From 4e90e0b3cb16d740480331a51388b356fec6f3b3 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Fri, 24 Feb 2006 10:19:26 +0000
Subject: [PATCH] EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und
werden konsequent verwendet.
---
include/EtherCAT_rt.h | 8 +++---
include/EtherCAT_si.h | 41 +++++++++---------------------
master/canopen.c | 52 ++++++++++++++++----------------------
master/frame.c | 59 +++++++++++++++++--------------------------
master/frame.h | 3 +--
master/master.c | 46 +++++++++++++--------------------
master/slave.c | 55 ++++++++++++++++++----------------------
7 files changed, 105 insertions(+), 159 deletions(-)
diff --git a/include/EtherCAT_rt.h b/include/EtherCAT_rt.h
index 280690d5..a0eb8fe2 100644
--- a/include/EtherCAT_rt.h
+++ b/include/EtherCAT_rt.h
@@ -87,10 +87,10 @@ int EtherCAT_rt_domain_xio(ec_domain_t *domain);
// Slave Methods
int EtherCAT_rt_canopen_sdo_write(ec_slave_t *slave,
- unsigned int sdo_index,
- unsigned char sdo_subindex,
- unsigned int value,
- unsigned int size);
+ uint16_t sdo_index,
+ uint8_t sdo_subindex,
+ uint32_t value,
+ size_t size);
/*****************************************************************************/
diff --git a/include/EtherCAT_si.h b/include/EtherCAT_si.h
index 54f69e6c..744994f7 100644
--- a/include/EtherCAT_si.h
+++ b/include/EtherCAT_si.h
@@ -8,6 +8,8 @@
*
*****************************************************************************/
+#include <asm/byteorder.h>
+
/*****************************************************************************/
// Bitwise read/write macros
@@ -24,31 +26,14 @@
// Read macros
-#define EC_READ_U8(PD) \
- (*((uint8_t *) (PD)))
-
-#define EC_READ_S8(PD) \
- ((int8_t) *((uint8_t *) (PD)))
-
-#define EC_READ_U16(PD) \
- ((uint16_t) (*((uint8_t *) (PD) + 0) << 0 | \
- *((uint8_t *) (PD) + 1) << 8))
-
-#define EC_READ_S16(PD) \
- ((int16_t) (*((uint8_t *) (PD) + 0) << 0 | \
- *((uint8_t *) (PD) + 1) << 8))
+#define EC_READ_U8(PD) ((uint8_t) *((uint8_t *) (PD)))
+#define EC_READ_S8(PD) ((int8_t) *((uint8_t *) (PD)))
-#define EC_READ_U32(PD) \
- ((uint32_t) (*((uint8_t *) (PD) + 0) << 0 | \
- *((uint8_t *) (PD) + 1) << 8 | \
- *((uint8_t *) (PD) + 2) << 16 | \
- *((uint8_t *) (PD) + 3) << 24))
+#define EC_READ_U16(PD) ((uint16_t) le16_to_cpup((void *) (PD)))
+#define EC_READ_S16(PD) ((int16_t) le16_to_cpup((void *) (PD)))
-#define EC_READ_S32(PD) \
- ((int32_t) (*((uint8_t *) (PD) + 0) << 0 | \
- *((uint8_t *) (PD) + 1) << 8 | \
- *((uint8_t *) (PD) + 2) << 16 | \
- *((uint8_t *) (PD) + 3) << 24))
+#define EC_READ_U32(PD) ((uint32_t) le32_to_cpup((void *) (PD)))
+#define EC_READ_S32(PD) ((int32_t) le32_to_cpup((void *) (PD)))
/*****************************************************************************/
@@ -63,18 +48,16 @@
