ESC driver APIs. More...

Data Structures
struct	esc_eeprom_clock_config_t

Enumerations
enum	{ status_esc_eeprom_ack_error = ((uint32_t)( status_group_esc )1000U + (uint32_t)( 0 )) , status_esc_eeprom_checksum_error = ((uint32_t)( status_group_esc )1000U + (uint32_t)( 1 )) }
	ESC error codes. More...

enum	esc_latch_source_t { latch_source_from_ntm = 0 , latch_source_from_trigger_mux = 1 }

enum	esc_eeprom_cmd_t { esc_eeprom_idle_cmd = 0 , esc_eeprom_read_cmd = 1 , esc_eeprom_write_cmd = 2 , esc_eeprom_reload_cmd = 4 }

enum	esc_ctrl_signal_function_t { esc_ctrl_signal_func_alt_nmii_link0 = 0 , esc_ctrl_signal_func_alt_nmii_link1 = 1 , esc_ctrl_signal_func_alt_nmii_link2 = 2 , esc_ctrl_signal_func_alt_link_act0 = 3 , esc_ctrl_signal_func_alt_link_act1 = 4 , esc_ctrl_signal_func_alt_link_act2 = 5 , esc_ctrl_signal_func_alt_led_run = 6 , esc_ctrl_signal_func_alt_led_err = 7 , esc_ctrl_signal_func_alt_reset_out = 8 }

Functions
static void	esc_core_enable_clock (ESC_Type *ptr, bool enable)
	ESC peripheral clock. More...

static void	esc_phy_enable_clock (ESC_Type *ptr, bool enable)
	ESC PHY clock. More...

static void	esc_config_eeprom_and_clock (ESC_Type ptr, esc_eeprom_clock_config_t config)
	ESC config eeprom attributes(emulation and size) and peripheral clock. More...

static void	esc_config_ctrl_signal_function (ESC_Type *ptr, uint8_t index, esc_ctrl_signal_function_t func, bool invert)
	ESC assign specific function to CTRL signal. More...

static void	esc_config_nmii_link_source (ESC_Type *ptr, bool link0_from_io, bool link1_from_io, bool link2_from_io)
	ESC config nmii_link signal source. More...

static void	esc_config_reset_source (ESC_Type *ptr, bool reset_from_ecat_core)
	ESC config reset signal source. More...

static void	esc_pdi_reset (ESC_Type *ptr)
	ESC generate reset signal to ESC_RESET interrupt and RESET_OUT pin. More...

static void	esc_set_phy_offset (ESC_Type *ptr, uint8_t offset)
	ESC set phy offset. More...

static void	esc_enable_pdi_access_mii_management (ESC_Type *ptr)
	ESC enable PDI to access MII management. More...

static void	esc_disable_pdi_access_mii_management (ESC_Type *ptr)
	ESC disable PDI to access MII management. More...

hpm_stat_t	esc_mdio_read (ESC_Type ptr, uint8_t phy_addr, uint8_t reg_addr, uint16_t data)
	ESC read PHY register via ESC MII Management Interface. More...

hpm_stat_t	esc_mdio_write (ESC_Type *ptr, uint8_t phy_addr, uint8_t reg_addr, uint16_t data)
	ESc write PHY register via ESC MII Management Interface. More...

hpm_stat_t	esc_check_eeprom_loading (ESC_Type *ptr)
	ESC check eeprom loading data status. More...

static uint8_t	esc_get_eeprom_cmd (ESC_Type *ptr)
	ESC get eeprom cmd, this using in eeprom emulation function. More...

static void	esc_eeprom_emulation_ack (ESC_Type *ptr, esc_eeprom_cmd_t cmd, bool ack_err, bool crc_err)
	ESC ack eeprom cmd in eeprom emualtion function. More...

static uint32_t	esc_get_eeprom_byte_address (ESC_Type *ptr)
	ESC get eeprom byte address. More...

static uint32_t	esc_get_eeprom_word_address (ESC_Type *ptr)
	ESC get eeprom word(2 bytes) address. More...

static uint64_t	esc_read_eeprom_data (ESC_Type *ptr)
	ESC read eeprom data from register, this function is using in eeprom emulation function. More...

static void	esc_write_eeprom_data (ESC_Type *ptr, uint64_t data)
	ESC write eeprom data to register, this function is using in eeprom emulation function. More...

static void	esc_config_latch0_source (ESC_Type *ptr, bool latch0_from_ntm)
	ESC config latch0 signal source. More...

static void	esc_config_latch1_source (ESC_Type *ptr, bool latch0_from_trigmux)
	ESC config latch1 signal source. More...

Detailed Description

ESC driver APIs.

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

#include <drivers/inc/hpm_esc_drv.h>

ESC error codes.

