SOEM EtherCAT Master library for STM Nucleo F767ZI
Dependents: EasyCAT_LAB_simple EasyCAT_LAB_very_simple EasyCAT_LAB
- This repository contains the SOEM (Simple Open EtherCAT® Master) library by rt-labs, that has been ported in the ecosystem by AB&T Tecnologie Informatiche.
- It has been developed for the EasyCAT LAB , a complete educational and experimental EtherCAT® system, composed of one master and two slaves .
- The EasyCAT LAB is provided as a kit by AB&T Tecnologie Informatiche, to allow everybody to have an educational EtherCAT® system up and running in a matter of minutes.
Warning
- Currently only the Nucleo STM32F767ZI board is supported.
SOEM/ethercatmain.c@0:543d6784d4cc, 2019-06-11 (annotated)
- Committer:
- EasyCAT
- Date:
- Tue Jun 11 10:29:09 2019 +0000
- Revision:
- 0:543d6784d4cc
SOEM EtherCAT Master Library for STM Nucleo F767ZI
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
EasyCAT | 0:543d6784d4cc | 1 | /* |
EasyCAT | 0:543d6784d4cc | 2 | * Licensed under the GNU General Public License version 2 with exceptions. See |
EasyCAT | 0:543d6784d4cc | 3 | * LICENSE file in the project root for full license information |
EasyCAT | 0:543d6784d4cc | 4 | */ |
EasyCAT | 0:543d6784d4cc | 5 | |
EasyCAT | 0:543d6784d4cc | 6 | /** |
EasyCAT | 0:543d6784d4cc | 7 | * \file |
EasyCAT | 0:543d6784d4cc | 8 | * \brief |
EasyCAT | 0:543d6784d4cc | 9 | * Main EtherCAT functions. |
EasyCAT | 0:543d6784d4cc | 10 | * |
EasyCAT | 0:543d6784d4cc | 11 | * Initialisation, state set and read, mailbox primitives, EEPROM primitives, |
EasyCAT | 0:543d6784d4cc | 12 | * SII reading and processdata exchange. |
EasyCAT | 0:543d6784d4cc | 13 | * |
EasyCAT | 0:543d6784d4cc | 14 | * Defines ec_slave[]. All slave information is put in this structure. |
EasyCAT | 0:543d6784d4cc | 15 | * Needed for most user interaction with slaves. |
EasyCAT | 0:543d6784d4cc | 16 | */ |
EasyCAT | 0:543d6784d4cc | 17 | |
EasyCAT | 0:543d6784d4cc | 18 | #include <stdio.h> |
EasyCAT | 0:543d6784d4cc | 19 | #include <string.h> |
EasyCAT | 0:543d6784d4cc | 20 | #include "osal.h" |
EasyCAT | 0:543d6784d4cc | 21 | #include "oshw.h" |
EasyCAT | 0:543d6784d4cc | 22 | #include "ethercat.h" |
EasyCAT | 0:543d6784d4cc | 23 | |
EasyCAT | 0:543d6784d4cc | 24 | |
EasyCAT | 0:543d6784d4cc | 25 | /** delay in us for eeprom ready loop */ |
EasyCAT | 0:543d6784d4cc | 26 | #define EC_LOCALDELAY 200 |
EasyCAT | 0:543d6784d4cc | 27 | |
EasyCAT | 0:543d6784d4cc | 28 | /** record for ethercat eeprom communications */ |
EasyCAT | 0:543d6784d4cc | 29 | PACKED_BEGIN |
EasyCAT | 0:543d6784d4cc | 30 | typedef struct PACKED |
EasyCAT | 0:543d6784d4cc | 31 | { |
EasyCAT | 0:543d6784d4cc | 32 | uint16 comm; |
EasyCAT | 0:543d6784d4cc | 33 | uint16 addr; |
EasyCAT | 0:543d6784d4cc | 34 | uint16 d2; |
EasyCAT | 0:543d6784d4cc | 35 | } ec_eepromt; |
EasyCAT | 0:543d6784d4cc | 36 | PACKED_END |
EasyCAT | 0:543d6784d4cc | 37 | |
EasyCAT | 0:543d6784d4cc | 38 | /** mailbox error structure */ |
EasyCAT | 0:543d6784d4cc | 39 | PACKED_BEGIN |
EasyCAT | 0:543d6784d4cc | 40 | typedef struct PACKED |
EasyCAT | 0:543d6784d4cc | 41 | { |
EasyCAT | 0:543d6784d4cc | 42 | ec_mbxheadert MbxHeader; |
EasyCAT | 0:543d6784d4cc | 43 | uint16 Type; |
EasyCAT | 0:543d6784d4cc | 44 | uint16 Detail; |
EasyCAT | 0:543d6784d4cc | 45 | } ec_mbxerrort; |
EasyCAT | 0:543d6784d4cc | 46 | PACKED_END |
EasyCAT | 0:543d6784d4cc | 47 | |
EasyCAT | 0:543d6784d4cc | 48 | /** emergency request structure */ |
EasyCAT | 0:543d6784d4cc | 49 | PACKED_BEGIN |
EasyCAT | 0:543d6784d4cc | 50 | typedef struct PACKED |
EasyCAT | 0:543d6784d4cc | 51 | { |
EasyCAT | 0:543d6784d4cc | 52 | ec_mbxheadert MbxHeader; |
EasyCAT | 0:543d6784d4cc | 53 | uint16 CANOpen; |
EasyCAT | 0:543d6784d4cc | 54 | uint16 ErrorCode; |
EasyCAT | 0:543d6784d4cc | 55 | uint8 ErrorReg; |
EasyCAT | 0:543d6784d4cc | 56 | uint8 bData; |
EasyCAT | 0:543d6784d4cc | 57 | uint16 w1,w2; |
EasyCAT | 0:543d6784d4cc | 58 | } ec_emcyt; |
EasyCAT | 0:543d6784d4cc | 59 | PACKED_END |
EasyCAT | 0:543d6784d4cc | 60 | |
EasyCAT | 0:543d6784d4cc | 61 | #ifdef EC_VER1 |
EasyCAT | 0:543d6784d4cc | 62 | /** Main slave data array. |
EasyCAT | 0:543d6784d4cc | 63 | * Each slave found on the network gets its own record. |
EasyCAT | 0:543d6784d4cc | 64 | * ec_slave[0] is reserved for the master. Structure gets filled |
EasyCAT | 0:543d6784d4cc | 65 | * in by the configuration function ec_config(). |
EasyCAT | 0:543d6784d4cc | 66 | */ |
EasyCAT | 0:543d6784d4cc | 67 | ec_slavet ec_slave[EC_MAXSLAVE]; |
EasyCAT | 0:543d6784d4cc | 68 | /** number of slaves found on the network */ |
EasyCAT | 0:543d6784d4cc | 69 | int ec_slavecount; |
EasyCAT | 0:543d6784d4cc | 70 | /** slave group structure */ |
EasyCAT | 0:543d6784d4cc | 71 | ec_groupt ec_group[EC_MAXGROUP]; |
EasyCAT | 0:543d6784d4cc | 72 | |
EasyCAT | 0:543d6784d4cc | 73 | /** cache for EEPROM read functions */ |
EasyCAT | 0:543d6784d4cc | 74 | static uint8 ec_esibuf[EC_MAXEEPBUF]; |
EasyCAT | 0:543d6784d4cc | 75 | /** bitmap for filled cache buffer bytes */ |
EasyCAT | 0:543d6784d4cc | 76 | static uint32 ec_esimap[EC_MAXEEPBITMAP]; |
EasyCAT | 0:543d6784d4cc | 77 | /** current slave for EEPROM cache buffer */ |
EasyCAT | 0:543d6784d4cc | 78 | static ec_eringt ec_elist; |
EasyCAT | 0:543d6784d4cc | 79 | static ec_idxstackT ec_idxstack; |
EasyCAT | 0:543d6784d4cc | 80 | |
EasyCAT | 0:543d6784d4cc | 81 | /** SyncManager Communication Type struct to store data of one slave */ |
EasyCAT | 0:543d6784d4cc | 82 | static ec_SMcommtypet ec_SMcommtype[EC_MAX_MAPT]; |
EasyCAT | 0:543d6784d4cc | 83 | /** PDO assign struct to store data of one slave */ |
EasyCAT | 0:543d6784d4cc | 84 | static ec_PDOassignt ec_PDOassign[EC_MAX_MAPT]; |
EasyCAT | 0:543d6784d4cc | 85 | /** PDO description struct to store data of one slave */ |
EasyCAT | 0:543d6784d4cc | 86 | static ec_PDOdesct ec_PDOdesc[EC_MAX_MAPT]; |
EasyCAT | 0:543d6784d4cc | 87 | |
EasyCAT | 0:543d6784d4cc | 88 | /** buffer for EEPROM SM data */ |
EasyCAT | 0:543d6784d4cc | 89 | static ec_eepromSMt ec_SM; |
EasyCAT | 0:543d6784d4cc | 90 | /** buffer for EEPROM FMMU data */ |
EasyCAT | 0:543d6784d4cc | 91 | static ec_eepromFMMUt ec_FMMU; |
EasyCAT | 0:543d6784d4cc | 92 | /** Global variable TRUE if error available in error stack */ |
EasyCAT | 0:543d6784d4cc | 93 | boolean EcatError = FALSE; |
EasyCAT | 0:543d6784d4cc | 94 | |
EasyCAT | 0:543d6784d4cc | 95 | int64 ec_DCtime; |
EasyCAT | 0:543d6784d4cc | 96 | |
EasyCAT | 0:543d6784d4cc | 97 | ecx_portt ecx_port; |
EasyCAT | 0:543d6784d4cc | 98 | ecx_redportt ecx_redport; |
EasyCAT | 0:543d6784d4cc | 99 | |
EasyCAT | 0:543d6784d4cc | 100 | ecx_contextt ecx_context = { |
EasyCAT | 0:543d6784d4cc | 101 | &ecx_port, // .port = |
EasyCAT | 0:543d6784d4cc | 102 | &ec_slave[0], // .slavelist = |
EasyCAT | 0:543d6784d4cc | 103 | &ec_slavecount, // .slavecount = |
EasyCAT | 0:543d6784d4cc | 104 | EC_MAXSLAVE, // .maxslave = |
EasyCAT | 0:543d6784d4cc | 105 | &ec_group[0], // .grouplist = |
EasyCAT | 0:543d6784d4cc | 106 | EC_MAXGROUP, // .maxgroup = |
EasyCAT | 0:543d6784d4cc | 107 | &ec_esibuf[0], // .esibuf = |
EasyCAT | 0:543d6784d4cc | 108 | &ec_esimap[0], // .esimap = |
EasyCAT | 0:543d6784d4cc | 109 | 0, // .esislave = |
EasyCAT | 0:543d6784d4cc | 110 | &ec_elist, // .elist = |
EasyCAT | 0:543d6784d4cc | 111 | &ec_idxstack, // .idxstack = |
EasyCAT | 0:543d6784d4cc | 112 | &EcatError, // .ecaterror = |
EasyCAT | 0:543d6784d4cc | 113 | 0, // .DCtO = |
EasyCAT | 0:543d6784d4cc | 114 | 0, // .DCl = |
EasyCAT | 0:543d6784d4cc | 115 | &ec_DCtime, // .DCtime = |
EasyCAT | 0:543d6784d4cc | 116 | &ec_SMcommtype[0], // .SMcommtype = |
EasyCAT | 0:543d6784d4cc | 117 | &ec_PDOassign[0], // .PDOassign = |
EasyCAT | 0:543d6784d4cc | 118 | &ec_PDOdesc[0], // .PDOdesc = |
EasyCAT | 0:543d6784d4cc | 119 | &ec_SM, // .eepSM = |
EasyCAT | 0:543d6784d4cc | 120 | &ec_FMMU, // .eepFMMU = |
EasyCAT | 0:543d6784d4cc | 121 | NULL, // .FOEhook() |
EasyCAT | 0:543d6784d4cc | 122 | NULL // .EOEhook() |
EasyCAT | 0:543d6784d4cc | 123 | }; |
EasyCAT | 0:543d6784d4cc | 124 | #endif |
EasyCAT | 0:543d6784d4cc | 125 | |
EasyCAT | 0:543d6784d4cc | 126 | /** Create list over available network adapters. |
EasyCAT | 0:543d6784d4cc | 127 | * |
EasyCAT | 0:543d6784d4cc | 128 | * @return First element in list over available network adapters. |
EasyCAT | 0:543d6784d4cc | 129 | */ |
EasyCAT | 0:543d6784d4cc | 130 | ec_adaptert * ec_find_adapters (void) |
EasyCAT | 0:543d6784d4cc | 131 | { |
EasyCAT | 0:543d6784d4cc | 132 | ec_adaptert * ret_adapter; |
EasyCAT | 0:543d6784d4cc | 133 | |
EasyCAT | 0:543d6784d4cc | 134 | ret_adapter = oshw_find_adapters (); |
EasyCAT | 0:543d6784d4cc | 135 | |
EasyCAT | 0:543d6784d4cc | 136 | return ret_adapter; |
EasyCAT | 0:543d6784d4cc | 137 | } |
EasyCAT | 0:543d6784d4cc | 138 | |
EasyCAT | 0:543d6784d4cc | 139 | /** Free dynamically allocated list over available network adapters. |
EasyCAT | 0:543d6784d4cc | 140 | * |
EasyCAT | 0:543d6784d4cc | 141 | * @param[in] adapter = Struct holding adapter name, description and pointer to next. |
EasyCAT | 0:543d6784d4cc | 142 | */ |
EasyCAT | 0:543d6784d4cc | 143 | void ec_free_adapters (ec_adaptert * adapter) |
EasyCAT | 0:543d6784d4cc | 144 | { |
EasyCAT | 0:543d6784d4cc | 145 | oshw_free_adapters (adapter); |
EasyCAT | 0:543d6784d4cc | 146 | } |
EasyCAT | 0:543d6784d4cc | 147 | |
EasyCAT | 0:543d6784d4cc | 148 | /** Pushes an error on the error list. |
EasyCAT | 0:543d6784d4cc | 149 | * |
EasyCAT | 0:543d6784d4cc | 150 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 151 | * @param[in] Ec pointer describing the error. |
EasyCAT | 0:543d6784d4cc | 152 | */ |
EasyCAT | 0:543d6784d4cc | 153 | void ecx_pusherror(ecx_contextt *context, const ec_errort *Ec) |
EasyCAT | 0:543d6784d4cc | 154 | { |
EasyCAT | 0:543d6784d4cc | 155 | context->elist->Error[context->elist->head] = *Ec; |
EasyCAT | 0:543d6784d4cc | 156 | context->elist->Error[context->elist->head].Signal = TRUE; |
EasyCAT | 0:543d6784d4cc | 157 | context->elist->head++; |
EasyCAT | 0:543d6784d4cc | 158 | if (context->elist->head > EC_MAXELIST) |
EasyCAT | 0:543d6784d4cc | 159 | { |
EasyCAT | 0:543d6784d4cc | 160 | context->elist->head = 0; |
EasyCAT | 0:543d6784d4cc | 161 | } |
EasyCAT | 0:543d6784d4cc | 162 | if (context->elist->head == context->elist->tail) |
EasyCAT | 0:543d6784d4cc | 163 | { |
EasyCAT | 0:543d6784d4cc | 164 | context->elist->tail++; |
EasyCAT | 0:543d6784d4cc | 165 | } |
EasyCAT | 0:543d6784d4cc | 166 | if (context->elist->tail > EC_MAXELIST) |
EasyCAT | 0:543d6784d4cc | 167 | { |
EasyCAT | 0:543d6784d4cc | 168 | context->elist->tail = 0; |
EasyCAT | 0:543d6784d4cc | 169 | } |
EasyCAT | 0:543d6784d4cc | 170 | *(context->ecaterror) = TRUE; |
EasyCAT | 0:543d6784d4cc | 171 | } |
EasyCAT | 0:543d6784d4cc | 172 | |
EasyCAT | 0:543d6784d4cc | 173 | /** Pops an error from the list. |
EasyCAT | 0:543d6784d4cc | 174 | * |
EasyCAT | 0:543d6784d4cc | 175 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 176 | * @param[out] Ec = Struct describing the error. |
EasyCAT | 0:543d6784d4cc | 177 | * @return TRUE if an error was popped. |
EasyCAT | 0:543d6784d4cc | 178 | */ |
EasyCAT | 0:543d6784d4cc | 179 | boolean ecx_poperror(ecx_contextt *context, ec_errort *Ec) |
EasyCAT | 0:543d6784d4cc | 180 | { |
EasyCAT | 0:543d6784d4cc | 181 | boolean notEmpty = (context->elist->head != context->elist->tail); |
EasyCAT | 0:543d6784d4cc | 182 | |
EasyCAT | 0:543d6784d4cc | 183 | *Ec = context->elist->Error[context->elist->tail]; |
EasyCAT | 0:543d6784d4cc | 184 | context->elist->Error[context->elist->tail].Signal = FALSE; |
EasyCAT | 0:543d6784d4cc | 185 | if (notEmpty) |
EasyCAT | 0:543d6784d4cc | 186 | { |
EasyCAT | 0:543d6784d4cc | 187 | context->elist->tail++; |
EasyCAT | 0:543d6784d4cc | 188 | if (context->elist->tail > EC_MAXELIST) |
EasyCAT | 0:543d6784d4cc | 189 | { |
EasyCAT | 0:543d6784d4cc | 190 | context->elist->tail = 0; |
EasyCAT | 0:543d6784d4cc | 191 | } |
EasyCAT | 0:543d6784d4cc | 192 | } |
EasyCAT | 0:543d6784d4cc | 193 | else |
EasyCAT | 0:543d6784d4cc | 194 | { |
EasyCAT | 0:543d6784d4cc | 195 | *(context->ecaterror) = FALSE; |
EasyCAT | 0:543d6784d4cc | 196 | } |
EasyCAT | 0:543d6784d4cc | 197 | return notEmpty; |
EasyCAT | 0:543d6784d4cc | 198 | } |
EasyCAT | 0:543d6784d4cc | 199 | |
EasyCAT | 0:543d6784d4cc | 200 | /** Check if error list has entries. |
EasyCAT | 0:543d6784d4cc | 201 | * |
EasyCAT | 0:543d6784d4cc | 202 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 203 | * @return TRUE if error list contains entries. |
EasyCAT | 0:543d6784d4cc | 204 | */ |
EasyCAT | 0:543d6784d4cc | 205 | boolean ecx_iserror(ecx_contextt *context) |
EasyCAT | 0:543d6784d4cc | 206 | { |
EasyCAT | 0:543d6784d4cc | 207 | return (context->elist->head != context->elist->tail); |
EasyCAT | 0:543d6784d4cc | 208 | } |
EasyCAT | 0:543d6784d4cc | 209 | |
EasyCAT | 0:543d6784d4cc | 210 | /** Report packet error |
EasyCAT | 0:543d6784d4cc | 211 | * |
EasyCAT | 0:543d6784d4cc | 212 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 213 | * @param[in] Slave = Slave number |
EasyCAT | 0:543d6784d4cc | 214 | * @param[in] Index = Index that generated error |
EasyCAT | 0:543d6784d4cc | 215 | * @param[in] SubIdx = Subindex that generated error |
EasyCAT | 0:543d6784d4cc | 216 | * @param[in] ErrorCode = Error code |
EasyCAT | 0:543d6784d4cc | 217 | */ |
EasyCAT | 0:543d6784d4cc | 218 | void ecx_packeterror(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode) |
EasyCAT | 0:543d6784d4cc | 219 | { |
EasyCAT | 0:543d6784d4cc | 220 | ec_errort Ec; |
EasyCAT | 0:543d6784d4cc | 221 | |
EasyCAT | 0:543d6784d4cc | 222 | memset(&Ec, 0, sizeof(Ec)); |
EasyCAT | 0:543d6784d4cc | 223 | Ec.Time = osal_current_time(); |
EasyCAT | 0:543d6784d4cc | 224 | Ec.Slave = Slave; |
EasyCAT | 0:543d6784d4cc | 225 | Ec.Index = Index; |
EasyCAT | 0:543d6784d4cc | 226 | Ec.SubIdx = SubIdx; |
EasyCAT | 0:543d6784d4cc | 227 | *(context->ecaterror) = TRUE; |
EasyCAT | 0:543d6784d4cc | 228 | Ec.Etype = EC_ERR_TYPE_PACKET_ERROR; |
EasyCAT | 0:543d6784d4cc | 229 | Ec.ErrorCode = ErrorCode; |
EasyCAT | 0:543d6784d4cc | 230 | ecx_pusherror(context, &Ec); |
EasyCAT | 0:543d6784d4cc | 231 | } |
EasyCAT | 0:543d6784d4cc | 232 | |
EasyCAT | 0:543d6784d4cc | 233 | /** Report Mailbox Error |
EasyCAT | 0:543d6784d4cc | 234 | * |
EasyCAT | 0:543d6784d4cc | 235 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 236 | * @param[in] Slave = Slave number |
EasyCAT | 0:543d6784d4cc | 237 | * @param[in] Detail = Following EtherCAT specification |
EasyCAT | 0:543d6784d4cc | 238 | */ |
EasyCAT | 0:543d6784d4cc | 239 | static void ecx_mbxerror(ecx_contextt *context, uint16 Slave,uint16 Detail) |
EasyCAT | 0:543d6784d4cc | 240 | { |
EasyCAT | 0:543d6784d4cc | 241 | ec_errort Ec; |
EasyCAT | 0:543d6784d4cc | 242 | |
EasyCAT | 0:543d6784d4cc | 243 | memset(&Ec, 0, sizeof(Ec)); |
EasyCAT | 0:543d6784d4cc | 244 | Ec.Time = osal_current_time(); |
EasyCAT | 0:543d6784d4cc | 245 | Ec.Slave = Slave; |
EasyCAT | 0:543d6784d4cc | 246 | Ec.Index = 0; |
EasyCAT | 0:543d6784d4cc | 247 | Ec.SubIdx = 0; |
EasyCAT | 0:543d6784d4cc | 248 | Ec.Etype = EC_ERR_TYPE_MBX_ERROR; |
EasyCAT | 0:543d6784d4cc | 249 | Ec.ErrorCode = Detail; |
EasyCAT | 0:543d6784d4cc | 250 | ecx_pusherror(context, &Ec); |
EasyCAT | 0:543d6784d4cc | 251 | } |
EasyCAT | 0:543d6784d4cc | 252 | |
EasyCAT | 0:543d6784d4cc | 253 | /** Report Mailbox Emergency Error |
EasyCAT | 0:543d6784d4cc | 254 | * |
EasyCAT | 0:543d6784d4cc | 255 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 256 | * @param[in] Slave = Slave number |
EasyCAT | 0:543d6784d4cc | 257 | * @param[in] ErrorCode = Following EtherCAT specification |
EasyCAT | 0:543d6784d4cc | 258 | * @param[in] ErrorReg |
EasyCAT | 0:543d6784d4cc | 259 | * @param[in] b1 |
EasyCAT | 0:543d6784d4cc | 260 | * @param[in] w1 |
EasyCAT | 0:543d6784d4cc | 261 | * @param[in] w2 |
EasyCAT | 0:543d6784d4cc | 262 | */ |
EasyCAT | 0:543d6784d4cc | 263 | static void ecx_mbxemergencyerror(ecx_contextt *context, uint16 Slave,uint16 ErrorCode,uint16 ErrorReg, |
EasyCAT | 0:543d6784d4cc | 264 | uint8 b1, uint16 w1, uint16 w2) |
EasyCAT | 0:543d6784d4cc | 265 | { |
EasyCAT | 0:543d6784d4cc | 266 | ec_errort Ec; |
EasyCAT | 0:543d6784d4cc | 267 | |
EasyCAT | 0:543d6784d4cc | 268 | memset(&Ec, 0, sizeof(Ec)); |
EasyCAT | 0:543d6784d4cc | 269 | Ec.Time = osal_current_time(); |
EasyCAT | 0:543d6784d4cc | 270 | Ec.Slave = Slave; |
EasyCAT | 0:543d6784d4cc | 271 | Ec.Index = 0; |
EasyCAT | 0:543d6784d4cc | 272 | Ec.SubIdx = 0; |
EasyCAT | 0:543d6784d4cc | 273 | Ec.Etype = EC_ERR_TYPE_EMERGENCY; |
EasyCAT | 0:543d6784d4cc | 274 | Ec.ErrorCode = ErrorCode; |
EasyCAT | 0:543d6784d4cc | 275 | Ec.ErrorReg = (uint8)ErrorReg; |
EasyCAT | 0:543d6784d4cc | 276 | Ec.b1 = b1; |
EasyCAT | 0:543d6784d4cc | 277 | Ec.w1 = w1; |
EasyCAT | 0:543d6784d4cc | 278 | Ec.w2 = w2; |
EasyCAT | 0:543d6784d4cc | 279 | ecx_pusherror(context, &Ec); |
EasyCAT | 0:543d6784d4cc | 280 | } |
EasyCAT | 0:543d6784d4cc | 281 | |
EasyCAT | 0:543d6784d4cc | 282 | /** Initialise lib in single NIC mode |
EasyCAT | 0:543d6784d4cc | 283 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 284 | * @param[in] ifname = Dev name, f.e. "eth0" |
EasyCAT | 0:543d6784d4cc | 285 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 286 | */ |
EasyCAT | 0:543d6784d4cc | 287 | int ecx_init(ecx_contextt *context, const char * ifname) |
EasyCAT | 0:543d6784d4cc | 288 | { |
EasyCAT | 0:543d6784d4cc | 289 | return ecx_setupnic(context->port, ifname, FALSE); |
EasyCAT | 0:543d6784d4cc | 290 | } |
EasyCAT | 0:543d6784d4cc | 291 | |
EasyCAT | 0:543d6784d4cc | 292 | /** Initialise lib in redundant NIC mode |
EasyCAT | 0:543d6784d4cc | 293 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 294 | * @param[in] redport = pointer to redport, redundant port data |
EasyCAT | 0:543d6784d4cc | 295 | * @param[in] ifname = Primary Dev name, f.e. "eth0" |
EasyCAT | 0:543d6784d4cc | 296 | * @param[in] if2name = Secondary Dev name, f.e. "eth1" |
EasyCAT | 0:543d6784d4cc | 297 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 298 | */ |
EasyCAT | 0:543d6784d4cc | 299 | int ecx_init_redundant(ecx_contextt *context, ecx_redportt *redport, const char *ifname, char *if2name) |
EasyCAT | 0:543d6784d4cc | 300 | { |
