fp@73: /******************************************************************************
fp@73:  *
fp@73:  *  f r a m e . c
fp@73:  *
fp@73:  *  Methoden für einen EtherCAT-Frame.
fp@73:  *
fp@73:  *  $Id$
fp@73:  *
fp@73:  *****************************************************************************/
fp@73: 
fp@73: #include <linux/slab.h>
fp@73: #include <linux/delay.h>
fp@73: 
fp@73: #include "frame.h"
fp@73: #include "master.h"
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: #define EC_FUNC_HEADER \
fp@73:     frame->master = master; \
fp@73:     frame->state = ec_frame_ready; \
fp@73:     frame->index = 0; \
fp@73:     frame->working_counter = 0;
fp@73: 
fp@73: #define EC_FUNC_WRITE_FOOTER \
fp@73:     frame->data_length = length; \
fp@73:     memcpy(frame->data, data, length);
fp@73: 
fp@73: #define EC_FUNC_READ_FOOTER \
fp@73:     frame->data_length = length;
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Initialisiert ein EtherCAT-NPRD-Kommando.
fp@73: 
fp@73:    Node-adressed physical read.
fp@73: */
fp@73: 
fp@73: void ec_frame_init_nprd(ec_frame_t *frame,
fp@73:                         /**< EtherCAT-Rahmen */
fp@73:                         ec_master_t *master,
fp@73:                         /**< EtherCAT-Master */
fp@73:                         uint16_t node_address,
fp@73:                         /**< Adresse des Knotens (Slaves) */
fp@73:                         uint16_t offset,
fp@73:                         /**< Physikalische Speicheradresse im Slave */
fp@73:                         unsigned int length
fp@73:                         /**< Länge der zu lesenden Daten */
fp@73:                         )
fp@73: {
fp@73:     if (unlikely(node_address == 0x0000))
fp@73:         printk(KERN_WARNING "EtherCAT: Warning - Using node address 0x0000!\n");
fp@73: 
fp@73:     EC_FUNC_HEADER;
fp@73: 
fp@73:     frame->type = ec_frame_type_nprd;
fp@73:     frame->address.physical.slave = node_address;
fp@73:     frame->address.physical.mem = offset;
fp@73: 
fp@73:     EC_FUNC_READ_FOOTER;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Initialisiert ein EtherCAT-NPWR-Kommando.
fp@73: 
fp@73:    Node-adressed physical write.
fp@73: */
fp@73: 
fp@73: void ec_frame_init_npwr(ec_frame_t *frame,
fp@73:                         /**< EtherCAT-Rahmen */
fp@73:                         ec_master_t *master,
fp@73:                         /**< EtherCAT-Master */
fp@73:                         uint16_t node_address,
fp@73:                         /**< Adresse des Knotens (Slaves) */
fp@73:                         uint16_t offset,
fp@73:                         /**< Physikalische Speicheradresse im Slave */
fp@73:                         unsigned int length,
fp@73:                         /**< Länge der zu schreibenden Daten */
fp@73:                         const uint8_t *data
fp@73:                         /**< Zeiger auf Speicher mit zu schreibenden Daten */
fp@73:                         )
fp@73: {
fp@73:     if (unlikely(node_address == 0x0000))
fp@73:         printk(KERN_WARNING "EtherCAT: Warning - Using node address 0x0000!\n");
fp@73: 
fp@73:     EC_FUNC_HEADER;
fp@73: 
fp@73:     frame->type = ec_frame_type_npwr;
fp@73:     frame->address.physical.slave = node_address;
fp@73:     frame->address.physical.mem = offset;
fp@73: 
fp@73:     EC_FUNC_WRITE_FOOTER;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Initialisiert ein EtherCAT-APRD-Kommando.
fp@73: 
fp@73:    Autoincrement physical read.
fp@73: */
fp@73: 
fp@73: void ec_frame_init_aprd(ec_frame_t *frame,
fp@73:                         /**< EtherCAT-Rahmen */
fp@73:                         ec_master_t *master,
fp@73:                         /**< EtherCAT-Master */
fp@73:                         uint16_t ring_position,
fp@73:                         /**< Position des Slaves im Bus */
fp@73:                         uint16_t offset,
fp@73:                         /**< Physikalische Speicheradresse im Slave */
fp@73:                         unsigned int length
fp@73:                         /**< Länge der zu lesenden Daten */
fp@73:                         )
fp@73: {
fp@73:     EC_FUNC_HEADER;
fp@73: 
fp@73:     frame->type = ec_frame_type_aprd;
fp@73:     frame->address.physical.slave = (int16_t) ring_position * (-1);
fp@73:     frame->address.physical.mem = offset;
fp@73: 
fp@73:     EC_FUNC_READ_FOOTER;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Initialisiert ein EtherCAT-APWR-Kommando.
