Cherry pick DC settings from sercos branch

.gitignore

@@ -7,6 +7,7 @@
 *.tab.h
 *.yy.c
 *.yy.h
+*.il2c.c
 *.log
 *.lo
 *.la

controller/ec/esc_esi.c

 /*
+	Copyright (c) 2013,
+		Daan Vreeken <Daan @ Vitsch . nl> - Vitsch Electronics
 	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2013
 	Copyright Stichting C.A. Muller Radioastronomiestation, 2013
 
@@ -37,6 +39,8 @@
 #include <log/log.h>
 #include <controller/controller_sample.h>
 
+#define MAX_RETRIES	1000
+
 ssize_t esc_esi_eeprom_read(struct ec_dgram_addr *ec_addr, 
     void *buffer, size_t offset, size_t size)
 {
@@ -46,24 +50,55 @@ ssize_t esc_esi_eeprom_read(struct ec_dgram_addr *ec_addr,
 	uint32_t val32;
 	int wordsize;
 	size_t readsize = 0;
+	int retry = 0;
+
+	/* See ET1100 pdf, chapter 11.2.2: Assignment to ECAT/PDI */
 	
+	/* Request use of EEPROM by master (us) */
+	ec_addr->addr.position.off = ESC_ADDR_MAP_ESI_EEPROM_CONFIG;
+	val8 = ESC_ESI_EEPROM_CONFIG_REQUEST_ECAT;
+	r = ec_datagram_write(ec_addr, &val8, 1);
+	if (r != 1)
+		return -1;
 	/* Make sure ecat side has eeprom control */
+	ec_addr->addr.position.off = ESC_ADDR_MAP_ESI_EEPROM_PDI_STATE;
 	do {
-		ec_addr->addr.position.off = ESC_ADDR_MAP_ESI_EEPROM_CONFIG;
 		r = ec_datagram_read(ec_addr, &val8, 1);
-		if (val8 & ESC_ESI_EEPROM_CONFIG_PDI && r == 1) {
-			uint8_t resetval8 = ESC_ESI_EEPROM_CONFIG_FORCE_ECAT;
-			r = ec_datagram_write(ec_addr, &resetval8, 1);
+	} while (val8 == ESC_ESI_EEPROM_PDI_BUSY && r == 1 &&
+	    ++retry < MAX_RETRIES);
+	if (r != 1) {
+		readsize = -1;
+		goto err_out;
+	}
+	if (retry == MAX_RETRIES) {
+		log_send(LOG_T_DEBUG, "esc_esi_eeprom_read: forcing the PDI "
+		    "off the EEPROM bus");
+		
+		/* Force the PDI off of the EEPROM bus */
+		ec_addr->addr.position.off = ESC_ADDR_MAP_ESI_EEPROM_CONFIG;
+		val8 = ESC_ESI_EEPROM_CONFIG_FORCE_ECAT;
+		r = ec_datagram_write(ec_addr, &val8, 1);
+		if (r != 1) {
+			readsize = -1;
+			goto err_out;
 		}
-	} while (val8 & ESC_ESI_EEPROM_CONFIG_PDI && r == 1);
-	if (r != 1)
-		return -1;
+		/* Finish claiming the bus */
+		ec_addr->addr.position.off = ESC_ADDR_MAP_ESI_EEPROM_CONFIG;
+		val8 = ESC_ESI_EEPROM_CONFIG_REQUEST_ECAT;
+		r = ec_datagram_write(ec_addr, &val8, 1);
+		if (r != 1) {
+			readsize = -1;
+			goto err_out;
+		}
+	}
 
 	/* get status */
 	ec_addr->addr.position.off = ESC_ADDR_MAP_ESI_EEPROM_CONTROL_STATUS;
 	r = ec_datagram_read(ec_addr, &val16, 2);
-	if (r != 2)
-		return -1;
+	if (r != 2) {
+		readsize = -1;
+		goto err_out;
+	}
 	
 	status = le16toh(val16);
 	if (status & ESC_ESI_EEPROM_CONTROL_STATUS_READ_8B) {
@@ -102,7 +137,8 @@ ssize_t esc_esi_eeprom_read(struct ec_dgram_addr *ec_addr,
 		    status & ESC_ESI_EEPROM_CONTROL_STATUS_NOT_LOADED ||
 		    status & ESC_ESI_EEPROM_CONTROL_STATUS_ACK_ERR ||
 		    status & ESC_ESI_EEPROM_CONTROL_STATUS_WRITE_ERR) {
-			return -1;
+			readsize = -1;
+			goto err_out;
 		}
 
 		/* read data and copy to client buffer */
@@ -122,7 +158,14 @@ ssize_t esc_esi_eeprom_read(struct ec_dgram_addr *ec_addr,
 		buffer += copysize;
 		readsize += copysize;
 	}
-	
+
+err_out:
+	/* Give back the EEPROM to the PDI */
+	ec_addr->addr.position.off = ESC_ADDR_MAP_ESI_EEPROM_CONFIG;
+	val8 = ESC_ESI_EEPROM_CONFIG_PDI;
+	/* if this fails all hope is lost for the PDI :) */
+	(void)ec_datagram_write(ec_addr, &val8, 1);
+
 	return readsize;
 }
 