#define EC_WRITE_U16(PD, VAL) \
do { \
- *((uint8_t *) (PD) + 0) = ((uint16_t) (VAL) >> 0) & 0xFF; \
- *((uint8_t *) (PD) + 1) = ((uint16_t) (VAL) >> 8) & 0xFF; \
+ *((uint16_t *) (PD)) = (uint16_t) (VAL); \
+ cpu_to_le16s(PD); \
} while (0)
#define EC_WRITE_S16(PD, VAL) EC_WRITE_U16(PD, VAL)
#define EC_WRITE_U32(PD, VAL) \
do { \
- *((uint8_t *) (PD) + 0) = ((uint32_t) (VAL) >> 0) & 0xFF; \
- *((uint8_t *) (PD) + 1) = ((uint32_t) (VAL) >> 8) & 0xFF; \
- *((uint8_t *) (PD) + 2) = ((uint32_t) (VAL) >> 16) & 0xFF; \
- *((uint8_t *) (PD) + 3) = ((uint32_t) (VAL) >> 24) & 0xFF; \
+ *((uint32_t *) (PD)) = (uint32_t) (VAL); \
+ cpu_to_le16s(PD); \
} while (0)
#define EC_WRITE_S32(PD, VAL) EC_WRITE_U32(PD, VAL)
diff --git a/master/canopen.c b/master/canopen.c
index 94fbaf99..ffbc77d2 100644
--- a/master/canopen.c
+++ b/master/canopen.c
@@ -10,6 +10,7 @@
#include <linux/delay.h>
+#include "../include/EtherCAT_si.h"
#include "master.h"
/*****************************************************************************/
@@ -22,13 +23,12 @@
Schreibt ein CANopen-SDO (service data object).
*/
-int EtherCAT_rt_canopen_sdo_write(
- ec_slave_t *slave, /**< EtherCAT-Slave */
- unsigned int sdo_index, /**< SDO-Index */
- unsigned char sdo_subindex, /**< SDO-Subindex */
- unsigned int value, /**< Neuer Wert */
- unsigned int size /**< Größe des Datenfeldes */
- )
+int EtherCAT_rt_canopen_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
+ uint16_t sdo_index, /**< SDO-Index */
+ uint8_t sdo_subindex, /**< SDO-Subindex */
+ uint32_t value, /**< Neuer Wert */
+ size_t size /**< Größe des Datenfeldes */
+ )
{
unsigned char data[0xF6];
ec_frame_t frame;
@@ -44,24 +44,17 @@ int EtherCAT_rt_canopen_sdo_write(
return -1;
}
- data[0] = 0x0A; // Length of the Mailbox service data
- data[1] = 0x00;
- data[2] = slave->station_address & 0xFF; // Station address
- data[3] = (slave->station_address >> 8) & 0xFF;
- data[4] = 0x00; // Channel & priority
- data[5] = 0x03; // CANopen over EtherCAT
- data[6] = 0x00; // Number(7-0)
- data[7] = 0x2 << 4; // Number(8) & Service = SDO Request (0x02)
- data[8] = 0x01 // Size specified
- | (0x1 << 1) // Transfer type = Expedited
- | ((4 - size) << 2) // Data Set Size
- | (0x1 << 5); // Command specifier = Initiate download request (0x01)
- data[9] = sdo_index & 0xFF;
- data[10] = (sdo_index >> 8) & 0xFF;
- data[11] = sdo_subindex;
+ EC_WRITE_U16(data, 0x000A); // Length of the Mailbox service data
+ EC_WRITE_U16(data + 2, slave->station_address); // Station address
+ EC_WRITE_U8 (data + 4, 0x00); // Channel & priority
+ EC_WRITE_U8 (data + 5, 0x03); // CANopen over EtherCAT
+ EC_WRITE_U16(data + 6, 0x2000); // Number & Service
+ EC_WRITE_U8 (data + 8, 0x13 | ((4 - size) << 2)); // Spec., exp., init.