Enumerator
status_esc_eeprom_ack_error	ESC EEPROM ack error
status_esc_eeprom_checksum_error	ESC EEPROM checksum error

◆ esc_ctrl_signal_function_t

enum esc_ctrl_signal_function_t

#include <drivers/inc/hpm_esc_drv.h>

Enumerator
esc_ctrl_signal_func_alt_nmii_link0
esc_ctrl_signal_func_alt_nmii_link1
esc_ctrl_signal_func_alt_nmii_link2
esc_ctrl_signal_func_alt_link_act0
esc_ctrl_signal_func_alt_link_act1
esc_ctrl_signal_func_alt_link_act2
esc_ctrl_signal_func_alt_led_run
esc_ctrl_signal_func_alt_led_err
esc_ctrl_signal_func_alt_reset_out

◆ esc_eeprom_cmd_t

enum esc_eeprom_cmd_t

#include <drivers/inc/hpm_esc_drv.h>

Enumerator
esc_eeprom_idle_cmd
esc_eeprom_read_cmd
esc_eeprom_write_cmd
esc_eeprom_reload_cmd

◆ esc_latch_source_t

enum esc_latch_source_t

#include <drivers/inc/hpm_esc_drv.h>

Enumerator
latch_source_from_ntm
latch_source_from_trigger_mux

Function Documentation

◆ esc_check_eeprom_loading()

hpm_stat_t esc_check_eeprom_loading ( ESC_Type * ptr )

#include <drivers/inc/hpm_esc_drv.h>

ESC check eeprom loading data status.

Note: EtherCAT communication is possible even if the EEPROM is blank

Parameters

[in] ptr ESC base address.

Return values

status_success	loding data successfully and correctlly.
status_esc_eeprom_ack_error	loding data checksum error(eeprom blank).
status_esc_eeprom_checksum_error	no ack error.
status_timeout	loding data timeout.

◆ esc_config_ctrl_signal_function()

static void esc_config_ctrl_signal_function	(	ESC_Type *	ptr,
		uint8_t	index,
		esc_ctrl_signal_function_t	func,
		bool	invert
	)

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC assign specific function to CTRL signal.

Parameters

[in]	ptr	ESC base address
[in]	index	CTRL signal index(0-8)
[in]	func	specific function
[in]	invert	invert signal

◆ esc_config_eeprom_and_clock()

static void esc_config_eeprom_and_clock	(	ESC_Type *	ptr,
		esc_eeprom_clock_config_t *	config
	)

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC config eeprom attributes(emulation and size) and peripheral clock.

Parameters

[in]	ptr	ESC base address
[in]	config	esc_eeprom_clock_config_t

◆ esc_config_latch0_source()

static void esc_config_latch0_source	(	ESC_Type *	ptr,
		bool	latch0_from_ntm
	)

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC config latch0 signal source.

Parameters

[in]	ptr	ESC base address
[in]	latch0_from_ntm	true for signal from ntm system, false for signal from IO

◆ esc_config_latch1_source()

static void esc_config_latch1_source	(	ESC_Type *	ptr,
		bool	latch0_from_trigmux
	)

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC config latch1 signal source.

Parameters

[in]	ptr	ESC base address
[in]	latch0_from_trigmux	true for signal from trigmux system, false for signal from IO

◆ esc_config_nmii_link_source()

static void esc_config_nmii_link_source	(	ESC_Type *	ptr,
		bool	link0_from_io,
		bool	link1_from_io,
		bool	link2_from_io
	)

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC config nmii_link signal source.

Parameters

[in]	ptr	ESC base address
[in]	link0_from_io	true for signal from configured IO; false for signal from register(GPR_CFG2) value
[in]	link1_from_io	true for signal from configured IO; false for signal from register(GPR_CFG2) value
[in]	link2_from_io	true for signal from configured IO; false for signal from register(GPR_CFG2) value

◆ esc_config_reset_source()

static void esc_config_reset_source	(	ESC_Type *	ptr,
		bool	reset_from_ecat_core
	)

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC config reset signal source.

Parameters

[in]	ptr	ESC base address
[in]	reset_from_ecat_core	true for reset signal from ecat core; false for reset signal from register(GPR_CFG1) value

◆ esc_core_enable_clock()

static void esc_core_enable_clock	(	ESC_Type *	ptr,
		bool	enable
	)

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC peripheral clock.

Parameters

[in]	ptr	ESC base address
[in]	enable	Set true to enable or false to disable

◆ esc_disable_pdi_access_mii_management()

static void esc_disable_pdi_access_mii_management ( ESC_Type * ptr )

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC disable PDI to access MII management.

Parameters

[in] ptr ESC base address

◆ esc_eeprom_emulation_ack()

static void esc_eeprom_emulation_ack	(	ESC_Type *	ptr,
		esc_eeprom_cmd_t	cmd,
		bool	ack_err,
		bool	crc_err
	)

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC ack eeprom cmd in eeprom emualtion function.

