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SOEM/soem/ethercatbase.c

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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
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*/
/** \file
* \brief
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* Base EtherCAT functions.
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*
* Setting up a datagram in an ethernet frame.
* EtherCAT datagram primitives, broadcast, auto increment, configured and
* logical addressed data transfers. All base transfers are blocking, so
* wait for the frame to be returned to the master or timeout. If this is
* not acceptable build your own datagrams and use the functions from nicdrv.c.
*/
#include <stdio.h>
#include <string.h>
#include "oshw.h"
#include "osal.h"
#include "ethercattype.h"
#include "ethercatbase.h"
/** Write data to EtherCAT datagram.
*
* @param[out] datagramdata = data part of datagram
* @param[in] com = command
* @param[in] length = length of databuffer
* @param[in] data = databuffer to be copied into datagram
*/
static void ecx_writedatagramdata(void *datagramdata, ec_cmdtype com, uint16 length, const void * data)
{
if (length > 0)
{
switch (com)
{
case EC_CMD_NOP:
/* Fall-through */
case EC_CMD_APRD:
/* Fall-through */
case EC_CMD_FPRD:
/* Fall-through */
case EC_CMD_BRD:
/* Fall-through */
case EC_CMD_LRD:
/* no data to write. initialise data so frame is in a known state */
memset(datagramdata, 0, length);
break;
default:
memcpy(datagramdata, data, length);
break;
}
}
}
/** Generate and set EtherCAT datagram in a standard ethernet frame.
*
* @param[in] port = port context struct
* @param[out] frame = framebuffer
* @param[in] com = command
* @param[in] idx = index used for TX and RX buffers
* @param[in] ADP = Address Position
* @param[in] ADO = Address Offset
* @param[in] length = length of datagram excluding EtherCAT header
* @param[in] data = databuffer to be copied in datagram
* @return always 0
*/
int ecx_setupdatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data)
{
ec_comt *datagramP;
uint8 *frameP;
frameP = frame;
/* Ethernet header is preset and fixed in frame buffers
EtherCAT header needs to be added after that */
datagramP = (ec_comt*)&frameP[ETH_HEADERSIZE];
datagramP->elength = htoes(EC_ECATTYPE + EC_HEADERSIZE + length);
datagramP->command = com;
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datagramP->index = idx;
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datagramP->ADP = htoes(ADP);
datagramP->ADO = htoes(ADO);
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datagramP->dlength = htoes(length);
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ecx_writedatagramdata(&frameP[ETH_HEADERSIZE + EC_HEADERSIZE], com, length, data);
/* set WKC to zero */
frameP[ETH_HEADERSIZE + EC_HEADERSIZE + length] = 0x00;
frameP[ETH_HEADERSIZE + EC_HEADERSIZE + length + 1] = 0x00;
/* set size of frame in buffer array */
port->txbuflength[idx] = ETH_HEADERSIZE + EC_HEADERSIZE + EC_WKCSIZE + length;
return 0;
}
/** Add EtherCAT datagram to a standard ethernet frame with existing datagram(s).
*
* @param[in] port = port context struct
* @param[out] frame = framebuffer
* @param[in] com = command
* @param[in] idx = index used for TX and RX buffers
* @param[in] more = TRUE if still more datagrams to follow
* @param[in] ADP = Address Position
* @param[in] ADO = Address Offset
* @param[in] length = length of datagram excluding EtherCAT header
* @param[in] data = databuffer to be copied in datagram
* @return Offset to data in rx frame, usefull to retrieve data after RX.
