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motor-control-sdk/examples/position_sense/hdsl_diagnostic/hdsl_diagnostic.c
Dhaval Khandla 54303c850e am64x/am243x: hdsl: Add APIs for long message read and write 
- Also update the HDSL_write_pc_buffer API
- Update the SDK example to use updated APIs
- Set bit 7 in PC_ADD_H and PC_OFF_H in firmware for long messages

Fixes: PINDSW-7032

Signed-off-by: Dhaval Khandla <dhavaljk@ti.com>
2023-11-09 10:05:52 +05:30

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/*
* Copyright (C) 2021-2023 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.
*/
/* ========================================================================== */
/* Include Files */
/* ========================================================================== */
#include <drivers/hw_include/hw_types.h>
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <stdbool.h>
#include <kernel/dpl/HwiP.h>
#include <kernel/dpl/CacheP.h>
#include <kernel/dpl/DebugP.h>
#include <kernel/dpl/SemaphoreP.h>
#include <kernel/dpl/ClockP.h>
#include <drivers/pruicss.h>
#include <drivers/udma.h>
#include "ti_drivers_config.h"
#include "ti_drivers_open_close.h"
#include "ti_board_open_close.h"
#include "hdsl_diagnostic.h"
#include <position_sense/hdsl/include/hdsl_drv.h>
#include <position_sense/hdsl/include/pruss_intc_mapping.h>
#if (CONFIG_PRU_ICSS0_CORE_CLK_FREQ_HZ==225000000)
#include <position_sense/hdsl/firmware/hdsl_master_icssg_freerun_225_mhz_bin.h>
#include <position_sense/hdsl/firmware/hdsl_master_icssg_sync_225_mhz_bin.h>
/* Divide factor for normal clock (default value for 225 MHz=23) */
#define DIV_FACTOR_NORMAL 23
/* Divide factor for oversampled clock (default value for 225 MHz=2) */
#define DIV_FACTOR_OVERSAMPLED 2
#endif
#if (CONFIG_PRU_ICSS0_CORE_CLK_FREQ_HZ==300000000)
#include <position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_bin.h>
#include <position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_bin.h>
#include <position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch0_sync_mode_bin.h>
#include <position_sense/hdsl/firmware/hdsl_master_icssg_multichannel_ch1_sync_mode_bin.h>
/* ========================================================================== */
/* Macros & Typedefs */
/* ========================================================================== */
#if (CONFIG_HDSL0_CHANNEL0 + CONFIG_HDSL0_CHANNEL1 > 1)
#define HDSL_MULTI_CHANNEL
#endif
/* Divide factor for normal clock (default value for 300 MHz=31) */
#define DIV_FACTOR_NORMAL 31
/* Divide factor for oversampled clock (default value for 300 MHz=3) */
#define DIV_FACTOR_OVERSAMPLED 3
#endif
#ifdef HDSL_AM64xE1_TRANSCEIVER
#include <board/ioexp/ioexp_tca6424.h>
#endif
#define PRUICSS_PRUx PRUICSS_PRU1
/* Oversample rate 8*/
#define OVERSAMPLE_RATE 7
#define HDSL_EN (0x1 << 26)
/* OCP as clock, div 32 */
#define HDSL_TX_CFG (0x10 | (DIV_FACTOR_NORMAL << 16))
/* OCP as clock, div 4, 8x OSR */
#define HDSL_RX_CFG (0x10 | (DIV_FACTOR_OVERSAMPLED << 16) | OVERSAMPLE_RATE | 0x08)
#define CTR_EN (1 << 3)
#define MAX_WAIT 20000
/*Timeout in micro-seconds for short message read/write*/
#define SHORT_MSG_TIMEOUT (1000)
/*Timeout in micro-seconds for long message read/write*/
#define LONG_MSG_TIMEOUT (200000)
/*Register Addresses for Short Messages (Parameter Channel)*/
#define ENCODER_STATUS0_REG_ADDRESS (0x40)
#define ENCODER_RSSI_REG_ADDRESS (0x7C)
#define ENCODER_PING_REG_ADDRESS (0x7F)
#if !defined(HDSL_MULTI_CHANNEL) && defined(_DEBUG_)
/* Memory Trace is triggered for each H-Frame. SYS_EVENT_21 is triggered for each
H-Frame from PRU. SYS_EVENT_21 is mapped to PRU_ICSSG0_PR1_HOST_INTR_PEND_3 of R5F
in INTC Mapping. */
/*Event number for SYS_EVENT_21 (pr1_pru_mst_intr<5>_int_req) */
#define HDSL_MEMORY_TRACE_ICSS_INTC_EVENT_NUM (21U)
/* R5F Interrupt number for Memory Traces */
#define HDSL_MEMORY_TRACE_R5F_IRQ_NUM (CSLR_R5FSS0_CORE0_INTR_PRU_ICSSG0_PR1_HOST_INTR_PEND_3)
#endif
/* ========================================================================== */
/* Function Declarations */
/* ========================================================================== */
#if !defined(HDSL_MULTI_CHANNEL) && defined(_DEBUG_)
void App_udmaEventCb(Udma_EventHandle eventHandle, uint32_t eventType, void *appData);
static void App_udmaTrpdInit(Udma_ChHandle chHandle,
uint8_t *trpdMem,
const void *destBuf,
const void *srcBuf,
uint32_t length);
void udma_copy(uint8_t *srcBuf, uint8_t *destBuf, uint32_t length);
static void HDSL_IsrFxn();
#ifndef HDSL_MULTI_CHANNEL
void traces_into_memory(HDSL_Handle hdslHandle);
#endif
void sync_calculation(HDSL_Handle hdslHandle);
void process_request(HDSL_Handle hdslHandle,int32_t menu);
void hdsl_pruss_init(void);
void hdsl_pruss_init_300m(void);
void hdsl_pruss_load_run_fw_300m(HDSL_Handle hdslHandle);
void hdsl_init(void);
void hdsl_init_300m(void);
void TC_read_pc_short_msg(HDSL_Handle hdslHandle);
void TC_write_pc_short_msg(HDSL_Handle hdslHandle);
static void display_menu(void);
void direct_read_rid0_length4(HDSL_Handle hdslHandle);
void direct_read_rid81_length8(HDSL_Handle hdslHandle);
void direct_read_rid81_length2(HDSL_Handle hdslHandle);
void indirect_write_rid0_length8_offset0(HDSL_Handle hdslHandle);
void indirect_write_rid0_length8(HDSL_Handle hdslHandle);
static int get_menu(void);
#ifdef HDSL_AM64xE1_TRANSCEIVER
static void hdsl_i2c_io_expander(void *args);
#endif
uint32_t read_encoder_resolution(HDSL_Handle hdslHandle);
/* ========================================================================== */
/* Global Variables */
/* ========================================================================== */
HDSL_Handle gHdslHandleCh0;
HDSL_Handle gHdslHandleCh1;
PRUICSS_Handle gPruIcss0Handle;
PRUICSS_IntcInitData gPruss0_intc_initdata = PRU_ICSS0_INTC_INITDATA;
PRUICSS_Handle gPruIcss1Handle;
