Add device emulation support

applications/raspberry_lan9252demo/ecat_options.h

@@ -5,6 +5,7 @@
 
 #define DYN_PDO_MAPPING  0
 
+#define USE_EMU          1
 #define USE_MBX          0
 #define USE_FOE          0
 #define USE_EOE          0

soes/esc.c

@@ -35,10 +35,12 @@ void ESC_ALerror (uint16_t errornumber)
  */
 void ESC_ALstatus (uint8_t status)
 {
+   #if !(USE_EMU)
    uint16_t dummy;
    ESCvar.ALstatus = status;
    dummy = htoes ((uint16_t) status);
    ESC_write (ESCREG_ALSTATUS, &dummy, sizeof (dummy));
+   #endif
 }
 
 /** Write AL Status and AL Status code to the ESC.
@@ -940,6 +942,13 @@ void ESC_state (void)
    uint8_t ac, an, as;
 
    /* Do we have a state change request pending */
+   #if USE_EMU
+   uint16_t ALstate;
+   ESC_read (ESCREG_ALCONTROL, (void *) &ALstate,
+             sizeof (ALstate));
+   ALstate = etohs (ALstate);
+   if (ALstate == ESCvar.ALcontrol)
+   #else
    if (ESCvar.ALevent & ESCREG_ALEVENT_CONTROL)
    {
       ESC_read (ESCREG_ALCONTROL, (void *) &ESCvar.ALcontrol,
@@ -947,6 +956,7 @@ void ESC_state (void)
       ESCvar.ALcontrol = etohs (ESCvar.ALcontrol);
    }
    else
+   #endif
    {
       /* nothing to do */
       return;
@@ -1163,6 +1173,9 @@ void ESC_state (void)
    }
 
    ESC_ALstatus (an);
+   #if USE_EMU
+   ESCvar.ALcontrol = ALstate;
+   #endif
    DPRINT ("state %x\n", an);
 }
 /** Function copying the application configuration variable

soes/hal/raspberrypi-lan9252/esc_hw.c

@@ -524,9 +524,6 @@ void ESC_init (const esc_cfg_t * config)
             // Read the chip identification and revision
             value = bcm2835_spi_read_32(ESC_CMD_ID_REV);
             DPRINT("Detected chip %x Rev %u \n", ((value >> 16) & 0xFFFF), (value & 0xFFFF));
-            
-            // Disable device simulation to let application set AL status
-            ESC_emulation_disable ();
    
             // Set AL event mask
             value = (ESCREG_ALEVENT_CONTROL | 
@@ -534,7 +531,6 @@ void ESC_init (const esc_cfg_t * config)
                      ESCREG_ALEVENT_SM0 |
                      ESCREG_ALEVENT_SM1 );
             ESC_ALeventmaskwrite(value);
-            
          }
          else
          {
@@ -591,35 +587,3 @@ void ESC_interrupt_disable (uint32_t mask)
    // Disable LAN9252 interrupt
    bcm2835_spi_write_32(ESC_CMD_INT_EN, 0x00000000);
 }
-
-void ESC_emulation_enable (void)
-{
-   uint32_t config;
-   
-   // Read current register configuration
-   ESC_read_csr(ESCREG_ALCONFIG,&config,sizeof(config));
-   config = htoel(config);
-   
-   // Enable device emulation (AL status register will be set to value written to AL control register)
-   config |= 0x00000001; 
-   
-   // Write updated register configuration
-   config = htoel(config);
-   ESC_write_csr(ESCREG_ALCONFIG,&config,sizeof(config));
-}
-
-void ESC_emulation_disable (void)
-{
-   uint32_t config;
-   
-   // Read current register configuration
-   ESC_read_csr(ESCREG_ALCONFIG,&config,sizeof(config));
-   config = htoel(config);
-   
-   // Disable device emulation (AL status register has to be set by PDI)
-   config &= ~(0x00000001);
-   
-   // Write updated register configuration
-   config = htoel(config);
-   ESC_write_csr(ESCREG_ALCONFIG,&config,sizeof(config));
-}

soes/hal/raspberrypi-lan9252/esc_hw.h

@@ -13,8 +13,6 @@
 
 void ESC_interrupt_enable (uint32_t mask);
 void ESC_interrupt_disable (uint32_t mask);
-void ESC_emulation_denable (void);
-void ESC_emulation_disable (void);
 
 #endif
 

soes/options.h

@@ -9,6 +9,11 @@
 /* User-defined options, Options defined here will override default values */
 #include "ecat_options.h"
 
+/* Device emulation support */
+#ifndef USE_EMU
+#define USE_EMU          0
+#endif
+
 /* Mailbox support */
 /* If disabled SM2 --> SM0, and SM3 --> SM1 */
 #ifndef USE_MBX