--- a/master/frame.c Thu Mar 02 13:08:07 2006 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,463 +0,0 @@
-/******************************************************************************
- *
- * f r a m e . c
- *
- * Methoden für einen EtherCAT-Frame.
- *
- * $Id$
- *
- *****************************************************************************/
-
-#include <linux/slab.h>
-#include <linux/delay.h>
-
-#include "../include/EtherCAT_si.h"
-#include "frame.h"
-#include "master.h"
-
-/*****************************************************************************/
-
-#define EC_FUNC_HEADER \
- frame->master = master; \
- frame->index = 0; \
- frame->working_counter = 0;
-
-#define EC_FUNC_WRITE_FOOTER \
- frame->data_length = length; \
- memcpy(frame->data, data, length);
-
-#define EC_FUNC_READ_FOOTER \
- frame->data_length = length; \
- memset(frame->data, 0x00, length);
-
-/*****************************************************************************/
-
-/**
- Initialisiert ein EtherCAT-NPRD-Kommando.
-
- Node-adressed physical read.
-*/
-
-void ec_frame_init_nprd(ec_frame_t *frame,
- /**< EtherCAT-Rahmen */
- ec_master_t *master,
- /**< EtherCAT-Master */
- uint16_t node_address,
- /**< Adresse des Knotens (Slaves) */
- uint16_t offset,
- /**< Physikalische Speicheradresse im Slave */
- unsigned int length
- /**< Länge der zu lesenden Daten */
- )
-{
- if (unlikely(node_address == 0x0000))
- EC_WARN("Using node address 0x0000!\n");
-
- EC_FUNC_HEADER;
-
- frame->type = ec_frame_type_nprd;
- frame->address.physical.slave = node_address;
- frame->address.physical.mem = offset;
-
- EC_FUNC_READ_FOOTER;
-}
-
-/*****************************************************************************/
-
-/**
- Initialisiert ein EtherCAT-NPWR-Kommando.
-
- Node-adressed physical write.
-*/
-
-void ec_frame_init_npwr(ec_frame_t *frame,
- /**< EtherCAT-Rahmen */
- ec_master_t *master,
- /**< EtherCAT-Master */
- uint16_t node_address,
- /**< Adresse des Knotens (Slaves) */
- uint16_t offset,
- /**< Physikalische Speicheradresse im Slave */
- unsigned int length,
- /**< Länge der zu schreibenden Daten */
- const uint8_t *data
- /**< Zeiger auf Speicher mit zu schreibenden Daten */
- )
-{
- if (unlikely(node_address == 0x0000))
- EC_WARN("Using node address 0x0000!\n");
-
- EC_FUNC_HEADER;
-
- frame->type = ec_frame_type_npwr;
- frame->address.physical.slave = node_address;
- frame->address.physical.mem = offset;
-
- EC_FUNC_WRITE_FOOTER;
-}
-
-/*****************************************************************************/
-
-/**
- Initialisiert ein EtherCAT-APRD-Kommando.
-
- Autoincrement physical read.
-*/
-
-void ec_frame_init_aprd(ec_frame_t *frame,
- /**< EtherCAT-Rahmen */
- ec_master_t *master,
- /**< EtherCAT-Master */
- uint16_t ring_position,
- /**< Position des Slaves im Bus */
- uint16_t offset,
- /**< Physikalische Speicheradresse im Slave */
- unsigned int length
- /**< Länge der zu lesenden Daten */
- )
-{
- EC_FUNC_HEADER;
-
- frame->type = ec_frame_type_aprd;
- frame->address.physical.slave = (int16_t) ring_position * (-1);
- frame->address.physical.mem = offset;
-
- EC_FUNC_READ_FOOTER;
-}
-
-/*****************************************************************************/
-
-/**
- Initialisiert ein EtherCAT-APWR-Kommando.
-
- Autoincrement physical write.
-*/
-
-void ec_frame_init_apwr(ec_frame_t *frame,
- /**< EtherCAT-Rahmen */
- ec_master_t *master,
- /**< EtherCAT-Master */
- uint16_t ring_position,
- /**< Position des Slaves im Bus */
- uint16_t offset,
- /**< Physikalische Speicheradresse im Slave */
- unsigned int length,
- /**< Länge der zu schreibenden Daten */
- const uint8_t *data
- /**< Zeiger auf Speicher mit zu schreibenden Daten */
- )
-{
- EC_FUNC_HEADER;
-
- frame->type = ec_frame_type_apwr;
- frame->address.physical.slave = (int16_t) ring_position * (-1);
- frame->address.physical.mem = offset;
-
- EC_FUNC_WRITE_FOOTER;
-}
-
-/*****************************************************************************/
-
-/**
- Initialisiert ein EtherCAT-BRD-Kommando.