PRUICSS_IntcInitData gPruss1_intc_initdata = PRU_ICSS1_INTC_INITDATA;
static char gUart_buffer[256];
static void *gPru_cfg;
void *gPru_dramx;
void *gPru_dramx_0;
void *gPru_dramx_1;
int32_t get_pos=1;
uint32_t gMulti_turn, gRes;
uint64_t gMask;
uint8_t gPc_data;
uint8_t gPc_addrh, gPc_addrl, gPc_offh, gPc_offl, gPc_buf0, gPc_buf1, gPc_buf2, gPc_buf3, gPc_buf4, gPc_buf5, gPc_buf6, gPc_buf7;
#ifdef HDSL_AM64xE1_TRANSCEIVER
static TCA6424_Config gTCA6424_Config;
#endif
#if !defined(HDSL_MULTI_CHANNEL) && defined(_DEBUG_)
Udma_ChHandle chHandle;
/* To store user input to start memory copy*/
volatile uint8_t start_copy;
/* To store user input number of count of memory copy*/
uint16_t trace_count;
/* To save log h-frame count during memory copy*/
uint32_t h_frame_count_arr[NUM_RESOURCES];
/* Location for copying HDSL Interface structure */
HDSL_Interface gHdslInterfaceTrace[NUM_RESOURCES] __attribute__((aligned(128), section(".hdslInterface_mem")));
HwiP_Object gPRUHwiObject;
/* UDMA TRPD Memory */
uint8_t gUdmaTestTrpdMem[UDMA_TEST_TRPD_SIZE] __attribute__((aligned(UDMA_CACHELINE_ALIGNMENT)));
#endif
/* ========================================================================== */
/* Function Definitions */
/* ========================================================================== */
static void App_udmaTrpdInit(Udma_ChHandle chHandle,
uint8_t *trpdMem,
const void *destBuf,
const void *srcBuf,
uint32_t length)
{
CSL_UdmapTR15 *pTr;
uint32_t cqRingNum = Udma_chGetCqRingNum(chHandle);
static uint32_t initDone = 0;
if(initDone == 0)
{
/* Make TRPD with TR15 TR type */
UdmaUtils_makeTrpdTr15(trpdMem, 1U, cqRingNum);
/* Setup TR */
pTr = UdmaUtils_getTrpdTr15Pointer(trpdMem, 0U);
pTr->flags = CSL_FMK(UDMAP_TR_FLAGS_TYPE, CSL_UDMAP_TR_FLAGS_TYPE_4D_BLOCK_MOVE_REPACKING_INDIRECTION);
pTr->flags |= CSL_FMK(UDMAP_TR_FLAGS_STATIC, 0U);
pTr->flags |= CSL_FMK(UDMAP_TR_FLAGS_EOL, CSL_UDMAP_TR_FLAGS_EOL_MATCH_SOL_EOL);
pTr->flags |= CSL_FMK(UDMAP_TR_FLAGS_EVENT_SIZE, CSL_UDMAP_TR_FLAGS_EVENT_SIZE_COMPLETION);
pTr->flags |= CSL_FMK(UDMAP_TR_FLAGS_TRIGGER0, CSL_UDMAP_TR_FLAGS_TRIGGER_NONE);
pTr->flags |= CSL_FMK(UDMAP_TR_FLAGS_TRIGGER0_TYPE, CSL_UDMAP_TR_FLAGS_TRIGGER_TYPE_ALL);
pTr->flags |= CSL_FMK(UDMAP_TR_FLAGS_TRIGGER1, CSL_UDMAP_TR_FLAGS_TRIGGER_NONE);
pTr->flags |= CSL_FMK(UDMAP_TR_FLAGS_TRIGGER1_TYPE, CSL_UDMAP_TR_FLAGS_TRIGGER_TYPE_ALL);
pTr->flags |= CSL_FMK(UDMAP_TR_FLAGS_CMD_ID, 0x25U); /* This will come back in TR response */
pTr->flags |= CSL_FMK(UDMAP_TR_FLAGS_SA_INDIRECT, 0U);
pTr->flags |= CSL_FMK(UDMAP_TR_FLAGS_DA_INDIRECT, 0U);
pTr->flags |= CSL_FMK(UDMAP_TR_FLAGS_EOP, 1U);
pTr->icnt0 = length;
pTr->icnt1 = 1U;
pTr->icnt2 = 1U;
pTr->icnt3 = 1U;
pTr->dim1 = pTr->icnt0;
pTr->dim2 = (pTr->icnt0 * pTr->icnt1);
pTr->dim3 = (pTr->icnt0 * pTr->icnt1 * pTr->icnt2);
pTr->addr = (uint64_t) Udma_defaultVirtToPhyFxn(srcBuf, 0U, NULL);
pTr->fmtflags = 0x00000000U; /* Linear addressing, 1 byte per elem */
pTr->dicnt0 = length;
pTr->dicnt1 = 1U;
pTr->dicnt2 = 1U;
pTr->dicnt3 = 1U;
pTr->ddim1 = pTr->dicnt0;
pTr->ddim2 = (pTr->dicnt0 * pTr->dicnt1);
pTr->ddim3 = (pTr->dicnt0 * pTr->dicnt1 * pTr->dicnt2);
pTr->daddr = (uint64_t) Udma_defaultVirtToPhyFxn(destBuf, 0U, NULL);
/* Perform cache writeback */
CacheP_wb(trpdMem, UDMA_TEST_TRPD_SIZE, CacheP_TYPE_ALLD);
initDone = 1;
}
else
{
pTr = UdmaUtils_getTrpdTr15Pointer(trpdMem, 0U);
pTr->daddr = (uint64_t) Udma_defaultVirtToPhyFxn(destBuf, 0U, NULL);
/* Perform cache writeback */
CacheP_wb(trpdMem, UDMA_TEST_TRPD_SIZE, CacheP_TYPE_ALLD);
}
return;
}
void udma_copy(uint8_t *srcBuf, uint8_t *destBuf, uint32_t length)
{
int32_t retVal = UDMA_SOK;
uint64_t pDesc;
uint32_t trRespStatus;
uint8_t *trpdMem = &gUdmaTestTrpdMem[0U];
uint64_t trpdMemPhy = (uint64_t) Udma_defaultVirtToPhyFxn(trpdMem, 0U, NULL);
/* Init TR packet descriptor */
App_udmaTrpdInit(chHandle, trpdMem, destBuf, srcBuf, length);
/* Submit TRPD to channel */
retVal = Udma_ringQueueRaw(Udma_chGetFqRingHandle(chHandle), trpdMemPhy);
DebugP_assert(UDMA_SOK == retVal);
/* Wait for return descriptor in completion ring - this marks transfer completion */
while(1)
{
retVal = Udma_ringDequeueRaw(Udma_chGetCqRingHandle(chHandle), &pDesc);
if(UDMA_SOK == retVal)
{
/* Check TR response status */
CacheP_inv(trpdMem, UDMA_TEST_TRPD_SIZE, CacheP_TYPE_ALLD);
trRespStatus = UdmaUtils_getTrpdTr15Response(trpdMem, 1U, 0U);
DebugP_assert(CSL_UDMAP_TR_RESPONSE_STATUS_COMPLETE == trRespStatus);
break;
}
}
/* Validate data in destination memory */
CacheP_inv(destBuf, length, CacheP_TYPE_ALLD);
}
static void HDSL_IsrFxn()
{
static uint64_t h_frames_count = 0;
static uint32_t temp = 0;
uint8_t *srcBuf;
uint8_t *destBuf;
uint32_t length;
srcBuf = (uint8_t*)HDSL_get_src_loc(gHdslHandleCh0);
length = HDSL_get_length(gHdslHandleCh0);
PRUICSS_clearEvent(gPruIcss0Handle, HDSL_MEMORY_TRACE_ICSS_INTC_EVENT_NUM);
/* No of h-frames count */
h_frames_count++;
if((start_copy == 1) && (temp < trace_count))
{
/* Init buffers and TR packet descriptor */
destBuf = (uint8_t*)&gHdslInterfaceTrace[temp];
/* start UDMA copying data from src to dest */
udma_copy(srcBuf,destBuf,length);
h_frame_count_arr[temp] = h_frames_count;
temp++;
}
else
{
start_copy = 0;
temp = 0;
}
}
void traces_into_memory(HDSL_Handle hdslHandle)
{
int32_t i= 0;
uint32_t length;
length = HDSL_get_length(hdslHandle);
DebugP_log("\r\n sizeof(hdslInterface)_count = %u", length);
DebugP_log("\r\n Start address of memory trace location = %x", &gHdslInterfaceTrace[0]);
DebugP_log("\r\n End address of memory trace location = %x", &gHdslInterfaceTrace[NUM_RESOURCES-1]);
DebugP_log("\r\n No of HDSL-Interface-Register-Structure to copy = %u", trace_count);
start_copy = 1;
while(start_copy)
{
ClockP_sleep(1);
}
for(i=0; i< trace_count; i++)
{
DebugP_log("\r\n %u h_frame_count = %u ",i, h_frame_count_arr[i]);
}
}
#endif