fp@73: 
fp@73:    Autoincrement physical write.
fp@73: */
fp@73: 
fp@73: void ec_frame_init_apwr(ec_frame_t *frame,
fp@73:                         /**< EtherCAT-Rahmen */
fp@73:                         ec_master_t *master,
fp@73:                         /**< EtherCAT-Master */
fp@73:                         uint16_t ring_position,
fp@73:                         /**< Position des Slaves im Bus */
fp@73:                         uint16_t offset,
fp@73:                         /**< Physikalische Speicheradresse im Slave */
fp@73:                         unsigned int length,
fp@73:                         /**< Länge der zu schreibenden Daten */
fp@73:                         const uint8_t *data
fp@73:                         /**< Zeiger auf Speicher mit zu schreibenden Daten */
fp@73:                         )
fp@73: {
fp@73:     EC_FUNC_HEADER;
fp@73: 
fp@73:     frame->type = ec_frame_type_apwr;
fp@73:     frame->address.physical.slave = (int16_t) ring_position * (-1);
fp@73:     frame->address.physical.mem = offset;
fp@73: 
fp@73:     EC_FUNC_WRITE_FOOTER;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Initialisiert ein EtherCAT-BRD-Kommando.
fp@73: 
fp@73:    Broadcast read.
fp@73: */
fp@73: 
fp@73: void ec_frame_init_brd(ec_frame_t *frame,
fp@73:                        /**< EtherCAT-Rahmen */
fp@73:                        ec_master_t *master,
fp@73:                        /**< EtherCAT-Master */
fp@73:                        uint16_t offset,
fp@73:                        /**< Physikalische Speicheradresse im Slave */
fp@73:                        unsigned int length
fp@73:                        /**< Länge der zu lesenden Daten */
fp@73:                        )
fp@73: {
fp@73:     EC_FUNC_HEADER;
fp@73: 
fp@73:     frame->type = ec_frame_type_brd;
fp@73:     frame->address.physical.slave = 0x0000;
fp@73:     frame->address.physical.mem = offset;
fp@73: 
fp@73:     EC_FUNC_READ_FOOTER;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Initialisiert ein EtherCAT-BWR-Kommando.
fp@73: 
fp@73:    Broadcast write.
fp@73: */
fp@73: 
fp@73: void ec_frame_init_bwr(ec_frame_t *frame,
fp@73:                        /**< EtherCAT-Rahmen */
fp@73:                        ec_master_t *master,
fp@73:                        /**< EtherCAT-Master */
fp@73:                        uint16_t offset,
fp@73:                        /**< Physikalische Speicheradresse im Slave */
fp@73:                        unsigned int length,
fp@73:                        /**< Länge der zu schreibenden Daten */
fp@73:                        const uint8_t *data
fp@73:                        /**< Zeiger auf Speicher mit zu schreibenden Daten */
fp@73:                        )
fp@73: {
fp@73:     EC_FUNC_HEADER;
fp@73: 
fp@73:     frame->type = ec_frame_type_bwr;
fp@73:     frame->address.physical.slave = 0x0000;
fp@73:     frame->address.physical.mem = offset;
fp@73: 
fp@73:     EC_FUNC_WRITE_FOOTER;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Initialisiert ein EtherCAT-LRW-Kommando.
fp@73: 
fp@73:    Logical read write.
fp@73: */
fp@73: 
fp@73: void ec_frame_init_lrw(ec_frame_t *frame,
fp@73:                        /**< EtherCAT-Rahmen */
fp@73:                        ec_master_t *master,
fp@73:                        /**< EtherCAT-Master */
fp@73:                        uint32_t offset,
fp@73:                        /**< Logische Startadresse */
fp@73:                        unsigned int length,
fp@73:                        /**< Länge der zu lesenden/schreibenden Daten */
fp@73:                        uint8_t *data
fp@73:                        /**< Zeiger auf die Daten */
fp@73:                        )
fp@73: {
fp@73:     EC_FUNC_HEADER;
fp@73: 
fp@73:     frame->type = ec_frame_type_lrw;
fp@73:     frame->address.logical = offset;
fp@73: 
fp@73:     EC_FUNC_WRITE_FOOTER;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Sendet einen einzelnen EtherCAT-Rahmen.
