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am243x/am64x: pruio: add pwm driver

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-add pwm driver

Fixes: PINDSW-7096

Signed-off-by: Manoj Koppolu <manoj_koppolu@ti.com>
This commit is contained in:
Manoj Koppolu 2023-12-01 14:39:47 +05:30
parent 9998f7deb4
commit ff5c4f5fae
13 changed files with 2158 additions and 3 deletions
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1
.project/device/project_am243x.js
View File

@ -6,6 +6,7 @@ const component_file_list = [
"source/position_sense/hdsl/.project/project.js",
"source/position_sense/tamagawa/.project/project.js",
"source/position_sense/bissc/.project/project.js",
"source/pruicss_pwm/.project/project.js"
];
const device_defines = {

1
.project/device/project_am64x.js
View File

@ -5,6 +5,7 @@ const component_file_list = [
"source/position_sense/endat/.project/project.js",
"source/position_sense/hdsl/.project/project.js",
"source/position_sense/tamagawa/.project/project.js",
"source/pruicss_pwm/.project/project.js"
];
const device_defines = {

1
docs_src/docs/api_guide/device/am243x/components.cfg
View File

@ -22,3 +22,4 @@ INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/position_sense/bissc/include/bissc_drv.
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/position_sense/bissc/include/bissc_interface.h
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/current_sense/sdfm/include/sdfm_api.h
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/current_sense/sdfm/include/sdfm_drv.h
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/pruicss_pwm/include/pruicss_pwm.h

1
docs_src/docs/api_guide/device/am64x/components.cfg
View File

@ -17,3 +17,4 @@ INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/position_sense/hdsl/include/hdsl_drv.h
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/position_sense/tamagawa/include/tamagawa_drv.h
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/current_sense/sdfm/include/sdfm_api.h
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/current_sense/sdfm/include/sdfm_drv.h
INPUT+= $(MOTOR_CONTROL_SDK_PATH)/source/pruicss_pwm/include/pruicss_pwm.h

