feat(motor): 自适应 PDO 窗口与通道活动指示，新增原生 SOEM 时序诊断
后端 PDO 循环改为按在线槽收缩状态窗口，稀疏总线下单槽每周期都能刷新， 并补上尾部槽的发现扫描游标；新增自旋节拍源（阈值/显式覆盖）、P 核识别 与线程级钉核，自旋期间释放 GIL 以免 HTTP 线程被饿死；启动时先关停旧实例， 避免两个进程争用 Npcap 适配器。 记录每拍完整时间线、GC stop-the-world 事件与网格跳拍数，经 /api/motor/dbg 导出用于归因固定频率的超时；配
This commit is contained in:
@@ -0,0 +1,637 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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/** \file
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* \brief
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* Base EtherCAT functions.
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*
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* Setting up a datagram in an ethernet frame.
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* EtherCAT datagram primitives, broadcast, auto increment, configured and
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* logical addressed data transfers. All base transfers are blocking, so
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* wait for the frame to be returned to the master or timeout. If this is
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* not acceptable build your own datagrams and use the functions from nicdrv.c.
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*/
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#include <stdio.h>
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#include <string.h>
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#include "oshw.h"
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#include "osal.h"
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#include "ethercattype.h"
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#include "ethercatbase.h"
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/** Write data to EtherCAT datagram.
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*
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* @param[out] datagramdata = data part of datagram
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* @param[in] com = command
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* @param[in] length = length of databuffer
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* @param[in] data = databuffer to be copied into datagram
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*/
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static void ecx_writedatagramdata(void *datagramdata, ec_cmdtype com, uint16 length, const void * data)
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{
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if (length > 0)
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{
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switch (com)
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{
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case EC_CMD_NOP:
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/* Fall-through */
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case EC_CMD_APRD:
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/* Fall-through */
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case EC_CMD_FPRD:
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/* Fall-through */
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case EC_CMD_BRD:
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/* Fall-through */
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case EC_CMD_LRD:
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/* no data to write. initialise data so frame is in a known state */
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memset(datagramdata, 0, length);
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break;
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default:
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memcpy(datagramdata, data, length);
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break;
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}
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}
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}
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/** Generate and set EtherCAT datagram in a standard ethernet frame.
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*
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* @param[in] port = port context struct
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* @param[out] frame = framebuffer
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* @param[in] com = command
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* @param[in] idx = index used for TX and RX buffers
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* @param[in] ADP = Address Position
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* @param[in] ADO = Address Offset
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* @param[in] length = length of datagram excluding EtherCAT header
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* @param[in] data = databuffer to be copied in datagram
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* @return always 0
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*/
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int ecx_setupdatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data)
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{
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ec_comt *datagramP;
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uint8 *frameP;
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frameP = frame;
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/* Ethernet header is preset and fixed in frame buffers
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EtherCAT header needs to be added after that */
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datagramP = (ec_comt*)&frameP[ETH_HEADERSIZE];
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datagramP->elength = htoes(EC_ECATTYPE + EC_HEADERSIZE + length);
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datagramP->command = com;
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datagramP->index = idx;
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datagramP->ADP = htoes(ADP);
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datagramP->ADO = htoes(ADO);
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datagramP->dlength = htoes(length);
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ecx_writedatagramdata(&frameP[ETH_HEADERSIZE + EC_HEADERSIZE], com, length, data);
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/* set WKC to zero */
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frameP[ETH_HEADERSIZE + EC_HEADERSIZE + length] = 0x00;
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frameP[ETH_HEADERSIZE + EC_HEADERSIZE + length + 1] = 0x00;
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/* set size of frame in buffer array */
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port->txbuflength[idx] = ETH_HEADERSIZE + EC_HEADERSIZE + EC_WKCSIZE + length;
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return 0;
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}
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/** Add EtherCAT datagram to a standard ethernet frame with existing datagram(s).
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*
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* @param[in] port = port context struct
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* @param[out] frame = framebuffer
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* @param[in] com = command
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* @param[in] idx = index used for TX and RX buffers
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* @param[in] more = TRUE if still more datagrams to follow
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* @param[in] ADP = Address Position
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* @param[in] ADO = Address Offset
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* @param[in] length = length of datagram excluding EtherCAT header
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* @param[in] data = databuffer to be copied in datagram
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* @return Offset to data in rx frame, usefull to retrieve data after RX.
