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Merge pull request #70 from OpenEtherCATsociety/fix/xmc4xrelax_phy_reset 

XMC4 rt-kernel ESC HW improvments
pull/75/head
Hans-Erik Floryd 2019-10-07 17:38:37 +02:00 committed by GitHub
parent f16daf271e 8ff826c409
commit 0878d71924
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 22 additions and 2 deletions
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24
soes/hal/rt-kernel-xmc4/esc_hw.c
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@ -83,6 +83,25 @@ void ESC_enable(void)
scu_put_peripheral_in_reset (SCU_PERIPHERAL_ECAT0);
scu_ungate_clock_to_peripheral (SCU_PERIPHERAL_ECAT0);
scu_release_peripheral_from_reset (SCU_PERIPHERAL_ECAT0);
/* Used to perform PHY reset after ECAT module have been released as
* described in 16.3.2.3 final section;
* "In some case PHYs may be released from reset after releasing the ECAT
* module, the pin for nPHY_RESET can be used as an I/O and shell be
* switched later to the alternate output function".
* Works well with relax boards.
*/
static const gpio_cfg_t gpio_cfg[] =
{
{ ECAT0_PHY_RESET,
ECAT0_PHY_RESET_GPIO_AF,
GPIO_STRONG_SOFT,
GPIO_PAD_ENABLED,
GPIO_POWS_DISABLED,
GPIO_SW },
};
/* Re-configure the pin to correct alternate output function */
gpio_configure (gpio_cfg, NELEMENTS (gpio_cfg));
}
/* EtherCAT module clock gating and assert reset API (Disables ECAT)*/
@ -220,9 +239,8 @@ static void sync0_isr (void * arg)
*/
static void ecat_isr (void * arg)
{
ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
ESCvar.Time = etohl (ESCvar.Time);
CC_ATOMIC_SET(ESCvar.ALevent, etohl(ecat0->AL_EVENT_REQ));
CC_ATOMIC_SET(ESCvar.Time, etohl(ecat0->READMode_DC_SYS_TIME[0]));
/* Handle SM2 interrupt */
if(ESCvar.ALevent & ESCREG_ALEVENT_SM2)
@ -281,6 +299,8 @@ static void isr_run(void * arg)
/* Do while to handle write of eeprom, the write to flash is delayed */
do
{
/* Update time, used by emulated eeprom handler to measure idle time */
CC_ATOMIC_SET(ESCvar.Time, etohl(ecat0->READMode_DC_SYS_TIME[0]));
ecat_slv_worker(ESCREG_ALEVENT_CONTROL | ESCREG_ALEVENT_SMCHANGE
| ESCREG_ALEVENT_SM0 | ESCREG_ALEVENT_SM1 | ESCREG_ALEVENT_EEP);