00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #pragma once 00036 00037 #include "ethercat_hardware/wg_mailbox.h" 00038 #include "ethercat_hardware/ethercat_com.h" 00039 #include <stdint.h> 00040 #include <boost/thread/mutex.hpp> 00041 00042 namespace ethercat_hardware 00043 { 00044 00045 struct EepromStatusReg; 00046 struct WG0XSpiEepromCmd; 00047 00048 class WGEeprom 00049 { 00050 public: 00051 WGEeprom(); 00052 bool readEepromPage(EthercatCom *com, WGMailbox *mbx, unsigned page, void* data, unsigned length); 00053 bool writeEepromPage(EthercatCom *com, WGMailbox *mbx, unsigned page, const void* data, unsigned length); 00054 00055 protected: 00056 static const unsigned NUM_EEPROM_PAGES = 4096; 00057 static const unsigned MAX_EEPROM_PAGE_SIZE = 264; 00058 00059 // SPI Eeprom State machine helper functions 00060 bool readSpiEepromCmd(EthercatCom *com, WGMailbox *mbx, WG0XSpiEepromCmd &cmd); 00061 bool sendSpiEepromCmd(EthercatCom *com, WGMailbox *mbx, const WG0XSpiEepromCmd &cmd); 00062 bool waitForSpiEepromReady(EthercatCom *com, WGMailbox *mbx); 00063 00064 // Eeprom helper functions 00065 bool readEepromStatusReg(EthercatCom *com, WGMailbox *mbx, EepromStatusReg ®); 00066 bool waitForEepromReady(EthercatCom *com, WGMailbox *mbx); 00067 00069 boost::mutex mutex_; 00070 }; 00071 00072 00073 }; //end namespace ethercat_hardware