void sync_calculation(HDSL_Handle hdslHandle)
{
uint8_t ES;
uint16_t wait_before_start;
uint32_t counter, period, index;
volatile uint32_t cap6_rise0, cap6_rise1, cap6_fall0, cap6_fall1;
uint8_t EXTRA_EDGE_ARR[8] = {0x00 ,0x80, 0xC0, 0xE0, 0xF0, 0xF8, 0xFC, 0xFE};
#if (CONFIG_PRU_ICSS0_CORE_CLK_FREQ_HZ==225000000)
uint32_t minm_bits = 112, cycle_per_bit = 24, max_stuffing = 26, stuffing_size = 6, cycle_per_overclock_bit =3, minm_extra_size = 4, sync_param_mem_start = 0xDC;
uint32_t cycles_left, additional_bits, minm_cycles, time_gRest, extra_edge, extra_size, num_of_stuffing, extra_size_remainder, stuffing_remainder, bottom_up_cycles;
#endif
#if (CONFIG_PRU_ICSS0_CORE_CLK_FREQ_HZ==300000000)
uint32_t minm_bits = 112, cycle_per_bit = 32, max_stuffing = 26, stuffing_size = 6, cycle_per_overclock_bit =4, minm_extra_size = 4, sync_param_mem_start = 0xDC;
uint32_t cycles_left, additional_bits, minm_cycles, time_gRest, extra_edge, extra_size, num_of_stuffing, extra_size_remainder, stuffing_remainder, bottom_up_cycles;
#endif
/*measure of SYNC period starts*/
ES = HDSL_get_sync_ctrl(hdslHandle);
volatile uint32_t* carp6_rise_addr = (uint32_t*)(CSL_PRU_ICSSG0_DRAM0_SLV_RAM_BASE + CSL_ICSS_G_PR1_IEP1_SLV_REGS_BASE + CSL_ICSS_G_PR1_IEP0_SLV_CAPR6_REG0);
volatile uint32_t* carp6_fall_addr = (uint32_t*)(CSL_PRU_ICSSG0_DRAM0_SLV_RAM_BASE + CSL_ICSS_G_PR1_IEP1_SLV_REGS_BASE + CSL_ICSS_G_PR1_IEP0_SLV_CAPF6_REG0);
cap6_rise0 = *(carp6_rise_addr);
cap6_fall0 = *(carp6_fall_addr);
cap6_rise1 = cap6_rise0;
cap6_fall1 = cap6_fall0;
counter = 0;
for(index = 0 ; index <2 ; index++)
{
cap6_rise0 = cap6_rise1;
cap6_fall0 = cap6_fall1;
while((cap6_fall0 == cap6_fall1) || (cap6_rise0 == cap6_rise1))
{
cap6_rise1 = *(carp6_rise_addr);
cap6_fall1 = *(carp6_fall_addr);
counter++;
if(counter > MAX_WAIT)
{
DebugP_log("\r\n SYNC PULSE NOT FOUND, WAITING FOR SYNC PULSE");
counter = 0;
}
}
}
period = cap6_rise1 - cap6_rise0;
/*measure of SYNC period ends*/
minm_cycles = minm_bits * ES * cycle_per_bit;
cycles_left = period - minm_cycles;
time_gRest = (cycles_left % cycle_per_bit) / cycle_per_overclock_bit;
additional_bits = cycles_left / cycle_per_bit;
extra_edge = EXTRA_EDGE_ARR[time_gRest];
num_of_stuffing = additional_bits / stuffing_size;
extra_size = additional_bits % stuffing_size;
extra_size = extra_size + minm_extra_size * ES;
if(num_of_stuffing > ES * max_stuffing)
{
extra_size = extra_size + (((num_of_stuffing) - (max_stuffing * ES)) * stuffing_size);
num_of_stuffing = ES * max_stuffing;
}
extra_size_remainder = extra_size % ES;
extra_size = extra_size / ES;
stuffing_remainder = num_of_stuffing % ES;
num_of_stuffing = num_of_stuffing / ES;
bottom_up_cycles = (minm_cycles - minm_extra_size * ES * cycle_per_bit);
bottom_up_cycles = bottom_up_cycles + (stuffing_size * (ES * num_of_stuffing + stuffing_remainder))*cycle_per_bit;
bottom_up_cycles = bottom_up_cycles + ((ES * extra_size + extra_size_remainder) * cycle_per_bit ) + time_gRest * cycle_per_overclock_bit;
wait_before_start = (84 * cycle_per_bit)+((8 - time_gRest)*cycle_per_overclock_bit)+(num_of_stuffing * stuffing_size * cycle_per_bit);
if(stuffing_remainder != 0)
{
wait_before_start = wait_before_start+(stuffing_size * cycle_per_bit);
}
wait_before_start = wait_before_start - 51;
if(extra_size < 4 || extra_size > 9)
{
DebugP_log("\r\n ERROR: ES or period selected is Invalid ");
}
DebugP_log("\r\n ********************************************************************");
DebugP_log("\r\n SYNC MODE: period = %d", period);
DebugP_log("\r\n SYNC MODE: ES = %d", ES);
DebugP_log("\r\n SYNC MODE: counter = %d", counter);
DebugP_log("\r\n SYNC MODE: wait_before_start = %d", wait_before_start);
DebugP_log("\r\n SYNC MODE: bottom_up_cycles = %d", bottom_up_cycles);
DebugP_log("\r\n SYNC MODE: extra_size = %d", extra_size);
DebugP_log("\r\n SYNC MODE: temp_gRest = %d", time_gRest);
DebugP_log("\r\n SYNC MODE: extra_edge = %d", extra_edge);
DebugP_log("\r\n SYNC MODE: num_of_stuffing = %d", num_of_stuffing);
DebugP_log("\r\n SYNC MODE: extra_size_remainder = %d", extra_size_remainder);
DebugP_log("\r\n SYNC MODE: stuffing_remainder = %d", stuffing_remainder);
DebugP_log("\r\n ********************************************************************");
#if (CONFIG_PRU_ICSS0_CORE_CLK_FREQ_HZ==225000000)
sync_param_mem_start =sync_param_mem_start + (uint32_t)gPru_dramx;
#endif
#if (CONFIG_PRU_ICSS0_CORE_CLK_FREQ_HZ==300000000)
sync_param_mem_start =sync_param_mem_start + (uint32_t)hdslHandle->baseMemAddr;
#endif
HWREGB(sync_param_mem_start) = extra_size;
sync_param_mem_start = sync_param_mem_start + 1;
HWREGB(sync_param_mem_start) = num_of_stuffing;
sync_param_mem_start = sync_param_mem_start + 1;
HWREGB(sync_param_mem_start) = extra_edge;
sync_param_mem_start = sync_param_mem_start + 1;
HWREGB(sync_param_mem_start) = time_gRest;
sync_param_mem_start = sync_param_mem_start + 1;
HWREGB(sync_param_mem_start) = extra_size_remainder;
sync_param_mem_start = sync_param_mem_start + 1;
HWREGB(sync_param_mem_start) = stuffing_remainder;
sync_param_mem_start = sync_param_mem_start + 1;
HWREGH(sync_param_mem_start) = wait_before_start;
}
void process_request(HDSL_Handle hdslHandle,int32_t menu)
{
uint64_t ret_status=0;
uint64_t val0, val1, val2;
uint8_t ureg, ureg1;
float pos0, pos1, pos2;
uint64_t turn0, turn1, turn2;
switch(menu)
{
case MENU_SAFE_POSITION:
val0 = HDSL_get_pos(hdslHandle,0);
if(val0 != -1)
{
DebugP_log("\r\n Fast Position read successfully");
}
val1 = HDSL_get_pos(hdslHandle,1);
if(val1 != -1)
{
DebugP_log("\r\n Safe Position 1 read successfully");
}
val2 = HDSL_get_pos(hdslHandle,2);
if(val2 != -1)
{
DebugP_log("\r\n Safe Position 2 read successfully");
}
pos0 = (float)(val0 & hdslHandle->mask) / (float)(hdslHandle->mask + 1) * (float)360;
pos1 = (float)(val1 & hdslHandle->mask) / (float)(hdslHandle->mask + 1) * (float)360;