+ EC_WRITE_U16(data + 9, sdo_index);
+ EC_WRITE_U8 (data + 11, sdo_subindex);
for (i = 0; i < size; i++) {
- data[12 + i] = value & 0xFF;
+ EC_WRITE_U8(data + 12 + i, value & 0xFF);
value >>= 8;
}
@@ -91,7 +84,7 @@ int EtherCAT_rt_canopen_sdo_write(
return -1;
}
- if (frame.data[5] & 8) { // Written bit is high
+ if (EC_READ_U8(frame.data + 5) & 8) { // Written bit is high
break;
}
@@ -115,12 +108,11 @@ int EtherCAT_rt_canopen_sdo_write(
return -1;
}
- if (frame.data[5] != 0x03 // COE
- || (frame.data[7] >> 4) != 0x03 // SDO response
- || (frame.data[8] >> 5) != 0x03 // Initiate download response
- || (frame.data[9] != (sdo_index & 0xFF)) // Index
- || (frame.data[10] != ((sdo_index >> 8) & 0xFF))
- || (frame.data[11] != sdo_subindex)) // Subindex
+ if (EC_READ_U8 (frame.data + 5) != 0x03 || // COE
+ EC_READ_U16(frame.data + 6) != 0x3000 || // SDO response
+ EC_READ_U8 (frame.data + 8) >> 5 != 0x03 || // Download response
+ EC_READ_U16(frame.data + 9) != sdo_index || // Index
+ EC_READ_U8 (frame.data + 11) != sdo_subindex) // Subindex
{
printk(KERN_ERR "EtherCAT: Illegal mailbox response at slave %i!\n",
slave->ring_position);
diff --git a/master/frame.c b/master/frame.c
index 65a3c0be..d3146c31 100644
--- a/master/frame.c
+++ b/master/frame.c
@@ -11,6 +11,7 @@
#include <linux/slab.h>
#include <linux/delay.h>
+#include "../include/EtherCAT_si.h"
#include "frame.h"
#include "master.h"
@@ -27,7 +28,8 @@
memcpy(frame->data, data, length);
#define EC_FUNC_READ_FOOTER \
- frame->data_length = length;
+ frame->data_length = length; \
+ memset(frame->data, 0x00, length);
/*****************************************************************************/
@@ -289,45 +291,30 @@ int ec_frame_send(ec_frame_t *frame /**< Rahmen zum Senden */)
data = ec_device_prepare(&frame->master->device);
// EtherCAT frame header
- data[0] = command_size & 0xFF;
- data[1] = ((command_size & 0x700) >> 8) | 0x10;
+ EC_WRITE_U16(data, (command_size & 0x7FF) | 0x1000);
data += EC_FRAME_HEADER_SIZE;
// EtherCAT command header
- data[0] = frame->type;
- data[1] = frame->index;
- data[2] = frame->address.raw[0];
- data[3] = frame->address.raw[1];
- data[4] = frame->address.raw[2];
- data[5] = frame->address.raw[3];
- data[6] = frame->data_length & 0xFF;
- data[7] = (frame->data_length & 0x700) >> 8;
- data[8] = 0x00;
- data[9] = 0x00;
+ EC_WRITE_U8 (data, frame->type);
+ EC_WRITE_U8 (data + 1, frame->index);
+ EC_WRITE_U32(data + 2, frame->address.logical);
+ EC_WRITE_U16(data + 6, frame->data_length & 0x7FF);
+ EC_WRITE_U16(data + 8, 0x0000);
data += EC_COMMAND_HEADER_SIZE;
- if (likely(frame->type == ec_frame_type_apwr // Write commands
- || frame->type == ec_frame_type_npwr
- || frame->type == ec_frame_type_bwr
- || frame->type == ec_frame_type_lrw)) {
- memcpy(data, frame->data, frame->data_length);
- }
- else { // Read commands
- memset(data, 0x00, frame->data_length);
- }
+ // EtherCAT command data
+ memcpy(data, frame->data, frame->data_length);
+ data += frame->data_length;
// EtherCAT command footer
- data += frame->data_length;
- data[0] = frame->working_counter & 0xFF;
- data[1] = (frame->working_counter & 0xFF00) >> 8;
+ EC_WRITE_U16(data, frame->working_counter);
data += EC_COMMAND_FOOTER_SIZE;
// Pad with zeros
