fp@98: /******************************************************************************
fp@98:  *
fp@98:  *  $Id$
fp@98:  *
fp@197:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@197:  *
fp@197:  *  This file is part of the IgH EtherCAT Master.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@197:  *  and/or modify it under the terms of the GNU General Public License
fp@197:  *  as published by the Free Software Foundation; version 2 of the License.
fp@197:  *
fp@197:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@197:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@197:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@197:  *  GNU General Public License for more details.
fp@197:  *
fp@197:  *  You should have received a copy of the GNU General Public License
fp@197:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@197:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@197:  *
fp@98:  *****************************************************************************/
fp@98: 
fp@199: /**
fp@199:    \file
fp@199:    Methods of an EtherCAT command.
fp@199: */
fp@199: 
fp@199: /*****************************************************************************/
fp@199: 
fp@98: #include <linux/slab.h>
fp@98: 
fp@98: #include "command.h"
fp@98: #include "master.h"
fp@98: 
fp@98: /*****************************************************************************/
fp@98: 
fp@199: /** \cond */
fp@199: 
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@199: /** \endcond */
fp@199: 
fp@144: /*****************************************************************************/
fp@144: 
fp@144: /**
fp@195:    Command constructor.
fp@197: */
fp@197: 
fp@197: void ec_command_init(ec_command_t *command /**< EtherCAT 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@208:     command->t_sent = 0;
fp@144: }
fp@144: 
fp@144: /*****************************************************************************/
fp@144: 
fp@144: /**
fp@195:    Command destructor.
fp@197: */
fp@197: 
fp@197: void ec_command_clear(ec_command_t *command /**< EtherCAT 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@197:    If the allocated memory is already larger than requested, nothing ist done.
fp@197:    \return 0 in case of success, else < 0
fp@197: */
fp@197: 
fp@197: int ec_command_prealloc(ec_command_t *command, /**< EtherCAT command */
fp@197:                         size_t size /**< New size in bytes */
fp@197:                         )
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: /*****************************************************************************/