38
makefile.am243x
View File

@ -37,6 +37,7 @@ help:
@echo $(MAKE) -s -f makefile.am243x motorcontrol_hdsl_r5f.ti-arm-clang
@echo $(MAKE) -s -f makefile.am243x motorcontrol_tamagawa_r5f.ti-arm-clang
@echo $(MAKE) -s -f makefile.am243x motorcontrol_bissc_r5f.ti-arm-clang
@echo $(MAKE) -s -f makefile.am243x pruicss_pwm_r5f.ti-arm-clang
@echo .
@echo Library clean targets,
@echo ======================
@ -45,6 +46,7 @@ help:
@echo $(MAKE) -s -f makefile.am243x motorcontrol_hdsl_r5f.ti-arm-clang_clean
@echo $(MAKE) -s -f makefile.am243x motorcontrol_tamagawa_r5f.ti-arm-clang_clean
@echo $(MAKE) -s -f makefile.am243x motorcontrol_bissc_r5f.ti-arm-clang_clean
@echo $(MAKE) -s -f makefile.am243x pruicss_pwm_r5f.ti-arm-clang_clean
@echo .
@echo Example build targets,
@echo ======================
@ -101,10 +103,17 @@ BUILD_COMBO_motorcontrol_sdfm = motorcontrol_sdfm_r5f.ti-arm-clang
BUILD_COMBO_motorcontrol_endat = motorcontrol_endat_r5f.ti-arm-clang
BUILD_COMBO_motorcontrol_hdsl = motorcontrol_hdsl_r5f.ti-arm-clang
BUILD_COMBO_motorcontrol_tamagawa = motorcontrol_tamagawa_r5f.ti-arm-clang
<<<<<<< HEAD
BUILD_COMBO_motorcontrol_bissc = motorcontrol_bissc_r5f.ti-arm-clang
# Combine all Components
BUILD_COMBO_ALL = $(BUILD_COMBO_motorcontrol_sdfm) $(BUILD_COMBO_motorcontrol_endat) $(BUILD_COMBO_motorcontrol_hdsl) $(BUILD_COMBO_motorcontrol_tamagawa) $(BUILD_COMBO_motorcontrol_bissc)
=======
BUILD_COMBO_pruicss_pwm = pruicss_pwm_r5f.ti-arm-clang
# Combine all Components
BUILD_COMBO_ALL = $(BUILD_COMBO_motorcontrol_sdfm) $(BUILD_COMBO_motorcontrol_endat) $(BUILD_COMBO_motorcontrol_hdsl) $(BUILD_COMBO_motorcontrol_tamagawa) $(BUILD_COMBO_pruicss_pwm)
>>>>>>> db822bd (am243x/am64x: pruio: add pwm driver)
# Combine all Pre-built Components
BUILD_COMBO_PREBUILT_ALL =
@ -130,8 +139,13 @@ $(BUILD_COMBO_motorcontrol_hdsl):
$(BUILD_COMBO_motorcontrol_tamagawa):
$(MAKE) -C source/position_sense/tamagawa -f makefile.am243x.$(subst motorcontrol_tamagawa_,,$@) all
<<<<<<< HEAD
$(BUILD_COMBO_motorcontrol_bissc):
$(MAKE) -C source/position_sense/bissc -f makefile.am243x.$(subst motorcontrol_bissc_,,$@) all
=======
$(BUILD_COMBO_pruicss_pwm):
$(MAKE) -C source/pruicss_pwm -f makefile.am243x.$(subst pruicss_pwm_,,$@) all
>>>>>>> db822bd (am243x/am64x: pruio: add pwm driver)
# Various Component Clean Targets
@ -139,10 +153,17 @@ BUILD_COMBO_CLEAN_motorcontrol_sdfm = motorcontrol_sdfm_r5f.ti-arm-clang_clean
BUILD_COMBO_CLEAN_motorcontrol_endat = motorcontrol_endat_r5f.ti-arm-clang_clean
BUILD_COMBO_CLEAN_motorcontrol_hdsl = motorcontrol_hdsl_r5f.ti-arm-clang_clean
BUILD_COMBO_CLEAN_motorcontrol_tamagawa = motorcontrol_tamagawa_r5f.ti-arm-clang_clean
<<<<<<< HEAD
BUILD_COMBO_CLEAN_motorcontrol_bissc = motorcontrol_bissc_r5f.ti-arm-clang_clean
# Combine all Components Clean
BUILD_COMBO_CLEAN_ALL = $(BUILD_COMBO_CLEAN_motorcontrol_sdfm) $(BUILD_COMBO_CLEAN_motorcontrol_endat) $(BUILD_COMBO_CLEAN_motorcontrol_hdsl) $(BUILD_COMBO_CLEAN_motorcontrol_tamagawa) $(BUILD_COMBO_CLEAN_motorcontrol_bissc)
