140 lines
4.0 KiB
C
140 lines
4.0 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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* ESI EEPROM emulator module.
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*/
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#include "cc.h"
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#include "esc.h"
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#include "esc_eep.h"
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#include <string.h>
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static uint8_t eep_buf[8];
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static uint16_t eep_read_size = 8U;
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static uint16_t (*eep_reload_ptr)(void) = NULL;
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/** EPP periodic task of ESC side EEPROM emulation.
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*
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*/
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void EEP_process (void)
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{
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eep_stat_t stat;
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/* check for eeprom event */
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if ((ESCvar.ALevent & ESCREG_ALEVENT_EEP) == 0) {
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return;
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}
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while (1) {
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/* read eeprom status */
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ESC_read (ESCREG_EECONTSTAT, &stat, sizeof (eep_stat_t));
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stat.contstat.reg = etohs(stat.contstat.reg);
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stat.addr = etohl(stat.addr);
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/* check busy flag, exit if job finished */
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if (!stat.contstat.bits.busy) {
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return;
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}
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/* clear error bits */
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stat.contstat.bits.csumErr = 0;
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stat.contstat.bits.eeLoading = 0;
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stat.contstat.bits.ackErr = 0;
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stat.contstat.bits.wrErr = 0;
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/* process commands */
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switch (stat.contstat.bits.cmdReg) {
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case EEP_CMD_IDLE:
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break;
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case EEP_CMD_READ:
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/* handle read request */
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if (EEP_read (stat.addr * 2U /* sizeof(uint16_t) */, eep_buf, eep_read_size) != 0) {
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stat.contstat.bits.ackErr = 1;
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}
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else {
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ESC_write(ESCREG_EEDATA, eep_buf, eep_read_size);
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}
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break;
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case EEP_CMD_RELOAD:
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/* user defined reload if set */
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if (eep_reload_ptr != NULL) {
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uint16_t reload_ret = (*eep_reload_ptr)();
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if (reload_ret != 0) {
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stat.contstat.bits.ackErr = 1;
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if (reload_ret & EEP_ERROR_CSUM) {
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stat.contstat.bits.csumErr = 1;
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}
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}
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}
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else {
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if (eep_read_size == 8U) {
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/* handle reload request */
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if (EEP_read(stat.addr * 2U /* sizeof(uint16_t) */, eep_buf, eep_read_size) != 0) {
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stat.contstat.bits.ackErr = 1;
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}
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else {
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ESC_write(ESCREG_EEDATA, eep_buf, eep_read_size);
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}
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}
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else {
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/* Default handler of reload request for 4 Byte read, load config alias.
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* To support other ESC behavior, implement user defined reload.
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*/
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if (EEP_read(EEP_CONFIG_ALIAS_WORD_OFFSET * 2U /* sizeof(uint16_t) */,
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eep_buf,
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2U /* 2 Bytes config alias*/) != 0) {
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stat.contstat.bits.ackErr = 1;
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}
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else {
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ESC_write(ESCREG_EEDATA, eep_buf, 2U /* 2 Bytes config alias*/);
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}
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}
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}
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break;
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case EEP_CMD_WRITE:
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/* handle write request */
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ESC_read (ESCREG_EEDATA, eep_buf, EEP_WRITE_SIZE);
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if (EEP_write (stat.addr * 2U /* sizeof(uint16_t) */, eep_buf, EEP_WRITE_SIZE) != 0) {
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stat.contstat.bits.ackErr = 1;
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}
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break;
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default:
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stat.contstat.bits.ackErr = 1;
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}
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/* acknowledge command */
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stat.contstat.reg = htoes(stat.contstat.reg);
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ESC_write (ESCREG_EECONTSTAT, &stat.contstat.reg, sizeof(uint16_t));
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}
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}
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/** EPP Set read size, 4 Byte or 8 Byte depending on ESC.
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* Default 8 Byte.
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*/
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void EEP_set_read_size (uint16_t read_size)
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{
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if ((read_size == 8U) || (read_size == 4U))
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{
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eep_read_size = read_size;
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}
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}
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/** EPP Set reload fucntion pointer.
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* Function shall return 0 on success, else return
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* defined error mask eg. EEP_ERROR_CSUM on CRC error
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* on reload.
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*/
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void EEP_set_reload_function_pointer (uint16_t (*reload_ptr)(void))
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{
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eep_reload_ptr = reload_ptr;
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}
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