/** Write local mailbox buffer ESCvar.MBX[n] to Send mailbox.
* Combined function for bootstrap and other states. State check decides
* which one to write.
*
* @param[in] n = Which local mailbox buffer n to send.
*/
void ESC_writembx (uint8_t n)
{
_MBX *MB = &MBX[n];
uint8_t dummy = 0;
uint16_t length;
length = etohs (MB->header.length);
if (ESCvar.ALstatus == ESCboot)
{
if (length > (MBX1_sml_b - MBXHSIZE))
{
length = MBX1_sml_b - MBXHSIZE;
}
ESC_write (MBX1_sma_b, MB, MBXHSIZE + length, (void *) &ESCvar.ALevent);
if (length + MBXHSIZE < MBX1_sml_b)
{
ESC_write (MBX1_sme_b, &dummy, 1, (void *) &ESCvar.ALevent);
}
}
else
{
if (length > (MBX1_sml - MBXHSIZE))
{
length = MBX1_sml - MBXHSIZE;
}
ESC_write (MBX1_sma, MB, MBXHSIZE + length, (void *) &ESCvar.ALevent);
if (length + MBXHSIZE < MBX1_sml)
{
ESC_write (MBX1_sme, &dummy, 1, (void *) &ESCvar.ALevent);
}
}
ESCvar.mbxfree = 0;
}
/** 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));
}
}
/** TBD
*/
void ESC_ackmbxread (void)
{
uint8_t dummy = 0;
if (ESCvar.ALstatus == ESCboot)
{
ESC_write (MBX1_sma_b, &dummy, 1, (void *) &ESCvar.ALevent);
}
else
{
ESC_write (MBX1_sma, &dummy, 1, (void *) &ESCvar.ALevent);
}
ESCvar.mbxfree = 1;
}
/** Write AL Status Code to the ESC.
*
* @param[in] errornumber = Write an by EtherCAT specified Error number register 0x134 AL Status Code
*/
void ESC_ALerror (uint16_t errornumber)
{
uint16_t dummy;
ESCvar.ALerror = errornumber;
dummy = htoes (errornumber);
ESC_write (ESCREG_ALERROR, &dummy, sizeof (dummy), (void *) &ESCvar.ALevent);
}
/** Write ESCvar.SM[n] data to ESC PDI control register 0x807(+ offset to SyncManager n).
*
* @param[in] n = Write to Sync Manager no. n
*/
void ESC_SMwritepdi (uint8_t n)
{
_ESCsm2 *sm;
sm = (_ESCsm2 *) & ESCvar.SM[n];
ESC_write (ESCREG_SM0PDI + (n << 3), &(sm->ActPDI), 1,
(void *) &ESCvar.ALevent);
}
/** Write AL Status to the ESC.
*
* @param[in] status = Write current slave status to register 0x130 AL Status
* reflecting actual state and error indication if present
*/
void ESC_ALstatus (uint8_t status)
{
uint16_t dummy;
ESCvar.ALstatus = status;
dummy = htoes ((uint16_t) status);
ESC_write (ESCREG_ALSTATUS, &dummy, sizeof (dummy),
(void *) &ESCvar.ALevent);
}
/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
*/
void TXPDO_update (void)
{
if(ESCvar.txpdo_override != NULL)
{
(ESCvar.txpdo_override)();
}
else
{
ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
}
}
/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
*/
void TXPDO_update (void)
{
ESC_write (SM3_sma, &Rb.button, TXPDOsize);
}
/** Mandatory: Write local process data to Sync Manager 3, Master Inputs.
*/
void TXPDO_update (void)
{
ESC_write (SM3_sma, &Rb.button, TXPDOsize, (void *) &ESCvar.ALevent);
}