EasyCAT | 0:543d6784d4cc | 301 | int rval, zbuf; |
EasyCAT | 0:543d6784d4cc | 302 | ec_etherheadert *ehp; |
EasyCAT | 0:543d6784d4cc | 303 | |
EasyCAT | 0:543d6784d4cc | 304 | context->port->redport = redport; |
EasyCAT | 0:543d6784d4cc | 305 | ecx_setupnic(context->port, ifname, FALSE); |
EasyCAT | 0:543d6784d4cc | 306 | rval = ecx_setupnic(context->port, if2name, TRUE); |
EasyCAT | 0:543d6784d4cc | 307 | /* prepare "dummy" BRD tx frame for redundant operation */ |
EasyCAT | 0:543d6784d4cc | 308 | ehp = (ec_etherheadert *)&(context->port->txbuf2); |
EasyCAT | 0:543d6784d4cc | 309 | ehp->sa1 = oshw_htons(secMAC[0]); |
EasyCAT | 0:543d6784d4cc | 310 | zbuf = 0; |
EasyCAT | 0:543d6784d4cc | 311 | ecx_setupdatagram(context->port, &(context->port->txbuf2), EC_CMD_BRD, 0, 0x0000, 0x0000, 2, &zbuf); |
EasyCAT | 0:543d6784d4cc | 312 | context->port->txbuflength2 = ETH_HEADERSIZE + EC_HEADERSIZE + EC_WKCSIZE + 2; |
EasyCAT | 0:543d6784d4cc | 313 | |
EasyCAT | 0:543d6784d4cc | 314 | return rval; |
EasyCAT | 0:543d6784d4cc | 315 | } |
EasyCAT | 0:543d6784d4cc | 316 | |
EasyCAT | 0:543d6784d4cc | 317 | /** Close lib. |
EasyCAT | 0:543d6784d4cc | 318 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 319 | */ |
EasyCAT | 0:543d6784d4cc | 320 | void ecx_close(ecx_contextt *context) |
EasyCAT | 0:543d6784d4cc | 321 | { |
EasyCAT | 0:543d6784d4cc | 322 | ecx_closenic(context->port); |
EasyCAT | 0:543d6784d4cc | 323 | }; |
EasyCAT | 0:543d6784d4cc | 324 | |
EasyCAT | 0:543d6784d4cc | 325 | /** Read one byte from slave EEPROM via cache. |
EasyCAT | 0:543d6784d4cc | 326 | * If the cache location is empty then a read request is made to the slave. |
EasyCAT | 0:543d6784d4cc | 327 | * Depending on the slave capabilities the request is 4 or 8 bytes. |
EasyCAT | 0:543d6784d4cc | 328 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 329 | * @param[in] slave = slave number |
EasyCAT | 0:543d6784d4cc | 330 | * @param[in] address = eeprom address in bytes (slave uses words) |
EasyCAT | 0:543d6784d4cc | 331 | * @return requested byte, if not available then 0xff |
EasyCAT | 0:543d6784d4cc | 332 | */ |
EasyCAT | 0:543d6784d4cc | 333 | uint8 ecx_siigetbyte(ecx_contextt *context, uint16 slave, uint16 address) |
EasyCAT | 0:543d6784d4cc | 334 | { |
EasyCAT | 0:543d6784d4cc | 335 | uint16 configadr, eadr; |
EasyCAT | 0:543d6784d4cc | 336 | uint64 edat64; |
EasyCAT | 0:543d6784d4cc | 337 | uint32 edat32; |
EasyCAT | 0:543d6784d4cc | 338 | uint16 mapw, mapb; |
EasyCAT | 0:543d6784d4cc | 339 | int lp,cnt; |
EasyCAT | 0:543d6784d4cc | 340 | uint8 retval; |
EasyCAT | 0:543d6784d4cc | 341 | |
EasyCAT | 0:543d6784d4cc | 342 | retval = 0xff; |
EasyCAT | 0:543d6784d4cc | 343 | if (slave != context->esislave) /* not the same slave? */ |
EasyCAT | 0:543d6784d4cc | 344 | { |
EasyCAT | 0:543d6784d4cc | 345 | memset(context->esimap, 0x00, EC_MAXEEPBITMAP * sizeof(uint32)); /* clear esibuf cache map */ |
EasyCAT | 0:543d6784d4cc | 346 | context->esislave = slave; |
EasyCAT | 0:543d6784d4cc | 347 | } |
EasyCAT | 0:543d6784d4cc | 348 | if (address < EC_MAXEEPBUF) |
EasyCAT | 0:543d6784d4cc | 349 | { |
EasyCAT | 0:543d6784d4cc | 350 | mapw = address >> 5; |
EasyCAT | 0:543d6784d4cc | 351 | mapb = address - (mapw << 5); |
EasyCAT | 0:543d6784d4cc | 352 | if (context->esimap[mapw] & (uint32)(1 << mapb)) |
EasyCAT | 0:543d6784d4cc | 353 | { |
EasyCAT | 0:543d6784d4cc | 354 | /* byte is already in buffer */ |
EasyCAT | 0:543d6784d4cc | 355 | retval = context->esibuf[address]; |
EasyCAT | 0:543d6784d4cc | 356 | } |
EasyCAT | 0:543d6784d4cc | 357 | else |
EasyCAT | 0:543d6784d4cc | 358 | { |
EasyCAT | 0:543d6784d4cc | 359 | /* byte is not in buffer, put it there */ |
EasyCAT | 0:543d6784d4cc | 360 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 361 | ecx_eeprom2master(context, slave); /* set eeprom control to master */ |
EasyCAT | 0:543d6784d4cc | 362 | eadr = address >> 1; |
EasyCAT | 0:543d6784d4cc | 363 | edat64 = ecx_readeepromFP (context, configadr, eadr, EC_TIMEOUTEEP); |
EasyCAT | 0:543d6784d4cc | 364 | /* 8 byte response */ |
EasyCAT | 0:543d6784d4cc | 365 | if (context->slavelist[slave].eep_8byte) |
EasyCAT | 0:543d6784d4cc | 366 | { |
EasyCAT | 0:543d6784d4cc | 367 | put_unaligned64(edat64, &(context->esibuf[eadr << 1])); |
EasyCAT | 0:543d6784d4cc | 368 | cnt = 8; |
EasyCAT | 0:543d6784d4cc | 369 | } |
EasyCAT | 0:543d6784d4cc | 370 | /* 4 byte response */ |
EasyCAT | 0:543d6784d4cc | 371 | else |
EasyCAT | 0:543d6784d4cc | 372 | { |
EasyCAT | 0:543d6784d4cc | 373 | edat32 = (uint32)edat64; |
EasyCAT | 0:543d6784d4cc | 374 | put_unaligned32(edat32, &(context->esibuf[eadr << 1])); |
EasyCAT | 0:543d6784d4cc | 375 | cnt = 4; |
EasyCAT | 0:543d6784d4cc | 376 | } |
EasyCAT | 0:543d6784d4cc | 377 | /* find bitmap location */ |
EasyCAT | 0:543d6784d4cc | 378 | mapw = eadr >> 4; |
EasyCAT | 0:543d6784d4cc | 379 | mapb = (eadr << 1) - (mapw << 5); |
EasyCAT | 0:543d6784d4cc | 380 | for(lp = 0 ; lp < cnt ; lp++) |
EasyCAT | 0:543d6784d4cc | 381 | { |
EasyCAT | 0:543d6784d4cc | 382 | /* set bitmap for each byte that is read */ |
EasyCAT | 0:543d6784d4cc | 383 | context->esimap[mapw] |= (1 << mapb); |
EasyCAT | 0:543d6784d4cc | 384 | mapb++; |
EasyCAT | 0:543d6784d4cc | 385 | if (mapb > 31) |
EasyCAT | 0:543d6784d4cc | 386 | { |
EasyCAT | 0:543d6784d4cc | 387 | mapb = 0; |
EasyCAT | 0:543d6784d4cc | 388 | mapw++; |
EasyCAT | 0:543d6784d4cc | 389 | } |
EasyCAT | 0:543d6784d4cc | 390 | } |
EasyCAT | 0:543d6784d4cc | 391 | retval = context->esibuf[address]; |
EasyCAT | 0:543d6784d4cc | 392 | } |
EasyCAT | 0:543d6784d4cc | 393 | } |
EasyCAT | 0:543d6784d4cc | 394 | |
EasyCAT | 0:543d6784d4cc | 395 | return retval; |
EasyCAT | 0:543d6784d4cc | 396 | } |
EasyCAT | 0:543d6784d4cc | 397 | |
EasyCAT | 0:543d6784d4cc | 398 | /** Find SII section header in slave EEPROM. |
EasyCAT | 0:543d6784d4cc | 399 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 400 | * @param[in] slave = slave number |
EasyCAT | 0:543d6784d4cc | 401 | * @param[in] cat = section category |
EasyCAT | 0:543d6784d4cc | 402 | * @return byte address of section at section length entry, if not available then 0 |
EasyCAT | 0:543d6784d4cc | 403 | */ |
EasyCAT | 0:543d6784d4cc | 404 | int16 ecx_siifind(ecx_contextt *context, uint16 slave, uint16 cat) |
EasyCAT | 0:543d6784d4cc | 405 | { |
EasyCAT | 0:543d6784d4cc | 406 | int16 a; |
EasyCAT | 0:543d6784d4cc | 407 | uint16 p; |
EasyCAT | 0:543d6784d4cc | 408 | uint8 eectl = context->slavelist[slave].eep_pdi; |
EasyCAT | 0:543d6784d4cc | 409 | |
EasyCAT | 0:543d6784d4cc | 410 | a = ECT_SII_START << 1; |
EasyCAT | 0:543d6784d4cc | 411 | /* read first SII section category */ |
EasyCAT | 0:543d6784d4cc | 412 | p = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 413 | p += (ecx_siigetbyte(context, slave, a++) << 8); |
EasyCAT | 0:543d6784d4cc | 414 | /* traverse SII while category is not found and not EOF */ |
EasyCAT | 0:543d6784d4cc | 415 | while ((p != cat) && (p != 0xffff)) |
EasyCAT | 0:543d6784d4cc | 416 | { |
EasyCAT | 0:543d6784d4cc | 417 | /* read section length */ |
EasyCAT | 0:543d6784d4cc | 418 | p = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 419 | p += (ecx_siigetbyte(context, slave, a++) << 8); |
EasyCAT | 0:543d6784d4cc | 420 | /* locate next section category */ |
EasyCAT | 0:543d6784d4cc | 421 | a += p << 1; |
EasyCAT | 0:543d6784d4cc | 422 | /* read section category */ |
EasyCAT | 0:543d6784d4cc | 423 | p = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 424 | p += (ecx_siigetbyte(context, slave, a++) << 8); |
EasyCAT | 0:543d6784d4cc | 425 | } |
EasyCAT | 0:543d6784d4cc | 426 | if (p != cat) |
EasyCAT | 0:543d6784d4cc | 427 | { |
EasyCAT | 0:543d6784d4cc | 428 | a = 0; |
EasyCAT | 0:543d6784d4cc | 429 | } |
EasyCAT | 0:543d6784d4cc | 430 | if (eectl) |
EasyCAT | 0:543d6784d4cc | 431 | { |
EasyCAT | 0:543d6784d4cc | 432 | ecx_eeprom2pdi(context, slave); /* if eeprom control was previously pdi then restore */ |
EasyCAT | 0:543d6784d4cc | 433 | } |
EasyCAT | 0:543d6784d4cc | 434 | |
EasyCAT | 0:543d6784d4cc | 435 | return a; |
EasyCAT | 0:543d6784d4cc | 436 | } |
EasyCAT | 0:543d6784d4cc | 437 | |
EasyCAT | 0:543d6784d4cc | 438 | /** Get string from SII string section in slave EEPROM. |
EasyCAT | 0:543d6784d4cc | 439 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 440 | * @param[out] str = requested string, 0x00 if not found |
EasyCAT | 0:543d6784d4cc | 441 | * @param[in] slave = slave number |
EasyCAT | 0:543d6784d4cc | 442 | * @param[in] Sn = string number |
EasyCAT | 0:543d6784d4cc | 443 | */ |
EasyCAT | 0:543d6784d4cc | 444 | void ecx_siistring(ecx_contextt *context, char *str, uint16 slave, uint16 Sn) |
EasyCAT | 0:543d6784d4cc | 445 | { |
EasyCAT | 0:543d6784d4cc | 446 | uint16 a,i,j,l,n,ba; |
EasyCAT | 0:543d6784d4cc | 447 | char *ptr; |
EasyCAT | 0:543d6784d4cc | 448 | uint8 eectl = context->slavelist[slave].eep_pdi; |
EasyCAT | 0:543d6784d4cc | 449 | |
EasyCAT | 0:543d6784d4cc | 450 | ptr = str; |
EasyCAT | 0:543d6784d4cc | 451 | a = ecx_siifind (context, slave, ECT_SII_STRING); /* find string section */ |
EasyCAT | 0:543d6784d4cc | 452 | if (a > 0) |
EasyCAT | 0:543d6784d4cc | 453 | { |
EasyCAT | 0:543d6784d4cc | 454 | ba = a + 2; /* skip SII section header */ |
EasyCAT | 0:543d6784d4cc | 455 | n = ecx_siigetbyte(context, slave, ba++); /* read number of strings in section */ |
EasyCAT | 0:543d6784d4cc | 456 | if (Sn <= n) /* is req string available? */ |
EasyCAT | 0:543d6784d4cc | 457 | { |
EasyCAT | 0:543d6784d4cc | 458 | for (i = 1; i <= Sn; i++) /* walk through strings */ |
EasyCAT | 0:543d6784d4cc | 459 | { |
EasyCAT | 0:543d6784d4cc | 460 | l = ecx_siigetbyte(context, slave, ba++); /* length of this string */ |
EasyCAT | 0:543d6784d4cc | 461 | if (i < Sn) |
EasyCAT | 0:543d6784d4cc | 462 | { |
EasyCAT | 0:543d6784d4cc | 463 | ba += l; |
EasyCAT | 0:543d6784d4cc | 464 | } |
EasyCAT | 0:543d6784d4cc | 465 | else |
EasyCAT | 0:543d6784d4cc | 466 | { |
EasyCAT | 0:543d6784d4cc | 467 | ptr = str; |
EasyCAT | 0:543d6784d4cc | 468 | for (j = 1; j <= l; j++) /* copy one string */ |
EasyCAT | 0:543d6784d4cc | 469 | { |
EasyCAT | 0:543d6784d4cc | 470 | if(j <= EC_MAXNAME) |
EasyCAT | 0:543d6784d4cc | 471 | { |
EasyCAT | 0:543d6784d4cc | 472 | *ptr = (char)ecx_siigetbyte(context, slave, ba++); |
EasyCAT | 0:543d6784d4cc | 473 | ptr++; |
EasyCAT | 0:543d6784d4cc | 474 | } |
EasyCAT | 0:543d6784d4cc | 475 | else |
EasyCAT | 0:543d6784d4cc | 476 | { |
EasyCAT | 0:543d6784d4cc | 477 | ba++; |
EasyCAT | 0:543d6784d4cc | 478 | } |
EasyCAT | 0:543d6784d4cc | 479 | } |
EasyCAT | 0:543d6784d4cc | 480 | } |
EasyCAT | 0:543d6784d4cc | 481 | } |
EasyCAT | 0:543d6784d4cc | 482 | *ptr = 0; /* add zero terminator */ |
EasyCAT | 0:543d6784d4cc | 483 | } |
EasyCAT | 0:543d6784d4cc | 484 | else |
EasyCAT | 0:543d6784d4cc | 485 | { |
EasyCAT | 0:543d6784d4cc | 486 | ptr = str; |
EasyCAT | 0:543d6784d4cc | 487 | *ptr = 0; /* empty string */ |
EasyCAT | 0:543d6784d4cc | 488 | } |
EasyCAT | 0:543d6784d4cc | 489 | } |
EasyCAT | 0:543d6784d4cc | 490 | if (eectl) |
EasyCAT | 0:543d6784d4cc | 491 | { |
EasyCAT | 0:543d6784d4cc | 492 | ecx_eeprom2pdi(context, slave); /* if eeprom control was previously pdi then restore */ |
EasyCAT | 0:543d6784d4cc | 493 | } |
EasyCAT | 0:543d6784d4cc | 494 | } |
EasyCAT | 0:543d6784d4cc | 495 | |
EasyCAT | 0:543d6784d4cc | 496 | /** Get FMMU data from SII FMMU section in slave EEPROM. |
EasyCAT | 0:543d6784d4cc | 497 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 498 | * @param[in] slave = slave number |
EasyCAT | 0:543d6784d4cc | 499 | * @param[out] FMMU = FMMU struct from SII, max. 4 FMMU's |
EasyCAT | 0:543d6784d4cc | 500 | * @return number of FMMU's defined in section |
EasyCAT | 0:543d6784d4cc | 501 | */ |
EasyCAT | 0:543d6784d4cc | 502 | uint16 ecx_siiFMMU(ecx_contextt *context, uint16 slave, ec_eepromFMMUt* FMMU) |
EasyCAT | 0:543d6784d4cc | 503 | { |
EasyCAT | 0:543d6784d4cc | 504 | uint16 a; |
EasyCAT | 0:543d6784d4cc | 505 | uint8 eectl = context->slavelist[slave].eep_pdi; |
EasyCAT | 0:543d6784d4cc | 506 | |
EasyCAT | 0:543d6784d4cc | 507 | FMMU->nFMMU = 0; |
EasyCAT | 0:543d6784d4cc | 508 | FMMU->FMMU0 = 0; |
EasyCAT | 0:543d6784d4cc | 509 | FMMU->FMMU1 = 0; |
EasyCAT | 0:543d6784d4cc | 510 | FMMU->FMMU2 = 0; |
EasyCAT | 0:543d6784d4cc | 511 | FMMU->FMMU3 = 0; |
EasyCAT | 0:543d6784d4cc | 512 | FMMU->Startpos = ecx_siifind(context, slave, ECT_SII_FMMU); |
EasyCAT | 0:543d6784d4cc | 513 | |
EasyCAT | 0:543d6784d4cc | 514 | if (FMMU->Startpos > 0) |
EasyCAT | 0:543d6784d4cc | 515 | { |
EasyCAT | 0:543d6784d4cc | 516 | a = FMMU->Startpos; |
EasyCAT | 0:543d6784d4cc | 517 | FMMU->nFMMU = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 518 | FMMU->nFMMU += (ecx_siigetbyte(context, slave, a++) << 8); |
EasyCAT | 0:543d6784d4cc | 519 | FMMU->nFMMU *= 2; |
EasyCAT | 0:543d6784d4cc | 520 | FMMU->FMMU0 = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 521 | FMMU->FMMU1 = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 522 | if (FMMU->nFMMU > 2) |
EasyCAT | 0:543d6784d4cc | 523 | { |
EasyCAT | 0:543d6784d4cc | 524 | FMMU->FMMU2 = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 525 | FMMU->FMMU3 = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 526 | } |
EasyCAT | 0:543d6784d4cc | 527 | } |
EasyCAT | 0:543d6784d4cc | 528 | if (eectl) |
EasyCAT | 0:543d6784d4cc | 529 | { |
EasyCAT | 0:543d6784d4cc | 530 | ecx_eeprom2pdi(context, slave); /* if eeprom control was previously pdi then restore */ |
EasyCAT | 0:543d6784d4cc | 531 | } |
EasyCAT | 0:543d6784d4cc | 532 | |
EasyCAT | 0:543d6784d4cc | 533 | return FMMU->nFMMU; |
EasyCAT | 0:543d6784d4cc | 534 | } |
EasyCAT | 0:543d6784d4cc | 535 | |
EasyCAT | 0:543d6784d4cc | 536 | /** Get SM data from SII SM section in slave EEPROM. |
EasyCAT | 0:543d6784d4cc | 537 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 538 | * @param[in] slave = slave number |
EasyCAT | 0:543d6784d4cc | 539 | * @param[out] SM = first SM struct from SII |
EasyCAT | 0:543d6784d4cc | 540 | * @return number of SM's defined in section |
EasyCAT | 0:543d6784d4cc | 541 | */ |
EasyCAT | 0:543d6784d4cc | 542 | uint16 ecx_siiSM(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM) |
EasyCAT | 0:543d6784d4cc | 543 | { |
EasyCAT | 0:543d6784d4cc | 544 | uint16 a,w; |
EasyCAT | 0:543d6784d4cc | 545 | uint8 eectl = context->slavelist[slave].eep_pdi; |
EasyCAT | 0:543d6784d4cc | 546 | |
EasyCAT | 0:543d6784d4cc | 547 | SM->nSM = 0; |
EasyCAT | 0:543d6784d4cc | 548 | SM->Startpos = ecx_siifind(context, slave, ECT_SII_SM); |
EasyCAT | 0:543d6784d4cc | 549 | if (SM->Startpos > 0) |
EasyCAT | 0:543d6784d4cc | 550 | { |
EasyCAT | 0:543d6784d4cc | 551 | a = SM->Startpos; |
EasyCAT | 0:543d6784d4cc | 552 | w = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 553 | w += (ecx_siigetbyte(context, slave, a++) << 8); |
EasyCAT | 0:543d6784d4cc | 554 | SM->nSM = (w / 4); |
EasyCAT | 0:543d6784d4cc | 555 | SM->PhStart = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 556 | SM->PhStart += (ecx_siigetbyte(context, slave, a++) << 8); |
EasyCAT | 0:543d6784d4cc | 557 | SM->Plength = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 558 | SM->Plength += (ecx_siigetbyte(context, slave, a++) << 8); |
EasyCAT | 0:543d6784d4cc | 559 | SM->Creg = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 560 | SM->Sreg = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 561 | SM->Activate = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 562 | SM->PDIctrl = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 563 | } |
EasyCAT | 0:543d6784d4cc | 564 | if (eectl) |
EasyCAT | 0:543d6784d4cc | 565 | { |
EasyCAT | 0:543d6784d4cc | 566 | ecx_eeprom2pdi(context, slave); /* if eeprom control was previously pdi then restore */ |
EasyCAT | 0:543d6784d4cc | 567 | } |
EasyCAT | 0:543d6784d4cc | 568 | |
EasyCAT | 0:543d6784d4cc | 569 | return SM->nSM; |
EasyCAT | 0:543d6784d4cc | 570 | } |
EasyCAT | 0:543d6784d4cc | 571 | |
EasyCAT | 0:543d6784d4cc | 572 | /** Get next SM data from SII SM section in slave EEPROM. |
EasyCAT | 0:543d6784d4cc | 573 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 574 | * @param[in] slave = slave number |
EasyCAT | 0:543d6784d4cc | 575 | * @param[out] SM = first SM struct from SII |
EasyCAT | 0:543d6784d4cc | 576 | * @param[in] n = SM number |
EasyCAT | 0:543d6784d4cc | 577 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 578 | */ |
EasyCAT | 0:543d6784d4cc | 579 | uint16 ecx_siiSMnext(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM, uint16 n) |
EasyCAT | 0:543d6784d4cc | 580 | { |
EasyCAT | 0:543d6784d4cc | 581 | uint16 a; |
EasyCAT | 0:543d6784d4cc | 582 | uint16 retVal = 0; |
EasyCAT | 0:543d6784d4cc | 583 | uint8 eectl = context->slavelist[slave].eep_pdi; |
EasyCAT | 0:543d6784d4cc | 584 | |
EasyCAT | 0:543d6784d4cc | 585 | if (n < SM->nSM) |
EasyCAT | 0:543d6784d4cc | 586 | { |
EasyCAT | 0:543d6784d4cc | 587 | a = SM->Startpos + 2 + (n * 8); |
EasyCAT | 0:543d6784d4cc | 588 | SM->PhStart = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 589 | SM->PhStart += (ecx_siigetbyte(context, slave, a++) << 8); |
EasyCAT | 0:543d6784d4cc | 590 | SM->Plength = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 591 | SM->Plength += (ecx_siigetbyte(context, slave, a++) << 8); |
EasyCAT | 0:543d6784d4cc | 592 | SM->Creg = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 593 | SM->Sreg = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 594 | SM->Activate = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 595 | SM->PDIctrl = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 596 | retVal = 1; |
EasyCAT | 0:543d6784d4cc | 597 | } |
EasyCAT | 0:543d6784d4cc | 598 | if (eectl) |
EasyCAT | 0:543d6784d4cc | 599 | { |
EasyCAT | 0:543d6784d4cc | 600 | ecx_eeprom2pdi(context, slave); /* if eeprom control was previously pdi then restore */ |
EasyCAT | 0:543d6784d4cc | 601 | } |
EasyCAT | 0:543d6784d4cc | 602 | |
EasyCAT | 0:543d6784d4cc | 603 | return retVal; |
EasyCAT | 0:543d6784d4cc | 604 | } |
EasyCAT | 0:543d6784d4cc | 605 | |
EasyCAT | 0:543d6784d4cc | 606 | /** Get PDO data from SII PDO section in slave EEPROM. |
EasyCAT | 0:543d6784d4cc | 607 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 608 | * @param[in] slave = slave number |
EasyCAT | 0:543d6784d4cc | 609 | * @param[out] PDO = PDO struct from SII |
