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dev(UML-1680): Начало работ по Slave Information Interface SII

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This commit is contained in:
algin 2023-09-21 14:50:50 +03:00
parent 39ef0906b7
commit cc4ee9225c
3 changed files with 227 additions and 1 deletions
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21
components/free_rtos/ethernet_industry/eth_ecat_eeprom.hpp
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@ -10,8 +10,9 @@
#include <kernel/dpl/ClockP.h>
#include <free_rtos/ethernet_industry/eth_ecat_datagram.hpp>
#include "free_rtos/ethernet_industry/eth_ecat_datagram.hpp"
#include "free_rtos/ethernet_industry/eth_ecat_telegram.hpp"
#include "free_rtos/ethernet_industry/eth_ecat_custom_tuple.hpp"
namespace free_rtos {
@ -90,6 +91,24 @@ public:
return true;
}
struct Reader {
template<typename DataT>
void operator()(DataT& data) {
free_rtos::RawData raw_data{};
}
};
template<typename TypeT, typename... DataTypes>
bool read_block(const datagram::TEcatWkc expected_wkc, typename TypeT::TSlaveAddress& slave_address, uint16_t eeprom_address, DataTypes&... data) {
custom_tuple<DataTypes&...> data_tuple{data...};
Reader functor{};
for_each(data_tuple, functor);
return true;
}
// 2 bytes (1 word) max
template<typename TypeT, typename... DataTypes>
bool write(const datagram::TEcatWkc expected_wkc, typename TypeT::TSlaveAddress& slave_address, uint16_t eeprom_address, DataTypes&... data) {

18
components/free_rtos/ethernet_industry/eth_ecat_sii.cpp Normal file
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@ -0,0 +1,18 @@
/*
* eth_ecat_sii.cpp
*
* Created on: Sep 18, 2023
* Author: algin
*/
#include "free_rtos/ethernet_industry/eth_ecat_sii.hpp"
namespace free_rtos {
namespace sii {
}
}

