/******************************************************************************
*
* $Id$
*
* 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 command.
*/
/*****************************************************************************/
#include <linux/slab.h>
#include "command.h"
#include "master.h"
/*****************************************************************************/
/** \cond */
#define EC_FUNC_HEADER \
if (unlikely(ec_command_prealloc(command, data_size))) \
return -1; \
command->index = 0; \
command->working_counter = 0; \
command->state = EC_CMD_INIT;
#define EC_FUNC_FOOTER \
command->data_size = data_size; \
memset(command->data, 0x00, data_size); \
return 0;
/** \endcond */
/*****************************************************************************/
/**
Command constructor.
*/
void ec_command_init(ec_command_t *command /**< EtherCAT command */)
{
command->type = EC_CMD_NONE;
command->address.logical = 0x00000000;
command->data = NULL;
command->mem_size = 0;
command->data_size = 0;
command->index = 0x00;
command->working_counter = 0x00;
command->state = EC_CMD_INIT;
command->t_sent = 0;
}
/*****************************************************************************/
/**
Command destructor.
*/
void ec_command_clear(ec_command_t *command /**< EtherCAT command */)
{
if (command->data) kfree(command->data);
}
/*****************************************************************************/
/**
Allocates command data memory.
If the allocated memory is already larger than requested, nothing ist done.
\return 0 in case of success, else < 0
*/
int ec_command_prealloc(ec_command_t *command, /**< EtherCAT command */
size_t size /**< New size in bytes */
)
{
if (size <= command->mem_size) return 0;
if (command->data) {
kfree(command->data);
command->data = NULL;
command->mem_size = 0;
}
if (!(command->data = kmalloc(size, GFP_KERNEL))) {
EC_ERR("Failed to allocate %i bytes of command memory!\n", size);
return -1;
}
command->mem_size = size;
return 0;
}
/*****************************************************************************/
/**
Initializes an EtherCAT NPRD command.
Node-adressed physical read.
\return 0 in case of success, else < 0
*/
int ec_command_nprd(ec_command_t *command,
/**< EtherCAT command */
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;
command->type = EC_CMD_NPRD;
command->address.physical.slave = node_address;
command->address.physical.mem = offset;
EC_FUNC_FOOTER;
}
/*****************************************************************************/
/**
Initializes an EtherCAT NPWR command.
Node-adressed physical write.
\return 0 in case of success, else < 0
*/
int ec_command_npwr(ec_command_t *command,
/**< EtherCAT command */
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;
command->type = EC_CMD_NPWR;
command->address.physical.slave = node_address;
command->address.physical.mem = offset;
EC_FUNC_FOOTER;
}
/*****************************************************************************/
/**
Initializes an EtherCAT APRD command.
Autoincrement physical read.
\return 0 in case of success, else < 0
*/
int ec_command_aprd(ec_command_t *command,
/**< EtherCAT command */
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;
command->type = EC_CMD_APRD;
command->address.physical.slave = (int16_t) ring_position * (-1);
command->address.physical.mem = offset;
EC_FUNC_FOOTER;
}
/*****************************************************************************/
/**
Initializes an EtherCAT APWR command.
Autoincrement physical write.
\return 0 in case of success, else < 0
*/
int ec_command_apwr(ec_command_t *command,
/**< EtherCAT command */
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;
command->type = EC_CMD_APWR;
command->address.physical.slave = (int16_t) ring_position * (-1);
command->address.physical.mem = offset;
EC_FUNC_FOOTER;
}
/*****************************************************************************/
/**
Initializes an EtherCAT BRD command.
Broadcast read.
\return 0 in case of success, else < 0
*/
int ec_command_brd(ec_command_t *command,
/**< EtherCAT command */
uint16_t offset,
/**< physical memory address */
size_t data_size
/**< number of bytes to read */
)
{
EC_FUNC_HEADER;
command->type = EC_CMD_BRD;
command->address.physical.slave = 0x0000;
command->address.physical.mem = offset;
EC_FUNC_FOOTER;
}
/*****************************************************************************/
/**
Initializes an EtherCAT BWR command.
Broadcast write.
\return 0 in case of success, else < 0
*/
int ec_command_bwr(ec_command_t *command,
/**< EtherCAT command */
uint16_t offset,
/**< physical memory address */
size_t data_size
/**< number of bytes to write */
)
{
EC_FUNC_HEADER;
command->type = EC_CMD_BWR;
command->address.physical.slave = 0x0000;
command->address.physical.mem = offset;
EC_FUNC_FOOTER;
}
/*****************************************************************************/
/**
Initializes an EtherCAT LRW command.
Logical read write.
\return 0 in case of success, else < 0
*/
int ec_command_lrw(ec_command_t *command,
/**< EtherCAT command */
uint32_t offset,
/**< logical address */
size_t data_size
/**< number of bytes to read/write */
)
{
EC_FUNC_HEADER;
command->type = EC_CMD_LRW;
command->address.logical = offset;
EC_FUNC_FOOTER;
}
/*****************************************************************************/