algin
ae3cac8a7d
Adds sitara_depot/free_rtos Original one is on server_gorbunov/SmartForce4.0/sitara_depot
142 lines
3.4 KiB
C++
142 lines
3.4 KiB
C++
/*
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* eth_ecat.hpp
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*
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* Created on: 16 <20><><EFBFBD>. 2023 <20>.
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* Author: sychev
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*/
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#ifndef FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_HPP_
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#define FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_HPP_
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#include <ethernet_industry/eth_ecat_datagram.hpp>
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#include <cstdint>
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#include "handler_store/handler.hpp"
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#include "ethernet/eth_frame.h"
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#include "mutex/mutex.hpp"
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#include "semaphore/semaphore.hpp"
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#include "ethernet/eth.hpp"
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#include "ethernet_industry/ethercattype.hpp"
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#include "ethernet_industry/eth_ecat_types.h"
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#include "ethernet_industry/eth_ecat_command.hpp"
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#include "ethernet_industry/eth_ecat_eeprom.hpp"
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namespace free_rtos {
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struct BufferProperties {
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uint16_t address;
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uint16_t length;
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};
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class EcatSlave {
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public:
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EcatSlave() {
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}
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template<typename TypeT>
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void set_slave_address(typename TypeT::TSlaveAddress&& slave_address) {
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std::get<static_cast<size_t>(TypeT::type)>(slave_addresses_) = slave_address;
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}
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template<typename TypeT>
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typename TypeT::TSlaveAddress& get_slave_address() {
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return std::get<static_cast<size_t>(TypeT::type)>(slave_addresses_);
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}
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private:
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address::SlaveTypes slave_addresses_;
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BufferProperties mbx_write_;
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BufferProperties mbx_read_;
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BufferProperties pdo_output_;
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BufferProperties mbx_input_;
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};
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class EthEcat : public Handler {
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public:
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struct Statistic {
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uint32_t rx_pkt;
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uint32_t tx_pkt;
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};
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EthEcat(Eth& eth);
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void Init(TEthMacPorts port_id);
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std::vector<uint8_t> receive_datagram();
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void send_datagram(const std::vector<std::uint8_t>& datagram);
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void set_slaves_to_default();
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uint16_t slaves_detecting();
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void set_addresses_of_slaves(uint16_t address_base);
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void get_addresses_of_slaves();
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/*
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* Тип адресации slave_address зависит от типа команды CommandT
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* Может иметь тип Position, Broadcast, Node
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* Logical не поддерживается
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*/
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template<typename TypeT, typename DirT, typename EcatDgDataT>
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void simple_send_datagram(typename TypeT::TSlaveAddress& slave_address, uint16_t offset, EcatDgDataT& data) {
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using TCommand = command::EcatCommand<TypeT, DirT>;
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datagram::EcatDatagram<TCommand, EcatDgDataT> datagram{ {{slave_address, offset}}, data };
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telegram_.transfer(datagram);
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}
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datagram::EcatTelegram& get_telegram() {
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return telegram_;
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}
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eeprom::EEPROM& get_eeprom() {
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return eeprom_;
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}
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uint16_t config_init();
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bool is_ready() { return ready_; }
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Statistic getStat() { return stat_;}
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virtual int32_t Process(uint8_t * p_data, uint32_t len) override; /// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ecat
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private:
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enum {
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e_pktFirst,
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e_pktSecond,
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e_pktTotal
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};
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static constexpr uint16_t max_number_of_slaves = 32;
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TEthPkt * p_pkt_;
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TEthPkt * p_pkt_next_;
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TEthPkt pkt_[e_pktTotal];
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Mutex mut_;
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free_rtos::Semaphore rx_sem_;
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Eth& eth_;
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EthTxFlowIface& tx_flow_;
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datagram::EcatTelegram telegram_;
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eeprom::EEPROM eeprom_;
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TEthMacPorts port_id_; /// <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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bool ready_;
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Statistic stat_;
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std::array<EcatSlave, max_number_of_slaves> slaves_;
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uint16_t number_of_slaves_ = 0;
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};
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}
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#endif /* FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_HPP_ */
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