sitara_depot/components/free_rtos/ethernet_industry/eth_ecat_eeprom.hpp

/*
 * eth_ecat_eeprom.hpp
 *
 *  Created on: May 2, 2023
 *      Author: algin
 */

#ifndef FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_EEPROM_HPP_
#define FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_EEPROM_HPP_

#include <kernel/dpl/ClockP.h>

#include "free_rtos/ethernet_industry/eth_ecat_datagram.hpp"
#include "free_rtos/ethernet_industry/eth_ecat_telegram.hpp"
#include "free_rtos/ethernet_industry/eth_ecat_custom_tuple.hpp"

namespace free_rtos {

namespace eeprom {

class EEPROM {
public:
    EEPROM(telegram::EcatTelegram& telegram)
    : telegram_{telegram} { }

    template<typename TypeT>
    bool wait_busy(const datagram::TEcatWkc expected_wkc, typename TypeT::TSlaveAddress& slave_address) {
        using TCommand= command::EcatCommand<TypeT, command::RD>;

        std::array<uint16_t, 2> eeprom_config_status{0x0000, 0x0000};
        datagram::EcatDatagram<TCommand, std::array<uint16_t, 2>> datagram{ {{slave_address, ECT_REG_EEPCFG}}, expected_wkc, eeprom_config_status };
        bool status;

        do {
            status = telegram_.transfer(datagram);
        } while((status == true) && ( ((eeprom_config_status[0] & 0xFF00) != 0) || ((eeprom_config_status[1] & EC_ESTAT_BUSY) != 0) ) );

        return status;
    }

    template<typename TypeT>
    bool control_register(const datagram::TEcatWkc expected_wkc, typename TypeT::TSlaveAddress& slave_address, ec_ecmdtype eeprom_cmd, uint16_t eeprom_address) {
        using TCommand = command::EcatCommand<TypeT, command::WR>;

        std::array<uint16_t, 2> request{eeprom_cmd, eeprom_address};
        datagram::EcatDatagram<TCommand, std::array<uint16_t, 2>> datagram{ {{slave_address, ECT_REG_EEPCTL}}, expected_wkc, request };

        return telegram_.transfer(datagram);
    }

    template<typename TypeT, typename DirT, typename... DataTypes>
    bool data_register(const datagram::TEcatWkc expected_wkc, typename TypeT::TSlaveAddress& slave_address, DataTypes&... data) {
        using TCommand = command::EcatCommand<TypeT, DirT>;

        datagram::EcatDatagram<TCommand, DataTypes...> datagram{ {{slave_address, ECT_REG_EEPDAT}}, expected_wkc, data... };

        return telegram_.transfer(datagram);
    }

    template<typename TypeT, typename... DataTypes>
    bool read(const datagram::TEcatWkc expected_wkc, typename TypeT::TSlaveAddress& slave_address, uint16_t eeprom_address, DataTypes&... data) {
        if(wait_busy<TypeT>(expected_wkc, slave_address) != true) {
            DebugP_log((char*)"read, wait_busy() failed\r\n");

            return false;
        }

        if(control_register<TypeT>(expected_wkc, slave_address, EC_ECMD_READ, eeprom_address) != true) {
            DebugP_log((char*)"read, control_register() is failed\r\n");

            return false;
        }

        if(wait_busy<TypeT>(expected_wkc, slave_address) != true) {
            DebugP_log((char*)"read, wait_busy() failed\r\n");

            return false;
        }

        if(data_register<TypeT, command::RD, DataTypes...>(expected_wkc, slave_address, data...) != true) {
            DebugP_log((char*)"read, data_register() failed\r\n");

            return false;
        }

        if(wait_busy<TypeT>(expected_wkc, slave_address) != true){
            DebugP_log((char*)"read, wait_busy() failed\r\n");

            return false;
        }

        return true;
    }

    struct Reader {
        template<typename DataT>
        void operator()(DataT& data) {
            free_rtos::RawData raw_data{};
        }
    };

    template<typename TypeT, typename... DataTypes>
    bool read_block(const datagram::TEcatWkc expected_wkc, typename TypeT::TSlaveAddress& slave_address, uint16_t eeprom_address, DataTypes&... data) {
        custom_tuple<DataTypes&...> data_tuple{data...};
        Reader functor{};

        for_each(data_tuple, functor);

        return true;
    }

    // 2 bytes (1 word) max
    template<typename TypeT, typename... DataTypes>
    bool write(const datagram::TEcatWkc expected_wkc, typename TypeT::TSlaveAddress& slave_address, uint16_t eeprom_address, DataTypes&... data) {
        if(wait_busy<TypeT>(expected_wkc, slave_address) != true) {
            DebugP_log((char*)"write, wait_busy() failed\r\n");

            return false;
        }

        if(data_register<TypeT, command::WR, DataTypes...>(expected_wkc, slave_address, data...) != true) {
            DebugP_log((char*)"write, data_register() failed\r\n");

            return false;
        }

        if(wait_busy<TypeT>(expected_wkc, slave_address) != true) {
            DebugP_log((char*)"write, wait_busy() failed\r\n");

            return false;
        }

        if(control_register<TypeT>( expected_wkc, slave_address, EC_ECMD_WRITE, eeprom_address) != true) {
            DebugP_log((char*)"write, control_register() is failed\r\n");

            return false;
        }

        if(wait_busy<TypeT>(expected_wkc, slave_address) != true) {
            DebugP_log((char*)"write, wait_busy() failed\r\n");

            return false;
        }

        return true;
    }

private:
    telegram::EcatTelegram& telegram_;
};

}

}



#endif /* FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_EEPROM_HPP_ */