1 /******************************************************************************

     2  *

     3  *  e t h e r n e t . c

     4  *

     5  *  Ethernet-over-EtherCAT (EoE)

     6  *

     7  *  $Id$

     8  *

     9  *****************************************************************************/

    10 

    11 #include "../include/ecrt.h"

    12 #include "globals.h"

    13 #include "master.h"

    14 #include "slave.h"

    15 #include "mailbox.h"

    16 #include "ethernet.h"

    17 

    18 /*****************************************************************************/

    19 

    20 void ec_eoe_init(ec_eoe_t *eoe, ec_slave_t *slave)

    21 {

    22     eoe->slave = slave;

    23     eoe->rx_state = EC_EOE_IDLE;

    24 }

    25 

    26 /*****************************************************************************/

    27 

    28 void ec_eoe_clear(ec_eoe_t *eoe)

    29 {

    30 }

    31 

    32 /*****************************************************************************/

    33 

    34 void ec_eoe_run(ec_eoe_t *eoe)

    35 {

    36     uint8_t *data;

    37     ec_master_t *master;

    38     size_t rec_size;

    39 

    40     master = eoe->slave->master;

    41 

    42     if (eoe->rx_state == EC_EOE_IDLE) {

    43         ec_slave_mbox_prepare_check(eoe->slave);

    44         ec_master_queue_command(master, &eoe->slave->mbox_command);

    45         eoe->rx_state = EC_EOE_CHECKING;

    46         return;

    47     }

    48 

    49     if (eoe->rx_state == EC_EOE_CHECKING) {

    50         if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {

    51             master->stats.eoe_errors++;

    52             eoe->rx_state = EC_EOE_IDLE;

    53             return;

    54         }

    55         if (!ec_slave_mbox_check(eoe->slave)) {

    56             eoe->rx_state = EC_EOE_IDLE;

    57             return;

    58         }

    59         ec_slave_mbox_prepare_fetch(eoe->slave);

    60         ec_master_queue_command(master, &eoe->slave->mbox_command);

    61         eoe->rx_state = EC_EOE_FETCHING;

    62         return;

    63     }

    64 

    65     if (eoe->rx_state == EC_EOE_FETCHING) {

    66         EC_DBG("EOE fetching\n");

    67         if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {

    68             master->stats.eoe_errors++;

    69             eoe->rx_state = EC_EOE_IDLE;

    70             return;

    71         }

    72         if (!(data = ec_slave_mbox_fetch(eoe->slave, 0x02, &rec_size))) {

    73             master->stats.eoe_errors++;

    74             eoe->rx_state = EC_EOE_IDLE;

    75             return;

    76         }

    77         EC_DBG("EOE received: %i\n", rec_size);

    78         eoe->rx_state = EC_EOE_IDLE;

    79         return;

    80     }

    81 }

    82 

    83 /*****************************************************************************/

    84 

    85 void ec_eoe_print(const ec_eoe_t *eoe)

    86 {

    87     EC_INFO("  EoE slave %i\n", eoe->slave->ring_position);

    88     EC_INFO("    RX State %i\n", eoe->rx_state);

    89 }

    90 

    91 /*****************************************************************************/

    92 

    93 /* Emacs-Konfiguration

    94 ;;; Local Variables: ***

    95 ;;; c-basic-offset:4 ***

    96 ;;; End: ***

    97 */