Changed stepper i/o configuration to depend on EEPROM contents instead of environment variable.

Author: modmaker

Makefile

@@ -63,6 +63,7 @@ SOURCES = \
 	thermistor.c \
 	traject.c \
 	comm.c \
+	eeprom.c \
 	$(PROGRAM).c
 
 CC = $(CROSS_COMPILE)gcc
@@ -141,7 +142,7 @@ install:	all
 # DO NOT DELETE THIS LINE -- make depend depends on it.
 analog.o: analog.c analog.h beaglebone.h mendel.h debug.h
 bebopr_r2.o: bebopr_r2.c analog.h beaglebone.h temp.h thermistor.h \
- bebopr.h heater.h pwm.h traject.h
+ bebopr.h heater.h pwm.h traject.h eeprom.h
 debug.o: debug.c debug.h
 gcode_parse.o: gcode_parse.c gcode_parse.h debug.h gcode_process.h \
  bebopr.h
@@ -163,6 +164,7 @@ thermistor.o: thermistor.c beaglebone.h thermistor.h
 traject.o: traject.c bebopr.h traject.h pruss_stepper.h algo2cmds.h \
  debug.h beaglebone.h mendel.h
 comm.o: comm.c comm.h mendel.h bebopr.h debug.h beaglebone.h
+eeprom.o: eeprom.c beaglebone.h eeprom.h
 mendel.o: mendel.c heater.h temp.h beaglebone.h pwm.h bebopr.h mendel.h \
  gcode_process.h gcode_parse.h limit_switches.h traject.h pruss_stepper.h \
  algo2cmds.h comm.h

bebopr_r2.c

@@ -12,6 +12,7 @@
 #include "heater.h"
 #include "pwm.h"
 #include "traject.h"
+#include "eeprom.h"
 
 /*
  * Here one defines where the kernel puts the analog inputs,
@@ -146,11 +147,13 @@ int bebopr_pre_init( void)
     fprintf( stderr, "heater_config failed!\n");
     goto done;
   }
-  char* s = getenv( "TB6560");
-  if (s && strcmp( s, "yes") == 0) {
+  result = get_step_io_config( EEPROM_PATH);
+  // Only differentiate between Pololu and TB6560, default to Pololu
+  if (result == TB6560_DRIVERS) {
     use_pololu_drivers = 0;
   }
   fprintf( stderr, "Using stepper driver configuration: '%s'\n", (use_pololu_drivers) ? "Pololu" : "TB6560");
+  result = 0;
  done:
   return result;
 }

eeprom.c

@@ -0,0 +1,130 @@
+/*
+ * compile with:
+ *	ARCH=arm arm-arago-linux-gnueabi-gcc eeprom-decode.c -o eeprom-decode
+ */
+
+
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+#include <time.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include "beaglebone.h"
+#include "eeprom.h"
+
+
+#define EEPROM_MAGIC 0xAA5533EE
+
+#define BIG_ENDIAN_8(  x) ( (x) & 0xFF)
+#define BIG_ENDIAN_16( x) (( (BIG_ENDIAN_8(  x) <<  8) | BIG_ENDIAN_8(  x >>  8) ) & 0xFFFF)
+#define BIG_ENDIAN_32( x) (( (BIG_ENDIAN_16( x) << 16) | BIG_ENDIAN_16( x >> 16) ) & 0xFFFFFFFF)
+
+
+union bone_cape_io_config {
+  struct {
+    uint32_t	header;
+    char	header_version[ 2];
+    char	cape_name[ 32];
+    char	cape_revision[ 4];
+    char	manufacturer[ 16];
+    char	part_number[ 16];
+    uint16_t	pins_used;
+    char	serial_number[ 12];	/* WWYY4P13nnnn */
+    uint16_t	pin_config[ 74];
+    uint16_t	vdd_3v3_current;
+    uint16_t	vdd_5v0_current;
+    uint16_t	sys_5v0_current;
+    uint16_t	dc_supplied;
+  };
+  struct {
+    uint8_t	data[ 244];
+  };
+};
+
+struct eeprom {
+  union bone_cape_io_config cape_io_config;
+  uint8_t                   step_io_config;
+  // put microcode here ?
+};
+
+int get_step_io_config( const char* eeprom_path)
+{
+  uint8_t step_io_config;
+  int fd = open( eeprom_path, O_RDONLY);
+  int result;
+  if (fd < 0) {
+    perror( "Failed to open EEPROM for reading");
+    result = -1;
+    goto done;
+  }
+  result = lseek( fd, sizeof( union bone_cape_io_config), SEEK_SET);
+  if (result < 0) {
+    perror( "Failed to lseek EEPROM");
+    result = -1;
+    goto done;
+  }
+  int cnt = read( fd, &step_io_config, sizeof( step_io_config));
+  if (cnt < 0) {
+    perror( "Failed to read EEPROM");
+    result = -1;
+    goto done;
+  } else if (cnt != sizeof( step_io_config)) {
+    // short write ?
+    result = -1;
+    goto done;
+  }
+  result = step_io_config;
+done:
+  close( fd);
+  return result;
+}
+
+
+int set_step_io_config( const char* eeprom_path, uint8_t value)
+{
+  uint8_t step_io_config = value;
+  int fd = open( eeprom_path, O_WRONLY);
+  int result;
+  if (fd < 0) {
+    perror( "Failed to open EEPROM for writing");
+    result = -1;
+    goto done;
+  }
+  result = lseek( fd, sizeof( union bone_cape_io_config), SEEK_SET);
+  if (result < 0) {
+    perror( "Failed to lseek EEPROM");
+    result = -1;
+    goto done;
+  }
+  int cnt = write( fd, &step_io_config, sizeof( step_io_config));
+  if (cnt < 0) {
+    perror( "Failed to read EEPROM");
+    result = -1;
+    goto done;
+  } else if (cnt != sizeof( step_io_config)) {
+    // short write ?
+    result = -1;
+    goto done;
+  }
+  result = 0;
+done:
+  close( fd);
+  return result;
+}
+
+
+#ifdef STANDALONE
+
+int main( int argc, char* argv[])
+{
+  int result = get_step_io_config( EEPROM_PATH);
+  printf( "Current EEPROM step_io_config value is: 0x%02x (%d)\n", result, result);
+  result = set_step_io_config( EEPROM_PATH, TB6560_DRIVERS);
+  result = get_step_io_config( EEPROM_PATH);
+  printf( "New EEPROM step_io_config value is: 0x%02x (%d)\n", result, result);
+  return 0;
+}
+
+#endif

eeprom.h

@@ -0,0 +1,12 @@
+#ifndef _EEPROM_H
+#define _EEPROM_H
+
+#define EEPROM_PATH "/sys/class/i2c-adapter/i2c-3/3-0054/eeprom"
+
+#define POLOLU_DRIVERS 7
+#define TB6560_DRIVERS 8
+
+extern int get_step_io_config( const char* eeprom_path);
+extern int set_step_io_config( const char* eeprom_path, uint8_t value);
+
+#endif