=======
BUILD_COMBO_CLEAN_pruicss_pwm = pruicss_pwm_r5f.ti-arm-clang_clean
# Combine all Components Clean
BUILD_COMBO_CLEAN_ALL = $(BUILD_COMBO_CLEAN_motorcontrol_sdfm) $(BUILD_COMBO_CLEAN_motorcontrol_endat) $(BUILD_COMBO_CLEAN_motorcontrol_hdsl) $(BUILD_COMBO_CLEAN_motorcontrol_tamagawa) $(BUILD_COMBO_CLEAN_pruicss_pwm)
>>>>>>> db822bd (am243x/am64x: pruio: add pwm driver)
# Combine all Pre-built Components Clean
BUILD_COMBO_PREBUILT_CLEAN_ALL =
@ -163,8 +184,13 @@ $(BUILD_COMBO_CLEAN_motorcontrol_hdsl):
$(BUILD_COMBO_CLEAN_motorcontrol_tamagawa):
$(MAKE) -C source/position_sense/tamagawa -f makefile.am243x.$(subst motorcontrol_tamagawa_,,$(subst _clean,,$@)) clean
<<<<<<< HEAD
$(BUILD_COMBO_CLEAN_motorcontrol_bissc):
$(MAKE) -C source/position_sense/bissc -f makefile.am243x.$(subst motorcontrol_bissc_,,$(subst _clean,,$@)) clean
=======
$(BUILD_COMBO_CLEAN_pruicss_pwm):
$(MAKE) -C source/pruicss_pwm -f makefile.am243x.$(subst pruicss_pwm_,,$(subst _clean,,$@)) clean
>>>>>>> db822bd (am243x/am64x: pruio: add pwm driver)
# Various Component Scrub Targets
@ -172,10 +198,17 @@ BUILD_COMBO_SCRUB_motorcontrol_sdfm = motorcontrol_sdfm_r5f.ti-arm-clang_scrub_s
BUILD_COMBO_SCRUB_motorcontrol_endat = motorcontrol_endat_r5f.ti-arm-clang_scrub_scrub
BUILD_COMBO_SCRUB_motorcontrol_hdsl = motorcontrol_hdsl_r5f.ti-arm-clang_scrub_scrub
BUILD_COMBO_SCRUB_motorcontrol_tamagawa = motorcontrol_tamagawa_r5f.ti-arm-clang_scrub_scrub
<<<<<<< HEAD
BUILD_COMBO_SCRUB_motorcontrol_bissc = motorcontrol_bissc_r5f.ti-arm-clang_scrub_scrub
# Combine all Components Scrub Targets
BUILD_COMBO_SCRUB_ALL = $(BUILD_COMBO_SCRUB_motorcontrol_sdfm) $(BUILD_COMBO_SCRUB_motorcontrol_endat) $(BUILD_COMBO_SCRUB_motorcontrol_hdsl) $(BUILD_COMBO_SCRUB_motorcontrol_tamagawa) $(BUILD_COMBO_SCRUB_motorcontrol_bissc)
=======
BUILD_COMBO_SCRUB_pruicss_pwm = pruicss_pwm_r5f.ti-arm-clang_scrub_scrub
# Combine all Components Scrub Targets
BUILD_COMBO_SCRUB_ALL = $(BUILD_COMBO_SCRUB_motorcontrol_sdfm) $(BUILD_COMBO_SCRUB_motorcontrol_endat) $(BUILD_COMBO_SCRUB_motorcontrol_hdsl) $(BUILD_COMBO_SCRUB_motorcontrol_tamagawa) $(BUILD_COMBO_SCRUB_pruicss_pwm)
>>>>>>> db822bd (am243x/am64x: pruio: add pwm driver)
# Combine all Pre-built Components Scrub Targets
BUILD_COMBO_PREBUILT_SCRUB_ALL =
@ -196,8 +229,13 @@ $(BUILD_COMBO_SCRUB_motorcontrol_hdsl):
$(BUILD_COMBO_SCRUB_motorcontrol_tamagawa):
$(MAKE) -C source/position_sense/tamagawa -f makefile.am243x.$(subst motorcontrol_tamagawa_,,$(subst _scrub,,$@)) scrub
<<<<<<< HEAD
$(BUILD_COMBO_SCRUB_motorcontrol_bissc):
$(MAKE) -C source/position_sense/bissc -f makefile.am243x.$(subst motorcontrol_bissc_,,$(subst _scrub,,$@)) scrub
=======
$(BUILD_COMBO_SCRUB_pruicss_pwm):
$(MAKE) -C source/pruicss_pwm -f makefile.am243x.$(subst pruicss_pwm_,,$(subst _scrub,,$@)) scrub
>>>>>>> db822bd (am243x/am64x: pruio: add pwm driver)
BUILD_COMBO_EXAMPLE_ALL =

