/** LRW "logical memory read / write" primitive plus Clock Distribution. Blocking.
* Frame consists of two datagrams, one LRW and one FPRMW.
*
* @param[in] LogAdr = Logical memory address
* @param[in] length = length of databuffer
* @param[in,out] data = databuffer to write to and read from slave.
* @param[in] DCrs = Distributed Clock reference slave address.
* @param[out] DCtime = DC time read from reference slave.
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
int ec_LRWDC(uint32 LogAdr, uint16 length, void *data, uint16 DCrs, int64 *DCtime, int timeout)
{
uint16 DCtO;
uint8 idx;
int wkc;
uint64 DCtE;
idx = ec_getindex();
/* LRW in first datagram */
ec_setupdatagram(&ec_txbuf[idx], EC_CMD_LRW, idx, LO_WORD(LogAdr), HI_WORD(LogAdr), length, data);
/* FPRMW in second datagram */
DCtE = htoell(*DCtime);
DCtO = ec_adddatagram(&ec_txbuf[idx], EC_CMD_FRMW, idx, FALSE, DCrs, ECT_REG_DCSYSTIME, sizeof(DCtime), &DCtE);
wkc = ec_srconfirm(idx, timeout);
if ((wkc > 0) && (ec_rxbuf[idx][EC_CMDOFFSET] == EC_CMD_LRW))
{
memcpy(data, &ec_rxbuf[idx][EC_HEADERSIZE], length);
memcpy(&wkc, &ec_rxbuf[idx][EC_HEADERSIZE + length], EC_WKCSIZE);
memcpy(&DCtE, &ec_rxbuf[idx][DCtO], sizeof(*DCtime));
*DCtime = etohll(DCtE);
}
ec_setbufstat(idx, EC_BUF_EMPTY);
return wkc;
}
/** LWR "logical memory write" primitive. Blocking.
*
* @param[in] LogAdr = Logical memory address
* @param[in] length = length of databuffer
* @param[in] data = databuffer to write to slave.
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
int ec_LWR(uint32 LogAdr, uint16 length, void *data, int timeout)
{
uint8 idx;
int wkc;
idx = ec_getindex();
ec_setupdatagram(&ec_txbuf[idx], EC_CMD_LWR, idx, LO_WORD(LogAdr), HI_WORD(LogAdr), length, data);
wkc = ec_srconfirm(idx, timeout);
ec_setbufstat(idx, EC_BUF_EMPTY);
return wkc;
}
/** FPWR "configured address write" primitive. Blocking.
*
* @param[in] ADP = Address Position, slave that has address writes.
* @param[in] ADO = Address Offset, slave memory address
* @param[in] length = length of databuffer
* @param[in] data = databuffer to write to slave.
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
int ec_FPWR(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
int wkc;
uint8 idx;
idx = ec_getindex();
ec_setupdatagram(&ec_txbuf[idx], EC_CMD_FPWR, idx, ADP, ADO, length, data);
wkc = ec_srconfirm(idx, timeout);
ec_setbufstat(idx, EC_BUF_EMPTY);
return wkc;
}
/** LRD "logical memory read" primitive. Blocking.
*
* @param[in] LogAdr = Logical memory address
* @param[in] length = length of bytes to read from slave.
* @param[out] data = databuffer to read from slave.
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
int ec_LRD(uint32 LogAdr, uint16 length, void *data, int timeout)
{
uint8 idx;
int wkc;
idx = ec_getindex();
ec_setupdatagram(&ec_txbuf[idx], EC_CMD_LRD, idx, LO_WORD(LogAdr), HI_WORD(LogAdr), length, data);
wkc = ec_srconfirm(idx, timeout);
if ((wkc > 0) && (ec_rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LRD))
{
memcpy(data, &ec_rxbuf[idx][EC_HEADERSIZE], length);
}
ec_setbufstat(idx, EC_BUF_EMPTY);
return wkc;
}
/** FPRD "configured address read" primitive. Blocking.
*
* @param[in] ADP = Address Position, slave that has address reads.