for (i = EC_FRAME_HEADER_SIZE + EC_COMMAND_HEADER_SIZE
+ frame->data_length + EC_COMMAND_FOOTER_SIZE;
- i < EC_MIN_FRAME_SIZE; i++) {
- *data++ = 0x00;
- }
+ i < EC_MIN_FRAME_SIZE; i++)
+ EC_WRITE_U8(data++, 0x00);
// Send frame
ec_device_send(&frame->master->device, frame_size);
@@ -371,7 +358,8 @@ int ec_frame_receive(ec_frame_t *frame /**< Gesendeter Rahmen */)
data = ec_device_data(device);
// Länge des gesamten Frames prüfen
- frame_length = (data[0] & 0xFF) | ((data[1] & 0x07) << 8);
+ frame_length = EC_READ_U16(data) & 0x07FF;
+ data += EC_FRAME_HEADER_SIZE;
if (unlikely(frame_length > received_length)) {
printk(KERN_ERR "EtherCAT: Received corrupted frame (length does"
@@ -381,10 +369,10 @@ int ec_frame_receive(ec_frame_t *frame /**< Gesendeter Rahmen */)
}
// Command header
- data += EC_FRAME_HEADER_SIZE;
- command_type = data[0];
- command_index = data[1];
- data_length = (data[6] & 0xFF) | ((data[7] & 0x07) << 8);
+ command_type = EC_READ_U8(data);
+ command_index = EC_READ_U8(data + 1);
+ data_length = EC_READ_U16(data + 6) & 0x07FF;
+ data += EC_COMMAND_HEADER_SIZE;
if (unlikely(EC_FRAME_HEADER_SIZE + EC_COMMAND_HEADER_SIZE
+ data_length + EC_COMMAND_FOOTER_SIZE > received_length)) {
@@ -399,7 +387,7 @@ int ec_frame_receive(ec_frame_t *frame /**< Gesendeter Rahmen */)
|| frame->data_length != data_length))
{
printk(KERN_WARNING "EtherCAT: WARNING - Send/Receive anomaly!\n");
- ec_frame_print(frame);
+ ec_frame_print(frame); // FIXME uninteressant...
ec_device_call_isr(device); // Empfangenes "vergessen"
return -1;
}
@@ -407,12 +395,11 @@ int ec_frame_receive(ec_frame_t *frame /**< Gesendeter Rahmen */)
frame->state = ec_frame_received;
// Empfangene Daten in Kommandodatenspeicher kopieren
- data += EC_COMMAND_HEADER_SIZE;
memcpy(frame->data, data, data_length);
data += data_length;
// Working-Counter setzen
- frame->working_counter = (data[0] & 0xFF) | ((data[1] & 0xFF) << 8);
+ frame->working_counter = EC_READ_U16(data);
if (unlikely(frame->master->debug_level > 1)) {
ec_frame_print(frame);
diff --git a/master/frame.h b/master/frame.h
index 133c4dc2..c0698d6f 100644
--- a/master/frame.h
+++ b/master/frame.h
@@ -68,13 +68,12 @@ typedef union
{
struct
{
- uint16_t slave; /**< Adresse des Slaves */
+ uint16_t slave; /**< Adresse des Slaves (Ringposition oder Knoten) */
uint16_t mem; /**< Physikalische Speicheradresse im Slave */
}
physical; /**< Physikalische Adresse */
uint32_t logical; /**< Logische Adresse */
- uint8_t raw[4]; /**< Rohdaten für die Generierung des Frames */
}
ec_address_t;
diff --git a/master/master.c b/master/master.c
index 3d7c11e7..4ba06d51 100644
--- a/master/master.c
+++ b/master/master.c
@@ -15,6 +15,7 @@
#include <linux/delay.h>
#include "../include/EtherCAT_rt.h"
+#include "../include/EtherCAT_si.h"
#include "globals.h"
#include "master.h"
#include "slave.h"
@@ -201,11 +202,10 @@ int ec_scan_for_slaves(ec_master_t *master /**< EtherCAT-Master */)
slave = master->slaves + i;
// Write station address
- data[0] = slave->station_address & 0x00FF;
- data[1] = (slave->station_address & 0xFF00) >> 8;
+ EC_WRITE_U16(data, slave->station_address);
- ec_frame_init_apwr(&frame, master, slave->ring_position, 0x0010, 2,
- data);
+ ec_frame_init_apwr(&frame, master, slave->ring_position, 0x0010,
