2403 lines
73 KiB
C
2403 lines
73 KiB
C
/*
|
|
* Licensed under the GNU General Public License version 2 with exceptions. See
|
|
* LICENSE file in the project root for full license information
|
|
*/
|
|
|
|
/**
|
|
* \file
|
|
* \brief
|
|
* Main EtherCAT functions.
|
|
*
|
|
* Initialisation, state set and read, mailbox primitives, EEPROM primitives,
|
|
* SII reading and processdata exchange.
|
|
*
|
|
* Defines ec_slave[]. All slave information is put in this structure.
|
|
* Needed for most user interaction with slaves.
|
|
*/
|
|
|
|
#include <stdio.h>
|
|
#include <string.h>
|
|
#include "osal.h"
|
|
#include "oshw.h"
|
|
#include "ethercat.h"
|
|
|
|
|
|
/** delay in us for eeprom ready loop */
|
|
#define EC_LOCALDELAY 200
|
|
|
|
/** record for ethercat eeprom communications */
|
|
PACKED_BEGIN
|
|
typedef struct PACKED
|
|
{
|
|
uint16 comm;
|
|
uint16 addr;
|
|
uint16 d2;
|
|
} ec_eepromt;
|
|
PACKED_END
|
|
|
|
/** mailbox error structure */
|
|
PACKED_BEGIN
|
|
typedef struct PACKED
|
|
{
|
|
ec_mbxheadert MbxHeader;
|
|
uint16 Type;
|
|
uint16 Detail;
|
|
} ec_mbxerrort;
|
|
PACKED_END
|
|
|
|
/** emergency request structure */
|
|
PACKED_BEGIN
|
|
typedef struct PACKED
|
|
{
|
|
ec_mbxheadert MbxHeader;
|
|
uint16 CANOpen;
|
|
uint16 ErrorCode;
|
|
uint8 ErrorReg;
|
|
uint8 bData;
|
|
uint16 w1,w2;
|
|
} ec_emcyt;
|
|
PACKED_END
|
|
|
|
#ifdef EC_VER1
|
|
/** Main slave data array.
|
|
* Each slave found on the network gets its own record.
|
|
* ec_slave[0] is reserved for the master. Structure gets filled
|
|
* in by the configuration function ec_config().
|
|
*/
|
|
ec_slavet ec_slave[EC_MAXSLAVE];
|
|
/** number of slaves found on the network */
|
|
int ec_slavecount;
|
|
/** slave group structure */
|
|
ec_groupt ec_group[EC_MAXGROUP];
|
|
|
|
/** cache for EEPROM read functions */
|
|
static uint8 ec_esibuf[EC_MAXEEPBUF];
|
|
/** bitmap for filled cache buffer bytes */
|
|
static uint32 ec_esimap[EC_MAXEEPBITMAP];
|
|
/** current slave for EEPROM cache buffer */
|
|
static ec_eringt ec_elist;
|
|
static ec_idxstackT ec_idxstack;
|
|
|
|
/** SyncManager Communication Type struct to store data of one slave */
|
|
static ec_SMcommtypet ec_SMcommtype[EC_MAX_MAPT];
|
|
/** PDO assign struct to store data of one slave */
|
|
static ec_PDOassignt ec_PDOassign[EC_MAX_MAPT];
|
|
/** PDO description struct to store data of one slave */
|
|
static ec_PDOdesct ec_PDOdesc[EC_MAX_MAPT];
|
|
|
|
/** buffer for EEPROM SM data */
|
|
static ec_eepromSMt ec_SM;
|
|
/** buffer for EEPROM FMMU data */
|
|
static ec_eepromFMMUt ec_FMMU;
|
|
/** Global variable TRUE if error available in error stack */
|
|
boolean EcatError = FALSE;
|
|
|
|
int64 ec_DCtime;
|
|
|
|
ecx_portt ecx_port;
|
|
ecx_redportt ecx_redport;
|
|
|
|
ecx_contextt ecx_context = {
|
|
&ecx_port, // .port =
|
|
&ec_slave[0], // .slavelist =
|
|
&ec_slavecount, // .slavecount =
|
|
EC_MAXSLAVE, // .maxslave =
|
|
&ec_group[0], // .grouplist =
|
|
EC_MAXGROUP, // .maxgroup =
|
|
&ec_esibuf[0], // .esibuf =
|
|
&ec_esimap[0], // .esimap =
|
|
0, // .esislave =
|
|
&ec_elist, // .elist =
|
|
&ec_idxstack, // .idxstack =
|
|
&EcatError, // .ecaterror =
|
|
&ec_DCtime, // .DCtime =
|
|
&ec_SMcommtype[0], // .SMcommtype =
|
|
&ec_PDOassign[0], // .PDOassign =
|
|
&ec_PDOdesc[0], // .PDOdesc =
|
|
&ec_SM, // .eepSM =
|
|
&ec_FMMU, // .eepFMMU =
|
|
NULL, // .FOEhook()
|
|
NULL, // .EOEhook()
|
|
0, // .manualstatechange
|
|
NULL, // .userdata
|
|
};
|
|
#endif
|
|
|
|
/** Create list over available network adapters.
|
|
*
|
|
* @return First element in list over available network adapters.
|
|
*/
|
|
ec_adaptert * ec_find_adapters (void)
|
|
{
|
|
ec_adaptert * ret_adapter;
|
|
|
|
ret_adapter = oshw_find_adapters ();
|
|
|
|
return ret_adapter;
|
|
}
|
|
|
|
/** Free dynamically allocated list over available network adapters.
|
|
*
|
|
* @param[in] adapter = Struct holding adapter name, description and pointer to next.
|
|
*/
|
|
void ec_free_adapters (ec_adaptert * adapter)
|
|
{
|
|
oshw_free_adapters (adapter);
|
|
}
|
|
|
|
/** Pushes an error on the error list.
|
|
*
|
|
* @param[in] context = context struct
|
|
* @param[in] Ec pointer describing the error.
|
|
*/
|
|
void ecx_pusherror(ecx_contextt *context, const ec_errort *Ec)
|
|
{
|
|
context->elist->Error[context->elist->head] = *Ec;
|
|
context->elist->Error[context->elist->head].Signal = TRUE;
|
|
context->elist->head++;
|
|
if (context->elist->head > EC_MAXELIST)
|
|
{
|
|
context->elist->head = 0;
|
|
}
|
|
if (context->elist->head == context->elist->tail)
|
|
{
|
|
context->elist->tail++;
|
|
}
|
|
if (context->elist->tail > EC_MAXELIST)
|
|
{
|
|
context->elist->tail = 0;
|
|
}
|
|
*(context->ecaterror) = TRUE;
|
|
}
|
|
|
|
/** Pops an error from the list.
|
|
*
|
|
* @param[in] context = context struct
|
|
* @param[out] Ec = Struct describing the error.
|
|
* @return TRUE if an error was popped.
|
|
*/
|
|
boolean ecx_poperror(ecx_contextt *context, ec_errort *Ec)
|
|
{
|
|
boolean notEmpty = (context->elist->head != context->elist->tail);
|
|
|
|
*Ec = context->elist->Error[context->elist->tail];
|
|
context->elist->Error[context->elist->tail].Signal = FALSE;
|
|
if (notEmpty)
|
|
{
|
|
context->elist->tail++;
|
|
if (context->elist->tail > EC_MAXELIST)
|
|
{
|
|
context->elist->tail = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
*(context->ecaterror) = FALSE;
|
|
}
|
|
return notEmpty;
|
|
}
|
|
|
|
/** Check if error list has entries.
|
|
*
|
|
* @param[in] context = context struct
|
|
* @return TRUE if error list contains entries.
|
|
*/
|
|
boolean ecx_iserror(ecx_contextt *context)
|
|
{
|
|
return (context->elist->head != context->elist->tail);
|
|
}
|
|
|
|
/** Report packet error
|
|
*
|
|
* @param[in] context = context struct
|
|
* @param[in] Slave = Slave number
|
|
* @param[in] Index = Index that generated error
|
|
* @param[in] SubIdx = Subindex that generated error
|
|
* @param[in] ErrorCode = Error code
|
|
*/
|
|
void ecx_packeterror(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode)
|
|
{
|
|
ec_errort Ec;
|
|
|
|
memset(&Ec, 0, sizeof(Ec));
|
|
Ec.Time = osal_current_time();
|
|
Ec.Slave = Slave;
|
|
Ec.Index = Index;
|
|
Ec.SubIdx = SubIdx;
|
|
*(context->ecaterror) = TRUE;
|
|
Ec.Etype = EC_ERR_TYPE_PACKET_ERROR;
|
|
Ec.ErrorCode = ErrorCode;
|
|
ecx_pusherror(context, &Ec);
|
|
}
|
|
|
|
/** Report Mailbox Error
|
|
*
|
|
* @param[in] context = context struct
|
|
* @param[in] Slave = Slave number
|
|
* @param[in] Detail = Following EtherCAT specification
|
|
*/
|
|
static void ecx_mbxerror(ecx_contextt *context, uint16 Slave,uint16 Detail)
|
|
{
|
|
ec_errort Ec;
|
|
|
|
memset(&Ec, 0, sizeof(Ec));
|
|
Ec.Time = osal_current_time();
|
|
Ec.Slave = Slave;
|
|
Ec.Index = 0;
|
|
Ec.SubIdx = 0;
|
|
Ec.Etype = EC_ERR_TYPE_MBX_ERROR;
|
|
Ec.ErrorCode = Detail;
|
|
ecx_pusherror(context, &Ec);
|
|
}
|
|
|
|
/** Report Mailbox Emergency Error
|
|
*
|
|
* @param[in] context = context struct
|
|
* @param[in] Slave = Slave number
|
|
* @param[in] ErrorCode = Following EtherCAT specification
|
|
* @param[in] ErrorReg
|
|
* @param[in] b1
|
|
* @param[in] w1
|
|
* @param[in] w2
|
|
*/
|
|
static void ecx_mbxemergencyerror(ecx_contextt *context, uint16 Slave,uint16 ErrorCode,uint16 ErrorReg,
|
|
uint8 b1, uint16 w1, uint16 w2)
|
|
{
|
|
ec_errort Ec;
|
|
|
|
memset(&Ec, 0, sizeof(Ec));
|
|
Ec.Time = osal_current_time();
|
|
Ec.Slave = Slave;
|
|
Ec.Index = 0;
|
|
Ec.SubIdx = 0;
|
|
Ec.Etype = EC_ERR_TYPE_EMERGENCY;
|
|
Ec.ErrorCode = ErrorCode;
|
|
Ec.ErrorReg = (uint8)ErrorReg;
|
|
Ec.b1 = b1;
|
|
Ec.w1 = w1;
|
|
Ec.w2 = w2;
|
|
ecx_pusherror(context, &Ec);
|
|
}
|
|
|
|
/** Initialise lib in single NIC mode
|
|
* @param[in] context = context struct
|
|
* @param[in] ifname = Dev name, f.e. "eth0"
|
|
* @return >0 if OK
|
|
*/
|
|
int ecx_init(ecx_contextt *context, const char * ifname)
|
|
{
|
|
return ecx_setupnic(context->port, ifname, FALSE);
|
|
}
|
|
|
|
/** Initialise lib in redundant NIC mode
|
|
* @param[in] context = context struct
|
|
* @param[in] redport = pointer to redport, redundant port data
|
|
* @param[in] ifname = Primary Dev name, f.e. "eth0"
|
|
* @param[in] if2name = Secondary Dev name, f.e. "eth1"
|
|
* @return >0 if OK
|
|
*/
|
|
int ecx_init_redundant(ecx_contextt *context, ecx_redportt *redport, const char *ifname, char *if2name)
|
|
{
|
|
int rval, zbuf;
|
|
ec_etherheadert *ehp;
|
|
|
|
context->port->redport = redport;
|
|
ecx_setupnic(context->port, ifname, FALSE);
|
|
rval = ecx_setupnic(context->port, if2name, TRUE);
|
|
/* prepare "dummy" BRD tx frame for redundant operation */
|
|
ehp = (ec_etherheadert *)&(context->port->txbuf2);
|
|
ehp->sa1 = oshw_htons(secMAC[0]);
|
|
zbuf = 0;
|
|
ecx_setupdatagram(context->port, &(context->port->txbuf2), EC_CMD_BRD, 0, 0x0000, 0x0000, 2, &zbuf);
|
|
context->port->txbuflength2 = ETH_HEADERSIZE + EC_HEADERSIZE + EC_WKCSIZE + 2;
|
|
|
|
return rval;
|
|
}
|
|
|
|
/** Close lib.
