206f344bd1
remove motor_control folder from the repository Fixes: PINDSW-5635 Signed-off-by: Naresh A <nareshk@ti.com>
279 lines
12 KiB
C
279 lines
12 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: eeprom_write.h *
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;* *
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;* Brief: Macro for performing EEPROM Write on Tamagawa encoder *
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;************************************************************************************
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;*************************************************************************************************************************************
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; Macro: EEPROM_WRITE_MACRO
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;
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; Perform the EEPROM Read operation on the Tamagawa encoders.
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;
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; Registers:
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; R25- Used to store the Tx data to be sent to the encoder
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; R26.b0- Used to store the offset of the 64 bit integer holding 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 store the currently selected channel
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; R31- Used to monitor the Tx FIFO level for different channels
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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.Check if the current channel is enabled.
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; 2.Load the offset of 5th byte of the 64 bit integer holding Tx data to R26.b0 for the currently selected channel.
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; 3.Load 1 byte of data from the offset stored in R26.b0 to R25.
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; 4.Load the 5th byte of Tx data to the Tx FIFO for the currently seelcted channel by writing to R30.b0 once.
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; 5.Load the offset of 0th byte of the 64 bit integer holding Tx data to R26.b0 for the currently selected channel.
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; 6.Load 4 bytes of data from the offset stored in R26.b0 to R25.
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; 7.Load the Tx FIFO for the currently selected channel by writing to the R30.b0 byte-wise 3 times.
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; 8.Loop through the steps 1-7 thrice in case of multi-channel configuration to fill Tx FIFO for all selected channels.
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; 9.Once the Tx FIFO of all the selected channels is loaded with 4 bytes, make a call to the FN_SEND function that performs Tx in Continuous mode.
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; 10.Monitor the Tx FIFO level for the current channel until the FIFO level reaches 3 bytes or less.
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; 11.Load the last byte of Tx data into the Tx FIFO by writing to the R30.b0 once.
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; 12.Repeat the steps 10-11 for all the selected channels.
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; (end code)
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;
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; Parameters:
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; ch_mask - Channel mask, used to check if the current channel is enabled
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; pru_dmem - Data Memory address for PRU
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;
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; Worst case peak cycle usage: 750 (aprpox.)
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; For EEPROM Write, the Control Field (CF), Address (ADF), Data (EDF) and CRC frames should be transmitted to the encoder in about 8.0 μs and 16.0 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("__eeprom_write_h")
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__eeprom_write_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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EEPROM_WRITE_MACRO .macro ch_mask, pru_dmem
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;In case of EEPROM Write, there is a need to send 40 bits of data to the Encoder
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;First 32 bits of data is loaded into the Tx FIFO and Tx in Continuous FIFO loading is initiated
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;Keep polling r31[20-18, 12-10, 4-2] (tx_fifo_sts<m>) and reload the FIFO with the last 8 bits when the FIFO level reaches 3 bytes
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;In case of EEPROM write, we need to first load the
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;value stored at the 5th byte of the 64 bit integer used to store the Tx data.
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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 EEPROM_WRITE_MULTI_CHANNEL?, 3
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.endif
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; if channel 0 is enabled, use the Tx command offset for ch 0
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QBBC TAMAGAWA_WRITE_SKIP_CH0?, ch_mask, 0
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; Check if the current channel is 0
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AND R26.b0, R30.b2, CHANNEL_CHECK_MASK
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; If the current channel is not 0, skip loading the offset for Channel 0
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QBNE TAMAGAWA_WRITE_SKIP_CH0?, R26.b0, 0
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; Load the offset of the address where EEPROM Tx command's 5th byte is stored
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LDI R26.b0, TAMAGAWA_EEPROM_TX_CMD_1_CH0
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;load the 5th byte of data from the offset stored in R26.b0 to R25
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LBCO &R25.b0, pru_dmem, R26.b0, 1
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;load Tx Fifo
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MOV R30.b0,R25.b0
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; Load the offset of the address where EEPROM Tx command is stored
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LDI R26.b0, TAMAGAWA_EEPROM_TX_CMD_0_CH0
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;load 4 bytes of data from the offset stored in R26.b0 to R25
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LBCO &R25, pru_dmem, R26.b0, 4
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;load Tx Fifo
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MOV R30.b0,R25.b3
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;load Tx Fifo
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MOV R30.b0,R25.b2
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;load Tx Fifo
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MOV R30.b0,R25.b1
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JMP TAMAGAWA_EEPROM_LOADED_BYTE1?