*/
int ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data)
{
ec_comt *datagramP;
uint8 *frameP;
uint16 prevlength;
frameP = frame;
/* copy previous frame size */
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prevlength = port->txbuflength[idx];
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datagramP = (ec_comt*)&frameP[ETH_HEADERSIZE];
/* add new datagram to ethernet frame size */
datagramP->elength = htoes( etohs(datagramP->elength) + EC_HEADERSIZE + length );
/* add "datagram follows" flag to previous subframe dlength */
datagramP->dlength = htoes( etohs(datagramP->dlength) | EC_DATAGRAMFOLLOWS );
/* set new EtherCAT header position */
datagramP = (ec_comt*)&frameP[prevlength - EC_ELENGTHSIZE];
datagramP->command = com;
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datagramP->index = idx;
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datagramP->ADP = htoes(ADP);
datagramP->ADO = htoes(ADO);
if (more)
{
/* this is not the last datagram to add */
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datagramP->dlength = htoes(length | EC_DATAGRAMFOLLOWS);
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}
else
{
/* this is the last datagram in the frame */
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datagramP->dlength = htoes(length);
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}
ecx_writedatagramdata(&frameP[prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE], com, length, data);
/* set WKC to zero */
frameP[prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE + length] = 0x00;
frameP[prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE + length + 1] = 0x00;
/* set size of frame in buffer array */
port->txbuflength[idx] = prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE + EC_WKCSIZE + length;
/* return offset to data in rx frame
14 bytes smaller than tx frame due to stripping of ethernet header */
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return prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE - ETH_HEADERSIZE;
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}
/** BRW "broadcast write" primitive. Blocking.
*
* @param[in] port = port context struct
* @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
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*/
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int ecx_BWR (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
uint8 idx;
int wkc;
/* get fresh index */
idx = ecx_getindex (port);
/* setup datagram */
ecx_setupdatagram (port, &(port->txbuf[idx]), EC_CMD_BWR, idx, ADP, ADO, length, data);
/* send data and wait for answer */
wkc = ecx_srconfirm (port, idx, timeout);
/* clear buffer status */
ecx_setbufstat (port, idx, EC_BUF_EMPTY);
return wkc;
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}
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/** BRD "broadcast read" primitive. Blocking.
*
* @param[in] port = port context struct
* @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
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*/
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int ecx_BRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
uint8 idx;
int wkc;
/* get fresh index */
idx = ecx_getindex(port);
/* setup datagram */
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_BRD, idx, ADP, ADO, length, data);
/* send data and wait for answer */
wkc = ecx_srconfirm (port, idx, timeout);
if (wkc > 0)
{
/* copy datagram to data buffer */
memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
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}
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/* clear buffer status */
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
return wkc;
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}
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/** APRD "auto increment address read" primitive. Blocking.
*
* @param[in] port = port context struct
* @param[in] ADP = Address Position, each slave ++, slave that has 0 excecutes
* @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
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*/
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int ecx_APRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
int wkc;
uint8 idx;
idx = ecx_getindex(port);
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_APRD, idx, ADP, ADO, length, data);
wkc = ecx_srconfirm(port, idx, timeout);
if (wkc > 0)
{
memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
}
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
return wkc;
}
/** APRMW "auto increment address read, multiple write" primitive. Blocking.
*
* @param[in] port = port context struct
* @param[in] ADP = Address Position, each slave ++, slave that has 0 reads,
* following slaves write.
* @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
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*/
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int ecx_ARMW(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
int wkc;
uint8 idx;
idx = ecx_getindex(port);
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_ARMW, idx, ADP, ADO, length, data);
wkc = ecx_srconfirm(port, idx, timeout);
if (wkc > 0)
{
memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
}
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
return wkc;
}
/** FPRMW "configured address read, multiple write" primitive. Blocking.
*
* @param[in] port = port context struct
* @param[in] ADP = Address Position, slave that has address reads,
* following slaves write.
* @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
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*/
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int ecx_FRMW(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
int wkc;
uint8 idx;
idx = ecx_getindex(port);
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_FRMW, idx, ADP, ADO, length, data);
wkc = ecx_srconfirm(port, idx, timeout);
if (wkc > 0)
{
memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
}
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
return wkc;
}
/** APRDw "auto increment address read" word return primitive. Blocking.
*
* @param[in] port = port context struct
* @param[in] ADP = Address Position, each slave ++, slave that has 0 reads.
