71 lines
2.2 KiB
C++
71 lines
2.2 KiB
C++
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/**
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* @file ethercat_slave.cpp
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* @brief EtherCAT 从站周期处理实现。
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*/
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#include "comm/ethercat_slave.h"
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#include "comm/esc_lan9252.h"
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#include "sys/config.h"
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#include "sys/task_manager.h"
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#include "main.h"
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#if CONFIG_ETHERCAT_ENABLE
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PdoBuffer EthercatSlave::s_inputs[2] = {};
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PdoBuffer EthercatSlave::s_outputs[2] = {};
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volatile uint8_t EthercatSlave::s_inputReadIndex = 0U;
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volatile uint8_t EthercatSlave::s_outputWriteIndex = 0U;
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void EthercatSlave::init()
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{
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EscLan9252::init();
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if (EscLan9252::selfTest()) {
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/* ESC 自检通过:TODO 启用周期同步 */
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}
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s_inputReadIndex = 0U;
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s_outputWriteIndex = 0U;
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}
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__attribute__((section(".ramfunc")))
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void EthercatSlave::periodicIsr()
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{
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/* 1. 读取输入 PDO 到另一块缓冲(当前可读缓冲的配对) */
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const uint8_t write_idx = s_inputReadIndex ^ 1U;
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EscLan9252::readPdi(0x0000U, s_inputs[write_idx].data, CONFIG_ETHERCAT_PDO_SIZE);
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s_inputs[write_idx].len = CONFIG_ETHERCAT_PDO_SIZE;
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/* 2. 写入输出 PDO(从应用层未写入的那个缓冲读取) */
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const uint8_t out_read_idx = s_outputWriteIndex ^ 1U;
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EscLan9252::writePdi(0x0000U, s_outputs[out_read_idx].data, s_outputs[out_read_idx].len);
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/* 3. 翻转输入缓冲指针,使新完成的缓冲成为可读缓冲 */
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s_inputReadIndex = write_idx;
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/* 4. 置位非实时任务,通知主循环处理应用层 PDO 映射 */
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TaskManager::set(1UL << TASK_ETHERCAT_PROCESS);
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}
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const PdoBuffer* EthercatSlave::getLatestInputs()
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{
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/* s_inputReadIndex 始终指向最新完成的输入缓冲 */
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return &s_inputs[s_inputReadIndex];
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}
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void EthercatSlave::setOutputs(const PdoBuffer *outputs)
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{
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if (outputs == nullptr) {
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return;
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}
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/* 写入应用层缓冲(ISR 当前不读取的那个) */
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const uint8_t write_idx = s_outputWriteIndex ^ 1U;
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s_outputs[write_idx] = *outputs;
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s_outputWriteIndex = write_idx;
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}
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void EthercatSlave::process()
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{
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/* 应用层 PDO 映射入口(非实时,由主循环 TASK_ETHERCAT_PROCESS 调用)。
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* TODO: 将 getLatestInputs() 数据映射到应用对象字典;将应用输出填入 setOutputs()。 */
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}
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#endif /* CONFIG_ETHERCAT_ENABLE */
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