109 lines
2.3 KiB
C++
109 lines
2.3 KiB
C++
/*
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* eth_ecat_api.cpp
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*
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* Created on: May 29, 2023
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* Author: algin
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*/
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#include "free_rtos/ethernet_industry/eth_ecat_api.hpp"
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namespace free_rtos {
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bool EthEcatApi::config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec, ecat_pdo_fmmu::ProcessCallback callback) {
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uint16_t number_of_slaves;
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bool status = false;
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ecat_.Init(port_id, period_microsec);
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status = ecat_.config_init(address_base);
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if(status != true) {
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return status;
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}
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status = ecat_buffer_sdo_.init(ECT_SII_RXMBXADR, ECT_SII_TXMBXADR);
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if(status != true) {
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return status;
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}
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status = ecat_buffer_sdo_.init_sync_manager(sync_manager::SYNC_M0, sync_manager::SYNC_M1);
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if(status != true) {
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return status;
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}
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status = ecat_buffer_pdo_.init(ECT_PDOOUTPUTADR, ECT_PDOINPUTADR);
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if(status != true) {
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return status;
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}
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status = ecat_.enable_PDI();
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if(status != true) {
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return status;
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}
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status = ecat_.init_to_preop();
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if(status != true) {
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return status;
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}
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ecat_sdo_mailbox_.init();
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status = ecat_sdo_mailbox_.read_pdo_map(ECT_RXPDOMAPINDEX, ECT_TXPDOMAPINDEX);
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if(status != true) {
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return status;
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}
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// Override buffer properties from eeprom for PDO
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#ifdef COMX
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ecat_buffer_pdo_.set_buffer_offset(ecat_sdo_mailbox_.get_pdo_map());
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#endif
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ecat_buffer_pdo_.set_buffer_length(ecat_sdo_mailbox_.get_pdo_map());
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status = ecat_buffer_pdo_.init_sync_manager(sync_manager::SYNC_M2, sync_manager::SYNC_M3);
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if(status != true) {
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return status;
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}
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status = ecat_buffer_pdo_.init_fmmu(fmmu::FMMU0, fmmu::FMMU1);
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if(status != true) {
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return status;
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}
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ecat_pdo_fmmu_.init(callback);
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status = ecat_.preop_to_safeop();
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if(status != true) {
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return status;
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}
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status = ecat_.safeop_to_op();
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if(status != true) {
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return status;
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}
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return status;
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}
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void EthEcatApi::process() {
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ecat_pdo_fmmu_.process();
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}
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void EthEcatApi::process_fake(uint32_t period_microsec, ecat_pdo_fmmu::ProcessCallback callback) {
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ecat_pdo_fmmu_.process_fake(period_microsec, callback);
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}
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std::vector<ecat_buffer::PDOMap>& EthEcatApi::get_ecat_pdo_map() {
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return ecat_sdo_mailbox_.get_pdo_map();
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}
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}
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