-
- Broadcast read.
-*/
-
-void ec_frame_init_brd(ec_frame_t *frame,
- /**< EtherCAT-Rahmen */
- ec_master_t *master,
- /**< EtherCAT-Master */
- uint16_t offset,
- /**< Physikalische Speicheradresse im Slave */
- unsigned int length
- /**< Länge der zu lesenden Daten */
- )
-{
- EC_FUNC_HEADER;
-
- frame->type = ec_frame_type_brd;
- frame->address.physical.slave = 0x0000;
- frame->address.physical.mem = offset;
-
- EC_FUNC_READ_FOOTER;
-}
-
-/*****************************************************************************/
-
-/**
- Initialisiert ein EtherCAT-BWR-Kommando.
-
- Broadcast write.
-*/
-
-void ec_frame_init_bwr(ec_frame_t *frame,
- /**< EtherCAT-Rahmen */
- ec_master_t *master,
- /**< EtherCAT-Master */
- uint16_t offset,
- /**< Physikalische Speicheradresse im Slave */
- unsigned int length,
- /**< Länge der zu schreibenden Daten */
- const uint8_t *data
- /**< Zeiger auf Speicher mit zu schreibenden Daten */
- )
-{
- EC_FUNC_HEADER;
-
- frame->type = ec_frame_type_bwr;
- frame->address.physical.slave = 0x0000;
- frame->address.physical.mem = offset;
-
- EC_FUNC_WRITE_FOOTER;
-}
-
-/*****************************************************************************/
-
-/**
- Initialisiert ein EtherCAT-LRW-Kommando.
-
- Logical read write.
-*/
-
-void ec_frame_init_lrw(ec_frame_t *frame,
- /**< EtherCAT-Rahmen */
- ec_master_t *master,
- /**< EtherCAT-Master */
- uint32_t offset,
- /**< Logische Startadresse */
- unsigned int length,
- /**< Länge der zu lesenden/schreibenden Daten */
- uint8_t *data
- /**< Zeiger auf die Daten */
- )
-{
- EC_FUNC_HEADER;
-
- frame->type = ec_frame_type_lrw;
- frame->address.logical = offset;
-
- EC_FUNC_WRITE_FOOTER;
-}
-
-/*****************************************************************************/
-
-/**
- Sendet einen einzelnen EtherCAT-Rahmen.
-
- \return 0 bei Erfolg, sonst < 0
-*/
-
-int ec_frame_send(ec_frame_t *frame /**< Rahmen zum Senden */)
-{
- unsigned int command_size, frame_size, i;
- uint8_t *data;
-
- if (unlikely(!frame->master->device.link_state))
- return -1;
-
- if (unlikely(frame->master->debug_level > 0)) {
- EC_DBG("ec_frame_send\n");
- }
-
- command_size = frame->data_length + EC_COMMAND_HEADER_SIZE
- + EC_COMMAND_FOOTER_SIZE;
- frame_size = command_size + EC_FRAME_HEADER_SIZE;
-
- if (unlikely(frame_size > EC_MAX_FRAME_SIZE)) {
- EC_ERR("Frame too long (%i)!\n", frame_size);
- return -1;
- }
-
- if (frame_size < EC_MIN_FRAME_SIZE) frame_size = EC_MIN_FRAME_SIZE;
-
- if (unlikely(frame->master->debug_level > 0)) {
- EC_DBG("Frame length: %i\n", frame_size);
- }
-
- frame->index = frame->master->command_index;
- frame->master->command_index = (frame->master->command_index + 1) % 0x0100;
-
- if (unlikely(frame->master->debug_level > 0)) {
- EC_DBG("Sending command index 0x%X\n", frame->index);
- }
-
- // Zeiger auf Socket-Buffer holen
- data = ec_device_prepare(&frame->master->device);
-
- // EtherCAT frame header
- EC_WRITE_U16(data, (command_size & 0x7FF) | 0x1000);
- data += EC_FRAME_HEADER_SIZE;
-
- // EtherCAT command header
- EC_WRITE_U8 (data, frame->type);
- EC_WRITE_U8 (data + 1, frame->index);
- EC_WRITE_U32(data + 2, frame->address.logical);
- EC_WRITE_U16(data + 6, frame->data_length & 0x7FF);
- EC_WRITE_U16(data + 8, 0x0000);
- data += EC_COMMAND_HEADER_SIZE;
-
- // EtherCAT command data
- memcpy(data, frame->data, frame->data_length);
- data += frame->data_length;
-
- // EtherCAT command footer
- EC_WRITE_U16(data, frame->working_counter);
- data += EC_COMMAND_FOOTER_SIZE;
-
- // Pad with zeros
- for (i = EC_FRAME_HEADER_SIZE + EC_COMMAND_HEADER_SIZE
- + frame->data_length + EC_COMMAND_FOOTER_SIZE;
- i < EC_MIN_FRAME_SIZE; i++)
- EC_WRITE_U8(data++, 0x00);
-
- // Send frame
- ec_device_send(&frame->master->device, frame_size);
-
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- Wertet empfangene Daten zu einem Rahmen aus.
