bissc_priv Struct Reference

Detailed Description

BiSS-C private data structure (runtime state and configuration)

Contains runtime state information including encoder parameters, position/control data results, CRC error counts, safety data, and pointers to PRU-ICSS shared memory (bissc_pruicss_xchg). This structure is initialized during bissc_init and should be accessed via bissc_get_priv API.

Data Fields
uint8_t	is_open
uint32_t	data_len [BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]
uint32_t	single_turn_len [BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]
uint32_t	multi_turn_len [BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]
uint32_t	channel [BISSC_NUM_CH_PER_SLICE_MAX]
bissc_pruicss_xchg *	pruicss_xchg
uint8_t	has_safety [BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]
uint8_t	sign_of_life_cnt [BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]
uint16_t	rcv_safety_crc [BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]
uint16_t	calc_safety_crc [BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]
uint8_t	is_continuous_mode
uint64_t	raw_data
bissc_position_info	enc_pos_data [BISSC_NUM_CH_PER_SLICE_MAX]
bissc_control_info	enc_ctrl_data [BISSC_NUM_CH_PER_SLICE_MAX]
uint32_t	pd_crc_err_cnt [BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]
uint32_t	ctrl_crc_err_cnt [BISSC_NUM_CH_PER_SLICE_MAX]
uint32_t	num_encoders [BISSC_NUM_CH_PER_SLICE_MAX]
uint8_t	ctrl_write_status [BISSC_NUM_CH_PER_SLICE_MAX]
uint32_t	ctrl_reg_address [BISSC_NUM_CH_PER_SLICE_MAX]
uint32_t	ctrl_reg_data [BISSC_NUM_CH_PER_SLICE_MAX]
uint32_t	ctrl_enc_id [BISSC_NUM_CH_PER_SLICE_MAX]
uint16_t	proc_delay [BISSC_NUM_CH_PER_SLICE_MAX]
uint32_t	baud_rate
uint32_t	cmd_process_delay_us
uint32_t	fw_wait_delay_us
uint32_t	max_wait_loop_count
PRUICSS_Handle	pruicss_handle

Field Documentation

is_open

uint8_t bissc_priv::is_open

Initialization state flag. 0 = Driver closed/not initialized 1 = Driver successfully initialized and open

data_len

uint32_t bissc_priv::data_len[BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Total resolution (single-turn + multi-turn) in bits for each encoder. Indexed by [channel][encoder_in_daisy_chain]

single_turn_len

uint32_t bissc_priv::single_turn_len[BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Single-turn resolution in bits for each encoder. Indexed by [channel][encoder_in_daisy_chain]

multi_turn_len

uint32_t bissc_priv::multi_turn_len[BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Multi-turn resolution in bits for each encoder. Indexed by [channel][encoder_in_daisy_chain]

channel

uint32_t bissc_priv::channel[BISSC_NUM_CH_PER_SLICE_MAX]

Array mapping enabled channel indices to physical channel numbers (0, 1, or 2). Example: If only ch1 is enabled, channel[0] = 1 Example: If ch0 and ch2 are enabled, channel[0] = 0 and channel[1] = 2

pruicss_xchg

bissc_pruicss_xchg* bissc_priv::pruicss_xchg

Pointer to PRU-ICSS shared memory interface structure. This is the primary communication structure between ARM R5F and PRU firmware

has_safety

uint8_t bissc_priv::has_safety[BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

BiSS Safety protocol enable flag for each encoder. 0 = Standard BiSS-C only 1 = BiSS Safety enabled (includes 16-bit CRC and sign-of-life counter)

sign_of_life_cnt

uint8_t bissc_priv::sign_of_life_cnt[BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

