etherlabmaster: drivers/ec_command.c@db0742533c10 (annotated)

0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/****************************************************************
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* e c _ c o m m a n d . c
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Methoden für ein EtherCAT-Kommando.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* $Date$
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	8	* $Author$
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	9	*
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	10	***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	11
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	12	#include <linux/slab.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	13
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	14	#include "ec_command.h"
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	15	#include "ec_dbg.h"
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	16
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	17	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	18
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	19	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	20	Kommando-Konstruktor.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	21
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	22	Initialisiert alle Variablen innerhalb des Kommandos auf die
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	23	Default-Werte.
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	24
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	25	@param cmd Zeiger auf das zu initialisierende Kommando.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	26	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	27
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	28	void EtherCAT_command_init(EtherCAT_command_t *cmd)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	29	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	30	cmd->type = ECAT_CMD_NONE;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	31	cmd->address.logical = 0x00000000;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	32	cmd->data_length = 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	33	cmd->next = NULL;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	34	cmd->state = ECAT_CS_READY;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	35	cmd->index = 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	36	cmd->working_counter = 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	37	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	38
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	40
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	41	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	42	Kommando-Destruktor.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	43
2 b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	44	Setzt alle Attribute auf den Anfangswert zurueck.
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	45
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	46	@param cmd Zeiger auf das zu initialisierende Kommando.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	47	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	48
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	49	void EtherCAT_command_clear(EtherCAT_command_t *cmd)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	50	{
2 b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	51	EtherCAT_command_init(cmd);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	52	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	53
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	54	/***************************************************************/
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	55
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	56	#define ECAT_FUNC_HEADER \
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	57	EtherCAT_command_init(cmd)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	58
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	59	#define ECAT_FUNC_WRITE_FOOTER \
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	60	cmd->data_length = length; \
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	61	memcpy(cmd->data, data, length);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	62
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	63	#define ECAT_FUNC_READ_FOOTER \
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	64	cmd->data_length = length;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	65
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	66	/***************************************************************/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	67
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	68	/**
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	69	Initialisiert ein EtherCAT-NPRD-Kommando.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	70
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	71	@param cmd Zeiger auf das Kommando
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	72	@param node_address Adresse des Knotens (Slaves)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	73	@param offset Physikalische Speicheradresse im Slave
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	74	@param length Länge der zu lesenden Daten
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	75	*/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	76
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	77	void EtherCAT_command_read(EtherCAT_command_t *cmd,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	78	unsigned short node_address,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	79	unsigned short offset,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	80	unsigned int length)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	81	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	82	if (node_address == 0x0000)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	83	EC_DBG(KERN_WARNING "EtherCAT: Using node address 0x0000!\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	84
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	85	ECAT_FUNC_HEADER;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	86
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	87	cmd->type = ECAT_CMD_NPRD;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	88	cmd->address.phy.dev.node = node_address;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	89	cmd->address.phy.mem = offset;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	90
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	91	ECAT_FUNC_READ_FOOTER;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	92	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	93
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	94	/***************************************************************/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	95
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	96	/**
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	97	Initialisiert ein EtherCAT-NPWR-Kommando.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	98
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	99	Alloziert ein "node-adressed physical write"-Kommando
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	100	und fügt es in die Liste des Masters ein.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	101
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	102	@param cmd Zeiger auf das Kommando
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	103	@param node_address Adresse des Knotens (Slaves)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	104	@param offset Physikalische Speicheradresse im Slave
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	105	@param length Länge der zu schreibenden Daten
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	106	@param data Zeiger auf Speicher mit zu schreibenden Daten
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	107	*/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	108
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	109	void EtherCAT_command_write(EtherCAT_command_t *cmd,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	110	unsigned short node_address,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	111	unsigned short offset,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	112	unsigned int length,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	113	const unsigned char *data)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	114	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	115	if (node_address == 0x0000)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	116	EC_DBG(KERN_WARNING "WARNING: Using node address 0x0000!\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	117
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	118	ECAT_FUNC_HEADER;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	119
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	120	cmd->type = ECAT_CMD_NPWR;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	121	cmd->address.phy.dev.node = node_address;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	122	cmd->address.phy.mem = offset;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	123
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	124	ECAT_FUNC_WRITE_FOOTER;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	125	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	126
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	127	/***************************************************************/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	128
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	129	/**
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	130	Initialisiert ein EtherCAT-APRD-Kommando.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	131
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	132	Alloziert ein "autoincerement physical read"-Kommando
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	133	und fügt es in die Liste des Masters ein.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	134
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	135	@param cmd Zeiger auf das Kommando
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	136	@param ring_position (Negative) Position des Slaves im Bus
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	137	@param offset Physikalische Speicheradresse im Slave
