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SOES/soes/hal/raspberrypi-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 through BCM2835 SPI on Raspberry PI.
*
* Function to read and write commands to the ESC. Used to read/write ESC
* registers and memory.
*/
#include "esc.h"
#include "esc_hw.h"
#include <string.h>
#include <fcntl.h>
#include <stdlib.h>
#include <unistd.h>
#include <bcm2835.h>
#define BIT(x) (1U << (x))
#define ESC_CMD_SERIAL_WRITE 0x02
#define ESC_CMD_SERIAL_READ 0x03
#define ESC_CMD_RESET_CTL 0x01F8 // reset register
#define ESC_CMD_HW_CFG 0x0074 // hardware configuration register
#define ESC_CMD_BYTE_TEST 0x0064 // byte order test register
#define ESC_CMD_ID_REV 0x0050 // chip ID and revision
#define ESC_CMD_IRQ_CFG 0x0054 // interrupt configuration
#define ESC_CMD_INT_EN 0x005C // interrupt enable
#define ESC_RESET_DIGITAL 0x00000001
#define ESC_RESET_ETHERCAT 0x00000040
#define ESC_RESET_CTRL_RST (ESC_RESET_DIGITAL & ESC_RESET_ETHERCAT)
#define ESC_HW_CFG_READY 0x08000000
#define ESC_BYTE_TEST_OK 0x87654321
#define ESC_PRAM_RD_FIFO_REG 0x0000
#define ESC_PRAM_WR_FIFO_REG 0x0020
#define ESC_PRAM_RD_ADDR_LEN_REG 0x0308
#define ESC_PRAM_RD_CMD_REG 0x030C
#define ESC_PRAM_WR_ADDR_LEN_REG 0x0310
#define ESC_PRAM_WR_CMD_REG 0x0314
#define ESC_PRAM_CMD_BUSY 0x80000000
#define ESC_PRAM_CMD_ABORT 0x40000000
#define ESC_PRAM_CMD_AVAIL 0x00000001
#define ESC_PRAM_CMD_CNT(x) (((x) >> 8) & 0x1F)
#define ESC_PRAM_SIZE(x) ((x) << 16)
#define ESC_PRAM_ADDR(x) ((x) << 0)
#define ESC_CSR_DATA_REG 0x0300
#define ESC_CSR_CMD_REG 0x0304
#define ESC_CSR_CMD_BUSY 0x80000000
#define ESC_CSR_CMD_READ (0x80000000 | 0x40000000)
#define ESC_CSR_CMD_WRITE 0x80000000
#define ESC_CSR_CMD_SIZE(x) ((x) << 16)
/* bcm2835 spi single write */
static void bcm2835_spi_write_32 (uint16_t address, uint32_t val)
{
char data[7];
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 */
bcm2835_spi_transfern(data, 7);
}
/* bcm2835 spi single read */
static uint32_t bcm2835_spi_read_32 (uint16_t address)
{
char data[7];
data[0] = ESC_CMD_SERIAL_READ;
data[1] = ((address >> 8) & 0xFF);
data[2] = (address & 0xFF);
/* Read data */
bcm2835_spi_transfern(data, 7);
return ((data[6] << 24) |
(data[5] << 16) |
(data[4] << 8) |
data[3]);
}
/* 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);
bcm2835_spi_write_32(ESC_CSR_CMD_REG, value);
do
{
value = bcm2835_spi_read_32(ESC_CSR_CMD_REG);
} while(value & ESC_CSR_CMD_BUSY);
value = bcm2835_spi_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);
bcm2835_spi_write_32(ESC_CSR_DATA_REG, value);
value = (ESC_CSR_CMD_WRITE | ESC_CSR_CMD_SIZE(len) | address);
bcm2835_spi_write_32(ESC_CSR_CMD_REG, value);
do
{
value = bcm2835_spi_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 quotient, remainder, byte_offset = 0;
uint8_t fifo_cnt, fifo_size, fifo_range, first_byte_position, temp_len;
uint8_t *buffer = NULL;
int i, size;
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);
bcm2835_spi_write_32(ESC_PRAM_RD_ADDR_LEN_REG, (ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address)));
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 */
while (len > 0)
{
/* Wait for read availabiliy */
if (byte_offset > 0)
{
