SYS/BIOS Ind. SDK Questions

Hi,

Thanks for the review and feedback. In general, I recommend not using ESC_32BIT_ACCESS and ESC_16BIT_ACCESS for now, as it is not tested. We shall look at enabling this support though in future. As a convention, _isr calls are meant to access process data and normal read/write calls are meant to access ESC registers.

1. Yes - this is a bug. bsp_read_word_isr must be used for __HW_EscReadWordIsr

2. Agree that bsp_read_dword is the ...

3. It really depends on whether you make process data access in 32-bit mode. HW_EscReadWord/ByteIsr is a bit special in this regard as they are meant to touch the first/last word/byte to begin/end process data access. I agree that for completeness sake this is needed...

Following patches may be used as reference to correct above issues... 

--- a/ecat_appl/EcatStack/tieschw.h
+++ b/ecat_appl/EcatStack/tieschw.h
@@ -195,13 +195,14 @@ PROTO void HW_EscReadIsr(Uint8 * pData, Uint16 Address, Uint16 Len);
PROTO void HW_EscReadByteIsr(Uint8 ByteValue, Uint16 Address);
PROTO Uint8 __HW_EscReadByteIsr(Uint16 Address);
PROTO Uint16 __HW_EscReadWordIsr(Uint16 Address);
+PROTO Uint32 __HW_EscReadDWordIsr(Uint16 Address);
#define HW_EscReadByteIsr(ByteValue, Address) ((ByteValue) = __HW_EscReadByteIsr(Address))
#define HW_EscReadWordIsr(WordValue, Address) ((WordValue) = __HW_EscReadWordIsr(Address))
+#define HW_EscReadDWordIsr(DWordValue, Address)((DWordValue) = __HW_EscReadDWordIsr(Address))
+
#define HW_EscReadByte(ByteValue, Address) ((ByteValue) = bsp_read_byte(Address))
-//#define HW_EscReadByteIsr(ByteValue, Address) ((ByteValue) = bsp_read_byte_isr(Address))
#define HW_EscReadWord(WordValue, Address) ((WordValue) = bsp_read_word(Address))
-#define HW_EscReadDWord(DWordValue, Address) HW_EscRead(((Uint8 *)&(DWordValue)),((Uint16)(Address)),4)
-#define HW_EscReadDWordIsr(DWordValue, Address) HW_EscReadDWord(DWordValue, Address)
+#define HW_EscReadDWord(DWordValue, Address) ((DWordValue) = bsp_read_dword(Address))

PROTO void HW_EscReadMbxMem(Uint8 * pData, Uint16 Address, Uint16 Len);

--- a/ecat_appl/EcatStack/tieschw.c
+++ b/ecat_appl/EcatStack/tieschw.c

@@ -164,11 +164,29 @@ Uint16 __HW_EscReadWordIsr(Uint16 Address)

pd_read_addr_err++;
return 0;
}
- WordValue = bsp_read_word(ActAddress);
+ WordValue = bsp_read_word_isr (ActAddress);

bsp_process_data_access_complete(Address, 2, sm_index);
return WordValue;
}
+
+Uint32 __HW_EscReadDWordIsr(Uint16 Address)
+{
+ Int16 sm_index;
+ Uint16 ActAddress = bsp_get_process_data_address(Address, 4, &sm_index);
+ Uint32 DWordValue;
+ if (ActAddress < ESC_ADDR_MEMORY)
+ {
+ pd_read_addr_err++;
+ return 0;
+ }
+ DWordValue = bsp_read_dword_isr (ActAddress);
+
+ bsp_process_data_access_complete(Address, 4, sm_index);
+ return DWordValue;
+}
+

void HW_EscReadMbxMem(Uint8 * pData, Uint16 Address, Uint16 Len)
{
t_sm_properties *p_sm_properties = bsp_get_sm_properties(MAILBOX_WRITE);
@@ -218,7 +236,7 @@ void HW_EscWriteWordIsr(Uint16 WordValue, Uint16 Address)
pd_write_addr_err++;
return;
}
- bsp_write_word(WordValue, Address);
+ bsp_write_word(WordValue, ActualAddr);

--- a/ecat_appl/EcatStack/tiescbsp.c
+++ b/ecat_appl/EcatStack/tiescbsp.c

@@ -1695,6 +1719,15 @@ Uint32 bsp_read_dword(Uint16 address)

return DWordValue;
}

+inline Uint32 bsp_read_dword_isr(Uint16 address)
+{
+ Uint32 DWordValue;
+ ENABLE_PRUSS_ACCESS_FROM_HOST();
+ DWordValue = (((Uint32 *) pEsc)[((address) >> 2)]);
+ DISABLE_PRUSS_ACCESS_FROM_HOST();
+ return DWordValue;
+}
+

Hi Pratheesh,

Thanks for the explanations and the patches concerning the Read issues.

Now I still have similar questions for the DWord write functions ("HW_EscWriteDWordIsr()" and "HW_EscWriteDWord()").

For "HW_EscWriteDWordIsr()" I can write a similar function as "HW_EscWriteWordIsr()".

But for "HW_EscWriteDWord()" I have a problem calling the function "bsp_pdi_write_indication()" with a 32bit value.
Any suggestions on this topic?

Thanks and best regards,
Patrick