsigned int Hiperface_DSL2_0[]= {
0xc91fe203,
0x1600e2e2,
0x0101e2e2,
0x913a18c0,
0x10404000,
0x10606040,
0x10000060,
0x70c0e204,
0x10222200,
0x10020220,
0x813a1880,
0x914218c0,
0x10404000,
0x10606040,
0x10000060,
0x70c0e208,
0x91501802,
0x1f010202,
0x91043880,
0x1f018080,
0x81041880,
0xc901c002,
0x2400229f,
0x91501802,
0x1d010202,
0x81501802,
0x6900e105,
0x686e5304,
0x813a188d,
0x6900e104,
0x686e5303,
0x24000019,
0x79000002,
0x2304d2d1,
0x2304bad1,
0x10535300,
0x10333320,
0x10131340,
@ -933,7 +909,7 @@ const unsigned int Hiperface_DSL2_0[]= {
0x24003001,
0xd1066b0e,
0x2400010d,
0x230669d1,
0x230651d1,
0x68ab8d45,
0x13803b3b,
0x913d1880,
@ -946,7 +922,7 @@ const unsigned int Hiperface_DSL2_0[]= {
0x81531800,
0x7900003b,
0x2400020d,
0x230669d1,
0x230651d1,
0x688b8d38,
0x8137184b,
0x13803b3b,
@ -989,7 +965,7 @@ const unsigned int Hiperface_DSL2_0[]= {
0x1d09c4c4,
0x2400040d,
0x24003001,
0x230669d1,
0x230651d1,
0x15ff8d9c,
0x69005c34,
0x51009c33,
@ -1226,7 +1202,7 @@ const unsigned int Hiperface_DSL2_0[]= {
0x108787c7,
0x04c98087,
0x108080c9,
0x2304b9d1,
0x2304a1d1,
0x108b8b9d,
0x91aa1800,
0x1f018000,
@ -1246,7 +1222,7 @@ const unsigned int Hiperface_DSL2_0[]= {
0x108787c7,
0x04c98087,
0x108080c9,
0x2304b9d1,
0x2304a1d1,
0x91983880,
0x10eeeee1,
0x24000061,
@ -1369,7 +1345,7 @@ const unsigned int Hiperface_DSL2_0[]= {
0x9101185b,
0x51005b0e,
0x7900000d,
0x230626d1,
0x23060ed1,
0x91dc388c,
0x240000e2,
0x91e21882,
@ -1377,7 +1353,7 @@ const unsigned int Hiperface_DSL2_0[]= {
0x100c0c2a,
0x106c6c4a,
0x102c2c6a,
0x230626d1,
0x23060ed1,
0x0b01e2e2,
0x0501e2e2,
0x4f00e2ff,
@ -1500,7 +1476,7 @@ const unsigned int Hiperface_DSL2_0[]= {
0x0b077200,
0x12001313,
0x0901f2f2,
0x230632d1,
0x23061ad1,
0x510e6506,
0x6f010df6,
0x10656546,
@ -1537,16 +1513,16 @@ const unsigned int Hiperface_DSL2_0[]= {
0xd703ffff,
0x24001b8d,
0x23016a9d,
0x2305f89d,
0x230632d1,
0x2305e09d,
0x23061ad1,
0x6f010deb,
0x05012525,
0x4f0025f8,
0x24001025,
0x24001c8d,
0x23016a9d,
0x2305f89d,
0x230632d1,
0x2305e09d,
0x23061ad1,
0x6f010dd8,
0x05012525,
0x4f0025fa,
@ -1713,4 +1689,4 @@ const unsigned int Hiperface_DSL2_0[]= {
0x91003c82,
0x1308e2e2,
0x81003c82,
0x2104f200 };
0x2104da00 };

