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ethercat
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ethercat/master/frame.c

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