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