Introduction

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

Functions
int32_t	bissc_command_process (struct bissc_priv *priv)
	Send the BiSSC command and wait till firmware acknowledges. More...

void	bissc_command_send (struct bissc_priv *priv)
	Trigger sending the BiSSC command in PRU. More...

int32_t	bissc_command_wait (struct bissc_priv *priv)
	Wait till PRU finishes BiSSC transaction. More...

int32_t	bissc_get_pos (struct bissc_priv *priv)
	Get single cycle BiSS-C position data. More...

void	bissc_config_clock (struct bissc_priv priv, struct bissc_clk_cfg clk_cfg)
	Configure EnDat clock. More...

void	bissc_config_channel (struct bissc_priv *priv, int32_t mask, int32_t totalch)
	Select channel to be used by BiSSC receiver. More...

void	bissc_config_load_share (struct bissc_priv *priv, int32_t mask)
	Configure the channels to be used by BiSSC receiver. More...

void	bissc_enable_load_share_mode (struct bissc_priv *priv)
	Enable load share mode for BiSSC receiver. More...

void	bissc_config_primary_core_mask (struct bissc_priv *priv, uint8_t mask)
	Configure the primary core for load share mode. More...

int32_t	bissc_wait_for_fw_initialization (struct bissc_priv *priv, uint32_t timeout, uint8_t mask)
	Wait for BiSSC receiver firmware to initialize. More...

void	bissc_hw_init (struct bissc_priv *priv)
	Initialize BiSSC hardware interface. More...

struct bissc_priv *	bissc_init (PRUICSS_Handle gPruIcssXHandle, int32_t slice, uint32_t frequency, uint32_t core_clk_freq, uint32_t uart_clk_freq)
	Initialize BiSSC firmware interface address and get the pointer to struct bissc_priv instance. More...

void	bissc_update_max_proc_delay (struct bissc_priv *priv)
	Update max processing time and bit index to poll in fifo data. More...

int32_t	bissc_wait_measure_proc_delay (struct bissc_priv *priv, uint32_t timeout)
	Wait for BiSSC receiver firmware to measure processing time. More...

void	bissc_set_default_initialization (struct bissc_priv *priv, uint64_t icssgclk)
	Set default configuration parameters for BiSSC receiver firmware. More...

void	bissc_update_data_len (struct bissc_priv *priv, uint32_t single_turn_len[], uint32_t multi_turn_len[], int32_t ch_num)
	Update data length with encoder bit width for BiSSC receiver firmware. More...

int32_t	bissc_set_ctrl_cmd_and_process (struct bissc_priv *priv, uint32_t ctrl_cmd[])
	Set control command and process the ctrl communication read/write. More...

void	bissc_config_endat_mode (struct bissc_priv *priv)
	Configure the receiver for EnDat mode. More...

void	bissc_config_clr_cfg0 (struct bissc_priv *priv)
	Clear the channel specific frame size cfg registers. More...

void	bissc_get_enc_proc_delay (struct bissc_priv *priv)
	Get measured processing delay of individual channel. More...

int32_t	bissc_calc_clock (struct bissc_priv priv, struct bissc_clk_cfg clk_cfg)
	Calculate Rx and Tx divisors for given frequency. More...

void	bissc_config_periodic_trigger (struct bissc_priv *priv)
	Configure periodic trigger operation mode. More...

void	bissc_config_host_trigger (struct bissc_priv *priv)
	Configure host trigger operation mode. More...

uint32_t	bissc_generate_ctrl_cmd (struct bissc_priv *priv, int8_t ls_ch, uint32_t ctrl_write_status, uint32_t ctrl_reg_address, uint32_t ctrl_reg_data, uint32_t ctrl_enc_id)
	Generate control communication Hex equivalent command. More...

uint32_t	bissc_get_current_channel (struct bissc_priv *priv, uint32_t ch_idx)
	Retrives the current channel in use. More...

uint32_t	bissc_get_totalchannels (struct bissc_priv *priv)
	Retrives total number of channels configured. More...

void	bissc_clear_data_len (struct bissc_priv *priv)
	Clears all the encoder resolution parameters. More...

void	bissc_update_clock_freq (struct bissc_priv *priv, uint32_t frequency)
	Update the operating bud rate as specified by the user. More...

void	bissc_enable_safety (struct bissc_priv *priv, uint32_t enc_num, uint32_t ch_num)
	Enable Safety for connected BiSS-C encoder. More...

void	bissc_disable_safety (struct bissc_priv *priv)
	Disable Safety for connected BiSS-C encoder. More...

Function Documentation

◆ bissc_command_process()

int32_t bissc_command_process ( struct bissc_priv * priv )

Send the BiSSC command and wait till firmware acknowledges.

Parameters

[in] priv cookie returned by bissc_init

Return values

SystemP_SUCCESS for success, SystemP_FAILURE for failure

◆ bissc_command_send()

void bissc_command_send ( struct bissc_priv * priv )

Trigger sending the BiSSC command in PRU.

Parameters

[in] priv cookie returned by bissc_init

◆ bissc_command_wait()

int32_t bissc_command_wait ( struct bissc_priv * priv )

Wait till PRU finishes BiSSC transaction.