pos2 = (float)(val2 & hdslHandle->mask) / (float)(hdslHandle->mask + 1) * (float)360;
ureg = HDSL_get_rssi(hdslHandle);
ureg1 = HDSL_get_qm(hdslHandle);
if (hdslHandle->multi_turn)
{
turn0 = val0 & ~hdslHandle->mask;
turn0 >>= hdslHandle->res;
turn1 = val1 & ~hdslHandle->mask;
turn1 >>= hdslHandle->res;
turn2 = val2 & ~hdslHandle->mask;
turn2 >>= hdslHandle->res;
DebugP_log("\r\n Angle: %10.6f\tTurn: %llu\t", pos0, turn0);
DebugP_log("\r\n SafePos1: %10.6f\tTurn: %llu", pos1, turn1);
DebugP_log("\r\n SafePos2: %10.6f\tTurn: %llu", pos2, turn2);
DebugP_log("\r\n RSSI: %u\t QM: %u", ureg, ureg1 );
}
else
{
DebugP_log("\r\n Angle: %10.6f", pos0);
}
break;
case MENU_QUALITY_MONITORING:
ret_status= HDSL_get_qm(hdslHandle);
if(ret_status!=-1)
{
DebugP_log("\r\n Quality monitoring value: %u", ret_status);
}
break;
case MENU_EVENTS:
ret_status=HDSL_get_events(hdslHandle);
if(ret_status!=-1)
{
DebugP_log("\r\n EVENT_H and EVENT_L: 0x%x", ret_status);
}
ret_status=HDSL_get_safe_events(hdslHandle);
if(ret_status!=-1)
{
DebugP_log("\r\n EVENT_S: 0x%x", ret_status);
}
ret_status=HDSL_get_online_status_d(hdslHandle);
if(ret_status!=-1)
{
DebugP_log("\r\n ONLINE_STATUS_D: 0x%x", ret_status);
}
ret_status=HDSL_get_online_status_1(hdslHandle);
if(ret_status!=-1)
{
DebugP_log("\r\n ONLINE_STATUS_1: 0x%x", ret_status);
}
ret_status=HDSL_get_online_status_2(hdslHandle);
if(ret_status!=-1)
{
DebugP_log("\r\n ONLINE_STATUS_2: 0x%x", ret_status);
}
break;
case MENU_SUMMARY:
ret_status= HDSL_get_sum(hdslHandle);
if(ret_status!=-1)
{
DebugP_log("\r\n Summarized slave status: 0x%x", ret_status);
}
break;
case MENU_ACC_ERR_CNT:
ret_status= HDSL_get_acc_err_cnt(hdslHandle);
if(ret_status!=-1)
{
DebugP_log("\r\n Acceleration error counter: %u", ret_status);
}
break;
case MENU_RSSI:
ret_status=HDSL_get_rssi(hdslHandle);
if(ret_status!=-1)
{
DebugP_log("\r\n RSSI: %u", ret_status);
}
break;
#if !defined(HDSL_MULTI_CHANNEL) && defined(_DEBUG_)
case MENU_HDSL_REG_INTO_MEMORY:
traces_into_memory(hdslHandle);
break;
#endif
case MENU_PC_SHORT_MSG_WRITE:
TC_write_pc_short_msg(hdslHandle);
break;
case MENU_PC_SHORT_MSG_READ:
TC_read_pc_short_msg(hdslHandle);
break;
case MENU_DIRECT_READ_RID0_LENGTH4:
direct_read_rid0_length4(hdslHandle);
break;
case MENU_DIRECT_READ_RID81_LENGTH8:
direct_read_rid81_length8(hdslHandle);
break;
case MENU_DIRECT_READ_RID81_LENGTH2:
direct_read_rid81_length2(hdslHandle);
break;
case MENU_INDIRECT_WRITE_RID0_LENGTH8:
indirect_write_rid0_length8(hdslHandle);
break;
case MENU_INDIRECT_WRITE_RID0_LENGTH8_OFFSET0:
indirect_write_rid0_length8_offset0(hdslHandle);
break;
default:
DebugP_log( "\r\n ERROR: invalid request");
break;
}
}
void hdsl_pruss_init(void)
{
PRUICSS_disableCore(gPruIcss0Handle, gHdslHandleCh0->icssCore);
/* clear ICSS0 PRU data RAM */
gPru_dramx = (void *)((((PRUICSS_HwAttrs *)(gPruIcss0Handle->hwAttrs))->baseAddr) + PRUICSS_DATARAM(PRUICSS_PRUx));
memset(gPru_dramx, 0, (4 * 1024));
gPru_cfg = (void *)(((PRUICSS_HwAttrs *)(gPruIcss0Handle->hwAttrs))->cfgRegBase);
HW_WR_REG32(gPru_cfg + CSL_ICSSCFG_GPCFG1, HDSL_EN);
HW_WR_REG32(gPru_cfg + CSL_ICSSCFG_EDPRU1TXCFGREGISTER, HDSL_TX_CFG);
HW_WR_REG32(gPru_cfg + CSL_ICSSCFG_EDPRU1RXCFGREGISTER, HDSL_RX_CFG);
PRUICSS_intcInit(gPruIcss0Handle, &gPruss0_intc_initdata);
PRUICSS_intcInit(gPruIcss1Handle, &gPruss1_intc_initdata);
/* configure C28 to PRU_ICSS_CTRL and C29 to EDMA + 0x1000 */
/*6.4.14.1.1 ICSSG_PRU_CONTROL RegisterPRU_ICSSG0_PR1_PDSP0_IRAM 00B0 2400h*/
PRUICSS_setConstantTblEntry(gPruIcss0Handle, PRUICSS_PRUx, PRUICSS_CONST_TBL_ENTRY_C28, 0x0240);
/*IEP1 base */
PRUICSS_setConstantTblEntry(gPruIcss0Handle, PRUICSS_PRUx, PRUICSS_CONST_TBL_ENTRY_C29, 0x0002F000);
/* enable cycle counter */
HW_WR_REG32((void *)((((PRUICSS_HwAttrs *)(gPruIcss0Handle->hwAttrs))->baseAddr) + CSL_ICSS_G_PR1_PDSP1_IRAM_REGS_BASE), CTR_EN);
}
void hdsl_pruss_init_300m(void)
{
PRUICSS_disableCore(gPruIcss0Handle, gHdslHandleCh0->icssCore);
PRUICSS_disableCore(gPruIcss0Handle, gHdslHandleCh1->icssCore);
/* Clear PRU_DRAM0 and PRU_DRAM1 memory */
gPru_dramx_0 = (void *)((((PRUICSS_HwAttrs *)(gPruIcss0Handle->hwAttrs))->baseAddr) + PRUICSS_DATARAM(PRUICSS_RTU_PRU1));
gPru_dramx_1 = (void *)((((PRUICSS_HwAttrs *)(gPruIcss0Handle->hwAttrs))->baseAddr) + PRUICSS_DATARAM(PRUICSS_PRU1));
memset(gPru_dramx_0, 0, (4 * 1024));
memset(gPru_dramx_1, 0, (4 * 1024));
memset((void *) CSL_PRU_ICSSG0_DRAM0_SLV_RAM_BASE, 0, (16 * 1024));
memset((void *) CSL_PRU_ICSSG0_DRAM1_SLV_RAM_BASE, 0, (16 * 1024));
gPru_cfg = (void *)(((PRUICSS_HwAttrs *)(gPruIcss0Handle->hwAttrs))->cfgRegBase);
HW_WR_REG32(gPru_cfg + CSL_ICSSCFG_GPCFG1, HDSL_EN);
HW_WR_REG32(gPru_cfg + CSL_ICSSCFG_EDPRU1TXCFGREGISTER, HDSL_TX_CFG);
HW_WR_REG32(gPru_cfg + CSL_ICSSCFG_EDPRU1RXCFGREGISTER, HDSL_RX_CFG);
PRUICSS_intcInit(gPruIcss0Handle, &gPruss0_intc_initdata);
/* configure C28 to PRU_ICSS_CTRL and C29 to EDMA + 0x1000 */
/*6.4.14.1.1 ICSSG_PRU_CONTROL RegisterPRU_ICSSG0_PR1_PDSP0_IRAM 00B0 2400h*/
HWREG(CSL_PRU_ICSSG0_DRAM0_SLV_RAM_BASE + CSL_ICSS_G_PR1_RTU1_PR1_RTU1_IRAM_REGS_BASE + CSL_ICSS_G_PR1_PDSP0_IRAM_CONSTANT_TABLE_PROG_PTR_0) = 0xF0000238; // Address = 0x30023828
PRUICSS_setConstantTblEntry(gPruIcss0Handle, PRUICSS_PRU1, PRUICSS_CONST_TBL_ENTRY_C28, 0x0240);
HWREG(CSL_PRU_ICSSG0_DRAM0_SLV_RAM_BASE + CSL_ICSS_G_PR1_PDSP_TX1_IRAM_REGS_BASE + CSL_ICSS_G_PR1_PDSP0_IRAM_CONSTANT_TABLE_PROG_PTR_0) = 0xF0000258; // Address = 0x30025828
/*IEP1 base */
PRUICSS_setConstantTblEntry(gPruIcss0Handle, PRUICSS_PRU1, PRUICSS_CONST_TBL_ENTRY_C29, 0x0002F000);
HWREG(CSL_PRU_ICSSG0_DRAM0_SLV_RAM_BASE + CSL_ICSS_G_PR1_RTU1_PR1_RTU1_IRAM_REGS_BASE + CSL_ICSS_G_PR1_PDSP0_IRAM_CONSTANT_TABLE_BLOCK_INDEX_0) = 0x0000; // RTU Core
PRUICSS_setConstantTblEntry(gPruIcss0Handle, PRUICSS_PRU1, PRUICSS_CONST_TBL_ENTRY_C24, 0x0007); // PRU Core
