--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/datagram.c Wed Aug 02 12:25:25 2006 +0000
@@ -0,0 +1,297 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ Methods of an EtherCAT datagram.
+*/
+
+/*****************************************************************************/
+
+#include <linux/slab.h>
+
+#include "datagram.h"
+#include "master.h"
+
+/*****************************************************************************/
+
+/** \cond */
+
+#define EC_FUNC_HEADER \
+ if (unlikely(ec_datagram_prealloc(datagram, data_size))) \
+ return -1; \
+ datagram->index = 0; \
+ datagram->working_counter = 0; \
+ datagram->state = EC_CMD_INIT;
+
+#define EC_FUNC_FOOTER \
+ datagram->data_size = data_size; \
+ memset(datagram->data, 0x00, data_size); \
+ return 0;
+
+/** \endcond */
+
+/*****************************************************************************/
+
+/**
+ Datagram constructor.
+*/
+
+void ec_datagram_init(ec_datagram_t *datagram /**< EtherCAT datagram */)
+{
+ datagram->type = EC_CMD_NONE;
+ datagram->address.logical = 0x00000000;
+ datagram->data = NULL;
+ datagram->mem_size = 0;
+ datagram->data_size = 0;
+ datagram->index = 0x00;
+ datagram->working_counter = 0x00;
+ datagram->state = EC_CMD_INIT;
+ datagram->t_sent = 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Datagram destructor.
+*/
+
+void ec_datagram_clear(ec_datagram_t *datagram /**< EtherCAT datagram */)
+{
+ if (datagram->data) kfree(datagram->data);
+}
+
+/*****************************************************************************/
+
+/**
+ Allocates datagram data memory.
+ If the allocated memory is already larger than requested, nothing ist done.
+ \return 0 in case of success, else < 0
+*/
+
+int ec_datagram_prealloc(ec_datagram_t *datagram, /**< EtherCAT datagram */
+ size_t size /**< New size in bytes */
+ )
+{
+ if (size <= datagram->mem_size) return 0;
+
+ if (datagram->data) {
+ kfree(datagram->data);
+ datagram->data = NULL;
+ datagram->mem_size = 0;
+ }
+
+ if (!(datagram->data = kmalloc(size, GFP_KERNEL))) {
+ EC_ERR("Failed to allocate %i bytes of datagram memory!\n", size);
+ return -1;
+ }
+
+ datagram->mem_size = size;
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Initializes an EtherCAT NPRD datagram.
+ Node-adressed physical read.
+ \return 0 in case of success, else < 0
+*/
+
+int ec_datagram_nprd(ec_datagram_t *datagram,
+ /**< EtherCAT datagram */
+ uint16_t node_address,
+ /**< configured station address */
+ uint16_t offset,
+ /**< physical memory address */
+ size_t data_size
+ /**< number of bytes to read */
+ )
+{
+ if (unlikely(node_address == 0x0000))
+ EC_WARN("Using node address 0x0000!\n");
+
+ EC_FUNC_HEADER;
+ datagram->type = EC_CMD_NPRD;
+ datagram->address.physical.slave = node_address;
+ datagram->address.physical.mem = offset;
+ EC_FUNC_FOOTER;
+}
+
+/*****************************************************************************/
+
+/**
+ Initializes an EtherCAT NPWR datagram.
+ Node-adressed physical write.
+ \return 0 in case of success, else < 0
+*/
+
+int ec_datagram_npwr(ec_datagram_t *datagram,
+ /**< EtherCAT datagram */
+ uint16_t node_address,
+ /**< configured station address */
+ uint16_t offset,
+ /**< physical memory address */
+ size_t data_size
+ /**< number of bytes to write */
+ )
+{
+ if (unlikely(node_address == 0x0000))
+ EC_WARN("Using node address 0x0000!\n");
+
+ EC_FUNC_HEADER;
+ datagram->type = EC_CMD_NPWR;
+ datagram->address.physical.slave = node_address;
+ datagram->address.physical.mem = offset;
+ EC_FUNC_FOOTER;
+}
+
+/*****************************************************************************/
+
+/**
+ Initializes an EtherCAT APRD datagram.
+ Autoincrement physical read.
+ \return 0 in case of success, else < 0
+*/
+
+int ec_datagram_aprd(ec_datagram_t *datagram,
+ /**< EtherCAT datagram */
+ uint16_t ring_position,
+ /**< auto-increment position */
+ uint16_t offset,
+ /**< physical memory address */
+ size_t data_size
+ /**< number of bytes to read */
+ )
+{
+ EC_FUNC_HEADER;
+ datagram->type = EC_CMD_APRD;
+ datagram->address.physical.slave = (int16_t) ring_position * (-1);
+ datagram->address.physical.mem = offset;
+ EC_FUNC_FOOTER;
+}
+
+/*****************************************************************************/
+
+/**
+ Initializes an EtherCAT APWR datagram.
+ Autoincrement physical write.
+ \return 0 in case of success, else < 0
+*/
+
+int ec_datagram_apwr(ec_datagram_t *datagram,
+ /**< EtherCAT datagram */
+ uint16_t ring_position,
+ /**< auto-increment position */
+ uint16_t offset,
+ /**< physical memory address */
+ size_t data_size
+ /**< number of bytes to write */
+ )
+{
+ EC_FUNC_HEADER;
+ datagram->type = EC_CMD_APWR;
+ datagram->address.physical.slave = (int16_t) ring_position * (-1);
+ datagram->address.physical.mem = offset;
+ EC_FUNC_FOOTER;
+}
+
+/*****************************************************************************/
+
+/**
+ Initializes an EtherCAT BRD datagram.
+ Broadcast read.
+ \return 0 in case of success, else < 0
+*/
+
+int ec_datagram_brd(ec_datagram_t *datagram,
+ /**< EtherCAT datagram */
+ uint16_t offset,
+ /**< physical memory address */
+ size_t data_size
+ /**< number of bytes to read */
+ )
+{
+ EC_FUNC_HEADER;
+ datagram->type = EC_CMD_BRD;
+ datagram->address.physical.slave = 0x0000;
+ datagram->address.physical.mem = offset;
+ EC_FUNC_FOOTER;
+}
+
+/*****************************************************************************/
+
+/**
+ Initializes an EtherCAT BWR datagram.
+ Broadcast write.
+ \return 0 in case of success, else < 0
+*/
+
+int ec_datagram_bwr(ec_datagram_t *datagram,
+ /**< EtherCAT datagram */
+ uint16_t offset,
+ /**< physical memory address */
+ size_t data_size
+ /**< number of bytes to write */
+ )
+{
+ EC_FUNC_HEADER;
+ datagram->type = EC_CMD_BWR;
+ datagram->address.physical.slave = 0x0000;
+ datagram->address.physical.mem = offset;
+ EC_FUNC_FOOTER;
+}
+
+/*****************************************************************************/
+
+/**
+ Initializes an EtherCAT LRW datagram.
+ Logical read write.
+ \return 0 in case of success, else < 0
+*/
+
+int ec_datagram_lrw(ec_datagram_t *datagram,
+ /**< EtherCAT datagram */
+ uint32_t offset,
+ /**< logical address */
+ size_t data_size
+ /**< number of bytes to read/write */
+ )
+{
+ EC_FUNC_HEADER;
+ datagram->type = EC_CMD_LRW;
+ datagram->address.logical = offset;
+ EC_FUNC_FOOTER;
+}
+
+/*****************************************************************************/