Introduction

Here is the list of APIs used for EnDAT encoder communication protocol

Functions
void	HDSL_iep_init (PRUICSS_Handle gPruIcss0Handle, void gPru_cfg, void gPru_dramx)
	Initialize IEP and Use OCP as IEP CLK src. More...

int	HDSL_enable_sync_signal (uint8_t ES, uint32_t period)
	Enable IEP *Enable SYNC0 and program pulse width Enable cyclic mod Program CMP1 TSR configuration More...

uint64_t	HDSL_get_pos (int position_id)
	Calculate fast position,safe position1,safe position2. More...

uint8_t	HDSL_get_qm ()
	Taking quality monitoring value. More...

uint16_t	HDSL_get_events ()
	taking values of High bytes event(EVENT_H),Low bytes event(EVENT_L) More...

uint8_t	HDSL_get_sum ()
	Getting Summarized slave status. More...

uint8_t	HDSL_get_acc_err_cnt ()
	Acceleration error counter. More...

uint8_t	HDSL_get_rssi ()
	Read RSSI value. More...

int	HDSL_write_pc_short_msg (uint32_t gPc_addr, uint32_t gPc_data)
	Write Response of Short message parameters channel Read for safe1 channel(S_PC_DATA) with gPc_data and Short message control value(SLAVE_REG_CTRL) in hdsl interface. More...

uint32_t	HDSL_read_pc_short_msg (uint32_t gPc_addr)
	Read Response of Short message parameters channel Read for safe1 channel(S_PC_DATA) and write Short message control value(SLAVE_REG_CTRL) with gPc_addr in hdsl interface. More...

void	HDSL_set_pc_addr (uint8_t gPc_addrh, uint8_t gPc_addrl, uint8_t gPc_offh, uint8_t gPc_offl)
	Write PC_AAD_L ,PC_ADD_H ,PC_OFF_L,PC_OFF_H and PC_CTRL values in hdsl interface. More...

void	HDSL_set_pc_ctrl (uint8_t value)
	To set the direction read/write for long message communication. More...

void	HDSL_write_pc_buffer (uint8_t gPc_buf0, uint8_t gPc_buf1, uint8_t gPc_buf2, uint8_t gPc_buf3, uint8_t gPc_buf4, uint8_t gPc_buf5, uint8_t gPc_buf6, uint8_t gPc_buf7)
	Write Parameters channel buffer for different bytes(bytes 0-7) More...

uint8_t	HDSL_read_pc_buffer (uint8_t buff_off)
	read Parameters channel buffer for different bytes(bytes 0-7) More...

uint8_t	HDSL_get_sync_ctrl ()
	read Synchronization control value More...

void	HDSL_set_sync_ctrl (uint8_t val)
	write Synchronization control value More...

uint8_t	HDSL_get_master_qm ()
	read Quality monitoring value More...

uint8_t	HDSL_get_edges ()
	read Cable bit sampling time control More...

uint8_t	HDSL_get_delay ()
	read Run time delay of system cable and signal strength More...

uint8_t	HDSL_get_enc_id (int byte)
	Read encoder id bytes(byte no. 0-2) More...

void	HDSL_generate_memory_image (void)

void *	HDSL_get_src_loc ()

uint32_t	HDSL_get_length ()

Macros
#define	MAX_WAIT 20000

#define	HWREG(x) (((volatile uint32_t )(x)))

#define	HWREGB(x) (((volatile uint8_t )(x)))

#define	HWREGH(x) (((volatile uint16_t )(x)))

#define	SYNCEVENT_INTRTR_IN_27 27

#define	SYNCEVT_RTR_SYNC28_EVT 0x64

#define	SYNCEVT_RTR_SYNC29_EVT 0x68

#define	SYNCEVT_RTR_SYNC30_EVT 0x6C

#define	SYNCEVT_RTR_SYNC31_EVT 0x70

#define	SYNCEVT_RTR_SYNC10_EVT 0x2C

Macro Definition Documentation

◆ MAX_WAIT

#define MAX_WAIT 20000

◆ HWREG

#define HWREG ( x ) (*((volatile uint32_t *)(x)))

◆ HWREGB

#define HWREGB ( x ) (*((volatile uint8_t *)(x)))

◆ HWREGH

#define HWREGH ( x ) (*((volatile uint16_t *)(x)))

