static void hpg_write(void *void_hpg, long period) {
hal_pru_generic_t *hpg = void_hpg;
hpg_stepgen_update(hpg, period);
hpg_pwmgen_update(hpg);
hpg_encoder_update(hpg);
hpg_wait_update(hpg);
}
//
// *_force_write sets up any persistent state data required that does not get
// written by the standard *_update() procedure, above
//
void hpg_encoder_force_write(hal_pru_generic_t *hpg) {
int i, j;
if (hpg->encoder.num_instances <= 0) return;
for (i = 0; i < hpg->encoder.num_instances; i ++) {
PRU_task_encoder_t *pru = (PRU_task_encoder_t *) ((u32) hpg->pru_data + (u32) hpg->encoder.instance[i].task.addr);
// Global data common to all channels
hpg->encoder.instance[i].pru.task.hdr.mode = eMODE_ENCODER;
hpg->encoder.instance[i].pru.task.hdr.len = hpg->encoder.instance[i].num_channels;
hpg->encoder.instance[i].pru.task.hdr.dataX = 0x00;
hpg->encoder.instance[i].pru.task.hdr.dataY = 0x00;
hpg->encoder.instance[i].pru.task.hdr.addr = hpg->encoder.instance[i].task.next;
hpg->encoder.instance[i].pru.pin_invert = 0;
hpg->encoder.instance[i].pru.LUT = hpg->encoder.instance[i].LUT;
*pru = hpg->encoder.instance[i].pru;
hpg->encoder.instance[i].written_pin_invert = hpg->encoder.instance[i].pru.pin_invert;
// Per-channel data
PRU_encoder_chan_t *pruchan = (PRU_encoder_chan_t *) ((u32) hpg->pru_data + (u32) hpg->encoder.instance[i].task.addr + sizeof(hpg->encoder.instance[i].pru));
for (j = 0; j < hpg->encoder.instance[i].num_channels; j ++) {
hpg->encoder.instance[i].chan[j].pru.hdr.A_pin = hpg->encoder.instance[i].chan[j].hal.param.A_pin;
hpg->encoder.instance[i].chan[j].pru.hdr.B_pin = hpg->encoder.instance[i].chan[j].hal.param.B_pin;
hpg->encoder.instance[i].chan[j].pru.hdr.Z_pin = hpg->encoder.instance[i].chan[j].hal.param.index_pin;
hpg->encoder.instance[i].chan[j].pru.hdr.mode = hpg->encoder.instance[i].chan[j].hal.param.counter_mode;
hpg->encoder.instance[i].chan[j].pru.raw.dword[1] = 0;
hpg->encoder.instance[i].chan[j].pru.raw.dword[2] = 0;
pruchan[j] = hpg->encoder.instance[i].chan[j].pru;
hpg->encoder.instance[i].chan[j].written_state = hpg->encoder.instance[i].chan[j].pru.raw.dword[0];
}
// LUT Table
PRU_encoder_LUT_t *pru_lut = (PRU_encoder_LUT_t *) ((u32) hpg->pru_data + (u32) hpg->encoder.instance[i].LUT);
*pru_lut = Counter_LUT;
}
// Call the regular update routine to finish up
hpg_encoder_update(hpg);
}