-
- \return 0 bei Erfolg, sonst < 0
-*/
-
-int ec_frame_receive(ec_frame_t *frame /**< Gesendeter Rahmen */)
-{
- unsigned int received_length, frame_length, data_length;
- uint8_t *data;
- uint8_t command_type, command_index;
- ec_device_t *device;
-
- device = &frame->master->device;
-
- if (!(received_length = ec_device_received(device))) return -1;
-
- device->state = EC_DEVICE_STATE_READY;
-
- if (unlikely(received_length < EC_FRAME_HEADER_SIZE)) {
- EC_ERR("Received frame with incomplete EtherCAT frame header!\n");
- ec_device_debug(device);
- return -1;
- }
-
- data = ec_device_data(device);
-
- // Länge des gesamten Frames prüfen
- frame_length = EC_READ_U16(data) & 0x07FF;
- data += EC_FRAME_HEADER_SIZE;
-
- if (unlikely(frame_length > received_length)) {
- EC_ERR("Received corrupted frame (length does not match)!\n");
- ec_device_debug(device);
- return -1;
- }
-
- // Command header
- command_type = EC_READ_U8(data);
- command_index = EC_READ_U8(data + 1);
- data_length = EC_READ_U16(data + 6) & 0x07FF;
- data += EC_COMMAND_HEADER_SIZE;
-
- if (unlikely(EC_FRAME_HEADER_SIZE + EC_COMMAND_HEADER_SIZE
- + data_length + EC_COMMAND_FOOTER_SIZE > received_length)) {
- EC_ERR("Received frame with incomplete command data!\n");
- ec_device_debug(device);
- return -1;
- }
-
- if (unlikely(frame->type != command_type
- || frame->index != command_index
- || frame->data_length != data_length))
- {
- EC_WARN("WARNING - Send/Receive anomaly!\n");
- ec_device_debug(device);
- ec_device_call_isr(device); // Empfangenes "vergessen"
- return -1;
- }
-
- // Empfangene Daten in Kommandodatenspeicher kopieren
- memcpy(frame->data, data, data_length);
- data += data_length;
-
- // Working-Counter setzen
- frame->working_counter = EC_READ_U16(data);
-
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- Sendet einen einzeln Rahmen und wartet auf dessen Empfang.
-
- Wenn der Working-Counter nicht gesetzt wurde, wird der Rahmen
- nochmals gesendet.
-
- \todo Das ist noch nicht schön, da hier zwei Protokollschichten
- vermischt werden.
-
- \return 0 bei Erfolg, sonst < 0
-*/
-
-int ec_frame_send_receive(ec_frame_t *frame
- /**< Rahmen zum Senden/Empfangen */
- )
-{
- unsigned int timeout_tries_left, response_tries_left;
- unsigned int tries;
-
- tries = 0;
- response_tries_left = 10;
- do
- {
- tries++;
- if (unlikely(ec_frame_send(frame) < 0)) {
- EC_ERR("Frame sending failed!\n");
- return -1;
- }
-
- timeout_tries_left = 20;
- do
- {
- udelay(1);
- ec_device_call_isr(&frame->master->device);
- timeout_tries_left--;
- }
- while (unlikely(!ec_device_received(&frame->master->device)
- && timeout_tries_left));
-
- if (unlikely(!timeout_tries_left)) {
- EC_ERR("Frame timeout!\n");
- return -1;
- }
-
- if (unlikely(ec_frame_receive(frame) < 0)) {
- EC_ERR("Frame receiving failed!\n");
- return -1;
- }
-
- response_tries_left--;
- }
- while (unlikely(!frame->working_counter && response_tries_left));
-
- if (unlikely(!response_tries_left)) {
- EC_ERR("No response!");
- return -1;
- }
-
- if (tries > 1) EC_WARN("%i tries necessary...\n", tries);
-
- return 0;
-}
-
-/*****************************************************************************/
-
-/* Emacs-Konfiguration
-;;; Local Variables: ***
-;;; c-basic-offset:4 ***
-;;; End: ***
-*/