master/datagram.c
author Florian Pose <fp@igh-essen.com>
Sun, 04 Mar 2007 16:15:23 +0000
changeset 608 029d70ceaaf1
parent 514 3e5989834735
child 708 90bdb315f560
permissions -rw-r--r--
Updated TODO.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   Methods of an EtherCAT datagram.
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*/
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/*****************************************************************************/
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#include <linux/slab.h>
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#include "datagram.h"
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#include "master.h"
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/*****************************************************************************/
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/** \cond */
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#define EC_FUNC_HEADER \
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    if (unlikely(ec_datagram_prealloc(datagram, data_size))) \
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        return -1; \
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    datagram->index = 0; \
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    datagram->working_counter = 0; \
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    datagram->state = EC_DATAGRAM_INIT;
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#define EC_FUNC_FOOTER \
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    datagram->data_size = data_size; \
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    memset(datagram->data, 0x00, data_size); \
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    return 0;
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/** \endcond */
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/*****************************************************************************/
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/**
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   Datagram constructor.
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*/
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void ec_datagram_init(ec_datagram_t *datagram /**< EtherCAT datagram */)
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{
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    INIT_LIST_HEAD(&datagram->queue); // mark as unqueued
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    datagram->type = EC_DATAGRAM_NONE;
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    datagram->address.logical = 0x00000000;
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    datagram->data = NULL;
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    datagram->mem_size = 0;
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    datagram->data_size = 0;
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    datagram->index = 0x00;
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    datagram->working_counter = 0x00;
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    datagram->state = EC_DATAGRAM_INIT;
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    datagram->cycles_sent = 0;
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    datagram->jiffies_sent = 0;
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    datagram->cycles_received = 0;
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    datagram->jiffies_received = 0;
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}
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/*****************************************************************************/
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/**
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   Datagram destructor.
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*/
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void ec_datagram_clear(ec_datagram_t *datagram /**< EtherCAT datagram */)
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{
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    if (datagram->data) kfree(datagram->data);
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}
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/*****************************************************************************/
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/**
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   Allocates datagram data memory.
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   If the allocated memory is already larger than requested, nothing ist done.
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   \return 0 in case of success, else < 0
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*/
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int ec_datagram_prealloc(ec_datagram_t *datagram, /**< EtherCAT datagram */
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                         size_t size /**< New size in bytes */
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                         )
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{
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    if (size <= datagram->mem_size) return 0;
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    if (datagram->data) {
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        kfree(datagram->data);
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        datagram->data = NULL;
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        datagram->mem_size = 0;
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    }
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    if (!(datagram->data = kmalloc(size, GFP_ATOMIC))) {
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        EC_ERR("Failed to allocate %i bytes of datagram memory!\n", size);
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        return -1;
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    }
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    datagram->mem_size = size;
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    return 0;
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}
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/*****************************************************************************/
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/**
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   Initializes an EtherCAT NPRD datagram.
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   Node-adressed physical read.
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   \return 0 in case of success, else < 0
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*/
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int ec_datagram_nprd(ec_datagram_t *datagram,
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                     /**< EtherCAT datagram */
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                     uint16_t node_address,
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                     /**< configured station address */
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                     uint16_t offset,
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                     /**< physical memory address */
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                     size_t data_size
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                     /**< number of bytes to read */
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                     )
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{
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    if (unlikely(node_address == 0x0000))
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        EC_WARN("Using node address 0x0000!\n");
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_NPRD;
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    datagram->address.physical.slave = node_address;
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    datagram->address.physical.mem = offset;
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/
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/**
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   Initializes an EtherCAT NPWR datagram.
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   Node-adressed physical write.
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   \return 0 in case of success, else < 0
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*/
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int ec_datagram_npwr(ec_datagram_t *datagram,
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                     /**< EtherCAT datagram */
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                     uint16_t node_address,
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                     /**< configured station address */
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                     uint16_t offset,
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                     /**< physical memory address */
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                     size_t data_size
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                     /**< number of bytes to write */
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                     )
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{
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    if (unlikely(node_address == 0x0000))
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        EC_WARN("Using node address 0x0000!\n");
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_NPWR;
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    datagram->address.physical.slave = node_address;
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    datagram->address.physical.mem = offset;
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/
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/**
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   Initializes an EtherCAT APRD datagram.
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   Autoincrement physical read.
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   \return 0 in case of success, else < 0
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*/
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int ec_datagram_aprd(ec_datagram_t *datagram,
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                     /**< EtherCAT datagram */
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                     uint16_t ring_position,
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                     /**< auto-increment position */
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                     uint16_t offset,
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                     /**< physical memory address */
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                     size_t data_size
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                     /**< number of bytes to read */
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                     )
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{
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_APRD;
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    datagram->address.physical.slave = (int16_t) ring_position * (-1);
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    datagram->address.physical.mem = offset;
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/
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/**
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   Initializes an EtherCAT APWR datagram.
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   Autoincrement physical write.
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   \return 0 in case of success, else < 0
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*/
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int ec_datagram_apwr(ec_datagram_t *datagram,
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                     /**< EtherCAT datagram */
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                     uint16_t ring_position,
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                     /**< auto-increment position */
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                     uint16_t offset,
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                     /**< physical memory address */
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                     size_t data_size
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                     /**< number of bytes to write */
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                     )
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{
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_APWR;
293
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    datagram->address.physical.slave = (int16_t) ring_position * (-1);
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    datagram->address.physical.mem = offset;
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    EC_FUNC_FOOTER;
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   231
}
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/*****************************************************************************/
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/**
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   Initializes an EtherCAT BRD datagram.
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   Broadcast read.
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   \return 0 in case of success, else < 0
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   239
*/
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   241
int ec_datagram_brd(ec_datagram_t *datagram,
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                    /**< EtherCAT datagram */
195
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                    uint16_t offset,
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   244
                    /**< physical memory address */
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                    size_t data_size
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   246
                    /**< number of bytes to read */
144
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   247
                    )
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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{
293
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   249
    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_BRD;
293
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   251
    datagram->address.physical.slave = 0x0000;
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   252
    datagram->address.physical.mem = offset;
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   253
    EC_FUNC_FOOTER;
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   254
}
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   255
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   256
/*****************************************************************************/
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   257
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   258
/**
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   259
   Initializes an EtherCAT BWR datagram.
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   Broadcast write.
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   261
   \return 0 in case of success, else < 0
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   262
*/
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   263
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   264
int ec_datagram_bwr(ec_datagram_t *datagram,
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   265
                    /**< EtherCAT datagram */
195
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   266
                    uint16_t offset,
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   267
                    /**< physical memory address */
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                    size_t data_size
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   269
                    /**< number of bytes to write */
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   270
                    )
98
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   271
{
293
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    EC_FUNC_HEADER;
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   273
    datagram->type = EC_DATAGRAM_BWR;
293
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   274
    datagram->address.physical.slave = 0x0000;
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   275
    datagram->address.physical.mem = offset;
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    EC_FUNC_FOOTER;
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   277
}
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   279
/*****************************************************************************/
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   281
/**
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   Initializes an EtherCAT LRW datagram.
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   283
   Logical read write.
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   \return 0 in case of success, else < 0
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*/
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int ec_datagram_lrw(ec_datagram_t *datagram,
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                    /**< EtherCAT datagram */
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                    uint32_t offset,
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                    /**< logical address */
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                    size_t data_size
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                    /**< number of bytes to read/write */
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                    )
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{
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_LRW;
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    datagram->address.logical = offset;
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/