|
|
* @param[in] context = context struct
|
|
*/
|
|
void ecx_close(ecx_contextt *context)
|
|
{
|
|
ecx_closenic(context->port);
|
|
};
|
|
|
|
/** Read one byte from slave EEPROM via cache.
|
|
* If the cache location is empty then a read request is made to the slave.
|
|
* Depending on the slave capabilities the request is 4 or 8 bytes.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = slave number
|
|
* @param[in] address = eeprom address in bytes (slave uses words)
|
|
* @return requested byte, if not available then 0xff
|
|
*/
|
|
uint8 ecx_siigetbyte(ecx_contextt *context, uint16 slave, uint16 address)
|
|
{
|
|
uint16 configadr, eadr;
|
|
uint64 edat64;
|
|
uint32 edat32;
|
|
uint16 mapw, mapb;
|
|
int lp,cnt;
|
|
uint8 retval;
|
|
|
|
retval = 0xff;
|
|
if (slave != context->esislave) /* not the same slave? */
|
|
{
|
|
memset(context->esimap, 0x00, EC_MAXEEPBITMAP * sizeof(uint32)); /* clear esibuf cache map */
|
|
context->esislave = slave;
|
|
}
|
|
if (address < EC_MAXEEPBUF)
|
|
{
|
|
mapw = address >> 5;
|
|
mapb = (uint16)(address - (mapw << 5));
|
|
if (context->esimap[mapw] & (1U << mapb))
|
|
{
|
|
/* byte is already in buffer */
|
|
retval = context->esibuf[address];
|
|
}
|
|
else
|
|
{
|
|
/* byte is not in buffer, put it there */
|
|
configadr = context->slavelist[slave].configadr;
|
|
ecx_eeprom2master(context, slave); /* set eeprom control to master */
|
|
eadr = address >> 1;
|
|
edat64 = ecx_readeepromFP (context, configadr, eadr, EC_TIMEOUTEEP);
|
|
/* 8 byte response */
|
|
if (context->slavelist[slave].eep_8byte)
|
|
{
|
|
put_unaligned64(edat64, &(context->esibuf[eadr << 1]));
|
|
cnt = 8;
|
|
}
|
|
/* 4 byte response */
|
|
else
|
|
{
|
|
edat32 = (uint32)edat64;
|
|
put_unaligned32(edat32, &(context->esibuf[eadr << 1]));
|
|
cnt = 4;
|
|
}
|
|
/* find bitmap location */
|
|
mapw = eadr >> 4;
|
|
mapb = (uint16)((eadr << 1) - (mapw << 5));
|
|
for(lp = 0 ; lp < cnt ; lp++)
|
|
{
|
|
/* set bitmap for each byte that is read */
|
|
context->esimap[mapw] |= (1U << mapb);
|
|
mapb++;
|
|
if (mapb > 31)
|
|
{
|
|
mapb = 0;
|
|
mapw++;
|
|
}
|
|
}
|
|
retval = context->esibuf[address];
|
|
}
|
|
}
|
|
|
|
return retval;
|
|
}
|
|
|
|
/** Find SII section header in slave EEPROM.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = slave number
|
|
* @param[in] cat = section category
|
|
* @return byte address of section at section length entry, if not available then 0
|
|
*/
|
|
int16 ecx_siifind(ecx_contextt *context, uint16 slave, uint16 cat)
|
|
{
|
|
int16 a;
|
|
uint16 p;
|
|
uint8 eectl = context->slavelist[slave].eep_pdi;
|
|
|
|
a = ECT_SII_START << 1;
|
|
/* read first SII section category */
|
|
p = ecx_siigetbyte(context, slave, a++);
|
|
p += (ecx_siigetbyte(context, slave, a++) << 8);
|
|
/* traverse SII while category is not found and not EOF */
|
|
while ((p != cat) && (p != 0xffff))
|
|
{
|
|
/* read section length */
|
|
p = ecx_siigetbyte(context, slave, a++);
|
|
p += (ecx_siigetbyte(context, slave, a++) << 8);
|
|
/* locate next section category */
|
|
a += p << 1;
|
|
/* read section category */
|
|
p = ecx_siigetbyte(context, slave, a++);
|
|
p += (ecx_siigetbyte(context, slave, a++) << 8);
|
|
}
|
|
if (p != cat)
|
|
{
|
|
a = 0;
|
|
}
|
|
if (eectl)
|
|
{
|
|
ecx_eeprom2pdi(context, slave); /* if eeprom control was previously pdi then restore */
|
|
}
|
|
|
|
return a;
|
|
}
|
|
|
|
/** Get string from SII string section in slave EEPROM.
|
|
* @param[in] context = context struct
|
|
* @param[out] str = requested string, 0x00 if not found
|
|
* @param[in] slave = slave number
|
|
* @param[in] Sn = string number
|
|
*/
|
|
void ecx_siistring(ecx_contextt *context, char *str, uint16 slave, uint16 Sn)
|
|
{
|
|
uint16 a,i,j,l,n,ba;
|
|
char *ptr;
|
|
uint8 eectl = context->slavelist[slave].eep_pdi;
|
|
|
|
ptr = str;
|
|
a = ecx_siifind (context, slave, ECT_SII_STRING); /* find string section */
|
|
if (a > 0)
|
|
{
|
|
ba = a + 2; /* skip SII section header */
|
|
n = ecx_siigetbyte(context, slave, ba++); /* read number of strings in section */
|
|
if (Sn <= n) /* is req string available? */
|
|
{
|
|
for (i = 1; i <= Sn; i++) /* walk through strings */
|
|
{
|
|
l = ecx_siigetbyte(context, slave, ba++); /* length of this string */
|
|
if (i < Sn)
|
|
{
|
|
ba += l;
|
|
}
|
|
else
|
|
{
|
|
ptr = str;
|
|
for (j = 1; j <= l; j++) /* copy one string */
|
|
{
|
|
if(j <= EC_MAXNAME)
|
|
{
|
|
*ptr = (char)ecx_siigetbyte(context, slave, ba++);
|
|
ptr++;
|
|
}
|
|
else
|
|
{
|
|
ba++;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
*ptr = 0; /* add zero terminator */
|
|
}
|
|
else
|
|
{
|
|
ptr = str;
|
|
*ptr = 0; /* empty string */
|
|
}
|
|
}
|
|
if (eectl)
|
|
{
|
|
ecx_eeprom2pdi(context, slave); /* if eeprom control was previously pdi then restore */
|
|
}
|
|
}
|
|
|
|
/** Get FMMU data from SII FMMU section in slave EEPROM.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = slave number
|
|
* @param[out] FMMU = FMMU struct from SII, max. 4 FMMU's
|
|
* @return number of FMMU's defined in section
|
|
*/
|
|
uint16 ecx_siiFMMU(ecx_contextt *context, uint16 slave, ec_eepromFMMUt* FMMU)
|
|
{
|
|
uint16 a;
|
|
uint8 eectl = context->slavelist[slave].eep_pdi;
|
|
|
|
FMMU->nFMMU = 0;
|
|
FMMU->FMMU0 = 0;
|
|
FMMU->FMMU1 = 0;
|
|
FMMU->FMMU2 = 0;
|
|
FMMU->FMMU3 = 0;
|
|
FMMU->Startpos = ecx_siifind(context, slave, ECT_SII_FMMU);
|
|
|
|
if (FMMU->Startpos > 0)
|
|
{
|
|
a = FMMU->Startpos;
|
|
FMMU->nFMMU = ecx_siigetbyte(context, slave, a++);
|
|
FMMU->nFMMU += (ecx_siigetbyte(context, slave, a++) << 8);
|
|
FMMU->nFMMU *= 2;
|
|
FMMU->FMMU0 = ecx_siigetbyte(context, slave, a++);
|
|
FMMU->FMMU1 = ecx_siigetbyte(context, slave, a++);
|
|
if (FMMU->nFMMU > 2)
|
|
{
|
|
FMMU->FMMU2 = ecx_siigetbyte(context, slave, a++);
|
|
FMMU->FMMU3 = ecx_siigetbyte(context, slave, a++);
|
|
}
|
|
}
|
|
if (eectl)
|
|
{
|
|
ecx_eeprom2pdi(context, slave); /* if eeprom control was previously pdi then restore */
|
|
}
|
|
|
|
return FMMU->nFMMU;
|
|
}
|
|
|
|
/** Get SM data from SII SM section in slave EEPROM.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = slave number
|
|
* @param[out] SM = first SM struct from SII
|
|
* @return number of SM's defined in section
|
|
*/
|
|
uint16 ecx_siiSM(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM)
|
|
{
|
|
uint16 a,w;
|
|
uint8 eectl = context->slavelist[slave].eep_pdi;
|
|
|
|
SM->nSM = 0;
|
|
SM->Startpos = ecx_siifind(context, slave, ECT_SII_SM);
|
|
if (SM->Startpos > 0)
|
|
{
|
|
a = SM->Startpos;
|
|
w = ecx_siigetbyte(context, slave, a++);
|
|
w += (ecx_siigetbyte(context, slave, a++) << 8);
|
|
SM->nSM = (uint8)(w / 4);
|
|
SM->PhStart = ecx_siigetbyte(context, slave, a++);
|
|
SM->PhStart += (ecx_siigetbyte(context, slave, a++) << 8);
|
|
SM->Plength = ecx_siigetbyte(context, slave, a++);
|
|
SM->Plength += (ecx_siigetbyte(context, slave, a++) << 8);
|
|
SM->Creg = ecx_siigetbyte(context, slave, a++);
|
|
SM->Sreg = ecx_siigetbyte(context, slave, a++);
|
|
SM->Activate = ecx_siigetbyte(context, slave, a++);
|
|
SM->PDIctrl = ecx_siigetbyte(context, slave, a++);
|
|
}
|
|
if (eectl)
|
|
{
|
|
ecx_eeprom2pdi(context, slave); /* if eeprom control was previously pdi then restore */
|
|
}
|
|
|
|
return SM->nSM;
|
|
}
|
|
|
|
/** Get next SM data from SII SM section in slave EEPROM.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = slave number
|
|
* @param[out] SM = first SM struct from SII
|
|
* @param[in] n = SM number
|
|
* @return >0 if OK
|
|
*/
|
|
uint16 ecx_siiSMnext(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM, uint16 n)
|
|
{
|
|
uint16 a;
|
|
uint16 retVal = 0;
|
|
uint8 eectl = context->slavelist[slave].eep_pdi;
|
|
|
|
if (n < SM->nSM)
|
|
{
|
|
a = SM->Startpos + 2 + (n * 8);
|
|
SM->PhStart = ecx_siigetbyte(context, slave, a++);
|
|
SM->PhStart += (ecx_siigetbyte(context, slave, a++) << 8);
|
|
SM->Plength = ecx_siigetbyte(context, slave, a++);
|
|
SM->Plength += (ecx_siigetbyte(context, slave, a++) << 8);
|
|
SM->Creg = ecx_siigetbyte(context, slave, a++);
|
|
SM->Sreg = ecx_siigetbyte(context, slave, a++);
|
|
SM->Activate = ecx_siigetbyte(context, slave, a++);
|
|
SM->PDIctrl = ecx_siigetbyte(context, slave, a++);
|
|
retVal = 1;
|
|
}
|
|
if (eectl)
|
|
{
|
|
ecx_eeprom2pdi(context, slave); /* if eeprom control was previously pdi then restore */
|
|
}
|
|
|
|
return retVal;
|
|
}
|
|
|
|
/** Get PDO data from SII PDO section in slave EEPROM.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = slave number
|
|
* @param[out] PDO = PDO struct from SII
|
|
* @param[in] t = 0=RXPDO 1=TXPDO
