Initialization of stack-firmware interface

Introduction

Functions
void	bsp_params_init (bsp_params *init_params)
	Initialize the members of bsp_params with default values. More...
int32_t	bsp_init (bsp_params *init_params)
	Initialize the EtherCAT FWHAL It does following things: . More...
void	bsp_esc_reg_perm_init (PRUICSS_Handle pruIcssHandle)
	Sets up register permissions for ECAT side access for TI ESC, if ENABLE_PDI_REG_PERMISSIONS is defined in tiescbsp.h, then this function also initializes register permissions for PDI side access from stack/application. More...
void	bsp_start_esc_isr (PRUICSS_Handle pruIcssHandle)
	Register IRQ handlers for various PRU-ICSS interrupts from firmware to host to clear corresponding events in PRU-ICSS INTC. More...
void	bsp_exit (PRUICSS_Handle pruIcssHandle)
	Cleanup of EtherCAT FWHAL It does following things: . More...
void	bsp_set_pdi_wd_trigger_mode (PRUICSS_Handle pruIcssHandle, uint32_t mode)
	Configure PDI WD trigger mode, PDI WD is triggered automatically by h/w on RX_SOF(port0/port1), latch0/1 input high, SYNC0/1 out high. PDI WD is also triggered whenever host sends a command to firmware. PDI WD may not expire if host stops sending commands to firmware alone, this will occur only if configured h/w events do not occur during WD period. More...

Function Documentation

bsp_params_init()

void bsp_params_init

(

bsp_params *

init_params

)

Initialize the members of bsp_params with default values.

Parameters

init_params

Structure of type bsp_paramss

bsp_init()

int32_t bsp_init

(

bsp_params *

init_params

)

Initialize the EtherCAT FWHAL
It does following things:
.

1. Setup PRU-ICSS interrupt controller for EtherCAT application
   
2. Initialize the PRU data memories
   
3. Setup register permissions by invoking bsp_esc_reg_perm_init
   
4. Load and start EtherCAT PRU firmware
   
5. Initialize EEPROM emulation
   
6. Initialize command semaphore
   

   Parameters

   init_params

   Structure of type bsp_params

   Return values

   SystemP_SUCCESS

   in case of success, SystemP_FAILURE otherwise

bsp_esc_reg_perm_init()

void bsp_esc_reg_perm_init

(

PRUICSS_Handle

pruIcssHandle

)

Sets up register permissions for ECAT side access for TI ESC, if ENABLE_PDI_REG_PERMISSIONS is defined in tiescbsp.h, then this function also initializes register permissions for PDI side access from stack/application.

NOTE : ENABLE_PDI_REG_PERMISSIONS This feature is not enabled by default in Industrial SDK for optimizing memory and performance. TI_ESC has Onchip PDI interface where Host CPU has direct access to ESC registers as they are emulated using PRU_ICSS shared data memory.If ENABLE_PDI_REG_PERMISSIONS is defined and bsp_read/write_XXX are used by application for all register accesses then ONLY PDI access check is enforced. If application bypasses the use of bsp_read/write_xxx API (say HWREG to ESC register in PRU_ICSS memory), whole scheme won't work. ENABLE_PDI_REG_PERMISSIONS is a software scheme and has overhead of 4KB data memory to maintain permission array and additional overhead of access check for every read/write to registers. ENABLE_PDI_REG_PERMISSIONS is enabled and bsp_read/write is enabled customer needs to set correct permissions in pdi_reg_perm_array, say for implementing vendor specific register for ESC to activate a host side feature.

Struct for register permission array Starts at PRU1 DMEM t_register_properties;

Parameters

pruIcssHandle

PRU-ICSS Handle

bsp_start_esc_isr()

void bsp_start_esc_isr

(

PRUICSS_Handle

pruIcssHandle

)

Register IRQ handlers for various PRU-ICSS interrupts from firmware to host to clear corresponding events in PRU-ICSS INTC.

Parameters

pruIcssHandle

PRU-ICSS Handle

bsp_exit()

void bsp_exit

(

PRUICSS_Handle

pruIcssHandle

)

Cleanup of EtherCAT FWHAL
It does following things:
.

1. Delete command semaphore
   
2. Flush the EEPROM cache to non-volatile memory
   
3. Disable PRUs
   

   Parameters

   pruIcssHandle

   PRU-ICSS Handle

bsp_set_pdi_wd_trigger_mode()

void bsp_set_pdi_wd_trigger_mode	(	PRUICSS_Handle	pruIcssHandle,
		uint32_t	mode
	)

Configure PDI WD trigger mode, PDI WD is triggered automatically by h/w on RX_SOF(port0/port1), latch0/1 input high, SYNC0/1 out high. PDI WD is also triggered whenever host sends a command to firmware. PDI WD may not expire if host stops sending commands to firmware alone, this will occur only if configured h/w events do not occur during WD period.

Parameters

pruIcssHandle	PRU-ICSS Handle
mode	PDI_WD_TRIGGER_RX_SOF PDI_WD_TRIGGER_LATCH_IN PDI_WD_TRIGGER_SYNC0_OUT PDI_WD_TRIGGER_SYNC1_OUT