sitara_depot/components/free_rtos/ethernet_industry/eth_ecat_buffer.cpp

/*
 * eth_ecat_buffer.cpp
 *
 *  Created on: May 3, 2023
 *      Author: algin
 */

#include "free_rtos/ethernet_industry/eth_ecat_buffer.hpp"

namespace free_rtos {

namespace ecat_buffer {

constexpr std::array<SyncManager, 4> EcatBufferSlave::sync_managers_;
constexpr std::array<address::Offset, 4> EcatBufferSlave::fmmu_regs_;

bool EthEcatBuffer::init(uint16_t rx_eeprom_addr, uint16_t tx_eeprom_addr) {
    const datagram::TEcatWkc expected_wkc = 1;
    std::vector<EcatSlave>& slaves = ecat_.get_slaves();
    eeprom::EEPROM& eeprom = ecat_.get_eeprom();
    bool status = true;

    buffer_slaves_.reserve(slaves.size());

    for(EcatSlave& slave : slaves) {
        buffer_slaves_.emplace_back(EcatBufferSlave{slave});
    }
/*
    for(EcatBufferSlave& buffer_slave : buffer_slaves_) {
        buffer_slave.read_info_from_eeprom<command::FP>(eeprom);
    }
*/
    for(EcatBufferSlave& buffer_slave : buffer_slaves_) {
        status = (status && buffer_slave.read_buffer_info_from_eeprom<command::FP>(expected_wkc, eeprom, rx_eeprom_addr, tx_eeprom_addr));
    }

    return status;
}

bool EthEcatBuffer::init_sync_manager(sync_manager sm_write, sync_manager sm_read) {
    const datagram::TEcatWkc expected_wkc = 1;
    telegram::EcatTelegram& telegram = ecat_.get_telegram();
    bool status = true;

    for(EcatBufferSlave& buffer_slave : buffer_slaves_) {
        status = (status && buffer_slave.init_sync_manager<command::FP>(telegram, expected_wkc, sm_write, sm_read));
    }

    return status;
}

bool EthEcatBuffer::init_fmmu(fmmu fmmu_write, fmmu fmmu_read) {
    const datagram::TEcatWkc expected_wkc = 1;
    telegram::EcatTelegram& telegram = ecat_.get_telegram();
    bool status = true;

    for(EcatBufferSlave& buffer_slave : buffer_slaves_) {
        status = (status && buffer_slave.init_fmmu_write<command::FP>(telegram, expected_wkc, fmmu_write, fmmu_global_properties_));
    }

    if(status != true) {
        return status;
    }

    for(EcatBufferSlave& buffer_slave : buffer_slaves_) {
        status = (status && buffer_slave.init_fmmu_read<command::FP>(telegram, expected_wkc, fmmu_read, fmmu_global_properties_));
    }

    return status;
}

}

}