20
makefile.am64x
View File

@ -36,6 +36,7 @@ help:
@echo $(MAKE) -s -f makefile.am64x motorcontrol_endat_r5f.ti-arm-clang
@echo $(MAKE) -s -f makefile.am64x motorcontrol_hdsl_r5f.ti-arm-clang
@echo $(MAKE) -s -f makefile.am64x motorcontrol_tamagawa_r5f.ti-arm-clang
@echo $(MAKE) -s -f makefile.am64x pruicss_pwm_r5f.ti-arm-clang
@echo .
@echo Library clean targets,
@echo ======================
@ -43,6 +44,7 @@ help:
@echo $(MAKE) -s -f makefile.am64x motorcontrol_endat_r5f.ti-arm-clang_clean
@echo $(MAKE) -s -f makefile.am64x motorcontrol_hdsl_r5f.ti-arm-clang_clean
@echo $(MAKE) -s -f makefile.am64x motorcontrol_tamagawa_r5f.ti-arm-clang_clean
@echo $(MAKE) -s -f makefile.am64x pruicss_pwm_r5f.ti-arm-clang_clean
@echo .
@echo Example build targets,
@echo ======================
@ -78,9 +80,10 @@ BUILD_COMBO_motorcontrol_sdfm = motorcontrol_sdfm_r5f.ti-arm-clang
BUILD_COMBO_motorcontrol_endat = motorcontrol_endat_r5f.ti-arm-clang
BUILD_COMBO_motorcontrol_hdsl = motorcontrol_hdsl_r5f.ti-arm-clang
BUILD_COMBO_motorcontrol_tamagawa = motorcontrol_tamagawa_r5f.ti-arm-clang
BUILD_COMBO_pruicss_pwm = pruicss_pwm_r5f.ti-arm-clang
# Combine all Components
BUILD_COMBO_ALL = $(BUILD_COMBO_motorcontrol_sdfm) $(BUILD_COMBO_motorcontrol_endat) $(BUILD_COMBO_motorcontrol_hdsl) $(BUILD_COMBO_motorcontrol_tamagawa)
BUILD_COMBO_ALL = $(BUILD_COMBO_motorcontrol_sdfm) $(BUILD_COMBO_motorcontrol_endat) $(BUILD_COMBO_motorcontrol_hdsl) $(BUILD_COMBO_motorcontrol_tamagawa) $(BUILD_COMBO_pruicss_pwm)
# Combine all Pre-built Components
BUILD_COMBO_PREBUILT_ALL =
@ -106,15 +109,19 @@ $(BUILD_COMBO_motorcontrol_hdsl):
$(BUILD_COMBO_motorcontrol_tamagawa):
$(MAKE) -C source/position_sense/tamagawa -f makefile.am64x.$(subst motorcontrol_tamagawa_,,$@) all
$(BUILD_COMBO_pruicss_pwm):
$(MAKE) -C source/pruicss_pwm -f makefile.am64x.$(subst pruicss_pwm_,,$@) all
# Various Component Clean Targets
BUILD_COMBO_CLEAN_motorcontrol_sdfm = motorcontrol_sdfm_r5f.ti-arm-clang_clean
BUILD_COMBO_CLEAN_motorcontrol_endat = motorcontrol_endat_r5f.ti-arm-clang_clean
BUILD_COMBO_CLEAN_motorcontrol_hdsl = motorcontrol_hdsl_r5f.ti-arm-clang_clean
BUILD_COMBO_CLEAN_motorcontrol_tamagawa = motorcontrol_tamagawa_r5f.ti-arm-clang_clean
BUILD_COMBO_CLEAN_pruicss_pwm = pruicss_pwm_r5f.ti-arm-clang_clean
# Combine all Components Clean
BUILD_COMBO_CLEAN_ALL = $(BUILD_COMBO_CLEAN_motorcontrol_sdfm) $(BUILD_COMBO_CLEAN_motorcontrol_endat) $(BUILD_COMBO_CLEAN_motorcontrol_hdsl) $(BUILD_COMBO_CLEAN_motorcontrol_tamagawa)
BUILD_COMBO_CLEAN_ALL = $(BUILD_COMBO_CLEAN_motorcontrol_sdfm) $(BUILD_COMBO_CLEAN_motorcontrol_endat) $(BUILD_COMBO_CLEAN_motorcontrol_hdsl) $(BUILD_COMBO_CLEAN_motorcontrol_tamagawa) $(BUILD_COMBO_CLEAN_pruicss_pwm)
# Combine all Pre-built Components Clean
BUILD_COMBO_PREBUILT_CLEAN_ALL =
@ -135,15 +142,19 @@ $(BUILD_COMBO_CLEAN_motorcontrol_hdsl):
$(BUILD_COMBO_CLEAN_motorcontrol_tamagawa):
$(MAKE) -C source/position_sense/tamagawa -f makefile.am64x.$(subst motorcontrol_tamagawa_,,$(subst _clean,,$@)) clean
$(BUILD_COMBO_CLEAN_pruicss_pwm):
$(MAKE) -C source/pruicss_pwm -f makefile.am64x.$(subst pruicss_pwm_,,$(subst _clean,,$@)) clean
# Various Component Scrub Targets
BUILD_COMBO_SCRUB_motorcontrol_sdfm = motorcontrol_sdfm_r5f.ti-arm-clang_scrub_scrub
BUILD_COMBO_SCRUB_motorcontrol_endat = motorcontrol_endat_r5f.ti-arm-clang_scrub_scrub
BUILD_COMBO_SCRUB_motorcontrol_hdsl = motorcontrol_hdsl_r5f.ti-arm-clang_scrub_scrub
BUILD_COMBO_SCRUB_motorcontrol_tamagawa = motorcontrol_tamagawa_r5f.ti-arm-clang_scrub_scrub
BUILD_COMBO_SCRUB_pruicss_pwm = pruicss_pwm_r5f.ti-arm-clang_scrub_scrub
# Combine all Components Scrub Targets
BUILD_COMBO_SCRUB_ALL = $(BUILD_COMBO_SCRUB_motorcontrol_sdfm) $(BUILD_COMBO_SCRUB_motorcontrol_endat) $(BUILD_COMBO_SCRUB_motorcontrol_hdsl) $(BUILD_COMBO_SCRUB_motorcontrol_tamagawa)
BUILD_COMBO_SCRUB_ALL = $(BUILD_COMBO_SCRUB_motorcontrol_sdfm) $(BUILD_COMBO_SCRUB_motorcontrol_endat) $(BUILD_COMBO_SCRUB_motorcontrol_hdsl) $(BUILD_COMBO_SCRUB_motorcontrol_tamagawa) $(BUILD_COMBO_SCRUB_pruicss_pwm)
# Combine all Pre-built Components Scrub Targets
BUILD_COMBO_PREBUILT_SCRUB_ALL =
@ -164,6 +175,9 @@ $(BUILD_COMBO_SCRUB_motorcontrol_hdsl):
$(BUILD_COMBO_SCRUB_motorcontrol_tamagawa):
$(MAKE) -C source/position_sense/tamagawa -f makefile.am64x.$(subst motorcontrol_tamagawa_,,$(subst _scrub,,$@)) scrub
$(BUILD_COMBO_SCRUB_pruicss_pwm):
$(MAKE) -C source/pruicss_pwm -f makefile.am64x.$(subst pruicss_pwm_,,$(subst _scrub,,$@)) scrub
BUILD_COMBO_EXAMPLE_ALL =
# Various Example Targets

14
source/pruicss_pwm/.project/project.js Normal file
View File

@ -0,0 +1,14 @@
function getComponentProperty(device)
{
return require(`./project_${device}`).getComponentProperty();
};
function getComponentBuildProperty(buildOption)
{
return require(`./project_${buildOption.device}`).getComponentBuildProperty(buildOption);
};
module.exports = {
getComponentProperty,
getComponentBuildProperty,
};

52
source/pruicss_pwm/.project/project_am243x.js Normal file
View File

@ -0,0 +1,52 @@
let path = require('path');
let device = "am243x";
const files = {
common: [
"pruicss_pwm.c",
],
};
const filedirs = {
common: [
"${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/driver",
],
};
const includes = {
common: [
"${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include",
],
};
const buildOptionCombos = [
{ device: device, cpu: "r5f", cgt: "ti-arm-clang"},
];
function getComponentProperty() {
let property = {};
property.dirPath = path.resolve(__dirname, "..");
property.type = "library";
property.name = "pruicss_pwm";
property.isInternal = false;
property.buildOptionCombos = buildOptionCombos;
return property;
}
function getComponentBuildProperty(buildOption) {
let build_property = {};
build_property.files = files;
build_property.filedirs = filedirs;
build_property.includes = includes;
return build_property;
}
module.exports = {
getComponentProperty,
getComponentBuildProperty,
};