Parameters

[in]	ptr	ESC base address
[in]	cmd	esc_eeprom_cmd_t
[in]	ack_err	eeprom ack error occurrred
[in]	crc_err	eeprom checksum error occurrred

◆ esc_enable_pdi_access_mii_management()

static void esc_enable_pdi_access_mii_management ( ESC_Type * ptr )

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC enable PDI to access MII management.

Parameters

[in] ptr ESC base address

◆ esc_get_eeprom_byte_address()

static uint32_t esc_get_eeprom_byte_address ( ESC_Type * ptr )

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC get eeprom byte address.

Parameters

[in] ptr ESC base address

Returns: byte address

◆ esc_get_eeprom_cmd()

static uint8_t esc_get_eeprom_cmd ( ESC_Type * ptr )

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC get eeprom cmd, this using in eeprom emulation function.

Parameters

[in] ptr ESC base address

Returns: uint8_t esc_eeprom_cmd_t.

◆ esc_get_eeprom_word_address()

static uint32_t esc_get_eeprom_word_address ( ESC_Type * ptr )

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC get eeprom word(2 bytes) address.

Parameters

[in] ptr ESC base address

Returns: word address

◆ esc_mdio_read()

hpm_stat_t esc_mdio_read	(	ESC_Type *	ptr,
		uint8_t	phy_addr,
		uint8_t	reg_addr,
		uint16_t *	data
	)

#include <drivers/inc/hpm_esc_drv.h>

ESC read PHY register via ESC MII Management Interface.

Parameters

[in]	ptr	ESC base address
[in]	phy_addr	PHY address.
[in]	reg_addr	Register address.
[in]	data	PHY data returned.

◆ esc_mdio_write()

hpm_stat_t esc_mdio_write	(	ESC_Type *	ptr,
		uint8_t	phy_addr,
		uint8_t	reg_addr,
		uint16_t	data
	)

#include <drivers/inc/hpm_esc_drv.h>

ESc write PHY register via ESC MII Management Interface.

Parameters

[in]	ptr	ESC base address
[in]	phy_addr	PHY address.
[in]	reg_addr	Register address.
[in]	data	Write to PHY register.

◆ esc_pdi_reset()

static void esc_pdi_reset ( ESC_Type * ptr )

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC generate reset signal to ESC_RESET interrupt and RESET_OUT pin.

Note: the reset signal source should be configured in esc_config_reset_source before

Parameters

[in] ptr ESC base address

◆ esc_phy_enable_clock()

static void esc_phy_enable_clock	(	ESC_Type *	ptr,
		bool	enable
	)

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC PHY clock.

Parameters

[in]	ptr	ESC base address
[in]	enable	Set true to enable or false to disable

< enable PHY 25M refck

< disable PHY 25M refck

◆ esc_read_eeprom_data()

static uint64_t esc_read_eeprom_data ( ESC_Type * ptr )

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC read eeprom data from register, this function is using in eeprom emulation function.

Parameters

[in] ptr ESC base address

Returns: eeprom data

◆ esc_set_phy_offset()

static void esc_set_phy_offset	(	ESC_Type *	ptr,
		uint8_t	offset
	)

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC set phy offset.

Parameters

[in]	ptr	ESC base address
[in]	offset	PHY register offset

◆ esc_write_eeprom_data()

static void esc_write_eeprom_data	(	ESC_Type *	ptr,
		uint64_t	data
	)

inlinestatic

#include <drivers/inc/hpm_esc_drv.h>

ESC write eeprom data to register, this function is using in eeprom emulation function.

Parameters

[in]	ptr	ESC base address
[in]	data	eeprom data

Data Structures

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ anonymous enum

◆ esc_ctrl_signal_function_t

◆ esc_eeprom_cmd_t

◆ esc_latch_source_t

Function Documentation

◆ esc_check_eeprom_loading()

◆ esc_config_ctrl_signal_function()

◆ esc_config_eeprom_and_clock()

◆ esc_config_latch0_source()

◆ esc_config_latch1_source()

◆ esc_config_nmii_link_source()

◆ esc_config_reset_source()

◆ esc_core_enable_clock()

◆ esc_disable_pdi_access_mii_management()

◆ esc_eeprom_emulation_ack()

◆ esc_enable_pdi_access_mii_management()

◆ esc_get_eeprom_byte_address()

◆ esc_get_eeprom_cmd()

◆ esc_get_eeprom_word_address()

◆ esc_mdio_read()

◆ esc_mdio_write()

◆ esc_pdi_reset()

◆ esc_phy_enable_clock()

◆ esc_read_eeprom_data()

◆ esc_set_phy_offset()

◆ esc_write_eeprom_data()