EasyCAT | 0:543d6784d4cc | 610 | * @param[in] t = 0=RXPDO 1=TXPDO |
EasyCAT | 0:543d6784d4cc | 611 | * @return mapping size in bits of PDO |
EasyCAT | 0:543d6784d4cc | 612 | */ |
EasyCAT | 0:543d6784d4cc | 613 | int ecx_siiPDO(ecx_contextt *context, uint16 slave, ec_eepromPDOt* PDO, uint8 t) |
EasyCAT | 0:543d6784d4cc | 614 | { |
EasyCAT | 0:543d6784d4cc | 615 | uint16 a , w, c, e, er, Size; |
EasyCAT | 0:543d6784d4cc | 616 | uint8 eectl = context->slavelist[slave].eep_pdi; |
EasyCAT | 0:543d6784d4cc | 617 | |
EasyCAT | 0:543d6784d4cc | 618 | Size = 0; |
EasyCAT | 0:543d6784d4cc | 619 | PDO->nPDO = 0; |
EasyCAT | 0:543d6784d4cc | 620 | PDO->Length = 0; |
EasyCAT | 0:543d6784d4cc | 621 | PDO->Index[1] = 0; |
EasyCAT | 0:543d6784d4cc | 622 | for (c = 0 ; c < EC_MAXSM ; c++) PDO->SMbitsize[c] = 0; |
EasyCAT | 0:543d6784d4cc | 623 | if (t > 1) |
EasyCAT | 0:543d6784d4cc | 624 | t = 1; |
EasyCAT | 0:543d6784d4cc | 625 | PDO->Startpos = ecx_siifind(context, slave, ECT_SII_PDO + t); |
EasyCAT | 0:543d6784d4cc | 626 | if (PDO->Startpos > 0) |
EasyCAT | 0:543d6784d4cc | 627 | { |
EasyCAT | 0:543d6784d4cc | 628 | a = PDO->Startpos; |
EasyCAT | 0:543d6784d4cc | 629 | w = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 630 | w += (ecx_siigetbyte(context, slave, a++) << 8); |
EasyCAT | 0:543d6784d4cc | 631 | PDO->Length = w; |
EasyCAT | 0:543d6784d4cc | 632 | c = 1; |
EasyCAT | 0:543d6784d4cc | 633 | /* traverse through all PDOs */ |
EasyCAT | 0:543d6784d4cc | 634 | do |
EasyCAT | 0:543d6784d4cc | 635 | { |
EasyCAT | 0:543d6784d4cc | 636 | PDO->nPDO++; |
EasyCAT | 0:543d6784d4cc | 637 | PDO->Index[PDO->nPDO] = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 638 | PDO->Index[PDO->nPDO] += (ecx_siigetbyte(context, slave, a++) << 8); |
EasyCAT | 0:543d6784d4cc | 639 | PDO->BitSize[PDO->nPDO] = 0; |
EasyCAT | 0:543d6784d4cc | 640 | c++; |
EasyCAT | 0:543d6784d4cc | 641 | e = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 642 | PDO->SyncM[PDO->nPDO] = ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 643 | a += 4; |
EasyCAT | 0:543d6784d4cc | 644 | c += 2; |
EasyCAT | 0:543d6784d4cc | 645 | if (PDO->SyncM[PDO->nPDO] < EC_MAXSM) /* active and in range SM? */ |
EasyCAT | 0:543d6784d4cc | 646 | { |
EasyCAT | 0:543d6784d4cc | 647 | /* read all entries defined in PDO */ |
EasyCAT | 0:543d6784d4cc | 648 | for (er = 1; er <= e; er++) |
EasyCAT | 0:543d6784d4cc | 649 | { |
EasyCAT | 0:543d6784d4cc | 650 | c += 4; |
EasyCAT | 0:543d6784d4cc | 651 | a += 5; |
EasyCAT | 0:543d6784d4cc | 652 | PDO->BitSize[PDO->nPDO] += ecx_siigetbyte(context, slave, a++); |
EasyCAT | 0:543d6784d4cc | 653 | a += 2; |
EasyCAT | 0:543d6784d4cc | 654 | } |
EasyCAT | 0:543d6784d4cc | 655 | PDO->SMbitsize[ PDO->SyncM[PDO->nPDO] ] += PDO->BitSize[PDO->nPDO]; |
EasyCAT | 0:543d6784d4cc | 656 | Size += PDO->BitSize[PDO->nPDO]; |
EasyCAT | 0:543d6784d4cc | 657 | c++; |
EasyCAT | 0:543d6784d4cc | 658 | } |
EasyCAT | 0:543d6784d4cc | 659 | else /* PDO deactivated because SM is 0xff or > EC_MAXSM */ |
EasyCAT | 0:543d6784d4cc | 660 | { |
EasyCAT | 0:543d6784d4cc | 661 | c += 4 * e; |
EasyCAT | 0:543d6784d4cc | 662 | a += 8 * e; |
EasyCAT | 0:543d6784d4cc | 663 | c++; |
EasyCAT | 0:543d6784d4cc | 664 | } |
EasyCAT | 0:543d6784d4cc | 665 | if (PDO->nPDO >= (EC_MAXEEPDO - 1)) |
EasyCAT | 0:543d6784d4cc | 666 | { |
EasyCAT | 0:543d6784d4cc | 667 | c = PDO->Length; /* limit number of PDO entries in buffer */ |
EasyCAT | 0:543d6784d4cc | 668 | } |
EasyCAT | 0:543d6784d4cc | 669 | } |
EasyCAT | 0:543d6784d4cc | 670 | while (c < PDO->Length); |
EasyCAT | 0:543d6784d4cc | 671 | } |
EasyCAT | 0:543d6784d4cc | 672 | if (eectl) |
EasyCAT | 0:543d6784d4cc | 673 | { |
EasyCAT | 0:543d6784d4cc | 674 | ecx_eeprom2pdi(context, slave); /* if eeprom control was previously pdi then restore */ |
EasyCAT | 0:543d6784d4cc | 675 | } |
EasyCAT | 0:543d6784d4cc | 676 | |
EasyCAT | 0:543d6784d4cc | 677 | return (Size); |
EasyCAT | 0:543d6784d4cc | 678 | } |
EasyCAT | 0:543d6784d4cc | 679 | |
EasyCAT | 0:543d6784d4cc | 680 | #define MAX_FPRD_MULTI 64 |
EasyCAT | 0:543d6784d4cc | 681 | |
EasyCAT | 0:543d6784d4cc | 682 | int ecx_FPRD_multi(ecx_contextt *context, int n, uint16 *configlst, ec_alstatust *slstatlst, int timeout) |
EasyCAT | 0:543d6784d4cc | 683 | { |
EasyCAT | 0:543d6784d4cc | 684 | int wkc; |
EasyCAT | 0:543d6784d4cc | 685 | uint8 idx; |
EasyCAT | 0:543d6784d4cc | 686 | ecx_portt *port; |
EasyCAT | 0:543d6784d4cc | 687 | int sldatapos[MAX_FPRD_MULTI]; |
EasyCAT | 0:543d6784d4cc | 688 | int slcnt; |
EasyCAT | 0:543d6784d4cc | 689 | |
EasyCAT | 0:543d6784d4cc | 690 | port = context->port; |
EasyCAT | 0:543d6784d4cc | 691 | idx = ecx_getindex(port); |
EasyCAT | 0:543d6784d4cc | 692 | slcnt = 0; |
EasyCAT | 0:543d6784d4cc | 693 | ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_FPRD, idx, |
EasyCAT | 0:543d6784d4cc | 694 | *(configlst + slcnt), ECT_REG_ALSTAT, sizeof(ec_alstatust), slstatlst + slcnt); |
EasyCAT | 0:543d6784d4cc | 695 | sldatapos[slcnt] = EC_HEADERSIZE; |
EasyCAT | 0:543d6784d4cc | 696 | while(++slcnt < (n - 1)) |
EasyCAT | 0:543d6784d4cc | 697 | { |
EasyCAT | 0:543d6784d4cc | 698 | sldatapos[slcnt] = ecx_adddatagram(port, &(port->txbuf[idx]), EC_CMD_FPRD, idx, TRUE, |
EasyCAT | 0:543d6784d4cc | 699 | *(configlst + slcnt), ECT_REG_ALSTAT, sizeof(ec_alstatust), slstatlst + slcnt); |
EasyCAT | 0:543d6784d4cc | 700 | } |
EasyCAT | 0:543d6784d4cc | 701 | if(slcnt < n) |
EasyCAT | 0:543d6784d4cc | 702 | { |
EasyCAT | 0:543d6784d4cc | 703 | sldatapos[slcnt] = ecx_adddatagram(port, &(port->txbuf[idx]), EC_CMD_FPRD, idx, FALSE, |
EasyCAT | 0:543d6784d4cc | 704 | *(configlst + slcnt), ECT_REG_ALSTAT, sizeof(ec_alstatust), slstatlst + slcnt); |
EasyCAT | 0:543d6784d4cc | 705 | } |
EasyCAT | 0:543d6784d4cc | 706 | wkc = ecx_srconfirm(port, idx, timeout); |
EasyCAT | 0:543d6784d4cc | 707 | if (wkc >= 0) |
EasyCAT | 0:543d6784d4cc | 708 | { |
EasyCAT | 0:543d6784d4cc | 709 | for(slcnt = 0 ; slcnt < n ; slcnt++) |
EasyCAT | 0:543d6784d4cc | 710 | { |
EasyCAT | 0:543d6784d4cc | 711 | memcpy(slstatlst + slcnt, &(port->rxbuf[idx][sldatapos[slcnt]]), sizeof(ec_alstatust)); |
EasyCAT | 0:543d6784d4cc | 712 | } |
EasyCAT | 0:543d6784d4cc | 713 | } |
EasyCAT | 0:543d6784d4cc | 714 | ecx_setbufstat(port, idx, EC_BUF_EMPTY); |
EasyCAT | 0:543d6784d4cc | 715 | return wkc; |
EasyCAT | 0:543d6784d4cc | 716 | } |
EasyCAT | 0:543d6784d4cc | 717 | |
EasyCAT | 0:543d6784d4cc | 718 | /** Read all slave states in ec_slave. |
EasyCAT | 0:543d6784d4cc | 719 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 720 | * @return lowest state found |
EasyCAT | 0:543d6784d4cc | 721 | */ |
EasyCAT | 0:543d6784d4cc | 722 | int ecx_readstate(ecx_contextt *context) |
EasyCAT | 0:543d6784d4cc | 723 | { |
EasyCAT | 0:543d6784d4cc | 724 | uint16 slave, fslave, lslave, configadr, lowest, rval, bitwisestate; |
EasyCAT | 0:543d6784d4cc | 725 | ec_alstatust sl[MAX_FPRD_MULTI]; |
EasyCAT | 0:543d6784d4cc | 726 | uint16 slca[MAX_FPRD_MULTI]; |
EasyCAT | 0:543d6784d4cc | 727 | boolean noerrorflag, allslavessamestate; |
EasyCAT | 0:543d6784d4cc | 728 | boolean allslavespresent = FALSE; |
EasyCAT | 0:543d6784d4cc | 729 | int wkc; |
EasyCAT | 0:543d6784d4cc | 730 | |
EasyCAT | 0:543d6784d4cc | 731 | /* Try to establish the state of all slaves sending only one broadcast datagram. |
EasyCAT | 0:543d6784d4cc | 732 | * This way a number of datagrams equal to the number of slaves will be sent only if needed.*/ |
EasyCAT | 0:543d6784d4cc | 733 | rval = 0; |
EasyCAT | 0:543d6784d4cc | 734 | wkc = ecx_BRD(context->port, 0, ECT_REG_ALSTAT, sizeof(rval), &rval, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 735 | |
EasyCAT | 0:543d6784d4cc | 736 | if(wkc >= *(context->slavecount)) |
EasyCAT | 0:543d6784d4cc | 737 | { |
EasyCAT | 0:543d6784d4cc | 738 | allslavespresent = TRUE; |
EasyCAT | 0:543d6784d4cc | 739 | } |
EasyCAT | 0:543d6784d4cc | 740 | |
EasyCAT | 0:543d6784d4cc | 741 | rval = etohs(rval); |
EasyCAT | 0:543d6784d4cc | 742 | bitwisestate = (rval & 0x0f); |
EasyCAT | 0:543d6784d4cc | 743 | |
EasyCAT | 0:543d6784d4cc | 744 | if ((rval & EC_STATE_ERROR) == 0) |
EasyCAT | 0:543d6784d4cc | 745 | { |
EasyCAT | 0:543d6784d4cc | 746 | noerrorflag = TRUE; |
EasyCAT | 0:543d6784d4cc | 747 | context->slavelist[0].ALstatuscode = 0; |
EasyCAT | 0:543d6784d4cc | 748 | } |
EasyCAT | 0:543d6784d4cc | 749 | else |
EasyCAT | 0:543d6784d4cc | 750 | { |
EasyCAT | 0:543d6784d4cc | 751 | noerrorflag = FALSE; |
EasyCAT | 0:543d6784d4cc | 752 | } |
EasyCAT | 0:543d6784d4cc | 753 | |
EasyCAT | 0:543d6784d4cc | 754 | switch (bitwisestate) |
EasyCAT | 0:543d6784d4cc | 755 | { |
EasyCAT | 0:543d6784d4cc | 756 | case EC_STATE_INIT: |
EasyCAT | 0:543d6784d4cc | 757 | case EC_STATE_PRE_OP: |
EasyCAT | 0:543d6784d4cc | 758 | case EC_STATE_BOOT: |
EasyCAT | 0:543d6784d4cc | 759 | case EC_STATE_SAFE_OP: |
EasyCAT | 0:543d6784d4cc | 760 | case EC_STATE_OPERATIONAL: |
EasyCAT | 0:543d6784d4cc | 761 | allslavessamestate = TRUE; |
EasyCAT | 0:543d6784d4cc | 762 | context->slavelist[0].state = bitwisestate; |
EasyCAT | 0:543d6784d4cc | 763 | break; |
EasyCAT | 0:543d6784d4cc | 764 | default: |
EasyCAT | 0:543d6784d4cc | 765 | allslavessamestate = FALSE; |
EasyCAT | 0:543d6784d4cc | 766 | break; |
EasyCAT | 0:543d6784d4cc | 767 | } |
EasyCAT | 0:543d6784d4cc | 768 | |
EasyCAT | 0:543d6784d4cc | 769 | if (noerrorflag && allslavessamestate && allslavespresent) |
EasyCAT | 0:543d6784d4cc | 770 | { |
EasyCAT | 0:543d6784d4cc | 771 | /* No slave has toggled the error flag so the alstatuscode |
EasyCAT | 0:543d6784d4cc | 772 | * (even if different from 0) should be ignored and |
EasyCAT | 0:543d6784d4cc | 773 | * the slaves have reached the same state so the internal state |
EasyCAT | 0:543d6784d4cc | 774 | * can be updated without sending any datagram. */ |
EasyCAT | 0:543d6784d4cc | 775 | for (slave = 1; slave <= *(context->slavecount); slave++) |
EasyCAT | 0:543d6784d4cc | 776 | { |
EasyCAT | 0:543d6784d4cc | 777 | context->slavelist[slave].ALstatuscode = 0x0000; |
EasyCAT | 0:543d6784d4cc | 778 | context->slavelist[slave].state = bitwisestate; |
EasyCAT | 0:543d6784d4cc | 779 | } |
EasyCAT | 0:543d6784d4cc | 780 | lowest = bitwisestate; |
EasyCAT | 0:543d6784d4cc | 781 | } |
EasyCAT | 0:543d6784d4cc | 782 | else |
EasyCAT | 0:543d6784d4cc | 783 | { |
EasyCAT | 0:543d6784d4cc | 784 | /* Not all slaves have the same state or at least one is in error so one datagram per slave |
EasyCAT | 0:543d6784d4cc | 785 | * is needed. */ |
EasyCAT | 0:543d6784d4cc | 786 | context->slavelist[0].ALstatuscode = 0; |
EasyCAT | 0:543d6784d4cc | 787 | lowest = 0xff; |
EasyCAT | 0:543d6784d4cc | 788 | fslave = 1; |
EasyCAT | 0:543d6784d4cc | 789 | do |
EasyCAT | 0:543d6784d4cc | 790 | { |
EasyCAT | 0:543d6784d4cc | 791 | lslave = *(context->slavecount); |
EasyCAT | 0:543d6784d4cc | 792 | if ((lslave - fslave) >= MAX_FPRD_MULTI) |
EasyCAT | 0:543d6784d4cc | 793 | { |
EasyCAT | 0:543d6784d4cc | 794 | lslave = fslave + MAX_FPRD_MULTI - 1; |
EasyCAT | 0:543d6784d4cc | 795 | } |
EasyCAT | 0:543d6784d4cc | 796 | for (slave = fslave; slave <= lslave; slave++) |
EasyCAT | 0:543d6784d4cc | 797 | { |
EasyCAT | 0:543d6784d4cc | 798 | const ec_alstatust zero = { 0, 0, 0 }; |
EasyCAT | 0:543d6784d4cc | 799 | |
EasyCAT | 0:543d6784d4cc | 800 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 801 | slca[slave - fslave] = configadr; |
EasyCAT | 0:543d6784d4cc | 802 | sl[slave - fslave] = zero; |
EasyCAT | 0:543d6784d4cc | 803 | } |
EasyCAT | 0:543d6784d4cc | 804 | ecx_FPRD_multi(context, (lslave - fslave) + 1, &(slca[0]), &(sl[0]), EC_TIMEOUTRET3); |
EasyCAT | 0:543d6784d4cc | 805 | for (slave = fslave; slave <= lslave; slave++) |
EasyCAT | 0:543d6784d4cc | 806 | { |
EasyCAT | 0:543d6784d4cc | 807 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 808 | rval = etohs(sl[slave - fslave].alstatus); |
EasyCAT | 0:543d6784d4cc | 809 | context->slavelist[slave].ALstatuscode = etohs(sl[slave - fslave].alstatuscode); |
EasyCAT | 0:543d6784d4cc | 810 | if ((rval & 0xf) < lowest) |
EasyCAT | 0:543d6784d4cc | 811 | { |
EasyCAT | 0:543d6784d4cc | 812 | lowest = (rval & 0xf); |
EasyCAT | 0:543d6784d4cc | 813 | } |
EasyCAT | 0:543d6784d4cc | 814 | context->slavelist[slave].state = rval; |
EasyCAT | 0:543d6784d4cc | 815 | context->slavelist[0].ALstatuscode |= context->slavelist[slave].ALstatuscode; |
EasyCAT | 0:543d6784d4cc | 816 | } |
EasyCAT | 0:543d6784d4cc | 817 | fslave = lslave + 1; |
EasyCAT | 0:543d6784d4cc | 818 | } while (lslave < *(context->slavecount)); |
EasyCAT | 0:543d6784d4cc | 819 | context->slavelist[0].state = lowest; |
EasyCAT | 0:543d6784d4cc | 820 | } |
EasyCAT | 0:543d6784d4cc | 821 | |
EasyCAT | 0:543d6784d4cc | 822 | return lowest; |
EasyCAT | 0:543d6784d4cc | 823 | } |
EasyCAT | 0:543d6784d4cc | 824 | |
EasyCAT | 0:543d6784d4cc | 825 | /** Write slave state, if slave = 0 then write to all slaves. |
EasyCAT | 0:543d6784d4cc | 826 | * The function does not check if the actual state is changed. |
EasyCAT | 0:543d6784d4cc | 827 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 828 | * @param[in] slave = Slave number, 0 = master |
EasyCAT | 0:543d6784d4cc | 829 | * @return Workcounter or EC_NOFRAME |
EasyCAT | 0:543d6784d4cc | 830 | */ |
EasyCAT | 0:543d6784d4cc | 831 | int ecx_writestate(ecx_contextt *context, uint16 slave) |
EasyCAT | 0:543d6784d4cc | 832 | { |
EasyCAT | 0:543d6784d4cc | 833 | int ret; |
EasyCAT | 0:543d6784d4cc | 834 | uint16 configadr, slstate; |
EasyCAT | 0:543d6784d4cc | 835 | |
EasyCAT | 0:543d6784d4cc | 836 | if (slave == 0) |
EasyCAT | 0:543d6784d4cc | 837 | { |
EasyCAT | 0:543d6784d4cc | 838 | slstate = htoes(context->slavelist[slave].state); |
EasyCAT | 0:543d6784d4cc | 839 | ret = ecx_BWR(context->port, 0, ECT_REG_ALCTL, sizeof(slstate), |
EasyCAT | 0:543d6784d4cc | 840 | &slstate, EC_TIMEOUTRET3); |
EasyCAT | 0:543d6784d4cc | 841 | } |
EasyCAT | 0:543d6784d4cc | 842 | else |
EasyCAT | 0:543d6784d4cc | 843 | { |
EasyCAT | 0:543d6784d4cc | 844 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 845 | |
EasyCAT | 0:543d6784d4cc | 846 | ret = ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, |
EasyCAT | 0:543d6784d4cc | 847 | htoes(context->slavelist[slave].state), EC_TIMEOUTRET3); |
EasyCAT | 0:543d6784d4cc | 848 | } |
EasyCAT | 0:543d6784d4cc | 849 | return ret; |
EasyCAT | 0:543d6784d4cc | 850 | } |
EasyCAT | 0:543d6784d4cc | 851 | |
EasyCAT | 0:543d6784d4cc | 852 | /** Check actual slave state. |
EasyCAT | 0:543d6784d4cc | 853 | * This is a blocking function. |
EasyCAT | 0:543d6784d4cc | 854 | * To refresh the state of all slaves ecx_readstate()should be called |
EasyCAT | 0:543d6784d4cc | 855 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 856 | * @param[in] slave = Slave number, 0 = all slaves (only the "slavelist[0].state" is refreshed) |
EasyCAT | 0:543d6784d4cc | 857 | * @param[in] reqstate = Requested state |
EasyCAT | 0:543d6784d4cc | 858 | * @param[in] timeout = Timeout value in us |
EasyCAT | 0:543d6784d4cc | 859 | * @return Requested state, or found state after timeout. |
EasyCAT | 0:543d6784d4cc | 860 | */ |
EasyCAT | 0:543d6784d4cc | 861 | uint16 ecx_statecheck(ecx_contextt *context, uint16 slave, uint16 reqstate, int timeout) |
EasyCAT | 0:543d6784d4cc | 862 | { |
EasyCAT | 0:543d6784d4cc | 863 | uint16 configadr, state, rval; |
EasyCAT | 0:543d6784d4cc | 864 | ec_alstatust slstat; |
EasyCAT | 0:543d6784d4cc | 865 | osal_timert timer; |
EasyCAT | 0:543d6784d4cc | 866 | |
EasyCAT | 0:543d6784d4cc | 867 | if ( slave > *(context->slavecount) ) |
EasyCAT | 0:543d6784d4cc | 868 | { |
EasyCAT | 0:543d6784d4cc | 869 | return 0; |
EasyCAT | 0:543d6784d4cc | 870 | } |
EasyCAT | 0:543d6784d4cc | 871 | osal_timer_start(&timer, timeout); |
EasyCAT | 0:543d6784d4cc | 872 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 873 | do |
EasyCAT | 0:543d6784d4cc | 874 | { |
EasyCAT | 0:543d6784d4cc | 875 | if (slave < 1) |
EasyCAT | 0:543d6784d4cc | 876 | { |
EasyCAT | 0:543d6784d4cc | 877 | rval = 0; |
EasyCAT | 0:543d6784d4cc | 878 | ecx_BRD(context->port, 0, ECT_REG_ALSTAT, sizeof(rval), &rval , EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 879 | rval = etohs(rval); |
EasyCAT | 0:543d6784d4cc | 880 | } |
EasyCAT | 0:543d6784d4cc | 881 | else |
EasyCAT | 0:543d6784d4cc | 882 | { |
EasyCAT | 0:543d6784d4cc | 883 | slstat.alstatus = 0; |
EasyCAT | 0:543d6784d4cc | 884 | slstat.alstatuscode = 0; |
EasyCAT | 0:543d6784d4cc | 885 | ecx_FPRD(context->port, configadr, ECT_REG_ALSTAT, sizeof(slstat), &slstat, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 886 | rval = etohs(slstat.alstatus); |
EasyCAT | 0:543d6784d4cc | 887 | context->slavelist[slave].ALstatuscode = etohs(slstat.alstatuscode); |
EasyCAT | 0:543d6784d4cc | 888 | } |
EasyCAT | 0:543d6784d4cc | 889 | state = rval & 0x000f; /* read slave status */ |
EasyCAT | 0:543d6784d4cc | 890 | if (state != reqstate) |
EasyCAT | 0:543d6784d4cc | 891 | { |
EasyCAT | 0:543d6784d4cc | 892 | osal_usleep(1000); |
EasyCAT | 0:543d6784d4cc | 893 | } |
EasyCAT | 0:543d6784d4cc | 894 | } |
EasyCAT | 0:543d6784d4cc | 895 | while ((state != reqstate) && (osal_timer_is_expired(&timer) == FALSE)); |
EasyCAT | 0:543d6784d4cc | 896 | context->slavelist[slave].state = rval; |
EasyCAT | 0:543d6784d4cc | 897 | |
EasyCAT | 0:543d6784d4cc | 898 | return state; |
EasyCAT | 0:543d6784d4cc | 899 | } |
EasyCAT | 0:543d6784d4cc | 900 | |
EasyCAT | 0:543d6784d4cc | 901 | /** Get index of next mailbox counter value. |
EasyCAT | 0:543d6784d4cc | 902 | * Used for Mailbox Link Layer. |
EasyCAT | 0:543d6784d4cc | 903 | * @param[in] cnt = Mailbox counter value [0..7] |
EasyCAT | 0:543d6784d4cc | 904 | * @return next mailbox counter value |
EasyCAT | 0:543d6784d4cc | 905 | */ |
EasyCAT | 0:543d6784d4cc | 906 | uint8 ec_nextmbxcnt(uint8 cnt) |
EasyCAT | 0:543d6784d4cc | 907 | { |
EasyCAT | 0:543d6784d4cc | 908 | cnt++; |
EasyCAT | 0:543d6784d4cc | 909 | if (cnt > 7) |
EasyCAT | 0:543d6784d4cc | 910 | { |
EasyCAT | 0:543d6784d4cc | 911 | cnt = 1; /* wrap around to 1, not 0 */ |
EasyCAT | 0:543d6784d4cc | 912 | } |
EasyCAT | 0:543d6784d4cc | 913 | |
EasyCAT | 0:543d6784d4cc | 914 | return cnt; |
EasyCAT | 0:543d6784d4cc | 915 | } |
EasyCAT | 0:543d6784d4cc | 916 | |
EasyCAT | 0:543d6784d4cc | 917 | /** Clear mailbox buffer. |