52
source/pruicss_pwm/.project/project_am64x.js Normal file
View File

@ -0,0 +1,52 @@
let path = require('path');
let device = "am64x";
const files = {
common: [
"pruicss_pwm.c",
],
};
const filedirs = {
common: [
"${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/driver",
],
};
const includes = {
common: [
"${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include",
],
};
const buildOptionCombos = [
{ device: device, cpu: "r5f", cgt: "ti-arm-clang"},
];
function getComponentProperty() {
let property = {};
property.dirPath = path.resolve(__dirname, "..");
property.type = "library";
property.name = "pruicss_pwm";
property.isInternal = false;
property.buildOptionCombos = buildOptionCombos;
return property;
}
function getComponentBuildProperty(buildOption) {
let build_property = {};
build_property.files = files;
build_property.filedirs = filedirs;
build_property.includes = includes;
return build_property;
}
module.exports = {
getComponentProperty,
getComponentBuildProperty,
};

1354
source/pruicss_pwm/driver/pruicss_pwm.c Normal file
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File diff suppressed because it is too large Load Diff

389
source/pruicss_pwm/include/pruicss_pwm.h Normal file
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@ -0,0 +1,389 @@
/*
* Copyright (C) 2023 Texas Instruments Incorporated
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**
* \defgroup PRUICSS_PWM_API APIs for PruIcss_pwm
*
* This module contains APIs for device driver pruicss_pwm supported in this SDK.
*
* PRUICSS has one pwm module, which has four pwm sets (PWM0, PWM1, PWM2, PWM3)
* Each Set has six signals (A0,A1,A2,B0,B1,B2)
* Each Set one trip zone output OR logic block, which has nine trip signals
* (trip_e1_[0:2], trip_e2, trip_e3[0:2], trip_e4, trip_e5) as input
*
* With Reference to Technical Reference Manual, Pwm six signals(A0,A1,A2,B0,B1,B2) Naming convention is slightly different
*
* PWMn==============>PWMn_0=========>PWMn_0_POS (alias signal A0)
* | |=====>PWMn_0_NEG (alias signal A1)
* |
* |
* |
* |=========>PWMn_1=========>PWMn_1_POS (alias signal A2)
* | |=====>PWMn_1_NEG (alias signal B0)
* |
* |
* |
* |=========>PWMn_2=========>PWMn_2_POS (alias signal B1)
* |=====>PWMn_2_NEG (alias signal B2)
* @{
*/
#ifdef __cplusplus
extern "C" {
#endif
/* ========================================================================== */
/* Include Files */
/* ========================================================================== */
#ifndef PRUICSS_PWM_H_
#define PRUICSS_PWM_H_
#include <stddef.h>
#include <stdint.h>
#include <drivers/pruicss.h>
#include <drivers/hw_include/cslr.h>
#include <drivers/hw_include/hw_types.h>
/* ========================================================================== */
/* Macros & Typedefs */
/* ========================================================================== */
/**
* \brief Return status when the API execution was successful
*/
#define SystemP_SUCCESS ((int32_t )0)
/**
* \brief Return status when the API execution was not successful due to a failure.
*/
#define SystemP_FAILURE ((int32_t)-1)
/* ========================================================================== */
/* Function Declarations */
/* ========================================================================== */
/**
* \brief This API writes Lower_32bitValue of IEP counter in IEP module.
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param iepInstance 0 for IEP0, 1 for IEP1
* \param value iep count register Lower 32bit Value
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_setIepCounterLower_32bitValue(PRUICSS_Handle handle, uint8_t iepInstance, uint32_t value);
/**
* \brief This API writes Upper_32bitValue of IEP counter in IEP module.
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param iepInstance 0 for IEP0, 1 for IEP1
* \param value iep count register Upper 32bit Value
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_setIepCounterUpper_32bitValue(PRUICSS_Handle handle, uint8_t iepInstance, uint32_t value);
/**
* \brief This API sets enables/disables of IEP counter reset on compare 0 event in IEP module.
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param iepInstance 0 for IEP0, 1 for IEP1
* \param value Value to store in compare enable field of compare config register
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_configureIepCmp0ResetEnable(PRUICSS_Handle handle, uint8_t iepInstance, uint8_t enable);
/**
* \brief This API sets enables/disables compare events in IEP module.
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param iepInstance 0 for IEP0, 1 for IEP1
* \param value Value to store in compare enable field of compare config register
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_configureIepCompareEnable(PRUICSS_Handle handle, uint8_t iepInstance, uint16_t value);
/**
* \brief This API writes Lower_32bitValue of compare event in IEP module.
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param iepInstance 0 for IEP0, 1 for IEP1
* \param value compare register Lower 32bit Value
* \param cmpEvent compare Event number. Maximum value allowed is 15
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_setIepCompareEventLower_32bitValue(PRUICSS_Handle handle, uint8_t iepInstance, uint8_t cmpEvent, uint32_t value);
/**
* \brief This API writes Upper_32bitValue of compare event in IEP module.
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param iepInstance 0 for IEP0, 1 for IEP1
* \param value compare register Upper 32bit Value
* \param cmpEvent compare Event number. Maximum value allowed is 15
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_setIepCompareEventUpper_32bitValue(PRUICSS_Handle handle, uint8_t iepInstance, uint8_t cmpEvent, uint32_t value);
/**
* \brief This API updates Debounce Value for specified pwm set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \param value pwmSet Debounce Value
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_setPwmDebouceValue(PRUICSS_Handle handle, uint8_t pwmSet, uint8_t value);
/**
* \brief This API updates TripMask Value for specified pwm set
*
* \brief Software TripMask
* \brief 0x0: PWM0_POS_ERR_TRIP (trip_e5)
* \brief 0x1: PWM0_OVER_ERR_TRIP (trip_e4)
* \brief 0x2: PWM0_0_SD_SHORT_ERR_TRIP (trip_e3_0)
