sitara_depot/components/free_rtos/ethernet_industry/eth_ecat.cpp

/*
 * eth_ecat.cpp
 *
 *  Created on: 16 <EFBFBD><EFBFBD><EFBFBD>. 2023 <EFBFBD>.
 *      Author: sychev
 */

#include "free_rtos/ethernet_industry/eth_ecat.hpp"

#include <cstring>
#include <kernel/dpl/ClockP.h>

namespace free_rtos {

EthEcat::EthEcat(Eth& eth)
    : eth_{eth}
    , tx_flow_{*eth.getTxFlowPtr()}
    , telegram_{eth}
    , eeprom_{telegram_} { }

void EthEcat::Init(TEthMacPorts port_id, uint32_t period_microsec = 250) {
    port_id_ = port_id;
    telegram_.init(port_id);

    Timer::Settings ecat_tmr_sett = {
                 .input_clk_Hz = 25000000, // 25MHz
                 .base_address = 0x2400000u, // memory mapping,
                 .clock_src_mux_addr = 0x430081B0u, // sysconfig
                 .int_num = 152u,                   // sysconfig
                 .int_priority = 4,                 // sysconfig
                 .period_us = period_microsec /// microsec
              };

    ecat_timer_.Init(ecat_tmr_sett);
    ecat_timer_.Stop();
}

bool EthEcat::set_slaves_to_default() {
    const datagram::TEcatWkc expected_wkc = 1;
    address::Broadcast broadcast{0x0000};
    bool status;

/* deact loop manual */
    uint8_t a_data_out{0x00};
    datagram::EcatDatagram<command::BWR, uint8_t> a{ {{broadcast, ECT_REG_DLPORT}}, expected_wkc, a_data_out };

/* set IRQ mask */
    uint16_t b_data_out{0x0C04};
    datagram::EcatDatagram<command::BWR, uint16_t> b{ {{broadcast, ECT_REG_IRQMASK}}, expected_wkc, b_data_out };

/* reset CRC counters */
    std::array<uint8_t, 8> c_data_out;
    c_data_out.fill(0x00);
    datagram::EcatDatagram<command::BWR, std::array<uint8_t, 8>> c{ {{broadcast, ECT_REG_RXERR}}, expected_wkc, c_data_out };

/* reset FMMU's */
    std::array<uint8_t, 16*3> d_data_out;
    d_data_out.fill(0x00);
    datagram::EcatDatagram<command::BWR, std::array<uint8_t, 16*3>> d{ {{broadcast, ECT_REG_FMMU0}}, expected_wkc, d_data_out };

/* reset SyncM */
    std::array<uint8_t, 8*4> e_data_out;
    e_data_out.fill(0x00);
    datagram::EcatDatagram<command::BWR, std::array<uint8_t, 8*4>> e{ {{broadcast, ECT_REG_SM0}}, expected_wkc, e_data_out };

/* reset activation register */
    uint8_t f_data_out{0x00};
    datagram::EcatDatagram<command::BWR, uint8_t> f{ {{broadcast, ECT_REG_DCSYNCACT}}, expected_wkc, f_data_out };

/* reset system time+ofs */
    std::array<uint8_t, 4> g_data_out;
    g_data_out.fill(0x00);
    datagram::EcatDatagram<command::BWR, std::array<uint8_t, 4>> g{ {{broadcast, ECT_REG_DCSYSTIME}}, expected_wkc, g_data_out };

/* DC speedstart */
    uint16_t h_data_out{0x1000};
    datagram::EcatDatagram<command::BWR, uint16_t> h{ {{broadcast, ECT_REG_DCSPEEDCNT}}, expected_wkc, h_data_out };

/* DC filt expr */
    uint16_t i_data_out{0x0C00};
    datagram::EcatDatagram<command::BWR, uint16_t> i{ {{broadcast, ECT_REG_DCTIMEFILT}}, expected_wkc, i_data_out };

/* Ignore Alias register */
    uint8_t j_data_out{0x00};
    datagram::EcatDatagram<command::BWR, uint8_t> j{ {{broadcast, ECT_REG_DLALIAS}}, expected_wkc, j_data_out };