EasyCAT | 0:543d6784d4cc | 918 | * @param[out] Mbx = Mailbox buffer to clear |
EasyCAT | 0:543d6784d4cc | 919 | */ |
EasyCAT | 0:543d6784d4cc | 920 | void ec_clearmbx(ec_mbxbuft *Mbx) |
EasyCAT | 0:543d6784d4cc | 921 | { |
EasyCAT | 0:543d6784d4cc | 922 | memset(Mbx, 0x00, EC_MAXMBX); |
EasyCAT | 0:543d6784d4cc | 923 | } |
EasyCAT | 0:543d6784d4cc | 924 | |
EasyCAT | 0:543d6784d4cc | 925 | /** Check if IN mailbox of slave is empty. |
EasyCAT | 0:543d6784d4cc | 926 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 927 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 928 | * @param[in] timeout = Timeout in us |
EasyCAT | 0:543d6784d4cc | 929 | * @return >0 is success |
EasyCAT | 0:543d6784d4cc | 930 | */ |
EasyCAT | 0:543d6784d4cc | 931 | int ecx_mbxempty(ecx_contextt *context, uint16 slave, int timeout) |
EasyCAT | 0:543d6784d4cc | 932 | { |
EasyCAT | 0:543d6784d4cc | 933 | uint16 configadr; |
EasyCAT | 0:543d6784d4cc | 934 | uint8 SMstat; |
EasyCAT | 0:543d6784d4cc | 935 | int wkc; |
EasyCAT | 0:543d6784d4cc | 936 | osal_timert timer; |
EasyCAT | 0:543d6784d4cc | 937 | |
EasyCAT | 0:543d6784d4cc | 938 | osal_timer_start(&timer, timeout); |
EasyCAT | 0:543d6784d4cc | 939 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 940 | do |
EasyCAT | 0:543d6784d4cc | 941 | { |
EasyCAT | 0:543d6784d4cc | 942 | SMstat = 0; |
EasyCAT | 0:543d6784d4cc | 943 | wkc = ecx_FPRD(context->port, configadr, ECT_REG_SM0STAT, sizeof(SMstat), &SMstat, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 944 | SMstat = etohs(SMstat); |
EasyCAT | 0:543d6784d4cc | 945 | if (((SMstat & 0x08) != 0) && (timeout > EC_LOCALDELAY)) |
EasyCAT | 0:543d6784d4cc | 946 | { |
EasyCAT | 0:543d6784d4cc | 947 | osal_usleep(EC_LOCALDELAY); |
EasyCAT | 0:543d6784d4cc | 948 | } |
EasyCAT | 0:543d6784d4cc | 949 | } |
EasyCAT | 0:543d6784d4cc | 950 | while (((wkc <= 0) || ((SMstat & 0x08) != 0)) && (osal_timer_is_expired(&timer) == FALSE)); |
EasyCAT | 0:543d6784d4cc | 951 | |
EasyCAT | 0:543d6784d4cc | 952 | if ((wkc > 0) && ((SMstat & 0x08) == 0)) |
EasyCAT | 0:543d6784d4cc | 953 | { |
EasyCAT | 0:543d6784d4cc | 954 | return 1; |
EasyCAT | 0:543d6784d4cc | 955 | } |
EasyCAT | 0:543d6784d4cc | 956 | |
EasyCAT | 0:543d6784d4cc | 957 | return 0; |
EasyCAT | 0:543d6784d4cc | 958 | } |
EasyCAT | 0:543d6784d4cc | 959 | |
EasyCAT | 0:543d6784d4cc | 960 | /** Write IN mailbox to slave. |
EasyCAT | 0:543d6784d4cc | 961 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 962 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 963 | * @param[out] mbx = Mailbox data |
EasyCAT | 0:543d6784d4cc | 964 | * @param[in] timeout = Timeout in us |
EasyCAT | 0:543d6784d4cc | 965 | * @return Work counter (>0 is success) |
EasyCAT | 0:543d6784d4cc | 966 | */ |
EasyCAT | 0:543d6784d4cc | 967 | int ecx_mbxsend(ecx_contextt *context, uint16 slave,ec_mbxbuft *mbx, int timeout) |
EasyCAT | 0:543d6784d4cc | 968 | { |
EasyCAT | 0:543d6784d4cc | 969 | uint16 mbxwo,mbxl,configadr; |
EasyCAT | 0:543d6784d4cc | 970 | int wkc; |
EasyCAT | 0:543d6784d4cc | 971 | |
EasyCAT | 0:543d6784d4cc | 972 | wkc = 0; |
EasyCAT | 0:543d6784d4cc | 973 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 974 | mbxl = context->slavelist[slave].mbx_l; |
EasyCAT | 0:543d6784d4cc | 975 | if ((mbxl > 0) && (mbxl <= EC_MAXMBX)) |
EasyCAT | 0:543d6784d4cc | 976 | { |
EasyCAT | 0:543d6784d4cc | 977 | if (ecx_mbxempty(context, slave, timeout)) |
EasyCAT | 0:543d6784d4cc | 978 | { |
EasyCAT | 0:543d6784d4cc | 979 | mbxwo = context->slavelist[slave].mbx_wo; |
EasyCAT | 0:543d6784d4cc | 980 | /* write slave in mailbox */ |
EasyCAT | 0:543d6784d4cc | 981 | wkc = ecx_FPWR(context->port, configadr, mbxwo, mbxl, mbx, EC_TIMEOUTRET3); |
EasyCAT | 0:543d6784d4cc | 982 | } |
EasyCAT | 0:543d6784d4cc | 983 | else |
EasyCAT | 0:543d6784d4cc | 984 | { |
EasyCAT | 0:543d6784d4cc | 985 | wkc = 0; |
EasyCAT | 0:543d6784d4cc | 986 | } |
EasyCAT | 0:543d6784d4cc | 987 | } |
EasyCAT | 0:543d6784d4cc | 988 | |
EasyCAT | 0:543d6784d4cc | 989 | return wkc; |
EasyCAT | 0:543d6784d4cc | 990 | } |
EasyCAT | 0:543d6784d4cc | 991 | |
EasyCAT | 0:543d6784d4cc | 992 | /** Read OUT mailbox from slave. |
EasyCAT | 0:543d6784d4cc | 993 | * Supports Mailbox Link Layer with repeat requests. |
EasyCAT | 0:543d6784d4cc | 994 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 995 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 996 | * @param[out] mbx = Mailbox data |
EasyCAT | 0:543d6784d4cc | 997 | * @param[in] timeout = Timeout in us |
EasyCAT | 0:543d6784d4cc | 998 | * @return Work counter (>0 is success) |
EasyCAT | 0:543d6784d4cc | 999 | */ |
EasyCAT | 0:543d6784d4cc | 1000 | int ecx_mbxreceive(ecx_contextt *context, uint16 slave, ec_mbxbuft *mbx, int timeout) |
EasyCAT | 0:543d6784d4cc | 1001 | { |
EasyCAT | 0:543d6784d4cc | 1002 | uint16 mbxro,mbxl,configadr; |
EasyCAT | 0:543d6784d4cc | 1003 | int wkc=0; |
EasyCAT | 0:543d6784d4cc | 1004 | int wkc2; |
EasyCAT | 0:543d6784d4cc | 1005 | uint16 SMstat; |
EasyCAT | 0:543d6784d4cc | 1006 | uint8 SMcontr; |
EasyCAT | 0:543d6784d4cc | 1007 | ec_mbxheadert *mbxh; |
EasyCAT | 0:543d6784d4cc | 1008 | ec_emcyt *EMp; |
EasyCAT | 0:543d6784d4cc | 1009 | ec_mbxerrort *MBXEp; |
EasyCAT | 0:543d6784d4cc | 1010 | |
EasyCAT | 0:543d6784d4cc | 1011 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 1012 | mbxl = context->slavelist[slave].mbx_rl; |
EasyCAT | 0:543d6784d4cc | 1013 | if ((mbxl > 0) && (mbxl <= EC_MAXMBX)) |
EasyCAT | 0:543d6784d4cc | 1014 | { |
EasyCAT | 0:543d6784d4cc | 1015 | osal_timert timer; |
EasyCAT | 0:543d6784d4cc | 1016 | |
EasyCAT | 0:543d6784d4cc | 1017 | osal_timer_start(&timer, timeout); |
EasyCAT | 0:543d6784d4cc | 1018 | wkc = 0; |
EasyCAT | 0:543d6784d4cc | 1019 | do /* wait for read mailbox available */ |
EasyCAT | 0:543d6784d4cc | 1020 | { |
EasyCAT | 0:543d6784d4cc | 1021 | SMstat = 0; |
EasyCAT | 0:543d6784d4cc | 1022 | wkc = ecx_FPRD(context->port, configadr, ECT_REG_SM1STAT, sizeof(SMstat), &SMstat, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1023 | SMstat = etohs(SMstat); |
EasyCAT | 0:543d6784d4cc | 1024 | if (((SMstat & 0x08) == 0) && (timeout > EC_LOCALDELAY)) |
EasyCAT | 0:543d6784d4cc | 1025 | { |
EasyCAT | 0:543d6784d4cc | 1026 | osal_usleep(EC_LOCALDELAY); |
EasyCAT | 0:543d6784d4cc | 1027 | } |
EasyCAT | 0:543d6784d4cc | 1028 | } |
EasyCAT | 0:543d6784d4cc | 1029 | while (((wkc <= 0) || ((SMstat & 0x08) == 0)) && (osal_timer_is_expired(&timer) == FALSE)); |
EasyCAT | 0:543d6784d4cc | 1030 | |
EasyCAT | 0:543d6784d4cc | 1031 | if ((wkc > 0) && ((SMstat & 0x08) > 0)) /* read mailbox available ? */ |
EasyCAT | 0:543d6784d4cc | 1032 | { |
EasyCAT | 0:543d6784d4cc | 1033 | mbxro = context->slavelist[slave].mbx_ro; |
EasyCAT | 0:543d6784d4cc | 1034 | mbxh = (ec_mbxheadert *)mbx; |
EasyCAT | 0:543d6784d4cc | 1035 | do |
EasyCAT | 0:543d6784d4cc | 1036 | { |
EasyCAT | 0:543d6784d4cc | 1037 | wkc = ecx_FPRD(context->port, configadr, mbxro, mbxl, mbx, EC_TIMEOUTRET); /* get mailbox */ |
EasyCAT | 0:543d6784d4cc | 1038 | if ((wkc > 0) && ((mbxh->mbxtype & 0x0f) == 0x00)) /* Mailbox error response? */ |
EasyCAT | 0:543d6784d4cc | 1039 | { |
EasyCAT | 0:543d6784d4cc | 1040 | MBXEp = (ec_mbxerrort *)mbx; |
EasyCAT | 0:543d6784d4cc | 1041 | ecx_mbxerror(context, slave, etohs(MBXEp->Detail)); |
EasyCAT | 0:543d6784d4cc | 1042 | wkc = 0; /* prevent emergency to cascade up, it is already handled. */ |
EasyCAT | 0:543d6784d4cc | 1043 | } |
EasyCAT | 0:543d6784d4cc | 1044 | else if ((wkc > 0) && ((mbxh->mbxtype & 0x0f) == ECT_MBXT_COE)) /* CoE response? */ |
EasyCAT | 0:543d6784d4cc | 1045 | { |
EasyCAT | 0:543d6784d4cc | 1046 | EMp = (ec_emcyt *)mbx; |
EasyCAT | 0:543d6784d4cc | 1047 | if ((etohs(EMp->CANOpen) >> 12) == 0x01) /* Emergency request? */ |
EasyCAT | 0:543d6784d4cc | 1048 | { |
EasyCAT | 0:543d6784d4cc | 1049 | ecx_mbxemergencyerror(context, slave, etohs(EMp->ErrorCode), EMp->ErrorReg, |
EasyCAT | 0:543d6784d4cc | 1050 | EMp->bData, etohs(EMp->w1), etohs(EMp->w2)); |
EasyCAT | 0:543d6784d4cc | 1051 | wkc = 0; /* prevent emergency to cascade up, it is already handled. */ |
EasyCAT | 0:543d6784d4cc | 1052 | } |
EasyCAT | 0:543d6784d4cc | 1053 | } |
EasyCAT | 0:543d6784d4cc | 1054 | else if ((wkc > 0) && ((mbxh->mbxtype & 0x0f) == ECT_MBXT_EOE)) /* EoE response? */ |
EasyCAT | 0:543d6784d4cc | 1055 | { |
EasyCAT | 0:543d6784d4cc | 1056 | ec_EOEt * eoembx = (ec_EOEt *)mbx; |
EasyCAT | 0:543d6784d4cc | 1057 | uint16 frameinfo1 = etohs(eoembx->frameinfo1); |
EasyCAT | 0:543d6784d4cc | 1058 | /* All non fragment data frame types are expected to be handled by |
EasyCAT | 0:543d6784d4cc | 1059 | * slave send/receive API if the EoE hook is set |
EasyCAT | 0:543d6784d4cc | 1060 | */ |
EasyCAT | 0:543d6784d4cc | 1061 | if (EOE_HDR_FRAME_TYPE_GET(frameinfo1) == EOE_FRAG_DATA) |
EasyCAT | 0:543d6784d4cc | 1062 | { |
EasyCAT | 0:543d6784d4cc | 1063 | if (context->EOEhook) |
EasyCAT | 0:543d6784d4cc | 1064 | { |
EasyCAT | 0:543d6784d4cc | 1065 | if (context->EOEhook(context, slave, eoembx) > 0) |
EasyCAT | 0:543d6784d4cc | 1066 | { |
EasyCAT | 0:543d6784d4cc | 1067 | /* Fragment handled by EoE hook */ |
EasyCAT | 0:543d6784d4cc | 1068 | wkc = 0; |
EasyCAT | 0:543d6784d4cc | 1069 | } |
EasyCAT | 0:543d6784d4cc | 1070 | } |
EasyCAT | 0:543d6784d4cc | 1071 | } |
EasyCAT | 0:543d6784d4cc | 1072 | } |
EasyCAT | 0:543d6784d4cc | 1073 | else |
EasyCAT | 0:543d6784d4cc | 1074 | { |
EasyCAT | 0:543d6784d4cc | 1075 | if (wkc <= 0) /* read mailbox lost */ |
EasyCAT | 0:543d6784d4cc | 1076 | { |
EasyCAT | 0:543d6784d4cc | 1077 | SMstat ^= 0x0200; /* toggle repeat request */ |
EasyCAT | 0:543d6784d4cc | 1078 | SMstat = htoes(SMstat); |
EasyCAT | 0:543d6784d4cc | 1079 | wkc2 = ecx_FPWR(context->port, configadr, ECT_REG_SM1STAT, sizeof(SMstat), &SMstat, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1080 | SMstat = etohs(SMstat); |
EasyCAT | 0:543d6784d4cc | 1081 | do /* wait for toggle ack */ |
EasyCAT | 0:543d6784d4cc | 1082 | { |
EasyCAT | 0:543d6784d4cc | 1083 | wkc2 = ecx_FPRD(context->port, configadr, ECT_REG_SM1CONTR, sizeof(SMcontr), &SMcontr, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1084 | } while (((wkc2 <= 0) || ((SMcontr & 0x02) != (HI_BYTE(SMstat) & 0x02))) && (osal_timer_is_expired(&timer) == FALSE)); |
EasyCAT | 0:543d6784d4cc | 1085 | do /* wait for read mailbox available */ |
EasyCAT | 0:543d6784d4cc | 1086 | { |
EasyCAT | 0:543d6784d4cc | 1087 | wkc2 = ecx_FPRD(context->port, configadr, ECT_REG_SM1STAT, sizeof(SMstat), &SMstat, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1088 | SMstat = etohs(SMstat); |
EasyCAT | 0:543d6784d4cc | 1089 | if (((SMstat & 0x08) == 0) && (timeout > EC_LOCALDELAY)) |
EasyCAT | 0:543d6784d4cc | 1090 | { |
EasyCAT | 0:543d6784d4cc | 1091 | osal_usleep(EC_LOCALDELAY); |
EasyCAT | 0:543d6784d4cc | 1092 | } |
EasyCAT | 0:543d6784d4cc | 1093 | } while (((wkc2 <= 0) || ((SMstat & 0x08) == 0)) && (osal_timer_is_expired(&timer) == FALSE)); |
EasyCAT | 0:543d6784d4cc | 1094 | } |
EasyCAT | 0:543d6784d4cc | 1095 | } |
EasyCAT | 0:543d6784d4cc | 1096 | } while ((wkc <= 0) && (osal_timer_is_expired(&timer) == FALSE)); /* if WKC<=0 repeat */ |
EasyCAT | 0:543d6784d4cc | 1097 | } |
EasyCAT | 0:543d6784d4cc | 1098 | else /* no read mailbox available */ |
EasyCAT | 0:543d6784d4cc | 1099 | { |
EasyCAT | 0:543d6784d4cc | 1100 | wkc = 0; |
EasyCAT | 0:543d6784d4cc | 1101 | } |
EasyCAT | 0:543d6784d4cc | 1102 | } |
EasyCAT | 0:543d6784d4cc | 1103 | |
EasyCAT | 0:543d6784d4cc | 1104 | return wkc; |
EasyCAT | 0:543d6784d4cc | 1105 | } |
EasyCAT | 0:543d6784d4cc | 1106 | |
EasyCAT | 0:543d6784d4cc | 1107 | /** Dump complete EEPROM data from slave in buffer. |
EasyCAT | 0:543d6784d4cc | 1108 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1109 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 1110 | * @param[out] esibuf = EEPROM data buffer, make sure it is big enough. |
EasyCAT | 0:543d6784d4cc | 1111 | */ |
EasyCAT | 0:543d6784d4cc | 1112 | void ecx_esidump(ecx_contextt *context, uint16 slave, uint8 *esibuf) |
EasyCAT | 0:543d6784d4cc | 1113 | { |
EasyCAT | 0:543d6784d4cc | 1114 | int address, incr; |
EasyCAT | 0:543d6784d4cc | 1115 | uint16 configadr; |
EasyCAT | 0:543d6784d4cc | 1116 | uint64 *p64; |
EasyCAT | 0:543d6784d4cc | 1117 | uint16 *p16; |
EasyCAT | 0:543d6784d4cc | 1118 | uint64 edat; |
EasyCAT | 0:543d6784d4cc | 1119 | uint8 eectl = context->slavelist[slave].eep_pdi; |
EasyCAT | 0:543d6784d4cc | 1120 | |
EasyCAT | 0:543d6784d4cc | 1121 | ecx_eeprom2master(context, slave); /* set eeprom control to master */ |
EasyCAT | 0:543d6784d4cc | 1122 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 1123 | address = ECT_SII_START; |
EasyCAT | 0:543d6784d4cc | 1124 | p16=(uint16*)esibuf; |
EasyCAT | 0:543d6784d4cc | 1125 | if (context->slavelist[slave].eep_8byte) |
EasyCAT | 0:543d6784d4cc | 1126 | { |
EasyCAT | 0:543d6784d4cc | 1127 | incr = 4; |
EasyCAT | 0:543d6784d4cc | 1128 | } |
EasyCAT | 0:543d6784d4cc | 1129 | else |
EasyCAT | 0:543d6784d4cc | 1130 | { |
EasyCAT | 0:543d6784d4cc | 1131 | incr = 2; |
EasyCAT | 0:543d6784d4cc | 1132 | } |
EasyCAT | 0:543d6784d4cc | 1133 | do |
EasyCAT | 0:543d6784d4cc | 1134 | { |
EasyCAT | 0:543d6784d4cc | 1135 | edat = ecx_readeepromFP(context, configadr, address, EC_TIMEOUTEEP); |
EasyCAT | 0:543d6784d4cc | 1136 | p64 = (uint64*)p16; |
EasyCAT | 0:543d6784d4cc | 1137 | *p64 = edat; |
EasyCAT | 0:543d6784d4cc | 1138 | p16 += incr; |
EasyCAT | 0:543d6784d4cc | 1139 | address += incr; |
EasyCAT | 0:543d6784d4cc | 1140 | } while ((address <= (EC_MAXEEPBUF >> 1)) && ((uint32)edat != 0xffffffff)); |
EasyCAT | 0:543d6784d4cc | 1141 | |
EasyCAT | 0:543d6784d4cc | 1142 | if (eectl) |
EasyCAT | 0:543d6784d4cc | 1143 | { |
EasyCAT | 0:543d6784d4cc | 1144 | ecx_eeprom2pdi(context, slave); /* if eeprom control was previously pdi then restore */ |
EasyCAT | 0:543d6784d4cc | 1145 | } |
EasyCAT | 0:543d6784d4cc | 1146 | } |
EasyCAT | 0:543d6784d4cc | 1147 | |
EasyCAT | 0:543d6784d4cc | 1148 | /** Read EEPROM from slave bypassing cache. |
EasyCAT | 0:543d6784d4cc | 1149 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1150 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 1151 | * @param[in] eeproma = (WORD) Address in the EEPROM |
EasyCAT | 0:543d6784d4cc | 1152 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 1153 | * @return EEPROM data 32bit |
EasyCAT | 0:543d6784d4cc | 1154 | */ |
EasyCAT | 0:543d6784d4cc | 1155 | uint32 ecx_readeeprom(ecx_contextt *context, uint16 slave, uint16 eeproma, int timeout) |
EasyCAT | 0:543d6784d4cc | 1156 | { |
EasyCAT | 0:543d6784d4cc | 1157 | uint16 configadr; |
EasyCAT | 0:543d6784d4cc | 1158 | |
EasyCAT | 0:543d6784d4cc | 1159 | ecx_eeprom2master(context, slave); /* set eeprom control to master */ |
EasyCAT | 0:543d6784d4cc | 1160 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 1161 | |
EasyCAT | 0:543d6784d4cc | 1162 | return ((uint32)ecx_readeepromFP(context, configadr, eeproma, timeout)); |
EasyCAT | 0:543d6784d4cc | 1163 | } |
EasyCAT | 0:543d6784d4cc | 1164 | |
EasyCAT | 0:543d6784d4cc | 1165 | /** Write EEPROM to slave bypassing cache. |
EasyCAT | 0:543d6784d4cc | 1166 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1167 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 1168 | * @param[in] eeproma = (WORD) Address in the EEPROM |
EasyCAT | 0:543d6784d4cc | 1169 | * @param[in] data = 16bit data |
EasyCAT | 0:543d6784d4cc | 1170 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 1171 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 1172 | */ |
EasyCAT | 0:543d6784d4cc | 1173 | int ecx_writeeeprom(ecx_contextt *context, uint16 slave, uint16 eeproma, uint16 data, int timeout) |
EasyCAT | 0:543d6784d4cc | 1174 | { |
EasyCAT | 0:543d6784d4cc | 1175 | uint16 configadr; |
EasyCAT | 0:543d6784d4cc | 1176 | |
EasyCAT | 0:543d6784d4cc | 1177 | ecx_eeprom2master(context, slave); /* set eeprom control to master */ |
EasyCAT | 0:543d6784d4cc | 1178 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 1179 | return (ecx_writeeepromFP(context, configadr, eeproma, data, timeout)); |
EasyCAT | 0:543d6784d4cc | 1180 | } |
EasyCAT | 0:543d6784d4cc | 1181 | |
EasyCAT | 0:543d6784d4cc | 1182 | /** Set eeprom control to master. Only if set to PDI. |
EasyCAT | 0:543d6784d4cc | 1183 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1184 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 1185 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 1186 | */ |
EasyCAT | 0:543d6784d4cc | 1187 | int ecx_eeprom2master(ecx_contextt *context, uint16 slave) |
EasyCAT | 0:543d6784d4cc | 1188 | { |
EasyCAT | 0:543d6784d4cc | 1189 | int wkc = 1, cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1190 | uint16 configadr; |
EasyCAT | 0:543d6784d4cc | 1191 | uint8 eepctl; |
EasyCAT | 0:543d6784d4cc | 1192 | |
EasyCAT | 0:543d6784d4cc | 1193 | if ( context->slavelist[slave].eep_pdi ) |
EasyCAT | 0:543d6784d4cc | 1194 | { |
EasyCAT | 0:543d6784d4cc | 1195 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 1196 | eepctl = 2; |
EasyCAT | 0:543d6784d4cc | 1197 | do |
EasyCAT | 0:543d6784d4cc | 1198 | { |
EasyCAT | 0:543d6784d4cc | 1199 | wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* force Eeprom from PDI */ |
EasyCAT | 0:543d6784d4cc | 1200 | } |
EasyCAT | 0:543d6784d4cc | 1201 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1202 | eepctl = 0; |
EasyCAT | 0:543d6784d4cc | 1203 | cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1204 | do |
EasyCAT | 0:543d6784d4cc | 1205 | { |
EasyCAT | 0:543d6784d4cc | 1206 | wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* set Eeprom to master */ |
EasyCAT | 0:543d6784d4cc | 1207 | } |
EasyCAT | 0:543d6784d4cc | 1208 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1209 | context->slavelist[slave].eep_pdi = 0; |
EasyCAT | 0:543d6784d4cc | 1210 | } |
EasyCAT | 0:543d6784d4cc | 1211 | |
EasyCAT | 0:543d6784d4cc | 1212 | return wkc; |
EasyCAT | 0:543d6784d4cc | 1213 | } |
EasyCAT | 0:543d6784d4cc | 1214 | |
EasyCAT | 0:543d6784d4cc | 1215 | /** Set eeprom control to PDI. Only if set to master. |
EasyCAT | 0:543d6784d4cc | 1216 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1217 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 1218 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 1219 | */ |
