master/datagram.c
author Florian Pose <fp@igh-essen.com>
Mon, 04 May 2009 12:46:30 +0000
changeset 1438 1d30b96bb04f
parent 1363 11c0b2caa253
child 1507 68e89abadd19
permissions -rw-r--r--
Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   Methods of an EtherCAT datagram.
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*/
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/*****************************************************************************/
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#include <linux/slab.h>
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#include "datagram.h"
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#include "master.h"
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/*****************************************************************************/
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/** \cond */
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#define EC_FUNC_HEADER \
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    ret = ec_datagram_prealloc(datagram, data_size); \
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    if (unlikely(ret)) \
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        return ret; \
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    datagram->index = 0; \
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    datagram->working_counter = 0; \
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    datagram->state = EC_DATAGRAM_INIT;
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#define EC_FUNC_FOOTER \
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    datagram->data_size = data_size; \
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    return 0;
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/** \endcond */
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/*****************************************************************************/
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/** Array of datagram type strings used in ec_datagram_type_string().
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 *
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 * \attention This is indexed by ec_datagram_type_t.
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 */
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static const char *type_strings[] = {
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    "?",
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    "APRD",
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    "APWR",
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    "APRW",
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    "FPRD",
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    "FPWR",
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    "FPRW",
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    "BRD",
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    "BWR",
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    "BRW",
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    "LRD",
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    "LWR",
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    "LRW",
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    "ARMW",
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    "FRMW"
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};
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_datagram_init(ec_datagram_t *datagram /**< EtherCAT datagram. */)
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{
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    INIT_LIST_HEAD(&datagram->queue); // mark as unqueued
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    datagram->type = EC_DATAGRAM_NONE;
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    memset(datagram->address, 0x00, EC_ADDR_LEN);
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    datagram->data = NULL;
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    datagram->data_origin = EC_ORIG_INTERNAL;
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    datagram->mem_size = 0;
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    datagram->data_size = 0;
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    datagram->index = 0x00;
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    datagram->working_counter = 0x0000;
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    datagram->state = EC_DATAGRAM_INIT;
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#ifdef EC_HAVE_CYCLES
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    datagram->cycles_sent = 0;
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#endif
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    datagram->jiffies_sent = 0;
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#ifdef EC_HAVE_CYCLES
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    datagram->cycles_received = 0;
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#endif
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    datagram->jiffies_received = 0;
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    datagram->skip_count = 0;
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    datagram->stats_output_jiffies = 0;
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    memset(datagram->name, 0x00, EC_DATAGRAM_NAME_SIZE);
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_datagram_clear(ec_datagram_t *datagram /**< EtherCAT datagram. */)
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{
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    if (datagram->data_origin == EC_ORIG_INTERNAL && datagram->data) {
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        kfree(datagram->data);
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    	datagram->data = NULL;
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    }
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}
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/*****************************************************************************/
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/** Allocates internal payload memory.
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 *
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 * If the allocated memory is already larger than requested, nothing ist done.
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 *
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 * \attention If external payload memory has been provided, no range checking
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 *            is done!
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 *
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 * \return 0 in case of success, otherwise \a -ENOMEM.
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 */
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int ec_datagram_prealloc(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        size_t size /**< New payload size in bytes. */
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        )
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{
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    if (datagram->data_origin == EC_ORIG_EXTERNAL
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            || size <= datagram->mem_size)
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        return 0;
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    if (datagram->data) {
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        kfree(datagram->data);
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        datagram->data = NULL;
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        datagram->mem_size = 0;
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    }
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    if (!(datagram->data = kmalloc(size, GFP_KERNEL))) {
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        EC_ERR("Failed to allocate %u bytes of datagram memory!\n", size);
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        return -ENOMEM;
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    }
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    datagram->mem_size = size;
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    return 0;
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}
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f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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/*****************************************************************************/
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/** Fills the datagram payload memory with zeros.
