mirror of
https://github.com/rene-dev/stmbl.git
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182 lines
5.8 KiB
C
182 lines
5.8 KiB
C
/*
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* This file is part of the stmbl project.
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*
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* Copyright (C) 2013 Rene Hopf <renehopf@mac.com>
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* Copyright (C) 2015 Ian McMahon <facetious.ian@gmail.com>
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* Copyright (C) 2013 Nico Stute <crinq@crinq.de>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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//dump:
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//sigrok-cli --driver fx2lafw --config samplerate=24m --time 1s --channels 3=rx,2=tx -t rx=f -o sserial.sr
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//decode:
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//sigrok-cli -i sserial.sr -P uart:baudrate=2500000:tx=tx:rx=rx:format=hex -A uart=tx-data:rx-data
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//decode more:
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//sigrok-cli -i sserial.sr -P uart:baudrate=2500000:tx=tx:rx=rx,sserial
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//sudo mesaflash --device 5i25 --sserial --verbose
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#define UnitNumberRPC 0xbc
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#define DiscoveryRPC 0xbb
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#define ProcessDataRPC 0xbd
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//local commands
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#define LBPCookieCMD 0xdf
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#define LBPCookie 0x5a
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#define LBPStatusCMD 0xc1
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#define LBPCardName "stbl"
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#define LBPCardName0Cmd 0xd0
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#define LBPCardName1Cmd 0xd1
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#define LBPCardName2Cmd 0xd2
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#define LBPCardName3Cmd 0xd3
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#define CT_RW 1 // 01b
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#define CT_RPC 2 // 10b
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#define CT_LOCAL 3 // 11b
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#define MEM_SIZE 2048
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#define RECORD_TYPE_PROCESS_DATA_RECORD 0xA0
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#define RECORD_TYPE_MODE_DATA_RECORD 0xB0
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//process data
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#define DATA_TYPE_PAD 0x00 //padding, done automaticly at the end
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#define DATA_TYPE_BITS 0x01
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#define DATA_TYPE_UNSIGNED 0x02
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#define DATA_TYPE_SIGNED 0x03
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#define DATA_TYPE_NONVOL_UNSIGNED 0x04
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#define DATA_TYPE_NONVOL_SIGNED 0x05
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#define DATA_TYPE_STREAM 0x06
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#define DATA_TYPE_BOOLEAN 0x07
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#define DATA_TYPE_ENCODER 0x08
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#define DATA_TYPE_FLOAT 0x10 // New for STMBL
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#define DATA_TYPE_ENCODER_H 0x18
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#define DATA_TYPE_ENCODER_L 0x28
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#define DATA_DIRECTION_INPUT 0x00
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#define DATA_DIRECTION_BI_DIRECTIONAL 0x40
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#define DATA_DIRECTION_OUTPUT 0x80
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#define MEMPTR(p) ((uint32_t)&p - (uint32_t)&memory)
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#define MEMU8(ptr) (memory.bytes[ptr])
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#define MEMU16(ptr) (memory.bytes[ptr] | memory.bytes[ptr + 1] << 8)
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#define MEMU32(ptr) (memory.bytes[ptr] | memory.bytes[ptr + 1] << 8 | memory.bytes[ptr + 2] << 16 | memory.bytes[ptr + 3] << 24)
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#define MEMFLOAT(ptr) ((float)({uint32_t tmp = MEMU32(ptr);*((float*)&tmp); }))
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#define NUM_BYTES(bits) (bits / 8 + (bits % 8 > 0 ? 1 : 0))
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#define IS_INPUT(pdr) (pdr->data_direction != 0x80)
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#define IS_OUTPUT(pdr) (pdr->data_direction != 0x00)
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#define SIGNED(pdr) (pdr->data_type == DATA_TYPE_SIGNED || pdr->data_type == DATA_TYPE_NONVOL_SIGNED)
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#define UNSIGNED(pdr) (pdr->data_type == DATA_TYPE_UNSIGNED || pdr->data_type == DATA_TYPE_NONVOL_UNSIGNED)
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#define INDIRECT_PD(pd_ptr) ((process_data_descriptor_t *)(memory.bytes + *pd_ptr))
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#define DATA_DIR(pd_ptr) INDIRECT_PD(pd_ptr)->data_direction
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#define DATA_SIZE(pd_ptr) INDIRECT_PD(pd_ptr)->data_size
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#define ADD_PROCESS_VAR(args) \
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*ptocp = add_pd args; \
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input_bits += IS_INPUT(INDIRECT_PD(ptocp)) ? DATA_SIZE(ptocp) : 0; \
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output_bits += IS_OUTPUT(INDIRECT_PD(ptocp)) ? DATA_SIZE(ptocp) : 0; \
