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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 "../include/EtherCAT_si.h"
#include "frame.h"
#include "master.h"
/*****************************************************************************/
#define EC_FUNC_HEADER \
frame->master = master; \
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; \
memset(frame->data, 0x00, 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))
EC_WARN("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))
EC_WARN("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)) {
EC_DBG("ec_frame_send\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)) {
EC_ERR("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)) {
EC_DBG("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)) {
EC_DBG("Sending command index 0x%X\n", frame->index);
}
// Zeiger auf Socket-Buffer holen
data = ec_device_prepare(&frame->master->device);
// EtherCAT frame header
EC_WRITE_U16(data, (command_size & 0x7FF) | 0x1000);
data += EC_FRAME_HEADER_SIZE;
// EtherCAT command header
EC_WRITE_U8 (data, frame->type);
EC_WRITE_U8 (data + 1, frame->index);
EC_WRITE_U32(data + 2, frame->address.logical);
EC_WRITE_U16(data + 6, frame->data_length & 0x7FF);
EC_WRITE_U16(data + 8, 0x0000);
data += EC_COMMAND_HEADER_SIZE;
// EtherCAT command data
memcpy(data, frame->data, frame->data_length);
data += frame->data_length;
// EtherCAT command footer
EC_WRITE_U16(data, frame->working_counter);
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++)
EC_WRITE_U8(data++, 0x00);
// Send frame
ec_device_send(&frame->master->device, frame_size);
return 0;
}
/*****************************************************************************/
/**
Wertet empfangene Daten zu einem Rahmen aus.
\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;
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)) {
EC_ERR("Received frame with incomplete EtherCAT frame header!\n");
ec_device_debug(device);
return -1;
}
data = ec_device_data(device);
// Länge des gesamten Frames prüfen
frame_length = EC_READ_U16(data) & 0x07FF;
data += EC_FRAME_HEADER_SIZE;
if (unlikely(frame_length > received_length)) {
EC_ERR("Received corrupted frame (length does not match)!\n");
ec_device_debug(device);
return -1;
}
// Command header
command_type = EC_READ_U8(data);
command_index = EC_READ_U8(data + 1);
data_length = EC_READ_U16(data + 6) & 0x07FF;
data += EC_COMMAND_HEADER_SIZE;
if (unlikely(EC_FRAME_HEADER_SIZE + EC_COMMAND_HEADER_SIZE
+ data_length + EC_COMMAND_FOOTER_SIZE > received_length)) {
EC_ERR("Received frame with incomplete command data!\n");
ec_device_debug(device);
return -1;
}
if (unlikely(frame->type != command_type
|| frame->index != command_index
|| frame->data_length != data_length))
{
EC_WARN("WARNING - Send/Receive anomaly!\n");
ec_device_debug(device);
ec_device_call_isr(device); // Empfangenes "vergessen"
return -1;
}
// Empfangene Daten in Kommandodatenspeicher kopieren
memcpy(frame->data, data, data_length);
data += data_length;
// Working-Counter setzen
frame->working_counter = EC_READ_U16(data);
return 0;
}
/*****************************************************************************/
/**
Sendet einen einzeln Rahmen und wartet auf dessen Empfang.
Wenn der Working-Counter nicht gesetzt wurde, wird der Rahmen
nochmals gesendet.
\todo Das ist noch nicht schön, da hier zwei Protokollschichten
vermischt werden.
\return 0 bei Erfolg, sonst < 0
*/
int ec_frame_send_receive(ec_frame_t *frame
/**< Rahmen zum Senden/Empfangen */
)
{
unsigned int timeout_tries_left, response_tries_left;
unsigned int tries;
tries = 0;
response_tries_left = 10;
do
{
tries++;
if (unlikely(ec_frame_send(frame) < 0)) {
EC_ERR("Frame sending failed!\n");
return -1;
}
timeout_tries_left = 20;
do
{
udelay(1);
ec_device_call_isr(&frame->master->device);
timeout_tries_left--;
}
while (unlikely(!ec_device_received(&frame->master->device)
&& timeout_tries_left));
if (unlikely(!timeout_tries_left)) {
EC_ERR("Frame timeout!\n");
return -1;
}
if (unlikely(ec_frame_receive(frame) < 0)) {
EC_ERR("Frame receiving failed!\n");
return -1;
}
response_tries_left--;
}
while (unlikely(!frame->working_counter && response_tries_left));
if (unlikely(!response_tries_left)) {
EC_ERR("No response!");
return -1;
}
if (tries > 1) EC_WARN("%i tries necessary...\n", tries);
return 0;
}
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/
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