ethercatbase.c

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/*
 * Licensed under the GNU General Public License version 2 with exceptions. See
 * LICENSE file in the project root for full license information
 */

#include <stdio.h>
#include <string.h>
#include "oshw.h"
#include "osal.h"
#include "ethercattype.h"
#include "ethercatbase.h"

static void ecx_writedatagramdata(void *datagramdata, ec_cmdtype com, uint16 length, const void * data)
{
   if (length > 0)
   {
      switch (com)
      {
         case EC_CMD_NOP:
            /* Fall-through */
         case EC_CMD_APRD:
            /* Fall-through */
         case EC_CMD_FPRD:
            /* Fall-through */
         case EC_CMD_BRD:
            /* Fall-through */
         case EC_CMD_LRD:
            /* no data to write. initialise data so frame is in a known state */
            memset(datagramdata, 0, length);
            break;
         default:
            memcpy(datagramdata, data, length);
            break;
      }
   }
}

int ecx_setupdatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data)
{
   ec_comt *datagramP;
   uint8 *frameP;

   frameP = frame;
   /* Ethernet header is preset and fixed in frame buffers
      EtherCAT header needs to be added after that */
   datagramP = (ec_comt*)&frameP[ETH_HEADERSIZE];
   datagramP->elength = htoes(EC_ECATTYPE + EC_HEADERSIZE + length);
   datagramP->command = com;
   datagramP->index = idx;
   datagramP->ADP = htoes(ADP);
   datagramP->ADO = htoes(ADO);
   datagramP->dlength = htoes(length);
   ecx_writedatagramdata(&frameP[ETH_HEADERSIZE + EC_HEADERSIZE], com, length, data);
   /* set WKC to zero */
   frameP[ETH_HEADERSIZE + EC_HEADERSIZE + length] = 0x00;
   frameP[ETH_HEADERSIZE + EC_HEADERSIZE + length + 1] = 0x00;
   /* set size of frame in buffer array */
   port->txbuflength[idx] = ETH_HEADERSIZE + EC_HEADERSIZE + EC_WKCSIZE + length;

   return 0;
}

int ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data)
{
   ec_comt *datagramP;
   uint8 *frameP;
   uint16 prevlength;

   frameP = frame;
   /* copy previous frame size */
   prevlength = port->txbuflength[idx];
   datagramP = (ec_comt*)&frameP[ETH_HEADERSIZE];
   /* add new datagram to ethernet frame size */
   datagramP->elength = htoes( etohs(datagramP->elength) + EC_HEADERSIZE + length );
   /* add "datagram follows" flag to previous subframe dlength */
   datagramP->dlength = htoes( etohs(datagramP->dlength) | EC_DATAGRAMFOLLOWS );
   /* set new EtherCAT header position */
   datagramP = (ec_comt*)&frameP[prevlength - EC_ELENGTHSIZE];
   datagramP->command = com;
   datagramP->index = idx;
   datagramP->ADP = htoes(ADP);
   datagramP->ADO = htoes(ADO);
   if (more)
   {
      /* this is not the last datagram to add */
      datagramP->dlength = htoes(length | EC_DATAGRAMFOLLOWS);
   }
   else
   {
      /* this is the last datagram in the frame */
      datagramP->dlength = htoes(length);
   }
   ecx_writedatagramdata(&frameP[prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE], com, length, data);
   /* set WKC to zero */
   frameP[prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE + length] = 0x00;
   frameP[prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE + length + 1] = 0x00;
   /* set size of frame in buffer array */
   port->txbuflength[idx] = prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE + EC_WKCSIZE + length;

   /* return offset to data in rx frame
      14 bytes smaller than tx frame due to stripping of ethernet header */
   return prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE - ETH_HEADERSIZE;
}

int ecx_BWR (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   uint8 idx;
   int wkc;

   /* get fresh index */
   idx = ecx_getindex (port);
   /* setup datagram */
   ecx_setupdatagram (port, &(port->txbuf[idx]), EC_CMD_BWR, idx, ADP, ADO, length, data);
   /* send data and wait for answer */
   wkc = ecx_srconfirm (port, idx, timeout);
   /* clear buffer status */
   ecx_setbufstat (port, idx, EC_BUF_EMPTY);

   return wkc;
}

int ecx_BRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   uint8 idx;
   int wkc;