◆ SYNCEVENT_INTRTR_IN_27

#define SYNCEVENT_INTRTR_IN_27 27

◆ SYNCEVT_RTR_SYNC28_EVT

#define SYNCEVT_RTR_SYNC28_EVT 0x64

◆ SYNCEVT_RTR_SYNC29_EVT

#define SYNCEVT_RTR_SYNC29_EVT 0x68

◆ SYNCEVT_RTR_SYNC30_EVT

#define SYNCEVT_RTR_SYNC30_EVT 0x6C

◆ SYNCEVT_RTR_SYNC31_EVT

#define SYNCEVT_RTR_SYNC31_EVT 0x70

◆ SYNCEVT_RTR_SYNC10_EVT

#define SYNCEVT_RTR_SYNC10_EVT 0x2C

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

Enumerator
linear
rotary
MENU_SAFE_POSITION
MENU_QUALITY_MONITORING
MENU_EVENTS
MENU_SUMMARY
MENU_ACC_ERR_CNT
MENU_RSSI
MENU_PC_SHORT_MSG_WRITE
MENU_PC_SHORT_MSG_READ
MENU_PC_LONG_MSG_WRITE
MENU_HDSL_REG_INTO_DDR
MENU_HDSL_REG_INTO_DDR_GPIO
MENU_DIRECT_READ_RID0_LENGTH8
MENU_DIRECT_READ_RID81_LENGTH8
MENU_DIRECT_READ_RID81_LENGTH2
MENU_INDIRECT_WRITE_RID0_LENGTH8_OFFSET0
MENU_INDIRECT_WRITE_RID0_LENGTH8
MENU_DIRECT_READ_RID0_LENGTH8_OFFSET6
MENU_LIMIT
MENU_INVALID

Function Documentation

◆ HDSL_iep_init()

void HDSL_iep_init	(	PRUICSS_Handle	gPruIcss0Handle,
		void *	gPru_cfg,
		void *	gPru_dramx
	)

Initialize IEP and Use OCP as IEP CLK src.

Parameters

[in]	gPruIcss0Handle
[in]	gPru_cfg
[in]	gPru_dramx

◆ HDSL_enable_sync_signal()

int HDSL_enable_sync_signal	(	uint8_t	ES,
		uint32_t	period
	)

Enable IEP
*Enable SYNC0 and program pulse width
Enable cyclic mod
Program CMP1
TSR configuration

Parameters

[in]	ES
[in]	period

Return values

1	for successful enable sync signal

◆ HDSL_get_pos()

uint64_t HDSL_get_pos ( int position_id )

Calculate fast position,safe position1,safe position2.

Parameters

[in] position_id

Return values

position value in integer for successful position return, -1 for error in position return

◆ HDSL_get_qm()

uint8_t HDSL_get_qm ( )

Taking quality monitoring value.

Parameters

[in] None

Return values

8	bit integer QM value

◆ HDSL_get_events()

uint16_t HDSL_get_events ( )

taking values of High bytes event(EVENT_H),Low bytes event(EVENT_L)

Parameters

[in] None

Return values

16	bit integer concatenated values of both EVENT_H,EVENT_L

◆ HDSL_get_sum()

uint8_t HDSL_get_sum ( )

Getting Summarized slave status.

Parameters

[in] None

Return values

8	bit integer value of summarized status

◆ HDSL_get_acc_err_cnt()

uint8_t HDSL_get_acc_err_cnt ( )

Acceleration error counter.

Parameters

[in] None

Return values

8	bit integer value of acceleration error counter

◆ HDSL_get_rssi()

uint8_t HDSL_get_rssi ( )

Read RSSI value.

Parameters

[in] None

Return values

8	bit RSSI integer value

◆ HDSL_write_pc_short_msg()

int HDSL_write_pc_short_msg	(	uint32_t	gPc_addr,
		uint32_t	gPc_data
	)

Write Response of Short message parameters channel Read for safe1 channel(S_PC_DATA) with gPc_data and Short message control value(SLAVE_REG_CTRL) in hdsl interface.

Parameters

[in]	gPc_addr
[in]	gPc_data

Return values

1	for successfully write of pc short messege in hdsl interface

◆ HDSL_read_pc_short_msg()

uint32_t HDSL_read_pc_short_msg ( uint32_t gPc_addr )

Read Response of Short message parameters channel Read for safe1 channel(S_PC_DATA) and write Short message control value(SLAVE_REG_CTRL) with gPc_addr in hdsl interface.

Parameters

[in] gPc_addr

Return values

S_PC_DATA from hdsl interface

◆ HDSL_set_pc_addr()

void HDSL_set_pc_addr	(	uint8_t	gPc_addrh,
		uint8_t	gPc_addrl,
		uint8_t	gPc_offh,
		uint8_t	gPc_offl
	)

Write PC_AAD_L ,PC_ADD_H ,PC_OFF_L,PC_OFF_H and PC_CTRL values in hdsl interface.

Parameters

[in]	gPc_addrh
[in]	gPc_addrl
[in]	gPc_offh
[in]	gPc_offl

◆ HDSL_set_pc_ctrl()

void HDSL_set_pc_ctrl ( uint8_t value )

To set the direction read/write for long message communication.

