PN_HandleDef.h

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/*
 *  Copyright (C) 2021 Texas Instruments Incorporated
 *
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 *  modification, are permitted provided that the following conditions
 *  are met:
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 *    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
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 */
 
#ifndef PN_HANDLE_DEF_H_
#define PN_HANDLE_DEF_H_
 
#ifdef __cplusplus
extern "C"
{
#endif
 
 
/* ========================================================================== */
/*                             Include Files                                  */
/* ========================================================================== */
 
#include "pnDrvConfig.h"
#include "iPtcpDrv.h"
#include "iPtcpUtils.h"
#include "iRtcDrv2.h"
#include "iPnOs.h"
#include <kernel/dpl/HwiP.h>
#include <kernel/dpl/SemaphoreP.h>
#include <kernel/dpl/TaskP.h>
#include <stdint.h>
 
/* ========================================================================== */
/*                           Macros & Typedefs                                */
/* ========================================================================== */
 
/*TODO: Review this*/
#define PN_TASK_STACK_SIZE (2048)
 
typedef void (*PN_getMACAddress)(uint8_t index, uint8_t *lclMac);
 
/* ========================================================================== */
/*                         Structure Declarations                             */
/* ========================================================================== */
/*
*  \brief     PN_PtcpDebug
*             Structure storing the debug info for PTCP
*/
typedef struct PN_PtcpDebug_s
{
    debugDelay_t debugDelay[PTCP_NUM_PORTS];
    int32_t debugDelayIndex;
    int32_t debugSyncIndex;
    int32_t maxDeltaT;
    int32_t minDeltaT;
    int32_t deltaTOutOfRange;
    int32_t maxDelay;
    int32_t minDelay;
    int32_t delayOutOfRange;
    uint32_t syncmissCounter;
} PN_PtcpDebug;
 
/*
*  \brief     PN_TimerAttrs
*             Structure storing the interrupt configurations
*/
typedef struct PN_PtcpTimerAttrs_s
{
    uint32_t ptcpTimerID;
    void *ptcpTimerHandle;
} PN_PtcpTimerAttrs;
 
/*
*  \brief     PN_PtcpConfig
*             Structure storing the PTCP info
*/
typedef struct PN_PtcpConfig_s
{
    uint32_t pnCyclePeriod;
    uint32_t mandCtrAdj;
    uint32_t T2_prev[PTCP_NUM_PORTS];
    uint32_t T1_prev[PTCP_NUM_PORTS];
    uint32_t T1_CTR_prev[PTCP_NUM_PORTS];
    float rcf_prev[PTCP_NUM_PORTS];
    uint16_t seqId;
    int32_t delayIndex;
    int32_t syncIndex;
    uint32_t numInSync;
    int32_t syncDeltaTs[SYNC_FILTER_SIZE];
    uint32_t *pSyncTorgNs;
    uint32_t *pSyncInDelayPlusLD;
    uint32_t *pSyncRxSOF;
    uint32_t *pSyncTorgSecs;
    uint16_t *pPmCycleCounter;
    uint16_t *pPmPhaseCounter;
    uint8_t *pSubDomainUUID;
    uint8_t *pSyncMasterMac;
    uint8_t *pSyncInitFlag;
    uint32_t clkChangeNotifyDelay;
    uint32_t prev_cDelay[PTCP_NUM_PORTS];
    uint32_t prev_lDelay[PTCP_NUM_PORTS];
    uint8_t initPmCycleCtrDone;
    uint8_t cycleCtrInitPending;
    uint16_t calculatedCycleCtr;
    uint8_t masterChange;
    uint8_t phaseCtrChange;
    int32_t firstDelayBurst;
    uint16_t maxSeqId;
    uint16_t minSeqId;
    volatile ptcpSyncInfo_t deviceSyncInfo;
    uint32_t ptcpSync0PinStart;
    uint32_t ptcpSync0PinPulseWidth;
    volatile currentPtcpStatus_t currentPtcpStatus;
    ptcpPortDelayVal_t portTimes[PTCP_NUM_PORTS];
    deviceDelays_t deviceDelays[PTCP_NUM_PORTS];
    devicePortOffsets_t devicePortOffsets[PTCP_NUM_PORTS];
    /* Semaphores */
    SemaphoreP_Object ptcpStartSem;
    SemaphoreP_Object ptcpTriggerMeasurementSem;
    /* Callbacks */
    ptcpCallBack_t ptcpSyncStatusCall;
    ptcpCallBack_t ptcpDelayUpdateCall;   
    /*TODO: Check if this should be always included*/
    /* Debug                                      */
    PN_PtcpDebug pnPtcpDebugAttrs;
    LatchVars   g_Latch;
    PNIO_TimeStamp  g_T1;
    uint8_t ptcpSyncFilterfactor;
    uint8_t ptcpEnableSlowCompensation;
    /* Timer for PTCP */
    PN_PtcpTimerAttrs ptcpTimer;
    uint32_t prevPnCyclePeriod;
    ptcpSyncCallBack_t ptcpSyncMonitorCall; 
    uint8_t enableCustomSyncMonitorFlag; 
    /* Port at which sync frame is received. To be used by application if required */
    uint8_t SyncCtrlPort;
    /* Flag set if received sync frame is followup frame. To be used by application if required */
    uint8_t SyncCtrlFup;
    /* IEP increment count */
    uint8_t iepStepCount;
    /* Port Rx Delay */
    uint16_t portRxDelay;
    /* Port tx Delay */
    uint16_t portTxDelay;
    /* Delay Response Port Rx Delay*/
    uint16_t delayRespPortRxDelay;
    /* Delay Response Port Tx Delay*/
    uint16_t delayRespPortTxDelay;
} PN_PtcpConfig;
 