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 */
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void ec_datagram_zero(ec_datagram_t *datagram /**< EtherCAT datagram. */)
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{
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    memset(datagram->data, 0x00, datagram->data_size);
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}
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/*****************************************************************************/
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/** Initializes an EtherCAT APRD datagram.
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 *
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 * \return Return value of ec_datagram_prealloc().
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 */
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int ec_datagram_aprd(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t ring_position, /**< Auto-increment address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to read. */
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        )
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{
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    int ret;
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_APRD;
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    EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/
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/** Initializes an EtherCAT APWR datagram.
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 *
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 * \return Return value of ec_datagram_prealloc().
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 */
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int ec_datagram_apwr(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t ring_position, /**< Auto-increment address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to write. */
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        )
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{
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    int ret;
293
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_APWR;
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    EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/
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/** Initializes an EtherCAT APRW datagram.
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 *
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 * \return Return value of ec_datagram_prealloc().
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 */
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int ec_datagram_aprw(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t ring_position, /**< Auto-increment address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to write. */
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        )
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{
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    int ret;
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_APRW;
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    EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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   229
    EC_FUNC_FOOTER;
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   230
}
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/*****************************************************************************/
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   233
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/** Initializes an EtherCAT ARMW datagram.
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 *
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 * \return Return value of ec_datagram_prealloc().
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   237
 */
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   238
int ec_datagram_armw(
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   239
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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   240
        uint16_t ring_position, /**< Auto-increment address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to read. */
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        )
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{
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    int ret;
815
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   246
    EC_FUNC_HEADER;
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   247
    datagram->type = EC_DATAGRAM_ARMW;
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    EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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   250
    EC_FUNC_FOOTER;
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   251
}
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/*****************************************************************************/
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/** Initializes an EtherCAT FPRD datagram.
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 *
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 * \return Return value of ec_datagram_prealloc().
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   258
 */
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   259
int ec_datagram_fprd(
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   260
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t configured_address, /**< Configured station address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to read. */
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        )
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{
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    int ret;
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    if (unlikely(configured_address == 0x0000))
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        EC_WARN("Using configured station address 0x0000!\n");
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    EC_FUNC_HEADER;
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   272
    datagram->type = EC_DATAGRAM_FPRD;
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    EC_WRITE_U16(datagram->address, configured_address);
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/
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/** Initializes an EtherCAT FPWR datagram.
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 *
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 * \return Return value of ec_datagram_prealloc().
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 */
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int ec_datagram_fpwr(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t configured_address, /**< Configured station address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to write. */
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        )
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{
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    int ret;
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    if (unlikely(configured_address == 0x0000))
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        EC_WARN("Using configured station address 0x0000!\n");
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_FPWR;
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    EC_WRITE_U16(datagram->address, configured_address);
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/
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/** Initializes an EtherCAT FPRW datagram.
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 *
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 * \return Return value of ec_datagram_prealloc().
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   308
 */
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   309
int ec_datagram_fprw(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t configured_address, /**< Configured station address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to write. */
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        )
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{
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    int ret;
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   317
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   318
    if (unlikely(configured_address == 0x0000))
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   319
        EC_WARN("Using configured station address 0x0000!\n");
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   320
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   321
    EC_FUNC_HEADER;
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   322
    datagram->type = EC_DATAGRAM_FPRW;
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   323
    EC_WRITE_U16(datagram->address, configured_address);
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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   325
    EC_FUNC_FOOTER;
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   326
}
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   327
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   328
/*****************************************************************************/
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   329
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   330
/** Initializes an EtherCAT FRMW datagram.
002fe9ec778f Implemented missing datagram types.
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 *
1313
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   332
 * \return Return value of ec_datagram_prealloc().
815
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   333
 */
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diff changeset
   334
int ec_datagram_frmw(
002fe9ec778f Implemented missing datagram types.
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   335
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
002fe9ec778f Implemented missing datagram types.
