wg_eeprom.h
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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 &reg);
00066   bool waitForEepromReady(EthercatCom *com, WGMailbox *mbx);
00067 
00069   boost::mutex mutex_;
00070 };
00071 
00072 
00073 }; //end namespace ethercat_hardware


ethercat_hardware
Author(s): Rob Wheeler (email: wheeler@willowgarage.com), Maintained by Derek King (email: dking@willowgarage.com)
autogenerated on Thu Apr 24 2014 15:43:45