EoE updates

- Add missing EoE include, make worker semaphore global to be able to
   trigger from application
 - Add an EoE fragment sent event callback

soes/ecat_slv.c

@@ -6,6 +6,7 @@
 #include "esc.h"
 #include "esc_coe.h"
 #include "esc_foe.h"
+#include "esc_eoe.h"
 #include "ecat_slv.h"
 
 #define IS_RXPDO(index) ((index) >= 0x1600 && (index) < 0x1800)

soes/esc_eoe.c

@@ -901,6 +901,10 @@ static void EOE_send_fragment ()
          EOEvar.txframeoffset += len_to_send;
          EOEvar.txfragmentno += 1;
       }
+      if(eoe_cfg->fragment_sent_event != NULL)
+      {
+         eoe_cfg->fragment_sent_event();
+      }
    }
 }
 

soes/esc_eoe.h

@@ -43,6 +43,8 @@ typedef struct eoe_cfg
    void (*handle_recv_buffer) (uint8_t port, eoe_pbuf_t * ebuf);
    /** Callback to fetch a buffer to send */
    int (*fetch_send_buffer) (uint8_t port, eoe_pbuf_t * ebuf);
+   /** Callback to notify the application fragment sent */
+   void (*fragment_sent_event) (void);
 } eoe_cfg_t;
 
 int EOE_ecat_get_mac (uint8_t port, uint8_t mac[]);

soes/hal/rt-kernel-xmc4/esc_hw.c

@@ -22,9 +22,11 @@
 
 #define ESCADDR(x)   (((uint8_t *) ECAT0_BASE) + x)
 
+/* Global sem to make it possible to kick worker from the application */
+sem_t * ecat_isr_sem;
+
 static volatile esc_registers_t * ecat0 = (esc_registers_t *)ECAT0_BASE;
 static int use_all_interrupts = 0;
-static sem_t * ecat_isr_sem;
 static void sync0_isr (void * arg);
 static volatile uint8_t read_ack;