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SOES/soes/hal/linux-lan9252/esc_hw.c

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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* ESC hardware layer functions for LAN9252.
*
* Function to read and write commands to the ESC. Used to read/write ESC
* registers and memory.
*/
#include "utypes.h"
#include "esc.h"
#include <string.h>
#include <fcntl.h>
#include <stdlib.h>
#include <unistd.h>
#define BIT(x) 1 << (x)
#define ESC_CMD_SERIAL_WRITE 0x02
#define ESC_CMD_SERIAL_READ 0x03
#define ESC_CMD_FAST_READ 0x0B
#define ESC_CMD_RESET_SQI 0xFF
#define ESC_CMD_FAST_READ_DUMMY 1
#define ESC_CMD_ADDR_INC BIT(6)
#define ESC_PRAM_RD_FIFO_REG 0x000
#define ESC_PRAM_WR_FIFO_REG 0x020
#define ESC_PRAM_RD_ADDR_LEN_REG 0x308
#define ESC_PRAM_RD_CMD_REG 0x30C
#define ESC_PRAM_WR_ADDR_LEN_REG 0x310
#define ESC_PRAM_WR_CMD_REG 0x314
#define ESC_PRAM_CMD_BUSY BIT(31)
#define ESC_PRAM_CMD_ABORT BIT(30)
#define ESC_PRAM_CMD_CNT(x) ((x >> 8) & 0x1F)
#define ESC_PRAM_CMD_AVAIL BIT(0)
#define ESC_PRAM_SIZE(x) ((x) << 16)
#define ESC_PRAM_ADDR(x) ((x) << 0)
#define ESC_CSR_DATA_REG 0x300
#define ESC_CSR_CMD_REG 0x304
#define ESC_CSR_CMD_BUSY BIT(31)
#define ESC_CSR_CMD_READ (BIT(31) | BIT(30))
#define ESC_CSR_CMD_WRITE BIT(31)
#define ESC_CSR_CMD_SIZE(x) (x << 16)
#define ESC_RESET_CTRL_REG 0x1F8
#define ESC_RESET_CTRL_RST BIT(6)
static int lan9252 = -1;
/* lan9252 singel write */
static void lan9252_write_32 (uint16_t address, uint32_t val)
{
uint8_t data[7];
int n;
data[0] = ESC_CMD_SERIAL_WRITE;
data[1] = ((address >> 8) & 0xFF);
data[2] = (address & 0xFF);
data[3] = (val & 0xFF);
data[4] = ((val >> 8) & 0xFF);
data[5] = ((val >> 16) & 0xFF);
data[6] = ((val >> 24) & 0xFF);
/* Write data */
n = write (lan9252, data, sizeof(data));
(void)n;
}
/* lan9252 single read */
static uint32_t lan9252_read_32 (uint32_t address)
{
uint8_t data[2];
uint8_t result[4];
uint16_t lseek_addr;
int n;
data[0] = ((address >>8) & 0xFF);
data[1] = (address & 0xFF);
lseek_addr=((uint16_t)data[0] << 8) | data[1];
lseek (lan9252, lseek_addr, SEEK_SET);
n = read (lan9252, result, sizeof(result));
(void)n;
return ((result[3] << 24) |
(result[2] << 16) |
(result[1] << 8) |
result[0]);
}
/* ESC read CSR function */
static void ESC_read_csr (uint16_t address, void *buf, uint16_t len)
{
uint32_t value;
value = (ESC_CSR_CMD_READ | ESC_CSR_CMD_SIZE(len) | address);
lan9252_write_32(ESC_CSR_CMD_REG, value);
do
{
value = lan9252_read_32(ESC_CSR_CMD_REG);
} while(value & ESC_CSR_CMD_BUSY);
value = lan9252_read_32(ESC_CSR_DATA_REG);
memcpy(buf, (uint8_t *)&value, len);
}
/* ESC write CSR function */
static void ESC_write_csr (uint16_t address, void *buf, uint16_t len)
{
uint32_t value;
memcpy((uint8_t*)&value, buf,len);
lan9252_write_32(ESC_CSR_DATA_REG, value);
value = (ESC_CSR_CMD_WRITE | ESC_CSR_CMD_SIZE(len) | address);
lan9252_write_32(ESC_CSR_CMD_REG, value);
do
{
value = lan9252_read_32(ESC_CSR_CMD_REG);
} while(value & ESC_CSR_CMD_BUSY);
}
/* ESC read process data ram function */
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, first_byte_position, temp_len;
uint8_t *buffer;
int i, array_size, size;
float quotient,remainder;
uint32_t temp;
int n;
value = ESC_PRAM_CMD_ABORT;
lan9252_write_32(ESC_PRAM_RD_CMD_REG, value);
do
{
value = lan9252_read_32(ESC_PRAM_RD_CMD_REG);
}while(value & ESC_PRAM_CMD_BUSY);
value = ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address);
lan9252_write_32(ESC_PRAM_RD_ADDR_LEN_REG, value);
value = ESC_PRAM_CMD_BUSY;
lan9252_write_32(ESC_PRAM_RD_CMD_REG, value);
do
{
value = lan9252_read_32(ESC_PRAM_RD_CMD_REG);
}while((value & ESC_PRAM_CMD_AVAIL) == 0);
/* Fifo count */
fifo_cnt = ESC_PRAM_CMD_CNT(value);
/* Read first value from FIFO */
value = lan9252_read_32(ESC_PRAM_RD_FIFO_REG);
fifo_cnt--;
/* Find out first byte position and adjust the copy from that
* according to LAN9252 datasheet and MicroChip SDK code
*/
first_byte_position = (address & 0x03);
temp_len = ((4 - first_byte_position) > len) ? len : (4 - first_byte_position);
memcpy(temp_buf ,((uint8_t *)&value + first_byte_position), temp_len);
len -= temp_len;
byte_offset += temp_len;
/* Continue reading until we have read len */
if (len > 0){
quotient = len/4;
remainder = len%4;
if (remainder == 0)
array_size = quotient;
else
array_size = quotient+1;
size = 4*array_size;
buffer = (uint8_t *)malloc(size);
buffer[0] = size;
memset(buffer,0,size);
lseek (lan9252, ESC_PRAM_RD_FIFO_REG, SEEK_SET);
n = read (lan9252, buffer, size);
(void)n;
while(len > 0)
{
for (i=0; i<size; i=i+4) {
temp_len = (len > 4) ? 4: len;
temp = buffer[i] | (buffer[i+1] << 8) | (buffer[i+2] << 16) | (buffer[i+3] << 24);
memcpy(temp_buf + byte_offset ,&temp, temp_len);
fifo_cnt--;
len -= temp_len;
byte_offset += temp_len;
}
}
free(buffer);
}
}
/* ESC write process data ram function */
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, first_byte_position, temp_len;
uint8_t *buffer;
int i, array_size, size;
float quotient,remainder;
int n;
value = ESC_PRAM_CMD_ABORT;
lan9252_write_32(ESC_PRAM_WR_CMD_REG, value);
do
{
value = lan9252_read_32(ESC_PRAM_WR_CMD_REG);
}while(value & ESC_PRAM_CMD_BUSY);
value = ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address);
lan9252_write_32(ESC_PRAM_WR_ADDR_LEN_REG, value);
value = ESC_PRAM_CMD_BUSY;
lan9252_write_32(ESC_PRAM_WR_CMD_REG, value);
do
{
value = lan9252_read_32(ESC_PRAM_WR_CMD_REG);
}while((value & ESC_PRAM_CMD_AVAIL) == 0);
/* Fifo count */
fifo_cnt = ESC_PRAM_CMD_CNT(value);
/* Find out first byte position and adjust the copy from that
* according to LAN9252 datasheet
*/
first_byte_position = (address & 0x03);
temp_len = ((4 - first_byte_position) > len) ? len : (4 - first_byte_position);
memcpy(((uint8_t *)&value + first_byte_position), temp_buf, temp_len);
/* Write first value from FIFO */
lan9252_write_32(ESC_PRAM_WR_FIFO_REG, value);
len -= temp_len;
byte_offset += temp_len;
fifo_cnt--;
if (len > 0){
quotient = len/4;
remainder = len%4;
if (remainder == 0)
array_size = quotient;
else
array_size = quotient+1;
size = 3+4*array_size;
buffer = (uint8_t *)malloc(size);
buffer[0] = size;
memset(buffer,0,size);
buffer[0] = ESC_CMD_SERIAL_WRITE;
buffer[1] = ((ESC_PRAM_WR_FIFO_REG >> 8) & 0xFF);
buffer[2] = (ESC_PRAM_WR_FIFO_REG & 0xFF);
while(len > 0)
{
for (i=3; i<size; i=i+4) {
temp_len = (len > 4) ? 4 : len;
memcpy((uint8_t *)&value, (temp_buf + byte_offset), temp_len);
buffer[i] = (value & 0xFF);
buffer[i+1] = ((value >> 8) & 0xFF);
buffer[i+2] = ((value >> 16) & 0xFF);
buffer[i+3] = ((value >> 24) & 0xFF);
fifo_cnt--;
len -= temp_len;
byte_offset += temp_len;
}
}
n = write (lan9252, buffer, size);
(void)n;
free(buffer);
}
}
/** ESC read function used by the Slave stack.
