fp@98: /******************************************************************************
fp@98:  *
fp@98:  *  c o m m a n d . c
fp@98:  *
fp@195:  *  Methods of an EtherCAT command.
fp@98:  *
fp@98:  *  $Id$
fp@98:  *
fp@98:  *****************************************************************************/
fp@98: 
fp@98: #include <linux/slab.h>
fp@98: #include <linux/delay.h>
fp@98: 
fp@98: #include "command.h"
fp@98: #include "master.h"
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@98: #define EC_FUNC_HEADER \
fp@144:     if (unlikely(ec_command_prealloc(command, data_size))) \
fp@144:         return -1; \
fp@98:     command->index = 0; \
fp@98:     command->working_counter = 0; \
fp@98:     command->state = EC_CMD_INIT;
fp@98: 
fp@144: #define EC_FUNC_FOOTER \
fp@98:     command->data_size = data_size; \
fp@144:     memset(command->data, 0x00, data_size); \
fp@144:     return 0;
fp@144: 
fp@144: /*****************************************************************************/
fp@144: 
fp@144: /**
fp@195:    Command constructor.
fp@144: */
fp@144: 
fp@144: void ec_command_init(ec_command_t *command)
fp@144: {
fp@144:     command->type = EC_CMD_NONE;
fp@144:     command->address.logical = 0x00000000;
fp@144:     command->data = NULL;
fp@144:     command->mem_size = 0;
fp@144:     command->data_size = 0;
fp@144:     command->index = 0x00;
fp@144:     command->working_counter = 0x00;
fp@144:     command->state = EC_CMD_INIT;
fp@144: }
fp@144: 
fp@144: /*****************************************************************************/
fp@144: 
fp@144: /**
fp@195:    Command destructor.
fp@144: */
fp@144: 
fp@144: void ec_command_clear(ec_command_t *command)
fp@144: {
fp@144:     if (command->data) kfree(command->data);
fp@144: }
fp@144: 
fp@144: /*****************************************************************************/
fp@144: 
fp@144: /**
fp@195:    Allocates command data memory.
fp@195:    \return 0 in case of success, else < 0
fp@144: */
fp@144: 
fp@144: int ec_command_prealloc(ec_command_t *command, size_t size)
fp@144: {
fp@144:     if (size <= command->mem_size) return 0;
fp@144: 
fp@144:     if (command->data) {
fp@144:         kfree(command->data);
fp@144:         command->data = NULL;
fp@144:         command->mem_size = 0;
fp@144:     }
fp@144: 
fp@144:     if (!(command->data = kmalloc(size, GFP_KERNEL))) {
fp@144:         EC_ERR("Failed to allocate %i bytes of command memory!\n", size);
fp@144:         return -1;
fp@144:     }
fp@144: 
fp@144:     command->mem_size = size;
fp@144:     return 0;
fp@144: }
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@98: /**
fp@195:    Initializes an EtherCAT NPRD command.
fp@98:    Node-adressed physical read.
fp@195:    \return 0 in case of success, else < 0
fp@98: */
fp@98: 
fp@144: int ec_command_nprd(ec_command_t *command,
fp@195:                     /**< EtherCAT command */
fp@144:                     uint16_t node_address,
fp@195:                     /**< configured station address */
fp@195:                     uint16_t offset,
fp@195:                     /**< physical memory address */
fp@195:                     size_t data_size
fp@195:                     /**< number of bytes to read */
fp@144:                     )
fp@98: {
fp@98:     if (unlikely(node_address == 0x0000))
fp@98:         EC_WARN("Using node address 0x0000!\n");
fp@98: 
fp@98:     EC_FUNC_HEADER;
fp@98:     command->type = EC_CMD_NPRD;
fp@98:     command->address.physical.slave = node_address;
fp@98:     command->address.physical.mem = offset;
fp@144:     EC_FUNC_FOOTER;
fp@98: }
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@98: /**
fp@195:    Initializes an EtherCAT NPWR command.
fp@98:    Node-adressed physical write.
fp@195:    \return 0 in case of success, else < 0
fp@98: */
fp@98: 
fp@144: int ec_command_npwr(ec_command_t *command,
fp@195:                     /**< EtherCAT command */
fp@144:                     uint16_t node_address,
fp@195:                     /**< configured station address */
fp@195:                     uint16_t offset,
fp@195:                     /**< physical memory address */
fp@195:                     size_t data_size
fp@195:                     /**< number of bytes to write */
fp@144:                     )
fp@98: {
fp@98:     if (unlikely(node_address == 0x0000))
fp@98:         EC_WARN("Using node address 0x0000!\n");
fp@98: 
fp@98:     EC_FUNC_HEADER;
fp@98:     command->type = EC_CMD_NPWR;
fp@98:     command->address.physical.slave = node_address;
fp@98:     command->address.physical.mem = offset;
fp@144:     EC_FUNC_FOOTER;
fp@98: }
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@98: /**
fp@195:    Initializes an EtherCAT APRD command.