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last_pd = INDIRECT_PD(ptocp++)
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#define ADD_GLOBAL_VAR(args) *gtocp++ = add_pd args
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#define ADD_MODE(args) *gtocp++ = add_mode args
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#define BITSLEFT(ptr) (8 - ptr)
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#define BOOLPIN(pin) (uint8_t)(PIN(pin) > 0.0)
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typedef union {
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struct {
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uint8_t ds : 2; //DataSize: Specifies data size, 00b = 1 bytes, 01b = 2 bytes, 10 b= 4 bytes, 11b = 8 bytes.
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uint8_t as : 1; //AddressSize: 0 to specify current address, 1 to specify 2 byte address.
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uint8_t ai : 1; //AutoInc: 0 leaves address unchanged, 1 specifies that address is post incremented by data size in bytes.
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uint8_t rid : 1; //RPCIncludesData: 0 specifies that data is from stream, 1, that data is from RPC (RPC only, ignored for non RPC commands)
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uint8_t wr : 1; //Write: 1 to specify write, 0 to specify read
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uint8_t ct : 2; //CommandType: Must be 01b to specify data read/write command
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// 01:rw 11:local command 10:rpc
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};
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struct {
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uint8_t rpc : 6;
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uint8_t dummy : 2;
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//01:rw 11: local command 10:rpc
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};
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uint8_t byte;
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} lbp_t;
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#pragma pack(push, 1)
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typedef union {
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uint8_t byte[4];
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uint32_t unit;
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} unit_no_t;
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typedef struct {
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uint8_t record_type; //0xa0
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uint8_t data_size;
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uint8_t data_type;
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uint8_t data_direction;
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float param_min;
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float param_max;
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uint16_t data_addr;
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char names;
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} process_data_descriptor_t;
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typedef struct {
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uint8_t record_type; //0xb0
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uint8_t index;
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uint8_t type;
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uint8_t unused;
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char names;
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} mode_descriptor_t;
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typedef struct {
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uint8_t input; //process data input bytes
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uint8_t output; //process data output bytes
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uint16_t ptocp; //pointer to process data table start
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uint16_t gtocp; //pointer to mode data table start
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} discovery_rpc_t;
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typedef union {
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struct {
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discovery_rpc_t discovery; //6 bytes
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uint16_t foo; //padding, so heap is word aligned
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uint8_t heap[MEM_SIZE - sizeof(discovery_rpc_t)];
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};
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uint8_t bytes[MEM_SIZE];
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} memory_t;
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typedef struct {
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process_data_descriptor_t *ptr;
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float range;
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uint32_t bitmax;
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} pd_metadata_t;
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typedef struct {
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pd_metadata_t pos_cmd;
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pd_metadata_t pos_fb;
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pd_metadata_t vel_cmd;
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pd_metadata_t vel_fb;
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pd_metadata_t input_pins;
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pd_metadata_t output_pins;
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pd_metadata_t fault;
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pd_metadata_t enable;
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pd_metadata_t index_enable;
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pd_metadata_t current;
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} pd_table_t;
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#pragma pack(pop) |