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added ESC side eeprom emulation

pull/13/head
Sascha Ittner 2016-08-26 17:10:57 +02:00
parent 2ee5d244c8
commit 24bdcc5c98
3 changed files with 211 additions and 0 deletions
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3
soes/CMakeLists.txt
View File

@ -7,6 +7,8 @@ add_library (soes
esc_coe.h
esc_foe.c
esc_foe.h
esc_eep.c
esc_eep.h
${HAL_SOURCES}
)
@ -17,4 +19,5 @@ install (FILES
esc.h
esc_coe.h
esc_foe.h
esc_eep.h
DESTINATION include)

105
soes/esc_eep.c 100644
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@ -0,0 +1,105 @@
/*
* SOES Simple Open EtherCAT Slave
*
* Copyright (C) 2010 ZBE Inc.
* Copyright (C) 2011-2013 Arthur Ketels.
* Copyright (C) 2012-2013 rt-labs.
*
* SOES is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License version 2 as published by the Free
* Software Foundation.
*
* SOES is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* As a special exception, if other files instantiate templates or use macros
* or inline functions from this file, or you compile this file and link it
* with other works to produce a work based on this file, this file does not
* by itself cause the resulting work to be covered by the GNU General Public
* License. However the source code for this file must still be made available
* in accordance with section (3) of the GNU General Public License.
*
* This exception does not invalidate any other reasons why a work based on
* this file might be covered by the GNU General Public License.
*
* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
* property of, and protected by Beckhoff Automation GmbH.
*/
/** \file
* \brief
* ESI EEPROM emulator module.
*/
#include "cc.h"
#include "esc.h"
#include "esc_eep.h"
#include <string.h>
static uint8_t eep_buf[8];
/** EPP periodic task of ESC side EEPROM emulation.
*
*/
void EEP_process (void)
{
eep_stat_t stat;
/* check for eeprom event */
if ((ESCvar.ALevent & ESCREG_ALEVENT_EEP) == 0) {
return;
}
while (1) {
/* read eeprom status */
ESC_read (ESCREG_EECONTSTAT, &stat, sizeof (eep_stat_t));
stat.contstat.reg = etohs(stat.contstat.reg);
stat.addr = etohl(stat.addr);
/* check busy flag, exit if job finished */
if (!stat.contstat.bits.busy) {
return;
}
/* clear error bits */
stat.contstat.bits.csumErr = 0;
stat.contstat.bits.eeLoading = 0;
stat.contstat.bits.ackErr = 0;
stat.contstat.bits.wrErr = 0;
/* process commands */
switch (stat.contstat.bits.cmdReg) {
case EEP_CMD_IDLE:
break;
case EEP_CMD_READ:
case EEP_CMD_RELOAD:
/* handle read request */
if (EEP_read (stat.addr * sizeof(uint16_t), eep_buf, EEP_READ_SIZE) != 0) {
stat.contstat.bits.ackErr = 1;
} else {
ESC_write (ESCREG_EEDATA, eep_buf, EEP_READ_SIZE);
}
break;
case EEP_CMD_WRITE:
/* handle write request */
ESC_read (ESCREG_EEDATA, eep_buf, EEP_WRITE_SIZE);
if (EEP_write (stat.addr * sizeof(uint16_t), eep_buf, EEP_WRITE_SIZE) != 0) {
stat.contstat.bits.ackErr = 1;
}
break;
default:
stat.contstat.bits.ackErr = 1;
}
/* acknowledge command */
stat.contstat.reg = htoes(stat.contstat.reg);
ESC_write (ESCREG_EECONTSTAT, &stat.contstat.reg, sizeof(uint16_t));
}
}

103
soes/esc_eep.h 100644
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@ -0,0 +1,103 @@
/*
* SOES Simple Open EtherCAT Slave
*
* Copyright (C) 2010 ZBE Inc.
* Copyright (C) 2007-2013 Arthur Ketels
* Copyright (C) 2012-2013 rt-labs.
*
* SOES is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License version 2 as published by the Free
* Software Foundation.
*
* SOES is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* As a special exception, if other files instantiate templates or use macros
* or inline functions from this file, or you compile this file and link it
* with other works to produce a work based on this file, this file does not
* by itself cause the resulting work to be covered by the GNU General Public
* License. However the source code for this file must still be made available
* in accordance with section (3) of the GNU General Public License.
*
* This exception does not invalidate any other reasons why a work based on
* this file might be covered by the GNU General Public License.
*
* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
* property of, and protected by Beckhoff Automation GmbH.
*/
/** \file
* \brief
* Headerfile for esc_eep.c
*/
#ifndef __esc_eep__
#define __esc_eep__
#include "cc.h"
/* EEPROM emulation related ESC registers */
#define ESCREG_EECONTSTAT 0x0502
#define ESCREG_EEDATA 0x0508
#define ESCREG_ALEVENT_EEP 0x0020
/* EEPROM commands */
#define EEP_CMD_IDLE 0x0
#define EEP_CMD_READ 0x1
#define EEP_CMD_WRITE 0x2
#define EEP_CMD_RELOAD 0x3
/* read/write size */
#define EEP_READ_SIZE 8
#define EEP_WRITE_SIZE 2
/* CONSTAT register content */
typedef struct CC_PACKED
{
union {
uint16_t reg;
struct {
#if defined(EC_LITTLE_ENDIAN)
uint8_t wrEnable:1;
uint8_t reserved:4;
uint8_t eeEmulated:1;
uint8_t eightByteRead:1;
uint8_t twoByteAddr:1;
uint8_t cmdReg:3;
uint8_t csumErr:1;
uint8_t eeLoading:1;
uint8_t ackErr:1;
uint8_t wrErr:1;
uint8_t busy:1;
#endif
#if defined(EC_BIG_ENDIAN)
uint8_t busy:1;
uint8_t wrErr:1;
uint8_t ackErr:1;
uint8_t eeLoading:1;
uint8_t csumErr:1;
uint8_t cmdReg:3;
uint8_t twoByteAddr:1;
uint8_t eightByteRead:1;
uint8_t eeEmulated:1;
uint8_t reserved:4;
uint8_t wrEnable:1;
#endif
} bits;
} contstat;
uint32_t addr;
} eep_stat_t;
/* periodic task */
void EEP_process (void);
/* From hardware file */
void EEP_init (void);
int8_t EEP_read (uint32_t addr, uint8_t *data, uint16_t size);
int8_t EEP_write (uint32_t addr, uint8_t *data, uint16_t size);
#endif