HWREG(CSL_PRU_ICSSG0_DRAM0_SLV_RAM_BASE + CSL_ICSS_G_PR1_PDSP_TX1_IRAM_REGS_BASE + CSL_ICSS_G_PR1_PDSP0_IRAM_CONSTANT_TABLE_BLOCK_INDEX_0) = 0x000E; // TX_PRU Core
/* enable cycle counter */
HW_WR_REG32((void *)((((PRUICSS_HwAttrs *)(gPruIcss0Handle->hwAttrs))->baseAddr) + CSL_ICSS_G_PR1_RTU1_PR1_RTU1_IRAM_REGS_BASE), CTR_EN); // RTU_PRU Core
HW_WR_REG32((void *)((((PRUICSS_HwAttrs *)(gPruIcss0Handle->hwAttrs))->baseAddr) + CSL_ICSS_G_PR1_PDSP1_IRAM_REGS_BASE), CTR_EN);
HW_WR_REG32((void *)((((PRUICSS_HwAttrs *)(gPruIcss0Handle->hwAttrs))->baseAddr) + CSL_ICSS_G_PR1_PDSP_TX1_IRAM_REGS_BASE), CTR_EN); // TX_PRU Core
}
void hdsl_pruss_load_run_fw(HDSL_Handle hdslHandle)
{
#if (CONFIG_PRU_ICSS0_CORE_CLK_FREQ_HZ==225000000)
PRUICSS_disableCore(gPruIcss0Handle, PRUICSS_PRUx);
if(HDSL_get_sync_ctrl(hdslHandle) == 0)
{
/*free run*/
PRUICSS_writeMemory(gPruIcss0Handle, PRUICSS_IRAM_PRU(PRUICSS_PRUx),
0, (uint32_t *) Hiperface_DSL2_0_RTU_0,
sizeof(Hiperface_DSL2_0_RTU_0));
}
else
{
/*sync_mode*/
PRUICSS_writeMemory(gPruIcss0Handle, PRUICSS_IRAM_PRU(PRUICSS_PRUx),
0, (uint32_t *) Hiperface_DSL_SYNC2_0_RTU_0,
sizeof(Hiperface_DSL_SYNC2_0_RTU_0));
}
PRUICSS_resetCore(gPruIcss0Handle, PRUICSS_PRUx);
/*Run firmware*/
PRUICSS_enableCore(gPruIcss0Handle, PRUICSS_PRUx);
#endif
}
void hdsl_pruss_load_run_fw_300m(HDSL_Handle hdslHandle)
{
#if (CONFIG_PRU_ICSS0_CORE_CLK_FREQ_HZ==300000000)
PRUICSS_disableCore(gPruIcss0Handle, PRUICSS_RTU_PRU1); // ch0
PRUICSS_disableCore(gPruIcss0Handle, PRUICSS_PRU1); // ch1
/* Enable Load Share mode */
gPru_cfg = (void *)(((PRUICSS_HwAttrs *)(gPruIcss0Handle->hwAttrs))->cfgRegBase);
hdsl_enable_load_share_mode(gPru_cfg,PRUICSS_PRUx);
if(HDSL_get_sync_ctrl(hdslHandle) == 0)
{
/*free run*/
PRUICSS_writeMemory(gPruIcss0Handle, PRUICSS_IRAM_RTU_PRU(1),
0, (uint32_t *) Hiperface_DSL2_0_RTU_0,
sizeof(Hiperface_DSL2_0_RTU_0));
PRUICSS_writeMemory(gPruIcss0Handle, PRUICSS_IRAM_PRU(1),
0, (uint32_t *) Hiperface_DSL2_0_PRU_0,
sizeof(Hiperface_DSL2_0_PRU_0));
}
else
{
/*Sync mode*/
PRUICSS_writeMemory(gPruIcss0Handle, PRUICSS_IRAM_RTU_PRU(1),
0, (uint32_t *) Hiperface_DSL_SYNC2_0_RTU_0,
sizeof(Hiperface_DSL_SYNC2_0_RTU_0));
PRUICSS_writeMemory(gPruIcss0Handle, PRUICSS_IRAM_PRU(1),
0, (uint32_t *) Hiperface_DSL_SYNC2_0_PRU_0,
sizeof(Hiperface_DSL_SYNC2_0_PRU_0));
}
PRUICSS_resetCore(gPruIcss0Handle, PRUICSS_RTU_PRU1);
PRUICSS_resetCore(gPruIcss0Handle, PRUICSS_PRU1);
/*Run firmware*/
PRUICSS_enableCore(gPruIcss0Handle, PRUICSS_RTU_PRU1);
PRUICSS_enableCore(gPruIcss0Handle, PRUICSS_PRU1);
#endif
}
void hdsl_init(void)
{
uint8_t ES;
uint32_t period;
#if !defined(HDSL_MULTI_CHANNEL) && defined(_DEBUG_)
HwiP_Params hwiPrms;
uint32_t intrNum = HDSL_MEMORY_TRACE_R5F_IRQ_NUM;
#endif
hdsl_pruss_init();
#if !defined(HDSL_MULTI_CHANNEL) && defined(_DEBUG_)
/* Register PRU interrupt */
HwiP_Params_init(&hwiPrms);
hwiPrms.intNum = intrNum;
hwiPrms.callback = (void*)&HDSL_IsrFxn;
HwiP_construct(&gPRUHwiObject, &hwiPrms);
#endif
HDSL_iep_init(gHdslHandleCh0);
ClockP_usleep(5000);
if(CONFIG_HDSL0_MODE==0)
{
ES=0;
}
else
{
ES=1;
}
HDSL_set_sync_ctrl(gHdslHandleCh0, ES);
if(ES != 0)
{
DebugP_log("\r\nSYNC MODE\n");
DebugP_log("\r\nEnter period for SYNC PULSE in unit of cycles(1 cycle = 4.44ns):");
DebugP_scanf("%d",&period);
HDSL_enable_sync_signal(ES,period);
HDSL_generate_memory_image(gHdslHandleCh0);
sync_calculation(gHdslHandleCh0);
}
else
{
DebugP_log( "\r\nFREE RUN MODE\n");
HDSL_generate_memory_image(gHdslHandleCh0);
}
}
void hdsl_init_300m(void)
{
uint8_t ES;
uint32_t period;
#if !defined(HDSL_MULTI_CHANNEL) && defined(_DEBUG_)
HwiP_Params hwiPrms;
uint32_t intrNum = HDSL_MEMORY_TRACE_R5F_IRQ_NUM;
#endif
hdsl_pruss_init_300m();
#if !defined(HDSL_MULTI_CHANNEL) && defined(_DEBUG_)
/* Register PRU interrupt */
HwiP_Params_init(&hwiPrms);
hwiPrms.intNum = intrNum;
hwiPrms.callback = (void*)&HDSL_IsrFxn;
HwiP_construct(&gPRUHwiObject, &hwiPrms);
#endif
HDSL_iep_init(gHdslHandleCh0);
ClockP_usleep(5000);
if(CONFIG_HDSL0_MODE==0)
{
ES=0;
}
else
{
ES=1;
}
if (CONFIG_HDSL0_CHANNEL0==1)
{
HDSL_set_sync_ctrl(gHdslHandleCh0, ES);
}
if (CONFIG_HDSL0_CHANNEL1==1)
{
HDSL_set_sync_ctrl(gHdslHandleCh1, ES);
}
if(ES != 0)
{
DebugP_log("\r\nSYNC MODE\n");
DebugP_log("\r\nEnter period for SYNC PULSE in unit of cycles(1 cycle = 3.33ns):");
DebugP_scanf("%d",&period);
HDSL_enable_sync_signal(ES,period);
if (CONFIG_HDSL0_CHANNEL0==1)
{
HDSL_generate_memory_image(gHdslHandleCh0);
sync_calculation(gHdslHandleCh0);
}
if (CONFIG_HDSL0_CHANNEL1==1)
{
HDSL_generate_memory_image(gHdslHandleCh1);
sync_calculation(gHdslHandleCh1);
}
}
else
{
DebugP_log( "\r\nFREE RUN MODE\n");
if (CONFIG_HDSL0_CHANNEL0==1)
{
HDSL_generate_memory_image(gHdslHandleCh0);
}
if (CONFIG_HDSL0_CHANNEL1==1)
{
HDSL_generate_memory_image(gHdslHandleCh1);
}
}
}
void TC_read_pc_short_msg(HDSL_Handle hdslHandle)
{
int32_t status = SystemP_FAILURE;
status = HDSL_read_pc_short_msg(hdslHandle,ENCODER_RSSI_REG_ADDRESS, &gPc_data, SHORT_MSG_TIMEOUT);
if(SystemP_SUCCESS != status)
{
DebugP_log("\r\n FAIL: HDSL_read_pc_short_msg() did not return success");
return;
}
DebugP_log("\r\n Parameter channel short message read : Slave RSSI (address 0x7C) = %x (should be 0x7 which indicates best signal strength)", gPc_data);
status = HDSL_read_pc_short_msg(hdslHandle,ENCODER_STATUS0_REG_ADDRESS, &gPc_data, SHORT_MSG_TIMEOUT);
if(SystemP_SUCCESS != status)
{
DebugP_log("\r\n FAIL: HDSL_read_pc_short_msg() did not return success");
return;
}
DebugP_log("\r\n Parameter channel short message read : Address 0x40 = %x (should be 0x1)", gPc_data);
}
void TC_write_pc_short_msg(HDSL_Handle hdslHandle)
{
int32_t status = SystemP_FAILURE;
DebugP_log("\r\n Parameter channel short message write : 0xab to PING register (address 0x7F)");
status = HDSL_write_pc_short_msg(hdslHandle,ENCODER_PING_REG_ADDRESS, 0xab, SHORT_MSG_TIMEOUT);