* \brief 0x3: PWM0_1_SD_SHORT_ERR_TRIP (trip_e3_1)
* \brief 0x4: PWM0_2_SD_SHORT_ERR_TRIP (trip_e3_2)
* \brief 0x5: PWM0_DEBOUNCE_TRIP_IN (trip_e2)
* \brief 0x6: PWM0_0_DEBOUNCE_TRIP (trip_e1_0)
* \brief 0x7: PWM0_1_DEBOUNCE_TRIP (trip_e1_1)
* \brief 0x8: PWM0_2_DEBOUNCE_TRIP (trip_e1_2)
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \param maskvalue pwmSet maskValue
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_setPwmTripMask(PRUICSS_Handle handle, uint8_t pwmSet, uint16_t maskvalue);
/**
* \brief This API enables/disables TripReset on Compare_0 Event for specified pwm set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \param value 0 for disable, 1 for enable
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_configurePwmCmp0TripResetEnable(PRUICSS_Handle handle, uint8_t pwmSet, uint8_t enable);
/**
* \brief This API generates Software Trip Reset by writing 1 to bit field for specified pwm set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_generatePwmTripReset(PRUICSS_Handle handle, uint8_t pwmSet);
/**
* \brief This API generates Software Over current error trip by writing 1 to bit field for specified pwm set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_generatePwmOverCurrentErrorTrip(PRUICSS_Handle handle, uint8_t pwmSet);
/**
* \brief This API generates Software Position Feedback Error Trip by writing 1 to bit field for specified pwm set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_generatePwmPositionFeedbackErrorTrip(PRUICSS_Handle handle, uint8_t pwmSet);
/**
* \brief This API clears Software Trip Reset by writing 0 to bit field for specified pwm set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_clearPwmTripResetStatus(PRUICSS_Handle handle, uint8_t pwmSet);
/**
* \brief This API clears Software Over current error trip by writing 0 to bit field for specified pwm set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_clearPwmOverCurrentErrorTrip(PRUICSS_Handle handle, uint8_t pwmSet);
/**
* \brief This API clears Software Position Feedback Error Trip by writing 0 to bit field for specified pwm set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_clearPwmPositionFeedbackErrorTrip(PRUICSS_Handle handle, uint8_t pwmSet);
/**
* \brief This API returns Trip trigger cause vector for specified pwm set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \return #Trip trigger cause vector on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_getPwmTripTriggerCauseVector(PRUICSS_Handle handle, uint8_t pwmSet);
/**
* \brief This API returns Trip status for specified pwm set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \return #Trip status on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_getPwmTripStatus(PRUICSS_Handle handle, uint8_t pwmSet);
/**
* \brief This API clears Trip status and makes state transition to Intial state as follows (Active->Intial)
* or (Trip->Intial) for specified pwm set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_clearPwmTripStatus(PRUICSS_Handle handle, uint8_t pwmSet);
/**
* \brief This API updates output action for specified state of A0 signal for specified PWM set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \param state 0 for Intial, 1 for Active, 2 for Safe(alias Trip) state
* \param action 0 for Toggle, 1 for Low, 2 for High
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICCS_actionOnOutputCfgPwmSignalA0(PRUICSS_Handle handle, uint8_t pwmSet, uint8_t state, uint8_t action);
/**
* \brief This API updates output action for specified state of A1 signal for specified PWM set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \param state 0 for Intial, 1 for Active, 2 for Safe(alias Trip) state
* \param action 0 for Toggle, 1 for Low, 2 for High
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICCS_actionOnOutputCfgPwmSignalA1(PRUICSS_Handle handle, uint8_t pwmSet, uint8_t state, uint8_t action);
/**
* \brief This API updates output action for specified state of A2 signal for specified PWM set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \param state 0 for Intial, 1 for Active, 2 for Safe(alias Trip) state
* \param action 0 for Toggle, 1 for Low, 2 for High
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICCS_actionOnOutputCfgPwmSignalA2(PRUICSS_Handle handle, uint8_t pwmSet, uint8_t state, uint8_t action);
/**
* \brief This API updates output action for specified state of B0 signal for specified PWM set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \param state 0 for Intial, 1 for Active, 2 for Safe(alias Trip) state
* \param action 0 for Toggle, 1 for Low, 2 for High
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICCS_actionOnOutputCfgPwmSignalB0(PRUICSS_Handle handle, uint8_t pwmSet, uint8_t state, uint8_t action);
/**
* \brief This API updates output action for specified state of B1 signal for specified PWM set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \param state 0 for Intial, 1 for Active, 2 for Safe(alias Trip) state
* \param action 0 for Toggle, 1 for Low, 2 for High
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICCS_actionOnOutputCfgPwmSignalB1(PRUICSS_Handle handle, uint8_t pwmSet, uint8_t state, uint8_t action);
/**
* \brief This API updates output action for specified state of B2 signal for specified PWM set
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param pwmSet 0 for PWM0, 1 for PWM1, 2 for PWM2, 3 for PWM3
* \param state 0 for Intial, 1 for Active, 2 for Safe(alias Trip) state
* \param action 0 for Toggle, 1 for Low, 2 for High
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICCS_actionOnOutputCfgPwmSignalB2(PRUICSS_Handle handle, uint8_t pwmSet, uint8_t state, uint8_t action);
/**
* \brief This API enables Efficiency mode
* In Efficiency mode Pwm state machine will go from Idle to
* Active and the same time Pwm output will get updated during this
* state transition And Iep Cmp flags will get auto HW cleared
*
* \param handle PRUICSS_Handle returned from PRUICSS_open()
* \param enable 0 for disable, 1 for enable
* \return #SystemP_SUCCESS on success, #SystemP_FAILURE on error
*
*/
int32_t PRUICSS_configurePwmEfficiencyModeEnable(PRUICSS_Handle handle, uint8_t enable);
#ifdef __cplusplus
}
#endif
#endif/* #ifndef PRUICSS_PWM_H_ */