+ sizeof(uint16_t), data);
if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
@@ -366,14 +366,11 @@ void ec_sync_config(const ec_sync_t *sync, /**< Sync-Manager */
uint8_t *data /**> Zeiger auf Konfigurationsspeicher */
)
{
- data[0] = sync->physical_start_address & 0xFF;
- data[1] = (sync->physical_start_address >> 8) & 0xFF;
- data[2] = sync->size & 0xFF;
- data[3] = (sync->size >> 8) & 0xFF;
- data[4] = sync->control_byte;
- data[5] = 0x00;
- data[6] = 0x01; // enable
- data[7] = 0x00;
+ EC_WRITE_U16(data, sync->physical_start_address);
+ EC_WRITE_U16(data + 2, sync->size);
+ EC_WRITE_U8 (data + 4, sync->control_byte);
+ EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)
+ EC_WRITE_U16(data + 6, 0x0001); // enable
}
/*****************************************************************************/
@@ -389,22 +386,15 @@ void ec_fmmu_config(const ec_fmmu_t *fmmu, /**< Sync-Manager */
uint8_t *data /**> Zeiger auf Konfigurationsspeicher */
)
{
- data[0] = fmmu->logical_start_address & 0xFF;
- data[1] = (fmmu->logical_start_address >> 8) & 0xFF;
- data[2] = (fmmu->logical_start_address >> 16) & 0xFF;
- data[3] = (fmmu->logical_start_address >> 24) & 0xFF;
- data[4] = fmmu->sync->size & 0xFF;
- data[5] = (fmmu->sync->size >> 8) & 0xFF;
- data[6] = 0x00; // Logical start bit
- data[7] = 0x07; // Logical end bit
- data[8] = fmmu->sync->physical_start_address & 0xFF;
- data[9] = (fmmu->sync->physical_start_address >> 8) & 0xFF;
- data[10] = 0x00; // Physical start bit
- data[11] = (fmmu->sync->control_byte & 0x04) ? 0x02 : 0x01;
- data[12] = 0x01; // Enable
- data[13] = 0x00; // res.
- data[14] = 0x00; // res.
- data[15] = 0x00; // res.
+ EC_WRITE_U32(data, fmmu->logical_start_address);
+ EC_WRITE_U16(data + 4, fmmu->sync->size);
+ EC_WRITE_U8 (data + 6, 0x00); // Logical start bit
+ EC_WRITE_U8 (data + 7, 0x07); // Logical end bit
+ EC_WRITE_U16(data + 8, fmmu->sync->physical_start_address);
+ EC_WRITE_U8 (data + 10, 0x00); // Physical start bit
+ EC_WRITE_U8 (data + 11, (fmmu->sync->control_byte & 0x04) ? 0x02 : 0x01);
+ EC_WRITE_U16(data + 12, 0x0001); // Enable
+ EC_WRITE_U16(data + 14, 0x0000); // res.
}
/******************************************************************************
diff --git a/master/slave.c b/master/slave.c
index 185e502f..f1bcbed0 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -11,6 +11,7 @@
#include <linux/module.h>
#include <linux/delay.h>
+#include "../include/EtherCAT_si.h"
#include "globals.h"
#include "slave.h"
#include "frame.h"
@@ -75,11 +76,11 @@ int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)
return -1;
}
- slave->base_type = frame.data[0];
- slave->base_revision = frame.data[1];
- slave->base_build = frame.data[2] | (frame.data[3] << 8);
- slave->base_fmmu_count = frame.data[4];
- slave->base_sync_count = frame.data[5];
+ slave->base_type = EC_READ_U8 (frame.data);
+ slave->base_revision = EC_READ_U8 (frame.data + 1);
+ slave->base_build = EC_READ_U16(frame.data + 2);
+ slave->base_fmmu_count = EC_READ_U8 (frame.data + 4);
+ slave->base_sync_count = EC_READ_U8 (frame.data + 5);
if (slave->base_fmmu_count > EC_MAX_FMMUS)
slave->base_fmmu_count = EC_MAX_FMMUS;
@@ -135,12 +136,10 @@ int ec_slave_sii_read(ec_slave_t *slave,
// Initiate read operation
