106 lines
3.1 KiB
C
106 lines
3.1 KiB
C
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/*
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* SOES Simple Open EtherCAT Slave
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*
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* Copyright (C) 2010 ZBE Inc.
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* Copyright (C) 2011-2013 Arthur Ketels.
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* Copyright (C) 2012-2013 rt-labs.
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*
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* SOES is free software; you can redistribute it and/or modify it under
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* the terms of the GNU General Public License version 2 as published by the Free
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* Software Foundation.
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*
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* SOES is distributed in the hope that it will be useful, but WITHOUT ANY
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* WARRANTY; without even the implied warranty of MERCHANTABILITY or
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* As a special exception, if other files instantiate templates or use macros
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* or inline functions from this file, or you compile this file and link it
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* with other works to produce a work based on this file, this file does not
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* by itself cause the resulting work to be covered by the GNU General Public
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* License. However the source code for this file must still be made available
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* in accordance with section (3) of the GNU General Public License.
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*
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* This exception does not invalidate any other reasons why a work based on
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* this file might be covered by the GNU General Public License.
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*
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* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
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* property of, and protected by Beckhoff Automation GmbH.
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*/
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/** \file
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* \brief
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* ESI EEPROM emulator module.
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*/
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#include "cc.h"
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#include "esc.h"
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#include "esc_eep.h"
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#include <string.h>
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static uint8_t eep_buf[8];
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/** EPP periodic task of ESC side EEPROM emulation.
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*
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*/
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void EEP_process (void)
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{
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eep_stat_t stat;
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/* check for eeprom event */
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if ((ESCvar.ALevent & ESCREG_ALEVENT_EEP) == 0) {
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return;
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}
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while (1) {
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/* read eeprom status */
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ESC_read (ESCREG_EECONTSTAT, &stat, sizeof (eep_stat_t));
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stat.contstat.reg = etohs(stat.contstat.reg);
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stat.addr = etohl(stat.addr);
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/* check busy flag, exit if job finished */
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if (!stat.contstat.bits.busy) {
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return;
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}
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/* clear error bits */
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stat.contstat.bits.csumErr = 0;
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stat.contstat.bits.eeLoading = 0;
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stat.contstat.bits.ackErr = 0;
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stat.contstat.bits.wrErr = 0;
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/* process commands */
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switch (stat.contstat.bits.cmdReg) {
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case EEP_CMD_IDLE:
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break;
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case EEP_CMD_READ:
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case EEP_CMD_RELOAD:
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/* handle read request */
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if (EEP_read (stat.addr * sizeof(uint16_t), eep_buf, EEP_READ_SIZE) != 0) {
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stat.contstat.bits.ackErr = 1;
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} else {
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ESC_write (ESCREG_EEDATA, eep_buf, EEP_READ_SIZE);
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}
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break;
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case EEP_CMD_WRITE:
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/* handle write request */
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ESC_read (ESCREG_EEDATA, eep_buf, EEP_WRITE_SIZE);
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if (EEP_write (stat.addr * sizeof(uint16_t), eep_buf, EEP_WRITE_SIZE) != 0) {
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stat.contstat.bits.ackErr = 1;
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}
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break;
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default:
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stat.contstat.bits.ackErr = 1;
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}
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/* acknowledge command */
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stat.contstat.reg = htoes(stat.contstat.reg);
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ESC_write (ESCREG_EECONTSTAT, &stat.contstat.reg, sizeof(uint16_t));
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}
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}
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