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#
# Auto generated makefile
#
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../..)
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
CG_TOOL_ROOT=$(CGT_TI_ARM_CLANG_PATH)
CC=$(CGT_TI_ARM_CLANG_PATH)/bin/tiarmclang
AR=$(CGT_TI_ARM_CLANG_PATH)/bin/tiarmar
PROFILE?=release
ConfigName:=$(PROFILE)
LIBNAME:=pruicss_pwm.am243x.r5f.ti-arm-clang.$(PROFILE).lib
FILES_common := \
pruicss_pwm.c \
FILES_PATH_common = \
${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/driver \
INCLUDES_common := \
-I${CG_TOOL_ROOT}/include/c \
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
-I${MOTOR_CONTROL_SDK_PATH}/source \
-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include \
DEFINES_common := \
-DSOC_AM243X \
CFLAGS_common := \
-mcpu=cortex-r5 \
-mfloat-abi=hard \
-mfpu=vfpv3-d16 \
-mthumb \
-Wall \
-Werror \
-g \
-Wno-gnu-variable-sized-type-not-at-end \
-Wno-unused-function \
CFLAGS_cpp_common := \
-Wno-c99-designator \
-Wno-extern-c-compat \
-Wno-c++11-narrowing \
-Wno-reorder-init-list \
-Wno-deprecated-register \
-Wno-writable-strings \
-Wno-enum-compare \
-Wno-reserved-user-defined-literal \
-Wno-unused-const-variable \
-x c++ \
CFLAGS_debug := \
-D_DEBUG_=1 \
CFLAGS_release := \
-Os \
ARFLAGS_common := \
rc \
FILES := $(FILES_common) $(FILES_$(PROFILE))
ASMFILES := $(ASMFILES_common) $(ASMFILES_$(PROFILE))
FILES_PATH := $(FILES_PATH_common) $(FILES_PATH_$(PROFILE))
CFLAGS := $(CFLAGS_common) $(CFLAGS_$(PROFILE))
ASMFLAGS := $(CFLAGS_common) $(CFLAGS_$(PROFILE))
ifeq ($(CPLUSPLUS_BUILD), yes)
CFLAGS += $(CFLAGS_cpp_common)
endif
DEFINES := $(DEFINES_common) $(DEFINES_$(PROFILE))
INCLUDES := $(INCLUDES_common) $(INCLUDE_$(PROFILE))
ARFLAGS := $(ARFLAGS_common) $(ARFLAGS_$(PROFILE))
LIBDIR := lib
OBJDIR := obj/am243x/ti-arm-clang/$(PROFILE)/r5f/pruicss_pwm/
OBJS := $(FILES:%.c=%.obj)
OBJS += $(ASMFILES:%.S=%.obj)
DEPS := $(FILES:%.c=%.d)
vpath %.obj $(OBJDIR)
vpath %.c $(FILES_PATH)
vpath %.S $(FILES_PATH)
$(OBJDIR)/%.obj %.obj: %.c
@echo Compiling: $(LIBNAME): $<
$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
$(OBJDIR)/%.obj %.obj: %.S
@echo Compiling: $(LIBNAME): $<
$(CC) -c $(ASMFLAGS) -o $(OBJDIR)/$@ $<
all: $(LIBDIR)/$(LIBNAME)
$(LIBDIR)/$(LIBNAME): $(OBJS) | $(LIBDIR)
@echo .
@echo Archiving: $(LIBNAME) to $@ ...
$(AR) $(ARFLAGS) $@ $(addprefix $(OBJDIR), $(OBJS))
@echo Archiving: $(LIBNAME) Done !!!
@echo .
clean:
@echo Cleaning: $(LIBNAME) ...
$(RMDIR) $(OBJDIR)
$(RM) $(LIBDIR)/$(LIBNAME)
scrub:
@echo Scrubing: $(LIBNAME) ...
-$(RMDIR) obj/
-$(RMDIR) lib/
$(OBJS): | $(OBJDIR)
$(LIBDIR) $(OBJDIR):
$(MKDIR) $@
-include $(addprefix $(OBJDIR)/, $(DEPS))

