Merge pull request #180 from OpenEtherCATsociety/feature/improve_eepr…

…om_reload_handling_al2

Improve emulated EEPROM reload handling

soes/esc_eep.c

@@ -15,6 +15,8 @@
 #include <string.h>
 
 static uint8_t eep_buf[8];
+static uint16_t eep_read_size = 8U;
+static void (*eep_reload_ptr)(eep_stat_t *stat) = NULL;
 
 /** EPP periodic task of ESC side EEPROM emulation.
  *
@@ -51,12 +53,46 @@ void EEP_process (void)
             break;
 
          case EEP_CMD_READ:
-         case EEP_CMD_RELOAD:
             /* handle read request */
-            if (EEP_read (stat.addr * 2U /* sizeof(uint16_t) */, eep_buf, EEP_READ_SIZE) != 0) {
+            if (EEP_read (stat.addr * 2U /* sizeof(uint16_t) */, eep_buf, eep_read_size) != 0) {
                stat.contstat.bits.ackErr = 1;
-            } else {
-               ESC_write (ESCREG_EEDATA, eep_buf, EEP_READ_SIZE);
+            }
+            else {
+               ESC_write(ESCREG_EEDATA, eep_buf, eep_read_size);
+            }
+            break;
+
+         case EEP_CMD_RELOAD:
+            /* user defined reload if set */
+            if (eep_reload_ptr != NULL) {
+               /* Reload function is responsible to update
+                * control status register bits.
+                */
+               (*eep_reload_ptr)(&stat);
+            }
+            else {
+                if (eep_read_size == 8U) {
+                   /* handle reload request */
+                   if (EEP_read(stat.addr * 2U /* sizeof(uint16_t) */, eep_buf, eep_read_size) != 0) {
+                      stat.contstat.bits.ackErr = 1;
+                   }
+                   else {
+                      ESC_write(ESCREG_EEDATA, eep_buf, eep_read_size);
+                   }
+                }
+                else {
+                  /* Default handler of reload request for 4 Byte read, load config alias.
+                   * To support other ESC behavior, implement user defined reload.
+                   */
+                  if (EEP_read(EEP_CONFIG_ALIAS_WORD_OFFSET * 2U /* sizeof(uint16_t) */,
+                        eep_buf,
+                        2U /* 2 Bytes config alias*/) != 0) {
+                     stat.contstat.bits.ackErr = 1;
+                  }
+                  else {
+                     ESC_write(ESCREG_EEDATA, eep_buf, 2U /* 2 Bytes config alias*/);
+                  }
+               }
             }
             break;
 
@@ -78,3 +114,24 @@ void EEP_process (void)
    }
 }
 
+/** EPP Set read size, 4 Byte or 8 Byte depending on ESC.
+ *  Default 8 Byte.
+ */
+void EEP_set_read_size (uint16_t read_size)
+{
+   if ((read_size == 8U) || (read_size == 4U)) {
+      eep_read_size = read_size;
+   }
+}
+
+/** EPP Set reload function pointer.
+ *  Function shall update current stat accordingly.
+ *  Eg. on CRC error reload function shall set
+ *   stat.contstat.bits.csumErr = 1
+ *   stat.contstat.bits.ackErr = 1
+ *
+ */
+void EEP_set_reload_function_pointer(void (*reload_ptr)(eep_stat_t* stat))
+{
+   eep_reload_ptr = reload_ptr;
+}

soes/esc_eep.h

@@ -15,14 +15,16 @@
 #include "esc.h"
 
 /* EEPROM commands */
-#define EEP_CMD_IDLE        0x0
-#define EEP_CMD_READ        0x1
-#define EEP_CMD_WRITE       0x2
-#define EEP_CMD_RELOAD      0x4
+#define EEP_CMD_IDLE                    0x0
+#define EEP_CMD_READ                    0x1
+#define EEP_CMD_WRITE                   0x2
+#define EEP_CMD_RELOAD                  0x4
 
-/* read/write size */
-#define EEP_READ_SIZE       8
-#define EEP_WRITE_SIZE      2
+/* write size */
+#define EEP_WRITE_SIZE                  2
+
+/* EEPROm word offset */
+#define EEP_CONFIG_ALIAS_WORD_OFFSET    4
 
 /* CONSTAT register content */
 typedef struct CC_PACKED
@@ -69,6 +71,80 @@ typedef union eep_config
 /* periodic task */
 void EEP_process (void);
 
+/**
+ * Application Notes: EEPROM emulation
+ *
+ * NOTE: Special handling needed when 4 Byte read is supported.
+ *
+ * Ref. ET1100 Datasheet sec2_registers_3i0, chapter 2.45.1,
+ * "EEPROM emulation with 32 bit EEPROM data register (0x0502[6]=0)".
+ *
+ * For a Reload command, fill the EEPROM Data register with the
+ * values shown in the chapter 2.45.1 before acknowledging
+ * the command. These values are automatically transferred to the
+ * designated registers after the Reload command is acknowledged.
+ *
+ * NOTE: When 4 Byte read is supported, EEP_process will only load
+ * config alias on reload.
+ *
+ * NOTE: EEP_process support implementing a custom reload function
+ * for both 4 Byte and 8 Byte read support.
+ *
+ * NOTE: Code snippet for custom reload function when 4 Byte read is supported.
+ *
+ * void reload_ptr(eep_stat_t *stat)
+ * {
+ *     eep_config_t ee_cfg;
+ *
+ *     // Read configuration area
+ *     EEP_read(0, &ee_cfg, sizeof(ee_cfg);
+ *
+ *     // Check CRC
+ *     if(is_crc_ok(&ee_cfg) == true)
+ *     {
+ *        // Write config alias to EEPROM data registers.
+ *        // Will be loaded to 0x12:13 on command ack.
+ *        ESC_write(ESCREG_EEDATA,
+ *             &ee_cfg.configured_station_alias,
+ *             sizeof(configured_station_alias));
+ *     }
+ *     else
+ *     {
+ *        // Indicate CRC error
+ *        stat->contstat.bits.csumErr = 1;
+ *        stat->contstat.bits.ackErr = 1;
+ *     }
+ * }
+ * NOTE: Code snippet for custom reload function when 8 Byte read is supported.
+ *
+ * void reload_ptr(eep_stat_t *stat)
+ * {
+ *     eep_config_t ee_cfg;
+ *
+ *     // Read configuration area
+ *     EEP_read(0, &ee_cfg, sizeof(ee_cfg);
+ *
+ *     // Check CRC
+ *     if(is_crc_ok(&ee_cfg) == true)
+ *     {
+ *         // Load EEPROM data at requested EEPROM address
+ *         EEP_read (stat->addr * sizeof(uint16_t), eep_buf, 8U);
+ *         // Write loaded data to EEPROM data registers
+ *         ESC_write(ESCREG_EEDATA, eep_buf, 8U);
+ *     }
+ *     else
+ *     {
+ *        // Indicate CRC error
+ *        stat->contstat.bits.csumErr = 1;
+ *        stat->contstat.bits.ackErr = 1;
+ *     }
+ * }
+ */
+
+/* Set eep internal variables */
+void EEP_set_read_size (uint16_t read_size);
+void EEP_set_reload_function_pointer (void (*reload_ptr)(eep_stat_t *stat));
+
 /* From hardware file */
 void EEP_init (void);
 int8_t EEP_read (uint32_t addr, uint8_t *data, uint16_t size);