EasyCAT | 0:543d6784d4cc | 1220 | int ecx_eeprom2pdi(ecx_contextt *context, uint16 slave) |
EasyCAT | 0:543d6784d4cc | 1221 | { |
EasyCAT | 0:543d6784d4cc | 1222 | int wkc = 1, cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1223 | uint16 configadr; |
EasyCAT | 0:543d6784d4cc | 1224 | uint8 eepctl; |
EasyCAT | 0:543d6784d4cc | 1225 | |
EasyCAT | 0:543d6784d4cc | 1226 | if ( !context->slavelist[slave].eep_pdi ) |
EasyCAT | 0:543d6784d4cc | 1227 | { |
EasyCAT | 0:543d6784d4cc | 1228 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 1229 | eepctl = 1; |
EasyCAT | 0:543d6784d4cc | 1230 | do |
EasyCAT | 0:543d6784d4cc | 1231 | { |
EasyCAT | 0:543d6784d4cc | 1232 | wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* set Eeprom to PDI */ |
EasyCAT | 0:543d6784d4cc | 1233 | } |
EasyCAT | 0:543d6784d4cc | 1234 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1235 | context->slavelist[slave].eep_pdi = 1; |
EasyCAT | 0:543d6784d4cc | 1236 | } |
EasyCAT | 0:543d6784d4cc | 1237 | |
EasyCAT | 0:543d6784d4cc | 1238 | return wkc; |
EasyCAT | 0:543d6784d4cc | 1239 | } |
EasyCAT | 0:543d6784d4cc | 1240 | |
EasyCAT | 0:543d6784d4cc | 1241 | uint16 ecx_eeprom_waitnotbusyAP(ecx_contextt *context, uint16 aiadr,uint16 *estat, int timeout) |
EasyCAT | 0:543d6784d4cc | 1242 | { |
EasyCAT | 0:543d6784d4cc | 1243 | int wkc, cnt = 0, retval = 0; |
EasyCAT | 0:543d6784d4cc | 1244 | osal_timert timer; |
EasyCAT | 0:543d6784d4cc | 1245 | |
EasyCAT | 0:543d6784d4cc | 1246 | osal_timer_start(&timer, timeout); |
EasyCAT | 0:543d6784d4cc | 1247 | do |
EasyCAT | 0:543d6784d4cc | 1248 | { |
EasyCAT | 0:543d6784d4cc | 1249 | if (cnt++) |
EasyCAT | 0:543d6784d4cc | 1250 | { |
EasyCAT | 0:543d6784d4cc | 1251 | osal_usleep(EC_LOCALDELAY); |
EasyCAT | 0:543d6784d4cc | 1252 | } |
EasyCAT | 0:543d6784d4cc | 1253 | *estat = 0; |
EasyCAT | 0:543d6784d4cc | 1254 | wkc=ecx_APRD(context->port, aiadr, ECT_REG_EEPSTAT, sizeof(*estat), estat, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1255 | *estat = etohs(*estat); |
EasyCAT | 0:543d6784d4cc | 1256 | } |
EasyCAT | 0:543d6784d4cc | 1257 | while (((wkc <= 0) || ((*estat & EC_ESTAT_BUSY) > 0)) && (osal_timer_is_expired(&timer) == FALSE)); /* wait for eeprom ready */ |
EasyCAT | 0:543d6784d4cc | 1258 | if ((*estat & EC_ESTAT_BUSY) == 0) |
EasyCAT | 0:543d6784d4cc | 1259 | { |
EasyCAT | 0:543d6784d4cc | 1260 | retval = 1; |
EasyCAT | 0:543d6784d4cc | 1261 | } |
EasyCAT | 0:543d6784d4cc | 1262 | |
EasyCAT | 0:543d6784d4cc | 1263 | return retval; |
EasyCAT | 0:543d6784d4cc | 1264 | } |
EasyCAT | 0:543d6784d4cc | 1265 | |
EasyCAT | 0:543d6784d4cc | 1266 | /** Read EEPROM from slave bypassing cache. APRD method. |
EasyCAT | 0:543d6784d4cc | 1267 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1268 | * @param[in] aiadr = auto increment address of slave |
EasyCAT | 0:543d6784d4cc | 1269 | * @param[in] eeproma = (WORD) Address in the EEPROM |
EasyCAT | 0:543d6784d4cc | 1270 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 1271 | * @return EEPROM data 64bit or 32bit |
EasyCAT | 0:543d6784d4cc | 1272 | */ |
EasyCAT | 0:543d6784d4cc | 1273 | uint64 ecx_readeepromAP(ecx_contextt *context, uint16 aiadr, uint16 eeproma, int timeout) |
EasyCAT | 0:543d6784d4cc | 1274 | { |
EasyCAT | 0:543d6784d4cc | 1275 | uint16 estat; |
EasyCAT | 0:543d6784d4cc | 1276 | uint32 edat32; |
EasyCAT | 0:543d6784d4cc | 1277 | uint64 edat64; |
EasyCAT | 0:543d6784d4cc | 1278 | ec_eepromt ed; |
EasyCAT | 0:543d6784d4cc | 1279 | int wkc, cnt, nackcnt = 0; |
EasyCAT | 0:543d6784d4cc | 1280 | |
EasyCAT | 0:543d6784d4cc | 1281 | edat64 = 0; |
EasyCAT | 0:543d6784d4cc | 1282 | edat32 = 0; |
EasyCAT | 0:543d6784d4cc | 1283 | if (ecx_eeprom_waitnotbusyAP(context, aiadr, &estat, timeout)) |
EasyCAT | 0:543d6784d4cc | 1284 | { |
EasyCAT | 0:543d6784d4cc | 1285 | if (estat & EC_ESTAT_EMASK) /* error bits are set */ |
EasyCAT | 0:543d6784d4cc | 1286 | { |
EasyCAT | 0:543d6784d4cc | 1287 | estat = htoes(EC_ECMD_NOP); /* clear error bits */ |
EasyCAT | 0:543d6784d4cc | 1288 | wkc = ecx_APWR(context->port, aiadr, ECT_REG_EEPCTL, sizeof(estat), &estat, EC_TIMEOUTRET3); |
EasyCAT | 0:543d6784d4cc | 1289 | } |
EasyCAT | 0:543d6784d4cc | 1290 | |
EasyCAT | 0:543d6784d4cc | 1291 | do |
EasyCAT | 0:543d6784d4cc | 1292 | { |
EasyCAT | 0:543d6784d4cc | 1293 | ed.comm = htoes(EC_ECMD_READ); |
EasyCAT | 0:543d6784d4cc | 1294 | ed.addr = htoes(eeproma); |
EasyCAT | 0:543d6784d4cc | 1295 | ed.d2 = 0x0000; |
EasyCAT | 0:543d6784d4cc | 1296 | cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1297 | do |
EasyCAT | 0:543d6784d4cc | 1298 | { |
EasyCAT | 0:543d6784d4cc | 1299 | wkc = ecx_APWR(context->port, aiadr, ECT_REG_EEPCTL, sizeof(ed), &ed, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1300 | } |
EasyCAT | 0:543d6784d4cc | 1301 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1302 | if (wkc) |
EasyCAT | 0:543d6784d4cc | 1303 | { |
EasyCAT | 0:543d6784d4cc | 1304 | osal_usleep(EC_LOCALDELAY); |
EasyCAT | 0:543d6784d4cc | 1305 | estat = 0x0000; |
EasyCAT | 0:543d6784d4cc | 1306 | if (ecx_eeprom_waitnotbusyAP(context, aiadr, &estat, timeout)) |
EasyCAT | 0:543d6784d4cc | 1307 | { |
EasyCAT | 0:543d6784d4cc | 1308 | if (estat & EC_ESTAT_NACK) |
EasyCAT | 0:543d6784d4cc | 1309 | { |
EasyCAT | 0:543d6784d4cc | 1310 | nackcnt++; |
EasyCAT | 0:543d6784d4cc | 1311 | osal_usleep(EC_LOCALDELAY * 5); |
EasyCAT | 0:543d6784d4cc | 1312 | } |
EasyCAT | 0:543d6784d4cc | 1313 | else |
EasyCAT | 0:543d6784d4cc | 1314 | { |
EasyCAT | 0:543d6784d4cc | 1315 | nackcnt = 0; |
EasyCAT | 0:543d6784d4cc | 1316 | if (estat & EC_ESTAT_R64) |
EasyCAT | 0:543d6784d4cc | 1317 | { |
EasyCAT | 0:543d6784d4cc | 1318 | cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1319 | do |
EasyCAT | 0:543d6784d4cc | 1320 | { |
EasyCAT | 0:543d6784d4cc | 1321 | wkc = ecx_APRD(context->port, aiadr, ECT_REG_EEPDAT, sizeof(edat64), &edat64, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1322 | } |
EasyCAT | 0:543d6784d4cc | 1323 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1324 | } |
EasyCAT | 0:543d6784d4cc | 1325 | else |
EasyCAT | 0:543d6784d4cc | 1326 | { |
EasyCAT | 0:543d6784d4cc | 1327 | cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1328 | do |
EasyCAT | 0:543d6784d4cc | 1329 | { |
EasyCAT | 0:543d6784d4cc | 1330 | wkc = ecx_APRD(context->port, aiadr, ECT_REG_EEPDAT, sizeof(edat32), &edat32, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1331 | } |
EasyCAT | 0:543d6784d4cc | 1332 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1333 | edat64=(uint64)edat32; |
EasyCAT | 0:543d6784d4cc | 1334 | } |
EasyCAT | 0:543d6784d4cc | 1335 | } |
EasyCAT | 0:543d6784d4cc | 1336 | } |
EasyCAT | 0:543d6784d4cc | 1337 | } |
EasyCAT | 0:543d6784d4cc | 1338 | } |
EasyCAT | 0:543d6784d4cc | 1339 | while ((nackcnt > 0) && (nackcnt < 3)); |
EasyCAT | 0:543d6784d4cc | 1340 | } |
EasyCAT | 0:543d6784d4cc | 1341 | |
EasyCAT | 0:543d6784d4cc | 1342 | return edat64; |
EasyCAT | 0:543d6784d4cc | 1343 | } |
EasyCAT | 0:543d6784d4cc | 1344 | |
EasyCAT | 0:543d6784d4cc | 1345 | /** Write EEPROM to slave bypassing cache. APWR method. |
EasyCAT | 0:543d6784d4cc | 1346 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1347 | * @param[in] aiadr = configured address of slave |
EasyCAT | 0:543d6784d4cc | 1348 | * @param[in] eeproma = (WORD) Address in the EEPROM |
EasyCAT | 0:543d6784d4cc | 1349 | * @param[in] data = 16bit data |
EasyCAT | 0:543d6784d4cc | 1350 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 1351 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 1352 | */ |
EasyCAT | 0:543d6784d4cc | 1353 | int ecx_writeeepromAP(ecx_contextt *context, uint16 aiadr, uint16 eeproma, uint16 data, int timeout) |
EasyCAT | 0:543d6784d4cc | 1354 | { |
EasyCAT | 0:543d6784d4cc | 1355 | uint16 estat; |
EasyCAT | 0:543d6784d4cc | 1356 | ec_eepromt ed; |
EasyCAT | 0:543d6784d4cc | 1357 | int wkc, rval = 0, cnt = 0, nackcnt = 0; |
EasyCAT | 0:543d6784d4cc | 1358 | |
EasyCAT | 0:543d6784d4cc | 1359 | if (ecx_eeprom_waitnotbusyAP(context, aiadr, &estat, timeout)) |
EasyCAT | 0:543d6784d4cc | 1360 | { |
EasyCAT | 0:543d6784d4cc | 1361 | if (estat & EC_ESTAT_EMASK) /* error bits are set */ |
EasyCAT | 0:543d6784d4cc | 1362 | { |
EasyCAT | 0:543d6784d4cc | 1363 | estat = htoes(EC_ECMD_NOP); /* clear error bits */ |
EasyCAT | 0:543d6784d4cc | 1364 | wkc = ecx_APWR(context->port, aiadr, ECT_REG_EEPCTL, sizeof(estat), &estat, EC_TIMEOUTRET3); |
EasyCAT | 0:543d6784d4cc | 1365 | } |
EasyCAT | 0:543d6784d4cc | 1366 | do |
EasyCAT | 0:543d6784d4cc | 1367 | { |
EasyCAT | 0:543d6784d4cc | 1368 | cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1369 | do |
EasyCAT | 0:543d6784d4cc | 1370 | { |
EasyCAT | 0:543d6784d4cc | 1371 | wkc = ecx_APWR(context->port, aiadr, ECT_REG_EEPDAT, sizeof(data), &data, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1372 | } |
EasyCAT | 0:543d6784d4cc | 1373 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1374 | |
EasyCAT | 0:543d6784d4cc | 1375 | ed.comm = EC_ECMD_WRITE; |
EasyCAT | 0:543d6784d4cc | 1376 | ed.addr = eeproma; |
EasyCAT | 0:543d6784d4cc | 1377 | ed.d2 = 0x0000; |
EasyCAT | 0:543d6784d4cc | 1378 | cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1379 | do |
EasyCAT | 0:543d6784d4cc | 1380 | { |
EasyCAT | 0:543d6784d4cc | 1381 | wkc = ecx_APWR(context->port, aiadr, ECT_REG_EEPCTL, sizeof(ed), &ed, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1382 | } |
EasyCAT | 0:543d6784d4cc | 1383 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1384 | if (wkc) |
EasyCAT | 0:543d6784d4cc | 1385 | { |
EasyCAT | 0:543d6784d4cc | 1386 | osal_usleep(EC_LOCALDELAY * 2); |
EasyCAT | 0:543d6784d4cc | 1387 | estat = 0x0000; |
EasyCAT | 0:543d6784d4cc | 1388 | if (ecx_eeprom_waitnotbusyAP(context, aiadr, &estat, timeout)) |
EasyCAT | 0:543d6784d4cc | 1389 | { |
EasyCAT | 0:543d6784d4cc | 1390 | if (estat & EC_ESTAT_NACK) |
EasyCAT | 0:543d6784d4cc | 1391 | { |
EasyCAT | 0:543d6784d4cc | 1392 | nackcnt++; |
EasyCAT | 0:543d6784d4cc | 1393 | osal_usleep(EC_LOCALDELAY * 5); |
EasyCAT | 0:543d6784d4cc | 1394 | } |
EasyCAT | 0:543d6784d4cc | 1395 | else |
EasyCAT | 0:543d6784d4cc | 1396 | { |
EasyCAT | 0:543d6784d4cc | 1397 | nackcnt = 0; |
EasyCAT | 0:543d6784d4cc | 1398 | rval = 1; |
EasyCAT | 0:543d6784d4cc | 1399 | } |
EasyCAT | 0:543d6784d4cc | 1400 | } |
EasyCAT | 0:543d6784d4cc | 1401 | } |
EasyCAT | 0:543d6784d4cc | 1402 | |
EasyCAT | 0:543d6784d4cc | 1403 | } |
EasyCAT | 0:543d6784d4cc | 1404 | while ((nackcnt > 0) && (nackcnt < 3)); |
EasyCAT | 0:543d6784d4cc | 1405 | } |
EasyCAT | 0:543d6784d4cc | 1406 | |
EasyCAT | 0:543d6784d4cc | 1407 | return rval; |
EasyCAT | 0:543d6784d4cc | 1408 | } |
EasyCAT | 0:543d6784d4cc | 1409 | |
EasyCAT | 0:543d6784d4cc | 1410 | uint16 ecx_eeprom_waitnotbusyFP(ecx_contextt *context, uint16 configadr,uint16 *estat, int timeout) |
EasyCAT | 0:543d6784d4cc | 1411 | { |
EasyCAT | 0:543d6784d4cc | 1412 | int wkc, cnt = 0, retval = 0; |
EasyCAT | 0:543d6784d4cc | 1413 | osal_timert timer; |
EasyCAT | 0:543d6784d4cc | 1414 | |
EasyCAT | 0:543d6784d4cc | 1415 | osal_timer_start(&timer, timeout); |
EasyCAT | 0:543d6784d4cc | 1416 | do |
EasyCAT | 0:543d6784d4cc | 1417 | { |
EasyCAT | 0:543d6784d4cc | 1418 | if (cnt++) |
EasyCAT | 0:543d6784d4cc | 1419 | { |
EasyCAT | 0:543d6784d4cc | 1420 | osal_usleep(EC_LOCALDELAY); |
EasyCAT | 0:543d6784d4cc | 1421 | } |
EasyCAT | 0:543d6784d4cc | 1422 | *estat = 0; |
EasyCAT | 0:543d6784d4cc | 1423 | wkc=ecx_FPRD(context->port, configadr, ECT_REG_EEPSTAT, sizeof(*estat), estat, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1424 | *estat = etohs(*estat); |
EasyCAT | 0:543d6784d4cc | 1425 | } |
EasyCAT | 0:543d6784d4cc | 1426 | while (((wkc <= 0) || ((*estat & EC_ESTAT_BUSY) > 0)) && (osal_timer_is_expired(&timer) == FALSE)); /* wait for eeprom ready */ |
EasyCAT | 0:543d6784d4cc | 1427 | if ((*estat & EC_ESTAT_BUSY) == 0) |
EasyCAT | 0:543d6784d4cc | 1428 | { |
EasyCAT | 0:543d6784d4cc | 1429 | retval = 1; |
EasyCAT | 0:543d6784d4cc | 1430 | } |
EasyCAT | 0:543d6784d4cc | 1431 | |
EasyCAT | 0:543d6784d4cc | 1432 | return retval; |
EasyCAT | 0:543d6784d4cc | 1433 | } |
EasyCAT | 0:543d6784d4cc | 1434 | |
EasyCAT | 0:543d6784d4cc | 1435 | /** Read EEPROM from slave bypassing cache. FPRD method. |
EasyCAT | 0:543d6784d4cc | 1436 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1437 | * @param[in] configadr = configured address of slave |
EasyCAT | 0:543d6784d4cc | 1438 | * @param[in] eeproma = (WORD) Address in the EEPROM |
EasyCAT | 0:543d6784d4cc | 1439 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 1440 | * @return EEPROM data 64bit or 32bit |
EasyCAT | 0:543d6784d4cc | 1441 | */ |
EasyCAT | 0:543d6784d4cc | 1442 | uint64 ecx_readeepromFP(ecx_contextt *context, uint16 configadr, uint16 eeproma, int timeout) |
EasyCAT | 0:543d6784d4cc | 1443 | { |
EasyCAT | 0:543d6784d4cc | 1444 | uint16 estat; |
EasyCAT | 0:543d6784d4cc | 1445 | uint32 edat32; |
EasyCAT | 0:543d6784d4cc | 1446 | uint64 edat64; |
EasyCAT | 0:543d6784d4cc | 1447 | ec_eepromt ed; |
EasyCAT | 0:543d6784d4cc | 1448 | int wkc, cnt, nackcnt = 0; |
EasyCAT | 0:543d6784d4cc | 1449 | |
EasyCAT | 0:543d6784d4cc | 1450 | edat64 = 0; |
EasyCAT | 0:543d6784d4cc | 1451 | edat32 = 0; |
EasyCAT | 0:543d6784d4cc | 1452 | if (ecx_eeprom_waitnotbusyFP(context, configadr, &estat, timeout)) |
EasyCAT | 0:543d6784d4cc | 1453 | { |
EasyCAT | 0:543d6784d4cc | 1454 | if (estat & EC_ESTAT_EMASK) /* error bits are set */ |
EasyCAT | 0:543d6784d4cc | 1455 | { |
EasyCAT | 0:543d6784d4cc | 1456 | estat = htoes(EC_ECMD_NOP); /* clear error bits */ |
EasyCAT | 0:543d6784d4cc | 1457 | wkc=ecx_FPWR(context->port, configadr, ECT_REG_EEPCTL, sizeof(estat), &estat, EC_TIMEOUTRET3); |
EasyCAT | 0:543d6784d4cc | 1458 | } |
EasyCAT | 0:543d6784d4cc | 1459 | |
EasyCAT | 0:543d6784d4cc | 1460 | do |
EasyCAT | 0:543d6784d4cc | 1461 | { |
EasyCAT | 0:543d6784d4cc | 1462 | ed.comm = htoes(EC_ECMD_READ); |
EasyCAT | 0:543d6784d4cc | 1463 | ed.addr = htoes(eeproma); |
EasyCAT | 0:543d6784d4cc | 1464 | ed.d2 = 0x0000; |
EasyCAT | 0:543d6784d4cc | 1465 | cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1466 | do |
EasyCAT | 0:543d6784d4cc | 1467 | { |
EasyCAT | 0:543d6784d4cc | 1468 | wkc=ecx_FPWR(context->port, configadr, ECT_REG_EEPCTL, sizeof(ed), &ed, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1469 | } |
EasyCAT | 0:543d6784d4cc | 1470 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1471 | if (wkc) |
EasyCAT | 0:543d6784d4cc | 1472 | { |
EasyCAT | 0:543d6784d4cc | 1473 | osal_usleep(EC_LOCALDELAY); |
EasyCAT | 0:543d6784d4cc | 1474 | estat = 0x0000; |
EasyCAT | 0:543d6784d4cc | 1475 | if (ecx_eeprom_waitnotbusyFP(context, configadr, &estat, timeout)) |
EasyCAT | 0:543d6784d4cc | 1476 | { |
EasyCAT | 0:543d6784d4cc | 1477 | if (estat & EC_ESTAT_NACK) |
EasyCAT | 0:543d6784d4cc | 1478 | { |
EasyCAT | 0:543d6784d4cc | 1479 | nackcnt++; |
EasyCAT | 0:543d6784d4cc | 1480 | osal_usleep(EC_LOCALDELAY * 5); |
EasyCAT | 0:543d6784d4cc | 1481 | } |
EasyCAT | 0:543d6784d4cc | 1482 | else |
EasyCAT | 0:543d6784d4cc | 1483 | { |
EasyCAT | 0:543d6784d4cc | 1484 | nackcnt = 0; |
EasyCAT | 0:543d6784d4cc | 1485 | if (estat & EC_ESTAT_R64) |
EasyCAT | 0:543d6784d4cc | 1486 | { |
EasyCAT | 0:543d6784d4cc | 1487 | cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1488 | do |
EasyCAT | 0:543d6784d4cc | 1489 | { |
EasyCAT | 0:543d6784d4cc | 1490 | wkc=ecx_FPRD(context->port, configadr, ECT_REG_EEPDAT, sizeof(edat64), &edat64, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1491 | } |
EasyCAT | 0:543d6784d4cc | 1492 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1493 | } |
EasyCAT | 0:543d6784d4cc | 1494 | else |
EasyCAT | 0:543d6784d4cc | 1495 | { |
EasyCAT | 0:543d6784d4cc | 1496 | cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1497 | do |
EasyCAT | 0:543d6784d4cc | 1498 | { |
EasyCAT | 0:543d6784d4cc | 1499 | wkc=ecx_FPRD(context->port, configadr, ECT_REG_EEPDAT, sizeof(edat32), &edat32, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1500 | } |
EasyCAT | 0:543d6784d4cc | 1501 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1502 | edat64=(uint64)edat32; |
EasyCAT | 0:543d6784d4cc | 1503 | } |
EasyCAT | 0:543d6784d4cc | 1504 | } |
EasyCAT | 0:543d6784d4cc | 1505 | } |
EasyCAT | 0:543d6784d4cc | 1506 | } |
EasyCAT | 0:543d6784d4cc | 1507 | } |
EasyCAT | 0:543d6784d4cc | 1508 | while ((nackcnt > 0) && (nackcnt < 3)); |
EasyCAT | 0:543d6784d4cc | 1509 | } |
EasyCAT | 0:543d6784d4cc | 1510 | |
EasyCAT | 0:543d6784d4cc | 1511 | return edat64; |
EasyCAT | 0:543d6784d4cc | 1512 | } |
EasyCAT | 0:543d6784d4cc | 1513 | |
EasyCAT | 0:543d6784d4cc | 1514 | /** Write EEPROM to slave bypassing cache. FPWR method. |
EasyCAT | 0:543d6784d4cc | 1515 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1516 | * @param[in] configadr = configured address of slave |
EasyCAT | 0:543d6784d4cc | 1517 | * @param[in] eeproma = (WORD) Address in the EEPROM |
EasyCAT | 0:543d6784d4cc | 1518 | * @param[in] data = 16bit data |
EasyCAT | 0:543d6784d4cc | 1519 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 1520 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 1521 | */ |
EasyCAT | 0:543d6784d4cc | 1522 | int ecx_writeeepromFP(ecx_contextt *context, uint16 configadr, uint16 eeproma, uint16 data, int timeout) |
EasyCAT | 0:543d6784d4cc | 1523 | { |
EasyCAT | 0:543d6784d4cc | 1524 | uint16 estat; |
EasyCAT | 0:543d6784d4cc | 1525 | ec_eepromt ed; |
EasyCAT | 0:543d6784d4cc | 1526 | int wkc, rval = 0, cnt = 0, nackcnt = 0; |
EasyCAT | 0:543d6784d4cc | 1527 | |
EasyCAT | 0:543d6784d4cc | 1528 | if (ecx_eeprom_waitnotbusyFP(context, configadr, &estat, timeout)) |
EasyCAT | 0:543d6784d4cc | 1529 | { |
EasyCAT | 0:543d6784d4cc | 1530 | if (estat & EC_ESTAT_EMASK) /* error bits are set */ |
EasyCAT | 0:543d6784d4cc | 1531 | { |
EasyCAT | 0:543d6784d4cc | 1532 | estat = htoes(EC_ECMD_NOP); /* clear error bits */ |
EasyCAT | 0:543d6784d4cc | 1533 | wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPCTL, sizeof(estat), &estat, EC_TIMEOUTRET3); |
EasyCAT | 0:543d6784d4cc | 1534 | } |
EasyCAT | 0:543d6784d4cc | 1535 | do |
EasyCAT | 0:543d6784d4cc | 1536 | { |
EasyCAT | 0:543d6784d4cc | 1537 | cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1538 | do |
EasyCAT | 0:543d6784d4cc | 1539 | { |