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*/
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uint16 ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data)
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{
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ec_comt *datagramP;
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uint8 *frameP;
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uint16 prevlength;
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frameP = frame;
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/* copy previous frame size */
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prevlength = (uint16)port->txbuflength[idx];
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datagramP = (ec_comt*)&frameP[ETH_HEADERSIZE];
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/* add new datagram to ethernet frame size */
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datagramP->elength = htoes( etohs(datagramP->elength) + EC_HEADERSIZE + length );
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/* add "datagram follows" flag to previous subframe dlength */
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datagramP->dlength = htoes( etohs(datagramP->dlength) | EC_DATAGRAMFOLLOWS );
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/* set new EtherCAT header position */
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datagramP = (ec_comt*)&frameP[prevlength - EC_ELENGTHSIZE];
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datagramP->command = com;
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datagramP->index = idx;
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datagramP->ADP = htoes(ADP);
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datagramP->ADO = htoes(ADO);
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if (more)
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{
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/* this is not the last datagram to add */
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datagramP->dlength = htoes(length | EC_DATAGRAMFOLLOWS);
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}
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else
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{
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/* this is the last datagram in the frame */
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datagramP->dlength = htoes(length);
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}
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ecx_writedatagramdata(&frameP[prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE], com, length, data);
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/* set WKC to zero */
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frameP[prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE + length] = 0x00;
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frameP[prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE + length + 1] = 0x00;
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/* set size of frame in buffer array */
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port->txbuflength[idx] = prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE + EC_WKCSIZE + length;
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/* return offset to data in rx frame
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14 bytes smaller than tx frame due to stripping of ethernet header */
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return prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE - ETH_HEADERSIZE;
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}
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/** BRW "broadcast write" primitive. Blocking.
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*
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* @param[in] port = port context struct
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* @param[in] ADP = Address Position, normally 0
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* @param[in] ADO = Address Offset, slave memory address
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* @param[in] length = length of databuffer
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* @param[in] data = databuffer to be written to slaves
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* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
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* @return Workcounter or EC_NOFRAME
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*/
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int ecx_BWR (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
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{
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uint8 idx;
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int wkc;
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/* get fresh index */
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idx = ecx_getindex (port);
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/* setup datagram */
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ecx_setupdatagram (port, &(port->txbuf[idx]), EC_CMD_BWR, idx, ADP, ADO, length, data);
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/* send data and wait for answer */
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wkc = ecx_srconfirm (port, idx, timeout);
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/* clear buffer status */
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ecx_setbufstat (port, idx, EC_BUF_EMPTY);
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return wkc;
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}
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/** BRD "broadcast read" primitive. Blocking.
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*
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* @param[in] port = port context struct
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* @param[in] ADP = Address Position, normally 0
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* @param[in] ADO = Address Offset, slave memory address
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* @param[in] length = length of databuffer
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* @param[out] data = databuffer to put slave data in
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* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
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* @return Workcounter or EC_NOFRAME
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*/
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int ecx_BRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
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{
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uint8 idx;
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int wkc;
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/* get fresh index */
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idx = ecx_getindex(port);
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/* setup datagram */
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ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_BRD, idx, ADP, ADO, length, data);
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/* send data and wait for answer */
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wkc = ecx_srconfirm (port, idx, timeout);
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if (wkc > 0)
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{
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/* copy datagram to data buffer */
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memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
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}
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/* clear buffer status */
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ecx_setbufstat(port, idx, EC_BUF_EMPTY);
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return wkc;
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}
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/** APRD "auto increment address read" primitive. Blocking.
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*
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* @param[in] port = port context struct
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* @param[in] ADP = Address Position, each slave ++, slave that has 0 executes
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* @param[in] ADO = Address Offset, slave memory address
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* @param[in] length = length of databuffer
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* @param[out] data = databuffer to put slave data in
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* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
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* @return Workcounter or EC_NOFRAME
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*/
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int ecx_APRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
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{
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int wkc;
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uint8 idx;
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idx = ecx_getindex(port);
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ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_APRD, idx, ADP, ADO, length, data);
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wkc = ecx_srconfirm(port, idx, timeout);
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if (wkc > 0)
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{
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memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
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}
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ecx_setbufstat(port, idx, EC_BUF_EMPTY);
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return wkc;
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}
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/** APRMW "auto increment address read, multiple write" primitive. Blocking.
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*
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* @param[in] port = port context struct
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* @param[in] ADP = Address Position, each slave ++, slave that has 0 reads,
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* following slaves write.