* @param[in] ADO = Address Offset, slave memory address
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return word data from slave
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*/
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uint16 ecx_APRDw(ecx_portt *port, uint16 ADP, uint16 ADO, int timeout)
{
uint16 w;
w = 0;
ecx_APRD(port, ADP, ADO, sizeof(w), &w, timeout);
return w;
}
/** FPRD "configured address read" primitive. Blocking.
*
* @param[in] port = port context struct
* @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
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*/
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int ecx_FPRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
int wkc;
uint8 idx;
idx = ecx_getindex(port);
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_FPRD, idx, ADP, ADO, length, data);
wkc = ecx_srconfirm(port, idx, timeout);
if (wkc > 0)
{
memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
}
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
return wkc;
}
/** FPRDw "configured address read" word return primitive. Blocking.
*
* @param[in] port = port context struct
* @param[in] ADP = Address Position, slave that has address reads.
* @param[in] ADO = Address Offset, slave memory address
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return word data from slave
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*/
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uint16 ecx_FPRDw(ecx_portt *port, uint16 ADP, uint16 ADO, int timeout)
{
uint16 w;
w = 0;
ecx_FPRD(port, ADP, ADO, sizeof(w), &w, timeout);
return w;
}
/** APWR "auto increment address write" primitive. Blocking.
*
* @param[in] port = port context struct
* @param[in] ADP = Address Position, each slave ++, slave that has 0 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
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*/
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int ecx_APWR(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
uint8 idx;
int wkc;
idx = ecx_getindex(port);
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_APWR, idx, ADP, ADO, length, data);
wkc = ecx_srconfirm(port, idx, timeout);
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
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return wkc;
}
/** APWRw "auto increment address write" word primitive. Blocking.
*
* @param[in] port = port context struct
* @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
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*/
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int ecx_APWRw(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout)
{
return ecx_APWR(port, ADP, ADO, sizeof(data), &data, timeout);
}
/** FPWR "configured address write" primitive. Blocking.
*
* @param[in] port = port context struct
* @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
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*/
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int ecx_FPWR(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
int wkc;
uint8 idx;
idx = ecx_getindex(port);
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_FPWR, idx, ADP, ADO, length, data);
wkc = ecx_srconfirm(port, idx, timeout);
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
return wkc;
}
/** FPWR "configured address write" primitive. Blocking.
*
* @param[in] port = port context struct
* @param[in] ADP = Address Position, slave that has address writes.
* @param[in] ADO = Address Offset, slave memory address
* @param[in] data = word to write to slave.
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
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*/
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int ecx_FPWRw(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout)
{
return ecx_FPWR(port, ADP, ADO, sizeof(data), &data, timeout);
}
/** LRW "logical memory read / write" primitive. Blocking.
*
* @param[in] port = port context struct
* @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] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
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*/
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int ecx_LRW(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
{
uint8 idx;
int wkc;
idx = ecx_getindex(port);
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_LRW, idx, LO_WORD(LogAdr), HI_WORD(LogAdr), length, data);
wkc = ecx_srconfirm(port, idx, timeout);
if ((wkc > 0) && (port->rxbuf[idx][EC_CMDOFFSET] == EC_CMD_LRW))
{
memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
}
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
return wkc;
}
/** LRD "logical memory read" primitive. Blocking.
*
* @param[in] port = port context struct
* @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
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*/
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int ecx_LRD(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
{
uint8 idx;
int wkc;
idx = ecx_getindex(port);
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_LRD, idx, LO_WORD(LogAdr), HI_WORD(LogAdr), length, data);
wkc = ecx_srconfirm(port, idx, timeout);
if ((wkc > 0) && (port->rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LRD))
{
memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
}
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
return wkc;
}
/** LWR "logical memory write" primitive. Blocking.
*
* @param[in] port = port context struct
* @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
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*/
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int ecx_LWR(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
{
uint8 idx;
int wkc;
idx = ecx_getindex(port);
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_LWR, idx, LO_WORD(LogAdr), HI_WORD(LogAdr), length, data);
wkc = ecx_srconfirm(port, idx, timeout);
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
return wkc;
}
/** LRW "logical memory read / write" primitive plus Clock Distribution. Blocking.
* Frame consists of two datagrams, one LRW and one FPRMW.