* @param[in] ADO = Address Offset, slave memory address
* @param[in] length = length of databuffer
* @param[out] data = databuffer to put slave data in
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
int ec_FPRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
int wkc;
uint8 idx;
idx = ec_getindex();
ec_setupdatagram(&ec_txbuf[idx], EC_CMD_FPRD, idx, ADP, ADO, length, data);
wkc = ec_srconfirm(idx, timeout);
if (wkc > 0)
{
memcpy(data, &ec_rxbuf[idx][EC_HEADERSIZE], length);
}
ec_setbufstat(idx, EC_BUF_EMPTY);
return wkc;
}
/** BRW "broadcast write" primitive. Blocking.
*
* @param[in] ADP = Address Position, normally 0
* @param[in] ADO = Address Offset, slave memory address
* @param[in] length = length of databuffer
* @param[in] data = databuffer to be written to slaves
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
int ec_BWR(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
uint8 idx;
int wkc;
/* get fresh index */
idx = ec_getindex();
/* setup datagram */
ec_setupdatagram(&ec_txbuf[idx], EC_CMD_BWR, idx, ADP, ADO, length, data);
/* send data and wait for answer */
wkc = ec_srconfirm (idx, timeout);
/* clear buffer status */
ec_setbufstat(idx, EC_BUF_EMPTY);
return wkc;
}
int ec_receive_cyclic_packet( int timeout)
{
int pos, idx;
int wkc = 0, wkc2, i, WKCoffset, FrameOffset;
uint8 NumCmd;
/* get first index */
pos = ec_MY_pullindex();
/* read the same number of frames as send */
while (pos >= 0)
{
idx = ec_MY_idxstack.idx[pos];
NumCmd=ec_MY_idxstack.NumCmd[pos];
//receive packet and check last wkc (BRD command)
wkc2 = ec_waitinframe(idx, timeout);
if (wkc2 != ec_MY_idxstack.ExpectedWKC[pos][NumCmd-1])
return -1;
//check other wkc (if any)
if (ec_MY_idxstack.NumCmd[pos]>1)
for (i=0; i<(NumCmd-1);i++)
{
WKCoffset=ec_MY_idxstack.dataoffset[pos][i]+ec_MY_idxstack.length[pos][i];
wkc=ec_rxbuf[idx][WKCoffset];
if (wkc != ec_MY_idxstack.ExpectedWKC[pos][i])
return -1;
}
/* check if there is input data in frame */
FrameOffset=EC_CMDOFFSET;
for (i=0; i<ec_MY_idxstack.NumCmd[pos];i++)
{
if((ec_rxbuf[idx][FrameOffset]==EC_CMD_LRD) || (ec_rxbuf[idx][FrameOffset]==EC_CMD_LRW))
/* copy input data back to process data buffer */
memcpy(ec_MY_idxstack.databuffer[pos][i], &ec_rxbuf[idx][ ec_MY_idxstack.dataoffset[pos][i] ], ec_MY_idxstack.length[pos][i]);
/*find the position of the next command: end of this datagram (dataoffset+datalength+wkc)*/
FrameOffset=ec_MY_idxstack.dataoffset[pos][i]+ec_MY_idxstack.length[pos][i]+EC_WKCSIZE;
}
/* release buffer */
ec_setbufstat(idx, EC_BUF_EMPTY);
/* get next index */
pos = ec_MY_pullindex();
}
return 1;
}
/** BRD "broadcast read" primitive. Blocking.
*
* @param[in] ADP = Address Position, normally 0
* @param[in] ADO = Address Offset, slave memory address
* @param[in] length = length of databuffer
* @param[out] data = databuffer to put slave data in
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
int ec_BRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
uint8 idx;
int wkc;
/* get fresh index */
idx=ec_getindex();
/* setup datagram */
ec_setupdatagram(&ec_txbuf[idx], EC_CMD_BRD, idx, ADP, ADO, length, data);
/* send data and wait for answer */
wkc = ec_srconfirm (idx, timeout);
if (wkc > 0)
{
/* copy datagram to data buffer */
memcpy(data, &ec_rxbuf[idx][EC_HEADERSIZE], length);
}
/* clear buffer status */
ec_setbufstat(idx, EC_BUF_EMPTY);
return wkc;
}
