author | Florian Pose <fp@igh-essen.com> |
Thu, 28 Sep 2006 13:24:44 +0000 | |
changeset 383 | 30ae9db75fea |
parent 344 | 5d8281f1aa2a |
child 397 | c5d2fb08e43f |
child 1732 | 1cc865ba17c2 |
permissions | -rw-r--r-- |
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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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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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} |
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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_KERNEL))) { |
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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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|
118 |
|
293
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|
119 |
datagram->mem_size = size; |
144
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120 |
return 0; |
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121 |
} |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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|
122 |
|
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|
123 |
/*****************************************************************************/ |
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|
124 |
|
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|
125 |
/** |
293
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|
126 |
Initializes an EtherCAT NPRD datagram. |
98
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|
127 |
Node-adressed physical read. |
195
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|
128 |
\return 0 in case of success, else < 0 |
98
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|
129 |
*/ |
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|
130 |
|
293
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|
131 |
int ec_datagram_nprd(ec_datagram_t *datagram, |
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132 |
/**< EtherCAT datagram */ |
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|
133 |
uint16_t node_address, |
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|
134 |
/**< configured station address */ |
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|
135 |
uint16_t offset, |
14aeb79aa992
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|
136 |
/**< physical memory address */ |
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|
137 |
size_t data_size |
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|
138 |
/**< number of bytes to read */ |
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|
139 |
) |
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|
140 |
{ |
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|
141 |
if (unlikely(node_address == 0x0000)) |
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|
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EC_WARN("Using node address 0x0000!\n"); |
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|
143 |
|
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|
144 |
EC_FUNC_HEADER; |
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datagram->type = EC_DATAGRAM_NPRD; |
293
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|
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datagram->address.physical.slave = node_address; |
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|
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datagram->address.physical.mem = offset; |
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|
148 |
EC_FUNC_FOOTER; |
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149 |
} |
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|
150 |
|
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|
151 |
/*****************************************************************************/ |
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|
152 |
|
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|
153 |
/** |
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154 |
Initializes an EtherCAT NPWR datagram. |
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|
155 |
Node-adressed physical write. |
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|
156 |
\return 0 in case of success, else < 0 |
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|
157 |
*/ |
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|
158 |
|
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|
159 |
int ec_datagram_npwr(ec_datagram_t *datagram, |
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160 |
/**< EtherCAT datagram */ |
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|
161 |
uint16_t node_address, |
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|
162 |
/**< configured station address */ |
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|
163 |
uint16_t offset, |
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parents:
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|
164 |
/**< physical memory address */ |
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|
165 |
size_t data_size |
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|
166 |
/**< number of bytes to write */ |
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|
167 |
) |
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|
168 |
{ |
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|
169 |
if (unlikely(node_address == 0x0000)) |
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|
170 |
EC_WARN("Using node address 0x0000!\n"); |
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|
171 |
|
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|
172 |
EC_FUNC_HEADER; |
325
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|
173 |
datagram->type = EC_DATAGRAM_NPWR; |
293
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|
174 |
datagram->address.physical.slave = node_address; |
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|
175 |
datagram->address.physical.mem = offset; |
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|
176 |
EC_FUNC_FOOTER; |
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|
177 |
} |
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|
178 |
|
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|
179 |
/*****************************************************************************/ |
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changeset
|
180 |
|
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|
181 |
/** |
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changeset
|
182 |
Initializes an EtherCAT APRD datagram. |
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diff
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|
183 |
Autoincrement physical read. |
14aeb79aa992
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parents:
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diff
changeset
|
184 |
\return 0 in case of success, else < 0 |
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|
185 |
*/ |
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changeset
|
186 |
|
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|
187 |
int ec_datagram_aprd(ec_datagram_t *datagram, |
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|
188 |
/**< EtherCAT datagram */ |
14aeb79aa992
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changeset
|
189 |
uint16_t ring_position, |
14aeb79aa992
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|
190 |
/**< auto-increment position */ |
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parents:
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diff
changeset
|
191 |
uint16_t offset, |
14aeb79aa992
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parents:
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diff
changeset
|
192 |
/**< physical memory address */ |
14aeb79aa992
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parents:
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diff
changeset
|
193 |
size_t data_size |
14aeb79aa992
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parents:
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diff
changeset
|
194 |
/**< number of bytes to read */ |
14aeb79aa992
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diff
changeset
|
195 |
) |
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diff
changeset
|
196 |
{ |
14aeb79aa992
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parents:
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changeset
|
197 |
EC_FUNC_HEADER; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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|
198 |
datagram->type = EC_DATAGRAM_APRD; |
293
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changeset
|
199 |
datagram->address.physical.slave = (int16_t) ring_position * (-1); |
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diff
changeset
|
200 |
datagram->address.physical.mem = offset; |
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diff
changeset
|
201 |
EC_FUNC_FOOTER; |
14aeb79aa992
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parents:
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diff
changeset
|
202 |
} |
14aeb79aa992
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parents:
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diff
changeset
|
203 |
|
14aeb79aa992
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parents:
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changeset
|
204 |
/*****************************************************************************/ |
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parents:
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diff
changeset
|
205 |
|
14aeb79aa992
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parents:
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diff
changeset
|
206 |
/** |
14aeb79aa992
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diff
changeset
|
207 |
Initializes an EtherCAT APWR datagram. |
14aeb79aa992
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parents:
246
diff
changeset
|
208 |
Autoincrement physical write. |
14aeb79aa992
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parents:
246
diff
changeset
|
209 |
\return 0 in case of success, else < 0 |
14aeb79aa992
Renamed command structure to datagram.