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TAMAGAWA_WRITE_SKIP_CH0?:
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; if channel 1 is enabled, use the Tx command offset for ch 1
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QBBC TAMAGAWA_WRITE_SKIP_CH1?, TAMAGAWA_ENABLE_CHx, 1
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; Check if the current channel is 1
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AND R26.b0, R30.b2, CHANNEL_CHECK_MASK
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; If the current channel is not 1, skip loading the offset for Channel 1
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QBNE TAMAGAWA_WRITE_SKIP_CH1?, R26.b0, 1
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; Load the offset of the address where EEPROM Tx command's 5th byte is stored
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LDI R26.b0, TAMAGAWA_EEPROM_TX_CMD_1_CH1
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;load the 5th byte of data from the offset stored in R26.b0 to R25
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LBCO &R25.b0, pru_dmem, R26.b0, 1
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;load Tx Fifo
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MOV R30.b0,R25.b0
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; Load the offset of the address where EEPROM Tx command is stored
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LDI R26.b0, TAMAGAWA_EEPROM_TX_CMD_0_CH1
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;load 4 bytes of data from the offset stored in R26.b0 to R25
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LBCO &R25, pru_dmem, R26.b0, 4
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;load Tx Fifo
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MOV R30.b0,R25.b3
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;load Tx Fifo
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MOV R30.b0,R25.b2
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;load Tx Fifo
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MOV R30.b0,R25.b1
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JMP TAMAGAWA_EEPROM_LOADED_BYTE1?
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TAMAGAWA_WRITE_SKIP_CH1?:
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; if channel 2 is enabled, use the Tx command offset for ch 2
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QBBC TAMAGAWA_WRITE_SKIP_CH2?, TAMAGAWA_ENABLE_CHx, 2
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; Check if the current channel is 2
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AND R26.b0, R30.b2, CHANNEL_CHECK_MASK
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; If the current channel is not 1, skip loading the offset for Channel 2
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QBNE TAMAGAWA_WRITE_SKIP_CH2?, R26.b0, 2
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; Load the offset of the address where EEPROM Tx command's 5th byte is stored
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LDI R26.b0, TAMAGAWA_EEPROM_TX_CMD_1_CH2
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;load the 5th byte of data from the offset stored in R26.b0 to R25
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LBCO &R25.b0, pru_dmem, R26.b0, 1
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;load Tx Fifo
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MOV R30.b0,R25.b0
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; Load the offset of the address where EEPROM Tx command is stored
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LDI R26.b0, TAMAGAWA_EEPROM_TX_CMD_0_CH2
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;load 4 bytes of data from the offset stored in R26.b0 to R25
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LBCO &R25, pru_dmem, R26.b0, 4
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;load Tx Fifo
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MOV R30.b0,R25.b3
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;load Tx Fifo
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MOV R30.b0,R25.b2
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;load Tx Fifo
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MOV R30.b0,R25.b1
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JMP TAMAGAWA_EEPROM_LOADED_BYTE1?
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TAMAGAWA_WRITE_SKIP_CH2?:
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TAMAGAWA_EEPROM_LOADED_BYTE1?:
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EEPROM_WRITE_END?:
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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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EEPROM_WRITE_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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;EEPROM_WRITE_CONT?:
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; Clear the R26 register in order to monitor the Tx FIFO level for different channels
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ZERO &R26.b0,4
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; Move the value of number of channels selected to R30.b2
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MOV R30.b2, R10.b0
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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 TAMAGAWA_EEPROM_CONTINUE_MULTI_CH?, 3
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.endif
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WAITLABEL0?:
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; if channel 0 is not enabled, skip polling the bits 2-4 of R31.