|
|
* @return mapping size in bits of PDO
|
|
*/
|
|
uint32 ecx_siiPDO(ecx_contextt *context, uint16 slave, ec_eepromPDOt* PDO, uint8 t)
|
|
{
|
|
uint16 a , w, c, e, er, Size;
|
|
uint8 eectl = context->slavelist[slave].eep_pdi;
|
|
|
|
Size = 0;
|
|
PDO->nPDO = 0;
|
|
PDO->Length = 0;
|
|
PDO->Index[1] = 0;
|
|
for (c = 0 ; c < EC_MAXSM ; c++) PDO->SMbitsize[c] = 0;
|
|
if (t > 1)
|
|
t = 1;
|
|
PDO->Startpos = ecx_siifind(context, slave, ECT_SII_PDO + t);
|
|
if (PDO->Startpos > 0)
|
|
{
|
|
a = PDO->Startpos;
|
|
w = ecx_siigetbyte(context, slave, a++);
|
|
w += (ecx_siigetbyte(context, slave, a++) << 8);
|
|
PDO->Length = w;
|
|
c = 1;
|
|
/* traverse through all PDOs */
|
|
do
|
|
{
|
|
PDO->nPDO++;
|
|
PDO->Index[PDO->nPDO] = ecx_siigetbyte(context, slave, a++);
|
|
PDO->Index[PDO->nPDO] += (ecx_siigetbyte(context, slave, a++) << 8);
|
|
PDO->BitSize[PDO->nPDO] = 0;
|
|
c++;
|
|
e = ecx_siigetbyte(context, slave, a++);
|
|
PDO->SyncM[PDO->nPDO] = ecx_siigetbyte(context, slave, a++);
|
|
a += 4;
|
|
c += 2;
|
|
if (PDO->SyncM[PDO->nPDO] < EC_MAXSM) /* active and in range SM? */
|
|
{
|
|
/* read all entries defined in PDO */
|
|
for (er = 1; er <= e; er++)
|
|
{
|
|
c += 4;
|
|
a += 5;
|
|
PDO->BitSize[PDO->nPDO] += ecx_siigetbyte(context, slave, a++);
|
|
a += 2;
|
|
}
|
|
PDO->SMbitsize[ PDO->SyncM[PDO->nPDO] ] += PDO->BitSize[PDO->nPDO];
|
|
Size += PDO->BitSize[PDO->nPDO];
|
|
c++;
|
|
}
|
|
else /* PDO deactivated because SM is 0xff or > EC_MAXSM */
|
|
{
|
|
c += 4 * e;
|
|
a += 8 * e;
|
|
c++;
|
|
}
|
|
if (PDO->nPDO >= (EC_MAXEEPDO - 1))
|
|
{
|
|
c = PDO->Length; /* limit number of PDO entries in buffer */
|
|
}
|
|
}
|
|
while (c < PDO->Length);
|
|
}
|
|
if (eectl)
|
|
{
|
|
ecx_eeprom2pdi(context, slave); /* if eeprom control was previously pdi then restore */
|
|
}
|
|
|
|
return (Size);
|
|
}
|
|
|
|
#define MAX_FPRD_MULTI 64
|
|
|
|
int ecx_FPRD_multi(ecx_contextt *context, int n, uint16 *configlst, ec_alstatust *slstatlst, int timeout)
|
|
{
|
|
int wkc;
|
|
uint8 idx;
|
|
ecx_portt *port;
|
|
uint16 sldatapos[MAX_FPRD_MULTI];
|
|
int slcnt;
|
|
|
|
port = context->port;
|
|
idx = ecx_getindex(port);
|
|
slcnt = 0;
|
|
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_FPRD, idx,
|
|
*(configlst + slcnt), ECT_REG_ALSTAT, sizeof(ec_alstatust), slstatlst + slcnt);
|
|
sldatapos[slcnt] = EC_HEADERSIZE;
|
|
while(++slcnt < (n - 1))
|
|
{
|
|
sldatapos[slcnt] = ecx_adddatagram(port, &(port->txbuf[idx]), EC_CMD_FPRD, idx, TRUE,
|
|
*(configlst + slcnt), ECT_REG_ALSTAT, sizeof(ec_alstatust), slstatlst + slcnt);
|
|
}
|
|
if(slcnt < n)
|
|
{
|
|
sldatapos[slcnt] = ecx_adddatagram(port, &(port->txbuf[idx]), EC_CMD_FPRD, idx, FALSE,
|
|
*(configlst + slcnt), ECT_REG_ALSTAT, sizeof(ec_alstatust), slstatlst + slcnt);
|
|
}
|
|
wkc = ecx_srconfirm(port, idx, timeout);
|
|
if (wkc >= 0)
|
|
{
|
|
for(slcnt = 0 ; slcnt < n ; slcnt++)
|
|
{
|
|
memcpy(slstatlst + slcnt, &(port->rxbuf[idx][sldatapos[slcnt]]), sizeof(ec_alstatust));
|
|
}
|
|
}
|
|
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
|
|
return wkc;
|
|
}
|
|
|
|
/** Read all slave states in ec_slave.
|
|
* @param[in] context = context struct
|
|
* @return lowest state found
|
|
*/
|
|
int ecx_readstate(ecx_contextt *context)
|
|
{
|
|
uint16 slave, fslave, lslave, configadr, lowest, rval, bitwisestate;
|
|
ec_alstatust sl[MAX_FPRD_MULTI];
|
|
uint16 slca[MAX_FPRD_MULTI];
|
|
boolean noerrorflag, allslavessamestate;
|
|
boolean allslavespresent = FALSE;
|
|
int wkc;
|
|
|
|
/* Try to establish the state of all slaves sending only one broadcast datagram.
|
|
* This way a number of datagrams equal to the number of slaves will be sent only if needed.*/
|
|
rval = 0;
|
|
wkc = ecx_BRD(context->port, 0, ECT_REG_ALSTAT, sizeof(rval), &rval, EC_TIMEOUTRET);
|
|
|
|
if(wkc >= *(context->slavecount))
|
|
{
|
|
allslavespresent = TRUE;
|
|
}
|
|
|
|
rval = etohs(rval);
|
|
bitwisestate = (rval & 0x0f);
|
|
|
|
if ((rval & EC_STATE_ERROR) == 0)
|
|
{
|
|
noerrorflag = TRUE;
|
|
context->slavelist[0].ALstatuscode = 0;
|
|
}
|
|
else
|
|
{
|
|
noerrorflag = FALSE;
|
|
}
|
|
|
|
switch (bitwisestate)
|
|
{
|
|
case EC_STATE_INIT:
|
|
case EC_STATE_PRE_OP:
|
|
case EC_STATE_BOOT:
|
|
case EC_STATE_SAFE_OP:
|
|
case EC_STATE_OPERATIONAL:
|
|
allslavessamestate = TRUE;
|
|
context->slavelist[0].state = bitwisestate;
|
|
break;
|
|
default:
|
|
allslavessamestate = FALSE;
|
|
break;
|
|
}
|
|
|
|
if (noerrorflag && allslavessamestate && allslavespresent)
|
|
{
|
|
/* No slave has toggled the error flag so the alstatuscode
|
|
* (even if different from 0) should be ignored and
|
|
* the slaves have reached the same state so the internal state
|
|
* can be updated without sending any datagram. */
|
|
for (slave = 1; slave <= *(context->slavecount); slave++)
|
|
{
|
|
context->slavelist[slave].ALstatuscode = 0x0000;
|
|
context->slavelist[slave].state = bitwisestate;
|
|
}
|
|
lowest = bitwisestate;
|
|
}
|
|
else
|
|
{
|
|
/* Not all slaves have the same state or at least one is in error so one datagram per slave
|
|
* is needed. */
|
|
context->slavelist[0].ALstatuscode = 0;
|
|
lowest = 0xff;
|
|
fslave = 1;
|
|
do
|
|
{
|
|
lslave = (uint16)*(context->slavecount);
|
|
if ((lslave - fslave) >= MAX_FPRD_MULTI)
|
|
{
|
|
lslave = fslave + MAX_FPRD_MULTI - 1;
|
|
}
|
|
for (slave = fslave; slave <= lslave; slave++)
|
|
{
|
|
const ec_alstatust zero = { 0, 0, 0 };
|
|
|
|
configadr = context->slavelist[slave].configadr;
|
|
slca[slave - fslave] = configadr;
|
|
sl[slave - fslave] = zero;
|
|
}
|
|
ecx_FPRD_multi(context, (lslave - fslave) + 1, &(slca[0]), &(sl[0]), EC_TIMEOUTRET3);
|
|
for (slave = fslave; slave <= lslave; slave++)
|
|
{
|
|
configadr = context->slavelist[slave].configadr;
|
|
rval = etohs(sl[slave - fslave].alstatus);
|
|
context->slavelist[slave].ALstatuscode = etohs(sl[slave - fslave].alstatuscode);
|
|
if ((rval & 0xf) < lowest)
|
|
{
|
|
lowest = (rval & 0xf);
|
|
}
|
|
context->slavelist[slave].state = rval;
|
|
context->slavelist[0].ALstatuscode |= context->slavelist[slave].ALstatuscode;
|
|
}
|
|
fslave = lslave + 1;
|
|
} while (lslave < *(context->slavecount));
|
|
context->slavelist[0].state = lowest;
|
|
}
|
|
|
|
return lowest;
|
|
}
|
|
|
|
/** Write slave state, if slave = 0 then write to all slaves.
|
|
* The function does not check if the actual state is changed.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = Slave number, 0 = master
|
|
* @return Workcounter or EC_NOFRAME
|
|
*/
|
|
int ecx_writestate(ecx_contextt *context, uint16 slave)
|
|
{
|
|
int ret;
|
|
uint16 configadr, slstate;
|
|
|
|
if (slave == 0)
|
|
{
|
|
slstate = htoes(context->slavelist[slave].state);
|
|
ret = ecx_BWR(context->port, 0, ECT_REG_ALCTL, sizeof(slstate),
|
|
&slstate, EC_TIMEOUTRET3);
|
|
}
|
|
else
|
|
{
|
|
configadr = context->slavelist[slave].configadr;
|
|
|
|
ret = ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL,
|
|
htoes(context->slavelist[slave].state), EC_TIMEOUTRET3);
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
/** Check actual slave state.
|
|
* This is a blocking function.
|
|
* To refresh the state of all slaves ecx_readstate()should be called
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = Slave number, 0 = all slaves (only the "slavelist[0].state" is refreshed)
|
|
* @param[in] reqstate = Requested state
|
|
* @param[in] timeout = Timeout value in us
|
|
* @return Requested state, or found state after timeout.
|
|
*/
|
|
uint16 ecx_statecheck(ecx_contextt *context, uint16 slave, uint16 reqstate, int timeout)
|
|
{
|
|
uint16 configadr, state, rval;
|
|
ec_alstatust slstat;
|
|
osal_timert timer;
|
|
|
|
if ( slave > *(context->slavecount) )
|
|
{
|
|
return 0;
|
|
}
|
|
osal_timer_start(&timer, timeout);
|
|
configadr = context->slavelist[slave].configadr;
|
|
do
|
|
{
|
|
if (slave < 1)
|
|
{
|
|
rval = 0;
|
|
ecx_BRD(context->port, 0, ECT_REG_ALSTAT, sizeof(rval), &rval , EC_TIMEOUTRET);
|
|
rval = etohs(rval);
|
|
}
|
|
else
|
|
{
|
|
slstat.alstatus = 0;
|
|
slstat.alstatuscode = 0;
|
|
ecx_FPRD(context->port, configadr, ECT_REG_ALSTAT, sizeof(slstat), &slstat, EC_TIMEOUTRET);
|
|
rval = etohs(slstat.alstatus);
|
|
context->slavelist[slave].ALstatuscode = etohs(slstat.alstatuscode);
|
|
}
|
|
state = rval & 0x000f; /* read slave status */
|
|
if (state != reqstate)
|
|
{
|
|
osal_usleep(1000);
|
|
}
|
|
}
|
|
while ((state != reqstate) && (osal_timer_is_expired(&timer) == FALSE));
|
|
context->slavelist[slave].state = rval;
|
|
|
|
return state;
|
|
}
|
|
|
|
/** Get index of next mailbox counter value.