fp@73: 
fp@73:    \return 0 bei Erfolg, sonst < 0
fp@73: */
fp@73: 
fp@73: int ec_frame_send(ec_frame_t *frame /**< Rahmen zum Senden */)
fp@73: {
fp@73:     unsigned int command_size, frame_size, i;
fp@73:     uint8_t *data;
fp@73: 
fp@73:     if (unlikely(frame->master->debug_level > 0)) {
fp@73:         printk(KERN_DEBUG "EtherCAT: ec_frame_send\n");
fp@73:     }
fp@73: 
fp@73:     if (unlikely(frame->state != ec_frame_ready)) {
fp@73:         printk(KERN_WARNING "EtherCAT: Frame not in \"ready\" state!\n");
fp@73:     }
fp@73: 
fp@73:     command_size = frame->data_length + EC_COMMAND_HEADER_SIZE
fp@73:         + EC_COMMAND_FOOTER_SIZE;
fp@73:     frame_size = command_size + EC_FRAME_HEADER_SIZE;
fp@73: 
fp@73:     if (unlikely(frame_size > EC_MAX_FRAME_SIZE)) {
fp@73:         printk(KERN_ERR "EtherCAT: Frame too long (%i)!\n", frame_size);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     if (frame_size < EC_MIN_FRAME_SIZE) frame_size = EC_MIN_FRAME_SIZE;
fp@73: 
fp@73:     if (unlikely(frame->master->debug_level > 0)) {
fp@73:         printk(KERN_DEBUG "EtherCAT: Frame length: %i\n", frame_size);
fp@73:     }
fp@73: 
fp@73:     frame->index = frame->master->command_index;
fp@73:     frame->master->command_index = (frame->master->command_index + 1) % 0x0100;
fp@73: 
fp@73:     if (unlikely(frame->master->debug_level > 0)) {
fp@73:         printk(KERN_DEBUG "EtherCAT: Sending command index 0x%X\n",
fp@73:                frame->index);
fp@73:     }
fp@73: 
fp@73:     frame->state = ec_frame_sent;
fp@73: 
fp@73:     // Zeiger auf Socket-Buffer holen
fp@73:     data = ec_device_prepare(&frame->master->device);
fp@73: 
fp@73:     // EtherCAT frame header
fp@73:     data[0] = command_size & 0xFF;
fp@73:     data[1] = ((command_size & 0x700) >> 8) | 0x10;
fp@73:     data += EC_FRAME_HEADER_SIZE;
fp@73: 
fp@73:     // EtherCAT command header
fp@73:     data[0] = frame->type;
fp@73:     data[1] = frame->index;
fp@73:     data[2] = frame->address.raw[0];
fp@73:     data[3] = frame->address.raw[1];
fp@73:     data[4] = frame->address.raw[2];
fp@73:     data[5] = frame->address.raw[3];
fp@73:     data[6] = frame->data_length & 0xFF;
fp@73:     data[7] = (frame->data_length & 0x700) >> 8;
fp@73:     data[8] = 0x00;
fp@73:     data[9] = 0x00;
fp@73:     data += EC_COMMAND_HEADER_SIZE;
fp@73: 
fp@73:     if (likely(frame->type == ec_frame_type_apwr // Write commands
fp@73:                || frame->type == ec_frame_type_npwr
fp@73:                || frame->type == ec_frame_type_bwr
fp@73:                || frame->type == ec_frame_type_lrw)) {
fp@73:         memcpy(data, frame->data, frame->data_length);
fp@73:     }
fp@73:     else { // Read commands
fp@73:         memset(data, 0x00, frame->data_length);
fp@73:     }
fp@73: 
fp@73:     // EtherCAT command footer
fp@73:     data += frame->data_length;
fp@73:     data[0] = frame->working_counter & 0xFF;
fp@73:     data[1] = (frame->working_counter & 0xFF00) >> 8;
fp@73:     data += EC_COMMAND_FOOTER_SIZE;
fp@73: 
fp@73:     // Pad with zeros
fp@73:     for (i = EC_FRAME_HEADER_SIZE + EC_COMMAND_HEADER_SIZE
fp@73:              + frame->data_length + EC_COMMAND_FOOTER_SIZE;
fp@73:          i < EC_MIN_FRAME_SIZE; i++) {
fp@73:         *data++ = 0x00;
fp@73:     }
fp@73: 
fp@73:     // Send frame
fp@73:     ec_device_send(&frame->master->device, frame_size);
fp@73: 
fp@73:     return 0;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Empfängt einen gesendeten Rahmen.