   /* get fresh index */
   idx = ecx_getindex(port);
   /* setup datagram */
   ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_BRD, idx, ADP, ADO, length, data);
   /* send data and wait for answer */
   wkc = ecx_srconfirm (port, idx, timeout);
   if (wkc > 0)
   {
      /* copy datagram to data buffer */
      memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
   }
   /* clear buffer status */
   ecx_setbufstat(port, idx, EC_BUF_EMPTY);

   return wkc;
}

int ecx_APRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   int wkc;
   uint8 idx;

   idx = ecx_getindex(port);
   ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_APRD, idx, ADP, ADO, length, data);
   wkc = ecx_srconfirm(port, idx, timeout);
   if (wkc > 0)
   {
      memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
   }
   ecx_setbufstat(port, idx, EC_BUF_EMPTY);

   return wkc;
}

int ecx_ARMW(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   int wkc;
   uint8 idx;

   idx = ecx_getindex(port);
   ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_ARMW, idx, ADP, ADO, length, data);
   wkc = ecx_srconfirm(port, idx, timeout);
   if (wkc > 0)
   {
      memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
   }
   ecx_setbufstat(port, idx, EC_BUF_EMPTY);

   return wkc;
}

int ecx_FRMW(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   int wkc;
   uint8 idx;

   idx = ecx_getindex(port);
   ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_FRMW, idx, ADP, ADO, length, data);
   wkc = ecx_srconfirm(port, idx, timeout);
   if (wkc > 0)
   {
      memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
   }
   ecx_setbufstat(port, idx, EC_BUF_EMPTY);

   return wkc;
}

uint16 ecx_APRDw(ecx_portt *port, uint16 ADP, uint16 ADO, int timeout)
{
   uint16 w;

   w = 0;
   ecx_APRD(port, ADP, ADO, sizeof(w), &w, timeout);

   return w;
}

int ecx_FPRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   int wkc;
   uint8 idx;

   idx = ecx_getindex(port);
   ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_FPRD, idx, ADP, ADO, length, data);
   wkc = ecx_srconfirm(port, idx, timeout);
   if (wkc > 0)
   {
      memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
   }
   ecx_setbufstat(port, idx, EC_BUF_EMPTY);

   return wkc;
}

uint16 ecx_FPRDw(ecx_portt *port, uint16 ADP, uint16 ADO, int timeout)
{
   uint16 w;

   w = 0;
   ecx_FPRD(port, ADP, ADO, sizeof(w), &w, timeout);
   return w;
}

int ecx_APWR(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   uint8 idx;
   int wkc;

   idx = ecx_getindex(port);
   ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_APWR, idx, ADP, ADO, length, data);
   wkc = ecx_srconfirm(port, idx, timeout);
   ecx_setbufstat(port, idx, EC_BUF_EMPTY);

   return wkc;
}

int ecx_APWRw(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout)
{
   return ecx_APWR(port, ADP, ADO, sizeof(data), &data, timeout);
}

int ecx_FPWR(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   int wkc;
   uint8 idx;

   idx = ecx_getindex(port);
   ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_FPWR, idx, ADP, ADO, length, data);
   wkc = ecx_srconfirm(port, idx, timeout);
   ecx_setbufstat(port, idx, EC_BUF_EMPTY);

   return wkc;
}

int ecx_FPWRw(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout)
{
   return ecx_FPWR(port, ADP, ADO, sizeof(data), &data, timeout);
}

int ecx_LRW(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
{
   uint8 idx;
   int wkc;

   idx = ecx_getindex(port);
   ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_LRW, idx, LO_WORD(LogAdr), HI_WORD(LogAdr), length, data);
   wkc = ecx_srconfirm(port, idx, timeout);
   if ((wkc > 0) && (port->rxbuf[idx][EC_CMDOFFSET] == EC_CMD_LRW))
   {
      memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
   }
   ecx_setbufstat(port, idx, EC_BUF_EMPTY);

   return wkc;
}

int ecx_LRD(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
{
   uint8 idx;
   int wkc;

   idx = ecx_getindex(port);
   ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_LRD, idx, LO_WORD(LogAdr), HI_WORD(LogAdr), length, data);
   wkc = ecx_srconfirm(port, idx, timeout);
   if ((wkc > 0) && (port->rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LRD))
   {
      memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
   }
   ecx_setbufstat(port, idx, EC_BUF_EMPTY);

   return wkc;
}

int ecx_LWR(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
{
   uint8 idx;
   int wkc;