|
|
* Used for Mailbox Link Layer.
|
|
* @param[in] cnt = Mailbox counter value [0..7]
|
|
* @return next mailbox counter value
|
|
*/
|
|
uint8 ec_nextmbxcnt(uint8 cnt)
|
|
{
|
|
cnt++;
|
|
if (cnt > 7)
|
|
{
|
|
cnt = 1; /* wrap around to 1, not 0 */
|
|
}
|
|
|
|
return cnt;
|
|
}
|
|
|
|
/** Clear mailbox buffer.
|
|
* @param[out] Mbx = Mailbox buffer to clear
|
|
*/
|
|
void ec_clearmbx(ec_mbxbuft *Mbx)
|
|
{
|
|
memset(Mbx, 0x00, EC_MAXMBX);
|
|
}
|
|
|
|
/** Check if IN mailbox of slave is empty.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = Slave number
|
|
* @param[in] timeout = Timeout in us
|
|
* @return >0 is success
|
|
*/
|
|
int ecx_mbxempty(ecx_contextt *context, uint16 slave, int timeout)
|
|
{
|
|
uint16 configadr;
|
|
uint8 SMstat;
|
|
int wkc;
|
|
osal_timert timer;
|
|
|
|
osal_timer_start(&timer, timeout);
|
|
configadr = context->slavelist[slave].configadr;
|
|
do
|
|
{
|
|
SMstat = 0;
|
|
wkc = ecx_FPRD(context->port, configadr, ECT_REG_SM0STAT, sizeof(SMstat), &SMstat, EC_TIMEOUTRET);
|
|
SMstat = etohs(SMstat);
|
|
if (((SMstat & 0x08) != 0) && (timeout > EC_LOCALDELAY))
|
|
{
|
|
osal_usleep(EC_LOCALDELAY);
|
|
}
|
|
}
|
|
while (((wkc <= 0) || ((SMstat & 0x08) != 0)) && (osal_timer_is_expired(&timer) == FALSE));
|
|
|
|
if ((wkc > 0) && ((SMstat & 0x08) == 0))
|
|
{
|
|
return 1;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
/** Write IN mailbox to slave.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = Slave number
|
|
* @param[out] mbx = Mailbox data
|
|
* @param[in] timeout = Timeout in us
|
|
* @return Work counter (>0 is success)
|
|
*/
|
|
int ecx_mbxsend(ecx_contextt *context, uint16 slave,ec_mbxbuft *mbx, int timeout)
|
|
{
|
|
uint16 mbxwo,mbxl,configadr;
|
|
int wkc;
|
|
|
|
wkc = 0;
|
|
configadr = context->slavelist[slave].configadr;
|
|
mbxl = context->slavelist[slave].mbx_l;
|
|
if ((mbxl > 0) && (mbxl <= EC_MAXMBX))
|
|
{
|
|
if (ecx_mbxempty(context, slave, timeout))
|
|
{
|
|
mbxwo = context->slavelist[slave].mbx_wo;
|
|
/* write slave in mailbox */
|
|
wkc = ecx_FPWR(context->port, configadr, mbxwo, mbxl, mbx, EC_TIMEOUTRET3);
|
|
}
|
|
else
|
|
{
|
|
wkc = 0;
|
|
}
|
|
}
|
|
|
|
return wkc;
|
|
}
|
|
|
|
/** Read OUT mailbox from slave.
|
|
* Supports Mailbox Link Layer with repeat requests.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = Slave number
|
|
* @param[out] mbx = Mailbox data
|
|
* @param[in] timeout = Timeout in us
|
|
* @return Work counter (>0 is success)
|
|
*/
|
|
int ecx_mbxreceive(ecx_contextt *context, uint16 slave, ec_mbxbuft *mbx, int timeout)
|
|
{
|
|
uint16 mbxro,mbxl,configadr;
|
|
int wkc=0;
|
|
int wkc2;
|
|
uint16 SMstat;
|
|
uint8 SMcontr;
|
|
ec_mbxheadert *mbxh;
|
|
ec_emcyt *EMp;
|
|
ec_mbxerrort *MBXEp;
|
|
|
|
configadr = context->slavelist[slave].configadr;
|
|
mbxl = context->slavelist[slave].mbx_rl;
|
|
if ((mbxl > 0) && (mbxl <= EC_MAXMBX))
|
|
{
|
|
osal_timert timer;
|
|
|
|
osal_timer_start(&timer, timeout);
|
|
wkc = 0;
|
|
do /* wait for read mailbox available */
|
|
{
|
|
SMstat = 0;
|
|
wkc = ecx_FPRD(context->port, configadr, ECT_REG_SM1STAT, sizeof(SMstat), &SMstat, EC_TIMEOUTRET);
|
|
SMstat = etohs(SMstat);
|
|
if (((SMstat & 0x08) == 0) && (timeout > EC_LOCALDELAY))
|
|
{
|
|
osal_usleep(EC_LOCALDELAY);
|
|
}
|
|
}
|
|
while (((wkc <= 0) || ((SMstat & 0x08) == 0)) && (osal_timer_is_expired(&timer) == FALSE));
|
|
|
|
if ((wkc > 0) && ((SMstat & 0x08) > 0)) /* read mailbox available ? */
|
|
{
|
|
mbxro = context->slavelist[slave].mbx_ro;
|
|
mbxh = (ec_mbxheadert *)mbx;
|
|
do
|
|
{
|
|
wkc = ecx_FPRD(context->port, configadr, mbxro, mbxl, mbx, EC_TIMEOUTRET); /* get mailbox */
|
|
if ((wkc > 0) && ((mbxh->mbxtype & 0x0f) == 0x00)) /* Mailbox error response? */
|
|
{
|
|
MBXEp = (ec_mbxerrort *)mbx;
|
|
ecx_mbxerror(context, slave, etohs(MBXEp->Detail));
|
|
wkc = 0; /* prevent emergency to cascade up, it is already handled. */
|
|
}
|
|
else if ((wkc > 0) && ((mbxh->mbxtype & 0x0f) == ECT_MBXT_COE)) /* CoE response? */
|
|
{
|
|
EMp = (ec_emcyt *)mbx;
|
|
if ((etohs(EMp->CANOpen) >> 12) == 0x01) /* Emergency request? */
|
|
{
|
|
ecx_mbxemergencyerror(context, slave, etohs(EMp->ErrorCode), EMp->ErrorReg,
|
|
EMp->bData, etohs(EMp->w1), etohs(EMp->w2));
|
|
wkc = 0; /* prevent emergency to cascade up, it is already handled. */
|
|
}
|
|
}
|
|
else if ((wkc > 0) && ((mbxh->mbxtype & 0x0f) == ECT_MBXT_EOE)) /* EoE response? */
|
|
{
|
|
ec_EOEt * eoembx = (ec_EOEt *)mbx;
|
|
uint16 frameinfo1 = etohs(eoembx->frameinfo1);
|
|
/* All non fragment data frame types are expected to be handled by
|
|
* slave send/receive API if the EoE hook is set
|
|
*/
|
|
if (EOE_HDR_FRAME_TYPE_GET(frameinfo1) == EOE_FRAG_DATA)
|
|
{
|
|
if (context->EOEhook)
|
|
{
|
|
if (context->EOEhook(context, slave, eoembx) > 0)
|
|
{
|
|
/* Fragment handled by EoE hook */
|
|
wkc = 0;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (wkc <= 0) /* read mailbox lost */
|
|
{
|
|
SMstat ^= 0x0200; /* toggle repeat request */
|
|
SMstat = htoes(SMstat);
|
|
wkc2 = ecx_FPWR(context->port, configadr, ECT_REG_SM1STAT, sizeof(SMstat), &SMstat, EC_TIMEOUTRET);
|
|
SMstat = etohs(SMstat);
|
|
do /* wait for toggle ack */
|
|
{
|
|
wkc2 = ecx_FPRD(context->port, configadr, ECT_REG_SM1CONTR, sizeof(SMcontr), &SMcontr, EC_TIMEOUTRET);
|
|
} while (((wkc2 <= 0) || ((SMcontr & 0x02) != (HI_BYTE(SMstat) & 0x02))) && (osal_timer_is_expired(&timer) == FALSE));
|
|
do /* wait for read mailbox available */
|
|
{
|
|
wkc2 = ecx_FPRD(context->port, configadr, ECT_REG_SM1STAT, sizeof(SMstat), &SMstat, EC_TIMEOUTRET);
|
|
SMstat = etohs(SMstat);
|
|
if (((SMstat & 0x08) == 0) && (timeout > EC_LOCALDELAY))
|
|
{
|
|
osal_usleep(EC_LOCALDELAY);
|
|
}
|
|
} while (((wkc2 <= 0) || ((SMstat & 0x08) == 0)) && (osal_timer_is_expired(&timer) == FALSE));
|
|
}
|
|
}
|
|
} while ((wkc <= 0) && (osal_timer_is_expired(&timer) == FALSE)); /* if WKC<=0 repeat */
|
|
}
|
|
else /* no read mailbox available */
|
|
{
|
|
if (wkc > 0)
|
|
wkc = EC_TIMEOUT;
|
|
}
|
|
}
|
|
|
|
return wkc;
|
|
}
|
|
|
|
/** Dump complete EEPROM data from slave in buffer.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = Slave number
|
|
* @param[out] esibuf = EEPROM data buffer, make sure it is big enough.
