int exec_cmd(EcInitCmdDesc *CmdDesc, uint16 slave)
{int wkc,cnt = 0;
char i;
uint32 data=0;
uint16 retry,estat;
retry=CmdDesc->retries;
if (CmdDesc->ecHead.ADO==0x502||CmdDesc->ecHead.ADO==0x508)
{
ec_eeprom2master(slave);
if (ec_eeprom_waitnotbusyAP(CmdDesc->ecHead.ADP, &estat, EC_TIMEOUTEEP))
{
if (estat & EC_ESTAT_EMASK) /* error bits are set */
{
estat = htoes(EC_ECMD_NOP); /* clear error bits */
wkc=ec_APWR(CmdDesc->ecHead.ADP, ECT_REG_EEPCTL, sizeof(estat), &estat, EC_TIMEOUTRET);
}
do
wkc=EcatCmdReq(CmdDesc, &data, slave);
while ((wkc <= 0) && (cnt++ < retry));
}
}
EC_PRINT("Command: %s\n",CmdDesc->cmt);
else
{
do
{
int EcatCmdReq(EcInitCmdDesc *CmdDesc, uint32 *pData, uint16 Slave)
{
int wkc;
uint32 data;
memcpy(&data,CmdDesc->data,sizeof(data));
data=htoel(data);
uint16 len;
len=CmdDesc->DataLength;
switch (CmdDesc->ecHead.command){
case EC_CMD_APRD:
wkc=ec_APRD(CmdDesc->ecHead.ADP,CmdDesc->ecHead.ADO,len,CmdDesc->data,EC_TIMEOUTSAFE);
break;
case EC_CMD_APWR:
wkc=ec_APWR(CmdDesc->ecHead.ADP,CmdDesc->ecHead.ADO,len,CmdDesc->data,EC_TIMEOUTSAFE);
if(((CmdDesc->ecHead.ADO-ECT_REG_FMMU0)>=0)&&((CmdDesc->ecHead.ADO-ECT_REG_FMMU0)<=0x30))
{set_fmmu(CmdDesc,Slave);
}
if(((CmdDesc->ecHead.ADO-ECT_REG_SM0)>=0)&&((CmdDesc->ecHead.ADO-ECT_REG_SM0)<=0x18))
{
set_sm(CmdDesc,Slave);
EC_PRINT("SMs of Slave %d updated\n\r", Slave);
}
break;
case EC_CMD_APRW:
wkc=ec_ARMW(CmdDesc->ecHead.ADP,CmdDesc->ecHead.ADO,len,CmdDesc->data,EC_TIMEOUTSAFE);
break;
case EC_CMD_FPRD:
wkc=ec_FPRD(CmdDesc->ecHead.ADP,CmdDesc->ecHead.ADO,len,CmdDesc->data,EC_TIMEOUTSAFE);
break;
case EC_CMD_FPWR:
wkc=ec_FPWR(CmdDesc->ecHead.ADP,CmdDesc->ecHead.ADO,len,CmdDesc->data,EC_TIMEOUTSAFE);
if(((CmdDesc->ecHead.ADO-ECT_REG_FMMU0)>=0)&&((CmdDesc->ecHead.ADO-ECT_REG_FMMU0)<=0x30))
{set_fmmu(CmdDesc,Slave);
EC_PRINT("FMMUs of Slave %d updated\n\r", Slave);
}
if(((CmdDesc->ecHead.ADO-ECT_REG_SM0)>=0)&&((CmdDesc->ecHead.ADO-ECT_REG_SM0)<=0x18))
{set_sm(CmdDesc,Slave);
}
break;
//case EC_CMD_FPRW:
//not implemented in SOEM
//break;
case EC_CMD_BRD:
wkc=ec_BRD(CmdDesc->ecHead.ADP,CmdDesc->ecHead.ADO,len,CmdDesc->data,EC_TIMEOUTSAFE);
break;
case EC_CMD_BWR:
wkc=ec_BWR(CmdDesc->ecHead.ADP,CmdDesc->ecHead.ADO,len,CmdDesc->data,EC_TIMEOUTSAFE);
if(CmdDesc->ecHead.ADO==ECT_REG_FMMU0)
{set_fmmu(CmdDesc,0);
EC_PRINT("FMMUs of ALL Slave updated\n\r");
}
if(CmdDesc->ecHead.ADO==ECT_REG_SM0)
{set_sm(CmdDesc,0);
EC_PRINT("SMs of ALL Slave updated\n\r");
}
break;
//case EC_CMD_BRW:
//not implemented in SOEM
// break;
case EC_CMD_LRD:
wkc=ec_LRD(CmdDesc->ecHead.laddr,len,CmdDesc->data,EC_TIMEOUTSAFE);
break;
case EC_CMD_LWR:
wkc=ec_LWR(CmdDesc->ecHead.laddr,len,CmdDesc->data,EC_TIMEOUTSAFE);
break;
case EC_CMD_LRW:
wkc=ec_LRW(CmdDesc->ecHead.laddr,len,CmdDesc->data,EC_TIMEOUTSAFE);
break;
case EC_CMD_ARMW:
wkc=ec_ARMW(CmdDesc->ecHead.ADP,CmdDesc->ecHead.ADO,len,CmdDesc->data,EC_TIMEOUTSAFE);
break;
case EC_CMD_FRMW:
wkc=ec_FRMW(CmdDesc->ecHead.ADP,CmdDesc->ecHead.ADO,len,CmdDesc->data,EC_TIMEOUTSAFE);
break;
default:
wkc=-1;
break;
}
return wkc;
}
/** APWRw "auto increment address write" word primitive. Blocking.
*
* @param[in] ADP = Address Position, each slave ++, slave that has 0 writes.
* @param[in] ADO = Address Offset, slave memory address
* @param[in] data = word data to write to slave.
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
int ec_APWRw(uint16 ADP, uint16 ADO, uint16 data, int timeout)
{
return ec_APWR(ADP,ADO, sizeof(data), &data, timeout);
}