if(SystemP_SUCCESS != status)
{
DebugP_log("\r\n FAIL: HDSL_write_pc_short_msg() did not return success");
return;
}
status = HDSL_read_pc_short_msg(hdslHandle,ENCODER_PING_REG_ADDRESS, &gPc_data, SHORT_MSG_TIMEOUT);
if(SystemP_SUCCESS != status)
{
DebugP_log("\r\n FAIL: HDSL_read_pc_short_msg() did not return success");
return;
}
DebugP_log("\r\n Parameter channel short message read : PING register (address 0x7F) = %x (should be 0xab) ", gPc_data);
DebugP_log("\r\n Parameter channel short message write : 0xcd to PING register (address 0x7F)");
status = HDSL_write_pc_short_msg(hdslHandle,ENCODER_PING_REG_ADDRESS, 0xcd, SHORT_MSG_TIMEOUT);
if(SystemP_SUCCESS != status)
{
DebugP_log("\r\n FAIL: HDSL_write_pc_short_msg() did not return success");
return;
}
status = HDSL_read_pc_short_msg(hdslHandle,ENCODER_PING_REG_ADDRESS, &gPc_data, SHORT_MSG_TIMEOUT);
if(SystemP_SUCCESS != status)
{
DebugP_log("\r\n FAIL: HDSL_read_pc_short_msg() did not return success");
return;
}
DebugP_log("\r\n Parameter channel short message read : PING register (address 0x7F) = %x (should be 0xcd) ", gPc_data);
}
static void display_menu(void)
{
DebugP_log("\r\n");
DebugP_log("\r\n |------------------------------------------------------------------------------|");
DebugP_log("\r\n | MENU |");
DebugP_log("\r\n |------------------------------------------------------------------------------|");
DebugP_log("\r\n | %2d : Safe Position |", MENU_SAFE_POSITION);
DebugP_log("\r\n | %2d : Quality Monitoring |", MENU_QUALITY_MONITORING);
DebugP_log("\r\n | %2d : Events |", MENU_EVENTS);
DebugP_log("\r\n | %2d : Summarized Slave Status |", MENU_SUMMARY);
DebugP_log("\r\n | %2d : Acceleration Error Counter |", MENU_ACC_ERR_CNT);
DebugP_log("\r\n | %2d : RSSI |", MENU_RSSI);
DebugP_log("\r\n | %2d : Parameter Channel Short Message Write |", MENU_PC_SHORT_MSG_WRITE);
DebugP_log("\r\n | %2d : Parameter Channel Short Message Read |", MENU_PC_SHORT_MSG_READ);
DebugP_log("\r\n | %2d : Parameter Channel Long Message Read |", MENU_DIRECT_READ_RID0_LENGTH4);
DebugP_log("\r\n | Access on RID 0x0, direct read access with length 4 |");
DebugP_log("\r\n | %2d : Parameter Channel Long Message Read |", MENU_DIRECT_READ_RID81_LENGTH8);
DebugP_log("\r\n | Access on RID 0x81, direct read access with length 8 |");
DebugP_log("\r\n | %2d : Parameter Channel Long Message Read |", MENU_DIRECT_READ_RID81_LENGTH2);
DebugP_log("\r\n | Access on RID 0x81, direct read access with length 2 and offset 3 |");
DebugP_log("\r\n | %2d : Parameter Channel Long Message Write |", MENU_INDIRECT_WRITE_RID0_LENGTH8_OFFSET0);
DebugP_log("\r\n | Access on RID 0x0, indirect write, length 8, with offset 0 |");
DebugP_log("\r\n | %2d : Parameter Channel Long Message Write |", MENU_INDIRECT_WRITE_RID0_LENGTH8);
DebugP_log("\r\n | Access on RID 0x0; indirect write, length 8, without offset value |");
#if !defined(HDSL_MULTI_CHANNEL) && defined(_DEBUG_)
DebugP_log("\r\n | %2d : HDSL registers into Memory |", MENU_HDSL_REG_INTO_MEMORY);
#endif
DebugP_log("\r\n |------------------------------------------------------------------------------|\n");
DebugP_log("\r\n Enter value: ");
}
void direct_read_rid0_length4(HDSL_Handle hdslHandle)
{
int32_t status = SystemP_FAILURE;
DebugP_log("\r\n Parameter channel long message read : RID 0, Length 4");
/* Set the parameter channel buffers to 0xff */
HDSL_write_pc_buffer(hdslHandle, 0, 0xff);
HDSL_write_pc_buffer(hdslHandle, 1, 0xff);
HDSL_write_pc_buffer(hdslHandle, 2, 0xff);
HDSL_write_pc_buffer(hdslHandle, 3, 0xff);
status = HDSL_read_pc_long_msg(hdslHandle, 0, HDSL_LONG_MSG_ADDR_WITHOUT_OFFSET, HDSL_LONG_MSG_ADDR_DIRECT, HDSL_LONG_MSG_LENGTH_4, 0, LONG_MSG_TIMEOUT);
if(SystemP_SUCCESS != status)
{
DebugP_log("\r\n FAIL: HDSL_read_pc_long_msg() did not return success");
return;
}
gPc_buf0 = HDSL_read_pc_buffer(hdslHandle, 0);
if(gPc_buf0 == 'R')
{
gPc_buf1 = HDSL_read_pc_buffer(hdslHandle, 1);
if(gPc_buf1 == 'O')
{
gPc_buf2 = HDSL_read_pc_buffer(hdslHandle, 2);
if(gPc_buf2 == 'O')
{
gPc_buf3 = HDSL_read_pc_buffer(hdslHandle, 3);
if(gPc_buf3 == 'T')
{
DebugP_log("\r\n PASS : Read \"ROOT\"");
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER3 != T (It is %u)", gPc_buf3);
}
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER2 != O (It is %u)", gPc_buf2);
}
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER1 != O (It is %u)", gPc_buf1);
}
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER0 != R (It is %u)", gPc_buf0);
}
}
void direct_read_rid81_length8(HDSL_Handle hdslHandle)
{
int32_t status = SystemP_FAILURE;
DebugP_log("\r\n Parameter channel long message read : RID 0x81, Length 8");
/* Set the parameter channel buffers to 0xff */
HDSL_write_pc_buffer(hdslHandle, 0, 0xff);
HDSL_write_pc_buffer(hdslHandle, 1, 0xff);
HDSL_write_pc_buffer(hdslHandle, 2, 0xff);
HDSL_write_pc_buffer(hdslHandle, 3, 0xff);
HDSL_write_pc_buffer(hdslHandle, 4, 0xff);
HDSL_write_pc_buffer(hdslHandle, 5, 0xff);
HDSL_write_pc_buffer(hdslHandle, 6, 0xff);
HDSL_write_pc_buffer(hdslHandle, 7, 0xff);
status = HDSL_read_pc_long_msg(hdslHandle, 0x81, HDSL_LONG_MSG_ADDR_WITHOUT_OFFSET, HDSL_LONG_MSG_ADDR_DIRECT, HDSL_LONG_MSG_LENGTH_8, 0, LONG_MSG_TIMEOUT);
if(SystemP_SUCCESS != status)
{
DebugP_log("\r\n FAIL: HDSL_read_pc_long_msg() did not return success");
return;
}
gPc_buf0 = HDSL_read_pc_buffer(hdslHandle, 0);
if(gPc_buf0 == 'R')
{
gPc_buf1 = HDSL_read_pc_buffer(hdslHandle, 1);
if(gPc_buf1 == 'E')
{
gPc_buf2 = HDSL_read_pc_buffer(hdslHandle, 2);
if(gPc_buf2 == 'S')
{
gPc_buf3 = HDSL_read_pc_buffer(hdslHandle, 3);
if(gPc_buf3 == 'O')
{
gPc_buf4 = HDSL_read_pc_buffer(hdslHandle, 4);
if(gPc_buf4 == 'L')
{
gPc_buf5 = HDSL_read_pc_buffer(hdslHandle, 5);
if(gPc_buf5 == 'U')
{
gPc_buf6 = HDSL_read_pc_buffer(hdslHandle, 6);
if(gPc_buf6 == 'T')
{
gPc_buf7 = HDSL_read_pc_buffer(hdslHandle, 7);
if(gPc_buf7 == 'N')