12
source/position_sense/hdsl/firmware/memory.inc
View File

@ -302,9 +302,9 @@ SAFE_SUM .set 0x36
S_PC_DATA .set 0x37
ACC_ERR_CNT .set 0x38
MAXACC .set 0x39
MAXDEV_H .set 0x3A
MAXDEV_L .set 0x3B
MAXACC .set 0x39 ; not implemented
MAXDEV_H .set 0x3A ; not implemented
MAXDEV_L .set 0x3B ; not implemented
EVENT_S .set 0x3D
MASK_S .set 0x3E
@ -312,9 +312,9 @@ MASK_S .set 0x3E
DUMMY .set 0x3F
;extra Master Registers as workaround for different access method depended behaviour (r/w)
SLAVE_REG_CTRL .set 0x40
ACC_ERR_CNT_TRESH .set 0x41
MAXDEV_TRESH_H .set 0x42
MAXDEV_TRESH_L .set 0x43
ACC_ERR_CNT_THRESH .set 0x41
MAXDEV_THRESH_H .set 0x42 ; not implemented
MAXDEV_THRESH_L .set 0x43 ; not implemented
;extra MASTER registers (not in the specification! little endian!)
NUM_VERT_ERR0 .set 0x90
NUM_VERT_ERR1 .set 0x91

45
source/position_sense/hdsl/firmware/transport.asm
View File

@ -175,51 +175,16 @@ no_sub_carry:
not REG_TMP2, REG_TMP2
add REG_TMP2, REG_TMP2, 1
transport_on_v_frame_diff_pos:
;load MAXDEV_H/L
lbco &REG_TMP0.w2, MASTER_REGS_CONST, MAXDEV_H, 2
mov REG_TMP0.b0, REG_TMP0.b2
mov REG_TMP0.b2, REG_TMP0.b3
mov REG_TMP0.b3, REG_TMP0.b0
;check if it is larger
qbge transport_on_v_frame_dont_update_maxdev, REG_TMP2, REG_TMP0.w2
mov REG_TMP0.b0, REG_TMP2.b1
mov REG_TMP0.b1, REG_TMP2.b0
sbco &REG_TMP0, MASTER_REGS_CONST, MAXDEV_H, 2
transport_on_v_frame_dont_update_maxdev:
;load MAXDEV_TRESH_H/L
.if $defined("HDSL_MULTICHANNEL")
PUSH_FIFO_CONST 0xff
PUSH_FIFO_CONST 0xff
.endif
lbco &REG_TMP0.w2, MASTER_REGS_CONST, MAXDEV_TRESH_H, 2
mov REG_TMP0.b0, REG_TMP0.b2
mov REG_TMP0.b2, REG_TMP0.b3
mov REG_TMP0.b3, REG_TMP0.b0
;check if it is larger
qbge transport_on_v_frame_dont_update_dte, REG_TMP2, REG_TMP0.w2
; Set EVENT_DTE in ONLINE_STATUS_D register
lbco &REG_TMP2.b0, MASTER_REGS_CONST, ONLINE_STATUS_D_H, 1
set REG_TMP2.b0, REG_TMP2.b0, ONLINE_STATUS_D_DTE
; Set EVENT_DTE in EVENT register
lbco &REG_TMP0, MASTER_REGS_CONST, EVENT_H, 4
set REG_TMP0.w0, REG_TMP0.w0, EVENT_DTE
;save events
sbco &REG_TMP0.w0, MASTER_REGS_CONST, EVENT_H, 2
qbbc update_events_no_int6, REG_TMP0.w2, EVENT_DTE
; generate interrupt
ldi r31.w0, PRU0_ARM_IRQ
update_events_no_int6:
transport_on_v_frame_dont_update_dte:
; Clear EVENT_DTE in ONLINE_STATUS_D register
lbco &REG_TMP2.b0, MASTER_REGS_CONST, ONLINE_STATUS_D_H, 1
clr REG_TMP2.b0, REG_TMP2.b0, ONLINE_STATUS_D_DTE
sbco &REG_TMP2.b0, MASTER_REGS_CONST, ONLINE_STATUS_D_H, 1
;check for diff. is 0 -> estimate if not
;check for diff. is 0 -> estimate if not
qbne transport_on_v_frame_estimate, REG_TMP1, 0
qbne transport_on_v_frame_estimate, VERT_H.b2, FAST_POSL
;reset MAXDEV_H/L
sbco &REG_FNC.w0, MASTER_REGS_CONST, MAXDEV_H, 2
;reset ALIGN_PH
ldi ALIGN_PH, 0
qba transport_on_v_frame_no_pos_mismatch
@ -1023,7 +988,7 @@ transport_acc_err_inc:
add REG_TMP0.b0, REG_TMP0.b0, 1
sbco &REG_TMP0.b0, MASTER_REGS_CONST, ACC_ERR_CNT, 1
;reset if it is too large
lbco &REG_TMP0.b1, MASTER_REGS_CONST, ACC_ERR_CNT_TRESH, 1
lbco &REG_TMP0.b1, MASTER_REGS_CONST, ACC_ERR_CNT_THRESH, 1
qbgt transport_on_h_frame_no_reset, REG_TMP0.b0, REG_TMP0.b1
jmp datalink_abort
transport_on_h_frame_no_reset:
@ -1057,7 +1022,7 @@ transport_on_h_frame_no_reset:
qbbc estimator_acc_sign_extend_dacc1, REG_TMP0.w0, 10
or REG_TMP0.b1, REG_TMP0.b1, 0xf8
estimator_acc_sign_extend_dacc1:
; calcuate MAXACC, cap acc
; TODO: calcuate MAXACC, cap acc
;add estimated delta acc to LAST_ACC
add REG_FNC.w0, LAST_ACC, REG_TMP0.w0
;check if estimated acc is neg. or pos.