|
|
*/
|
|
void ecx_esidump(ecx_contextt *context, uint16 slave, uint8 *esibuf)
|
|
{
|
|
uint16 configadr, address, incr;
|
|
uint64 *p64;
|
|
uint16 *p16;
|
|
uint64 edat;
|
|
uint8 eectl = context->slavelist[slave].eep_pdi;
|
|
|
|
ecx_eeprom2master(context, slave); /* set eeprom control to master */
|
|
configadr = context->slavelist[slave].configadr;
|
|
address = ECT_SII_START;
|
|
p16=(uint16*)esibuf;
|
|
if (context->slavelist[slave].eep_8byte)
|
|
{
|
|
incr = 4;
|
|
}
|
|
else
|
|
{
|
|
incr = 2;
|
|
}
|
|
do
|
|
{
|
|
edat = ecx_readeepromFP(context, configadr, address, EC_TIMEOUTEEP);
|
|
p64 = (uint64*)p16;
|
|
*p64 = edat;
|
|
p16 += incr;
|
|
address += incr;
|
|
} while ((address <= (EC_MAXEEPBUF >> 1)) && ((uint32)edat != 0xffffffff));
|
|
|
|
if (eectl)
|
|
{
|
|
ecx_eeprom2pdi(context, slave); /* if eeprom control was previously pdi then restore */
|
|
}
|
|
}
|
|
|
|
/** Read EEPROM from slave bypassing cache.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = Slave number
|
|
* @param[in] eeproma = (WORD) Address in the EEPROM
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return EEPROM data 32bit
|
|
*/
|
|
uint32 ecx_readeeprom(ecx_contextt *context, uint16 slave, uint16 eeproma, int timeout)
|
|
{
|
|
uint16 configadr;
|
|
|
|
ecx_eeprom2master(context, slave); /* set eeprom control to master */
|
|
configadr = context->slavelist[slave].configadr;
|
|
|
|
return ((uint32)ecx_readeepromFP(context, configadr, eeproma, timeout));
|
|
}
|
|
|
|
/** Write EEPROM to slave bypassing cache.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = Slave number
|
|
* @param[in] eeproma = (WORD) Address in the EEPROM
|
|
* @param[in] data = 16bit data
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return >0 if OK
|
|
*/
|
|
int ecx_writeeeprom(ecx_contextt *context, uint16 slave, uint16 eeproma, uint16 data, int timeout)
|
|
{
|
|
uint16 configadr;
|
|
|
|
ecx_eeprom2master(context, slave); /* set eeprom control to master */
|
|
configadr = context->slavelist[slave].configadr;
|
|
return (ecx_writeeepromFP(context, configadr, eeproma, data, timeout));
|
|
}
|
|
|
|
/** Set eeprom control to master. Only if set to PDI.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = Slave number
|
|
* @return >0 if OK
|
|
*/
|
|
int ecx_eeprom2master(ecx_contextt *context, uint16 slave)
|
|
{
|
|
int wkc = 1, cnt = 0;
|
|
uint16 configadr;
|
|
uint8 eepctl;
|
|
|
|
if ( context->slavelist[slave].eep_pdi )
|
|
{
|
|
configadr = context->slavelist[slave].configadr;
|
|
eepctl = 2;
|
|
do
|
|
{
|
|
wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* force Eeprom from PDI */
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
eepctl = 0;
|
|
cnt = 0;
|
|
do
|
|
{
|
|
wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* set Eeprom to master */
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
context->slavelist[slave].eep_pdi = 0;
|
|
}
|
|
|
|
return wkc;
|
|
}
|
|
|
|
/** Set eeprom control to PDI. Only if set to master.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = Slave number
|
|
* @return >0 if OK
|
|
*/
|
|
int ecx_eeprom2pdi(ecx_contextt *context, uint16 slave)
|
|
{
|
|
int wkc = 1, cnt = 0;
|
|
uint16 configadr;
|
|
uint8 eepctl;
|
|
|
|
if ( !context->slavelist[slave].eep_pdi )
|
|
{
|
|
configadr = context->slavelist[slave].configadr;
|
|
eepctl = 1;
|
|
do
|
|
{
|
|
wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* set Eeprom to PDI */
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
context->slavelist[slave].eep_pdi = 1;
|
|
}
|
|
|
|
return wkc;
|
|
}
|
|
|
|
uint16 ecx_eeprom_waitnotbusyAP(ecx_contextt *context, uint16 aiadr,uint16 *estat, int timeout)
|
|
{
|
|
int wkc, cnt = 0;
|
|
uint16 retval = 0;
|
|
osal_timert timer;
|
|
|
|
osal_timer_start(&timer, timeout);
|
|
do
|
|
{
|
|
if (cnt++)
|
|
{
|
|
osal_usleep(EC_LOCALDELAY);
|
|
}
|
|
*estat = 0;
|
|
wkc=ecx_APRD(context->port, aiadr, ECT_REG_EEPSTAT, sizeof(*estat), estat, EC_TIMEOUTRET);
|
|
*estat = etohs(*estat);
|
|
}
|
|
while (((wkc <= 0) || ((*estat & EC_ESTAT_BUSY) > 0)) && (osal_timer_is_expired(&timer) == FALSE)); /* wait for eeprom ready */
|
|
if ((*estat & EC_ESTAT_BUSY) == 0)
|
|
{
|
|
retval = 1;
|
|
}
|
|
|
|
return retval;
|
|
}
|
|
|
|
/** Read EEPROM from slave bypassing cache. APRD method.
|
|
* @param[in] context = context struct
|
|
* @param[in] aiadr = auto increment address of slave
|
|
* @param[in] eeproma = (WORD) Address in the EEPROM
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return EEPROM data 64bit or 32bit
|
|
*/
|
|
uint64 ecx_readeepromAP(ecx_contextt *context, uint16 aiadr, uint16 eeproma, int timeout)
|
|
{
|
|
uint16 estat;
|
|
uint32 edat32;
|
|
uint64 edat64;
|
|
ec_eepromt ed;
|
|
int wkc, cnt, nackcnt = 0;
|
|
|
|
edat64 = 0;
|
|
edat32 = 0;
|
|
if (ecx_eeprom_waitnotbusyAP(context, aiadr, &estat, timeout))
|
|
{
|
|
if (estat & EC_ESTAT_EMASK) /* error bits are set */
|
|
{
|
|
estat = htoes(EC_ECMD_NOP); /* clear error bits */
|
|
wkc = ecx_APWR(context->port, aiadr, ECT_REG_EEPCTL, sizeof(estat), &estat, EC_TIMEOUTRET3);
|
|
}
|
|
|
|
do
|
|
{
|
|
ed.comm = htoes(EC_ECMD_READ);
|
|
ed.addr = htoes(eeproma);
|
|
ed.d2 = 0x0000;
|
|
cnt = 0;
|
|
do
|
|
{
|
|
wkc = ecx_APWR(context->port, aiadr, ECT_REG_EEPCTL, sizeof(ed), &ed, EC_TIMEOUTRET);
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
if (wkc)
|
|
{
|
|
osal_usleep(EC_LOCALDELAY);
|
|
estat = 0x0000;
|
|
if (ecx_eeprom_waitnotbusyAP(context, aiadr, &estat, timeout))
|
|
{
|
|
if (estat & EC_ESTAT_NACK)
|
|
{
|
|
nackcnt++;
|
|
osal_usleep(EC_LOCALDELAY * 5);
|
|
}
|
|
else
|
|
{
|
|
nackcnt = 0;
|
|
if (estat & EC_ESTAT_R64)
|
|
{
|
|
cnt = 0;
|
|
do
|
|
{
|
|
wkc = ecx_APRD(context->port, aiadr, ECT_REG_EEPDAT, sizeof(edat64), &edat64, EC_TIMEOUTRET);
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
}
|
|
else
|
|
{
|
|
cnt = 0;
|
|
do
|
|
{
|
|
wkc = ecx_APRD(context->port, aiadr, ECT_REG_EEPDAT, sizeof(edat32), &edat32, EC_TIMEOUTRET);
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
edat64=(uint64)edat32;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
while ((nackcnt > 0) && (nackcnt < 3));
|
|
}
|
|
|
|
return edat64;
|
|
}
|
|
|
|
/** Write EEPROM to slave bypassing cache. APWR method.
|
|
* @param[in] context = context struct
|
|
* @param[in] aiadr = configured address of slave
|
|
* @param[in] eeproma = (WORD) Address in the EEPROM
|
|
* @param[in] data = 16bit data
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return >0 if OK
|
|
*/
|
|
int ecx_writeeepromAP(ecx_contextt *context, uint16 aiadr, uint16 eeproma, uint16 data, int timeout)
|
|
{
|
|
uint16 estat;
|
|
ec_eepromt ed;
|
|
int wkc, rval = 0, cnt = 0, nackcnt = 0;
|
|
|
|
if (ecx_eeprom_waitnotbusyAP(context, aiadr, &estat, timeout))
|
|
{
|
|
if (estat & EC_ESTAT_EMASK) /* error bits are set */
|
|
{
|
|
estat = htoes(EC_ECMD_NOP); /* clear error bits */
|
|
wkc = ecx_APWR(context->port, aiadr, ECT_REG_EEPCTL, sizeof(estat), &estat, EC_TIMEOUTRET3);
|
|
}
|
|
do
|
|
{
|
|
cnt = 0;
|
|
do
|
|
{
|
|
wkc = ecx_APWR(context->port, aiadr, ECT_REG_EEPDAT, sizeof(data), &data, EC_TIMEOUTRET);
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
|
|
ed.comm = EC_ECMD_WRITE;
|
|
ed.addr = eeproma;
|
|
ed.d2 = 0x0000;
|
|
cnt = 0;
|
|
do
|
|
{
|
|
wkc = ecx_APWR(context->port, aiadr, ECT_REG_EEPCTL, sizeof(ed), &ed, EC_TIMEOUTRET);
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
if (wkc)
|
|
{
|
|
osal_usleep(EC_LOCALDELAY * 2);
|
|
estat = 0x0000;
|
|
if (ecx_eeprom_waitnotbusyAP(context, aiadr, &estat, timeout))
|
|
{
|
|
if (estat & EC_ESTAT_NACK)
|
|
{
|
|
nackcnt++;
|
|
osal_usleep(EC_LOCALDELAY * 5);
|
|
}
|
|
else
|
|
{
|
|
nackcnt = 0;
|
|
rval = 1;
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
while ((nackcnt > 0) && (nackcnt < 3));
|
|
}
|
|
|
|
return rval;
|
|
}
|
|
|
|
uint16 ecx_eeprom_waitnotbusyFP(ecx_contextt *context, uint16 configadr,uint16 *estat, int timeout)
|
|
{
|
|
int wkc, cnt = 0;
|
|
uint16 retval = 0;
|
|
osal_timert timer;
|
|
|
|
osal_timer_start(&timer, timeout);
|
|
do
|
|
{
|
|
if (cnt++)
|
|
{
|
|
osal_usleep(EC_LOCALDELAY);
|
|
}
|
|
*estat = 0;
|
|
wkc=ecx_FPRD(context->port, configadr, ECT_REG_EEPSTAT, sizeof(*estat), estat, EC_TIMEOUTRET);
|
|
*estat = etohs(*estat);
|
|
}
|
|
while (((wkc <= 0) || ((*estat & EC_ESTAT_BUSY) > 0)) && (osal_timer_is_expired(&timer) == FALSE)); /* wait for eeprom ready */
|
|
if ((*estat & EC_ESTAT_BUSY) == 0)
|
|
{
|
|
retval = 1;
|
|
}
|
|
|
|
return retval;
|
|
}
|
|
|
|
/** Read EEPROM from slave bypassing cache. FPRD method.
|
|
* @param[in] context = context struct
|
|
* @param[in] configadr = configured address of slave
|
|
* @param[in] eeproma = (WORD) Address in the EEPROM
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return EEPROM data 64bit or 32bit
|
|
*/
|
|
uint64 ecx_readeepromFP(ecx_contextt *context, uint16 configadr, uint16 eeproma, int timeout)
|
|
{
|
|
uint16 estat;
|
|
uint32 edat32;
|
|
uint64 edat64;
|
|
ec_eepromt ed;
|
|
int wkc, cnt, nackcnt = 0;
|
|
|
|
edat64 = 0;
|
|
edat32 = 0;
|
|
if (ecx_eeprom_waitnotbusyFP(context, configadr, &estat, timeout))
|
|
{
|
|
if (estat & EC_ESTAT_EMASK) /* error bits are set */
|
|
{
|
|
estat = htoes(EC_ECMD_NOP); /* clear error bits */
|
|
wkc=ecx_FPWR(context->port, configadr, ECT_REG_EEPCTL, sizeof(estat), &estat, EC_TIMEOUTRET3);
|
|
}
|
|
|
|
do
|
|
{
|
|
ed.comm = htoes(EC_ECMD_READ);
|
|
ed.addr = htoes(eeproma);
|
|
ed.d2 = 0x0000;
|
|
cnt = 0;
|
|
do
|
|
{
|
|
wkc=ecx_FPWR(context->port, configadr, ECT_REG_EEPCTL, sizeof(ed), &ed, EC_TIMEOUTRET);
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
if (wkc)
|
|
{
|
|
osal_usleep(EC_LOCALDELAY);
|
|
estat = 0x0000;
|
|
if (ecx_eeprom_waitnotbusyFP(context, configadr, &estat, timeout))
|
|
{
|
|
if (estat & EC_ESTAT_NACK)
|
|
{
|
|
nackcnt++;
|
|
osal_usleep(EC_LOCALDELAY * 5);
|
|
}
|
|
else
|
|
{
|
|
nackcnt = 0;
|
|
if (estat & EC_ESTAT_R64)
|
|
{
|
|
cnt = 0;
|
|
do
|
|
{
|
|
wkc=ecx_FPRD(context->port, configadr, ECT_REG_EEPDAT, sizeof(edat64), &edat64, EC_TIMEOUTRET);
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
}
|
|
else
|
|
{
|
|
cnt = 0;
|
|
do
|
|
{
|
|
wkc=ecx_FPRD(context->port, configadr, ECT_REG_EEPDAT, sizeof(edat32), &edat32, EC_TIMEOUTRET);
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
edat64=(uint64)edat32;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
while ((nackcnt > 0) && (nackcnt < 3));
|
|
}
|
|
|
|
return edat64;
|
|
}
|
|
|
|
/** Write EEPROM to slave bypassing cache. FPWR method.