Parameters

[in] priv cookie returned by bissc_init

◆ bissc_get_pos()

int32_t bissc_get_pos ( struct bissc_priv * priv )

Get single cycle BiSS-C position data.

Parameters

[in] priv cookie returned by bissc_init

◆ bissc_config_clock()

void bissc_config_clock	(	struct bissc_priv *	priv,
		struct bissc_clk_cfg *	clk_cfg
	)

Configure EnDat clock.

Parameters

[in]	priv	cookie returned by bissc_init
[in]	clk_cfg	pointer to structure containing clock configuration data

◆ bissc_config_channel()

void bissc_config_channel	(	struct bissc_priv *	priv,
		int32_t	mask,
		int32_t	totalch
	)

Select channel to be used by BiSSC receiver.

Parameters

[in]	priv	cookie returned by bissc_init
[in]	mask	channel mask
[in]	totalch	total number of channels in use

◆ bissc_config_load_share()

void bissc_config_load_share	(	struct bissc_priv *	priv,
		int32_t	mask
	)

Configure the channels to be used by BiSSC receiver.

Parameters

[in]	priv	cookie returned by bissc_init
[in]	mask	channel mask

◆ bissc_enable_load_share_mode()

void bissc_enable_load_share_mode ( struct bissc_priv * priv )

Enable load share mode for BiSSC receiver.

Parameters

[in] priv cookie returned by bissc_init

◆ bissc_config_primary_core_mask()

void bissc_config_primary_core_mask	(	struct bissc_priv *	priv,
		uint8_t	mask
	)

Configure the primary core for load share mode.

Parameters

[in]	priv	cookie returned by bissc_init
[in]	mask	channel mask

◆ bissc_wait_for_fw_initialization()

int32_t bissc_wait_for_fw_initialization	(	struct bissc_priv *	priv,
		uint32_t	timeout,
		uint8_t	mask
	)

Wait for BiSSC receiver firmware to initialize.

Parameters

[in]	priv	cookie returned by bissc_init
[in]	timeout	timeout to wait for initialization
[in]	mask	channel mask

Return values

SystemP_SUCCESS for success, SystemP_FAILURE for failure

◆ bissc_hw_init()

void bissc_hw_init ( struct bissc_priv * priv )

Initialize BiSSC hardware interface.

Parameters

[in] priv cookie returned by bissc_init

◆ bissc_init()

struct bissc_priv* bissc_init	(	PRUICSS_Handle	gPruIcssXHandle,
		int32_t	slice,
		uint32_t	frequency,
		uint32_t	core_clk_freq,
		uint32_t	uart_clk_freq
	)

Initialize BiSSC firmware interface address and get the pointer to struct bissc_priv instance.

Parameters

[in]	gPruIcssXHandle	BiSSC firmware interface address
[in]	slice	ICSS PRU SLICE
[in]	frequency	Input frequency
[in]	core_clk_freq	Core clock frequency
[in]	uart_clk_freq	Uart clock frequency

Return values

priv	pointer to struct bissc_priv instance

◆ bissc_update_max_proc_delay()

void bissc_update_max_proc_delay ( struct bissc_priv * priv )

Update max processing time and bit index to poll in fifo data.

Parameters

[in] priv cookie returned by bissc_init

◆ bissc_wait_measure_proc_delay()

int32_t bissc_wait_measure_proc_delay	(	struct bissc_priv *	priv,
		uint32_t	timeout
	)

Wait for BiSSC receiver firmware to measure processing time.

Parameters

[in]	priv	cookie returned by bissc_init
[in]	timeout	timeout to wait for initialization

Return values

SystemP_SUCCESS for success, SystemP_FAILURE for failure

◆ bissc_set_default_initialization()

void bissc_set_default_initialization	(	struct bissc_priv *	priv,
		uint64_t	icssgclk
	)

Set default configuration parameters for BiSSC receiver firmware.

Parameters

[in]	priv	cookie returned by bissc_init
[in]	icssgclk	ICSSG core clock for firmware reference

◆ bissc_update_data_len()

void bissc_update_data_len	(	struct bissc_priv *	priv,
		uint32_t	single_turn_len[],
		uint32_t	multi_turn_len[],
		int32_t	ch_num
	)

Update data length with encoder bit width for BiSSC receiver firmware.

Parameters

[in]	priv	cookie returned by bissc_init
[in]	single_turn_len	Encoder's single turn resolution
[in]	multi_turn_len	Encoder's multi turn resolution
[in]	ch_num	number(index) of PRU in use

◆ bissc_set_ctrl_cmd_and_process()

int32_t bissc_set_ctrl_cmd_and_process	(	struct bissc_priv *	priv,
		uint32_t	ctrl_cmd[]
	)

Set control command and process the ctrl communication read/write.

Parameters

[in]	priv	cookie returned by bissc_init
[in]	ctrl_cmd	Hex equivalent of control command

Return values

SystemP_SUCCESS for success, SystemP_FAILURE for failure

◆ bissc_config_endat_mode()

void bissc_config_endat_mode ( struct bissc_priv * priv )

Configure the receiver for EnDat mode.

