MyOwnEtherCATDevice/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes/hal/ax58100/esc_hw.c

/*
 * 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.
 *
 * Function to read and write commands to the ESC. Used to read/write ESC
 * registers and memory.
 */

#include <string.h>
#include "esc.h"
#include "spi_utils.h"
#include "rst.h"

#define MAX_READ_SIZE 128

#define ESC_CMD_READ 0x02
#define ESC_CMD_READWS 0x03
#define ESC_CMD_WRITE 0x04
#define ESC_CMD_NOP 0x00
#define ESC_TERM 0xff
#define ESC_NEXT 0x00

#define ESCREG_PDI_CONTROL 0x0140
#define ESCREG_ESC_CONFIG 0x0141
#define DC_SYNC_OUT 0x04
#define ESCREG_CYCLIC_UNIT_CONTROL 0x0980
#define SYNC_OUT_UNIT_CONTROL_MASK 0x01
#define SYNC_OUT_ECAT_CONTROL 0x00
#define SYNC_OUT_PDI_CONTROL 0x01
#define ESCREG_SYNC0_CYCLE_TIME 0x09A0
#define ESCREG_SYNC_START_TIME 0x0990
// measured with 21MHz SPI PDI
#define SYNC_START_OFFSET 2342840

static int et1100 = -1;
static uint8_t read_termination[MAX_READ_SIZE] = {0};

#define GPIO_ECAT_RESET 1 /* specific function to hold ESC reset on startup \
                           * when emulating EEPROM                          \
                           */

static void esc_address(uint16_t address, uint8_t command)
{
   /* Device is selected already.
    * We use 2 bytes addressing.
    */
   uint8_t data[2];

   /* address 12:5 */
   data[0] = (address >> 5);
   /* address 4:0 and cmd 2:0 */
   data[1] = ((address & 0x1F) << 3) | command;

   /* Write (and read AL interrupt register) */
   spi_bidirectionally_transfer(et1100, (uint8_t *)&ESCvar.ALevent,
                                data, sizeof(data));
   ESCvar.ALevent = etohs(ESCvar.ALevent);
}

/** 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)
{
   if (len > MAX_READ_SIZE)
   {
      return;
   }

   /* Select device. */
   spi_select(et1100);

   /* Write address and command to device. */
   esc_address(address, ESC_CMD_READ);

   /* Here we want to read data and keep MOSI low (0x00) during
    * all bytes except the last one where we want to pull it high (0xFF).
    * Read (and write termination bytes).
    */
   spi_bidirectionally_transfer(et1100, buf, read_termination + (MAX_READ_SIZE - len), len);

   /* Un-select device. */
   spi_unselect(et1100);
}

/** 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 device. */
   spi_select(et1100);
   /* Write address and command to device. */
   esc_address(address, ESC_CMD_WRITE);
   /* Write data. */
   spi_write(et1100, buf, len);
   /* Un-select device. */
   spi_unselect(et1100);
}

static void task_delay(uint32_t time_us)
{
#define DELAY_1_uS 168 // todo tweak to used clock speed
   uint32_t delay_ticks = DELAY_1_uS * time_us;

   for (int32_t i = 0; i < delay_ticks; ++i)
   {
      // do nothing
   }
}

void ESC_reset(void)
{
   volatile uint32_t timeout;

   DPRINT("esc_reset_started\n");

   rst_low();
   task_delay(1000);

   rst_check_start();

   while (timeout < 10000000)
   {
      /* ECAT releases resetpin, typically takes 40 us
         Reset to operational PDI is max 70 ms */
      if (is_esc_reset())
      {
         rst_high();
         break; // OK
      }
      timeout++;
      task_delay(30);
   }
   DPRINT("esc_reset_ended\n");
}

void ESC_init(const esc_cfg_t *config)
{
   rst_setup();
   rst_high();
   spi_setup();
   et1100 = 1;
   read_termination[MAX_READ_SIZE - 1] = 0xFF;

   // uint8_t device_symbol = 0;
   // while (device_symbol == 0)
   // {
   //    ESC_read(et1100, (void *)&device_symbol, sizeof(uint8_t));
   //    if ((device_symbol != 0) || (device_symbol != 0xFF))
   //    {
   //       DPRINT("ESC init successful");
   //    }
   // }
   // task_delay(1000); // allow ESC to load EEPROM, or if EEP_DONE can be read
   // then wait while EEP_DONE is low.
}

/** ESC enable Distributed Clocks (DC)
 *
 * @return  SYNC0 cycle time
 */
uint32_t ESC_enable_DC()
{
   uint8_t data = 0x00;

   // check DC Sync Out bit: 0x140:10
   ESC_read(ESCREG_ESC_CONFIG, &data, sizeof(data));
   if (!(data & DC_SYNC_OUT))
   {
      return 0; // DC sync is not enabled in ESI
   }

   // read set SYNC0 Cycle Time from 0x09A0
   uint32_t setsync0cycleTime = 0;
   ESC_read(ESCREG_SYNC0_CYCLE_TIME, &setsync0cycleTime, sizeof(uint32_t));
   setsync0cycleTime = etohl(setsync0cycleTime);

   // check Sync Unit assign 0x0980:0 ( 0 for ECAT, 1 for PDI )
   ESC_read(ESCREG_CYCLIC_UNIT_CONTROL, &data, sizeof(data));
   if (data == SYNC_OUT_PDI_CONTROL)
   {
      // Sync Unit assigned to PDI, configuration needs to be finished by slave

      // set sync start time: read system time, add offset for writing start time and activation
      ESC_read(ESCREG_LOCALTIME, (void *)&ESCvar.Time, sizeof(ESCvar.Time));
      ESCvar.Time = etohl(ESCvar.Time);
      uint32_t startTime = ESCvar.Time + SYNC_START_OFFSET;

      ESC_write(ESCREG_SYNC_START_TIME, &startTime, sizeof(startTime));

      // activate cyclic operation and SYNC0
      ESC_read(ESCREG_SYNC_ACT, &data, sizeof(data));
      data = data | ESCREG_SYNC_ACT_ACTIVATED | ESCREG_SYNC_SYNC0_EN;
      ESC_write(ESCREG_SYNC_ACT, &data, sizeof(data));
      data = 0x00;
      while (!(data & (ESCREG_SYNC_ACT_ACTIVATED | ESCREG_SYNC_SYNC0_EN)))
      {
         ESC_read(ESCREG_SYNC_ACT, &data, sizeof(data));
      }
   }

   return setsync0cycleTime;
}