quotient = len/4;
remainder = len - quotient*4;
}
else
{
quotient = (len + first_byte_position)/4;
remainder = (len + first_byte_position) - quotient*4;
}
if (remainder != 0)
{
quotient++;
}
fifo_range = MIN(quotient,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;
/* Reset buffer */
memset(buffer,0,size);
buffer[0] = ESC_CMD_SERIAL_READ;
buffer[1] = ((ESC_PRAM_RD_FIFO_REG >>8) & 0xFF);
buffer[2] = ( ESC_PRAM_RD_FIFO_REG & 0xFF);
/* Transfer batch of data */
bcm2835_spi_transfern((char *)buffer, size);
i = 3;
while (fifo_cnt > 0 && len > 0)
{
value = buffer[i] | (buffer[i+1] << 8) | (buffer[i+2] << 16) | (buffer[i+3] << 24);
if (byte_offset > 0)
{
temp_len = (len > 4) ? 4: len;
memcpy(temp_buf + byte_offset ,&value, temp_len);
}
else
{
temp_len = (len > (4 - first_byte_position)) ? (4 - first_byte_position) : len;
memcpy(temp_buf ,((uint8_t *)&value + first_byte_position), temp_len);
}
i += 4;
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 quotient, remainder, byte_offset = 0;
uint8_t fifo_cnt, fifo_size, fifo_range, first_byte_position, temp_len;
uint8_t *buffer = NULL;
int i, size;
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);
bcm2835_spi_write_32(ESC_PRAM_WR_ADDR_LEN_REG, (ESC_PRAM_SIZE(len) | ESC_PRAM_ADDR(address)));
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 */
while (len > 0)
{
/* Wait for write availabiliy */
if (byte_offset > 0)
{
quotient = len/4;
remainder = len - quotient*4;
}
else
{
quotient = (len + first_byte_position)/4;
remainder = (len + first_byte_position) - quotient*4;
}
if (remainder != 0)
{
quotient++;
}
fifo_range = MIN(quotient,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;
/* Reset buffer */
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);
i = 3;
while (fifo_cnt > 0 && len > 0)
{
value = 0;
if (byte_offset > 0)
{
temp_len = (len > 4) ? 4: len;
memcpy(&value, (temp_buf + byte_offset), temp_len);
}
else
{
temp_len = (len > (4 - first_byte_position)) ? (4 - first_byte_position) : len;
memcpy(((uint8_t *)&value + first_byte_position), temp_buf, temp_len);
}
buffer[i] = (value & 0xFF);
buffer[i+1] = ((value >> 8) & 0xFF);
buffer[i+2] = ((value >> 16) & 0xFF);
buffer[i+3] = ((value >> 24) & 0xFF);
i += 4;
fifo_cnt--;
len -= temp_len;
byte_offset += temp_len;
}
/* Transfer batch of data */
bcm2835_spi_transfern((char *)buffer, size);
}
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 esc_cfg_t * config)
{
bool rpi4 = false, cs1 = false;
uint32_t value;
uint32_t counter = 0;
uint32_t timeout = 1000; // wait 100msec
const char * user_arg = (char *)config->user_arg;
size_t arg_len = strlen(user_arg)+1;
char * arg_str = (char *)calloc(arg_len, sizeof(char));
strncpy(arg_str,user_arg,arg_len);
char * delim = " ,.-";
char * token = strtok(arg_str,delim);
// parse user arguments
while (token != NULL)
{
if (strncmp(token,"cs1",3) == 0)
{
cs1 = true; // select CS1 pin
}
else if (strncmp(token,"rpi4",4) == 0)
{
rpi4 = true; // select clock divider for raspberry pi 4 or newer
}
token = strtok(NULL,delim);
}
free(arg_str);
// start initialization
if (bcm2835_init())
{
if (bcm2835_spi_begin())
{
// Set SPI bit order
bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST);
