/****************************************************************************** * * $Id$ * * 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 datagram. */ /*****************************************************************************/ #include #include "datagram.h" #include "master.h" /*****************************************************************************/ /** \cond */ #define EC_FUNC_HEADER \ if (unlikely(ec_datagram_prealloc(datagram, data_size))) \ return -1; \ datagram->index = 0; \ datagram->working_counter = 0; \ datagram->state = EC_DATAGRAM_INIT; #define EC_FUNC_FOOTER \ datagram->data_size = data_size; \ memset(datagram->data, 0x00, data_size); \ return 0; /** \endcond */ /*****************************************************************************/ /** Datagram constructor. */ void ec_datagram_init(ec_datagram_t *datagram /**< EtherCAT datagram */) { INIT_LIST_HEAD(&datagram->queue); // mark as unqueued datagram->type = EC_DATAGRAM_NONE; datagram->address.logical = 0x00000000; datagram->data = NULL; datagram->mem_size = 0; datagram->data_size = 0; datagram->index = 0x00; datagram->working_counter = 0x00; datagram->state = EC_DATAGRAM_INIT; datagram->cycles_queued = 0; datagram->cycles_sent = 0; datagram->jiffies_sent = 0; datagram->cycles_received = 0; datagram->jiffies_received = 0; } /*****************************************************************************/ /** Datagram destructor. */ void ec_datagram_clear(ec_datagram_t *datagram /**< EtherCAT datagram */) { if (datagram->data) kfree(datagram->data); } /*****************************************************************************/ /** Allocates datagram data memory. If the allocated memory is already larger than requested, nothing ist done. \return 0 in case of success, else < 0 */ int ec_datagram_prealloc(ec_datagram_t *datagram, /**< EtherCAT datagram */ size_t size /**< New size in bytes */ ) { if (size <= datagram->mem_size) return 0; if (datagram->data) { kfree(datagram->data); datagram->data = NULL; datagram->mem_size = 0; } if (!(datagram->data = kmalloc(size, GFP_KERNEL))) { EC_ERR("Failed to allocate %i bytes of datagram memory!\n", size); return -1; } datagram->mem_size = size; return 0; } /*****************************************************************************/ /** Initializes an EtherCAT NPRD datagram. Node-adressed physical read. \return 0 in case of success, else < 0 */ int ec_datagram_nprd(ec_datagram_t *datagram, /**< EtherCAT datagram */ 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; datagram->type = EC_DATAGRAM_NPRD; datagram->address.physical.slave = node_address; datagram->address.physical.mem = offset; EC_FUNC_FOOTER; } /*****************************************************************************/ /** Initializes an EtherCAT NPWR datagram. Node-adressed physical write. \return 0 in case of success, else < 0 */ int ec_datagram_npwr(ec_datagram_t *datagram, /**< EtherCAT datagram */ 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; datagram->type = EC_DATAGRAM_NPWR; datagram->address.physical.slave = node_address; datagram->address.physical.mem = offset; EC_FUNC_FOOTER; } /*****************************************************************************/ /** Initializes an EtherCAT APRD datagram. Autoincrement physical read. \return 0 in case of success, else < 0 */ int ec_datagram_aprd(ec_datagram_t *datagram, /**< EtherCAT datagram */ 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; datagram->type = EC_DATAGRAM_APRD; datagram->address.physical.slave = (int16_t) ring_position * (-1); datagram->address.physical.mem = offset; EC_FUNC_FOOTER; } /*****************************************************************************/ /** Initializes an EtherCAT APWR datagram. Autoincrement physical write. \return 0 in case of success, else < 0 */ int ec_datagram_apwr(ec_datagram_t *datagram, /**< EtherCAT datagram */ 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; datagram->type = EC_DATAGRAM_APWR; datagram->address.physical.slave = (int16_t) ring_position * (-1); datagram->address.physical.mem = offset; EC_FUNC_FOOTER; } /*****************************************************************************/ /** Initializes an EtherCAT BRD datagram. Broadcast read. \return 0 in case of success, else < 0 */ int ec_datagram_brd(ec_datagram_t *datagram, /**< EtherCAT datagram */ uint16_t offset, /**< physical memory address */ size_t data_size /**< number of bytes to read */ ) { EC_FUNC_HEADER; datagram->type = EC_DATAGRAM_BRD; datagram->address.physical.slave = 0x0000; datagram->address.physical.mem = offset; EC_FUNC_FOOTER; } /*****************************************************************************/ /** Initializes an EtherCAT BWR datagram. Broadcast write. \return 0 in case of success, else < 0 */ int ec_datagram_bwr(ec_datagram_t *datagram, /**< EtherCAT datagram */ uint16_t offset, /**< physical memory address */ size_t data_size /**< number of bytes to write */ ) { EC_FUNC_HEADER; datagram->type = EC_DATAGRAM_BWR; datagram->address.physical.slave = 0x0000; datagram->address.physical.mem = offset; EC_FUNC_FOOTER; } /*****************************************************************************/ /** Initializes an EtherCAT LRW datagram. Logical read write. \return 0 in case of success, else < 0 */ int ec_datagram_lrw(ec_datagram_t *datagram, /**< EtherCAT datagram */ uint32_t offset, /**< logical address */ size_t data_size /**< number of bytes to read/write */ ) { EC_FUNC_HEADER; datagram->type = EC_DATAGRAM_LRW; datagram->address.logical = offset; EC_FUNC_FOOTER; } /*****************************************************************************/