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Merge pull request #176 from OpenEtherCATsociety/feature/add_sm_disabled_enabled_readback 

Add readback that SM bit is set enabled/disabled
feature/improve_eeprom_reload_handling
nakarlsson 2024-03-27 11:09:03 +01:00 committed by GitHub
parent 56124c2348 41438c4a33
commit 66111d50fa
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GPG Key ID: B5690EEEBB952194
1 changed files with 21 additions and 1 deletions
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22
soes/esc.c
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@ -162,6 +162,17 @@ void ESC_SMwritepdi (uint8_t n)
ESC_write ((uint16_t)(ESCREG_SM0PDI + (n << 3)), &(sm->ActPDI), 1);
}
/** Read ESC PDI control register 0x807(+ offset to SyncManager n) to ESCvar.SM[n] data.
*
* @param[in] n = Read from Sync Manager no. n
*/
void ESC_SMreadpdi (uint8_t n)
{
_ESCsm2* sm;
sm = (_ESCsm2*)&ESCvar.SM[n];
ESC_read ((uint16_t)(ESCREG_SM0PDI + (n << 3)), &(sm->ActPDI), 1);
}
/** Write 0 to Bit0 in SM PDI control register 0x807(+ offset to SyncManager n) to Activate the Sync Manager n.
*
* @param[in] n = Write to Sync Manager no. n
@ -172,6 +183,11 @@ void ESC_SMenable (uint8_t n)
sm = (_ESCsm2 *)&ESCvar.SM[n];
sm->ActPDI &= (uint8_t)~ESCREG_SMENABLE_BIT;
ESC_SMwritepdi (n);
/* Read back wait until enabled */
do
{
ESC_SMreadpdi (n);
} while ((sm->ActPDI & ESCREG_SMENABLE_BIT) == 1);
}
/** Write 1 to Bit0 in SM PDI control register 0x807(+ offset to SyncManager n) to De-activte the Sync Manager n.
*
@ -183,6 +199,11 @@ void ESC_SMdisable (uint8_t n)
sm = (_ESCsm2 *)&ESCvar.SM[n];
sm->ActPDI |= ESCREG_SMENABLE_BIT;
ESC_SMwritepdi (n);
/* Read back wait until disabled */
do
{
ESC_SMreadpdi (n);
} while ((sm->ActPDI & ESCREG_SMENABLE_BIT) == 0);
}
/** Read Configured Station Address register 0x010 assigned by the Master.
*
@ -321,7 +342,6 @@ uint8_t ESC_startmbx (uint8_t state)
ESCvar.activemb0 = &ESCvar.mb[0];
ESCvar.activemb1 = &ESCvar.mb[1];
ESC_SMenable (0);
ESC_SMenable (1);
ESC_SMstatus (0);