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Fixes write/read pram functions

pull/165/head
iwoodsawyer 2021-05-12 16:07:09 -07:00
parent a9e743e75f
commit e2ec33b930
1 changed files with 49 additions and 53 deletions
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102
soes/hal/raspberrypi-lan9252/esc_hw.c
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@ -72,7 +72,7 @@ static void bcm2835_spi_write_32 (uint16_t address, uint32_t val)
data[6] = ((val >> 24) & 0xFF);
/* Write data */
bcm2835_spi_transfern(data, 7);
bcm2835_spi_transfern(data, sizeof(data));
}
/* bcm2835 spi single read */
@ -85,7 +85,7 @@ static uint32_t bcm2835_spi_read_32 (uint16_t address)
data[2] = (address & 0xFF);
/* Read data */
bcm2835_spi_transfern(data, 7);
bcm2835_spi_transfern(data, sizeof(data));
return ((data[6] << 24) |
(data[5] << 16) |
@ -131,47 +131,45 @@ static void ESC_read_pram (uint16_t address, void *buf, uint16_t len)
{
uint32_t value;
uint8_t * temp_buf = buf;
uint16_t byte_offset = 0;
uint8_t fifo_cnt, fifo_size, first_byte_position, temp_len;
uint8_t *buffer;
uint16_t quotient, byte_offset = 0;
uint8_t fifo_cnt, fifo_size, fifo_range, first_byte_position, temp_len;
uint8_t *buffer = NULL;
int i, size;
value = ESC_PRAM_CMD_ABORT;
bcm2835_spi_write_32(ESC_PRAM_RD_CMD_REG, value);
bcm2835_spi_write_32(ESC_PRAM_RD_CMD_REG, ESC_PRAM_CMD_ABORT);
do
{
value = bcm2835_spi_read_32(ESC_PRAM_RD_CMD_REG);
}while(value & ESC_PRAM_CMD_BUSY);
value = ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address);
bcm2835_spi_write_32(ESC_PRAM_RD_ADDR_LEN_REG, value);
bcm2835_spi_write_32(ESC_PRAM_RD_ADDR_LEN_REG, (ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address)));
value = ESC_PRAM_CMD_BUSY;
bcm2835_spi_write_32(ESC_PRAM_RD_CMD_REG, value);
do
{
value = bcm2835_spi_read_32(ESC_PRAM_RD_CMD_REG);
}while((value & ESC_PRAM_CMD_AVAIL) == 0);
/* Fifo size */
fifo_size = ESC_PRAM_CMD_CNT(value);
bcm2835_spi_write_32(ESC_PRAM_RD_CMD_REG, ESC_PRAM_CMD_BUSY);
/* Find out first byte position and adjust the copy from that
* according to LAN9252 datasheet and MicroChip SDK code
*/
first_byte_position = (address & 0x03);
/* Transfer data size */
size = 3+4*fifo_size;
/* Allocate buffer */
buffer = (uint8_t *)malloc(size);
/* Transfer data */
while (len > 0)
{
/* Wait for read availabiliy */
fifo_range = MIN(len/4,16);
do
{
value = bcm2835_spi_read_32(ESC_PRAM_RD_CMD_REG);
}while(!(value & ESC_PRAM_CMD_AVAIL) || (ESC_PRAM_CMD_CNT(value) < fifo_range));
/* Fifo size */
fifo_size = ESC_PRAM_CMD_CNT(value);
/* Transfer data size */
size = 3+4*fifo_size;
/* Allocate buffer */
buffer = (uint8_t *)realloc(buffer, size);
/* Reset fifo count */
fifo_cnt = fifo_size;
@ -215,46 +213,44 @@ static void ESC_write_pram (uint16_t address, void *buf, uint16_t len)
uint32_t value;
uint8_t * temp_buf = buf;
uint16_t byte_offset = 0;
uint8_t fifo_cnt, fifo_size, first_byte_position, temp_len;
uint8_t *buffer;
uint8_t fifo_cnt, fifo_size, fifo_range, first_byte_position, temp_len;
uint8_t *buffer = NULL;
int i, size;
value = ESC_PRAM_CMD_ABORT;
bcm2835_spi_write_32(ESC_PRAM_WR_CMD_REG, value);
bcm2835_spi_write_32(ESC_PRAM_WR_CMD_REG, ESC_PRAM_CMD_ABORT);
do
{
value = bcm2835_spi_read_32(ESC_PRAM_WR_CMD_REG);
}while(value & ESC_PRAM_CMD_BUSY);
value = ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address);
bcm2835_spi_write_32(ESC_PRAM_WR_ADDR_LEN_REG, value);
bcm2835_spi_write_32(ESC_PRAM_WR_ADDR_LEN_REG, (ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address)));
value = ESC_PRAM_CMD_BUSY;
bcm2835_spi_write_32(ESC_PRAM_WR_CMD_REG, value);
do
{
value = bcm2835_spi_read_32(ESC_PRAM_WR_CMD_REG);
}while((value & ESC_PRAM_CMD_AVAIL) == 0);
/* Fifo size */
fifo_size = ESC_PRAM_CMD_CNT(value);
bcm2835_spi_write_32(ESC_PRAM_WR_CMD_REG, ESC_PRAM_CMD_BUSY);
/* Find out first byte position and adjust the copy from that
* according to LAN9252 datasheet and MicroChip SDK code
*/
first_byte_position = (address & 0x03);
/* Transfer data size */
size = 3+4*fifo_size;
/* Allocate buffer */
buffer = (uint8_t *)malloc(size);
/* Transfer data */
while (len > 0)
{
/* Wait for write availabiliy */
fifo_range = MIN(len/4,16);
do
{
value = bcm2835_spi_read_32(ESC_PRAM_WR_CMD_REG);
}while(!(value & ESC_PRAM_CMD_AVAIL) || (ESC_PRAM_CMD_CNT(value) < fifo_range));
/* Fifo size */
fifo_size = ESC_PRAM_CMD_CNT(value);
/* Transfer data size */
size = 3+4*fifo_size;
/* Allocate buffer */
buffer = (uint8_t *)realloc(buffer, size);
/* Reset fifo count */
fifo_cnt = fifo_size;
@ -263,7 +259,7 @@ static void ESC_write_pram (uint16_t address, void *buf, uint16_t len)
buffer[0] = ESC_CMD_SERIAL_WRITE;
buffer[1] = ((ESC_PRAM_WR_FIFO_REG >> 8) & 0xFF);
buffer[2] = (ESC_PRAM_WR_FIFO_REG & 0xFF);
i = 3;
while (fifo_cnt > 0 && len > 0)
{
@ -290,7 +286,7 @@ static void ESC_write_pram (uint16_t address, void *buf, uint16_t len)
}
/* Transfer batch of data */
bcm2835_spi_transfern((char *)buffer, size);
bcm2835_spi_transfern((char *)buffer, sizeof(buffer));
}
free(buffer);
}