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	138	@param length Länge der zu lesenden Daten
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	139	*/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	140
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	141	void EtherCAT_command_position_read(EtherCAT_command_t *cmd,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	142	short ring_position,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	143	unsigned short offset,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	144	unsigned int length)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	145	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	146	ECAT_FUNC_HEADER;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	147
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	148	cmd->type = ECAT_CMD_APRD;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	149	cmd->address.phy.dev.pos = ring_position;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	150	cmd->address.phy.mem = offset;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	151
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	152	ECAT_FUNC_READ_FOOTER;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	153	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	154
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	155	/***************************************************************/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	156
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	157	/**
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	158	Initialisiert ein EtherCAT-APWR-Kommando.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	159
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	160	Alloziert ein "autoincrement physical write"-Kommando
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	161	und fügt es in die Liste des Masters ein.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	162
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	163	@param cmd Zeiger auf das Kommando
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	164	@param ring_position (Negative) Position des Slaves im Bus
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	165	@param offset Physikalische Speicheradresse im Slave
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	166	@param length Länge der zu schreibenden Daten
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	167	@param data Zeiger auf Speicher mit zu schreibenden Daten
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	168	*/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	169
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	170	void EtherCAT_command_position_write(EtherCAT_command_t *cmd,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	171	short ring_position,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	172	unsigned short offset,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	173	unsigned int length,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	174	const unsigned char *data)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	175	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	176	ECAT_FUNC_HEADER;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	177
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	178	cmd->type = ECAT_CMD_APWR;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	179	cmd->address.phy.dev.pos = ring_position;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	180	cmd->address.phy.mem = offset;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	181
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	182	ECAT_FUNC_WRITE_FOOTER;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	183	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	184
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	185	/***************************************************************/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	186
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	187	/**
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	188	Initialisiert ein EtherCAT-BRD-Kommando.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	189
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	190	Alloziert ein "broadcast read"-Kommando
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	191	und fügt es in die Liste des Masters ein.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	192
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	193	@param cmd Zeiger auf das Kommando
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	194	@param offset Physikalische Speicheradresse im Slave
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	195	@param length Länge der zu lesenden Daten
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	196	*/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	197
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	198	void EtherCAT_command_broadcast_read(EtherCAT_command_t *cmd,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	199	unsigned short offset,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	200	unsigned int length)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	201	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	202	ECAT_FUNC_HEADER;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	203
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	204	cmd->type = ECAT_CMD_BRD;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	205	cmd->address.phy.dev.node = 0x0000;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	206	cmd->address.phy.mem = offset;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	207
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	208	ECAT_FUNC_READ_FOOTER;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	209	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	210
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	211	/***************************************************************/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	212
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	213	/**
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	214	Initialisiert ein EtherCAT-BWR-Kommando.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	215
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	216	Alloziert ein "broadcast write"-Kommando
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	217	und fügt es in die Liste des Masters ein.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	218
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	219	@param cmd Zeiger auf das Kommando
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	220	@param offset Physikalische Speicheradresse im Slave
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	221	@param length Länge der zu schreibenden Daten
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	222	@param data Zeiger auf Speicher mit zu schreibenden Daten
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	223	*/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	224
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	225	void EtherCAT_command_broadcast_write(EtherCAT_command_t *cmd,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	226	unsigned short offset,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	227	unsigned int length,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	228	const unsigned char *data)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	229	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	230	ECAT_FUNC_HEADER;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	231
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	232	cmd->type = ECAT_CMD_BWR;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	233	cmd->address.phy.dev.node = 0x0000;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	234	cmd->address.phy.mem = offset;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	235
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	236	ECAT_FUNC_WRITE_FOOTER;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	237	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	238
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	239	/***************************************************************/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	240
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	241	/**
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	242	Initialisiert ein EtherCAT-LRW-Kommando.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	243
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	244	Alloziert ein "logical read write"-Kommando
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	245	und fügt es in die Liste des Masters ein.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	246
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	247	@param cmd Zeiger auf das Kommando
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	248	@param offset Logische Speicheradresse
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	249	@param length Länge der zu lesenden/schreibenden Daten
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	250	@param data Zeiger auf Speicher mit zu lesenden/schreibenden Daten
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	251	*/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	252
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	253	void EtherCAT_command_logical_read_write(EtherCAT_command_t *cmd,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	254	unsigned int offset,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	255	unsigned int length,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	256	unsigned char *data)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	257	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	258	ECAT_FUNC_HEADER;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	259
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	260	cmd->type = ECAT_CMD_LRW;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	261	cmd->address.logical = offset;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	262
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	263	ECAT_FUNC_WRITE_FOOTER;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	264	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	265
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	266	/***************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 11 Nov 2005 13:46:41 +0000
changeset 13	db0742533c10
parent 2	b0a7a4745bf9
child 14	28b57b073f58
permissions	-rw-r--r--