APIs for Tamagawa Encoder Over UART

Introduction

Here is the list of APIs used for Tamagawa encoder communication protocol

Data Structures
struct	tamagawa_tx
	Tamagawa Interface Transmit data. More...
struct	tamagawa_rx
	Tamagawa Interface Received data. More...
struct	tamagawa_uart_interface
	Tamagawa Interface. More...

Functions
int32_t	tamagawa_command_process (volatile struct tamagawa_uart_interface *tamagawa_interface, UART_Handle *gUartHandle, int32_t cmd)
	Process The Tamagawa Command. More...
int32_t	tamagawa_crc_verify (volatile struct tamagawa_uart_interface *tamagawa_interface)
	Compare Received CRC and Calculated CRC. More...
void	tamagawa_init (volatile struct tamagawa_uart_interface *tamagawa_interface, uint32_t instance, uint32_t base_address, uint32_t pin_number, uint32_t pin_direction)
	Configure GOPIO pin for RTSn(sw flow control) More...

Enumerations
enum	data_id {   DATA_ID_0, DATA_ID_1, DATA_ID_2, DATA_ID_3,   DATA_ID_6, DATA_ID_7, DATA_ID_8, DATA_ID_C,   DATA_ID_D, DATA_ID_NUM }
	Data ID codes. More...

Macros
#define	MAX_EEPROM_ADDRESS   (127)
	Used to set the maximum address that can be used for EEPROM Read/Write. More...
#define	MAX_EEPROM_WRITE_DATA   (255)
	Used to set the maximum value that can be written in EEPROM. More...

Macro Definition Documentation

MAX_EEPROM_ADDRESS

#define MAX_EEPROM_ADDRESS   (127)

Used to set the maximum address that can be used for EEPROM Read/Write.

MAX_EEPROM_WRITE_DATA

#define MAX_EEPROM_WRITE_DATA   (255)

Used to set the maximum value that can be written in EEPROM.

Enumeration Type Documentation

data_id

enum data_id

Data ID codes.

Enumerator
DATA_ID_0	Data readout data in one revolution
DATA_ID_1	Data readout multi-turn data
DATA_ID_2	Data readout encoder ID
DATA_ID_3	Data readout data in one revolution, encoder ID, multi-turn, encoder error
DATA_ID_6	EEPROM write
DATA_ID_7	Reset
DATA_ID_8	Reset
DATA_ID_C	Reset
DATA_ID_D	EEPROM read
DATA_ID_NUM	Number of Data ID codes

Function Documentation

tamagawa_command_process()

int32_t tamagawa_command_process	(	volatile struct tamagawa_uart_interface *	tamagawa_interface,
		UART_Handle *	gUartHandle,
		int32_t	cmd
	)

Process The Tamagawa Command.

Parameters

[in]	tamagawa_interface	Tamagawa Interface
[in]	gUartHandle	uart handle
[in]	cmd	tamagawa command number

Return values

0	success
-EINVAL	failure

tamagawa_crc_verify()

int32_t tamagawa_crc_verify

(

volatile struct tamagawa_uart_interface *

tamagawa_interface

)

Compare Received CRC and Calculated CRC.

Parameters

[in]

tamagawa_interface

Tamagawa Interface

Return values

1	CRC Success
0	CRC failure

tamagawa_init()

void tamagawa_init	(	volatile struct tamagawa_uart_interface *	tamagawa_interface,
		uint32_t	instance,
		uint32_t	base_address,
		uint32_t	pin_number,
		uint32_t	pin_direction
	)

Configure GOPIO pin for RTSn(sw flow control)

Parameters

[in]	tamagawa_interface	Tamagawa Interface
[in]	instance	UART communication instance
[in]	base_address	GPIO PIN address
[in]	pin_number	GPIO PIN Number
[in]	pin_direction	GPIO pin direction (output/input)