Parameters

[in] value

◆ HDSL_write_pc_buffer()

void HDSL_write_pc_buffer	(	uint8_t	gPc_buf0,
		uint8_t	gPc_buf1,
		uint8_t	gPc_buf2,
		uint8_t	gPc_buf3,
		uint8_t	gPc_buf4,
		uint8_t	gPc_buf5,
		uint8_t	gPc_buf6,
		uint8_t	gPc_buf7
	)

Write Parameters channel buffer for different bytes(bytes 0-7)

Parameters

[in]	gPc_buf0
[in]	gPc_buf1
[in]	gPc_buf2
[in]	gPc_buf3
[in]	gPc_buf4
[in]	gPc_buf5
[in]	gPc_buf6
[in]	gPc_buf7

◆ HDSL_read_pc_buffer()

uint8_t HDSL_read_pc_buffer ( uint8_t buff_off )

read Parameters channel buffer for different bytes(bytes 0-7)

Parameters

[in] buff_off

Return values

8	bit integer value of PC_BUFFER from hdsl interface

◆ HDSL_get_sync_ctrl()

uint8_t HDSL_get_sync_ctrl ( )

read Synchronization control value

Return values

8	bit integer value of SYNC_CTRL from hdsl interface

◆ HDSL_set_sync_ctrl()

void HDSL_set_sync_ctrl ( uint8_t val )

write Synchronization control value

Parameters

[in] val

◆ HDSL_get_master_qm()

uint8_t HDSL_get_master_qm ( )

read Quality monitoring value

Parameters

[in] None

Return values

8	bit integer value of MASTER_QM from hdsl interface

◆ HDSL_get_edges()

uint8_t HDSL_get_edges ( )

read Cable bit sampling time control

Parameters

[in] None

Return values

8	bit integer value of EDGES from hdsl interface

◆ HDSL_get_delay()

uint8_t HDSL_get_delay ( )

read Run time delay of system cable and signal strength

Parameters

[in] buff

Return values

8	bit integer value of DELAY from hdsl interface

◆ HDSL_get_enc_id()

uint8_t HDSL_get_enc_id ( int byte )

Read encoder id bytes(byte no. 0-2)

Parameters

[in] byte

Return values

8	bit encoder bytes data from hdsl interface

◆ HDSL_generate_memory_image()

void HDSL_generate_memory_image ( void )

◆ HDSL_get_src_loc()

void* HDSL_get_src_loc ( )

◆ HDSL_get_length()

uint32_t HDSL_get_length ( )

Enumerations
enum	{ linear, rotary, MENU_SAFE_POSITION, MENU_QUALITY_MONITORING, MENU_EVENTS, MENU_SUMMARY, MENU_ACC_ERR_CNT, MENU_RSSI, MENU_PC_SHORT_MSG_WRITE, MENU_PC_SHORT_MSG_READ, MENU_PC_LONG_MSG_WRITE, MENU_HDSL_REG_INTO_DDR, MENU_HDSL_REG_INTO_DDR_GPIO, MENU_DIRECT_READ_RID0_LENGTH8, MENU_DIRECT_READ_RID81_LENGTH8, MENU_DIRECT_READ_RID81_LENGTH2, MENU_INDIRECT_WRITE_RID0_LENGTH8_OFFSET0, MENU_INDIRECT_WRITE_RID0_LENGTH8, MENU_DIRECT_READ_RID0_LENGTH8_OFFSET6, MENU_LIMIT, MENU_INVALID }

Introduction

Functions

Enumerations

Macros

Macro Definition Documentation

◆ MAX_WAIT

◆ HWREG

◆ HWREGB

◆ HWREGH

◆ SYNCEVENT_INTRTR_IN_27

◆ SYNCEVT_RTR_SYNC28_EVT

◆ SYNCEVT_RTR_SYNC29_EVT

◆ SYNCEVT_RTR_SYNC30_EVT

◆ SYNCEVT_RTR_SYNC31_EVT

◆ SYNCEVT_RTR_SYNC10_EVT

Enumeration Type Documentation

◆ anonymous enum

Function Documentation

◆ HDSL_iep_init()

◆ HDSL_enable_sync_signal()

◆ HDSL_get_pos()

◆ HDSL_get_qm()

◆ HDSL_get_events()

◆ HDSL_get_sum()

◆ HDSL_get_acc_err_cnt()

◆ HDSL_get_rssi()

◆ HDSL_write_pc_short_msg()

◆ HDSL_read_pc_short_msg()

◆ HDSL_set_pc_addr()

◆ HDSL_set_pc_ctrl()

◆ HDSL_write_pc_buffer()

◆ HDSL_read_pc_buffer()

◆ HDSL_get_sync_ctrl()

◆ HDSL_set_sync_ctrl()

◆ HDSL_get_master_qm()

◆ HDSL_get_edges()

◆ HDSL_get_delay()

◆ HDSL_get_enc_id()

◆ HDSL_generate_memory_image()

◆ HDSL_get_src_loc()

◆ HDSL_get_length()