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   336
        uint16_t configured_address, /**< Configured station address. */
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   337
        uint16_t mem_address, /**< Physical memory address. */
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diff changeset
   338
        size_t data_size /**< Number of bytes to write. */
002fe9ec778f Implemented missing datagram types.
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diff changeset
   339
        )
002fe9ec778f Implemented missing datagram types.
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   340
{
1313
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   341
    int ret;
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diff changeset
   342
815
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   343
    if (unlikely(configured_address == 0x0000))
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   344
        EC_WARN("Using configured station address 0x0000!\n");
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   345
002fe9ec778f Implemented missing datagram types.
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   346
    EC_FUNC_HEADER;
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   347
    datagram->type = EC_DATAGRAM_FRMW;
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   348
    EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types.
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   349
    EC_WRITE_U16(datagram->address + 2, mem_address);
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   350
    EC_FUNC_FOOTER;
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diff changeset
   351
}
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   352
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   353
/*****************************************************************************/
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diff changeset
   354
809
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   355
/** Initializes an EtherCAT BRD datagram.
ec4ef8911824 External domain memory.
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diff changeset
   356
 *
1313
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diff changeset
   357
 * \return Return value of ec_datagram_prealloc().
815
002fe9ec778f Implemented missing datagram types.
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diff changeset
   358
 */
002fe9ec778f Implemented missing datagram types.
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diff changeset
   359
int ec_datagram_brd(
002fe9ec778f Implemented missing datagram types.
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diff changeset
   360
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
002fe9ec778f Implemented missing datagram types.
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diff changeset
   361
        uint16_t mem_address, /**< Physical memory address. */
002fe9ec778f Implemented missing datagram types.
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parents: 809
diff changeset
   362
        size_t data_size /**< Number of bytes to read. */
002fe9ec778f Implemented missing datagram types.
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diff changeset
   363
        )
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
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diff changeset
   365
    int ret;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   366
    EC_FUNC_HEADER;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   367
    datagram->type = EC_DATAGRAM_BRD;
708
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 514
diff changeset
   368
    EC_WRITE_U16(datagram->address, 0x0000);
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   369
    EC_WRITE_U16(datagram->address + 2, mem_address);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   370
    EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram.
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parents: 246
diff changeset
   371
}
14aeb79aa992 Renamed command structure to datagram.
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parents: 246
diff changeset
   372
14aeb79aa992 Renamed command structure to datagram.
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parents: 246
diff changeset
   373
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
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parents: 246
diff changeset
   374
809
ec4ef8911824 External domain memory.
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diff changeset
   375
/** Initializes an EtherCAT BWR datagram.
ec4ef8911824 External domain memory.
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parents: 758
diff changeset
   376
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
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parents: 1312
diff changeset
   377
 * \return Return value of ec_datagram_prealloc().
815
002fe9ec778f Implemented missing datagram types.
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diff changeset
   378
 */
002fe9ec778f Implemented missing datagram types.
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parents: 809
diff changeset
   379
int ec_datagram_bwr(
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   380
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   381
        uint16_t mem_address, /**< Physical memory address. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   382
        size_t data_size /**< Number of bytes to write. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   383
        )
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   384
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   385
    int ret;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   386
    EC_FUNC_HEADER;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   387
    datagram->type = EC_DATAGRAM_BWR;
708
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 514
diff changeset
   388
    EC_WRITE_U16(datagram->address, 0x0000);
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   389
    EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   390
    EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   391
}
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   392
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   393
/*****************************************************************************/
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   394
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   395
/** Initializes an EtherCAT BRW datagram.
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   396
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   397
 * \return Return value of ec_datagram_prealloc().