/* Reset all slaves to Init */
    uint16_t k_data_out{EC_STATE_INIT|EC_STATE_ACK};
    datagram::EcatDatagram<command::BWR, uint16_t> k{ {{broadcast, ECT_REG_ALCTL}}, expected_wkc, k_data_out };

/* force Eeprom from PDI */
    uint8_t l_data_out{0x02};
    datagram::EcatDatagram<command::BWR, uint8_t> l{ {{broadcast, ECT_REG_EEPCFG}}, expected_wkc, l_data_out };

/* set Eeprom to master */
    uint8_t m_data_out{0x00};
    datagram::EcatDatagram<command::BWR, uint8_t> m{ {{broadcast, ECT_REG_EEPCFG}}, expected_wkc, m_data_out };

    auto queue = a + b + c + d + e + f + g + h + i + j + k + l + m;

    status = telegram_.transfer(queue);

    //telegram_.transfer(b);
    //telegram_.transfer(c);
    //telegram_.transfer(d);
    //telegram_.transfer(e);
    //telegram_.transfer(f);
    //telegram_.transfer(g);
    //telegram_.transfer(h);
    //telegram_.transfer(i);
    //telegram_.transfer(j);
    //telegram_.transfer(k);
    //telegram_.transfer(l);
    //telegram_.transfer(m);

    DebugP_log((char*)"Deact loop manual wkc = %d\r\n",         a.get_wkc());
    DebugP_log((char*)"Set IRQ mask wkc = %d\r\n",              b.get_wkc());
    DebugP_log((char*)"Reset CRC counters wkc = %d\r\n",        c.get_wkc());
    DebugP_log((char*)"Reset FMMU's wkc = %d\r\n",              d.get_wkc());
    DebugP_log((char*)"Reset SyncM wkc = %d\r\n",               e.get_wkc());
    DebugP_log((char*)"Reset activation register wkc = %d\r\n", f.get_wkc());
    DebugP_log((char*)"Reset system time+ofs wkc = %d\r\n",     g.get_wkc());
    DebugP_log((char*)"DC speedstart wkc = %d\r\n",             h.get_wkc());
    DebugP_log((char*)"DC filt expr wkc = %d\r\n",              i.get_wkc());
    DebugP_log((char*)"Ignore Alias register wkc = %d\r\n",     j.get_wkc());
    DebugP_log((char*)"Reset all slaves to Init wkc = %d\r\n",  k.get_wkc());
    DebugP_log((char*)"Force Eeprom from PDI wkc = %d\r\n",     l.get_wkc());
    DebugP_log((char*)"Set Eeprom to master wkc = %d\r\n",      m.get_wkc());

    return status;
}

uint16_t EthEcat::slaves_detecting() {
    address::Broadcast broadcast{0x0000};
    uint16_t data{0x0000};
    datagram::EcatDatagram<command::BRD, uint16_t> datagram{ {{broadcast, ECT_REG_TYPE}}, 1, data };

    telegram_.transfer(datagram);

    return datagram.get_wkc();
}

// Setting Station address (FP) of slave via Position addressing (AP)
// Station address is datagram data
bool EthEcat::set_addresses_of_slaves(uint16_t number_of_slaves, uint16_t address_base) {
    using TDatagram = datagram::EcatDatagram<command::APWR, address::Station>;

    const datagram::TEcatWkc expected_wkc = 1;
    std::vector<TDatagram> datagrams;
    bool status;

    slaves_.reserve(number_of_slaves);
    datagrams.reserve(number_of_slaves);

    for(uint16_t i = 0; i < number_of_slaves; i++) {
        address::Position position{static_cast<int16_t>(-i)};
        address::Station station{static_cast<uint16_t>(address_base + i)};
        address::SlaveAddresses slave_addresses{position, 0x0000, station, 0x00000000};

        slaves_.emplace_back(EcatSlave{std::move(slave_addresses)});
        datagrams.emplace_back(TDatagram{ {{position, ECT_REG_STADR}}, expected_wkc,  slaves_.back().get_slave_address<command::FP>() });
    }

    queue::Queue<datagram::IEcatDatagram> queue;

    for(uint16_t i = 0; i < number_of_slaves; i++) {
        queue + datagrams[i];
    }

    status = telegram_.transfer(queue);

    if(status != true) {
        DebugP_log((char*)"Slave addresses not set\r\n");

        return status;
    }

    DebugP_log((char*)"Slave addresses set\r\n");

