bissc_interface.h

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/*
 *  Copyright (C) 2023-2026 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,
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 *  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 BISSC_INTERFACE_H_
#define BISSC_INTERFACE_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
/* ========================================================================== */
/*                             Include Files                                  */
/* ========================================================================== */
 
#include "bissc_drv.h"
 
/* ========================================================================== */
/*                           Macros & Typedefs                                */
/* ========================================================================== */
 
#define BISSC_NUM_CH_PER_SLICE_MAX              3
 
#define BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX   3
 
/* ========================================================================== */
/*                         Structure Declarations                             */
/* ========================================================================== */
 
typedef struct bissc_raw_data_s
{
    volatile uint32_t   pos_data_word0;
    volatile uint32_t   pos_data_word1;
} bissc_raw_data;
 
typedef struct bissc_enc_len_s
{
    volatile uint8_t num_encoders;
    volatile uint8_t data_len[BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX];
} bissc_enc_len;
 
typedef struct bissc_pos_data_res_s
{
    bissc_raw_data raw_data[BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX];
    volatile uint32_t   pd_crc_err_cnt[BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX];
    volatile uint8_t    pos_data_otf_crc[BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX];
} bissc_pos_data_res;
 
typedef struct bissc_ctrl_res_s
{
    volatile uint32_t ctrl_crc_err_cnt;
    volatile uint8_t ctrl_cds_res;
    volatile uint8_t ctrl_rcvd_crc;
    volatile uint8_t ctrl_otf_crc;
} bissc_ctrl_res;
 
typedef struct bissc_periodic_trigger_cfg_s
{
    uint8_t iep_cmp_event;
    uint8_t iep_cap_event;
    uint16_t reserved;
    uint32_t iep_capture_reg;
} bissc_periodic_trigger_cfg;
 
typedef struct bissc_pruicss_xchg_s
{
    volatile uint8_t pos_crc_len;
    volatile uint8_t rx_clk_freq;
    volatile uint8_t ctrl_cmd_crc_len;
    volatile uint8_t  channel;
    volatile uint8_t status[BISSC_NUM_CH_PER_SLICE_MAX];
    volatile uint8_t primary_core_mask;
    volatile uint8_t cycle_trigger[BISSC_NUM_CH_PER_SLICE_MAX];
    volatile uint8_t measure_proc_delay;
    volatile uint8_t opmode[BISSC_NUM_CH_PER_SLICE_MAX];
    bissc_enc_len  enc_len[BISSC_NUM_CH_PER_SLICE_MAX];
    volatile uint8_t   valid_bit_idx;
    volatile uint8_t   fifo_bit_idx;
    volatile uint8_t   ctrl_cmd_status[BISSC_NUM_CH_PER_SLICE_MAX];
    volatile uint16_t  proc_delay[BISSC_NUM_CH_PER_SLICE_MAX];
    volatile uint32_t ctrl_cmd[BISSC_NUM_CH_PER_SLICE_MAX];
    volatile uint32_t max_proc_delay;
    bissc_pos_data_res pos_data_res[BISSC_NUM_CH_PER_SLICE_MAX];
    bissc_ctrl_res ctrl_res[BISSC_NUM_CH_PER_SLICE_MAX];
    volatile uint8_t   execution_state[BISSC_NUM_CH_PER_SLICE_MAX];
    volatile uint64_t  register_backup[BISSC_NUM_CH_PER_SLICE_MAX];
    volatile uint8_t   bissc_re_measure_proc_delay;
    volatile uint8_t   has_safety[BISSC_NUM_CH_PER_SLICE_MAX];
    volatile uint16_t safety_crc[BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX][BISSC_NUM_CH_PER_SLICE_MAX];
    volatile uint32_t encoder_timeout[BISSC_NUM_CH_PER_SLICE_MAX];
    volatile uint32_t delay_100ms;
    volatile uint64_t icss_clk;
    volatile uint32_t iep_base_address;
    bissc_periodic_trigger_cfg trigger_params[BISSC_NUM_CH_PER_SLICE_MAX];
} bissc_pruicss_xchg;
 
#ifdef __cplusplus
}
#endif
 
#endif