206f344bd1
remove motor_control folder from the repository Fixes: PINDSW-5635 Signed-off-by: Naresh A <nareshk@ti.com>
102 lines
4.6 KiB
C
102 lines
4.6 KiB
C
; Copyright (C) 2022 Texas Instruments Incorporated
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;
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; Redistribution and use in source and binary forms, with or without
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; modification, are permitted provided that the following conditions
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; are met:
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;
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; Redistributions of source code must retain the above copyright
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; notice, this list of conditions and the following disclaimer.
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;
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; Redistributions in binary form must reproduce the above copyright
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; notice, this list of conditions and the following disclaimer in the
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; documentation and/or other materials provided with the
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; distribution.
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;
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; Neither the name of Texas Instruments Incorporated nor the names of
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; its contributors may be used to endorse or promote products derived
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; from this software without specific prior written permission.
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;
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; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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; "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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; LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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; A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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; OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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; SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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; LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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; DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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; THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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; (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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; OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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;
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;************************************************************************************
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;* File: tamagawa_send.h *
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;* *
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;* Brief: Macro for sending commands to the Tamagawa encoder *
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;************************************************************************************
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;*************************************************************************************************************************************
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; Macro: TAMAGAWA_SEND_MACRO
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;
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; Send the Tx data for non-EEPROM commands to the Tamagawa encoders.
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;
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; Registers:
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; R27.b0- Stores the first byte of the TX data
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; R27.b1- Stores the second byte of the TX data
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; R30.b0- Used to load Tx FIFO for a selected channel
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; R30.b2- Used to select the channel (R30[17:16])
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;
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;
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;
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; PseudoCode:
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; (start code)
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; 1.Load the Tx FIFO with the first byte for the currently selected channel by writing to the R30.b0.
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; 2.Load the Tx FIFO with the second byte for the currently selected channel by writing to the R30.b0.
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; 3.Loop through the steps 1-4 thrice in case of multi-channel configuration to fill Tx FIFO for all selected channels.
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; 4.Once the Tx FIFO of all the selected channels is loaded with 2 bytes, make a call to the FN_SEND function that performs Tx in single shot mode with Tx frame size = 10 bits.
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; (end code)
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;
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; Parameters:
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; tx_data0 - Stores the first byte of the tx data to be sent to the encoder
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; tx_data1 - Stores the second byte of the tx data to be sent to the encoder
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;
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; Worst case peak cycle usage: 68 (approx.)
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; For all commands except EEPROM Read and Write, the Control Field (CF) should be transmitted to the encoder in about 2.0 +/- 0.05 μs and 4.0 +/- 0.1 μs for 5 Mbps and 2.5 Mbps Tamagawa encoders respectively.
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;
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;**************************************************************************************************************************************
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.if !$isdefed("__tamagawa_send_h")
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__tamagawa_send_h .set 1
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.include "tamagawa_interface.h"
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.include "tamagawa_constants.h"
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.global FN_SEND
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.global CALL
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.global CALL2
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TAMAGAWA_SEND_MACRO .macro tx_data0, tx_data1
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.if $defined("ENABLE_MULTI_CHANNEL")
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;In each iteration, channel is selected and Tx Fifo is loaded .
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LOOP SEND_RECEIVE_TAMAGAWA_MULTI_CHANNEL?, 3
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.endif
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;In case of non EEPROM commands, we need to send the control field to the encoder. This control field is of 10 bits.
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;The FIFO is loaded with 16 bits first and then a call to the FN_SEND is made in order to start Tx in Single shot mode with Tx frame size = 10 bits.
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;load Tx FIFO
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MOV R30.b0,tx_data0
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;load Tx FIFO
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MOV R30.b0,tx_data1
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.if $defined("ENABLE_MULTI_CHANNEL")
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; last channel would have been selected first
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;R30[17:16] tx_ch_sel is decremented to select next channel and load Tx Fifo.
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SUB R30.b2, R30.b2, 1
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SEND_RECEIVE_TAMAGAWA_MULTI_CHANNEL?:
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.endif
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; Sending Tx Fifo data via Data line(PERIF0_OUT,PERIF1_OUT,PERIF2_OUT) to encoders
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CALL2 FN_SEND
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.endm
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.endif
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