154 lines
3.9 KiB
C
154 lines
3.9 KiB
C
/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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/** \file
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* \brief
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* Headerfile for esc_eep.c
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*/
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#ifndef __esc_eep__
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#define __esc_eep__
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#include <cc.h>
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#include "esc.h"
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/* EEPROM commands */
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#define EEP_CMD_IDLE 0x0
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#define EEP_CMD_READ 0x1
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#define EEP_CMD_WRITE 0x2
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#define EEP_CMD_RELOAD 0x4
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/* write size */
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#define EEP_WRITE_SIZE 2
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/* EEPROm word offset */
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#define EEP_CONFIG_ALIAS_WORD_OFFSET 4
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/* CONSTAT register content */
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typedef struct CC_PACKED
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{
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union {
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uint16_t reg;
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struct {
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uint8_t wrEnable:1;
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uint8_t reserved:4;
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uint8_t eeEmulated:1;
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uint8_t eightByteRead:1;
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uint8_t twoByteAddr:1;
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uint8_t cmdReg:3;
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uint8_t csumErr:1;
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uint8_t eeLoading:1;
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uint8_t ackErr:1;
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uint8_t wrErr:1;
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uint8_t busy:1;
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} bits;
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} contstat;
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uint32_t addr;
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} eep_stat_t;
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/**
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* ECAT EEPROM configuration area data structure
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*/
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typedef union eep_config
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{
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struct
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{
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uint16_t pdi_control;
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uint16_t pdi_configuration;
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uint16_t sync_impulse_len;
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uint16_t pdi_configuration2;
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uint16_t configured_station_alias;
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uint8_t reserved[4];
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uint16_t checksum;
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};
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uint32_t dword[4]; /**< Four 32 bit double word equivalent to 8 16 bit configuration area word. */
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}eep_config_t;
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/* periodic task */
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void EEP_process (void);
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/**
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* Application Notes: EEPROM emulation
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*
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* NOTE: Special handling needed when 4 Byte read is supported.
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*
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* Ref. ET1100 Datasheet sec2_registers_3i0, chapter 2.45.1,
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* "EEPROM emulation with 32 bit EEPROM data register (0x0502[6]=0)".
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*
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* For a Reload command, fill the EEPROM Data register with the
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* values shown in the chapter 2.45.1 before acknowledging
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* the command. These values are automatically transferred to the
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* designated registers after the Reload command is acknowledged.
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*
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* NOTE: When 4 Byte read is supported, EEP_process will only load
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* config alias on reload.
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*
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* NOTE: EEP_process support implementing a custom reload function
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* for both 4 Byte and 8 Byte read support.
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*
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* NOTE: Code snippet for custom reload function when 4 Byte read is supported.
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*
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* void reload_ptr(eep_stat_t *stat)
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* {
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* eep_config_t ee_cfg;
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*
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* // Read configuration area
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* EEP_read(0, &ee_cfg, sizeof(ee_cfg);
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*
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* // Check CRC
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* if(is_crc_ok(&ee_cfg) == true)
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* {
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* // Write config alias to EEPROM data registers.
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* // Will be loaded to 0x12:13 on command ack.
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* ESC_write(ESCREG_EEDATA,
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* &ee_cfg.configured_station_alias,
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* sizeof(configured_station_alias));
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* }
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* else
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* {
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* // Indicate CRC error
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* stat->contstat.bits.csumErr = 1;
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* stat->contstat.bits.ackErr = 1;
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* }
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* }
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* NOTE: Code snippet for custom reload function when 8 Byte read is supported.
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*
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* void reload_ptr(eep_stat_t *stat)
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* {
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* eep_config_t ee_cfg;
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*
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* // Read configuration area
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* EEP_read(0, &ee_cfg, sizeof(ee_cfg);
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*
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* // Check CRC
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* if(is_crc_ok(&ee_cfg) == true)
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* {
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* // Load EEPROM data at requested EEPROM address
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* EEP_read (stat->addr * sizeof(uint16_t), eep_buf, 8U);
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* // Write loaded data to EEPROM data registers
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* ESC_write(ESCREG_EEDATA, eep_buf, 8U);
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* }
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* else
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* {
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* // Indicate CRC error
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* stat->contstat.bits.csumErr = 1;
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* stat->contstat.bits.ackErr = 1;
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* }
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* }
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*/
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/* Set eep internal variables */
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void EEP_set_read_size (uint16_t read_size);
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void EEP_set_reload_function_pointer (void (*reload_ptr)(eep_stat_t *stat));
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/* From hardware file */
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void EEP_init (void);
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int8_t EEP_read (uint32_t addr, uint8_t *data, uint16_t size);
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int8_t EEP_write (uint32_t addr, uint8_t *data, uint16_t size);
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#endif
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