author | Florian Pose <fp@igh-essen.com> |
Wed, 05 Apr 2006 08:47:28 +0000 | |
changeset 154 | 94d780887be0 |
parent 144 | fdc24bf62f80 |
child 195 | 674071846ee3 |
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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if (unlikely(ec_command_prealloc(command, data_size))) \ |
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return -1; \ |
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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_FOOTER \ |
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command->data_size = data_size; \ |
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memset(command->data, 0x00, data_size); \ |
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return 0; |
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/*****************************************************************************/ |
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/** |
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EtherCAT-Kommando-Konstruktor. |
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*/ |
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void ec_command_init(ec_command_t *command) |
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{ |
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command->type = EC_CMD_NONE; |
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command->address.logical = 0x00000000; |
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command->data = NULL; |
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command->mem_size = 0; |
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command->data_size = 0; |
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command->index = 0x00; |
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command->working_counter = 0x00; |
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command->state = EC_CMD_INIT; |
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} |
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/*****************************************************************************/ |
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/** |
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EtherCAT-Kommando-Destruktor. |
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*/ |
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void ec_command_clear(ec_command_t *command) |
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{ |
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if (command->data) kfree(command->data); |
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} |
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/*****************************************************************************/ |
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/** |
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Alloziert Speicher. |
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*/ |
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int ec_command_prealloc(ec_command_t *command, size_t size) |
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{ |
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if (size <= command->mem_size) return 0; |
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if (command->data) { |
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kfree(command->data); |
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command->data = NULL; |
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command->mem_size = 0; |
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} |
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if (!(command->data = kmalloc(size, GFP_KERNEL))) { |
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EC_ERR("Failed to allocate %i bytes of command memory!\n", size); |
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return -1; |
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} |
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|
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command->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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Initialisiert ein EtherCAT-NPRD-Kommando. |
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Node-adressed physical read. |
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*/ |
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|
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int ec_command_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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103 |
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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109 |
command->address.physical.mem = offset; |
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110 |
EC_FUNC_FOOTER; |
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} |
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112 |
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/*****************************************************************************/ |
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114 |
|
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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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|
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int ec_command_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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129 |
) |
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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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|
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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_FOOTER; |
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} |
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/*****************************************************************************/ |
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142 |
|
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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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148 |
|
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int ec_command_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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157 |
) |
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158 |
{ |
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159 |
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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163 |
EC_FUNC_FOOTER; |
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164 |
} |
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165 |
|
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166 |
/*****************************************************************************/ |
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167 |
|
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168 |
/** |
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169 |
Initialisiert ein EtherCAT-APWR-Kommando. |
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170 |
|
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171 |
Autoincrement physical write. |
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172 |
*/ |
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173 |
|
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int ec_command_apwr(ec_command_t *command, |
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/**< EtherCAT-Rahmen */ |
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176 |
uint16_t ring_position, |
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177 |
/**< Position des Slaves im Bus */ |
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178 |
uint16_t offset, |
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179 |
/**< Physikalische Speicheradresse im Slave */ |
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180 |
size_t data_size |
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181 |
/**< Länge der zu schreibenden Daten */ |
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182 |
) |
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183 |
{ |
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184 |
EC_FUNC_HEADER; |
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185 |
command->type = EC_CMD_APWR; |
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186 |
command->address.physical.slave = (int16_t) ring_position * (-1); |
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187 |
command->address.physical.mem = offset; |
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188 |
EC_FUNC_FOOTER; |
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189 |
} |
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190 |
|
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191 |
/*****************************************************************************/ |
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192 |
|
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193 |
/** |
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194 |
Initialisiert ein EtherCAT-BRD-Kommando. |
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195 |
|
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196 |
Broadcast read. |
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197 |
*/ |
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198 |
|
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int ec_command_brd(ec_command_t *command, |
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/**< EtherCAT-Rahmen */ |
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201 |
uint16_t offset, |
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202 |
/**< Physikalische Speicheradresse im Slave */ |
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203 |
size_t data_size |
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204 |
/**< Länge der zu lesenden Daten */ |
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|
205 |
) |
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206 |
{ |
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|
207 |
EC_FUNC_HEADER; |
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208 |
command->type = EC_CMD_BRD; |
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209 |
command->address.physical.slave = 0x0000; |
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210 |
command->address.physical.mem = offset; |
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211 |
EC_FUNC_FOOTER; |
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212 |
} |
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213 |
|
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/*****************************************************************************/ |
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215 |
|
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216 |
/** |
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Initialisiert ein EtherCAT-BWR-Kommando. |
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Broadcast write. |
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*/ |
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int ec_command_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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) |
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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_FOOTER; |
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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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Logical read write. |
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*/ |
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int ec_command_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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) |
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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_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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*/ |