   idx = ecx_getindex(port);
   ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_LWR, idx, LO_WORD(LogAdr), HI_WORD(LogAdr), length, data);
   wkc = ecx_srconfirm(port, idx, timeout);
   ecx_setbufstat(port, idx, EC_BUF_EMPTY);

   return wkc;
}

int ecx_LRWDC(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, uint16 DCrs, int64 *DCtime, int timeout)
{
   uint16 DCtO;
   uint8 idx;
   int wkc;
   uint64 DCtE;

   idx = ecx_getindex(port);
   /* LRW in first datagram */
   ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_LRW, idx, LO_WORD(LogAdr), HI_WORD(LogAdr), length, data);
   /* FPRMW in second datagram */
   DCtE = htoell(*DCtime);
   DCtO = ecx_adddatagram(port, &(port->txbuf[idx]), EC_CMD_FRMW, idx, FALSE, DCrs, ECT_REG_DCSYSTIME, sizeof(DCtime), &DCtE);
   wkc = ecx_srconfirm(port, idx, timeout);
   if ((wkc > 0) && (port->rxbuf[idx][EC_CMDOFFSET] == EC_CMD_LRW))
   {
      memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
      memcpy(&wkc, &(port->rxbuf[idx][EC_HEADERSIZE + length]), EC_WKCSIZE);
      memcpy(&DCtE, &(port->rxbuf[idx][DCtO]), sizeof(*DCtime));
      *DCtime = etohll(DCtE);
   }
   ecx_setbufstat(port, idx, EC_BUF_EMPTY);

   return wkc;
}

#ifdef EC_VER1
int ec_setupdatagram(void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data)
{
   return ecx_setupdatagram (&ecx_port, frame, com, idx, ADP, ADO, length, data);
}

int ec_adddatagram (void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data)
{
   return ecx_adddatagram (&ecx_port, frame, com, idx, more, ADP, ADO, length, data);
}

int ec_BWR(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   return ecx_BWR (&ecx_port, ADP, ADO, length, data, timeout);
}

int ec_BRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   return ecx_BRD(&ecx_port, ADP, ADO, length, data, timeout);
}

int ec_APRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   return ecx_APRD(&ecx_port, ADP, ADO, length, data, timeout);
}

int ec_ARMW(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   return ecx_ARMW(&ecx_port, ADP, ADO, length, data, timeout);
}

int ec_FRMW(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   return ecx_FRMW(&ecx_port, ADP, ADO, length, data, timeout);
}

uint16 ec_APRDw(uint16 ADP, uint16 ADO, int timeout)
{
   uint16 w;

   w = 0;
   ec_APRD(ADP, ADO, sizeof(w), &w, timeout);

   return w;
}

int ec_FPRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   return ecx_FPRD(&ecx_port, ADP, ADO, length, data, timeout);
}

uint16 ec_FPRDw(uint16 ADP, uint16 ADO, int timeout)
{
   uint16 w;

   w = 0;
   ec_FPRD(ADP, ADO, sizeof(w), &w, timeout);
   return w;
}

int ec_APWR(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   return ecx_APWR(&ecx_port, ADP, ADO, length, data, timeout);
}

int ec_APWRw(uint16 ADP, uint16 ADO, uint16 data, int timeout)
{
   return ec_APWR(ADP, ADO, sizeof(data), &data, timeout);
}

int ec_FPWR(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
   return ecx_FPWR(&ecx_port, ADP, ADO, length, data, timeout);
}

int ec_FPWRw(uint16 ADP, uint16 ADO, uint16 data, int timeout)
{
   return ec_FPWR(ADP, ADO, sizeof(data), &data, timeout);
}

int ec_LRW(uint32 LogAdr, uint16 length, void *data, int timeout)
{
   return ecx_LRW(&ecx_port, LogAdr, length, data, timeout);
}

int ec_LRD(uint32 LogAdr, uint16 length, void *data, int timeout)
{
   return ecx_LRD(&ecx_port, LogAdr, length, data, timeout);
}

int ec_LWR(uint32 LogAdr, uint16 length, void *data, int timeout)
{
   return ecx_LWR(&ecx_port, LogAdr, length, data, timeout);
}

int ec_LRWDC(uint32 LogAdr, uint16 length, void *data, uint16 DCrs, int64 *DCtime, int timeout)
{
   return ecx_LRWDC(&ecx_port, LogAdr, length, data, DCrs, DCtime, timeout);
}
#endif