 
typedef struct PN_IsoMConfig_s
{
    HwiP_Object isoMInterruptObjectEv1;
    PN_IntAttrs isoMIntConfigEv1;
    HwiP_Object isoMInterruptObjectEv2;
    PN_IntAttrs isoMIntConfigEv2;
 
    uint8_t isoMNumEvents;
 
}PN_IsoMConfig;
 
/*
*  \brief     PN_Config
*             Profinet handle - stores the Profinet configuration
*/
typedef struct PN_Config_s
{
    uint8_t initRtcDrvFlag;
    uint8_t initRtcMemFlag;
    t_descList cpmList;
    t_descList ppmList;
    t_cfgPN currPN;
    t_ppmBlock ppmBlock[PTCP_NUM_PORTS];
    t_cpmBlock cpmBlock;
    tMrpStates mrpState;
    tLegStates legState;
    t_rtcPacket *pLegPkt;
    pnLegCallBack_t
    irtLegStateCall; /* Required? Just sets the value for legState(above), can be done directly? */
    pnLegCallBack_t irtLegPktCall;
    int32_t icssWachDogTimerPeriod;
    int32_t icssWatchDogEnabled;
    ICSS_EMAC_Handle emacHandle;
    PRUICSS_Handle pruicssHandle;
    PN_IntConfig pnIntConfig;
    PN_PtcpConfig pnPtcpConfig;
    /* Task Handles */
    TaskP_Object PTCPTaskObject;
    TaskP_Object SyncMonitorTaskObject;
    TaskP_Object LegModeTaskObject;
    TaskP_Object MrpMachineTaskObject;
    TaskP_Object backgroundTimerTaskObject;
    uint32_t* pnIsoMObject;
    PN_IsoMConfig pnIsoMConfig;
    /*TODO: Review this*/
    PN_getMACAddress getMACAddress;
    /*TODO: Review this*/
    SemaphoreP_Object switchReady;
#ifdef PTCP_SUPPORT
    uint32_t PTCP_taskStack[PN_TASK_STACK_SIZE/sizeof(uint32_t)]            __attribute__((aligned(32)));
    uint32_t PTCP_syncMonitorTaskStack[PN_TASK_STACK_SIZE/sizeof(uint32_t)] __attribute__((aligned(32)));
#endif /*PTCP_SUPPORT*/
#ifdef IRT_LEGACY_STARTUP_SUPPORT
    uint32_t IRT_legacyTaskStack[PN_TASK_STACK_SIZE/sizeof(uint32_t)]       __attribute__((aligned(32)));
#endif /*IRT_LEGACY_STARTUP_SUPPORT*/
#ifdef MRP_SUPPORT
    uint32_t MRP_CPMTaskStack[PN_TASK_STACK_SIZE/sizeof(uint32_t)]          __attribute__((aligned(32)));
#endif /*MRP_SUPPORT*/
    uint32_t background_taskStack[PN_TASK_STACK_SIZE/sizeof(uint32_t)]     __attribute__((aligned(32)));
    /* Callback for thread safety entry. Enter critical section*/
    pnDrvThreadSafe_t lockSynchronizedEntry;
    /* Callback for thread safety exit. Exit critical section*/
    pnDrvThreadSafe_t lockSynchronizedExit;
} PN_Config;
 
 
#ifdef __cplusplus
}
#endif
 
#endif /* PN_HANDLE_DEF_H_ */