{
DebugP_log("\r\n PASS : Read \"RESOLUTN\"");
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER7 != N (It is %u)", gPc_buf7);
}
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER6 != T (It is %u)", gPc_buf6);
}
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER5 != U (It is %u)", gPc_buf5);
}
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER4 != L (It is %u)", gPc_buf4);
}
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER3 != O (It is %u)", gPc_buf3);
}
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER2 != S (It is %u)", gPc_buf2);
}
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER1 != E (It is %u)", gPc_buf1);
}
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER0 != R (It is %u)", gPc_buf0);
}
}
void direct_read_rid81_length2(HDSL_Handle hdslHandle)
{
int32_t status = SystemP_FAILURE;
DebugP_log("\r\n Parameter channel long message read : RID 0x81, Offset 3, Length 2");
/* Set the parameter channel buffers to 0xaa */
HDSL_write_pc_buffer(hdslHandle, 0, 0xaa);
HDSL_write_pc_buffer(hdslHandle, 1, 0xaa);
status = HDSL_read_pc_long_msg(hdslHandle, 0x81, HDSL_LONG_MSG_ADDR_WITH_OFFSET, HDSL_LONG_MSG_ADDR_DIRECT, HDSL_LONG_MSG_LENGTH_2, 3, LONG_MSG_TIMEOUT);
if(SystemP_SUCCESS != status)
{
DebugP_log("\r\n FAIL: HDSL_read_pc_long_msg() did not return success");
return;
}
gPc_buf0 = HDSL_read_pc_buffer(hdslHandle, 0);
if(gPc_buf0 == 0x00)
{
gPc_buf1 = HDSL_read_pc_buffer(hdslHandle, 1);
if(gPc_buf1 == 0x0f)
{
DebugP_log("\r\n PASS : Read 15");
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER1 != 0x0f (It is %u)", gPc_buf1);
}
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER0 != 0x00 (It is %u)", gPc_buf0);
}
}
void indirect_write_rid0_length8_offset0(HDSL_Handle hdslHandle)
{
DebugP_log("\r\n Parameter channel long message write : RID 0x0, Offset 0, Length 8");
HDSL_write_pc_long_msg(hdslHandle, 0x0, HDSL_LONG_MSG_ADDR_WITH_OFFSET, HDSL_LONG_MSG_ADDR_INDIRECT, HDSL_LONG_MSG_LENGTH_8, 0, LONG_MSG_TIMEOUT);
/*FIXME: Add error check*/
gPc_buf0 = HDSL_read_pc_buffer(hdslHandle, 0);
if(gPc_buf0 == 0x41)
{
gPc_buf1 = HDSL_read_pc_buffer(hdslHandle, 1);
if(gPc_buf1 == 0x10)
{
DebugP_log("\r\n PASS ");
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER1 != 0x10 (It is %u)", gPc_buf1);
}
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER0 != 0x41 (It is %u)", gPc_buf0);
}
}
void indirect_write_rid0_length8(HDSL_Handle hdslHandle)
{
DebugP_log("\r\n Parameter channel long message write : RID 0x0, Length 8");
HDSL_write_pc_long_msg(hdslHandle, 0x0, HDSL_LONG_MSG_ADDR_WITHOUT_OFFSET, HDSL_LONG_MSG_ADDR_INDIRECT, HDSL_LONG_MSG_LENGTH_8, 0, LONG_MSG_TIMEOUT);
/*FIXME: Add error check*/
gPc_buf0 = HDSL_read_pc_buffer(hdslHandle, 0);
if(gPc_buf0 == 0x41)
{
gPc_buf1 = HDSL_read_pc_buffer(hdslHandle, 1);
if(gPc_buf1 == 0x10)
{
DebugP_log("\r\n PASS ");
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER1 != 0x10 (It is %u)", gPc_buf1);
}
}
else
{
DebugP_log("\r\n FAIL: PC_BUFFER0 != 0x41 (It is %u)", gPc_buf0);
}
}
static int get_menu(void)
{
uint32_t cmd;
#if !defined(HDSL_MULTI_CHANNEL) && defined(_DEBUG_)
if(DebugP_scanf("%d\n", &cmd) < 0 || (cmd >= MENU_LIMIT))
#else
if(DebugP_scanf("%d\n", &cmd) < 0 || (cmd >= MENU_LIMIT) || (cmd == MENU_HDSL_REG_INTO_MEMORY))
#endif
{
DebugP_log("\r\n WARNING: invalid option, Safe position selected");
cmd = MENU_SAFE_POSITION;
}
#if !defined(HDSL_MULTI_CHANNEL) && defined(_DEBUG_)
if (cmd == MENU_HDSL_REG_INTO_MEMORY)
{
DebugP_log("\r\n| How many traces you want to copy : ");
if(DebugP_scanf("%u\n", &trace_count) < 0 || trace_count >= NUM_RESOURCES)
{
DebugP_log("\r\n| WARNING: invalid data\n|\n|\n");
return MENU_INVALID;
}
}
#endif
return cmd;
}
#ifdef HDSL_AM64xE1_TRANSCEIVER
static void hdsl_i2c_io_expander(void *args)
{
int32_t status = SystemP_SUCCESS;
/* P20 = LED 3 bits, pin, 2 bits port.*/
uint32_t ioIndex = 0x10;
TCA6424_Params tca6424Params;
TCA6424_Params_init(&tca6424Params);
status = TCA6424_open(&gTCA6424_Config, &tca6424Params);
if(status == SystemP_SUCCESS)
{
/* Set output to HIGH before config so that LED start with On state */
status = TCA6424_setOutput(
&gTCA6424_Config,
ioIndex,
TCA6424_OUT_STATE_HIGH);
/* Configure as output */
status += TCA6424_config(
&gTCA6424_Config,
ioIndex,
TCA6424_MODE_OUTPUT);
/* set P12 high which controls CPSW_FET_SEL -> enable PRU1 and PRU0 GPIOs */
ioIndex = 0x0a;
status = TCA6424_setOutput(
&gTCA6424_Config,
ioIndex,
TCA6424_OUT_STATE_HIGH);
/* Configure as output */
status += TCA6424_config(
&gTCA6424_Config,
ioIndex,
TCA6424_MODE_OUTPUT);
}
TCA6424_close(&gTCA6424_Config);
}
#endif
uint32_t read_encoder_resolution(HDSL_Handle hdslHandle)
{
int32_t status = SystemP_FAILURE;
uint32_t resolution = 0;
/* Set the parameter channel buffers to 0xff */
HDSL_write_pc_buffer(hdslHandle, 0, 0xff);
HDSL_write_pc_buffer(hdslHandle, 1, 0xff);
HDSL_write_pc_buffer(hdslHandle, 2, 0xff);
HDSL_write_pc_buffer(hdslHandle, 3, 0xff);
/* Parameter channel long message read with RID 0x81, Offset 5, Length 4
* for reading resolution */
status = HDSL_read_pc_long_msg(hdslHandle, 0x81, HDSL_LONG_MSG_ADDR_WITHOUT_OFFSET, HDSL_LONG_MSG_ADDR_INDIRECT, HDSL_LONG_MSG_LENGTH_4, 0, LONG_MSG_TIMEOUT);
DebugP_assert(SystemP_SUCCESS == status);
gPc_buf0 = HDSL_read_pc_buffer(hdslHandle, 0);
gPc_buf1 = HDSL_read_pc_buffer(hdslHandle, 1);
gPc_buf2 = HDSL_read_pc_buffer(hdslHandle, 2);
gPc_buf3 = HDSL_read_pc_buffer(hdslHandle, 3);
resolution = log2((gPc_buf0 << 24) | (gPc_buf1 << 16) | (gPc_buf2 << 8) | (gPc_buf3));
return resolution;
}
void hdsl_diagnostic_main(void *arg)
{
uint32_t val, acc_bits, pos_bits;
uint8_t ureg;
#if !defined(HDSL_MULTI_CHANNEL) && defined(_DEBUG_)
int32_t retVal = UDMA_SOK;
#endif
/* Open drivers to open the UART driver for console */
Drivers_open();
Board_driversOpen();