fp@73: 
fp@73:    \return 0 bei Erfolg, sonst < 0
fp@73: */
fp@73: 
fp@73: int ec_frame_receive(ec_frame_t *frame /**< Gesendeter Rahmen */)
fp@73: {
fp@73:     unsigned int received_length, frame_length, data_length;
fp@73:     uint8_t *data;
fp@73:     uint8_t command_type, command_index;
fp@73:     ec_device_t *device;
fp@73: 
fp@73:     if (unlikely(frame->state != ec_frame_sent)) {
fp@73:         printk(KERN_ERR "EtherCAT: Frame was not sent!\n");
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     device = &frame->master->device;
fp@73: 
fp@73:     if (!(received_length = ec_device_received(device))) return -1;
fp@73: 
fp@73:     device->state = EC_DEVICE_STATE_READY;
fp@73: 
fp@73:     if (unlikely(received_length < EC_FRAME_HEADER_SIZE)) {
fp@73:         printk(KERN_ERR "EtherCAT: Received frame with incomplete EtherCAT"
fp@73:                " frame header!\n");
fp@73:         ec_frame_print(frame);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     data = ec_device_data(device);
fp@73: 
fp@73:     // Länge des gesamten Frames prüfen
fp@73:     frame_length = (data[0] & 0xFF) | ((data[1] & 0x07) << 8);
fp@73: 
fp@73:     if (unlikely(frame_length > received_length)) {
fp@73:         printk(KERN_ERR "EtherCAT: Received corrupted frame (length does"
fp@73:                " not match)!\n");
fp@73:         ec_frame_print(frame);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     // Command header
fp@73:     data += EC_FRAME_HEADER_SIZE;
fp@73:     command_type = data[0];
fp@73:     command_index = data[1];
fp@73:     data_length = (data[6] & 0xFF) | ((data[7] & 0x07) << 8);
fp@73: 
fp@73:     if (unlikely(EC_FRAME_HEADER_SIZE + EC_COMMAND_HEADER_SIZE
fp@73:                  + data_length + EC_COMMAND_FOOTER_SIZE > received_length)) {
fp@73:         printk(KERN_ERR "EtherCAT: Received frame with incomplete command"
fp@73:                " data!\n");
fp@73:         ec_frame_print(frame);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     if (unlikely(frame->type != command_type
fp@73:                  || frame->index != command_index
fp@73:                  || frame->data_length != data_length))
fp@73:     {
fp@73:         printk(KERN_WARNING "EtherCAT: WARNING - Send/Receive anomaly!\n");
fp@73:         ec_frame_print(frame);
fp@73:         ec_device_call_isr(device); // Empfangenes "vergessen"
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     frame->state = ec_frame_received;
fp@73: 
fp@73:     // Empfangene Daten in Kommandodatenspeicher kopieren
fp@73:     data += EC_COMMAND_HEADER_SIZE;
fp@73:     memcpy(frame->data, data, data_length);
fp@73:     data += data_length;
fp@73: 
fp@73:     // Working-Counter setzen
fp@73:     frame->working_counter = (data[0] & 0xFF) | ((data[1] & 0xFF) << 8);
fp@73: 
fp@73:     if (unlikely(frame->master->debug_level > 1)) {
fp@73:         ec_frame_print(frame);
fp@73:     }
fp@73: 
fp@73:     return 0;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Sendet einen einzeln Rahmen und wartet auf dessen Empfang.
fp@73: 
fp@73:    \return 0 bei Erfolg, sonst < 0
fp@73: */
fp@73: 
fp@73: int ec_frame_send_receive(ec_frame_t *frame
fp@73:                           /**< Rahmen zum Senden/Empfangen */
fp@73:                           )
fp@73: {
fp@73:     unsigned int tries_left;
fp@73: 
fp@73:     if (unlikely(ec_frame_send(frame) < 0)) {
fp@73:         printk(KERN_ERR "EtherCAT: Frame sending failed!\n");
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     tries_left = 20;
fp@73:     do
fp@73:     {
fp@73:         udelay(1);
fp@73:         ec_device_call_isr(&frame->master->device);
fp@73:         tries_left--;
fp@73:     }
fp@73:     while (unlikely(!ec_device_received(&frame->master->device)
fp@73:                     && tries_left));
fp@73: 
fp@73:     if (unlikely(!tries_left)) {
fp@73:         printk(KERN_ERR "EtherCAT: Frame timeout!\n");
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     if (unlikely(ec_frame_receive(frame) < 0)) {
fp@73:         printk(KERN_ERR "EtherCAT: Frame receiving failed!\n");
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     return 0;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Gibt Frame-Inhalte zwecks Debugging aus.
fp@73: */
fp@73: 
fp@73: void ec_frame_print(const ec_frame_t *frame /**< EtherCAT-Frame */)
fp@73: {
fp@73:     unsigned int i;
fp@73: 
fp@73:     printk(KERN_DEBUG "EtherCAT: Frame contents (%i Bytes):\n",
fp@73:            frame->data_length);
fp@73: 
fp@73:     printk(KERN_DEBUG);
fp@73:     for (i = 0; i < frame->data_length; i++)
fp@73:     {
fp@73:         printk("%02X ", frame->data[i]);
fp@73:         if ((i + 1) % 16 == 0) printk("\n" KERN_DEBUG);
fp@73:     }
fp@73:     printk("\n");
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /* Emacs-Konfiguration
fp@73: ;;; Local Variables: ***
fp@73: ;;; c-basic-offset:4 ***
fp@73: ;;; End: ***
fp@73: */