119
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@ -0,0 +1,119 @@
#
# Auto generated makefile
#
export MOTOR_CONTROL_SDK_PATH?=$(abspath ../..)
include $(MOTOR_CONTROL_SDK_PATH)/imports.mak
CG_TOOL_ROOT=$(CGT_TI_ARM_CLANG_PATH)
CC=$(CGT_TI_ARM_CLANG_PATH)/bin/tiarmclang
AR=$(CGT_TI_ARM_CLANG_PATH)/bin/tiarmar
PROFILE?=release
ConfigName:=$(PROFILE)
LIBNAME:=pruicss_pwm.am64x.r5f.ti-arm-clang.$(PROFILE).lib
FILES_common := \
pruicss_pwm.c \
FILES_PATH_common = \
${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/driver \
INCLUDES_common := \
-I${CG_TOOL_ROOT}/include/c \
-I${MOTOR_CONTROL_SDK_PATH}/mcu_plus_sdk/source \
-I${MOTOR_CONTROL_SDK_PATH}/source \
-I${MOTOR_CONTROL_SDK_PATH}/source/pruicss_pwm/include \
DEFINES_common := \
-DSOC_AM64X \
CFLAGS_common := \
-mcpu=cortex-r5 \
-mfloat-abi=hard \
-mfpu=vfpv3-d16 \
-mthumb \
-Wall \
-Werror \
-g \
-Wno-gnu-variable-sized-type-not-at-end \
-Wno-unused-function \
CFLAGS_cpp_common := \
-Wno-c99-designator \
-Wno-extern-c-compat \
-Wno-c++11-narrowing \
-Wno-reorder-init-list \
-Wno-deprecated-register \
-Wno-writable-strings \
-Wno-enum-compare \
-Wno-reserved-user-defined-literal \
-Wno-unused-const-variable \
-x c++ \
CFLAGS_debug := \
-D_DEBUG_=1 \
CFLAGS_release := \
-Os \
ARFLAGS_common := \
rc \
FILES := $(FILES_common) $(FILES_$(PROFILE))
ASMFILES := $(ASMFILES_common) $(ASMFILES_$(PROFILE))
FILES_PATH := $(FILES_PATH_common) $(FILES_PATH_$(PROFILE))
CFLAGS := $(CFLAGS_common) $(CFLAGS_$(PROFILE))
ASMFLAGS := $(CFLAGS_common) $(CFLAGS_$(PROFILE))
ifeq ($(CPLUSPLUS_BUILD), yes)
CFLAGS += $(CFLAGS_cpp_common)
endif
DEFINES := $(DEFINES_common) $(DEFINES_$(PROFILE))
INCLUDES := $(INCLUDES_common) $(INCLUDE_$(PROFILE))
ARFLAGS := $(ARFLAGS_common) $(ARFLAGS_$(PROFILE))
LIBDIR := lib
OBJDIR := obj/am64x/ti-arm-clang/$(PROFILE)/r5f/pruicss_pwm/
OBJS := $(FILES:%.c=%.obj)
OBJS += $(ASMFILES:%.S=%.obj)
DEPS := $(FILES:%.c=%.d)
vpath %.obj $(OBJDIR)
vpath %.c $(FILES_PATH)
vpath %.S $(FILES_PATH)
$(OBJDIR)/%.obj %.obj: %.c
@echo Compiling: $(LIBNAME): $<
$(CC) -c $(CFLAGS) $(INCLUDES) $(DEFINES) -MMD -o $(OBJDIR)/$@ $<
$(OBJDIR)/%.obj %.obj: %.S
@echo Compiling: $(LIBNAME): $<
$(CC) -c $(ASMFLAGS) -o $(OBJDIR)/$@ $<
all: $(LIBDIR)/$(LIBNAME)
$(LIBDIR)/$(LIBNAME): $(OBJS) | $(LIBDIR)
@echo .
@echo Archiving: $(LIBNAME) to $@ ...
$(AR) $(ARFLAGS) $@ $(addprefix $(OBJDIR), $(OBJS))
@echo Archiving: $(LIBNAME) Done !!!
@echo .
clean:
@echo Cleaning: $(LIBNAME) ...
$(RMDIR) $(OBJDIR)
$(RM) $(LIBDIR)/$(LIBNAME)
scrub:
@echo Scrubing: $(LIBNAME) ...
-$(RMDIR) obj/
-$(RMDIR) lib/
$(OBJS): | $(OBJDIR)
$(LIBDIR) $(OBJDIR):
$(MKDIR) $@
-include $(addprefix $(OBJDIR)/, $(DEPS))