wg_eeprom.h

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#pragma once

#include "ethercat_hardware/wg_mailbox.h"
#include "ethercat_hardware/ethercat_com.h"
#include <stdint.h>
#include <boost/thread/mutex.hpp>

namespace ethercat_hardware
{

struct EepromStatusReg;
struct WG0XSpiEepromCmd;

class WGEeprom
{
public:
  WGEeprom();
  bool readEepromPage(EthercatCom *com, WGMailbox *mbx, unsigned page, void* data, unsigned length);
  bool writeEepromPage(EthercatCom *com, WGMailbox *mbx, unsigned page, const void* data, unsigned length);  

protected:
  static const unsigned NUM_EEPROM_PAGES   = 4096;
  static const unsigned MAX_EEPROM_PAGE_SIZE = 264;

  // SPI Eeprom State machine helper functions
  bool readSpiEepromCmd(EthercatCom *com, WGMailbox *mbx, WG0XSpiEepromCmd &cmd);
  bool sendSpiEepromCmd(EthercatCom *com, WGMailbox *mbx, const WG0XSpiEepromCmd &cmd);
  bool waitForSpiEepromReady(EthercatCom *com, WGMailbox *mbx);

  // Eeprom helper functions
  bool readEepromStatusReg(EthercatCom *com, WGMailbox *mbx, EepromStatusReg &reg);
  bool waitForEepromReady(EthercatCom *com, WGMailbox *mbx);

  boost::mutex mutex_;
};


}; //end namespace ethercat_hardware