98 lines
2.5 KiB
C
98 lines
2.5 KiB
C
/******************************************************************************
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*
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* e t h e r n e t . c
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*
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* Ethernet-over-EtherCAT (EoE)
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*
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* $Id$
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*
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*****************************************************************************/
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#include "../include/ecrt.h"
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#include "globals.h"
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#include "master.h"
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#include "slave.h"
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#include "mailbox.h"
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#include "ethernet.h"
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/*****************************************************************************/
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void ec_eoe_init(ec_eoe_t *eoe, ec_slave_t *slave)
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{
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eoe->slave = slave;
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eoe->rx_state = EC_EOE_IDLE;
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}
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/*****************************************************************************/
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void ec_eoe_clear(ec_eoe_t *eoe)
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{
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}
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/*****************************************************************************/
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void ec_eoe_run(ec_eoe_t *eoe)
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{
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uint8_t *data;
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ec_master_t *master;
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size_t rec_size;
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master = eoe->slave->master;
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if (eoe->rx_state == EC_EOE_IDLE) {
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ec_slave_mbox_prepare_check(eoe->slave);
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ec_master_queue_command(master, &eoe->slave->mbox_command);
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eoe->rx_state = EC_EOE_CHECKING;
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return;
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}
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if (eoe->rx_state == EC_EOE_CHECKING) {
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if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
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master->stats.eoe_errors++;
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eoe->rx_state = EC_EOE_IDLE;
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return;
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}
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if (!ec_slave_mbox_check(eoe->slave)) {
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eoe->rx_state = EC_EOE_IDLE;
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return;
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}
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ec_slave_mbox_prepare_fetch(eoe->slave);
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ec_master_queue_command(master, &eoe->slave->mbox_command);
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eoe->rx_state = EC_EOE_FETCHING;
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return;
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}
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if (eoe->rx_state == EC_EOE_FETCHING) {
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EC_DBG("EOE fetching\n");
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if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
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master->stats.eoe_errors++;
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eoe->rx_state = EC_EOE_IDLE;
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return;
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}
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if (!(data = ec_slave_mbox_fetch(eoe->slave, 0x02, &rec_size))) {
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master->stats.eoe_errors++;
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eoe->rx_state = EC_EOE_IDLE;
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return;
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}
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EC_DBG("EOE received: %i\n", rec_size);
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eoe->rx_state = EC_EOE_IDLE;
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return;
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}
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}
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/*****************************************************************************/
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void ec_eoe_print(const ec_eoe_t *eoe)
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{
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EC_INFO(" EoE slave %i\n", eoe->slave->ring_position);
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EC_INFO(" RX State %i\n", eoe->rx_state);
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}
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/*****************************************************************************/
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/* Emacs-Konfiguration
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;;; Local Variables: ***
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;;; c-basic-offset:4 ***
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;;; End: ***
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*/
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