sitara_depot/components/free_rtos/ethernet_industry/eth_ecat_api.cpp

/*
 * eth_ecat_api.cpp
 *
 *  Created on: May 29, 2023
 *      Author: algin
 */

#include "free_rtos/ethernet_industry/eth_ecat_api.hpp"

namespace free_rtos {

bool EthEcatApi::config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec, ecat_pdo_fmmu::ProcessCallback callback) {
    bool status = false;

    ecat_.Init(port_id, period_microsec);

    status = ecat_.config_init(address_base);

    if(status != true) {
        DebugP_log((char*)"config_init() failed");

        return status;
    }

    status = ecat_buffer_sdo_.init(ECT_SII_RXMBXADR, ECT_SII_TXMBXADR);

    if(status != true) {
        DebugP_log((char*)"ecat_buffer_sdo_.init() failed");

        return status;
    }

    status = ecat_buffer_sdo_.init_sync_manager(sync_manager::SYNC_M0, sync_manager::SYNC_M1);

    if(status != true) {
        DebugP_log((char*)"ecat_buffer_sdo_.init_sync_manager() failed");

        return status;
    }

    status = ecat_buffer_pdo_.init(ECT_PDOOUTPUTADR, ECT_PDOINPUTADR);

    if(status != true) {
        DebugP_log((char*)"ecat_buffer_pdo_.init() failed");

        return status;
    }

    status = ecat_.enable_PDI();

    if(status != true) {
        DebugP_log((char*)"ecat_.enable_PDI() failed");

        return status;
    }

    status = ecat_.init_to_preop();

    if(status != true) {
        DebugP_log((char*)"ecat_.init_to_preop() failed");

        return status;
    }

    ecat_sdo_mailbox_.init();
    status = ecat_sdo_mailbox_.read_pdo_map(ECT_RXPDOMAPINDEX, ECT_TXPDOMAPINDEX);

    if(status != true) {
        DebugP_log((char*)"ecat_sdo_mailbox_.read_pdo_map() failed");

        return status;
    }

    // Override buffer properties from eeprom for PDO
    #ifdef COMX
    ecat_buffer_pdo_.set_buffer_offset(ecat_sdo_mailbox_.get_pdo_map());
    #endif
    ecat_buffer_pdo_.set_buffer_length(ecat_sdo_mailbox_.get_pdo_map());

    status = ecat_buffer_pdo_.init_sync_manager(sync_manager::SYNC_M2, sync_manager::SYNC_M3);

    if(status != true) {
        DebugP_log((char*)"ecat_buffer_pdo_.init_sync_manager() failed");

        return status;
    }

    status = ecat_buffer_pdo_.init_fmmu(fmmu::FMMU0, fmmu::FMMU1);

    if(status != true) {
        DebugP_log((char*)"ecat_buffer_pdo_.init_fmmu() failed");

        return status;
    }

    ecat_pdo_fmmu_.init(callback);

    status = ecat_.preop_to_safeop();

    if(status != true) {
        DebugP_log((char*)"ecat_.preop_to_safeop() failed");

        return status;
    }

    status = ecat_.safeop_to_op();

    if(status != true) {
        DebugP_log((char*)"ecat_.safeop_to_op() failed");

        return status;
    }

    return status;
}

void EthEcatApi::process() {
    ecat_pdo_fmmu_.process();
}

void EthEcatApi::process_fake(uint32_t period_microsec, ecat_pdo_fmmu::ProcessCallback callback) {
    ecat_pdo_fmmu_.process_fake(period_microsec, callback);
}

std::vector<ecat_buffer::PDOMap>& EthEcatApi::get_ecat_pdo_map() {
    return ecat_sdo_mailbox_.get_pdo_map();
}

}