// Set SPI data mode BCM2835_SPI_MODE0 = 0, CPOL = 0, CPHA = 0,
// Clock idle low, data is clocked in on rising edge, output data (change) on falling edge
bcm2835_spi_setDataMode(BCM2835_SPI_MODE0);
if (rpi4)
{
// Raspberry 4 due to a higher CPU speed this value is to change to: BCM2835_SPI_CLOCK_DIVIDER_32
bcm2835_spi_setClockDivider(BCM2835_SPI_CLOCK_DIVIDER_32);
DPRINT("bcm2835_spi_setClockDivider set to 32 \n");
}
else
{
// Set SPI clock speed BCM2835_SPI_CLOCK_DIVIDER_16 = 16, 16 = 64ns = 15.625MHz
bcm2835_spi_setClockDivider(BCM2835_SPI_CLOCK_DIVIDER_16);
DPRINT("bcm2835_spi_setClockDivider set to 16 \n");
}
if (cs1)
{
// Enable management of CS1 pin
bcm2835_spi_chipSelect(BCM2835_SPI_CS1);
// Enable CS1 and set polarity
bcm2835_spi_setChipSelectPolarity(BCM2835_SPI_CS1, LOW);
DPRINT("bcm2835_spi_chipSelect set to CS1 \n");
}
else
{
// Enable management of CS0 pin
bcm2835_spi_chipSelect(BCM2835_SPI_CS0);
// enable CS0 and set polarity
bcm2835_spi_setChipSelectPolarity(BCM2835_SPI_CS0, LOW);
DPRINT("bcm2835_spi_chipSelect set to CS0 \n");
}
// Reset the ecat core here due to evb-lan9252-digio not having any GPIO for that purpose.
bcm2835_spi_write_32(ESC_CMD_RESET_CTL,ESC_RESET_CTRL_RST);
// Wait until reset command has been executed
do
{
usleep(100);
counter++;
value = bcm2835_spi_read_32(ESC_CMD_RESET_CTL);
} while ((value & ESC_RESET_CTRL_RST) && (counter < timeout));
// Perform byte test
do
{
usleep(100);
counter++;
value = bcm2835_spi_read_32(ESC_CMD_BYTE_TEST);
} while ((value != ESC_BYTE_TEST_OK) && (counter < timeout));
// Check hardware is ready
do
{
usleep(100);
counter++;
value = bcm2835_spi_read_32(ESC_CMD_HW_CFG);
} while (!(value & ESC_HW_CFG_READY) && (counter < timeout));
// Check if timeout occured
if (counter < timeout)
{
// 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));
// Set AL event mask
value = (ESCREG_ALEVENT_CONTROL |
ESCREG_ALEVENT_SMCHANGE |
ESCREG_ALEVENT_SM0 |
ESCREG_ALEVENT_SM1 );
ESC_ALeventmaskwrite(value);
}
else
{
DPRINT("Timeout occurred during reset \n");
bcm2835_spi_end();
bcm2835_close();
}
}
else
{
DPRINT("bcm2835_spi_begin failed. Are you running as root?\n");
bcm2835_close();
}
}
else
{
DPRINT("bcm2835_init failed. Are you running as root?\n");
}
}
void ESC_interrupt_enable (uint32_t mask)
{
if (ESCREG_ALEVENT_DC_SYNC0 & mask)
{
// Enable interrupt from SYNC0
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | ESCREG_ALEVENT_DC_SYNC0);
}
if (ESCREG_ALEVENT_SM2 & mask)
{
// Enable interrupt from SYNC0
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | ESCREG_ALEVENT_SM2);
}
// Set LAN9252 interrupt pin driver as push-pull active high
bcm2835_spi_write_32(ESC_CMD_IRQ_CFG, 0x00000111);
// Enable LAN9252 interrupt
bcm2835_spi_write_32(ESC_CMD_INT_EN, 0x00000001);
}
void ESC_interrupt_disable (uint32_t mask)
{
if (ESCREG_ALEVENT_DC_SYNC0 & mask)
{
// Disable interrupt from SYNC0
ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(ESCREG_ALEVENT_DC_SYNC0));
}
if (ESCREG_ALEVENT_SM2 & mask)
{
// Disable interrupt from SM2
ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(ESCREG_ALEVENT_SM2));
}
// Disable LAN9252 interrupt
bcm2835_spi_write_32(ESC_CMD_INT_EN, 0x00000000);
}
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