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* @param[in] ADO = Address Offset, slave memory address
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* @param[in] length = length of databuffer
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* @param[out] data = databuffer to put slave data in
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* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
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* @return Workcounter or EC_NOFRAME
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*/
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int ecx_ARMW(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
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{
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int wkc;
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uint8 idx;
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idx = ecx_getindex(port);
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ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_ARMW, idx, ADP, ADO, length, data);
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wkc = ecx_srconfirm(port, idx, timeout);
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if (wkc > 0)
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{
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memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
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}
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ecx_setbufstat(port, idx, EC_BUF_EMPTY);
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return wkc;
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}
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/** FPRMW "configured address read, multiple write" primitive. Blocking.
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*
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* @param[in] port = port context struct
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* @param[in] ADP = Address Position, slave that has address reads,
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* following slaves write.
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* @param[in] ADO = Address Offset, slave memory address
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* @param[in] length = length of databuffer
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* @param[out] data = databuffer to put slave data in
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* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
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* @return Workcounter or EC_NOFRAME
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*/
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int ecx_FRMW(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
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{
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int wkc;
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uint8 idx;
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idx = ecx_getindex(port);
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ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_FRMW, idx, ADP, ADO, length, data);
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wkc = ecx_srconfirm(port, idx, timeout);
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if (wkc > 0)
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{
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memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
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}
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ecx_setbufstat(port, idx, EC_BUF_EMPTY);
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return wkc;
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}
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/** APRDw "auto increment address read" word return primitive. Blocking.
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*
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* @param[in] port = port context struct
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* @param[in] ADP = Address Position, each slave ++, slave that has 0 reads.
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* @param[in] ADO = Address Offset, slave memory address
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* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
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* @return word data from slave
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*/
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uint16 ecx_APRDw(ecx_portt *port, uint16 ADP, uint16 ADO, int timeout)
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{
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uint16 w;
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w = 0;
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ecx_APRD(port, ADP, ADO, sizeof(w), &w, timeout);
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return w;
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}
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/** FPRD "configured address read" primitive. Blocking.
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*
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* @param[in] port = port context struct
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* @param[in] ADP = Address Position, slave that has address reads.
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* @param[in] ADO = Address Offset, slave memory address
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* @param[in] length = length of databuffer
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* @param[out] data = databuffer to put slave data in
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* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
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* @return Workcounter or EC_NOFRAME
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*/
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int ecx_FPRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
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{
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int wkc;
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uint8 idx;
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idx = ecx_getindex(port);
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ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_FPRD, idx, ADP, ADO, length, data);
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wkc = ecx_srconfirm(port, idx, timeout);
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if (wkc > 0)
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{
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memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
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}
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ecx_setbufstat(port, idx, EC_BUF_EMPTY);
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return wkc;
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}
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/** FPRDw "configured address read" word return primitive. Blocking.
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*
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* @param[in] port = port context struct
|
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* @param[in] ADP = Address Position, slave that has address reads.
|
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* @param[in] ADO = Address Offset, slave memory address
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* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
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* @return word data from slave
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*/
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uint16 ecx_FPRDw(ecx_portt *port, uint16 ADP, uint16 ADO, int timeout)
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{
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uint16 w;
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w = 0;
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ecx_FPRD(port, ADP, ADO, sizeof(w), &w, timeout);
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return w;
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}
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/** APWR "auto increment address write" primitive. Blocking.
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*
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* @param[in] port = port context struct
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* @param[in] ADP = Address Position, each slave ++, slave that has 0 writes.
|
||||
* @param[in] ADO = Address Offset, slave memory address
|
||||
* @param[in] length = length of databuffer
|
||||
* @param[in] data = databuffer to write to slave.
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* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
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* @return Workcounter or EC_NOFRAME
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*/
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int ecx_APWR(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
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{
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uint8 idx;
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int wkc;
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||||
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idx = ecx_getindex(port);
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ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_APWR, idx, ADP, ADO, length, data);
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wkc = ecx_srconfirm(port, idx, timeout);
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ecx_setbufstat(port, idx, EC_BUF_EMPTY);
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return wkc;
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}
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|
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/** APWRw "auto increment address write" word primitive. Blocking.
|
||||
*
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] ADP = Address Position, each slave ++, slave that has 0 writes.
|
||||
* @param[in] ADO = Address Offset, slave memory address
|
||||
* @param[in] data = word data to write to slave.
