/** 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;
}
/** Initialise lib in redundant NIC mode
* @param[in] ifname = Primary Dev name, f.e. "eth0"
* @param[in] if2name = Secondary Dev name, f.e. "eth1"
* @return >0 if OK
*/
int ec_init_redundant(const char *ifname, const char *if2name)
{
int rval, zbuf;
ec_etherheadert *ehp;
ec_setupnic(ifname, FALSE);
rval = ec_setupnic(if2name, TRUE);
/* prepare "dummy" BRD tx frame for redundant operation */
ehp = (ec_etherheadert *)&ec_txbuf2;
ehp->sa1 = htons(secMAC[0]);
zbuf = 0;
ec_setupdatagram(&ec_txbuf2, EC_CMD_BRD, 0, 0x0000, 0x0000, 2, &zbuf);
ec_txbuflength2 = ETH_HEADERSIZE + EC_HEADERSIZE + EC_WKCSIZE + 2;
return rval;
}
/** 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;
}
/** 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;
}
uint8 PrepareCycPacket(uint8 FrameIndex)
{
boolean more=TRUE;
uint8 idx,cmd,i;
uint8 *data;
uint16 ADP, ADO;
uint16 Datalength;
uint16 IOoffset;
CycFrame[FrameIndex].nInfo=ec_Frame[FrameIndex].NumCmd;
CycFrame[FrameIndex].timeout=EC_TIMEOUTRET;
//index
idx=ec_getindex();
CycFrame[FrameIndex].nIdx=idx;
//buffer
CycFrame[FrameIndex].FrameBuffer=&ec_txbuf[idx];
CycFrame[FrameIndex].FrameStatus=&ec_rxbufstat[idx];
for (i=0;i<CycFrame[FrameIndex].nInfo;i++)
{
if (i==(CycFrame[FrameIndex].nInfo-1))//is the last command?
more=FALSE;
//cmd
if (ec_Frame[FrameIndex].FrameCmds[i].state& ec_slave[0].state)
cmd=ec_Frame[FrameIndex].FrameCmds[i].cmd;
else cmd=EC_CMD_NOP;
//length
Datalength=ec_Frame[FrameIndex].FrameCmds[i].DataLength;
CycFrame[FrameIndex].length[i]=Datalength;
//data default
data=(uint8 *)malloc(Datalength);
memset(data, 0, Datalength);
//IO map offset
IOoffset=ec_Frame[FrameIndex].FrameCmds[i].Offs+DATAOFFS+FrameIndex*PROCOFFS; //(offset of the command in the frame) + (offset of data in the command) + (Number of Frame * 1536)
//address & data
switch (cmd)
{ case EC_CMD_LRD:
ADP=LO_WORD(ec_Frame[FrameIndex].FrameCmds[i].laddr);
ADO=HI_WORD(ec_Frame[FrameIndex].FrameCmds[i].laddr);
CycFrame[FrameIndex].RXdatabuffer[i]=&InProc[IOoffset];
break;
case EC_CMD_NOP:
ADP=0x0000;
ADO=0x0100;
break;
case EC_CMD_LRW:
case EC_CMD_LWR:
ADP=LO_WORD(ec_Frame[FrameIndex].FrameCmds[i].laddr);
ADO=HI_WORD(ec_Frame[FrameIndex].FrameCmds[i].laddr);
if (ec_slave[0].state==EC_STATE_OPERATIONAL)
memcpy(data, &OutProc[IOoffset], Datalength);
CycFrame[FrameIndex].TXdatabuffer[i]=&OutProc[IOoffset];
CycFrame[FrameIndex].RXdatabuffer[i]=&InProc[IOoffset];
break;
default:
ADP=ec_Frame[FrameIndex].FrameCmds[i].ADP;
ADO=ec_Frame[FrameIndex].FrameCmds[i].ADO;
break;
}
//expected wkc
CycFrame[FrameIndex].ExpectedWKC[i]=ec_Frame[FrameIndex].FrameCmds[i].cnt;
//build frame
if (i==0) //the frame is empty?
{ec_setupdatagram(&ec_txbuf[idx], cmd, idx, ADP, ADO, Datalength, data);
CycFrame[FrameIndex].DataOffset[i]=DATAOFFS+2;} //in ec_rxbuf is stored the frame without Ethernet header (12 byte),
//so data of first datagram are located after EtherCAT header(2 byte)
//and datagram header (10 byte)
else
CycFrame[FrameIndex].DataOffset[i]=ec_adddatagram(&ec_txbuf[idx], cmd, idx, more, ADP, ADO, Datalength, data);
free(data);
}
return idx;
}