fp@98:    Autoincrement physical read.
fp@195:    \return 0 in case of success, else < 0
fp@98: */
fp@98: 
fp@144: int ec_command_aprd(ec_command_t *command,
fp@195:                     /**< EtherCAT command */
fp@144:                     uint16_t ring_position,
fp@195:                     /**< auto-increment position */
fp@195:                     uint16_t offset,
fp@195:                     /**< physical memory address */
fp@195:                     size_t data_size
fp@195:                     /**< number of bytes to read */
fp@144:                     )
fp@144: {
fp@144:     EC_FUNC_HEADER;
fp@98:     command->type = EC_CMD_APRD;
fp@98:     command->address.physical.slave = (int16_t) ring_position * (-1);
fp@98:     command->address.physical.mem = offset;
fp@144:     EC_FUNC_FOOTER;
fp@98: }
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@98: /**
fp@195:    Initializes an EtherCAT APWR command.
fp@98:    Autoincrement physical write.
fp@195:    \return 0 in case of success, else < 0
fp@98: */
fp@98: 
fp@144: int ec_command_apwr(ec_command_t *command,
fp@195:                     /**< EtherCAT command */
fp@144:                     uint16_t ring_position,
fp@195:                     /**< auto-increment position */
fp@195:                     uint16_t offset,
fp@195:                     /**< physical memory address */
fp@195:                     size_t data_size
fp@195:                     /**< number of bytes to write */
fp@144:                     )
fp@144: {
fp@144:     EC_FUNC_HEADER;
fp@98:     command->type = EC_CMD_APWR;
fp@98:     command->address.physical.slave = (int16_t) ring_position * (-1);
fp@98:     command->address.physical.mem = offset;
fp@144:     EC_FUNC_FOOTER;
fp@98: }
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@98: /**
fp@195:    Initializes an EtherCAT BRD command.
fp@98:    Broadcast read.
fp@195:    \return 0 in case of success, else < 0
fp@98: */
fp@98: 
fp@144: int ec_command_brd(ec_command_t *command,
fp@195:                    /**< EtherCAT command */
fp@144:                    uint16_t offset,
fp@195:                    /**< physical memory address */
fp@144:                    size_t data_size
fp@195:                    /**< number of bytes to read */
fp@144:                    )
fp@144: {
fp@144:     EC_FUNC_HEADER;
fp@98:     command->type = EC_CMD_BRD;
fp@98:     command->address.physical.slave = 0x0000;
fp@98:     command->address.physical.mem = offset;
fp@144:     EC_FUNC_FOOTER;
fp@98: }
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@98: /**
fp@195:    Initializes an EtherCAT BWR command.
fp@98:    Broadcast write.
fp@195:    \return 0 in case of success, else < 0
fp@98: */
fp@98: 
fp@144: int ec_command_bwr(ec_command_t *command,
fp@195:                    /**< EtherCAT command */
fp@144:                    uint16_t offset,
fp@195:                    /**< physical memory address */
fp@144:                    size_t data_size
fp@195:                    /**< number of bytes to write */
fp@144:                    )
fp@144: {
fp@144:     EC_FUNC_HEADER;
fp@98:     command->type = EC_CMD_BWR;
fp@98:     command->address.physical.slave = 0x0000;
fp@98:     command->address.physical.mem = offset;
fp@144:     EC_FUNC_FOOTER;
fp@98: }
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@98: /**
fp@195:    Initializes an EtherCAT LRW command.
fp@98:    Logical read write.
fp@195:    \return 0 in case of success, else < 0
fp@98: */
fp@98: 
fp@144: int ec_command_lrw(ec_command_t *command,
fp@195:                    /**< EtherCAT command */
fp@144:                    uint32_t offset,
fp@195:                    /**< logical address */
fp@144:                    size_t data_size
fp@195:                    /**< number of bytes to read/write */
fp@144:                    )
fp@144: {
fp@144:     EC_FUNC_HEADER;
fp@98:     command->type = EC_CMD_LRW;
fp@98:     command->address.logical = offset;
fp@144:     EC_FUNC_FOOTER;
fp@98: }
fp@98: 
fp@98: /*****************************************************************************/