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* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
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* @return Workcounter or EC_NOFRAME
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*/
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int ecx_APWRw(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout)
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{
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return ecx_APWR(port, ADP, ADO, sizeof(data), &data, timeout);
|
||||
}
|
||||
|
||||
/** FPWR "configured address write" primitive. Blocking.
|
||||
*
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] ADP = Address Position, slave that has address writes.
|
||||
* @param[in] ADO = Address Offset, slave memory address
|
||||
* @param[in] length = length of databuffer
|
||||
* @param[in] data = databuffer to write to slave.
|
||||
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
|
||||
* @return Workcounter or EC_NOFRAME
|
||||
*/
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int ecx_FPWR(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
|
||||
{
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||||
int wkc;
|
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uint8 idx;
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||||
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idx = ecx_getindex(port);
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ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_FPWR, idx, ADP, ADO, length, data);
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wkc = ecx_srconfirm(port, idx, timeout);
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ecx_setbufstat(port, idx, EC_BUF_EMPTY);
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||||
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||||
return wkc;
|
||||
}
|
||||
|
||||
/** FPWR "configured address write" primitive. Blocking.
|
||||
*
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] ADP = Address Position, slave that has address writes.
|
||||
* @param[in] ADO = Address Offset, slave memory address
|
||||
* @param[in] data = word to write to slave.
|
||||
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
|
||||
* @return Workcounter or EC_NOFRAME
|
||||
*/
|
||||
int ecx_FPWRw(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout)
|
||||
{
|
||||
return ecx_FPWR(port, ADP, ADO, sizeof(data), &data, timeout);
|
||||
}
|
||||
|
||||
/** LRW "logical memory read / write" primitive. Blocking.
|
||||
*
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] LogAdr = Logical memory address
|
||||
* @param[in] length = length of databuffer
|
||||
* @param[in,out] data = databuffer to write to and read from slave.
|
||||
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
|
||||
* @return Workcounter or EC_NOFRAME
|
||||
*/
|
||||
int ecx_LRW(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
|
||||
{
|
||||
uint8 idx;
|
||||
int wkc;
|
||||
|
||||
idx = ecx_getindex(port);
|
||||
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_LRW, idx, LO_WORD(LogAdr), HI_WORD(LogAdr), length, data);
|
||||
wkc = ecx_srconfirm(port, idx, timeout);
|
||||
if ((wkc > 0) && (port->rxbuf[idx][EC_CMDOFFSET] == EC_CMD_LRW))
|
||||
{
|
||||
memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
|
||||
}
|
||||
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
|
||||
|
||||
return wkc;
|
||||
}
|
||||
|
||||
/** LRD "logical memory read" primitive. Blocking.
|
||||
*
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] LogAdr = Logical memory address
|
||||
* @param[in] length = length of bytes to read from slave.
|
||||
* @param[out] data = databuffer to read from slave.
|
||||
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
|
||||
* @return Workcounter or EC_NOFRAME
|
||||
*/
|
||||
int ecx_LRD(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
|
||||
{
|
||||
uint8 idx;
|
||||
int wkc;
|
||||
|
||||
idx = ecx_getindex(port);
|
||||
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_LRD, idx, LO_WORD(LogAdr), HI_WORD(LogAdr), length, data);
|
||||
wkc = ecx_srconfirm(port, idx, timeout);
|
||||
if ((wkc > 0) && (port->rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LRD))
|
||||
{
|
||||
memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
|
||||
}
|
||||
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
|
||||
|
||||
return wkc;
|
||||
}
|
||||
|
||||
/** LWR "logical memory write" primitive. Blocking.
|
||||
*
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] LogAdr = Logical memory address
|
||||
* @param[in] length = length of databuffer
|
||||
* @param[in] data = databuffer to write to slave.
|
||||
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
|
||||
* @return Workcounter or EC_NOFRAME
|
||||
*/
|
||||
int ecx_LWR(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
|
||||
{
|
||||
uint8 idx;
|
||||
int wkc;
|
||||
|
||||
idx = ecx_getindex(port);
|
||||
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_LWR, idx, LO_WORD(LogAdr), HI_WORD(LogAdr), length, data);
|
||||
wkc = ecx_srconfirm(port, idx, timeout);
|
||||
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
|
||||
|
||||
return wkc;
|
||||
}
|
||||
|
||||
/** LRW "logical memory read / write" primitive plus Clock Distribution. Blocking.
|
||||
* Frame consists of two datagrams, one LRW and one FPRMW.
|
||||
*
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] LogAdr = Logical memory address
|
||||
* @param[in] length = length of databuffer
|
||||
* @param[in,out] data = databuffer to write to and read from slave.
|
||||
* @param[in] DCrs = Distributed Clock reference slave address.
|
||||
* @param[out] DCtime = DC time read from reference slave.
|
||||
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
|
||||
* @return Workcounter or EC_NOFRAME
|
||||
*/
|
||||
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);
|
||||
}
|
||||
|
||||
uint16 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
|
||||
Reference in New Issue
Block a user