nikon_interface.h

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 */
 
#ifndef NIKON_INTERFACE_H_
#define NIKON_INTERFACE_H_
 
#ifdef __cplusplus
extern "C" {
#endif
/* Maximum number of channels in 3 channel peripheral interface of 1 PRU-ICSS Slice */
#define NUM_ED_CH_MAX                       (3U)
/* Maximum number of Nikon Encoders connected in bus connection*/
#define NUM_ENCODERS_MAX                    (8U)
/* Maximum number of Received Data Field Frames */
#define NUM_DATA_FIELDS_MAX                 (5U)
/* Maximum number of Memory Data Field Frames */
#define NUM_MDF_MAX                         (4U)
 
/* ========================================================================== */
/*                           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_ED_CH_MAX][NUM_MDF_MAX];
    volatile uint32_t num_mdf;
    volatile uint32_t delay_1us;
    volatile uint64_t icss_clk;
    struct   pos_data_res   pos_data_res[NUM_ENCODERS_MAX];
};
 
#ifdef __cplusplus
}
#endif
 
#endif