|
|
* @param[in] context = context struct
|
|
* @param[in] configadr = configured address of slave
|
|
* @param[in] eeproma = (WORD) Address in the EEPROM
|
|
* @param[in] data = 16bit data
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return >0 if OK
|
|
*/
|
|
int ecx_writeeepromFP(ecx_contextt *context, uint16 configadr, uint16 eeproma, uint16 data, int timeout)
|
|
{
|
|
uint16 estat;
|
|
ec_eepromt ed;
|
|
int wkc, rval = 0, cnt = 0, nackcnt = 0;
|
|
|
|
if (ecx_eeprom_waitnotbusyFP(context, configadr, &estat, timeout))
|
|
{
|
|
if (estat & EC_ESTAT_EMASK) /* error bits are set */
|
|
{
|
|
estat = htoes(EC_ECMD_NOP); /* clear error bits */
|
|
wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPCTL, sizeof(estat), &estat, EC_TIMEOUTRET3);
|
|
}
|
|
do
|
|
{
|
|
cnt = 0;
|
|
do
|
|
{
|
|
wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPDAT, sizeof(data), &data, EC_TIMEOUTRET);
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
ed.comm = EC_ECMD_WRITE;
|
|
ed.addr = eeproma;
|
|
ed.d2 = 0x0000;
|
|
cnt = 0;
|
|
do
|
|
{
|
|
wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPCTL, sizeof(ed), &ed, EC_TIMEOUTRET);
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
if (wkc)
|
|
{
|
|
osal_usleep(EC_LOCALDELAY * 2);
|
|
estat = 0x0000;
|
|
if (ecx_eeprom_waitnotbusyFP(context, configadr, &estat, timeout))
|
|
{
|
|
if (estat & EC_ESTAT_NACK)
|
|
{
|
|
nackcnt++;
|
|
osal_usleep(EC_LOCALDELAY * 5);
|
|
}
|
|
else
|
|
{
|
|
nackcnt = 0;
|
|
rval = 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
while ((nackcnt > 0) && (nackcnt < 3));
|
|
}
|
|
|
|
return rval;
|
|
}
|
|
|
|
/** Read EEPROM from slave bypassing cache.
|
|
* Parallel read step 1, make request to slave.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = Slave number
|
|
* @param[in] eeproma = (WORD) Address in the EEPROM
|
|
*/
|
|
void ecx_readeeprom1(ecx_contextt *context, uint16 slave, uint16 eeproma)
|
|
{
|
|
uint16 configadr, estat;
|
|
ec_eepromt ed;
|
|
int wkc, cnt = 0;
|
|
|
|
ecx_eeprom2master(context, slave); /* set eeprom control to master */
|
|
configadr = context->slavelist[slave].configadr;
|
|
if (ecx_eeprom_waitnotbusyFP(context, configadr, &estat, EC_TIMEOUTEEP))
|
|
{
|
|
if (estat & EC_ESTAT_EMASK) /* error bits are set */
|
|
{
|
|
estat = htoes(EC_ECMD_NOP); /* clear error bits */
|
|
wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPCTL, sizeof(estat), &estat, EC_TIMEOUTRET3);
|
|
}
|
|
ed.comm = htoes(EC_ECMD_READ);
|
|
ed.addr = htoes(eeproma);
|
|
ed.d2 = 0x0000;
|
|
do
|
|
{
|
|
wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPCTL, sizeof(ed), &ed, EC_TIMEOUTRET);
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
}
|
|
}
|
|
|
|
/** Read EEPROM from slave bypassing cache.
|
|
* Parallel read step 2, actual read from slave.
|
|
* @param[in] context = context struct
|
|
* @param[in] slave = Slave number
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return EEPROM data 32bit
|
|
*/
|
|
uint32 ecx_readeeprom2(ecx_contextt *context, uint16 slave, int timeout)
|
|
{
|
|
uint16 estat, configadr;
|
|
uint32 edat;
|
|
int wkc, cnt = 0;
|
|
|
|
configadr = context->slavelist[slave].configadr;
|
|
edat = 0;
|
|
estat = 0x0000;
|
|
if (ecx_eeprom_waitnotbusyFP(context, configadr, &estat, timeout))
|
|
{
|
|
do
|
|
{
|
|
wkc = ecx_FPRD(context->port, configadr, ECT_REG_EEPDAT, sizeof(edat), &edat, EC_TIMEOUTRET);
|
|
}
|
|
while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES));
|
|
}
|
|
|
|
return edat;
|
|
}
|
|
|
|
/** Push index of segmented LRD/LWR/LRW combination.
|
|
* @param[in] context = context struct
|
|
* @param[in] idx = Used datagram index.
|
|
* @param[in] data = Pointer to process data segment.
|
|
* @param[in] length = Length of data segment in bytes.
|
|
* @param[in] DCO = Offset position of DC frame.
|
|
*/
|
|
static void ecx_pushindex(ecx_contextt *context, uint8 idx, void *data, uint16 length, uint16 DCO)
|
|
{
|
|
if(context->idxstack->pushed < EC_MAXBUF)
|
|
{
|
|
context->idxstack->idx[context->idxstack->pushed] = idx;
|
|
context->idxstack->data[context->idxstack->pushed] = data;
|
|
context->idxstack->length[context->idxstack->pushed] = length;
|
|
context->idxstack->dcoffset[context->idxstack->pushed] = DCO;
|
|
context->idxstack->pushed++;
|
|
}
|
|
}
|
|
|
|
/** Pull index of segmented LRD/LWR/LRW combination.
|
|
* @param[in] context = context struct
|
|
* @return Stack location, -1 if stack is empty.
|
|
*/
|
|
static int ecx_pullindex(ecx_contextt *context)
|
|
{
|
|
int rval = -1;
|
|
if(context->idxstack->pulled < context->idxstack->pushed)
|
|
{
|
|
rval = context->idxstack->pulled;
|
|
context->idxstack->pulled++;
|
|
}
|
|
|
|
return rval;
|
|
}
|
|
|
|
/**
|
|
* Clear the idx stack.
|
|
*
|
|
* @param context = context struct
|
|
*/
|
|
static void ecx_clearindex(ecx_contextt *context) {
|
|
|
|
context->idxstack->pushed = 0;
|
|
context->idxstack->pulled = 0;
|
|
|
|
}
|
|
|
|
/** Transmit processdata to slaves.
|
|
* Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW).
|
|
* Both the input and output processdata are transmitted.
|
|
* The outputs with the actual data, the inputs have a placeholder.
|
|
* The inputs are gathered with the receive processdata function.
|
|
* In contrast to the base LRW function this function is non-blocking.
|
|
* If the processdata does not fit in one datagram, multiple are used.
|
|
* In order to recombine the slave response, a stack is used.
|
|
* @param[in] context = context struct
|
|
* @param[in] group = group number
|
|
* @param[in] use_overlap_io = flag if overlapped iomap is used
|
|
* @return >0 if processdata is transmitted.
|
|
*/
|
|
static int ecx_main_send_processdata(ecx_contextt *context, uint8 group, boolean use_overlap_io)
|
|
{
|
|
uint32 LogAdr;
|
|
uint16 w1, w2;
|
|
int length;
|
|
uint16 sublength;
|
|
uint8 idx;
|
|
int wkc;
|
|
uint8* data;
|
|
boolean first=FALSE;
|
|
uint16 currentsegment = 0;
|
|
uint32 iomapinputoffset;
|
|
uint16 DCO;
|
|
|
|
wkc = 0;
|
|
if(context->grouplist[group].hasdc)
|
|
{
|
|
first = TRUE;
|
|
}
|
|
|
|
/* For overlapping IO map use the biggest */
|
|
if(use_overlap_io == TRUE)
|
|
{
|
|
/* For overlap IOmap make the frame EQ big to biggest part */
|
|
length = (context->grouplist[group].Obytes > context->grouplist[group].Ibytes) ?
|
|
context->grouplist[group].Obytes : context->grouplist[group].Ibytes;
|
|
/* Save the offset used to compensate where to save inputs when frame returns */
|
|
iomapinputoffset = context->grouplist[group].Obytes;
|
|
}
|
|
else
|
|
{
|
|
length = context->grouplist[group].Obytes + context->grouplist[group].Ibytes;
|
|
iomapinputoffset = 0;
|
|
}
|
|
|
|
LogAdr = context->grouplist[group].logstartaddr;
|
|
if(length)
|
|
{
|
|
|
|
wkc = 1;
|
|
/* LRW blocked by one or more slaves ? */
|
|
if(context->grouplist[group].blockLRW)
|
|
{
|
|
/* if inputs available generate LRD */
|
|
if(context->grouplist[group].Ibytes)
|
|
{
|
|
currentsegment = context->grouplist[group].Isegment;
|
|
data = context->grouplist[group].inputs;
|
|
length = context->grouplist[group].Ibytes;
|
|
LogAdr += context->grouplist[group].Obytes;
|
|
/* segment transfer if needed */
|
|
do
|
|
{
|
|
if(currentsegment == context->grouplist[group].Isegment)
|
|
{
|
|
sublength = (uint16)(context->grouplist[group].IOsegment[currentsegment++] - context->grouplist[group].Ioffset);
|
|
}
|
|
else
|
|
{
|
|
sublength = (uint16)context->grouplist[group].IOsegment[currentsegment++];
|
|
}
|
|
/* get new index */
|
|
idx = ecx_getindex(context->port);
|
|
w1 = LO_WORD(LogAdr);
|
|
w2 = HI_WORD(LogAdr);
|
|
DCO = 0;
|
|
ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LRD, idx, w1, w2, sublength, data);
|
|
if(first)
|
|
{
|
|
/* FPRMW in second datagram */
|
|
DCO = ecx_adddatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_FRMW, idx, FALSE,
|
|
context->slavelist[context->grouplist[group].DCnext].configadr,
|
|
ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime);
|
|
first = FALSE;
|
|
}
|
|
/* send frame */
|
|
ecx_outframe_red(context->port, idx);
|
|
/* push index and data pointer on stack */
|
|
ecx_pushindex(context, idx, data, sublength, DCO);
|
|
length -= sublength;
|
|
LogAdr += sublength;
|
|
data += sublength;
|
|
} while (length && (currentsegment < context->grouplist[group].nsegments));
|
|
}
|
|
/* if outputs available generate LWR */
|
|
if(context->grouplist[group].Obytes)
|
|
{
|
|
data = context->grouplist[group].outputs;
|
|
length = context->grouplist[group].Obytes;
|
|
LogAdr = context->grouplist[group].logstartaddr;
|
|
currentsegment = 0;
|
|
/* segment transfer if needed */
|
|
do
|
|
{
|
|
sublength = (uint16)context->grouplist[group].IOsegment[currentsegment++];
|
|
if((length - sublength) < 0)
|
|
{
|
|
sublength = (uint16)length;
|
|
}
|
|
/* get new index */
|
|
idx = ecx_getindex(context->port);
|
|
w1 = LO_WORD(LogAdr);
|
|
w2 = HI_WORD(LogAdr);
|
|
DCO = 0;
|
|
ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LWR, idx, w1, w2, sublength, data);
|
|
if(first)
|
|
{
|
|
/* FPRMW in second datagram */
|
|
DCO = ecx_adddatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_FRMW, idx, FALSE,
|
|
context->slavelist[context->grouplist[group].DCnext].configadr,
|
|
ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime);
|
|
first = FALSE;
|
|
}
|
|
/* send frame */
|
|
ecx_outframe_red(context->port, idx);
|
|
/* push index and data pointer on stack */
|
|
ecx_pushindex(context, idx, data, sublength, DCO);
|
|
length -= sublength;
|
|
LogAdr += sublength;
|
|
data += sublength;
|
|
} while (length && (currentsegment < context->grouplist[group].nsegments));
|
|
}
|
|
}
|
|
/* LRW can be used */
|
|
else
|
|
{
|
|
if (context->grouplist[group].Obytes)
|
|
{
|
|
data = context->grouplist[group].outputs;
|
|
}
|
|
else
|
|
{
|
|
data = context->grouplist[group].inputs;
|
|
/* Clear offset, don't compensate for overlapping IOmap if we only got inputs */
|
|
iomapinputoffset = 0;
|
|
}
|
|
/* segment transfer if needed */
|
|
do
|
|
{
|
|
sublength = (uint16)context->grouplist[group].IOsegment[currentsegment++];
|
|
/* get new index */
|
|
idx = ecx_getindex(context->port);
|
|
w1 = LO_WORD(LogAdr);
|
|
w2 = HI_WORD(LogAdr);
|
|
DCO = 0;
|
|
ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LRW, idx, w1, w2, sublength, data);
|
|
if(first)
|
|
{
|
|
/* FPRMW in second datagram */
|
|
DCO = ecx_adddatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_FRMW, idx, FALSE,
|
|
context->slavelist[context->grouplist[group].DCnext].configadr,
|
|
ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime);
|
|
first = FALSE;
|
|
}
|
|
/* send frame */
|
|
ecx_outframe_red(context->port, idx);
|
|
/* push index and data pointer on stack.