*
* @param[in] port = port context struct
* @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
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*/
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int ecx_LRWDC(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, uint16 DCrs, int64 *DCtime, int timeout)
{
uint16 DCtO;
uint8 idx;
int wkc;
uint64 DCtE;
idx = ecx_getindex(port);
/* LRW in first datagram */
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_LRW, idx, LO_WORD(LogAdr), HI_WORD(LogAdr), length, data);
/* FPRMW in second datagram */
DCtE = htoell(*DCtime);
DCtO = ecx_adddatagram(port, &(port->txbuf[idx]), EC_CMD_FRMW, idx, FALSE, DCrs, ECT_REG_DCSYSTIME, sizeof(DCtime), &DCtE);
wkc = ecx_srconfirm(port, idx, timeout);
if ((wkc > 0) && (port->rxbuf[idx][EC_CMDOFFSET] == EC_CMD_LRW))
{
memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
memcpy(&wkc, &(port->rxbuf[idx][EC_HEADERSIZE + length]), EC_WKCSIZE);
memcpy(&DCtE, &(port->rxbuf[idx][DCtO]), sizeof(*DCtime));
*DCtime = etohll(DCtE);
}
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
return wkc;
}
#ifdef EC_VER1
int ec_setupdatagram(void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data)
{
return ecx_setupdatagram (&ecx_port, frame, com, idx, ADP, ADO, length, data);
}
int ec_adddatagram (void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data)
{
return ecx_adddatagram (&ecx_port, frame, com, idx, more, ADP, ADO, length, data);
}
int ec_BWR(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
return ecx_BWR (&ecx_port, ADP, ADO, length, data, timeout);
}
int ec_BRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
return ecx_BRD(&ecx_port, ADP, ADO, length, data, timeout);
}
int ec_APRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
return ecx_APRD(&ecx_port, ADP, ADO, length, data, timeout);
}
int ec_ARMW(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
return ecx_ARMW(&ecx_port, ADP, ADO, length, data, timeout);
}
int ec_FRMW(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
return ecx_FRMW(&ecx_port, ADP, ADO, length, data, timeout);
}
uint16 ec_APRDw(uint16 ADP, uint16 ADO, int timeout)
{
uint16 w;
w = 0;
ec_APRD(ADP, ADO, sizeof(w), &w, timeout);
return w;
}
int ec_FPRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
return ecx_FPRD(&ecx_port, ADP, ADO, length, data, timeout);
}
uint16 ec_FPRDw(uint16 ADP, uint16 ADO, int timeout)
{
uint16 w;
w = 0;
ec_FPRD(ADP, ADO, sizeof(w), &w, timeout);
return w;
}
int ec_APWR(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
return ecx_APWR(&ecx_port, ADP, ADO, length, data, timeout);
}
int ec_APWRw(uint16 ADP, uint16 ADO, uint16 data, int timeout)
{
return ec_APWR(ADP, ADO, sizeof(data), &data, timeout);
}
int ec_FPWR(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
return ecx_FPWR(&ecx_port, ADP, ADO, length, data, timeout);
}
int ec_FPWRw(uint16 ADP, uint16 ADO, uint16 data, int timeout)
{
return ec_FPWR(ADP, ADO, sizeof(data), &data, timeout);
}
int ec_LRW(uint32 LogAdr, uint16 length, void *data, int timeout)
{
return ecx_LRW(&ecx_port, LogAdr, length, data, timeout);
}
int ec_LRD(uint32 LogAdr, uint16 length, void *data, int timeout)
{
return ecx_LRD(&ecx_port, LogAdr, length, data, timeout);
}
int ec_LWR(uint32 LogAdr, uint16 length, void *data, int timeout)
{
return ecx_LWR(&ecx_port, LogAdr, length, data, timeout);
}
int ec_LRWDC(uint32 LogAdr, uint16 length, void *data, uint16 DCrs, int64 *DCtime, int timeout)
{
return ecx_LRWDC(&ecx_port, LogAdr, length, data, DCrs, DCtime, timeout);
}
#endif