101 lines
3.3 KiB
C++
101 lines
3.3 KiB
C++
/*
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* eth_ecat_api.hpp
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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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#ifndef FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_API_HPP_
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#define FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_API_HPP_
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#define COMX 1
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#include "free_rtos/ethernet/eth.hpp"
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#include "free_rtos/ethernet_industry/eth_ecat.hpp"
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#include "free_rtos/ethernet_industry/eth_ecat_buffer.hpp"
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#include "free_rtos/ethernet_industry/CoE/eth_ecat_sdo_mailbox.hpp"
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#include "free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp"
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namespace free_rtos {
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class EthEcatApi {
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public:
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EthEcatApi(Eth *eth)
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: eth_{eth}
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, ecat_{*eth}
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, ecat_buffer_sdo_{ecat_}
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, ecat_buffer_pdo_{ecat_}
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, ecat_sdo_mailbox_{ecat_buffer_sdo_}
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, ecat_pdo_fmmu_{ecat_buffer_pdo_} { }
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bool config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec = 250, ecat_pdo_fmmu::ProcessCallback callback = nullptr);
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template<class DataT, class Allocator>
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void process(Allocator& allocator) {
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ecat_pdo_fmmu_.process<DataT, Allocator>(allocator);
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}
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template<class DataT, class Allocator>
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void process_fake(Allocator& allocator, uint32_t period_microsec, ecat_pdo_fmmu::ProcessCallback callback) {
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ecat_pdo_fmmu_.process_fake<DataT, Allocator>(allocator, period_microsec, callback);
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}
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std::vector<ecat_buffer::PDOMap>& get_ecat_pdo_map();
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uint32_t get_pdo_counter() {
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return ecat_pdo_fmmu_.get_pdo_counter();
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}
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const telegram::EcatTelegramStatus& get_telegram_status() {
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return ecat_.get_telegram_status();
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}
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template<typename... DataTypes>
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ecat_sdo_mailbox::CompleteSize sdo_write(size_t slave_index, uint16_t index, uint8_t subindex, DataTypes&... data) {
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return ecat_sdo_mailbox_.sdo_write<command::FP, DataTypes...>(slave_index, index, subindex, data...);
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}
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template<typename... DataTypes>
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ecat_sdo_mailbox::CompleteSize sdo_read(size_t slave_index, uint16_t index, uint8_t subindex, DataTypes&... data) {
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return ecat_sdo_mailbox_.sdo_read<command::FP, DataTypes...>(slave_index, index, subindex, data...);
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}
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template<typename... DataTypes>
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bool pdo_write(uint32_t timeout_ticks, address::Offset offset, DataTypes&... data) {
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return ecat_pdo_fmmu_.pdo_write<DataTypes...>(timeout_ticks, offset, data...);
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}
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template<typename... DataTypes>
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bool pdo_read(uint32_t timeout_ticks, address::Offset offset, DataTypes&... data) {
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return ecat_pdo_fmmu_.pdo_read<DataTypes...>(timeout_ticks, offset, data...);
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}
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void pdo_write_async_static(custom_promise::IPromise& promise) {
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ecat_pdo_fmmu_.pdo_write_async_static(promise);
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}
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void pdo_read_async_static(custom_promise::IPromise& promise) {
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ecat_pdo_fmmu_.pdo_read_async_static(promise);
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}
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void pdo_write_async(custom_promise::IPromise& promise) {
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ecat_pdo_fmmu_.pdo_write_async(promise);
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}
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void pdo_read_async(custom_promise::IPromise& promise) {
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ecat_pdo_fmmu_.pdo_read_async(promise);
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}
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private:
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Eth *eth_;
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EthEcat ecat_;
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ecat_buffer::EthEcatBuffer ecat_buffer_sdo_;
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ecat_buffer::EthEcatBuffer ecat_buffer_pdo_;
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ecat_sdo_mailbox::EthEcatSdoMailbox ecat_sdo_mailbox_;
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ecat_pdo_fmmu::EthEcatPdoFMMU ecat_pdo_fmmu_;
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};
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}
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#endif /* FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_API_HPP_ */
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