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QBBC TAMAGAWA_EEPROM_SKIP_CH0?, TAMAGAWA_ENABLE_CHx, 0
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; Check if the current channel is 0
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AND R26.b0, R30.b2, CHANNEL_CHECK_MASK
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; If the current channel is not 0, skip polling the bits 2-4 of R31
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QBNE TAMAGAWA_EEPROM_SKIP_CH0?, R26.b0, 0
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; Monitor the bits 2-4 of R31 to get the Tx FIFO Level
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AND R26.b0,R31.b0,POLLING_MASK
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;Keep waiting till the Tx FIFO level is not at 3 bytes
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QBLT WAITLABEL0?, R26.b0, THREE_BYTES_FIFO_LEVEL
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; Load the offset of the Tx Command
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LDI R26.b0, TAMAGAWA_EEPROM_TX_CMD_0_CH0
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; Load 1 byte of data from TAMAGAWA_EEPROM_TX_CMD to R25.b0
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LBCO &R25.b0, pru_dmem, R26.b0, 1
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;load Tx Fifo
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MOV R30.b0,R25.b0
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JMP TAMAGAWA_EEPROM_LOADED_BYTE4?
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TAMAGAWA_EEPROM_SKIP_CH0?:
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WAITLABEL1?:
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; if channel 1 is not enabled, skip polling the bits 10-12 of R31.
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QBBC TAMAGAWA_EEPROM_SKIP_CH1?, TAMAGAWA_ENABLE_CHx, 1
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; Check if the current channel is 1
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AND R26.b0, R30.b2, CHANNEL_CHECK_MASK
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; If the current channel is not 1, skip polling the bits 10-12 of R31
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QBNE TAMAGAWA_EEPROM_SKIP_CH1?, R26.b0, 1
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; Monitor the bits 10-12 of R31 to get the Tx FIFO Level
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AND R26.b0,R31.b1,POLLING_MASK
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;Keep waiting till the Tx FIFO level is not at 3 bytes
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QBLT WAITLABEL1?, R26.b0, THREE_BYTES_FIFO_LEVEL
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; Load the offset of the Tx Command
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LDI R26.b0, TAMAGAWA_EEPROM_TX_CMD_0_CH1
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; Load 1 byte of data from TAMAGAWA_EEPROM_TX_CMD to R25.b0
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LBCO &R25.b0, pru_dmem, R26.b0, 1
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;load Tx Fifo
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MOV R30.b0,R25.b0
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JMP TAMAGAWA_EEPROM_LOADED_BYTE4?
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TAMAGAWA_EEPROM_SKIP_CH1?:
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WAITLABEL2?:
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; if channel 2 is not enabled, skip polling the bits 18-20 of R31.
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QBBC TAMAGAWA_EEPROM_SKIP_CH2?, TAMAGAWA_ENABLE_CHx, 2
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; Check if the current channel is 1
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AND R26.b0, R30.b2, CHANNEL_CHECK_MASK
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; If the current channel is not 1, skip polling the bits 18-20 of R31
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QBNE TAMAGAWA_EEPROM_SKIP_CH2?, R26.b0, 2
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; Monitor the bits 18-20 of R31 to get the Tx FIFO Level
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AND R26.b0,R31.b2,POLLING_MASK
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;Keep waiting till the Tx FIFO level is not at 3 bytes
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QBLT WAITLABEL2?, R26.b0, THREE_BYTES_FIFO_LEVEL
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; Load the offset of the Tx Command
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LDI R26.b0, TAMAGAWA_EEPROM_TX_CMD_0_CH2
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; Load 1 byte of data from TAMAGAWA_EEPROM_TX_CMD to R25.b0
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LBCO &R25.b0, pru_dmem, R26.b0, 1
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;load Tx Fifo
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MOV R30.b0,R25.b0
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JMP TAMAGAWA_EEPROM_LOADED_BYTE4?
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TAMAGAWA_EEPROM_SKIP_CH2?:
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TAMAGAWA_EEPROM_LOADED_BYTE4?:
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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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TAMAGAWA_EEPROM_CONTINUE_MULTI_CH?:
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.endif
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.endm
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.endif
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