189
components/free_rtos/ethernet_industry/eth_ecat_sii.hpp Normal file
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@ -0,0 +1,189 @@
/*
* eth_ecat_sii.hpp
*
* Created on: Sep 18, 2023
* Author: algin
*/
#ifndef FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_SII_HPP_
#define FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_SII_HPP_
#include "free_rtos/ethernet_industry/eth_ecat_eeprom.hpp"
namespace free_rtos {
namespace sii {
enum class ECAT_MAILBOX_PROTOCOLS : uint16_t {
AOE = 0x0001,
EOE = 0x0002,
COE = 0x0004,
FOE = 0x0008,
SOE = 0x0010,
VOE = 0x0020
};
enum class ECAT_SII_ADDRESSES : uint16_t {
PDI_CONTROL = 0x0000,
PDI_CONFIGURATION = 0x0001,
SYNC_IMPULSE_LEN = 0x0002,
PDI_CONFIGURATION2 = 0x0003,
CONFIGURED_STATION_ALIAS = 0x0004,
RESERVED0 = 0x0005,
CHECKSUM = 0x0007,
VENDOR_ID = 0x0008,
PRODUCT_CODE = 0x000A,
REVISION_NUMBER = 0x000C,
SERIAL_NUMBER = 0x000E,
RESERVED1 = 0x0010,
BOOTSTRAP_RECEIVE_MAILBOX_OFFSET = 0x0014,
BOOTSTRAP_RECEIVE_MAILBOX_SIZE = 0x0015,
BOOTSTRAP_SEND_MAILBOX_OFFSET = 0x0016,
BOOTSTRAP_SEND_MAILBOX_SIZE = 0x0017,
STANDARD_RECEIVE_MAILBOX_OFFSET = 0x0018,
STANDARD_RECEIVE_MAILBOX_SIZE = 0x0019,
STANDARD_SEND_MAILBOX_OFFSET = 0x001A,
STANDARD_SEND_MAILBOX_SIZE = 0x001B,
MAILBOX_PROTOCOL = 0x001C,
RESERVED2 = 0x001D,
SIZE = 0x003E,
VERSION = 0x003F,
FIRST_CATEGORY_HEADER = 0x0040,
FIRST_CATEGORY_DATA = 0x0042
};
enum class CATEGORIES_TYPES : uint16_t {
NOP = 0,
DEVICE_SPECIFIC_FIRST = 1,
DEVICE_SPECIFIC_LAST = 9,
STRINGS = 10,
DATA_TYPES = 20,
GENERAL = 30,
FMMU = 40,
SYNCM = 41,
TXPDO = 50,
RXPDO = 51,
DC = 60,
RESERVED0_FIRST = 60,
RESERVED0_LAST = 2047,
VENDOR_SPECIFIC_FIRST = 0x0800,
VENDOR_SPECIFIC_LAST = 0x0FFF,
RESERVED1_FIRST = 0x1000,
RESERVED1_LAST = 0xFFFF,
END = 0xFFFF
};
struct EcatSIIArea {
uint16_t pdi_control;
uint16_t pdi_configuration;
uint16_t sync_impulse_len;
uint16_t pdi_configuration2;
uint16_t configured_station_alias;
uint8_t reserved0[4];
uint16_t checksum;
uint32_t vendor_id;
uint32_t product_code;
uint32_t revision_number;
uint32_t serial_number;
uint8_t reserved1[8];
uint16_t bootstrap_receive_mailbox_offset;
uint16_t bootstrap_receive_mailbox_size;
uint16_t bootstrap_send_mailbox_offset;
uint16_t bootstrap_send_mailbox_size;
uint16_t standard_receive_mailbox_offset;
uint16_t standard_receive_mailbox_size;
uint16_t standard_send_mailbox_offset;
uint16_t standard_send_mailbox_size;
uint16_t mailbox_protocol;
uint8_t reserved2[66];
uint16_t size;
uint16_t version;
} __attribute__ ((packed));
struct EcatCategoryHeader {
uint16_t type : 15;
uint16_t vendor_specific : 1;
uint16_t word_size;
} __attribute__ ((packed));
struct EcatString {
uint8_t length;
const char* data;
};
struct EcatStrings {
uint8_t nstrings;
} __attribute__ ((packed));
struct EcatGeneral {
uint8_t group_idx;
uint8_t img_idx;
uint8_t order_idx;
uint8_t name_idx;
uint8_t reserved0;
uint8_t coe_details;
uint8_t foe_details;
uint8_t eoe_details;
uint8_t soe_channels;
uint8_t ds402_channels;
uint8_t sysman_class;
uint8_t flags;
int16_t current_on_ebus;
uint8_t group_idx_dup;
uint8_t reserved1[1];
uint16_t physical_port;
uint16_t physical_memory_address;
uint8_t reserved2[12];
} __attribute__ ((packed));
struct EcatFMMU {
uint8_t fmmu0;
uint8_t fmmu1;
uint8_t fmmu2;
uint8_t fmmu3;
} __attribute__ ((packed));
template<typename WordT>
struct EcatSyncManager {
WordT physical_start_address;
WordT length;
uint8_t control_register;
uint8_t status_register;
uint8_t enable_synch_manager;
uint8_t sync_manager_type;
} __attribute__ ((packed));
template<typename WordT>
struct EcatPDOEntry {
uint16_t index;
uint8_t subindex;
uint8_t name_idx;
uint8_t datatype;
uint8_t length;
WordT flags;
} __attribute__ ((packed));
template<typename WordT>
struct EcatPDO {
uint16_t index;
uint8_t nentries;
uint8_t syncmanager;
uint8_t synchronization;
uint8_t name_idx;
WordT flags;
} __attribute__ ((packed));
class EcatSII {
public:
EcatSII() { }
private:
EcatSIIArea sii_area_;
};
}
}
#endif /* FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_SII_HPP_ */