Parameters

[in] priv cookie returned by bissc_init

◆ bissc_config_clr_cfg0()

void bissc_config_clr_cfg0 ( struct bissc_priv * priv )

Clear the channel specific frame size cfg registers.

Parameters

[in] priv cookie returned by bissc_init

◆ bissc_get_enc_proc_delay()

void bissc_get_enc_proc_delay ( struct bissc_priv * priv )

Get measured processing delay of individual channel.

Parameters

[in] priv cookie returned by bissc_init

◆ bissc_calc_clock()

int32_t bissc_calc_clock	(	struct bissc_priv *	priv,
		struct bissc_clk_cfg *	clk_cfg
	)

Calculate Rx and Tx divisors for given frequency.

Parameters

[in]	priv	cookie returned by bissc_init
[in]	clk_cfg	pointer to structure containing clock configuration data.

◆ bissc_config_periodic_trigger()

void bissc_config_periodic_trigger ( struct bissc_priv * priv )

Configure periodic trigger operation mode.

Parameters

[in] priv cookie returned by bissc_init

◆ bissc_config_host_trigger()

void bissc_config_host_trigger ( struct bissc_priv * priv )

Configure host trigger operation mode.

Parameters

[in] priv cookie returned by bissc_init

◆ bissc_generate_ctrl_cmd()

uint32_t bissc_generate_ctrl_cmd	(	struct bissc_priv *	priv,
		int8_t	ls_ch,
		uint32_t	ctrl_write_status,
		uint32_t	ctrl_reg_address,
		uint32_t	ctrl_reg_data,
		uint32_t	ctrl_enc_id
	)

Generate control communication Hex equivalent command.

Parameters

[in]	priv	cookie returned by bissc_init
[in]	ls_ch	channel in use for load share
[in]	ctrl_write_status	status for control commmunication write access
[in]	ctrl_reg_address	address of encoder's register for control commuincation access
[in]	ctrl_reg_data	data to write in encoder's register in control communication
[in]	ctrl_enc_id	ID of encoder based on it's place in daisy chain

Return values

ctrl_cmd Hex equivalent control communication 32 bit command

◆ bissc_get_current_channel()

uint32_t bissc_get_current_channel	(	struct bissc_priv *	priv,
		uint32_t	ch_idx
	)

Retrives the current channel in use.

Parameters

[in]	priv	cookie returned by bissc_init
[in]	ch_idx	index of current channel to be selected

Return values

channel[ch_idx] current channel in use

◆ bissc_get_totalchannels()

uint32_t bissc_get_totalchannels ( struct bissc_priv * priv )

Retrives total number of channels configured.

Parameters

[in] priv cookie returned by bissc_init

Return values

totalchannels total number of channels configured

◆ bissc_clear_data_len()

void bissc_clear_data_len ( struct bissc_priv * priv )

Clears all the encoder resolution parameters.

Parameters

[in] priv cookie returned by bissc_init

◆ bissc_update_clock_freq()

void bissc_update_clock_freq	(	struct bissc_priv *	priv,
		uint32_t	frequency
	)

Update the operating bud rate as specified by the user.

Parameters

[in]	priv	cookie returned by bissc_init
[in]	frequency	frequency specified by the user through UART menu

◆ bissc_enable_safety()

void bissc_enable_safety	(	struct bissc_priv *	priv,
		uint32_t	enc_num,
		uint32_t	ch_num
	)

Enable Safety for connected BiSS-C encoder.

Parameters

[in]	priv	cookie returned by bissc_init
[in]	enc_num	number(index) of encoder in use
[in]	ch_num	number(index) of PRU in use

◆ bissc_disable_safety()

void bissc_disable_safety ( struct bissc_priv * priv )

Disable Safety for connected BiSS-C encoder.

Parameters

[in] priv cookie returned by bissc_init

Introduction

Functions

Function Documentation

◆ bissc_command_process()

◆ bissc_command_send()

◆ bissc_command_wait()

◆ bissc_get_pos()

◆ bissc_config_clock()

◆ bissc_config_channel()

◆ bissc_config_load_share()

◆ bissc_enable_load_share_mode()

◆ bissc_config_primary_core_mask()

◆ bissc_wait_for_fw_initialization()

◆ bissc_hw_init()

◆ bissc_init()

◆ bissc_update_max_proc_delay()

◆ bissc_wait_measure_proc_delay()

◆ bissc_set_default_initialization()

◆ bissc_update_data_len()

◆ bissc_set_ctrl_cmd_and_process()

◆ bissc_config_endat_mode()

◆ bissc_config_clr_cfg0()

◆ bissc_get_enc_proc_delay()

◆ bissc_calc_clock()

◆ bissc_config_periodic_trigger()

◆ bissc_config_host_trigger()

◆ bissc_generate_ctrl_cmd()

◆ bissc_get_current_channel()

◆ bissc_get_totalchannels()

◆ bissc_clear_data_len()

◆ bissc_update_clock_freq()

◆ bissc_enable_safety()

◆ bissc_disable_safety()