nikon_interface.h

Go to the documentation of this file.

/*
 *  Copyright (C) 2024 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.
 */
 
#ifndef NIKON_INTERFACE_H_
#define NIKON_INTERFACE_H_
 
#ifdef __cplusplus
extern "C" {
#endif
/* Maximum number of 3-ch peripheral interface Channels*/
#define NUM_ED_CH_MAX                       3
/* Maximum number of Nikon Encoders connected in bus connection*/
#define NUM_ENCODERS_MAX                    3
/* Maximum number of Received data field frames */
#define NUM_DATA_FIELDS_MAX                 3
/* Maximum number of Memory data field frames */
#define NUM_MDF_MAX                         3
 
 
/* ========================================================================== */
/*                           Macros                                           */
/* ========================================================================== */
 
 
/* ========================================================================== */
/*                         Structures                                         */
/* ========================================================================== */
 
struct  raw_data
{
    volatile uint16_t    info_field[NUM_ED_CH_MAX];
    volatile uint16_t    data_field[NUM_DATA_FIELDS_MAX][NUM_ED_CH_MAX];
};
struct crc
{
    volatile uint32_t pd_crc_err_cnt[NUM_ED_CH_MAX];
    volatile uint8_t pos_otf_crc[NUM_ED_CH_MAX];
    volatile uint8_t pos_rcv_crc[NUM_ED_CH_MAX];
};
struct pos_data_res
{
    struct   raw_data raw_data;
    struct crc crc;
};
struct nikon_pruicss_xchg
{
    volatile uint8_t cycle_trigger[NUM_ED_CH_MAX];
    volatile uint8_t channel;
    volatile uint8_t num_encoders[NUM_ED_CH_MAX];
    volatile uint8_t pos_crc_len;
    volatile uint16_t rx_frame_size[NUM_ED_CH_MAX];
    volatile uint8_t valid_bit_idx;
    volatile uint8_t fifo_bit_idx;
    volatile uint8_t rx_clk_freq;
    volatile uint8_t is_memory_access;
    volatile uint8_t num_rx_frames;
    volatile uint8_t multi_transmission_delay;
    volatile uint8_t pru_sync_status[NUM_ED_CH_MAX];
    volatile uint8_t primary_core_mask;
    volatile uint8_t opmode[NUM_ED_CH_MAX];
    volatile uint32_t cdf_frame[NUM_ED_CH_MAX];
    volatile uint32_t mdf_frame[NUM_MDF_MAX];
    struct   pos_data_res   pos_data_res[NUM_ENCODERS_MAX];
    volatile uint32_t delay_10us;
    volatile uint32_t delay_300us;
    volatile uint32_t delay_30ms;
    volatile uint64_t icssg_clk;
};
 
#ifdef __cplusplus
}
#endif
 
#endif