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Improve emulated EEPROM reload handling #180

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Apr 9, 2024
Merged

Improve emulated EEPROM reload handling #180

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65 changes: 61 additions & 4 deletions soes/esc_eep.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
*
Expand Down Expand Up @@ -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;

Expand All @@ -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;
}
90 changes: 83 additions & 7 deletions soes/esc_eep.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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);
Expand Down
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