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parents:
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diff
changeset
|
210 |
*/ |
14aeb79aa992
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parents:
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diff
changeset
|
211 |
|
14aeb79aa992
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diff
changeset
|
212 |
int ec_datagram_apwr(ec_datagram_t *datagram, |
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diff
changeset
|
213 |
/**< EtherCAT datagram */ |
14aeb79aa992
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parents:
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diff
changeset
|
214 |
uint16_t ring_position, |
14aeb79aa992
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parents:
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diff
changeset
|
215 |
/**< auto-increment position */ |
14aeb79aa992
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parents:
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diff
changeset
|
216 |
uint16_t offset, |
14aeb79aa992
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parents:
246
diff
changeset
|
217 |
/**< physical memory address */ |
14aeb79aa992
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parents:
246
diff
changeset
|
218 |
size_t data_size |
14aeb79aa992
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parents:
246
diff
changeset
|
219 |
/**< number of bytes to write */ |
14aeb79aa992
Renamed command structure to datagram.
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parents:
246
diff
changeset
|
220 |
) |
14aeb79aa992
Renamed command structure to datagram.
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parents:
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diff
changeset
|
221 |
{ |
14aeb79aa992
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parents:
246
diff
changeset
|
222 |
EC_FUNC_HEADER; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
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293
diff
changeset
|
223 |
datagram->type = EC_DATAGRAM_APWR; |
293
14aeb79aa992
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parents:
246
diff
changeset
|
224 |
datagram->address.physical.slave = (int16_t) ring_position * (-1); |
14aeb79aa992
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parents:
246
diff
changeset
|
225 |
datagram->address.physical.mem = offset; |
14aeb79aa992
Renamed command structure to datagram.
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parents:
246
diff
changeset
|
226 |
EC_FUNC_FOOTER; |
14aeb79aa992
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parents:
246
diff
changeset
|
227 |
} |
14aeb79aa992
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parents:
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diff
changeset
|
228 |
|
14aeb79aa992
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parents:
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diff
changeset
|
229 |
/*****************************************************************************/ |
14aeb79aa992
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parents:
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diff
changeset
|
230 |
|
14aeb79aa992
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parents:
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diff
changeset
|
231 |
/** |
14aeb79aa992
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parents:
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diff
changeset
|
232 |
Initializes an EtherCAT BRD datagram. |
14aeb79aa992
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parents:
246
diff
changeset
|
233 |
Broadcast read. |
14aeb79aa992
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parents:
246
diff
changeset
|
234 |
\return 0 in case of success, else < 0 |
14aeb79aa992
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parents:
246
diff
changeset
|
235 |
*/ |
14aeb79aa992
Renamed command structure to datagram.
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parents:
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diff
changeset
|
236 |
|
14aeb79aa992
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parents:
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diff
changeset
|
237 |
int ec_datagram_brd(ec_datagram_t *datagram, |
14aeb79aa992
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246
diff
changeset
|
238 |
/**< EtherCAT datagram */ |
195
674071846ee3
Translated all comments and documentation to english language.
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parents:
144
diff
changeset
|
239 |
uint16_t offset, |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
240 |
/**< physical memory address */ |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
241 |
size_t data_size |
674071846ee3
Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents:
144
diff
changeset
|
242 |
/**< number of bytes to read */ |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
243 |
) |
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{ |
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EC_FUNC_HEADER; |
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datagram->type = EC_DATAGRAM_BRD; |
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datagram->address.physical.slave = 0x0000; |
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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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|
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/** |
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Initializes an EtherCAT BWR datagram. |
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Broadcast write. |
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\return 0 in case of success, else < 0 |
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*/ |
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|
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int ec_datagram_bwr(ec_datagram_t *datagram, |
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/**< EtherCAT datagram */ |
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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_BWR; |
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datagram->address.physical.slave = 0x0000; |
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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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|
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/** |
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Initializes an EtherCAT LRW datagram. |
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Logical read write. |
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\return 0 in case of success, else < 0 |
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*/ |
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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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|
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/*****************************************************************************/ |