- data[0] = 0x00;
- data[1] = 0x01;
- data[2] = offset & 0xFF;
- data[3] = (offset & 0xFF00) >> 8;
- data[4] = 0x00;
- data[5] = 0x00;
+ EC_WRITE_U8 (data, 0x00);
+ EC_WRITE_U8 (data + 1, 0x01);
+ EC_WRITE_U16(data + 2, offset);
+ EC_WRITE_U16(data + 4, 0x0000);
ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x502, 6,
data);
@@ -173,7 +172,7 @@ int ec_slave_sii_read(ec_slave_t *slave,
return -1;
}
- if (likely((frame.data[1] & 0x81) == 0)) {
+ if (likely((EC_READ_U8(frame.data + 1) & 0x81) == 0)) {
memcpy(target, frame.data + 6, 4);
break;
}
@@ -208,8 +207,7 @@ void ec_slave_state_ack(ec_slave_t *slave,
unsigned char data[2];
unsigned int tries_left;
- data[0] = state | EC_ACK;
- data[1] = 0x00;
+ EC_WRITE_U16(data, state | EC_ACK);
ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0120,
2, data);
@@ -247,14 +245,14 @@ void ec_slave_state_ack(ec_slave_t *slave,
return;
}
- if (unlikely(frame.data[0] != state)) {
+ if (unlikely(EC_READ_U8(frame.data) != state)) {
printk(KERN_ERR "EtherCAT: Could not acknowledge state %02X on"
" slave %i (code %02X)!\n", state, slave->ring_position,
- frame.data[0]);
+ EC_READ_U8(frame.data));
return;
}
- if (likely(frame.data[0] == state)) {
+ if (likely(EC_READ_U8(frame.data) == state)) {
printk(KERN_INFO "EtherCAT: Acknowleged state %02X on slave %i.\n",
state, slave->ring_position);
return;
@@ -289,8 +287,7 @@ int ec_slave_state_change(ec_slave_t *slave,
unsigned char data[2];
unsigned int tries_left;
- data[0] = state;
- data[1] = 0x00;
+ EC_WRITE_U16(data, state);
ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0120,
2, data);
@@ -327,15 +324,15 @@ int ec_slave_state_change(ec_slave_t *slave,
return -1;
}
- if (unlikely(frame.data[0] & 0x10)) { // State change error
+ if (unlikely(EC_READ_U8(frame.data) & 0x10)) { // State change error
printk(KERN_ERR "EtherCAT: Could not set state %02X - Slave %i"
" refused state change (code %02X)!\n", state,
- slave->ring_position, frame.data[0]);
- ec_slave_state_ack(slave, frame.data[0] & 0x0F);
+ slave->ring_position, EC_READ_U8(frame.data));
+ ec_slave_state_ack(slave, EC_READ_U8(frame.data) & 0x0F);
return -1;
}
- if (likely(frame.data[0] == (state & 0x0F))) {
+ if (likely(EC_READ_U8(frame.data) == (state & 0x0F))) {
// State change successful
break;
}
@@ -442,7 +439,6 @@ int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT-Slave */)
{
ec_frame_t frame;
uint8_t data[4];
- uint16_t crc[2];
ec_frame_init_nprd(&frame, slave->master, slave->station_address, 0x0300,
4);
@@ -460,17 +456,16 @@ int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT-Slave */)
return -1;
}
- crc[0] = frame.data[0] | (frame.data[1] << 8);
- crc[1] = frame.data[2] | (frame.data[3] << 8);
-
// No CRC faults.
- if (!crc[0] && !crc[1]) return 0;
+ if (!EC_READ_U16(frame.data) && !EC_READ_U16(frame.data + 2)) return 0;
printk(KERN_INFO "EtherCAT: CRC faults on slave %i. A: %i, B: %i\n",
- slave->ring_position, crc[0], crc[1]);
+ slave->ring_position, EC_READ_U16(frame.data),
+ EC_READ_U16(frame.data + 2));
// Reset CRC counters
- memset(data, 0x00, 4);
+ EC_WRITE_U16(data, 0x0000);
+ EC_WRITE_U16(data + 2, 0x0000);
ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0300,
4, data);
--
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