author | Florian Pose <fp@igh-essen.com> |
Wed, 26 Apr 2006 12:12:57 +0000 | |
changeset 209 | fe044345aaec |
parent 208 | b7797f8a813d |
child 237 | 7b3126cf6dab |
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; version 2 of the License. |
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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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*****************************************************************************/ |
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/** |
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\file |
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Methods of an EtherCAT command. |
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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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/** \cond */ |
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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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/** \endcond */ |
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/*****************************************************************************/ |
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/** |
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Command constructor. |
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*/ |
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void ec_command_init(ec_command_t *command /**< EtherCAT 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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command->t_sent = 0; |
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} |
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/*****************************************************************************/ |
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/** |
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Command destructor. |
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*/ |
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void ec_command_clear(ec_command_t *command /**< EtherCAT 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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Allocates command 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_command_prealloc(ec_command_t *command, /**< EtherCAT command */ |
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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 <= 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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command->mem_size = size; |
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return 0; |
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} |
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/*****************************************************************************/ |
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Initializes an EtherCAT NPRD command. |
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Node-adressed physical read. |
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\return 0 in case of success, else < 0 |
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*/ |
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int ec_command_nprd(ec_command_t *command, |
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/**< EtherCAT command */ |
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uint16_t node_address, |
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/**< configured station address */ |
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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 read */ |
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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_FOOTER; |
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} |
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/*****************************************************************************/ |
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Initializes an EtherCAT NPWR command. |
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\return 0 in case of success, else < 0 |
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int ec_command_npwr(ec_command_t *command, |
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/**< EtherCAT command */ |
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uint16_t node_address, |
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/**< configured station address */ |
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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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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_FOOTER; |
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} |
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/*****************************************************************************/ |
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/** |
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Initializes an EtherCAT APRD command. |
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Autoincrement physical read. |
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\return 0 in case of success, else < 0 |
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*/ |
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int ec_command_aprd(ec_command_t *command, |
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/**< EtherCAT command */ |
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uint16_t ring_position, |
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/**< auto-increment position */ |
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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 read */ |
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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_FOOTER; |
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} |
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/*****************************************************************************/ |
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/** |
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Initializes an EtherCAT APWR command. |
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Autoincrement physical write. |
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\return 0 in case of success, else < 0 |
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*/ |
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int ec_command_apwr(ec_command_t *command, |
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/**< EtherCAT command */ |
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uint16_t ring_position, |
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/**< auto-increment position */ |
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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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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_FOOTER; |
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} |
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/*****************************************************************************/ |
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/** |
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Initializes an EtherCAT BRD command. |
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Broadcast read. |
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\return 0 in case of success, else < 0 |
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*/ |
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int ec_command_brd(ec_command_t *command, |
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/**< EtherCAT command */ |
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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 read */ |
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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_FOOTER; |
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} |
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/*****************************************************************************/ |
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/** |
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Initializes an EtherCAT BWR command. |
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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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int ec_command_bwr(ec_command_t *command, |
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/**< EtherCAT command */ |
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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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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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Initializes an EtherCAT LRW command. |
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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_command_lrw(ec_command_t *command, |
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/**< EtherCAT command */ |
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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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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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/*****************************************************************************/ |