author | Florian Pose <fp@igh-essen.com> |
Fri, 24 Mar 2006 08:39:46 +0000 | |
changeset 128 | 48fe0a7a0288 |
parent 104 | 052bc82d5442 |
child 144 | fdc24bf62f80 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* c o m m a n d . c |
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* |
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* Methoden für ein EtherCAT-Kommando. |
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* |
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* $Id$ |
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* |
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*****************************************************************************/ |
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#include <linux/slab.h> |
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#include <linux/delay.h> |
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#include "command.h" |
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#include "master.h" |
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/*****************************************************************************/ |
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#define EC_FUNC_HEADER \ |
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command->index = 0; \ |
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command->working_counter = 0; \ |
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command->state = EC_CMD_INIT; |
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#define EC_FUNC_WRITE_FOOTER \ |
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command->data_size = data_size; \ |
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memcpy(command->data, data, data_size); |
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#define EC_FUNC_READ_FOOTER \ |
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command->data_size = data_size; \ |
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memset(command->data, 0x00, data_size); |
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/*****************************************************************************/ |
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/** |
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Initialisiert ein EtherCAT-NPRD-Kommando. |
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Node-adressed physical read. |
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*/ |
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void ec_command_init_nprd(ec_command_t *command, |
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/**< EtherCAT-Rahmen */ |
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uint16_t node_address, |
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/**< Adresse des Knotens (Slaves) */ |
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uint16_t offset, |
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/**< Physikalische Speicheradresse im Slave */ |
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size_t data_size |
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/**< Länge der zu lesenden Daten */ |
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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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command->type = EC_CMD_NPRD; |
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command->address.physical.slave = node_address; |
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command->address.physical.mem = offset; |
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EC_FUNC_READ_FOOTER; |
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} |
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/*****************************************************************************/ |
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/** |
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Initialisiert ein EtherCAT-NPWR-Kommando. |
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Node-adressed physical write. |
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*/ |
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void ec_command_init_npwr(ec_command_t *command, |
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/**< EtherCAT-Rahmen */ |
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uint16_t node_address, |
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/**< Adresse des Knotens (Slaves) */ |
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uint16_t offset, |
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/**< Physikalische Speicheradresse im Slave */ |
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size_t data_size, |
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/**< Länge der zu schreibenden Daten */ |
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const uint8_t *data |
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/**< Zeiger auf Speicher mit zu schreibenden Daten */ |
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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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command->type = EC_CMD_NPWR; |
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command->address.physical.slave = node_address; |
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command->address.physical.mem = offset; |
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EC_FUNC_WRITE_FOOTER; |
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} |
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/*****************************************************************************/ |
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/** |
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Initialisiert ein EtherCAT-APRD-Kommando. |
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Autoincrement physical read. |
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*/ |
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void ec_command_init_aprd(ec_command_t *command, |
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/**< EtherCAT-Rahmen */ |
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uint16_t ring_position, |
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/**< Position des Slaves im Bus */ |
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uint16_t offset, |
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/**< Physikalische Speicheradresse im Slave */ |
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size_t data_size |
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/**< Länge der zu lesenden Daten */ |
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) |
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{ |
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EC_FUNC_HEADER; |
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command->type = EC_CMD_APRD; |
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command->address.physical.slave = (int16_t) ring_position * (-1); |
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command->address.physical.mem = offset; |
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EC_FUNC_READ_FOOTER; |
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} |
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/*****************************************************************************/ |
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Initialisiert ein EtherCAT-APWR-Kommando. |
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Autoincrement physical write. |
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*/ |
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void ec_command_init_apwr(ec_command_t *command, |
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/**< EtherCAT-Rahmen */ |
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uint16_t ring_position, |
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/**< Position des Slaves im Bus */ |
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uint16_t offset, |
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/**< Physikalische Speicheradresse im Slave */ |
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size_t data_size, |
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/**< Länge der zu schreibenden Daten */ |
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const uint8_t *data |
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/**< Zeiger auf Speicher mit zu schreibenden Daten */ |
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) |
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{ |
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EC_FUNC_HEADER; |
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command->type = EC_CMD_APWR; |
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command->address.physical.slave = (int16_t) ring_position * (-1); |
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command->address.physical.mem = offset; |
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EC_FUNC_WRITE_FOOTER; |
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} |
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/*****************************************************************************/ |
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/** |
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Initialisiert ein EtherCAT-BRD-Kommando. |
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Broadcast read. |
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*/ |
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void ec_command_init_brd(ec_command_t *command, |
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/**< EtherCAT-Rahmen */ |
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uint16_t offset, |
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/**< Physikalische Speicheradresse im Slave */ |
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size_t data_size |
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/**< Länge der zu lesenden Daten */ |
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164 |
) |
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{ |
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EC_FUNC_HEADER; |
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command->type = EC_CMD_BRD; |
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command->address.physical.slave = 0x0000; |
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command->address.physical.mem = offset; |
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|
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EC_FUNC_READ_FOOTER; |
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} |
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174 |
|
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/*****************************************************************************/ |
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|
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/** |
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Initialisiert ein EtherCAT-BWR-Kommando. |
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|
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Broadcast write. |
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181 |
*/ |
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|
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void ec_command_init_bwr(ec_command_t *command, |
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/**< EtherCAT-Rahmen */ |
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uint16_t offset, |
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/**< Physikalische Speicheradresse im Slave */ |
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size_t data_size, |
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/**< Länge der zu schreibenden Daten */ |
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const uint8_t *data |
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/**< Zeiger auf Speicher mit zu schreibenden Daten */ |
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191 |
) |
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{ |
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EC_FUNC_HEADER; |
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command->type = EC_CMD_BWR; |
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command->address.physical.slave = 0x0000; |
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command->address.physical.mem = offset; |
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EC_FUNC_WRITE_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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Initialisiert ein EtherCAT-LRW-Kommando. |
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|
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Logical read write. |
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*/ |
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void ec_command_init_lrw(ec_command_t *command, |
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/**< EtherCAT-Rahmen */ |
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uint32_t offset, |
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/**< Logische Startadresse */ |
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size_t data_size, |
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/**< Länge der zu lesenden/schreibenden Daten */ |
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uint8_t *data |
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/**< Zeiger auf die Daten */ |
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) |
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{ |
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EC_FUNC_HEADER; |
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command->type = EC_CMD_LRW; |
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command->address.logical = offset; |
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EC_FUNC_WRITE_FOOTER; |
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} |
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/*****************************************************************************/ |
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/* Emacs-Konfiguration |
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;;; Local Variables: *** |
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;;; c-basic-offset:4 *** |
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;;; End: *** |
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*/ |