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