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/******************************************************************************

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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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*/