*
* @param[in] address = address of ESC register to read
* @param[out] buf = pointer to buffer to read in
* @param[in] len = number of bytes to read
*/
void ESC_read (uint16_t address, void *buf, uint16_t len)
{
/* Select Read function depending on address, process data ram or not */
if (address >= 0x1000)
{
ESC_read_pram(address, buf, len);
}
else
{
uint16_t size;
uint8_t *temp_buf = (uint8_t *)buf;
while(len > 0)
{
/* We write maximum 4 bytes at the time */
size = (len > 4) ? 4 : len;
/* Make size aligned to address according to LAN9252 datasheet
* Table 12-14 EtherCAT CSR Address VS size and MicroChip SDK code
*/
/* If we got an odd address size is 1 , 01b 11b is captured */
if(address & BIT(0))
{
size = 1;
}
/* If address 1xb and size != 1 and 3 , allow size 2 else size 1 */
else if (address & BIT(1))
{
size = (size & BIT(0)) ? 1 : 2;
}
/* size 3 not valid */
else if (size == 3)
{
size = 1;
}
/* else size is kept AS IS */
ESC_read_csr(address, temp_buf, size);
/* next address */
len -= size;
temp_buf += size;
address += size;
}
}
/* To mimic the ET1100 always providing AlEvent on every read or write */
ESC_read_csr(ESCREG_ALEVENT,(void *)&ESCvar.ALevent,sizeof(ESCvar.ALevent));
ESCvar.ALevent = etohs (ESCvar.ALevent);
}
/** ESC write function used by the Slave stack.
*
* @param[in] address = address of ESC register to write
* @param[out] buf = pointer to buffer to write from
* @param[in] len = number of bytes to write
*/
void ESC_write (uint16_t address, void *buf, uint16_t len)
{
/* Select Write function depending on address, process data ram or not */
if (address >= 0x1000)
{
ESC_write_pram(address, buf, len);
}
else
{
uint16_t size;
uint8_t *temp_buf = (uint8_t *)buf;
while(len > 0)
{
/* We write maximum 4 bytes at the time */
size = (len > 4) ? 4 : len;
/* Make size aligned to address according to LAN9252 datasheet
* Table 12-14 EtherCAT CSR Address VS size and MicroChip SDK code
*/
/* If we got an odd address size is 1 , 01b 11b is captured */
if(address & BIT(0))
{
size = 1;
}
/* If address 1xb and size != 1 and 3 , allow size 2 else size 1 */
else if (address & BIT(1))
{
size = (size & BIT(0)) ? 1 : 2;
}
/* size 3 not valid */
else if (size == 3)
{
size = 1;
}
/* else size is kept AS IS */
ESC_write_csr(address, temp_buf, size);
/* next address */
len -= size;
temp_buf += size;
address += size;
}
}
/* To mimic the ET1x00 always providing AlEvent on every read or write */
ESC_read_csr(ESCREG_ALEVENT,(void *)&ESCvar.ALevent,sizeof(ESCvar.ALevent));
ESCvar.ALevent = etohs (ESCvar.ALevent);
}
/* Un-used due to evb-lan9252-digio not havning any possability to
* reset except over SPI.
*/
void ESC_reset (void)
{
}
void ESC_init (const void * arg)
{
uint32_t value;
const char * spi_name = (char *)arg;
lan9252 = open (spi_name, O_RDWR, 0);
/* Reset the ecat core here due to evb-lan9252-digio not having any GPIO
* for that purpose.
*/
lan9252_write_32(ESC_RESET_CTRL_REG,ESC_RESET_CTRL_RST);
do
{
value = lan9252_read_32(ESC_CSR_CMD_REG);
} while(value & ESC_RESET_CTRL_RST);
}
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