59 lines
1.7 KiB
C++
59 lines
1.7 KiB
C++
/*
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* eth_ecat_buffer.cpp
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*
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* Created on: May 3, 2023
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* Author: algin
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*/
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#include "ethernet_industry/eth_ecat_buffer.hpp"
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namespace free_rtos {
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namespace ecat_buffer {
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constexpr std::array<SyncManager, 4> EcatBufferSlave::sync_managers_;
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constexpr std::array<address::Offset, 4> EcatBufferSlave::fmmu_regs_;
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void EthEcatBuffer::init(uint16_t rx_eeprom_addr, uint16_t tx_eeprom_addr) {
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std::vector<EcatSlave>& slaves = ecat_.get_slaves();
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eeprom::EEPROM& eeprom = ecat_.get_eeprom();
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buffer_slaves_.reserve(slaves.size());
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for(EcatSlave& slave : slaves) {
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buffer_slaves_.emplace_back(EcatBufferSlave{slave});
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}
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/*
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for(EcatBufferSlave& buffer_slave : buffer_slaves_) {
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buffer_slave.read_info_from_eeprom<command::FP>(eeprom);
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}
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*/
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for(EcatBufferSlave& buffer_slave : buffer_slaves_) {
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buffer_slave.read_buffer_info_from_eeprom<command::FP>(eeprom, rx_eeprom_addr, tx_eeprom_addr);
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}
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}
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void EthEcatBuffer::init_sync_manager(sync_manager sm_write, sync_manager sm_read) {
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telegram::EcatTelegram& telegram = ecat_.get_telegram();
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for(EcatBufferSlave& buffer_slave : buffer_slaves_) {
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buffer_slave.init_sync_manager<command::FP>(telegram, sm_write, sm_read);
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}
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}
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void EthEcatBuffer::init_fmmu(fmmu fmmu_write, fmmu fmmu_read) {
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telegram::EcatTelegram& telegram = ecat_.get_telegram();
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for(EcatBufferSlave& buffer_slave : buffer_slaves_) {
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buffer_slave.init_fmmu_write<command::FP>(telegram, fmmu_write, fmmu_global_properties_);
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}
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for(EcatBufferSlave& buffer_slave : buffer_slaves_) {
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buffer_slave.init_fmmu_read<command::FP>(telegram, fmmu_read, fmmu_global_properties_);
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}
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}
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}
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}
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