EasyCAT | 0:543d6784d4cc | 1540 | wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPDAT, sizeof(data), &data, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1541 | } |
EasyCAT | 0:543d6784d4cc | 1542 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1543 | ed.comm = EC_ECMD_WRITE; |
EasyCAT | 0:543d6784d4cc | 1544 | ed.addr = eeproma; |
EasyCAT | 0:543d6784d4cc | 1545 | ed.d2 = 0x0000; |
EasyCAT | 0:543d6784d4cc | 1546 | cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1547 | do |
EasyCAT | 0:543d6784d4cc | 1548 | { |
EasyCAT | 0:543d6784d4cc | 1549 | wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPCTL, sizeof(ed), &ed, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1550 | } |
EasyCAT | 0:543d6784d4cc | 1551 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1552 | if (wkc) |
EasyCAT | 0:543d6784d4cc | 1553 | { |
EasyCAT | 0:543d6784d4cc | 1554 | osal_usleep(EC_LOCALDELAY * 2); |
EasyCAT | 0:543d6784d4cc | 1555 | estat = 0x0000; |
EasyCAT | 0:543d6784d4cc | 1556 | if (ecx_eeprom_waitnotbusyFP(context, configadr, &estat, timeout)) |
EasyCAT | 0:543d6784d4cc | 1557 | { |
EasyCAT | 0:543d6784d4cc | 1558 | if (estat & EC_ESTAT_NACK) |
EasyCAT | 0:543d6784d4cc | 1559 | { |
EasyCAT | 0:543d6784d4cc | 1560 | nackcnt++; |
EasyCAT | 0:543d6784d4cc | 1561 | osal_usleep(EC_LOCALDELAY * 5); |
EasyCAT | 0:543d6784d4cc | 1562 | } |
EasyCAT | 0:543d6784d4cc | 1563 | else |
EasyCAT | 0:543d6784d4cc | 1564 | { |
EasyCAT | 0:543d6784d4cc | 1565 | nackcnt = 0; |
EasyCAT | 0:543d6784d4cc | 1566 | rval = 1; |
EasyCAT | 0:543d6784d4cc | 1567 | } |
EasyCAT | 0:543d6784d4cc | 1568 | } |
EasyCAT | 0:543d6784d4cc | 1569 | } |
EasyCAT | 0:543d6784d4cc | 1570 | } |
EasyCAT | 0:543d6784d4cc | 1571 | while ((nackcnt > 0) && (nackcnt < 3)); |
EasyCAT | 0:543d6784d4cc | 1572 | } |
EasyCAT | 0:543d6784d4cc | 1573 | |
EasyCAT | 0:543d6784d4cc | 1574 | return rval; |
EasyCAT | 0:543d6784d4cc | 1575 | } |
EasyCAT | 0:543d6784d4cc | 1576 | |
EasyCAT | 0:543d6784d4cc | 1577 | /** Read EEPROM from slave bypassing cache. |
EasyCAT | 0:543d6784d4cc | 1578 | * Parallel read step 1, make request to slave. |
EasyCAT | 0:543d6784d4cc | 1579 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1580 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 1581 | * @param[in] eeproma = (WORD) Address in the EEPROM |
EasyCAT | 0:543d6784d4cc | 1582 | */ |
EasyCAT | 0:543d6784d4cc | 1583 | void ecx_readeeprom1(ecx_contextt *context, uint16 slave, uint16 eeproma) |
EasyCAT | 0:543d6784d4cc | 1584 | { |
EasyCAT | 0:543d6784d4cc | 1585 | uint16 configadr, estat; |
EasyCAT | 0:543d6784d4cc | 1586 | ec_eepromt ed; |
EasyCAT | 0:543d6784d4cc | 1587 | int wkc, cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1588 | |
EasyCAT | 0:543d6784d4cc | 1589 | ecx_eeprom2master(context, slave); /* set eeprom control to master */ |
EasyCAT | 0:543d6784d4cc | 1590 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 1591 | if (ecx_eeprom_waitnotbusyFP(context, configadr, &estat, EC_TIMEOUTEEP)) |
EasyCAT | 0:543d6784d4cc | 1592 | { |
EasyCAT | 0:543d6784d4cc | 1593 | if (estat & EC_ESTAT_EMASK) /* error bits are set */ |
EasyCAT | 0:543d6784d4cc | 1594 | { |
EasyCAT | 0:543d6784d4cc | 1595 | estat = htoes(EC_ECMD_NOP); /* clear error bits */ |
EasyCAT | 0:543d6784d4cc | 1596 | wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPCTL, sizeof(estat), &estat, EC_TIMEOUTRET3); |
EasyCAT | 0:543d6784d4cc | 1597 | } |
EasyCAT | 0:543d6784d4cc | 1598 | ed.comm = htoes(EC_ECMD_READ); |
EasyCAT | 0:543d6784d4cc | 1599 | ed.addr = htoes(eeproma); |
EasyCAT | 0:543d6784d4cc | 1600 | ed.d2 = 0x0000; |
EasyCAT | 0:543d6784d4cc | 1601 | do |
EasyCAT | 0:543d6784d4cc | 1602 | { |
EasyCAT | 0:543d6784d4cc | 1603 | wkc = ecx_FPWR(context->port, configadr, ECT_REG_EEPCTL, sizeof(ed), &ed, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1604 | } |
EasyCAT | 0:543d6784d4cc | 1605 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1606 | } |
EasyCAT | 0:543d6784d4cc | 1607 | } |
EasyCAT | 0:543d6784d4cc | 1608 | |
EasyCAT | 0:543d6784d4cc | 1609 | /** Read EEPROM from slave bypassing cache. |
EasyCAT | 0:543d6784d4cc | 1610 | * Parallel read step 2, actual read from slave. |
EasyCAT | 0:543d6784d4cc | 1611 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1612 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 1613 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 1614 | * @return EEPROM data 32bit |
EasyCAT | 0:543d6784d4cc | 1615 | */ |
EasyCAT | 0:543d6784d4cc | 1616 | uint32 ecx_readeeprom2(ecx_contextt *context, uint16 slave, int timeout) |
EasyCAT | 0:543d6784d4cc | 1617 | { |
EasyCAT | 0:543d6784d4cc | 1618 | uint16 estat, configadr; |
EasyCAT | 0:543d6784d4cc | 1619 | uint32 edat; |
EasyCAT | 0:543d6784d4cc | 1620 | int wkc, cnt = 0; |
EasyCAT | 0:543d6784d4cc | 1621 | |
EasyCAT | 0:543d6784d4cc | 1622 | configadr = context->slavelist[slave].configadr; |
EasyCAT | 0:543d6784d4cc | 1623 | edat = 0; |
EasyCAT | 0:543d6784d4cc | 1624 | estat = 0x0000; |
EasyCAT | 0:543d6784d4cc | 1625 | if (ecx_eeprom_waitnotbusyFP(context, configadr, &estat, timeout)) |
EasyCAT | 0:543d6784d4cc | 1626 | { |
EasyCAT | 0:543d6784d4cc | 1627 | do |
EasyCAT | 0:543d6784d4cc | 1628 | { |
EasyCAT | 0:543d6784d4cc | 1629 | wkc = ecx_FPRD(context->port, configadr, ECT_REG_EEPDAT, sizeof(edat), &edat, EC_TIMEOUTRET); |
EasyCAT | 0:543d6784d4cc | 1630 | } |
EasyCAT | 0:543d6784d4cc | 1631 | while ((wkc <= 0) && (cnt++ < EC_DEFAULTRETRIES)); |
EasyCAT | 0:543d6784d4cc | 1632 | } |
EasyCAT | 0:543d6784d4cc | 1633 | |
EasyCAT | 0:543d6784d4cc | 1634 | return edat; |
EasyCAT | 0:543d6784d4cc | 1635 | } |
EasyCAT | 0:543d6784d4cc | 1636 | |
EasyCAT | 0:543d6784d4cc | 1637 | /** Push index of segmented LRD/LWR/LRW combination. |
EasyCAT | 0:543d6784d4cc | 1638 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1639 | * @param[in] idx = Used datagram index. |
EasyCAT | 0:543d6784d4cc | 1640 | * @param[in] data = Pointer to process data segment. |
EasyCAT | 0:543d6784d4cc | 1641 | * @param[in] length = Length of data segment in bytes. |
EasyCAT | 0:543d6784d4cc | 1642 | */ |
EasyCAT | 0:543d6784d4cc | 1643 | static void ecx_pushindex(ecx_contextt *context, uint8 idx, void *data, uint16 length) |
EasyCAT | 0:543d6784d4cc | 1644 | { |
EasyCAT | 0:543d6784d4cc | 1645 | if(context->idxstack->pushed < EC_MAXBUF) |
EasyCAT | 0:543d6784d4cc | 1646 | { |
EasyCAT | 0:543d6784d4cc | 1647 | context->idxstack->idx[context->idxstack->pushed] = idx; |
EasyCAT | 0:543d6784d4cc | 1648 | context->idxstack->data[context->idxstack->pushed] = data; |
EasyCAT | 0:543d6784d4cc | 1649 | context->idxstack->length[context->idxstack->pushed] = length; |
EasyCAT | 0:543d6784d4cc | 1650 | context->idxstack->pushed++; |
EasyCAT | 0:543d6784d4cc | 1651 | } |
EasyCAT | 0:543d6784d4cc | 1652 | } |
EasyCAT | 0:543d6784d4cc | 1653 | |
EasyCAT | 0:543d6784d4cc | 1654 | /** Pull index of segmented LRD/LWR/LRW combination. |
EasyCAT | 0:543d6784d4cc | 1655 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1656 | * @return Stack location, -1 if stack is empty. |
EasyCAT | 0:543d6784d4cc | 1657 | */ |
EasyCAT | 0:543d6784d4cc | 1658 | static int ecx_pullindex(ecx_contextt *context) |
EasyCAT | 0:543d6784d4cc | 1659 | { |
EasyCAT | 0:543d6784d4cc | 1660 | int rval = -1; |
EasyCAT | 0:543d6784d4cc | 1661 | if(context->idxstack->pulled < context->idxstack->pushed) |
EasyCAT | 0:543d6784d4cc | 1662 | { |
EasyCAT | 0:543d6784d4cc | 1663 | rval = context->idxstack->pulled; |
EasyCAT | 0:543d6784d4cc | 1664 | context->idxstack->pulled++; |
EasyCAT | 0:543d6784d4cc | 1665 | } |
EasyCAT | 0:543d6784d4cc | 1666 | |
EasyCAT | 0:543d6784d4cc | 1667 | return rval; |
EasyCAT | 0:543d6784d4cc | 1668 | } |
EasyCAT | 0:543d6784d4cc | 1669 | |
EasyCAT | 0:543d6784d4cc | 1670 | /** |
EasyCAT | 0:543d6784d4cc | 1671 | * Clear the idx stack. |
EasyCAT | 0:543d6784d4cc | 1672 | * |
EasyCAT | 0:543d6784d4cc | 1673 | * @param context = context struct |
EasyCAT | 0:543d6784d4cc | 1674 | */ |
EasyCAT | 0:543d6784d4cc | 1675 | static void ecx_clearindex(ecx_contextt *context) { |
EasyCAT | 0:543d6784d4cc | 1676 | |
EasyCAT | 0:543d6784d4cc | 1677 | context->idxstack->pushed = 0; |
EasyCAT | 0:543d6784d4cc | 1678 | context->idxstack->pulled = 0; |
EasyCAT | 0:543d6784d4cc | 1679 | |
EasyCAT | 0:543d6784d4cc | 1680 | } |
EasyCAT | 0:543d6784d4cc | 1681 | |
EasyCAT | 0:543d6784d4cc | 1682 | /** Transmit processdata to slaves. |
EasyCAT | 0:543d6784d4cc | 1683 | * Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). |
EasyCAT | 0:543d6784d4cc | 1684 | * Both the input and output processdata are transmitted. |
EasyCAT | 0:543d6784d4cc | 1685 | * The outputs with the actual data, the inputs have a placeholder. |
EasyCAT | 0:543d6784d4cc | 1686 | * The inputs are gathered with the receive processdata function. |
EasyCAT | 0:543d6784d4cc | 1687 | * In contrast to the base LRW function this function is non-blocking. |
EasyCAT | 0:543d6784d4cc | 1688 | * If the processdata does not fit in one datagram, multiple are used. |
EasyCAT | 0:543d6784d4cc | 1689 | * In order to recombine the slave response, a stack is used. |
EasyCAT | 0:543d6784d4cc | 1690 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1691 | * @param[in] group = group number |
EasyCAT | 0:543d6784d4cc | 1692 | * @return >0 if processdata is transmitted. |
EasyCAT | 0:543d6784d4cc | 1693 | */ |
EasyCAT | 0:543d6784d4cc | 1694 | static int ecx_main_send_processdata(ecx_contextt *context, uint8 group, boolean use_overlap_io) |
EasyCAT | 0:543d6784d4cc | 1695 | { |
EasyCAT | 0:543d6784d4cc | 1696 | uint32 LogAdr; |
EasyCAT | 0:543d6784d4cc | 1697 | uint16 w1, w2; |
EasyCAT | 0:543d6784d4cc | 1698 | int length, sublength; |
EasyCAT | 0:543d6784d4cc | 1699 | uint8 idx; |
EasyCAT | 0:543d6784d4cc | 1700 | int wkc; |
EasyCAT | 0:543d6784d4cc | 1701 | uint8* data; |
EasyCAT | 0:543d6784d4cc | 1702 | boolean first=FALSE; |
EasyCAT | 0:543d6784d4cc | 1703 | uint16 currentsegment = 0; |
EasyCAT | 0:543d6784d4cc | 1704 | uint32 iomapinputoffset; |
EasyCAT | 0:543d6784d4cc | 1705 | |
EasyCAT | 0:543d6784d4cc | 1706 | wkc = 0; |
EasyCAT | 0:543d6784d4cc | 1707 | if(context->grouplist[group].hasdc) |
EasyCAT | 0:543d6784d4cc | 1708 | { |
EasyCAT | 0:543d6784d4cc | 1709 | first = TRUE; |
EasyCAT | 0:543d6784d4cc | 1710 | } |
EasyCAT | 0:543d6784d4cc | 1711 | |
EasyCAT | 0:543d6784d4cc | 1712 | /* For overlapping IO map use the biggest */ |
EasyCAT | 0:543d6784d4cc | 1713 | if(use_overlap_io == TRUE) |
EasyCAT | 0:543d6784d4cc | 1714 | { |
EasyCAT | 0:543d6784d4cc | 1715 | /* For overlap IOmap make the frame EQ big to biggest part */ |
EasyCAT | 0:543d6784d4cc | 1716 | length = (context->grouplist[group].Obytes > context->grouplist[group].Ibytes) ? |
EasyCAT | 0:543d6784d4cc | 1717 | context->grouplist[group].Obytes : context->grouplist[group].Ibytes; |
EasyCAT | 0:543d6784d4cc | 1718 | /* Save the offset used to compensate where to save inputs when frame returns */ |
EasyCAT | 0:543d6784d4cc | 1719 | iomapinputoffset = context->grouplist[group].Obytes; |
EasyCAT | 0:543d6784d4cc | 1720 | } |
EasyCAT | 0:543d6784d4cc | 1721 | else |
EasyCAT | 0:543d6784d4cc | 1722 | { |
EasyCAT | 0:543d6784d4cc | 1723 | length = context->grouplist[group].Obytes + context->grouplist[group].Ibytes; |
EasyCAT | 0:543d6784d4cc | 1724 | iomapinputoffset = 0; |
EasyCAT | 0:543d6784d4cc | 1725 | } |
EasyCAT | 0:543d6784d4cc | 1726 | |
EasyCAT | 0:543d6784d4cc | 1727 | LogAdr = context->grouplist[group].logstartaddr; |
EasyCAT | 0:543d6784d4cc | 1728 | if(length) |
EasyCAT | 0:543d6784d4cc | 1729 | { |
EasyCAT | 0:543d6784d4cc | 1730 | |
EasyCAT | 0:543d6784d4cc | 1731 | wkc = 1; |
EasyCAT | 0:543d6784d4cc | 1732 | /* LRW blocked by one or more slaves ? */ |
EasyCAT | 0:543d6784d4cc | 1733 | if(context->grouplist[group].blockLRW) |
EasyCAT | 0:543d6784d4cc | 1734 | { |
EasyCAT | 0:543d6784d4cc | 1735 | /* if inputs available generate LRD */ |
EasyCAT | 0:543d6784d4cc | 1736 | if(context->grouplist[group].Ibytes) |
EasyCAT | 0:543d6784d4cc | 1737 | { |
EasyCAT | 0:543d6784d4cc | 1738 | currentsegment = context->grouplist[group].Isegment; |
EasyCAT | 0:543d6784d4cc | 1739 | data = context->grouplist[group].inputs; |
EasyCAT | 0:543d6784d4cc | 1740 | length = context->grouplist[group].Ibytes; |
EasyCAT | 0:543d6784d4cc | 1741 | LogAdr += context->grouplist[group].Obytes; |
EasyCAT | 0:543d6784d4cc | 1742 | /* segment transfer if needed */ |
EasyCAT | 0:543d6784d4cc | 1743 | do |
EasyCAT | 0:543d6784d4cc | 1744 | { |
EasyCAT | 0:543d6784d4cc | 1745 | if(currentsegment == context->grouplist[group].Isegment) |
EasyCAT | 0:543d6784d4cc | 1746 | { |
EasyCAT | 0:543d6784d4cc | 1747 | sublength = context->grouplist[group].IOsegment[currentsegment++] - context->grouplist[group].Ioffset; |
EasyCAT | 0:543d6784d4cc | 1748 | } |
EasyCAT | 0:543d6784d4cc | 1749 | else |
EasyCAT | 0:543d6784d4cc | 1750 | { |
EasyCAT | 0:543d6784d4cc | 1751 | sublength = context->grouplist[group].IOsegment[currentsegment++]; |
EasyCAT | 0:543d6784d4cc | 1752 | } |
EasyCAT | 0:543d6784d4cc | 1753 | /* get new index */ |
EasyCAT | 0:543d6784d4cc | 1754 | idx = ecx_getindex(context->port); |
EasyCAT | 0:543d6784d4cc | 1755 | w1 = LO_WORD(LogAdr); |
EasyCAT | 0:543d6784d4cc | 1756 | w2 = HI_WORD(LogAdr); |
EasyCAT | 0:543d6784d4cc | 1757 | ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LRD, idx, w1, w2, sublength, data); |
EasyCAT | 0:543d6784d4cc | 1758 | if(first) |
EasyCAT | 0:543d6784d4cc | 1759 | { |
EasyCAT | 0:543d6784d4cc | 1760 | context->DCl = sublength; |
EasyCAT | 0:543d6784d4cc | 1761 | /* FPRMW in second datagram */ |
EasyCAT | 0:543d6784d4cc | 1762 | context->DCtO = ecx_adddatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_FRMW, idx, FALSE, |
EasyCAT | 0:543d6784d4cc | 1763 | context->slavelist[context->grouplist[group].DCnext].configadr, |
EasyCAT | 0:543d6784d4cc | 1764 | ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime); |
EasyCAT | 0:543d6784d4cc | 1765 | first = FALSE; |
EasyCAT | 0:543d6784d4cc | 1766 | } |
EasyCAT | 0:543d6784d4cc | 1767 | /* send frame */ |
EasyCAT | 0:543d6784d4cc | 1768 | ecx_outframe_red(context->port, idx); |
EasyCAT | 0:543d6784d4cc | 1769 | /* push index and data pointer on stack */ |
EasyCAT | 0:543d6784d4cc | 1770 | ecx_pushindex(context, idx, data, sublength); |
EasyCAT | 0:543d6784d4cc | 1771 | length -= sublength; |
EasyCAT | 0:543d6784d4cc | 1772 | LogAdr += sublength; |
EasyCAT | 0:543d6784d4cc | 1773 | data += sublength; |
EasyCAT | 0:543d6784d4cc | 1774 | } while (length && (currentsegment < context->grouplist[group].nsegments)); |
EasyCAT | 0:543d6784d4cc | 1775 | } |
EasyCAT | 0:543d6784d4cc | 1776 | /* if outputs available generate LWR */ |
EasyCAT | 0:543d6784d4cc | 1777 | if(context->grouplist[group].Obytes) |
EasyCAT | 0:543d6784d4cc | 1778 | { |
EasyCAT | 0:543d6784d4cc | 1779 | data = context->grouplist[group].outputs; |
EasyCAT | 0:543d6784d4cc | 1780 | length = context->grouplist[group].Obytes; |
EasyCAT | 0:543d6784d4cc | 1781 | LogAdr = context->grouplist[group].logstartaddr; |
EasyCAT | 0:543d6784d4cc | 1782 | currentsegment = 0; |
EasyCAT | 0:543d6784d4cc | 1783 | /* segment transfer if needed */ |
EasyCAT | 0:543d6784d4cc | 1784 | do |
EasyCAT | 0:543d6784d4cc | 1785 | { |
EasyCAT | 0:543d6784d4cc | 1786 | sublength = context->grouplist[group].IOsegment[currentsegment++]; |
EasyCAT | 0:543d6784d4cc | 1787 | if((length - sublength) < 0) |
EasyCAT | 0:543d6784d4cc | 1788 | { |
EasyCAT | 0:543d6784d4cc | 1789 | sublength = length; |
EasyCAT | 0:543d6784d4cc | 1790 | } |
EasyCAT | 0:543d6784d4cc | 1791 | /* get new index */ |
EasyCAT | 0:543d6784d4cc | 1792 | idx = ecx_getindex(context->port); |
EasyCAT | 0:543d6784d4cc | 1793 | w1 = LO_WORD(LogAdr); |
EasyCAT | 0:543d6784d4cc | 1794 | w2 = HI_WORD(LogAdr); |
EasyCAT | 0:543d6784d4cc | 1795 | ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LWR, idx, w1, w2, sublength, data); |
EasyCAT | 0:543d6784d4cc | 1796 | if(first) |
EasyCAT | 0:543d6784d4cc | 1797 | { |
EasyCAT | 0:543d6784d4cc | 1798 | context->DCl = sublength; |
EasyCAT | 0:543d6784d4cc | 1799 | /* FPRMW in second datagram */ |
EasyCAT | 0:543d6784d4cc | 1800 | context->DCtO = ecx_adddatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_FRMW, idx, FALSE, |
EasyCAT | 0:543d6784d4cc | 1801 | context->slavelist[context->grouplist[group].DCnext].configadr, |
EasyCAT | 0:543d6784d4cc | 1802 | ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime); |
EasyCAT | 0:543d6784d4cc | 1803 | first = FALSE; |
EasyCAT | 0:543d6784d4cc | 1804 | } |
EasyCAT | 0:543d6784d4cc | 1805 | /* send frame */ |
EasyCAT | 0:543d6784d4cc | 1806 | ecx_outframe_red(context->port, idx); |
EasyCAT | 0:543d6784d4cc | 1807 | /* push index and data pointer on stack */ |
EasyCAT | 0:543d6784d4cc | 1808 | ecx_pushindex(context, idx, data, sublength); |
EasyCAT | 0:543d6784d4cc | 1809 | length -= sublength; |
EasyCAT | 0:543d6784d4cc | 1810 | LogAdr += sublength; |
EasyCAT | 0:543d6784d4cc | 1811 | data += sublength; |
EasyCAT | 0:543d6784d4cc | 1812 | } while (length && (currentsegment < context->grouplist[group].nsegments)); |
EasyCAT | 0:543d6784d4cc | 1813 | } |
EasyCAT | 0:543d6784d4cc | 1814 | } |
EasyCAT | 0:543d6784d4cc | 1815 | /* LRW can be used */ |
EasyCAT | 0:543d6784d4cc | 1816 | else |
EasyCAT | 0:543d6784d4cc | 1817 | { |
EasyCAT | 0:543d6784d4cc | 1818 | if (context->grouplist[group].Obytes) |
EasyCAT | 0:543d6784d4cc | 1819 | { |
EasyCAT | 0:543d6784d4cc | 1820 | data = context->grouplist[group].outputs; |
EasyCAT | 0:543d6784d4cc | 1821 | } |
EasyCAT | 0:543d6784d4cc | 1822 | else |
EasyCAT | 0:543d6784d4cc | 1823 | { |
EasyCAT | 0:543d6784d4cc | 1824 | data = context->grouplist[group].inputs; |
EasyCAT | 0:543d6784d4cc | 1825 | /* Clear offset, don't compensate for overlapping IOmap if we only got inputs */ |
EasyCAT | 0:543d6784d4cc | 1826 | iomapinputoffset = 0; |
EasyCAT | 0:543d6784d4cc | 1827 | } |
EasyCAT | 0:543d6784d4cc | 1828 | /* segment transfer if needed */ |
EasyCAT | 0:543d6784d4cc | 1829 | do |
EasyCAT | 0:543d6784d4cc | 1830 | { |
EasyCAT | 0:543d6784d4cc | 1831 | sublength = context->grouplist[group].IOsegment[currentsegment++]; |
EasyCAT | 0:543d6784d4cc | 1832 | /* get new index */ |