6-bit sign-of-life counter from BiSS Safety protocol. Increments with each transaction to detect communication interruptions

rcv_safety_crc

uint16_t bissc_priv::rcv_safety_crc[BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Received 16-bit safety CRC from encoder (BiSS Safety protocol)

calc_safety_crc

uint16_t bissc_priv::calc_safety_crc[BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Calculated 16-bit safety CRC by PRU firmware for comparison. Mismatch indicates data corruption

is_continuous_mode

uint8_t bissc_priv::is_continuous_mode

Operation mode flag. 0 = Host trigger mode (manual transaction triggering) 1 = Periodic/continuous mode (IEP timer-driven automatic triggering)

raw_data

uint64_t bissc_priv::raw_data

Data storage for raw 64-bit data received from encoder. Used during position data parsing in bissc_get_pos

enc_pos_data

bissc_position_info bissc_priv::enc_pos_data[BISSC_NUM_CH_PER_SLICE_MAX]

Parsed position data results (angle, turns, CRC) for each channel. Updated by bissc_get_pos after each successful transaction

enc_ctrl_data

bissc_control_info bissc_priv::enc_ctrl_data[BISSC_NUM_CH_PER_SLICE_MAX]

Control communication results (register data, CRC) for each channel. Updated by bissc_set_ctrl_cmd_and_process after register read/write

pd_crc_err_cnt

uint32_t bissc_priv::pd_crc_err_cnt[BISSC_NUM_CH_PER_SLICE_MAX][BISSC_NUM_ENCODERS_IN_DAISY_CHAIN_MAX]

Cumulative position data CRC error count for each encoder. Incremented by firmware when received CRC != calculated CRC

ctrl_crc_err_cnt

uint32_t bissc_priv::ctrl_crc_err_cnt[BISSC_NUM_CH_PER_SLICE_MAX]

Cumulative control communication CRC error count for each channel. Incremented when control response CRC validation fails

num_encoders

uint32_t bissc_priv::num_encoders[BISSC_NUM_CH_PER_SLICE_MAX]

Number of encoders connected in daisy chain on each channel. Configured via bissc_update_data_len()

ctrl_write_status

uint8_t bissc_priv::ctrl_write_status[BISSC_NUM_CH_PER_SLICE_MAX]

Control communication read/write status for each channel. Valid values: 0 (Read access) or 1 (Write access)

ctrl_reg_address

uint32_t bissc_priv::ctrl_reg_address[BISSC_NUM_CH_PER_SLICE_MAX]

Target register address for control communication (0x00-0x7F). Set by bissc_generate_ctrl_cmd()

ctrl_reg_data

uint32_t bissc_priv::ctrl_reg_data[BISSC_NUM_CH_PER_SLICE_MAX]

Register data for control communication

ctrl_enc_id

uint32_t bissc_priv::ctrl_enc_id[BISSC_NUM_CH_PER_SLICE_MAX]

Encoder ID for control communication in daisy chain

proc_delay

uint16_t bissc_priv::proc_delay[BISSC_NUM_CH_PER_SLICE_MAX]

Measured encoder processing delay in clock cycles for each channel. Automatically measured by PRU firmware during initialization

baud_rate

uint32_t bissc_priv::baud_rate

BiSS-C communication baud rate in MHz (1, 2, 5, 8, or 10). Configured via bissc_update_clock_freq() or from SysConfig. Copied from attrs in bissc_init. Runtime modification is possible.

cmd_process_delay_us

uint32_t bissc_priv::cmd_process_delay_us

Delay in microseconds for command processing polling loop. Used in bissc_command_wait. Copied from params in bissc_init.

fw_wait_delay_us

uint32_t bissc_priv::fw_wait_delay_us

Delay in microseconds between firmware status checks. Used in firmware initialization and control communication functions. Copied from params in bissc_init.

max_wait_loop_count

uint32_t bissc_priv::max_wait_loop_count

Maximum wait loop count for BiSS-C cycle timeout detection. Actual timeout (ms) = max_wait_loop_count * cmd_process_delay_us / 1000 Used in bissc_command_wait. Must be greater than 0. Copied from params in bissc_init.

pruicss_handle

PRUICSS_Handle bissc_priv::pruicss_handle

PRU-ICSS driver handle obtained from PRUICSS_open(). Used for accessing PRU-ICSS hardware resources. Copied from params in bissc_init.