14
source/position_sense/hdsl/include/hdsl_drv.h
View File

@ -185,17 +185,17 @@ typedef struct {
volatile uint8_t SAFE_SUM; /**< Summarized slave status */
volatile uint8_t S_PC_DATA; /**< Response of Short message parameters channel Read for safe1 channel */
volatile uint8_t ACC_ERR_CNT; /**< Fast position error counter */
volatile uint8_t MAXACC; /**< Fast position acceleration boundary */
volatile uint8_t MAXDEV_H; /**< Fast position estimator deviation high byte */
volatile uint8_t MAXDEV_L; /**< Fast position estimator deviation low byte */
volatile uint8_t resvd8; /**< Reserved 8 */
volatile uint8_t resvd9; /**< Reserved 9 */
volatile uint8_t resvd10; /**< Reserved 10 */
volatile uint8_t resvd11; /**< Reserved 11 */
volatile uint8_t EVENT_S; /**< Safe Events */
volatile uint8_t MASK_S; /**< Safe Event Mask */
volatile uint8_t DUMMY; /**< Dummy, no data */
volatile uint8_t SLAVE_REG_CTRL; /**< Short message control */
volatile uint8_t ACC_ERR_CNT_THRES; /**< Fast position error counter threshold */
volatile uint8_t MAXDEV_H_THRES; /**< Fast position estimator deviation high byte threshold */
volatile uint8_t MAXDEV_L_THRES; /**< Fast position estimator deviation low byte threshold */
volatile uint8_t ACC_ERR_CNT_THRESH;/**< Fast position error counter threshold */
volatile uint8_t resvd12; /**< Reserved 12 */
volatile uint8_t resvd13; /**< Reserved 13 */
/*Safe 2 Interface */
volatile uint8_t VERSION2; /**< Version in Safe Channel 2 */
volatile uint8_t ENC2_ID; /**< Encoder ID in Safe Channel 2 */
@ -208,7 +208,7 @@ typedef struct {
volatile uint8_t VPOSCRC2_H; /**< CRC of Safe Position 2, byte 1 */
volatile uint8_t VPOSCRC2_L; /**< CRC of Safe Position 2, byte 0 */
volatile uint8_t POSTX; /**< Position transmission status */
volatile uint8_t resvd10; /**< Reserved 10 */
volatile uint8_t resvd14; /**< Reserved 14 */
/* Online Status*/
volatile uint8_t ONLINE_STATUS_D_H; /**< Online Status D, high byte*/
volatile uint8_t ONLINE_STATUS_D_L; /**< Online Status D, low byte*/