EasyCAT | 0:543d6784d4cc | 1833 | idx = ecx_getindex(context->port); |
EasyCAT | 0:543d6784d4cc | 1834 | w1 = LO_WORD(LogAdr); |
EasyCAT | 0:543d6784d4cc | 1835 | w2 = HI_WORD(LogAdr); |
EasyCAT | 0:543d6784d4cc | 1836 | ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LRW, idx, w1, w2, sublength, data); |
EasyCAT | 0:543d6784d4cc | 1837 | if(first) |
EasyCAT | 0:543d6784d4cc | 1838 | { |
EasyCAT | 0:543d6784d4cc | 1839 | context->DCl = sublength; |
EasyCAT | 0:543d6784d4cc | 1840 | /* FPRMW in second datagram */ |
EasyCAT | 0:543d6784d4cc | 1841 | context->DCtO = ecx_adddatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_FRMW, idx, FALSE, |
EasyCAT | 0:543d6784d4cc | 1842 | context->slavelist[context->grouplist[group].DCnext].configadr, |
EasyCAT | 0:543d6784d4cc | 1843 | ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime); |
EasyCAT | 0:543d6784d4cc | 1844 | first = FALSE; |
EasyCAT | 0:543d6784d4cc | 1845 | } |
EasyCAT | 0:543d6784d4cc | 1846 | /* send frame */ |
EasyCAT | 0:543d6784d4cc | 1847 | ecx_outframe_red(context->port, idx); |
EasyCAT | 0:543d6784d4cc | 1848 | /* push index and data pointer on stack. |
EasyCAT | 0:543d6784d4cc | 1849 | * the iomapinputoffset compensate for where the inputs are stored |
EasyCAT | 0:543d6784d4cc | 1850 | * in the IOmap if we use an overlapping IOmap. If a regular IOmap |
EasyCAT | 0:543d6784d4cc | 1851 | * is used it should always be 0. |
EasyCAT | 0:543d6784d4cc | 1852 | */ |
EasyCAT | 0:543d6784d4cc | 1853 | ecx_pushindex(context, idx, (data + iomapinputoffset), sublength); |
EasyCAT | 0:543d6784d4cc | 1854 | length -= sublength; |
EasyCAT | 0:543d6784d4cc | 1855 | LogAdr += sublength; |
EasyCAT | 0:543d6784d4cc | 1856 | data += sublength; |
EasyCAT | 0:543d6784d4cc | 1857 | } while (length && (currentsegment < context->grouplist[group].nsegments)); |
EasyCAT | 0:543d6784d4cc | 1858 | } |
EasyCAT | 0:543d6784d4cc | 1859 | } |
EasyCAT | 0:543d6784d4cc | 1860 | |
EasyCAT | 0:543d6784d4cc | 1861 | return wkc; |
EasyCAT | 0:543d6784d4cc | 1862 | } |
EasyCAT | 0:543d6784d4cc | 1863 | |
EasyCAT | 0:543d6784d4cc | 1864 | /** Transmit processdata to slaves. |
EasyCAT | 0:543d6784d4cc | 1865 | * Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). |
EasyCAT | 0:543d6784d4cc | 1866 | * Both the input and output processdata are transmitted in the overlapped IOmap. |
EasyCAT | 0:543d6784d4cc | 1867 | * The outputs with the actual data, the inputs replace the output data in the |
EasyCAT | 0:543d6784d4cc | 1868 | * returning frame. The inputs are gathered with the receive processdata function. |
EasyCAT | 0:543d6784d4cc | 1869 | * In contrast to the base LRW function this function is non-blocking. |
EasyCAT | 0:543d6784d4cc | 1870 | * If the processdata does not fit in one datagram, multiple are used. |
EasyCAT | 0:543d6784d4cc | 1871 | * In order to recombine the slave response, a stack is used. |
EasyCAT | 0:543d6784d4cc | 1872 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1873 | * @param[in] group = group number |
EasyCAT | 0:543d6784d4cc | 1874 | * @return >0 if processdata is transmitted. |
EasyCAT | 0:543d6784d4cc | 1875 | */ |
EasyCAT | 0:543d6784d4cc | 1876 | int ecx_send_overlap_processdata_group(ecx_contextt *context, uint8 group) |
EasyCAT | 0:543d6784d4cc | 1877 | { |
EasyCAT | 0:543d6784d4cc | 1878 | return ecx_main_send_processdata(context, group, TRUE); |
EasyCAT | 0:543d6784d4cc | 1879 | } |
EasyCAT | 0:543d6784d4cc | 1880 | |
EasyCAT | 0:543d6784d4cc | 1881 | /** Transmit processdata to slaves. |
EasyCAT | 0:543d6784d4cc | 1882 | * Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). |
EasyCAT | 0:543d6784d4cc | 1883 | * Both the input and output processdata are transmitted. |
EasyCAT | 0:543d6784d4cc | 1884 | * The outputs with the actual data, the inputs have a placeholder. |
EasyCAT | 0:543d6784d4cc | 1885 | * The inputs are gathered with the receive processdata function. |
EasyCAT | 0:543d6784d4cc | 1886 | * In contrast to the base LRW function this function is non-blocking. |
EasyCAT | 0:543d6784d4cc | 1887 | * If the processdata does not fit in one datagram, multiple are used. |
EasyCAT | 0:543d6784d4cc | 1888 | * In order to recombine the slave response, a stack is used. |
EasyCAT | 0:543d6784d4cc | 1889 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1890 | * @param[in] group = group number |
EasyCAT | 0:543d6784d4cc | 1891 | * @return >0 if processdata is transmitted. |
EasyCAT | 0:543d6784d4cc | 1892 | */ |
EasyCAT | 0:543d6784d4cc | 1893 | int ecx_send_processdata_group(ecx_contextt *context, uint8 group) |
EasyCAT | 0:543d6784d4cc | 1894 | { |
EasyCAT | 0:543d6784d4cc | 1895 | return ecx_main_send_processdata(context, group, FALSE); |
EasyCAT | 0:543d6784d4cc | 1896 | } |
EasyCAT | 0:543d6784d4cc | 1897 | |
EasyCAT | 0:543d6784d4cc | 1898 | /** Receive processdata from slaves. |
EasyCAT | 0:543d6784d4cc | 1899 | * Second part from ec_send_processdata(). |
EasyCAT | 0:543d6784d4cc | 1900 | * Received datagrams are recombined with the processdata with help from the stack. |
EasyCAT | 0:543d6784d4cc | 1901 | * If a datagram contains input processdata it copies it to the processdata structure. |
EasyCAT | 0:543d6784d4cc | 1902 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 1903 | * @param[in] group = group number |
EasyCAT | 0:543d6784d4cc | 1904 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 1905 | * @return Work counter. |
EasyCAT | 0:543d6784d4cc | 1906 | */ |
EasyCAT | 0:543d6784d4cc | 1907 | int ecx_receive_processdata_group(ecx_contextt *context, uint8 group, int timeout) |
EasyCAT | 0:543d6784d4cc | 1908 | { |
EasyCAT | 0:543d6784d4cc | 1909 | int pos, idx; |
EasyCAT | 0:543d6784d4cc | 1910 | int wkc = 0, wkc2; |
EasyCAT | 0:543d6784d4cc | 1911 | uint16 le_wkc = 0; |
EasyCAT | 0:543d6784d4cc | 1912 | int valid_wkc = 0; |
EasyCAT | 0:543d6784d4cc | 1913 | int64 le_DCtime; |
EasyCAT | 0:543d6784d4cc | 1914 | boolean first = FALSE; |
EasyCAT | 0:543d6784d4cc | 1915 | |
EasyCAT | 0:543d6784d4cc | 1916 | if(context->grouplist[group].hasdc) |
EasyCAT | 0:543d6784d4cc | 1917 | { |
EasyCAT | 0:543d6784d4cc | 1918 | first = TRUE; |
EasyCAT | 0:543d6784d4cc | 1919 | } |
EasyCAT | 0:543d6784d4cc | 1920 | /* get first index */ |
EasyCAT | 0:543d6784d4cc | 1921 | pos = ecx_pullindex(context); |
EasyCAT | 0:543d6784d4cc | 1922 | /* read the same number of frames as send */ |
EasyCAT | 0:543d6784d4cc | 1923 | while (pos >= 0) |
EasyCAT | 0:543d6784d4cc | 1924 | { |
EasyCAT | 0:543d6784d4cc | 1925 | idx = context->idxstack->idx[pos]; |
EasyCAT | 0:543d6784d4cc | 1926 | wkc2 = ecx_waitinframe(context->port, context->idxstack->idx[pos], timeout); |
EasyCAT | 0:543d6784d4cc | 1927 | /* check if there is input data in frame */ |
EasyCAT | 0:543d6784d4cc | 1928 | if (wkc2 > EC_NOFRAME) |
EasyCAT | 0:543d6784d4cc | 1929 | { |
EasyCAT | 0:543d6784d4cc | 1930 | if((context->port->rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LRD) || (context->port->rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LRW)) |
EasyCAT | 0:543d6784d4cc | 1931 | { |
EasyCAT | 0:543d6784d4cc | 1932 | if(first) |
EasyCAT | 0:543d6784d4cc | 1933 | { |
EasyCAT | 0:543d6784d4cc | 1934 | memcpy(context->idxstack->data[pos], &(context->port->rxbuf[idx][EC_HEADERSIZE]), context->DCl); |
EasyCAT | 0:543d6784d4cc | 1935 | memcpy(&le_wkc, &(context->port->rxbuf[idx][EC_HEADERSIZE + context->DCl]), EC_WKCSIZE); |
EasyCAT | 0:543d6784d4cc | 1936 | wkc = etohs(le_wkc); |
EasyCAT | 0:543d6784d4cc | 1937 | memcpy(&le_DCtime, &(context->port->rxbuf[idx][context->DCtO]), sizeof(le_DCtime)); |
EasyCAT | 0:543d6784d4cc | 1938 | *(context->DCtime) = etohll(le_DCtime); |
EasyCAT | 0:543d6784d4cc | 1939 | first = FALSE; |
EasyCAT | 0:543d6784d4cc | 1940 | } |
EasyCAT | 0:543d6784d4cc | 1941 | else |
EasyCAT | 0:543d6784d4cc | 1942 | { |
EasyCAT | 0:543d6784d4cc | 1943 | /* copy input data back to process data buffer */ |
EasyCAT | 0:543d6784d4cc | 1944 | memcpy(context->idxstack->data[pos], &(context->port->rxbuf[idx][EC_HEADERSIZE]), context->idxstack->length[pos]); |
EasyCAT | 0:543d6784d4cc | 1945 | wkc += wkc2; |
EasyCAT | 0:543d6784d4cc | 1946 | } |
EasyCAT | 0:543d6784d4cc | 1947 | valid_wkc = 1; |
EasyCAT | 0:543d6784d4cc | 1948 | } |
EasyCAT | 0:543d6784d4cc | 1949 | else if(context->port->rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LWR) |
EasyCAT | 0:543d6784d4cc | 1950 | { |
EasyCAT | 0:543d6784d4cc | 1951 | if(first) |
EasyCAT | 0:543d6784d4cc | 1952 | { |
EasyCAT | 0:543d6784d4cc | 1953 | memcpy(&le_wkc, &(context->port->rxbuf[idx][EC_HEADERSIZE + context->DCl]), EC_WKCSIZE); |
EasyCAT | 0:543d6784d4cc | 1954 | /* output WKC counts 2 times when using LRW, emulate the same for LWR */ |
EasyCAT | 0:543d6784d4cc | 1955 | wkc = etohs(le_wkc) * 2; |
EasyCAT | 0:543d6784d4cc | 1956 | memcpy(&le_DCtime, &(context->port->rxbuf[idx][context->DCtO]), sizeof(le_DCtime)); |
EasyCAT | 0:543d6784d4cc | 1957 | *(context->DCtime) = etohll(le_DCtime); |
EasyCAT | 0:543d6784d4cc | 1958 | first = FALSE; |
EasyCAT | 0:543d6784d4cc | 1959 | } |
EasyCAT | 0:543d6784d4cc | 1960 | else |
EasyCAT | 0:543d6784d4cc | 1961 | { |
EasyCAT | 0:543d6784d4cc | 1962 | /* output WKC counts 2 times when using LRW, emulate the same for LWR */ |
EasyCAT | 0:543d6784d4cc | 1963 | wkc += wkc2 * 2; |
EasyCAT | 0:543d6784d4cc | 1964 | } |
EasyCAT | 0:543d6784d4cc | 1965 | valid_wkc = 1; |
EasyCAT | 0:543d6784d4cc | 1966 | } |
EasyCAT | 0:543d6784d4cc | 1967 | } |
EasyCAT | 0:543d6784d4cc | 1968 | /* release buffer */ |
EasyCAT | 0:543d6784d4cc | 1969 | ecx_setbufstat(context->port, idx, EC_BUF_EMPTY); |
EasyCAT | 0:543d6784d4cc | 1970 | /* get next index */ |
EasyCAT | 0:543d6784d4cc | 1971 | pos = ecx_pullindex(context); |
EasyCAT | 0:543d6784d4cc | 1972 | } |
EasyCAT | 0:543d6784d4cc | 1973 | |
EasyCAT | 0:543d6784d4cc | 1974 | ecx_clearindex(context); |
EasyCAT | 0:543d6784d4cc | 1975 | |
EasyCAT | 0:543d6784d4cc | 1976 | /* if no frames has arrived */ |
EasyCAT | 0:543d6784d4cc | 1977 | if (valid_wkc == 0) |
EasyCAT | 0:543d6784d4cc | 1978 | { |
EasyCAT | 0:543d6784d4cc | 1979 | return EC_NOFRAME; |
EasyCAT | 0:543d6784d4cc | 1980 | } |
EasyCAT | 0:543d6784d4cc | 1981 | return wkc; |
EasyCAT | 0:543d6784d4cc | 1982 | } |
EasyCAT | 0:543d6784d4cc | 1983 | |
EasyCAT | 0:543d6784d4cc | 1984 | |
EasyCAT | 0:543d6784d4cc | 1985 | int ecx_send_processdata(ecx_contextt *context) |
EasyCAT | 0:543d6784d4cc | 1986 | { |
EasyCAT | 0:543d6784d4cc | 1987 | return ecx_send_processdata_group(context, 0); |
EasyCAT | 0:543d6784d4cc | 1988 | } |
EasyCAT | 0:543d6784d4cc | 1989 | |
EasyCAT | 0:543d6784d4cc | 1990 | int ecx_send_overlap_processdata(ecx_contextt *context) |
EasyCAT | 0:543d6784d4cc | 1991 | { |
EasyCAT | 0:543d6784d4cc | 1992 | return ecx_send_overlap_processdata_group(context, 0); |
EasyCAT | 0:543d6784d4cc | 1993 | } |
EasyCAT | 0:543d6784d4cc | 1994 | |
EasyCAT | 0:543d6784d4cc | 1995 | int ecx_receive_processdata(ecx_contextt *context, int timeout) |
EasyCAT | 0:543d6784d4cc | 1996 | { |
EasyCAT | 0:543d6784d4cc | 1997 | return ecx_receive_processdata_group(context, 0, timeout); |
EasyCAT | 0:543d6784d4cc | 1998 | } |
EasyCAT | 0:543d6784d4cc | 1999 | |
EasyCAT | 0:543d6784d4cc | 2000 | #ifdef EC_VER1 |
EasyCAT | 0:543d6784d4cc | 2001 | void ec_pusherror(const ec_errort *Ec) |
EasyCAT | 0:543d6784d4cc | 2002 | { |
EasyCAT | 0:543d6784d4cc | 2003 | ecx_pusherror(&ecx_context, Ec); |
EasyCAT | 0:543d6784d4cc | 2004 | } |
EasyCAT | 0:543d6784d4cc | 2005 | |
EasyCAT | 0:543d6784d4cc | 2006 | boolean ec_poperror(ec_errort *Ec) |
EasyCAT | 0:543d6784d4cc | 2007 | { |
EasyCAT | 0:543d6784d4cc | 2008 | return ecx_poperror(&ecx_context, Ec); |
EasyCAT | 0:543d6784d4cc | 2009 | } |
EasyCAT | 0:543d6784d4cc | 2010 | |
EasyCAT | 0:543d6784d4cc | 2011 | boolean ec_iserror(void) |
EasyCAT | 0:543d6784d4cc | 2012 | { |
EasyCAT | 0:543d6784d4cc | 2013 | return ecx_iserror(&ecx_context); |
EasyCAT | 0:543d6784d4cc | 2014 | } |
EasyCAT | 0:543d6784d4cc | 2015 | |
EasyCAT | 0:543d6784d4cc | 2016 | void ec_packeterror(uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode) |
EasyCAT | 0:543d6784d4cc | 2017 | { |
EasyCAT | 0:543d6784d4cc | 2018 | ecx_packeterror(&ecx_context, Slave, Index, SubIdx, ErrorCode); |
EasyCAT | 0:543d6784d4cc | 2019 | } |
EasyCAT | 0:543d6784d4cc | 2020 | |
EasyCAT | 0:543d6784d4cc | 2021 | /** Initialise lib in single NIC mode |
EasyCAT | 0:543d6784d4cc | 2022 | * @param[in] ifname = Dev name, f.e. "eth0" |
EasyCAT | 0:543d6784d4cc | 2023 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 2024 | * @see ecx_init |
EasyCAT | 0:543d6784d4cc | 2025 | */ |
EasyCAT | 0:543d6784d4cc | 2026 | int ec_init(const char * ifname) |
EasyCAT | 0:543d6784d4cc | 2027 | { |
EasyCAT | 0:543d6784d4cc | 2028 | return ecx_init(&ecx_context, ifname); |
EasyCAT | 0:543d6784d4cc | 2029 | } |
EasyCAT | 0:543d6784d4cc | 2030 | |
EasyCAT | 0:543d6784d4cc | 2031 | /** Initialise lib in redundant NIC mode |
EasyCAT | 0:543d6784d4cc | 2032 | * @param[in] ifname = Primary Dev name, f.e. "eth0" |
EasyCAT | 0:543d6784d4cc | 2033 | * @param[in] if2name = Secondary Dev name, f.e. "eth1" |
EasyCAT | 0:543d6784d4cc | 2034 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 2035 | * @see ecx_init_redundant |
EasyCAT | 0:543d6784d4cc | 2036 | */ |
EasyCAT | 0:543d6784d4cc | 2037 | int ec_init_redundant(const char *ifname, char *if2name) |
EasyCAT | 0:543d6784d4cc | 2038 | { |
EasyCAT | 0:543d6784d4cc | 2039 | return ecx_init_redundant (&ecx_context, &ecx_redport, ifname, if2name); |
EasyCAT | 0:543d6784d4cc | 2040 | } |
EasyCAT | 0:543d6784d4cc | 2041 | |
EasyCAT | 0:543d6784d4cc | 2042 | /** Close lib. |
EasyCAT | 0:543d6784d4cc | 2043 | * @see ecx_close |
EasyCAT | 0:543d6784d4cc | 2044 | */ |
EasyCAT | 0:543d6784d4cc | 2045 | void ec_close(void) |
EasyCAT | 0:543d6784d4cc | 2046 | { |
EasyCAT | 0:543d6784d4cc | 2047 | ecx_close(&ecx_context); |
EasyCAT | 0:543d6784d4cc | 2048 | }; |
EasyCAT | 0:543d6784d4cc | 2049 | |
EasyCAT | 0:543d6784d4cc | 2050 | /** Read one byte from slave EEPROM via cache. |
EasyCAT | 0:543d6784d4cc | 2051 | * If the cache location is empty then a read request is made to the slave. |
EasyCAT | 0:543d6784d4cc | 2052 | * Depending on the slave capabillities the request is 4 or 8 bytes. |
EasyCAT | 0:543d6784d4cc | 2053 | * @param[in] slave = slave number |
EasyCAT | 0:543d6784d4cc | 2054 | * @param[in] address = eeprom address in bytes (slave uses words) |
EasyCAT | 0:543d6784d4cc | 2055 | * @return requested byte, if not available then 0xff |
EasyCAT | 0:543d6784d4cc | 2056 | * @see ecx_siigetbyte |
EasyCAT | 0:543d6784d4cc | 2057 | */ |
EasyCAT | 0:543d6784d4cc | 2058 | uint8 ec_siigetbyte(uint16 slave, uint16 address) |
EasyCAT | 0:543d6784d4cc | 2059 | { |
EasyCAT | 0:543d6784d4cc | 2060 | return ecx_siigetbyte (&ecx_context, slave, address); |
EasyCAT | 0:543d6784d4cc | 2061 | } |
EasyCAT | 0:543d6784d4cc | 2062 | |
EasyCAT | 0:543d6784d4cc | 2063 | /** Find SII section header in slave EEPROM. |
EasyCAT | 0:543d6784d4cc | 2064 | * @param[in] slave = slave number |
EasyCAT | 0:543d6784d4cc | 2065 | * @param[in] cat = section category |
EasyCAT | 0:543d6784d4cc | 2066 | * @return byte address of section at section length entry, if not available then 0 |
EasyCAT | 0:543d6784d4cc | 2067 | * @see ecx_siifind |
EasyCAT | 0:543d6784d4cc | 2068 | */ |
EasyCAT | 0:543d6784d4cc | 2069 | int16 ec_siifind(uint16 slave, uint16 cat) |
EasyCAT | 0:543d6784d4cc | 2070 | { |
EasyCAT | 0:543d6784d4cc | 2071 | return ecx_siifind (&ecx_context, slave, cat); |
EasyCAT | 0:543d6784d4cc | 2072 | } |
EasyCAT | 0:543d6784d4cc | 2073 | |
EasyCAT | 0:543d6784d4cc | 2074 | /** Get string from SII string section in slave EEPROM. |
EasyCAT | 0:543d6784d4cc | 2075 | * @param[out] str = requested string, 0x00 if not found |
EasyCAT | 0:543d6784d4cc | 2076 | * @param[in] slave = slave number |
EasyCAT | 0:543d6784d4cc | 2077 | * @param[in] Sn = string number |
EasyCAT | 0:543d6784d4cc | 2078 | * @see ecx_siistring |
EasyCAT | 0:543d6784d4cc | 2079 | */ |
EasyCAT | 0:543d6784d4cc | 2080 | void ec_siistring(char *str, uint16 slave, uint16 Sn) |
EasyCAT | 0:543d6784d4cc | 2081 | { |
EasyCAT | 0:543d6784d4cc | 2082 | ecx_siistring(&ecx_context, str, slave, Sn); |
EasyCAT | 0:543d6784d4cc | 2083 | } |
EasyCAT | 0:543d6784d4cc | 2084 | |
EasyCAT | 0:543d6784d4cc | 2085 | /** Get FMMU data from SII FMMU section in slave EEPROM. |
EasyCAT | 0:543d6784d4cc | 2086 | * @param[in] slave = slave number |
EasyCAT | 0:543d6784d4cc | 2087 | * @param[out] FMMU = FMMU struct from SII, max. 4 FMMU's |
EasyCAT | 0:543d6784d4cc | 2088 | * @return number of FMMU's defined in section |
EasyCAT | 0:543d6784d4cc | 2089 | * @see ecx_siiFMMU |
EasyCAT | 0:543d6784d4cc | 2090 | */ |
EasyCAT | 0:543d6784d4cc | 2091 | uint16 ec_siiFMMU(uint16 slave, ec_eepromFMMUt* FMMU) |
EasyCAT | 0:543d6784d4cc | 2092 | { |
EasyCAT | 0:543d6784d4cc | 2093 | return ecx_siiFMMU (&ecx_context, slave, FMMU); |
EasyCAT | 0:543d6784d4cc | 2094 | } |
EasyCAT | 0:543d6784d4cc | 2095 | |
EasyCAT | 0:543d6784d4cc | 2096 | /** Get SM data from SII SM section in slave EEPROM. |
EasyCAT | 0:543d6784d4cc | 2097 | * @param[in] slave = slave number |
EasyCAT | 0:543d6784d4cc | 2098 | * @param[out] SM = first SM struct from SII |
EasyCAT | 0:543d6784d4cc | 2099 | * @return number of SM's defined in section |
EasyCAT | 0:543d6784d4cc | 2100 | * @see ecx_siiSM |
EasyCAT | 0:543d6784d4cc | 2101 | */ |
EasyCAT | 0:543d6784d4cc | 2102 | uint16 ec_siiSM(uint16 slave, ec_eepromSMt* SM) |
EasyCAT | 0:543d6784d4cc | 2103 | { |
EasyCAT | 0:543d6784d4cc | 2104 | return ecx_siiSM (&ecx_context, slave, SM); |
EasyCAT | 0:543d6784d4cc | 2105 | } |
EasyCAT | 0:543d6784d4cc | 2106 | |
EasyCAT | 0:543d6784d4cc | 2107 | /** Get next SM data from SII SM section in slave EEPROM. |
EasyCAT | 0:543d6784d4cc | 2108 | * @param[in] slave = slave number |
EasyCAT | 0:543d6784d4cc | 2109 | * @param[out] SM = first SM struct from SII |
EasyCAT | 0:543d6784d4cc | 2110 | * @param[in] n = SM number |
EasyCAT | 0:543d6784d4cc | 2111 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 2112 | * @see ecx_siiSMnext |
EasyCAT | 0:543d6784d4cc | 2113 | */ |
EasyCAT | 0:543d6784d4cc | 2114 | uint16 ec_siiSMnext(uint16 slave, ec_eepromSMt* SM, uint16 n) |