#if !defined(HDSL_MULTI_CHANNEL) && defined(_DEBUG_)
/* UDMA initialization */
chHandle = gConfigUdma0BlkCopyChHandle[0]; /* Has to be done after driver open */
/* Channel enable */
retVal = Udma_chEnable(chHandle);
DebugP_assert(UDMA_SOK == retVal);
#endif
/*C16 pin High for Enabling ch0 in booster pack */
#if (CONFIG_HDSL0_BOOSTER_PACK)
GPIO_setDirMode(ENC1_EN_BASE_ADDR, ENC1_EN_PIN, ENC1_EN_DIR);
GPIO_pinWriteHigh(ENC1_EN_BASE_ADDR, ENC1_EN_PIN);
#endif
#ifndef HDSL_AM64xE1_TRANSCEIVER
/* Configure g_mux_en to 1 in ICSSG_SA_MX_REG Register. This is required to remap EnDAT signals correctly via Interface card.*/
HW_WR_REG32((CSL_PRU_ICSSG0_PR1_CFG_SLV_BASE+0x40), (0x80));
/*Configure GPIO42 for HDSL mode.*/
GPIO_setDirMode(CONFIG_GPIO0_BASE_ADDR, CONFIG_GPIO0_PIN, CONFIG_GPIO0_DIR);
GPIO_pinWriteHigh(CONFIG_GPIO0_BASE_ADDR, CONFIG_GPIO0_PIN);
#else
/* Configure g_mux_en to 0 in ICSSG_SA_MX_REG Register. */
HW_WR_REG32((CSL_PRU_ICSSG0_PR1_CFG_SLV_BASE+0x40), (0x00));
/*Configure GPIO42 for HDSL mode. New transceiver card needs the pin to be configured as input*/
HW_WR_REG32(0x000F41D4, 0x00050001); /* PRG0_PRU1_GPI9 as input */
hdsl_i2c_io_expander(NULL);
#endif
gPruIcss0Handle = PRUICSS_open(CONFIG_PRU_ICSS0);
// initialize hdsl handle
DebugP_log( "\n\n Hiperface DSL diagnostic\n");
#if (CONFIG_PRU_ICSS0_CORE_CLK_FREQ_HZ==225000000)
gHdslHandleCh0 = HDSL_open(gPruIcss0Handle, PRUICSS_PRUx,0);
hdsl_init();
hdsl_pruss_load_run_fw(gHdslHandleCh0);
#else
gHdslHandleCh0 = HDSL_open(gPruIcss0Handle, PRUICSS_RTU_PRU1,1);
gHdslHandleCh1 = HDSL_open(gPruIcss0Handle, PRUICSS_PRU1,1);
hdsl_init_300m();
hdsl_pruss_load_run_fw_300m(gHdslHandleCh0);
#endif
DebugP_log( "\r\n HDSL setup finished\n");
/*need some extra time for SYNC mode since frames are longer*/
#if (CONFIG_HDSL0_CHANNEL0==1)
//Channel 0 starts here:
while(1)
{
ureg = HDSL_get_master_qm(gHdslHandleCh0);
if((ureg & 0x80) != 0)
break;
DebugP_log( "\r\n Hiperface DSL encoder not detected\n");
ClockP_usleep(10000);
}
DebugP_log( "\r\n");
DebugP_log( "\r |-------------------------------------------------------------------------------|\n");
DebugP_log( "\r | Hiperface DSL Diagnostic : Channel 0 |\n");
DebugP_log( "\r |-------------------------------------------------------------------------------|\n");
DebugP_log( "\r | |\n");
DebugP_log( "\r | Quality monitoring value: %u |\n", ureg & 0xF);
ureg = HDSL_get_edges(gHdslHandleCh0);
DebugP_log( "\r | Edges: 0x%x |", ureg);
ureg = HDSL_get_delay(gHdslHandleCh0);
DebugP_log("\r\n | Cable delay: %u |", ureg & 0xF);
DebugP_log("\r\n | RSSI: %u |", (ureg & 0xF0) >> 4);
val =HDSL_get_enc_id(gHdslHandleCh0, 0) | (HDSL_get_enc_id(gHdslHandleCh0, 1) << 8) |
(HDSL_get_enc_id(gHdslHandleCh0, 2) << 16);
acc_bits = val & 0xF;
acc_bits += 8;
pos_bits = (val & 0x3F0) >> 4;
pos_bits += acc_bits;
DebugP_log("\r\n | Encoder ID: 0x%x", val);
DebugP_log( "(");
DebugP_log( "Acceleration bits: %u, ", acc_bits);
DebugP_log( "Position bits: %u,", pos_bits);
DebugP_log( "%s", val & 0x400 ? " Bipolar position" : " Unipolar position");
DebugP_log(")|");
gHdslHandleCh0->res = read_encoder_resolution(gHdslHandleCh0);
gHdslHandleCh0->multi_turn = pos_bits - gHdslHandleCh0->res;
gHdslHandleCh0->mask = pow(2, gHdslHandleCh0->res) - 1;
if(gHdslHandleCh0->multi_turn)
{
DebugP_log( "\r\n | Single-turn bits: %u, Multi-turn bits: %u |", pos_bits - gHdslHandleCh0->multi_turn, gHdslHandleCh0->multi_turn);
}
else
{
DebugP_log( "\r\n | Single-turn bits: %u |", pos_bits);
}
DebugP_log("\r\n |-------------------------------------------------------------------------------|");
#endif
#if (CONFIG_HDSL0_CHANNEL1==1)
//Channel 1 starts here:
while(1)
{
ureg = HDSL_get_master_qm(gHdslHandleCh1);
if((ureg & 0x80) != 0)
break;
DebugP_log( "\r\n Hiperface DSL encoder not detected\n");
ClockP_usleep(10000);
}
DebugP_log( "\r\n");
DebugP_log( "\r |-------------------------------------------------------------------------------|\n");
DebugP_log( "\r | Hiperface DSL Diagnostic : Channel 1 |\n");
DebugP_log( "\r |-------------------------------------------------------------------------------|\n");
DebugP_log( "\r | |\n");
DebugP_log( "\r | Quality monitoring value: %u |\n", ureg & 0xF);
ureg = HDSL_get_edges(gHdslHandleCh1);
DebugP_log( "\r | Edges: 0x%x |", ureg);
ureg = HDSL_get_delay(gHdslHandleCh1);
DebugP_log("\r\n | Cable delay: %u |", ureg & 0xF);
DebugP_log("\r\n | RSSI: %u |", (ureg & 0xF0) >> 4);
val =HDSL_get_enc_id(gHdslHandleCh1, 0) | (HDSL_get_enc_id(gHdslHandleCh1, 1) << 8) |
(HDSL_get_enc_id(gHdslHandleCh1, 2) << 16);
acc_bits = val & 0xF;
acc_bits += 8;
pos_bits = (val & 0x3F0) >> 4;
pos_bits += acc_bits;
DebugP_log("\r\n | Encoder ID: 0x%x", val);
DebugP_log( "(");
DebugP_log( "Acceleration bits: %u, ", acc_bits);
DebugP_log( "Position bits: %u,", pos_bits);
DebugP_log( "%s", val & 0x400 ? " Bipolar position" : " Unipolar position");
DebugP_log(")|");
gHdslHandleCh1->res = read_encoder_resolution(gHdslHandleCh1);
gHdslHandleCh1->multi_turn = pos_bits - gHdslHandleCh1->res;
gHdslHandleCh1->mask = pow(2, gHdslHandleCh1->res) - 1;
if(gHdslHandleCh0->multi_turn)
{
DebugP_log( "\r\n | Single-turn bits: %u, Multi-turn bits: %u |", pos_bits - gHdslHandleCh1->multi_turn, gHdslHandleCh1->multi_turn);
}
else
{
DebugP_log( "\r\n | Single-turn bits: %u |", pos_bits);
}
DebugP_log("\r\n |-------------------------------------------------------------------------------|");
#endif
while(1)
{
int32_t menu;
display_menu();
menu = get_menu();
if (CONFIG_HDSL0_CHANNEL0==1)
{
DebugP_log( "|\r\n Channel 0 ");
process_request(gHdslHandleCh0, menu);
DebugP_log( "\r%s", gUart_buffer);
}
if (CONFIG_HDSL0_CHANNEL1==1)
{
DebugP_log( "|\r\n Channel 1");
process_request(gHdslHandleCh1, menu);
DebugP_log( "\r%s", gUart_buffer);
}
}
Board_driversClose();
Drivers_close();
}
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