mirror of
https://github.com/OpenEtherCATsociety/SOES.git
synced 2024-07-07 12:23:38 +02:00
106 lines
3.1 KiB
C
106 lines
3.1 KiB
C
/*
|
|
* SOES Simple Open EtherCAT Slave
|
|
*
|
|
* Copyright (C) 2010 ZBE Inc.
|
|
* Copyright (C) 2011-2013 Arthur Ketels.
|
|
* Copyright (C) 2012-2013 rt-labs.
|
|
*
|
|
* SOES is free software; you can redistribute it and/or modify it under
|
|
* the terms of the GNU General Public License version 2 as published by the Free
|
|
* Software Foundation.
|
|
*
|
|
* SOES is distributed in the hope that it will be useful, but WITHOUT ANY
|
|
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
|
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* As a special exception, if other files instantiate templates or use macros
|
|
* or inline functions from this file, or you compile this file and link it
|
|
* with other works to produce a work based on this file, this file does not
|
|
* by itself cause the resulting work to be covered by the GNU General Public
|
|
* License. However the source code for this file must still be made available
|
|
* in accordance with section (3) of the GNU General Public License.
|
|
*
|
|
* This exception does not invalidate any other reasons why a work based on
|
|
* this file might be covered by the GNU General Public License.
|
|
*
|
|
* The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
|
|
* property of, and protected by Beckhoff Automation GmbH.
|
|
*/
|
|
|
|
/** \file
|
|
* \brief
|
|
* ESI EEPROM emulator module.
|
|
*/
|
|
|
|
#include "cc.h"
|
|
#include "esc.h"
|
|
#include "esc_eep.h"
|
|
|
|
#include <string.h>
|
|
|
|
static uint8_t eep_buf[8];
|
|
|
|
/** EPP periodic task of ESC side EEPROM emulation.
|
|
*
|
|
*/
|
|
void EEP_process (void)
|
|
{
|
|
eep_stat_t stat;
|
|
|
|
/* check for eeprom event */
|
|
if ((ESCvar.ALevent & ESCREG_ALEVENT_EEP) == 0) {
|
|
return;
|
|
}
|
|
|
|
while (1) {
|
|
/* read eeprom status */
|
|
ESC_read (ESCREG_EECONTSTAT, &stat, sizeof (eep_stat_t));
|
|
stat.contstat.reg = etohs(stat.contstat.reg);
|
|
stat.addr = etohl(stat.addr);
|
|
|
|
/* check busy flag, exit if job finished */
|
|
if (!stat.contstat.bits.busy) {
|
|
return;
|
|
}
|
|
|
|
/* clear error bits */
|
|
stat.contstat.bits.csumErr = 0;
|
|
stat.contstat.bits.eeLoading = 0;
|
|
stat.contstat.bits.ackErr = 0;
|
|
stat.contstat.bits.wrErr = 0;
|
|
|
|
/* process commands */
|
|
switch (stat.contstat.bits.cmdReg) {
|
|
case EEP_CMD_IDLE:
|
|
break;
|
|
|
|
case EEP_CMD_READ:
|
|
case EEP_CMD_RELOAD:
|
|
/* handle read request */
|
|
if (EEP_read (stat.addr * sizeof(uint16_t), eep_buf, EEP_READ_SIZE) != 0) {
|
|
stat.contstat.bits.ackErr = 1;
|
|
} else {
|
|
ESC_write (ESCREG_EEDATA, eep_buf, EEP_READ_SIZE);
|
|
}
|
|
break;
|
|
|
|
case EEP_CMD_WRITE:
|
|
/* handle write request */
|
|
ESC_read (ESCREG_EEDATA, eep_buf, EEP_WRITE_SIZE);
|
|
if (EEP_write (stat.addr * sizeof(uint16_t), eep_buf, EEP_WRITE_SIZE) != 0) {
|
|
stat.contstat.bits.ackErr = 1;
|
|
}
|
|
break;
|
|
|
|
default:
|
|
stat.contstat.bits.ackErr = 1;
|
|
}
|
|
|
|
/* acknowledge command */
|
|
stat.contstat.reg = htoes(stat.contstat.reg);
|
|
ESC_write (ESCREG_EECONTSTAT, &stat.contstat.reg, sizeof(uint16_t));
|
|
}
|
|
}
|
|
|