    return status;
}

bool EthEcat::get_addresses_of_slaves() {
    using TDatagram = datagram::EcatDatagram<command::APRD, address::Station>;

    const datagram::TEcatWkc expected_wkc = 1;
    std::vector<TDatagram> datagrams;
    uint16_t number_of_slaves = slaves_.size();
    queue::Queue<datagram::IEcatDatagram> queue;
    bool status;

    datagrams.reserve(number_of_slaves);

    for(EcatSlave& slave : slaves_) {
        datagrams.emplace_back(TDatagram{ {{slave.get_slave_address<command::AP>(), ECT_REG_STADR}}, expected_wkc, slave.get_slave_address<command::FP>() });
    }

    for(uint16_t i = 0; i < number_of_slaves; i++) {
        queue + datagrams[i];
    }

    status = telegram_.transfer(queue);

    if(status != true) {
        DebugP_log((char*)"Slave addresses not read\r\n");

        return status;
    }

    for(EcatSlave& slave : slaves_) {
        DebugP_log((char*)"Slave %d address = %d\r\n", -slave.get_slave_address<command::AP>(), slave.get_slave_address<command::FP>());
    }

    return status;
}

bool EthEcat::config_init(uint16_t address_base) {
    uint16_t number_of_slaves;
    bool status;

    DebugP_log((char*)"EthercatMaster starting. Initializing slaves...\r\n");

    status = set_slaves_to_default();

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

    number_of_slaves = slaves_detecting();

    DebugP_log((char*)"number_of_slaves = %d\r\n", number_of_slaves);

    status = (number_of_slaves > 0);

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

    status = set_addresses_of_slaves(number_of_slaves, address_base);

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

    status = get_addresses_of_slaves();

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

    return status;
}

bool EthEcat::enable_PDI() {
    const datagram::TEcatWkc expected_wkc = 1;
    bool status = true;

    for(EcatSlave& slave : slaves_) {
        status = (status && slave.enable_PDI<command::FP>(telegram_, expected_wkc));
    }

    return status;
}

bool EthEcat::init_to_preop() {
    const datagram::TEcatWkc expected_wkc = 1;
    bool success = true;

    for(EcatSlave& slave : slaves_) {
        success = (success && slave.init_to_preop<command::FP>(telegram_, expected_wkc));
    }

    DebugP_log((char*)"success = %d\r\n", success);

    return success;
}

bool EthEcat::preop_to_safeop() {
    const datagram::TEcatWkc expected_wkc = 1;
    bool success = true;

    for(EcatSlave& slave : slaves_) {
        success = (success && slave.preop_to_safeop<command::FP>(telegram_, expected_wkc));
    }

    DebugP_log((char*)"success = %d\r\n", success);

    return success;
}

bool EthEcat::safeop_to_op() {
    const datagram::TEcatWkc expected_wkc = slaves_.size();
    address::Broadcast broadcast{0x0000};
    ALSTAT stat{0x0000, 0x0000};
    uint16_t zero{0x00000000};
    bool status;

    ecat_timer_.Start();

    process_sem_.post();
    if(init_sem_.pend(process_timeout_ticks_) != SystemP_SUCCESS) {
        DebugP_log((char*)"Process task timeout !\r\n");

        return false;
    }

    {
        uint16_t data{EC_STATE_OPERATIONAL};
        datagram::EcatDatagram<command::BWR, uint16_t> datagram{ {{broadcast, ECT_REG_ALCTL}}, expected_wkc, data };

        status = telegram_.transfer(datagram);

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

    process_sem_.post();
    if(init_sem_.pend(process_timeout_ticks_) != SystemP_SUCCESS) {
        DebugP_log((char*)"Process task timeout !\r\n");

        return false;
    }

    {
        datagram::EcatDatagram<command::BRD, ALSTAT, uint16_t> datagram{ {{broadcast, ECT_REG_ALSTAT}}, expected_wkc, stat, zero };

        status = telegram_.transfer(datagram);

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

    status = (stat.state == EC_STATE_OPERATIONAL) && (stat.fault == 0);

    if(status != true) {
        DebugP_log((char*)"stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);

        return status;
    }

    //DebugP_log((char*)"success = %d\r\n", success);

    process_sem_.post();

    return status;
}

}