pruicss_pwm.h

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/*
 *  Copyright (C) 2023 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.
 */
 
#ifdef __cplusplus
extern "C" {
#endif
 
/* ========================================================================== */
/*                             Include Files                                  */
/* ========================================================================== */
 
#ifndef PRUICSS_PWM_H_
#define PRUICSS_PWM_H_
 
#include <stddef.h>
#include <stdint.h>
#include <drivers/pruicss.h>
#include <kernel/dpl/SystemP.h>
#include <drivers/hw_include/cslr.h>
#include <drivers/hw_include/hw_types.h>
 
/* ========================================================================== */
/*                           Macros & Typedefs                                */
/* ========================================================================== */
 
typedef struct PRUICSS_PWM_Config_s         *PRUICSS_PWM_Handle;
 
#define PRUICSS_NUM_PWM_SETS                                (0x4U)
 
#define PRUICSS_PWM_SET0                                    (0x0U)
 
#define PRUICSS_PWM_SET1                                    (0x1U)   
 
#define PRUICSS_PWM_SET2                                    (0x2U)    
 
#define PRUICSS_PWM_SET3                                    (0x3U)
 
#define PRUICSS_NUM_OF_PWMINSTANCES_PER_PWM_SET             (0x6U)
 
#define PRUICSS_PWM_SET_INSTANCE_A0                         (0x0U)
 
#define PRUICSS_PWM_SET_INSTANCE_B0                         (0x1U)
 
#define PRUICSS_PWM_SET_INSTANCE_A1                         (0x2U)
 
#define PRUICSS_PWM_SET_INSTANCE_B1                         (0x3U)
 
#define PRUICSS_PWM_SET_INSTANCE_A2                         (0x4U)
 
#define PRUICSS_PWM_SET_INSTANCE_B2                         (0x5U)
 
#define PRUICSS_NUM_PWM_STATES                              (0x3U)
 
#define PRUICSS_PWM_INTIAL_STATE                            (0x0U)
 
#define PRUICSS_PWM_ACTIVE_STATE                            (0x1U)
 
#define PRUICSS_PWM_TRIP_STATE                              (0x2U)
 
#define PRUICSS_NUM_PWM_OUTPUT_ACTIONS                       (0x3U)
 
#define PRUICSS_PWM_OUTPUT_TOGGLE                            (0x0U)
 
#define PRUICSS_PWM_OUTPUT_LOW                               (0x1U)
 
#define PRUICSS_PWM_OUTPUT_HIGH                              (0x2U)
 
#define PRUICSS_NUM_IEP_INSTANCES                           (0x2U)
 
#define PRUICSS_IEP_INST0                                   (0x0U)
 
#define PRUICSS_IEP_INST1                                   (0x1U)
 
#define PRUICSS_IEP_COUNT_REG_MAX                           (0xFFFFFFFFU)
 
#define PRUICSS_NUM_IEP_CMP_EVENTS                          (0x10U)
 
#define CMP_EVENT0                                          (0x0U)
 
#define CMP_EVENT1                                          (0x1U)
 
#define CMP_EVENT2                                          (0x2U)
 
#define CMP_EVENT3                                          (0x3U)
 
#define CMP_EVENT4                                          (0x4U)
 
#define CMP_EVENT5                                          (0x5U)
 
#define CMP_EVENT6                                          (0x6U)
 
#define CMP_EVENT7                                          (0x7U)
 
#define CMP_EVENT8                                          (0x8U)
 
#define CMP_EVENT9                                          (0x9U)
 
#define CMP_EVENT10                                         (0xAU)
 
#define CMP_EVENT11                                         (0xBU)
 
#define CMP_EVENT12                                         (0xCU)
 
#define CMP_EVENT13                                         (0xDU)
 
#define CMP_EVENT14                                         (0xEU)
 
#define CMP_EVENT15                                         (0xFU)
 
typedef struct PRUICSS_PWM_IEP_Attrs_s
{
    /*pruIcssIepClk frequency*/
    uint32_t pruIcssIepClkFrequency;
    /*pruIcssIepClk period in nanoseconds*/
    float pruIcssIepClkPeriod;
    /*iep0 increment value*/
    uint8_t  iep0IncrementValue;
    /*enable or disable IEP0*/
    uint8_t  enableIep0;
    /*enable or disable IEP0 reset on EPWM0_sync event*/
    uint8_t  enableIep0ResetOnEpwm0_Sync;
    /*enable or disable IEP0 reset on EPWM3_sync event*/
    uint8_t  enableIep0ResetOnEpwm3_Sync;
    /*enable or disable IEP0 reset on compare 0 event*/
    uint8_t  enableIep0ResetOnCompare0;
    /*enable or disable shadow mode of IEP*/
    uint8_t  enableIEP0ShadowMode;
    /*enable or disable slave mode, after enabling IEP1 counter follows IEP0*/
    uint8_t  enableIep1SlaveMode;
    /*enable or disable auto clear compare status of IEP0 and IEP1*/
    uint8_t  enableAutoClearCompareStatus;
    /*pruIcssPwm frequency*/
    uint32_t pruIcssPwmFrequency;
    /*
     * Note : It is recommended to enable shadow mode , reset on compare0, iep1 slave mode, enable auto clear compare status
     */
 