@@ -384,7 +427,6 @@ static int esc_esi_device_fill_dc(struct esc_device *dev)
 		factor0 = le16toh(dc->cycle_time_sync0_factor);
 		factor1 = le16toh(dc->cycle_time_sync1_factor);
 
-		/* what is the extra byte doing here??? */
 		activate = le16toh(dc->assign_activate) >> 8;
 		cyclic = le16toh(dc->assign_activate) & 0xff;
 	
@@ -410,9 +452,6 @@ static int esc_esi_device_fill_dc(struct esc_device *dev)
 		else
 			latch1 = false;
 
-		/* lots of guessing here: */
-		// todo: is factor/cycle logic ok?
-		// todo: what is a negative factor?
 		if (sync_out) {
 			if (sync0 && !cycle0) {
 				/* factor and cycle 0? */
@@ -421,8 +460,17 @@ static int esc_esi_device_fill_dc(struct esc_device *dev)
 				cycle0 = period_cycle * factor0;
 			}
 			if (sync1 && factor1) {
-				/* factor? */
-				shift1 = cycle0 * (factor1 - 1) + shift1;
+				if (period_cycle < cycle0) {
+					log_send(LOG_T_WARNING,
+					    "Period cycle time is smaller than sync0 cycle time. %dns < %dns",
+					    period_cycle, cycle0);
+				}
+				if (factor1 < 0) {
+					shift1 = (period_cycle * -factor1);
+					shift1 -= cycle0;
+				} else {
+					shift1 = cycle0 * (factor1 - 1) + shift1;
+				}
 			}
 		}
 
@@ -534,8 +582,9 @@ static int esc_esi_device_fill_pdo_cat(struct esc_device *dev,
 		esc_esi_category_strings_get(dev->categories,
 		    pdo->string, string, 200);
 		log_send(LOG_T_DEBUG, 
-		    "\tPDO index: 0x%04x, sm: %d, entries: %d, name: %s",
-		    le16toh(pdo->index), pdo->sm, entries, string);
+		    "\tPDO index: 0x%04x, sm: %d, entries: %d, name: %s, type: %s",
+		    le16toh(pdo->index), pdo->sm, entries, string,
+		    cat->type == ESC_ESI_CATEGORY_PDO_RX ? "RX" : "TX");
 		
 		for (j = 0; j < entries && j + i < nr; j++) {
 			pdo_entry = (struct esc_esi_pdo_entry *)(pdo+1+j);
@@ -552,10 +601,14 @@ static int esc_esi_device_fill_pdo_cat(struct esc_device *dev,
 				if (cat->type == ESC_ESI_CATEGORY_PDO_RX) {
 					dev->rx_pdo_sm = pdo->sm;
 					dev->rx_pdo = true;
+					log_send(LOG_T_DEBUG, "\tUsing sm%d for rx pdo",
+					    dev->rx_pdo_sm);
 				}
 				if (cat->type == ESC_ESI_CATEGORY_PDO_TX) {
 					dev->tx_pdo_sm = pdo->sm;
 					dev->tx_pdo = true;
+					log_send(LOG_T_DEBUG, "\tUsing sm%d for tx pdo",
+					    dev->tx_pdo_sm);
 				}
 			}
 		}
@@ -587,11 +640,8 @@ static int esc_esi_device_fill_pdo(struct esc_device *dev)
 }
 
 /*
-	This function will create a device structure and will fill initialize
+	This function will create a device structure and will initialize it
 	according to the ESI data found on the device.
-	
-	Upon return the rx/tx PDOs will be set, if present a mailbox has been
-	created, and the device is set to the pre-operational state.
  */
 int esc_esi_device_fill(struct esc_device *dev)
 {

controller/ec/esc_registers.h

@@ -56,9 +56,12 @@
 #define ESC_ADDR_MAP_WATCHDOG_COUNTER_PDI	0x0443
 
 #define ESC_ADDR_MAP_ESI_EEPROM_CONFIG		0x0500
+#define ESC_ESI_EEPROM_CONFIG_REQUEST_ECAT		0x00
 #define ESC_ESI_EEPROM_CONFIG_PDI			0x01
 #define ESC_ESI_EEPROM_CONFIG_FORCE_ECAT		0x02
 #define ESC_ADDR_MAP_ESI_EEPROM_PDI_STATE	0x0501
+#define ESC_ESI_EEPROM_PDI_BUSY				0x01
+#define ESC_ESI_EEPROM_FREE				0x00
 #define ESC_ADDR_MAP_ESI_EEPROM_CONTROL_STATUS	0x0502
 #define ESC_ESI_EEPROM_CONTROL_STATUS_READ_8B		0x0001
 #define ESC_ESI_EEPROM_CONTROL_STATUS_CMD_READ		0x0100