|
|
* the iomapinputoffset compensate for where the inputs are stored
|
|
* in the IOmap if we use an overlapping IOmap. If a regular IOmap
|
|
* is used it should always be 0.
|
|
*/
|
|
ecx_pushindex(context, idx, (data + iomapinputoffset), sublength, DCO);
|
|
length -= sublength;
|
|
LogAdr += sublength;
|
|
data += sublength;
|
|
} while (length && (currentsegment < context->grouplist[group].nsegments));
|
|
}
|
|
}
|
|
|
|
return wkc;
|
|
}
|
|
|
|
/** Transmit processdata to slaves.
|
|
* Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW).
|
|
* Both the input and output processdata are transmitted in the overlapped IOmap.
|
|
* The outputs with the actual data, the inputs replace the output data in the
|
|
* returning frame. The inputs are gathered with the receive processdata function.
|
|
* In contrast to the base LRW function this function is non-blocking.
|
|
* If the processdata does not fit in one datagram, multiple are used.
|
|
* In order to recombine the slave response, a stack is used.
|
|
* @param[in] context = context struct
|
|
* @param[in] group = group number
|
|
* @return >0 if processdata is transmitted.
|
|
*/
|
|
int ecx_send_overlap_processdata_group(ecx_contextt *context, uint8 group)
|
|
{
|
|
return ecx_main_send_processdata(context, group, TRUE);
|
|
}
|
|
|
|
/** Transmit processdata to slaves.
|
|
* Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW).
|
|
* Both the input and output processdata are transmitted.
|
|
* The outputs with the actual data, the inputs have a placeholder.
|
|
* The inputs are gathered with the receive processdata function.
|
|
* In contrast to the base LRW function this function is non-blocking.
|
|
* If the processdata does not fit in one datagram, multiple are used.
|
|
* In order to recombine the slave response, a stack is used.
|
|
* @param[in] context = context struct
|
|
* @param[in] group = group number
|
|
* @return >0 if processdata is transmitted.
|
|
*/
|
|
int ecx_send_processdata_group(ecx_contextt *context, uint8 group)
|
|
{
|
|
return ecx_main_send_processdata(context, group, FALSE);
|
|
}
|
|
|
|
/** Receive processdata from slaves.
|
|
* Second part from ec_send_processdata().
|
|
* Received datagrams are recombined with the processdata with help from the stack.
|
|
* If a datagram contains input processdata it copies it to the processdata structure.
|
|
* @param[in] context = context struct
|
|
* @param[in] group = group number
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return Work counter.
|
|
*/
|
|
int ecx_receive_processdata_group(ecx_contextt *context, uint8 group, int timeout)
|
|
{
|
|
uint8 idx;
|
|
int pos;
|
|
int wkc = 0, wkc2;
|
|
uint16 le_wkc = 0;
|
|
int valid_wkc = 0;
|
|
int64 le_DCtime;
|
|
ec_idxstackT *idxstack;
|
|
ec_bufT *rxbuf;
|
|
|
|
/* just to prevent compiler warning for unused group */
|
|
wkc2 = group;
|
|
|
|
idxstack = context->idxstack;
|
|
rxbuf = context->port->rxbuf;
|
|
/* get first index */
|
|
pos = ecx_pullindex(context);
|
|
/* read the same number of frames as send */
|
|
while (pos >= 0)
|
|
{
|
|
idx = idxstack->idx[pos];
|
|
wkc2 = ecx_waitinframe(context->port, idx, timeout);
|
|
/* check if there is input data in frame */
|
|
if (wkc2 > EC_NOFRAME)
|
|
{
|
|
if((rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LRD) || (rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LRW))
|
|
{
|
|
if(idxstack->dcoffset[pos] > 0)
|
|
{
|
|
memcpy(idxstack->data[pos], &(rxbuf[idx][EC_HEADERSIZE]), idxstack->length[pos]);
|
|
memcpy(&le_wkc, &(rxbuf[idx][EC_HEADERSIZE + idxstack->length[pos]]), EC_WKCSIZE);
|
|
wkc = etohs(le_wkc);
|
|
memcpy(&le_DCtime, &(rxbuf[idx][idxstack->dcoffset[pos]]), sizeof(le_DCtime));
|
|
*(context->DCtime) = etohll(le_DCtime);
|
|
}
|
|
else
|
|
{
|
|
/* copy input data back to process data buffer */
|
|
memcpy(idxstack->data[pos], &(rxbuf[idx][EC_HEADERSIZE]), idxstack->length[pos]);
|
|
wkc += wkc2;
|
|
}
|
|
valid_wkc = 1;
|
|
}
|
|
else if(rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LWR)
|
|
{
|
|
if(idxstack->dcoffset[pos] > 0)
|
|
{
|
|
memcpy(&le_wkc, &(rxbuf[idx][EC_HEADERSIZE + idxstack->length[pos]]), EC_WKCSIZE);
|
|
/* output WKC counts 2 times when using LRW, emulate the same for LWR */
|
|
wkc = etohs(le_wkc) * 2;
|
|
memcpy(&le_DCtime, &(rxbuf[idx][idxstack->dcoffset[pos]]), sizeof(le_DCtime));
|
|
*(context->DCtime) = etohll(le_DCtime);
|
|
}
|
|
else
|
|
{
|
|
/* output WKC counts 2 times when using LRW, emulate the same for LWR */
|
|
wkc += wkc2 * 2;
|
|
}
|
|
valid_wkc = 1;
|
|
}
|
|
}
|
|
/* release buffer */
|
|
ecx_setbufstat(context->port, idx, EC_BUF_EMPTY);
|
|
/* get next index */
|
|
pos = ecx_pullindex(context);
|
|
}
|
|
|
|
ecx_clearindex(context);
|
|
|
|
/* if no frames has arrived */
|
|
if (valid_wkc == 0)
|
|
{
|
|
return EC_NOFRAME;
|
|
}
|
|
return wkc;
|
|
}
|
|
|
|
|
|
int ecx_send_processdata(ecx_contextt *context)
|
|
{
|
|
return ecx_send_processdata_group(context, 0);
|
|
}
|
|
|
|
int ecx_send_overlap_processdata(ecx_contextt *context)
|
|
{
|
|
return ecx_send_overlap_processdata_group(context, 0);
|
|
}
|
|
|
|
int ecx_receive_processdata(ecx_contextt *context, int timeout)
|
|
{
|
|
return ecx_receive_processdata_group(context, 0, timeout);
|
|
}
|
|
|
|
#ifdef EC_VER1
|
|
void ec_pusherror(const ec_errort *Ec)
|
|
{
|
|
ecx_pusherror(&ecx_context, Ec);
|
|
}
|
|
|
|
boolean ec_poperror(ec_errort *Ec)
|
|
{
|
|
return ecx_poperror(&ecx_context, Ec);
|
|
}
|
|
|
|
boolean ec_iserror(void)
|
|
{
|
|
return ecx_iserror(&ecx_context);
|
|
}
|
|
|
|
void ec_packeterror(uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode)
|
|
{
|
|
ecx_packeterror(&ecx_context, Slave, Index, SubIdx, ErrorCode);
|
|
}
|
|
|
|
/** Initialise lib in single NIC mode
|
|
* @param[in] ifname = Dev name, f.e. "eth0"
|
|
* @return >0 if OK
|
|
* @see ecx_init
|
|
*/
|
|
int ec_init(const char * ifname)
|
|
{
|
|
return ecx_init(&ecx_context, ifname);
|
|
}
|
|
|
|
/** 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
|
|
* @see ecx_init_redundant
|
|
*/
|
|
int ec_init_redundant(const char *ifname, char *if2name)
|
|
{
|
|
return ecx_init_redundant (&ecx_context, &ecx_redport, ifname, if2name);
|
|
}
|
|
|
|
/** Close lib.
|
|
* @see ecx_close
|
|
*/
|
|
void ec_close(void)
|
|
{
|
|
ecx_close(&ecx_context);
|
|
};
|
|
|
|
/** Read one byte from slave EEPROM via cache.
|
|
* If the cache location is empty then a read request is made to the slave.
|
|
* Depending on the slave capabillities the request is 4 or 8 bytes.
|
|
* @param[in] slave = slave number
|
|
* @param[in] address = eeprom address in bytes (slave uses words)
|
|
* @return requested byte, if not available then 0xff
|
|
* @see ecx_siigetbyte
|
|
*/
|
|
uint8 ec_siigetbyte(uint16 slave, uint16 address)
|
|
{
|
|
return ecx_siigetbyte (&ecx_context, slave, address);
|
|
}
|
|
|
|
/** Find SII section header in slave EEPROM.
|
|
* @param[in] slave = slave number
|
|
* @param[in] cat = section category
|
|
* @return byte address of section at section length entry, if not available then 0
|
|
* @see ecx_siifind
|
|
*/
|
|
int16 ec_siifind(uint16 slave, uint16 cat)
|
|
{
|
|
return ecx_siifind (&ecx_context, slave, cat);
|
|
}
|
|
|
|
/** Get string from SII string section in slave EEPROM.
|
|
* @param[out] str = requested string, 0x00 if not found
|
|
* @param[in] slave = slave number
|
|
* @param[in] Sn = string number
|
|
* @see ecx_siistring
|
|
*/
|
|
void ec_siistring(char *str, uint16 slave, uint16 Sn)
|
|
{
|
|
ecx_siistring(&ecx_context, str, slave, Sn);
|
|
}
|
|
|
|
/** Get FMMU data from SII FMMU section in slave EEPROM.
|
|
* @param[in] slave = slave number
|
|
* @param[out] FMMU = FMMU struct from SII, max. 4 FMMU's
|
|
* @return number of FMMU's defined in section
|
|
* @see ecx_siiFMMU
|
|
*/
|
|
uint16 ec_siiFMMU(uint16 slave, ec_eepromFMMUt* FMMU)
|
|
{
|
|
return ecx_siiFMMU (&ecx_context, slave, FMMU);
|
|
}
|
|
|
|
/** Get SM data from SII SM section in slave EEPROM.
|
|
* @param[in] slave = slave number
|
|
* @param[out] SM = first SM struct from SII
|
|
* @return number of SM's defined in section
|
|
* @see ecx_siiSM
|
|
*/
|
|
uint16 ec_siiSM(uint16 slave, ec_eepromSMt* SM)
|
|
{
|
|
return ecx_siiSM (&ecx_context, slave, SM);
|
|
}
|
|
|
|
/** Get next SM data from SII SM section in slave EEPROM.
