algin
ae3cac8a7d
Adds sitara_depot/free_rtos Original one is on server_gorbunov/SmartForce4.0/sitara_depot
83 lines
2.5 KiB
C++
83 lines
2.5 KiB
C++
/*
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* eth_ecat_eeprom.hpp
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*
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* Created on: May 2, 2023
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* Author: algin
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*/
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#ifndef FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_EEPROM_HPP_
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#define FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_EEPROM_HPP_
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#include <ethernet_industry/eth_ecat_datagram.hpp>
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namespace free_rtos {
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namespace eeprom {
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class EEPROM {
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public:
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EEPROM(datagram::EcatTelegram& telegram)
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: telegram_{telegram} { }
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template<typename TypeT>
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void wait_busy(typename TypeT::TSlaveAddress& slave_address) {
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using TCommand = command::EcatCommand<TypeT, command::RD>;
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volatile uint16_t stat;
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datagram::EcatDatagram<TCommand, volatile uint16_t> datagram{ {{slave_address, ECT_REG_EEPSTAT}}, stat };
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do {
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telegram_.transfer(datagram);
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}while((stat & EC_ESTAT_BUSY) != 0);
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}
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template<typename TypeT, typename DirT>
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void control_register(typename TypeT::TSlaveAddress& slave_address, ec_ecmdtype eeprom_cmd, uint16_t eeprom_address) {
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using TCommand = command::EcatCommand<TypeT, DirT>;
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std::array<uint16_t, 2> request{eeprom_cmd, eeprom_address};
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datagram::EcatDatagram<TCommand, std::array<uint16_t, 2>> datagram{ {{slave_address, ECT_REG_EEPCTL}}, request };
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telegram_.transfer(datagram);
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}
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template<typename TypeT, typename DirT, typename EcatDgDataT>
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void data_register(typename TypeT::TSlaveAddress& slave_address, EcatDgDataT& data) {
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using TCommand = command::EcatCommand<TypeT, DirT>;
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datagram::EcatDatagram<TCommand, EcatDgDataT> datagram{ {{slave_address, ECT_REG_EEPDAT}}, data };
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telegram_.transfer(datagram);
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}
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template<typename TypeT, typename EcatDgDataT>
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void read(typename TypeT::TSlaveAddress& slave_address, uint16_t eeprom_address, EcatDgDataT& data) {
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wait_busy<TypeT>(slave_address);
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control_register<TypeT, command::WR>(slave_address, EC_ECMD_READ, eeprom_address);
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wait_busy<TypeT>(slave_address);
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data_register<TypeT, command::RD, EcatDgDataT>(slave_address, data);
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}
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template<typename TypeT, typename EcatDgDataT>
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void write(typename TypeT::TSlaveAddress& slave_address, uint16_t eeprom_address, EcatDgDataT& data) {
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wait_busy<TypeT>(slave_address);
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data_register<TypeT, command::WR, EcatDgDataT>(slave_address, data);
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wait_busy<TypeT>(slave_address);
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control_register<TypeT, command::WR>(slave_address, EC_ECMD_WRITE, eeprom_address);
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}
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private:
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datagram::EcatTelegram& telegram_;
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};
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}
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}
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#endif /* FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_EEPROM_HPP_ */
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