}PRUICSS_PWM_IEP_Attrs;
 
typedef struct PRUICSS_PWM_Attrs_s
{
 
    /*
     *
     * Note : This structure is placed as instance in multidimensional array of (4 X 6)
     *
     * Each entry in (PRUICSS_NUM_PWM_SETS X PRUICSS_NUM_OF_PWMINSTANCES_PER_SET) array maps to config parameters of one PWM signal.
     *
     */
 
    /*duty cycle of current pwm signal*/
    uint32_t dutyCycle;
    /*fall edge of current pwm signal*/
    uint32_t fallEdgeDelay;
    /*rise edge of current pwm signal*/
    uint32_t riseEdgeDelay;
    /*current pwm signal output in intial state*/
    uint8_t  outputCfgInitialState;
    /*current pwm signal output in active state*/
    uint8_t  outputCfgActiveState;
    /*current pwm signal output in trip state*/
    uint8_t  outputCfgTripState;
    /*enable or disable current pwm signal*/
    uint8_t  enable;
 
    /*
     * Below parameters(iepInstance, compareEvent) are configured on pwm init api call. 
     */
 
    /*iep instance mapped to current pwm signal*/
    uint8_t  iepInstance;
    /*compare event mapped to current pwm signal*/
    uint8_t  compareEvent;
 
}PRUICSS_PWM_Attrs;
 
typedef struct PRUICSS_PWM_Config_s
{
    PRUICSS_Handle pruIcssHandle;
 
    PRUICSS_PWM_Attrs  pwmAttrs[PRUICSS_NUM_PWM_SETS][PRUICSS_NUM_OF_PWMINSTANCES_PER_PWM_SET]; 
 
    PRUICSS_PWM_IEP_Attrs *iepAttrs;
    
} PRUICSS_PWM_Config;
 
 
#define PRUICSS_IEP_CMP_EVENTS_ENABLE_MAX_VALUE             (0x0000FFFFU)
 
#define PRUICSS_PWM_DEBOUNCE_MAX_VALUE                      (0xFFU)
 
#define PRUICSS_PWM_TRIP_MASK_MAX_VALUE                     (0x000001FFU)
 
 
 
/* ========================================================================== */
/*                       Function Declarations                                */
/* ========================================================================== */
 
PRUICSS_PWM_Handle PRUICSS_PWM_open(uint32_t index, PRUICSS_Handle pruIcssHandle);
 
int32_t PRUICSS_PWM_setIepCounterLower_32bitValue(PRUICSS_PWM_Handle handle, uint8_t iepInstance, uint32_t value);
 
int32_t PRUICSS_PWM_setIepCounterUpper_32bitValue(PRUICSS_PWM_Handle handle, uint8_t iepInstance, uint32_t value);
 
int32_t PRUICSS_PWM_configureIepShadowModeEnable(PRUICSS_PWM_Handle handle, uint8_t iepInstance, uint8_t enable);
 
int32_t PRUICSS_PWM_configureIepCmp0ResetEnable(PRUICSS_PWM_Handle handle, uint8_t iepInstance, uint8_t enable);
 
int32_t PRUICSS_PWM_configureIepCompareEnable(PRUICSS_PWM_Handle handle, uint8_t iepInstance, uint16_t value);
 
int32_t PRUICSS_PWM_setIepCompareEventLower_32bitValue(PRUICSS_PWM_Handle handle, uint8_t iepInstance, uint8_t cmpEvent, uint32_t value);
 
int32_t PRUICSS_PWM_setIepCompareEventUpper_32bitValue(PRUICSS_PWM_Handle handle, uint8_t iepInstance, uint8_t cmpEvent, uint32_t value);
 
int32_t PRUICSS_PWM_setPwmDebounceValue(PRUICSS_PWM_Handle handle, uint8_t pwmSet, uint8_t value);
 
int32_t PRUICSS_PWM_setPwmTripMask(PRUICSS_PWM_Handle handle, uint8_t pwmSet, uint16_t maskValue);
 
int32_t PRUICSS_PWM_getPwmTripMask(PRUICSS_PWM_Handle handle, uint8_t pwmSet, uint16_t *maskValuePtr);
 