|
|
* @param[in] slave = slave number
|
|
* @param[out] SM = first SM struct from SII
|
|
* @param[in] n = SM number
|
|
* @return >0 if OK
|
|
* @see ecx_siiSMnext
|
|
*/
|
|
uint16 ec_siiSMnext(uint16 slave, ec_eepromSMt* SM, uint16 n)
|
|
{
|
|
return ecx_siiSMnext (&ecx_context, slave, SM, n);
|
|
}
|
|
|
|
/** Get PDO data from SII PDO section in slave EEPROM.
|
|
* @param[in] slave = slave number
|
|
* @param[out] PDO = PDO struct from SII
|
|
* @param[in] t = 0=RXPDO 1=TXPDO
|
|
* @return mapping size in bits of PDO
|
|
* @see ecx_siiPDO
|
|
*/
|
|
uint32 ec_siiPDO(uint16 slave, ec_eepromPDOt* PDO, uint8 t)
|
|
{
|
|
return ecx_siiPDO (&ecx_context, slave, PDO, t);
|
|
}
|
|
|
|
/** Read all slave states in ec_slave.
|
|
* @return lowest state found
|
|
* @see ecx_readstate
|
|
*/
|
|
int ec_readstate(void)
|
|
{
|
|
return ecx_readstate (&ecx_context);
|
|
}
|
|
|
|
/** Write slave state, if slave = 0 then write to all slaves.
|
|
* The function does not check if the actual state is changed.
|
|
* @param[in] slave = Slave number, 0 = master
|
|
* @return 0
|
|
* @see ecx_writestate
|
|
*/
|
|
int ec_writestate(uint16 slave)
|
|
{
|
|
return ecx_writestate(&ecx_context, slave);
|
|
}
|
|
|
|
/** Check actual slave state.
|
|
* This is a blocking function.
|
|
* @param[in] slave = Slave number, 0 = all slaves
|
|
* @param[in] reqstate = Requested state
|
|
* @param[in] timeout = Timeout value in us
|
|
* @return Requested state, or found state after timeout.
|
|
* @see ecx_statecheck
|
|
*/
|
|
uint16 ec_statecheck(uint16 slave, uint16 reqstate, int timeout)
|
|
{
|
|
return ecx_statecheck (&ecx_context, slave, reqstate, timeout);
|
|
}
|
|
|
|
/** Check if IN mailbox of slave is empty.
|
|
* @param[in] slave = Slave number
|
|
* @param[in] timeout = Timeout in us
|
|
* @return >0 is success
|
|
* @see ecx_mbxempty
|
|
*/
|
|
int ec_mbxempty(uint16 slave, int timeout)
|
|
{
|
|
return ecx_mbxempty (&ecx_context, slave, timeout);
|
|
}
|
|
|
|
/** Write IN mailbox to slave.
|
|
* @param[in] slave = Slave number
|
|
* @param[out] mbx = Mailbox data
|
|
* @param[in] timeout = Timeout in us
|
|
* @return Work counter (>0 is success)
|
|
* @see ecx_mbxsend
|
|
*/
|
|
int ec_mbxsend(uint16 slave,ec_mbxbuft *mbx, int timeout)
|
|
{
|
|
return ecx_mbxsend (&ecx_context, slave, mbx, timeout);
|
|
}
|
|
|
|
/** Read OUT mailbox from slave.
|
|
* Supports Mailbox Link Layer with repeat requests.
|
|
* @param[in] slave = Slave number
|
|
* @param[out] mbx = Mailbox data
|
|
* @param[in] timeout = Timeout in us
|
|
* @return Work counter (>0 is success)
|
|
* @see ecx_mbxreceive
|
|
*/
|
|
int ec_mbxreceive(uint16 slave, ec_mbxbuft *mbx, int timeout)
|
|
{
|
|
return ecx_mbxreceive (&ecx_context, slave, mbx, timeout);
|
|
}
|
|
|
|
/** Dump complete EEPROM data from slave in buffer.
|
|
* @param[in] slave = Slave number
|
|
* @param[out] esibuf = EEPROM data buffer, make sure it is big enough.
|
|
* @see ecx_esidump
|
|
*/
|
|
void ec_esidump(uint16 slave, uint8 *esibuf)
|
|
{
|
|
ecx_esidump (&ecx_context, slave, esibuf);
|
|
}
|
|
|
|
/** Read EEPROM from slave bypassing cache.
|
|
* @param[in] slave = Slave number
|
|
* @param[in] eeproma = (WORD) Address in the EEPROM
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return EEPROM data 32bit
|
|
* @see ecx_readeeprom
|
|
*/
|
|
uint32 ec_readeeprom(uint16 slave, uint16 eeproma, int timeout)
|
|
{
|
|
return ecx_readeeprom (&ecx_context, slave, eeproma, timeout);
|
|
}
|
|
|
|
/** Write EEPROM to slave bypassing cache.
|
|
* @param[in] slave = Slave number
|
|
* @param[in] eeproma = (WORD) Address in the EEPROM
|
|
* @param[in] data = 16bit data
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return >0 if OK
|
|
* @see ecx_writeeeprom
|
|
*/
|
|
int ec_writeeeprom(uint16 slave, uint16 eeproma, uint16 data, int timeout)
|
|
{
|
|
return ecx_writeeeprom (&ecx_context, slave, eeproma, data, timeout);
|
|
}
|
|
|
|
/** Set eeprom control to master. Only if set to PDI.
|
|
* @param[in] slave = Slave number
|
|
* @return >0 if OK
|
|
* @see ecx_eeprom2master
|
|
*/
|
|
int ec_eeprom2master(uint16 slave)
|
|
{
|
|
return ecx_eeprom2master(&ecx_context, slave);
|
|
}
|
|
|
|
int ec_eeprom2pdi(uint16 slave)
|
|
{
|
|
return ecx_eeprom2pdi(&ecx_context, slave);
|
|
}
|
|
|
|
uint16 ec_eeprom_waitnotbusyAP(uint16 aiadr,uint16 *estat, int timeout)
|
|
{
|
|
return ecx_eeprom_waitnotbusyAP (&ecx_context, aiadr, estat, timeout);
|
|
}
|
|
|
|
/** Read EEPROM from slave bypassing cache. APRD method.
|
|
* @param[in] aiadr = auto increment address of slave
|
|
* @param[in] eeproma = (WORD) Address in the EEPROM
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return EEPROM data 64bit or 32bit
|
|
*/
|
|
uint64 ec_readeepromAP(uint16 aiadr, uint16 eeproma, int timeout)
|
|
{
|
|
return ecx_readeepromAP (&ecx_context, aiadr, eeproma, timeout);
|
|
}
|
|
|
|
/** Write EEPROM to slave bypassing cache. APWR method.
|
|
* @param[in] aiadr = configured address of slave
|
|
* @param[in] eeproma = (WORD) Address in the EEPROM
|
|
* @param[in] data = 16bit data
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return >0 if OK
|
|
* @see ecx_writeeepromAP
|
|
*/
|
|
int ec_writeeepromAP(uint16 aiadr, uint16 eeproma, uint16 data, int timeout)
|
|
{
|
|
return ecx_writeeepromAP (&ecx_context, aiadr, eeproma, data, timeout);
|
|
}
|
|
|
|
uint16 ec_eeprom_waitnotbusyFP(uint16 configadr,uint16 *estat, int timeout)
|
|
{
|
|
return ecx_eeprom_waitnotbusyFP (&ecx_context, configadr, estat, timeout);
|
|
}
|
|
|
|
/** Read EEPROM from slave bypassing cache. FPRD method.
|
|
* @param[in] configadr = configured address of slave
|
|
* @param[in] eeproma = (WORD) Address in the EEPROM
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return EEPROM data 64bit or 32bit
|
|
* @see ecx_readeepromFP
|
|
*/
|
|
uint64 ec_readeepromFP(uint16 configadr, uint16 eeproma, int timeout)
|
|
{
|
|
return ecx_readeepromFP (&ecx_context, configadr, eeproma, timeout);
|
|
}
|
|
|
|
/** Write EEPROM to slave bypassing cache. FPWR method.
|
|
* @param[in] configadr = configured address of slave
|
|
* @param[in] eeproma = (WORD) Address in the EEPROM
|
|
* @param[in] data = 16bit data
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return >0 if OK
|
|
* @see ecx_writeeepromFP
|
|
*/
|
|
int ec_writeeepromFP(uint16 configadr, uint16 eeproma, uint16 data, int timeout)
|
|
{
|
|
return ecx_writeeepromFP (&ecx_context, configadr, eeproma, data, timeout);
|
|
}
|
|
|
|
/** Read EEPROM from slave bypassing cache.
|
|
* Parallel read step 1, make request to slave.
|
|
* @param[in] slave = Slave number
|
|
* @param[in] eeproma = (WORD) Address in the EEPROM
|
|
* @see ecx_readeeprom1
|
|
*/
|
|
void ec_readeeprom1(uint16 slave, uint16 eeproma)
|
|
{
|
|
ecx_readeeprom1 (&ecx_context, slave, eeproma);
|
|
}
|
|
|
|
/** Read EEPROM from slave bypassing cache.
|
|
* Parallel read step 2, actual read from slave.
|
|
* @param[in] slave = Slave number
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return EEPROM data 32bit
|
|
* @see ecx_readeeprom2
|
|
*/
|
|
uint32 ec_readeeprom2(uint16 slave, int timeout)
|
|
{
|
|
return ecx_readeeprom2 (&ecx_context, slave, timeout);
|
|
}
|
|
|
|
/** Transmit processdata to slaves.
|
|
* Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW).
|
|
* Both the input and output processdata are transmitted.
|
|
* The outputs with the actual data, the inputs have a placeholder.
|
|
* The inputs are gathered with the receive processdata function.
|
|
* In contrast to the base LRW function this function is non-blocking.
|
|
* If the processdata does not fit in one datagram, multiple are used.
|
|
* In order to recombine the slave response, a stack is used.
|
|
* @param[in] group = group number
|
|
* @return >0 if processdata is transmitted.
|
|
* @see ecx_send_processdata_group
|
|
*/
|
|
int ec_send_processdata_group(uint8 group)
|
|
{
|
|
return ecx_send_processdata_group (&ecx_context, group);
|
|
}
|
|
|
|
/** Transmit processdata to slaves.
|
|
* Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW).
|
|
* Both the input and output processdata are transmitted in the overlapped IOmap.
|
|
* The outputs with the actual data, the inputs replace the output data in the
|
|
* returning frame. The inputs are gathered with the receive processdata function.
|
|
* In contrast to the base LRW function this function is non-blocking.
|
|
* If the processdata does not fit in one datagram, multiple are used.
|
|
* In order to recombine the slave response, a stack is used.
|
|
* @param[in] group = group number
|
|
* @return >0 if processdata is transmitted.
|
|
* @see ecx_send_overlap_processdata_group
|
|
*/
|
|
int ec_send_overlap_processdata_group(uint8 group)
|
|
{
|
|
return ecx_send_overlap_processdata_group(&ecx_context, group);
|
|
}
|
|
|
|
/** Receive processdata from slaves.
|
|
* Second part from ec_send_processdata().
|
|
* Received datagrams are recombined with the processdata with help from the stack.
|
|
* If a datagram contains input processdata it copies it to the processdata structure.
|
|
* @param[in] group = group number
|
|
* @param[in] timeout = Timeout in us.
|
|
* @return Work counter.
|
|
* @see ecx_receive_processdata_group
|
|
*/
|
|
int ec_receive_processdata_group(uint8 group, int timeout)
|
|
{
|
|
return ecx_receive_processdata_group (&ecx_context, group, timeout);
|
|
}
|
|
|
|
int ec_send_processdata(void)
|
|
{
|
|
return ec_send_processdata_group(0);
|
|
}
|
|
|
|
int ec_send_overlap_processdata(void)
|
|
{
|
|
return ec_send_overlap_processdata_group(0);
|
|
}
|
|
|
|
int ec_receive_processdata(int timeout)
|
|
{
|
|
return ec_receive_processdata_group(0, timeout);
|
|
}
|
|
#endif
|