master/command.c
author Florian Pose <fp@igh-essen.com>
Tue, 28 Mar 2006 15:45:19 +0000
changeset 136 a03a684cac89
parent 104 052bc82d5442
child 144 fdc24bf62f80
permissions -rw-r--r--
Dynamische Mailbox-Kommunikation, auch mit unbekannten Slaves.
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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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/**
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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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                         )
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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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    EC_FUNC_READ_FOOTER;
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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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   Broadcast write.
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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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                         )
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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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   Initialisiert ein EtherCAT-LRW-Kommando.
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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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*/