int32_t PRUICSS_PWM_configurePwmCmp0TripResetEnable(PRUICSS_PWM_Handle handle, uint8_t pwmSet, uint8_t enable);
 
int32_t PRUICSS_PWM_generatePwmTripReset(PRUICSS_PWM_Handle handle, uint8_t pwmSet);
 
int32_t PRUICSS_PWM_generatePwmOverCurrentErrorTrip(PRUICSS_PWM_Handle handle, uint8_t pwmSet);
 
int32_t PRUICSS_PWM_generatePwmPositionFeedbackErrorTrip(PRUICSS_PWM_Handle handle, uint8_t pwmSet);
 
int32_t PRUICSS_PWM_clearPwmTripResetStatus(PRUICSS_PWM_Handle handle, uint8_t pwmSet);
 
int32_t PRUICSS_PWM_clearPwmOverCurrentErrorTrip(PRUICSS_PWM_Handle handle, uint8_t pwmSet);
 
int32_t PRUICSS_PWM_clearPwmPositionFeedbackErrorTrip(PRUICSS_PWM_Handle handle, uint8_t pwmSet);
 
int32_t PRUICSS_PWM_getPwmTripTriggerCauseVector(PRUICSS_PWM_Handle handle, uint8_t pwmSet);
 
int32_t PRUICSS_PWM_getPwmTripStatus(PRUICSS_PWM_Handle handle, uint8_t pwmSet);
 
int32_t PRUICSS_PWM_clearPwmTripStatus(PRUICSS_PWM_Handle handle, uint8_t pwmSet);
 
int32_t PRUICSS_PWM_actionOnOutputCfgPwmSignalA0(PRUICSS_PWM_Handle handle, uint8_t pwmSet, uint8_t state, uint8_t action);
 
int32_t PRUICSS_PWM_actionOnOutputCfgPwmSignalA1(PRUICSS_PWM_Handle handle, uint8_t pwmSet, uint8_t state, uint8_t action);
 
int32_t PRUICSS_PWM_actionOnOutputCfgPwmSignalA2(PRUICSS_PWM_Handle handle, uint8_t pwmSet, uint8_t state, uint8_t action);
 
int32_t PRUICSS_PWM_actionOnOutputCfgPwmSignalB0(PRUICSS_PWM_Handle handle, uint8_t pwmSet, uint8_t state, uint8_t action);
 
int32_t PRUICSS_PWM_actionOnOutputCfgPwmSignalB1(PRUICSS_PWM_Handle handle, uint8_t pwmSet, uint8_t state, uint8_t action);
 
int32_t PRUICSS_PWM_actionOnOutputCfgPwmSignalB2(PRUICSS_PWM_Handle handle, uint8_t pwmSet, uint8_t state, uint8_t action);
 
int32_t PRUICSS_PWM_configurePwmEfficiencyModeEnable(PRUICSS_PWM_Handle handle, uint8_t enable);
 
int32_t PRUICSS_PWM_enableIEP1Slave(PRUICSS_PWM_Handle handle, uint8_t enable);
 
int32_t PRUICSS_PWM_enableIEPResetOnEPWM0SyncOut(PRUICSS_PWM_Handle handle, uint8_t iepInstance, uint8_t enable);
 
int32_t PRUICSS_PWM_enableIEPResetOnEPWM3SyncOut(PRUICSS_PWM_Handle handle, uint8_t iepInstance, uint8_t enable);
 
int32_t PRUICSS_PWM_attrsInit(PRUICSS_PWM_Handle handle);
 
int32_t PRUICSS_PWM_stateInit(PRUICSS_PWM_Handle handle, uint8_t pwmSet, uint8_t instance, uint8_t outputCfgInitialState, uint8_t outputCfgActiveState, uint8_t outputCfgTripState);
 
int32_t PRUICSS_PWM_signalEnable(PRUICSS_PWM_Handle handle, uint8_t pwmSet, uint8_t instance);
 
int32_t PRUICSS_PWM_config(PRUICSS_PWM_Handle handle, uint8_t pwmSet, uint8_t instance,  uint32_t dutyCycle, uint32_t riseEdgeDelay, uint32_t fallEdgeDelay);
 
int32_t PRUICSS_PWM_stateConfig(PRUICSS_PWM_Handle handle);
 
int32_t PRUICSS_PWM_changePwmSetToIntialState(PRUICSS_PWM_Handle handle, uint8_t pwmSetMask);
 
int32_t PRUICSS_PWM_pruIcssPwmFrequencyInit(PRUICSS_PWM_Handle handle, uint32_t pruIcssPwmFrequency);
 
/* */
int32_t PRUICSS_PWM_iepConfig(PRUICSS_PWM_Handle handle);
#ifdef __cplusplus
}
#endif
 
#endif/* #ifndef PRUICSS_PWM_H_ */