fp@145: /******************************************************************************
fp@145:  *
fp@145:  *  e t h e r n e t . c
fp@145:  *
fp@145:  *  Ethernet-over-EtherCAT (EoE)
fp@145:  *
fp@145:  *  $Id$
fp@145:  *
fp@145:  *****************************************************************************/
fp@145: 
fp@145: #include "../include/ecrt.h"
fp@145: #include "globals.h"
fp@145: #include "master.h"
fp@145: #include "slave.h"
fp@145: #include "mailbox.h"
fp@145: #include "ethernet.h"
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: void ec_eoe_init(ec_eoe_t *eoe, ec_slave_t *slave)
fp@145: {
fp@145:     eoe->slave = slave;
fp@145:     eoe->rx_state = EC_EOE_IDLE;
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: void ec_eoe_clear(ec_eoe_t *eoe)
fp@145: {
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: void ec_eoe_run(ec_eoe_t *eoe)
fp@145: {
fp@145:     uint8_t *data;
fp@145:     ec_master_t *master;
fp@145:     size_t rec_size;
fp@145: 
fp@145:     master = eoe->slave->master;
fp@145: 
fp@145:     if (eoe->rx_state == EC_EOE_IDLE) {
fp@145:         ec_slave_mbox_prepare_check(eoe->slave);
fp@145:         ec_master_queue_command(master, &eoe->slave->mbox_command);
fp@145:         eoe->rx_state = EC_EOE_CHECKING;
fp@145:         return;
fp@145:     }
fp@145: 
fp@145:     if (eoe->rx_state == EC_EOE_CHECKING) {
fp@145:         if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
fp@145:             master->stats.eoe_errors++;
fp@145:             eoe->rx_state = EC_EOE_IDLE;
fp@145:             return;
fp@145:         }
fp@145:         if (!ec_slave_mbox_check(eoe->slave)) {
fp@145:             eoe->rx_state = EC_EOE_IDLE;
fp@145:             return;
fp@145:         }
fp@145:         ec_slave_mbox_prepare_fetch(eoe->slave);
fp@145:         ec_master_queue_command(master, &eoe->slave->mbox_command);
fp@145:         eoe->rx_state = EC_EOE_FETCHING;
fp@145:         return;
fp@145:     }
fp@145: 
fp@145:     if (eoe->rx_state == EC_EOE_FETCHING) {
fp@145:         EC_DBG("EOE fetching\n");
fp@145:         if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
fp@145:             master->stats.eoe_errors++;
fp@145:             eoe->rx_state = EC_EOE_IDLE;
fp@145:             return;
fp@145:         }
fp@145:         if (!(data = ec_slave_mbox_fetch(eoe->slave, 0x02, &rec_size))) {
fp@145:             master->stats.eoe_errors++;
fp@145:             eoe->rx_state = EC_EOE_IDLE;
fp@145:             return;
fp@145:         }
fp@145:         EC_DBG("EOE received: %i\n", rec_size);
fp@145:         eoe->rx_state = EC_EOE_IDLE;
fp@145:         return;
fp@145:     }
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: void ec_eoe_print(const ec_eoe_t *eoe)
fp@145: {
fp@145:     EC_INFO("  EoE slave %i\n", eoe->slave->ring_position);
fp@145:     EC_INFO("    RX State %i\n", eoe->rx_state);
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: /* Emacs-Konfiguration
fp@145: ;;; Local Variables: ***
fp@145: ;;; c-basic-offset:4 ***
fp@145: ;;; End: ***
fp@145: */