EasyCAT | 0:543d6784d4cc | 2115 | { |
EasyCAT | 0:543d6784d4cc | 2116 | return ecx_siiSMnext (&ecx_context, slave, SM, n); |
EasyCAT | 0:543d6784d4cc | 2117 | } |
EasyCAT | 0:543d6784d4cc | 2118 | |
EasyCAT | 0:543d6784d4cc | 2119 | /** Get PDO data from SII PDO section in slave EEPROM. |
EasyCAT | 0:543d6784d4cc | 2120 | * @param[in] slave = slave number |
EasyCAT | 0:543d6784d4cc | 2121 | * @param[out] PDO = PDO struct from SII |
EasyCAT | 0:543d6784d4cc | 2122 | * @param[in] t = 0=RXPDO 1=TXPDO |
EasyCAT | 0:543d6784d4cc | 2123 | * @return mapping size in bits of PDO |
EasyCAT | 0:543d6784d4cc | 2124 | * @see ecx_siiPDO |
EasyCAT | 0:543d6784d4cc | 2125 | */ |
EasyCAT | 0:543d6784d4cc | 2126 | int ec_siiPDO(uint16 slave, ec_eepromPDOt* PDO, uint8 t) |
EasyCAT | 0:543d6784d4cc | 2127 | { |
EasyCAT | 0:543d6784d4cc | 2128 | return ecx_siiPDO (&ecx_context, slave, PDO, t); |
EasyCAT | 0:543d6784d4cc | 2129 | } |
EasyCAT | 0:543d6784d4cc | 2130 | |
EasyCAT | 0:543d6784d4cc | 2131 | /** Read all slave states in ec_slave. |
EasyCAT | 0:543d6784d4cc | 2132 | * @return lowest state found |
EasyCAT | 0:543d6784d4cc | 2133 | * @see ecx_readstate |
EasyCAT | 0:543d6784d4cc | 2134 | */ |
EasyCAT | 0:543d6784d4cc | 2135 | int ec_readstate(void) |
EasyCAT | 0:543d6784d4cc | 2136 | { |
EasyCAT | 0:543d6784d4cc | 2137 | return ecx_readstate (&ecx_context); |
EasyCAT | 0:543d6784d4cc | 2138 | } |
EasyCAT | 0:543d6784d4cc | 2139 | |
EasyCAT | 0:543d6784d4cc | 2140 | /** Write slave state, if slave = 0 then write to all slaves. |
EasyCAT | 0:543d6784d4cc | 2141 | * The function does not check if the actual state is changed. |
EasyCAT | 0:543d6784d4cc | 2142 | * @param[in] slave = Slave number, 0 = master |
EasyCAT | 0:543d6784d4cc | 2143 | * @return 0 |
EasyCAT | 0:543d6784d4cc | 2144 | * @see ecx_writestate |
EasyCAT | 0:543d6784d4cc | 2145 | */ |
EasyCAT | 0:543d6784d4cc | 2146 | int ec_writestate(uint16 slave) |
EasyCAT | 0:543d6784d4cc | 2147 | { |
EasyCAT | 0:543d6784d4cc | 2148 | return ecx_writestate(&ecx_context, slave); |
EasyCAT | 0:543d6784d4cc | 2149 | } |
EasyCAT | 0:543d6784d4cc | 2150 | |
EasyCAT | 0:543d6784d4cc | 2151 | /** Check actual slave state. |
EasyCAT | 0:543d6784d4cc | 2152 | * This is a blocking function. |
EasyCAT | 0:543d6784d4cc | 2153 | * @param[in] slave = Slave number, 0 = all slaves |
EasyCAT | 0:543d6784d4cc | 2154 | * @param[in] reqstate = Requested state |
EasyCAT | 0:543d6784d4cc | 2155 | * @param[in] timeout = Timeout value in us |
EasyCAT | 0:543d6784d4cc | 2156 | * @return Requested state, or found state after timeout. |
EasyCAT | 0:543d6784d4cc | 2157 | * @see ecx_statecheck |
EasyCAT | 0:543d6784d4cc | 2158 | */ |
EasyCAT | 0:543d6784d4cc | 2159 | uint16 ec_statecheck(uint16 slave, uint16 reqstate, int timeout) |
EasyCAT | 0:543d6784d4cc | 2160 | { |
EasyCAT | 0:543d6784d4cc | 2161 | return ecx_statecheck (&ecx_context, slave, reqstate, timeout); |
EasyCAT | 0:543d6784d4cc | 2162 | } |
EasyCAT | 0:543d6784d4cc | 2163 | |
EasyCAT | 0:543d6784d4cc | 2164 | /** Check if IN mailbox of slave is empty. |
EasyCAT | 0:543d6784d4cc | 2165 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 2166 | * @param[in] timeout = Timeout in us |
EasyCAT | 0:543d6784d4cc | 2167 | * @return >0 is success |
EasyCAT | 0:543d6784d4cc | 2168 | * @see ecx_mbxempty |
EasyCAT | 0:543d6784d4cc | 2169 | */ |
EasyCAT | 0:543d6784d4cc | 2170 | int ec_mbxempty(uint16 slave, int timeout) |
EasyCAT | 0:543d6784d4cc | 2171 | { |
EasyCAT | 0:543d6784d4cc | 2172 | return ecx_mbxempty (&ecx_context, slave, timeout); |
EasyCAT | 0:543d6784d4cc | 2173 | } |
EasyCAT | 0:543d6784d4cc | 2174 | |
EasyCAT | 0:543d6784d4cc | 2175 | /** Write IN mailbox to slave. |
EasyCAT | 0:543d6784d4cc | 2176 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 2177 | * @param[out] mbx = Mailbox data |
EasyCAT | 0:543d6784d4cc | 2178 | * @param[in] timeout = Timeout in us |
EasyCAT | 0:543d6784d4cc | 2179 | * @return Work counter (>0 is success) |
EasyCAT | 0:543d6784d4cc | 2180 | * @see ecx_mbxsend |
EasyCAT | 0:543d6784d4cc | 2181 | */ |
EasyCAT | 0:543d6784d4cc | 2182 | int ec_mbxsend(uint16 slave,ec_mbxbuft *mbx, int timeout) |
EasyCAT | 0:543d6784d4cc | 2183 | { |
EasyCAT | 0:543d6784d4cc | 2184 | return ecx_mbxsend (&ecx_context, slave, mbx, timeout); |
EasyCAT | 0:543d6784d4cc | 2185 | } |
EasyCAT | 0:543d6784d4cc | 2186 | |
EasyCAT | 0:543d6784d4cc | 2187 | /** Read OUT mailbox from slave. |
EasyCAT | 0:543d6784d4cc | 2188 | * Supports Mailbox Link Layer with repeat requests. |
EasyCAT | 0:543d6784d4cc | 2189 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 2190 | * @param[out] mbx = Mailbox data |
EasyCAT | 0:543d6784d4cc | 2191 | * @param[in] timeout = Timeout in us |
EasyCAT | 0:543d6784d4cc | 2192 | * @return Work counter (>0 is success) |
EasyCAT | 0:543d6784d4cc | 2193 | * @see ecx_mbxreceive |
EasyCAT | 0:543d6784d4cc | 2194 | */ |
EasyCAT | 0:543d6784d4cc | 2195 | int ec_mbxreceive(uint16 slave, ec_mbxbuft *mbx, int timeout) |
EasyCAT | 0:543d6784d4cc | 2196 | { |
EasyCAT | 0:543d6784d4cc | 2197 | return ecx_mbxreceive (&ecx_context, slave, mbx, timeout); |
EasyCAT | 0:543d6784d4cc | 2198 | } |
EasyCAT | 0:543d6784d4cc | 2199 | |
EasyCAT | 0:543d6784d4cc | 2200 | /** Dump complete EEPROM data from slave in buffer. |
EasyCAT | 0:543d6784d4cc | 2201 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 2202 | * @param[out] esibuf = EEPROM data buffer, make sure it is big enough. |
EasyCAT | 0:543d6784d4cc | 2203 | * @see ecx_esidump |
EasyCAT | 0:543d6784d4cc | 2204 | */ |
EasyCAT | 0:543d6784d4cc | 2205 | void ec_esidump(uint16 slave, uint8 *esibuf) |
EasyCAT | 0:543d6784d4cc | 2206 | { |
EasyCAT | 0:543d6784d4cc | 2207 | ecx_esidump (&ecx_context, slave, esibuf); |
EasyCAT | 0:543d6784d4cc | 2208 | } |
EasyCAT | 0:543d6784d4cc | 2209 | |
EasyCAT | 0:543d6784d4cc | 2210 | /** Read EEPROM from slave bypassing cache. |
EasyCAT | 0:543d6784d4cc | 2211 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 2212 | * @param[in] eeproma = (WORD) Address in the EEPROM |
EasyCAT | 0:543d6784d4cc | 2213 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 2214 | * @return EEPROM data 32bit |
EasyCAT | 0:543d6784d4cc | 2215 | * @see ecx_readeeprom |
EasyCAT | 0:543d6784d4cc | 2216 | */ |
EasyCAT | 0:543d6784d4cc | 2217 | uint32 ec_readeeprom(uint16 slave, uint16 eeproma, int timeout) |
EasyCAT | 0:543d6784d4cc | 2218 | { |
EasyCAT | 0:543d6784d4cc | 2219 | return ecx_readeeprom (&ecx_context, slave, eeproma, timeout); |
EasyCAT | 0:543d6784d4cc | 2220 | } |
EasyCAT | 0:543d6784d4cc | 2221 | |
EasyCAT | 0:543d6784d4cc | 2222 | /** Write EEPROM to slave bypassing cache. |
EasyCAT | 0:543d6784d4cc | 2223 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 2224 | * @param[in] eeproma = (WORD) Address in the EEPROM |
EasyCAT | 0:543d6784d4cc | 2225 | * @param[in] data = 16bit data |
EasyCAT | 0:543d6784d4cc | 2226 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 2227 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 2228 | * @see ecx_writeeeprom |
EasyCAT | 0:543d6784d4cc | 2229 | */ |
EasyCAT | 0:543d6784d4cc | 2230 | int ec_writeeeprom(uint16 slave, uint16 eeproma, uint16 data, int timeout) |
EasyCAT | 0:543d6784d4cc | 2231 | { |
EasyCAT | 0:543d6784d4cc | 2232 | return ecx_writeeeprom (&ecx_context, slave, eeproma, data, timeout); |
EasyCAT | 0:543d6784d4cc | 2233 | } |
EasyCAT | 0:543d6784d4cc | 2234 | |
EasyCAT | 0:543d6784d4cc | 2235 | /** Set eeprom control to master. Only if set to PDI. |
EasyCAT | 0:543d6784d4cc | 2236 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 2237 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 2238 | * @see ecx_eeprom2master |
EasyCAT | 0:543d6784d4cc | 2239 | */ |
EasyCAT | 0:543d6784d4cc | 2240 | int ec_eeprom2master(uint16 slave) |
EasyCAT | 0:543d6784d4cc | 2241 | { |
EasyCAT | 0:543d6784d4cc | 2242 | return ecx_eeprom2master(&ecx_context, slave); |
EasyCAT | 0:543d6784d4cc | 2243 | } |
EasyCAT | 0:543d6784d4cc | 2244 | |
EasyCAT | 0:543d6784d4cc | 2245 | int ec_eeprom2pdi(uint16 slave) |
EasyCAT | 0:543d6784d4cc | 2246 | { |
EasyCAT | 0:543d6784d4cc | 2247 | return ecx_eeprom2pdi(&ecx_context, slave); |
EasyCAT | 0:543d6784d4cc | 2248 | } |
EasyCAT | 0:543d6784d4cc | 2249 | |
EasyCAT | 0:543d6784d4cc | 2250 | uint16 ec_eeprom_waitnotbusyAP(uint16 aiadr,uint16 *estat, int timeout) |
EasyCAT | 0:543d6784d4cc | 2251 | { |
EasyCAT | 0:543d6784d4cc | 2252 | return ecx_eeprom_waitnotbusyAP (&ecx_context, aiadr, estat, timeout); |
EasyCAT | 0:543d6784d4cc | 2253 | } |
EasyCAT | 0:543d6784d4cc | 2254 | |
EasyCAT | 0:543d6784d4cc | 2255 | /** Read EEPROM from slave bypassing cache. APRD method. |
EasyCAT | 0:543d6784d4cc | 2256 | * @param[in] aiadr = auto increment address of slave |
EasyCAT | 0:543d6784d4cc | 2257 | * @param[in] eeproma = (WORD) Address in the EEPROM |
EasyCAT | 0:543d6784d4cc | 2258 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 2259 | * @return EEPROM data 64bit or 32bit |
EasyCAT | 0:543d6784d4cc | 2260 | */ |
EasyCAT | 0:543d6784d4cc | 2261 | uint64 ec_readeepromAP(uint16 aiadr, uint16 eeproma, int timeout) |
EasyCAT | 0:543d6784d4cc | 2262 | { |
EasyCAT | 0:543d6784d4cc | 2263 | return ecx_readeepromAP (&ecx_context, aiadr, eeproma, timeout); |
EasyCAT | 0:543d6784d4cc | 2264 | } |
EasyCAT | 0:543d6784d4cc | 2265 | |
EasyCAT | 0:543d6784d4cc | 2266 | /** Write EEPROM to slave bypassing cache. APWR method. |
EasyCAT | 0:543d6784d4cc | 2267 | * @param[in] aiadr = configured address of slave |
EasyCAT | 0:543d6784d4cc | 2268 | * @param[in] eeproma = (WORD) Address in the EEPROM |
EasyCAT | 0:543d6784d4cc | 2269 | * @param[in] data = 16bit data |
EasyCAT | 0:543d6784d4cc | 2270 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 2271 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 2272 | * @see ecx_writeeepromAP |
EasyCAT | 0:543d6784d4cc | 2273 | */ |
EasyCAT | 0:543d6784d4cc | 2274 | int ec_writeeepromAP(uint16 aiadr, uint16 eeproma, uint16 data, int timeout) |
EasyCAT | 0:543d6784d4cc | 2275 | { |
EasyCAT | 0:543d6784d4cc | 2276 | return ecx_writeeepromAP (&ecx_context, aiadr, eeproma, data, timeout); |
EasyCAT | 0:543d6784d4cc | 2277 | } |
EasyCAT | 0:543d6784d4cc | 2278 | |
EasyCAT | 0:543d6784d4cc | 2279 | uint16 ec_eeprom_waitnotbusyFP(uint16 configadr,uint16 *estat, int timeout) |
EasyCAT | 0:543d6784d4cc | 2280 | { |
EasyCAT | 0:543d6784d4cc | 2281 | return ecx_eeprom_waitnotbusyFP (&ecx_context, configadr, estat, timeout); |
EasyCAT | 0:543d6784d4cc | 2282 | } |
EasyCAT | 0:543d6784d4cc | 2283 | |
EasyCAT | 0:543d6784d4cc | 2284 | /** Read EEPROM from slave bypassing cache. FPRD method. |
EasyCAT | 0:543d6784d4cc | 2285 | * @param[in] configadr = configured address of slave |
EasyCAT | 0:543d6784d4cc | 2286 | * @param[in] eeproma = (WORD) Address in the EEPROM |
EasyCAT | 0:543d6784d4cc | 2287 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 2288 | * @return EEPROM data 64bit or 32bit |
EasyCAT | 0:543d6784d4cc | 2289 | * @see ecx_readeepromFP |
EasyCAT | 0:543d6784d4cc | 2290 | */ |
EasyCAT | 0:543d6784d4cc | 2291 | uint64 ec_readeepromFP(uint16 configadr, uint16 eeproma, int timeout) |
EasyCAT | 0:543d6784d4cc | 2292 | { |
EasyCAT | 0:543d6784d4cc | 2293 | return ecx_readeepromFP (&ecx_context, configadr, eeproma, timeout); |
EasyCAT | 0:543d6784d4cc | 2294 | } |
EasyCAT | 0:543d6784d4cc | 2295 | |
EasyCAT | 0:543d6784d4cc | 2296 | /** Write EEPROM to slave bypassing cache. FPWR method. |
EasyCAT | 0:543d6784d4cc | 2297 | * @param[in] configadr = configured address of slave |
EasyCAT | 0:543d6784d4cc | 2298 | * @param[in] eeproma = (WORD) Address in the EEPROM |
EasyCAT | 0:543d6784d4cc | 2299 | * @param[in] data = 16bit data |
EasyCAT | 0:543d6784d4cc | 2300 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 2301 | * @return >0 if OK |
EasyCAT | 0:543d6784d4cc | 2302 | * @see ecx_writeeepromFP |
EasyCAT | 0:543d6784d4cc | 2303 | */ |
EasyCAT | 0:543d6784d4cc | 2304 | int ec_writeeepromFP(uint16 configadr, uint16 eeproma, uint16 data, int timeout) |
EasyCAT | 0:543d6784d4cc | 2305 | { |
EasyCAT | 0:543d6784d4cc | 2306 | return ecx_writeeepromFP (&ecx_context, configadr, eeproma, data, timeout); |
EasyCAT | 0:543d6784d4cc | 2307 | } |
EasyCAT | 0:543d6784d4cc | 2308 | |
EasyCAT | 0:543d6784d4cc | 2309 | /** Read EEPROM from slave bypassing cache. |
EasyCAT | 0:543d6784d4cc | 2310 | * Parallel read step 1, make request to slave. |
EasyCAT | 0:543d6784d4cc | 2311 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 2312 | * @param[in] eeproma = (WORD) Address in the EEPROM |
EasyCAT | 0:543d6784d4cc | 2313 | * @see ecx_readeeprom1 |
EasyCAT | 0:543d6784d4cc | 2314 | */ |
EasyCAT | 0:543d6784d4cc | 2315 | void ec_readeeprom1(uint16 slave, uint16 eeproma) |
EasyCAT | 0:543d6784d4cc | 2316 | { |
EasyCAT | 0:543d6784d4cc | 2317 | ecx_readeeprom1 (&ecx_context, slave, eeproma); |
EasyCAT | 0:543d6784d4cc | 2318 | } |
EasyCAT | 0:543d6784d4cc | 2319 | |
EasyCAT | 0:543d6784d4cc | 2320 | /** Read EEPROM from slave bypassing cache. |
EasyCAT | 0:543d6784d4cc | 2321 | * Parallel read step 2, actual read from slave. |
EasyCAT | 0:543d6784d4cc | 2322 | * @param[in] slave = Slave number |
EasyCAT | 0:543d6784d4cc | 2323 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 2324 | * @return EEPROM data 32bit |
EasyCAT | 0:543d6784d4cc | 2325 | * @see ecx_readeeprom2 |
EasyCAT | 0:543d6784d4cc | 2326 | */ |
EasyCAT | 0:543d6784d4cc | 2327 | uint32 ec_readeeprom2(uint16 slave, int timeout) |
EasyCAT | 0:543d6784d4cc | 2328 | { |
EasyCAT | 0:543d6784d4cc | 2329 | return ecx_readeeprom2 (&ecx_context, slave, timeout); |
EasyCAT | 0:543d6784d4cc | 2330 | } |
EasyCAT | 0:543d6784d4cc | 2331 | |
EasyCAT | 0:543d6784d4cc | 2332 | /** Transmit processdata to slaves. |
EasyCAT | 0:543d6784d4cc | 2333 | * Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). |
EasyCAT | 0:543d6784d4cc | 2334 | * Both the input and output processdata are transmitted. |
EasyCAT | 0:543d6784d4cc | 2335 | * The outputs with the actual data, the inputs have a placeholder. |
EasyCAT | 0:543d6784d4cc | 2336 | * The inputs are gathered with the receive processdata function. |
EasyCAT | 0:543d6784d4cc | 2337 | * In contrast to the base LRW function this function is non-blocking. |
EasyCAT | 0:543d6784d4cc | 2338 | * If the processdata does not fit in one datagram, multiple are used. |
EasyCAT | 0:543d6784d4cc | 2339 | * In order to recombine the slave response, a stack is used. |
EasyCAT | 0:543d6784d4cc | 2340 | * @param[in] group = group number |
EasyCAT | 0:543d6784d4cc | 2341 | * @return >0 if processdata is transmitted. |
EasyCAT | 0:543d6784d4cc | 2342 | * @see ecx_send_processdata_group |
EasyCAT | 0:543d6784d4cc | 2343 | */ |
EasyCAT | 0:543d6784d4cc | 2344 | int ec_send_processdata_group(uint8 group) |
EasyCAT | 0:543d6784d4cc | 2345 | { |
EasyCAT | 0:543d6784d4cc | 2346 | return ecx_send_processdata_group (&ecx_context, group); |
EasyCAT | 0:543d6784d4cc | 2347 | } |
EasyCAT | 0:543d6784d4cc | 2348 | |
EasyCAT | 0:543d6784d4cc | 2349 | /** Transmit processdata to slaves. |
EasyCAT | 0:543d6784d4cc | 2350 | * Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). |
EasyCAT | 0:543d6784d4cc | 2351 | * Both the input and output processdata are transmitted in the overlapped IOmap. |
EasyCAT | 0:543d6784d4cc | 2352 | * The outputs with the actual data, the inputs replace the output data in the |
EasyCAT | 0:543d6784d4cc | 2353 | * returning frame. The inputs are gathered with the receive processdata function. |
EasyCAT | 0:543d6784d4cc | 2354 | * In contrast to the base LRW function this function is non-blocking. |
EasyCAT | 0:543d6784d4cc | 2355 | * If the processdata does not fit in one datagram, multiple are used. |
EasyCAT | 0:543d6784d4cc | 2356 | * In order to recombine the slave response, a stack is used. |
EasyCAT | 0:543d6784d4cc | 2357 | * @param[in] context = context struct |
EasyCAT | 0:543d6784d4cc | 2358 | * @param[in] group = group number |
EasyCAT | 0:543d6784d4cc | 2359 | * @return >0 if processdata is transmitted. |
EasyCAT | 0:543d6784d4cc | 2360 | * @see ecx_send_overlap_processdata_group |
EasyCAT | 0:543d6784d4cc | 2361 | */ |
EasyCAT | 0:543d6784d4cc | 2362 | int ec_send_overlap_processdata_group(uint8 group) |
EasyCAT | 0:543d6784d4cc | 2363 | { |
EasyCAT | 0:543d6784d4cc | 2364 | return ecx_send_overlap_processdata_group(&ecx_context, group); |
EasyCAT | 0:543d6784d4cc | 2365 | } |
EasyCAT | 0:543d6784d4cc | 2366 | |
EasyCAT | 0:543d6784d4cc | 2367 | /** Receive processdata from slaves. |
EasyCAT | 0:543d6784d4cc | 2368 | * Second part from ec_send_processdata(). |
EasyCAT | 0:543d6784d4cc | 2369 | * Received datagrams are recombined with the processdata with help from the stack. |
EasyCAT | 0:543d6784d4cc | 2370 | * If a datagram contains input processdata it copies it to the processdata structure. |
EasyCAT | 0:543d6784d4cc | 2371 | * @param[in] group = group number |
EasyCAT | 0:543d6784d4cc | 2372 | * @param[in] timeout = Timeout in us. |
EasyCAT | 0:543d6784d4cc | 2373 | * @return Work counter. |
EasyCAT | 0:543d6784d4cc | 2374 | * @see ecx_receive_processdata_group |
EasyCAT | 0:543d6784d4cc | 2375 | */ |
EasyCAT | 0:543d6784d4cc | 2376 | int ec_receive_processdata_group(uint8 group, int timeout) |
EasyCAT | 0:543d6784d4cc | 2377 | { |
EasyCAT | 0:543d6784d4cc | 2378 | return ecx_receive_processdata_group (&ecx_context, group, timeout); |
EasyCAT | 0:543d6784d4cc | 2379 | } |
EasyCAT | 0:543d6784d4cc | 2380 | |
EasyCAT | 0:543d6784d4cc | 2381 | int ec_send_processdata(void) |
EasyCAT | 0:543d6784d4cc | 2382 | { |
EasyCAT | 0:543d6784d4cc | 2383 | return ec_send_processdata_group(0); |
EasyCAT | 0:543d6784d4cc | 2384 | } |
EasyCAT | 0:543d6784d4cc | 2385 | |
EasyCAT | 0:543d6784d4cc | 2386 | int ec_send_overlap_processdata(void) |
EasyCAT | 0:543d6784d4cc | 2387 | { |
EasyCAT | 0:543d6784d4cc | 2388 | return ec_send_overlap_processdata_group(0); |
EasyCAT | 0:543d6784d4cc | 2389 | } |
EasyCAT | 0:543d6784d4cc | 2390 | |
EasyCAT | 0:543d6784d4cc | 2391 | int ec_receive_processdata(int timeout) |
EasyCAT | 0:543d6784d4cc | 2392 | { |
EasyCAT | 0:543d6784d4cc | 2393 | return ec_receive_processdata_group(0, timeout); |
EasyCAT | 0:543d6784d4cc | 2394 | } |
EasyCAT | 0:543d6784d4cc | 2395 | #endif |