![Logo](ti_logo.svg) |
AM243x Motor Control SDK
09.01.00
|
|
Go to the documentation of this file.
44 #include <drivers/pruicss.h>
47 #define BISSC_MODE_SINGLE_CHANNEL_SINGLE_PRU (0U)
49 #define BISSC_MODE_MULTI_CHANNEL_SINGLE_PRU (1U)
51 #define BISSC_MODE_MULTI_CHANNEL_MULTI_PRU (2U)
57 #define BISSC_MAX_CYCLE_TIMEOUT 5
59 #define NUM_ED_CH_MAX 3
61 #define NUM_ENCODERS_MAX 3
63 #define BISSC_MAX_PROC_DELAY_1MHZ 40
64 #define BISSC_MAX_PROC_DELAY_2MHZ 80
65 #define BISSC_MAX_PROC_DELAY_5MHZ 200
66 #define BISSC_MAX_PROC_DELAY_8MHZ 320
67 #define BISSC_MAX_PROC_DELAY_10MHZ 400
69 #define BISSC_RX_SAMPLE_SIZE 7
70 #define BISSC_RX_SAMPLE_SIZE_10MHZ 3
71 #define BISSC_POS_CRC_LEN 6
72 #define BISSC_EW_LEN 2
73 #define BISSC_CTRL_CMD_CRC_LEN 4
74 #define BISSC_POS_DATA_LEN_DEFAULT 12
77 #define BISSC_FREQ_1MHZ 1
78 #define BISSC_FREQ_2MHZ 2
79 #define BISSC_FREQ_5MHZ 5
80 #define BISSC_FREQ_8MHZ 8
81 #define BISSC_FREQ_10MHZ 10
int32_t pruicss_slicex
Definition: bissc_drv.h:143
int32_t load_share
Definition: bissc_drv.h:145
uint32_t baud_rate
Definition: bissc_drv.h:177
#define NUM_ED_CH_MAX
Definition: bissc_drv.h:59
uint16_t proc_delay[NUM_ED_CH_MAX]
Definition: bissc_drv.h:175
uint8_t ew[NUM_ENCODERS_MAX]
Definition: bissc_drv.h:113
int32_t totalchannels
Definition: bissc_drv.h:173
Initialize BiSS-C firmware interface address and get the pointer to struct bissc_priv instance.
Definition: bissc_drv.h:142
#define NUM_ENCODERS_MAX
Definition: bissc_drv.h:61
Structure defining BiSSC interface.
Definition: bissc_interface.h:109
uint8_t cmd_rcv_crc
Definition: bissc_drv.h:130
uint16_t tx_div
Definition: bissc_drv.h:93
int32_t data_len[NUM_ED_CH_MAX][NUM_ENCODERS_MAX]
Definition: bissc_drv.h:147
Structure defining BiSSC Channel specific control communication(ctrl) results.
Definition: bissc_drv.h:127
float angle[NUM_ENCODERS_MAX]
Definition: bissc_drv.h:109
struct bissc_pruicss_xchg * pruicss_xchg
Definition: bissc_drv.h:155
int32_t num_encoders[NUM_ED_CH_MAX]
Definition: bissc_drv.h:171
uint16_t is_core_clk
Definition: bissc_drv.h:97
int32_t pd_crc_err_cnt[NUM_ED_CH_MAX][NUM_ENCODERS_MAX]
Definition: bissc_drv.h:167
int32_t channel[NUM_ED_CH_MAX]
Definition: bissc_drv.h:153
uint16_t rx_div_attr
Definition: bissc_drv.h:95
int64_t raw_data
Definition: bissc_drv.h:161
uint8_t otf_crc[NUM_ENCODERS_MAX]
Definition: bissc_drv.h:117
struct bissc_position_info enc_pos_data[NUM_ED_CH_MAX]
Definition: bissc_drv.h:163
Structure defining BiSSC Position data results.
Definition: bissc_drv.h:106
void * pruicss_cfg
Definition: bissc_drv.h:159
uint32_t num_of_turns[NUM_ENCODERS_MAX]
Definition: bissc_drv.h:111
int32_t has_safety
Definition: bissc_drv.h:157
int32_t ctrl_crc_err_cnt[NUM_ED_CH_MAX]
Definition: bissc_drv.h:169
int32_t multi_turn_len[NUM_ED_CH_MAX][NUM_ENCODERS_MAX]
Definition: bissc_drv.h:151
uint32_t core_clk_freq
Definition: bissc_drv.h:179
Structure defining EnDat clock configuration for selected frequency.
Definition: bissc_drv.h:90
uint8_t cmd_otf_crc
Definition: bissc_drv.h:132
uint8_t rcv_crc[NUM_ENCODERS_MAX]
Definition: bissc_drv.h:115
struct bissc_control_info enc_ctrl_data[NUM_ED_CH_MAX]
Definition: bissc_drv.h:165
uint64_t position[NUM_ENCODERS_MAX]
Definition: bissc_drv.h:107
uint8_t cmd_result
Definition: bissc_drv.h:128
int32_t single_turn_len[NUM_ED_CH_MAX][NUM_ENCODERS_MAX]
Definition: bissc_drv.h:149
uint32_t uart_clk_freq
Definition: bissc_drv.h:181
uint16_t rx_div
Definition: bissc_drv.h:91