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   398
 */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   399
int ec_datagram_brw(
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   400
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   401
        uint16_t mem_address, /**< Physical memory address. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   402
        size_t data_size /**< Number of bytes to write. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   403
        )
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   404
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   405
    int ret;
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   406
    EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   407
    datagram->type = EC_DATAGRAM_BRW;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   408
    EC_WRITE_U16(datagram->address, 0x0000);
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   409
    EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   410
    EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   411
}
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   412
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   413
/*****************************************************************************/
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   414
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   415
/** Initializes an EtherCAT LRD datagram.
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   416
 *
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   417
 * \attention It is assumed, that the external memory is at least \a data_size
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   418
 *            bytes large.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   419
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   420
 * \return Return value of ec_datagram_prealloc().
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   421
 */
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   422
int ec_datagram_lrd(
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   423
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   424
        uint32_t offset, /**< Logical address. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   425
        size_t data_size, /**< Number of bytes to read/write. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   426
        uint8_t *external_memory /**< Pointer to the memory to use. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   427
        )
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   428
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   429
    int ret;
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   430
    datagram->data = external_memory;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   431
    datagram->data_origin = EC_ORIG_EXTERNAL;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   432
    EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   433
    datagram->type = EC_DATAGRAM_LRD;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   434
    EC_WRITE_U32(datagram->address, offset);
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   435
    EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   436
}
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   437
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   438
/*****************************************************************************/
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   439
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   440
/** Initializes an EtherCAT LWR datagram.
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   441
 *
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   442
 * \attention It is assumed, that the external memory is at least \a data_size
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   443
 *            bytes large.
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   444
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   445
 * \return Return value of ec_datagram_prealloc().
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   446
 */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   447
int ec_datagram_lwr(
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   448
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   449
        uint32_t offset, /**< Logical address. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   450
        size_t data_size, /**< Number of bytes to read/write. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   451
        uint8_t *external_memory /**< Pointer to the memory to use. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   452
        )
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   453
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   454
    int ret;
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   455
    datagram->data = external_memory;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   456
    datagram->data_origin = EC_ORIG_EXTERNAL;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   457
    EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   458
    datagram->type = EC_DATAGRAM_LWR;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   459
    EC_WRITE_U32(datagram->address, offset);
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   460
    EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   461
}
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   462
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   463
/*****************************************************************************/
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   464
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   465
/** Initializes an EtherCAT LRW datagram.
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   466
 *
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   467
 * \attention It is assumed, that the external memory is at least \a data_size
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   468
 *            bytes large.
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   469
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   470
 * \return Return value of ec_datagram_prealloc().
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   471
 */
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   472
int ec_datagram_lrw(
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   473
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   474
        uint32_t offset, /**< Logical address. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   475
        size_t data_size, /**< Number of bytes to read/write. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   476
        uint8_t *external_memory /**< Pointer to the memory to use. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   477
        )
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   478
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   479
    int ret;
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   480
    datagram->data = external_memory;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   481
    datagram->data_origin = EC_ORIG_EXTERNAL;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   482
    EC_FUNC_HEADER;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   483
    datagram->type = EC_DATAGRAM_LRW;
708
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 514
diff changeset
   484
    EC_WRITE_U32(datagram->address, offset);
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 514
diff changeset
   485
    EC_FUNC_FOOTER;
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 514
diff changeset
   486
}
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 514
diff changeset
   487
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 514
diff changeset
   488
/*****************************************************************************/
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   489
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   490
/** Evaluates the working counter of a single-cast datagram.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   491
 *
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   492
 * Outputs an error message.
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   493
 */
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   494
void ec_datagram_print_wc_error(
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 719
diff changeset
   495
        const ec_datagram_t *datagram /**< EtherCAT datagram */
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   496
        )
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   497
{
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   498
    if (datagram->working_counter == 0)
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   499
        printk("No response.");
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   500
    else if (datagram->working_counter > 1)
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   501
        printk("%u slaves responded!", datagram->working_counter);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   502
    else
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   503
        printk("Success.");
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   504
    printk("\n");
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   505
}
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   506
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   507
/*****************************************************************************/
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   508
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   509
/** Outputs datagram statistics at most every second.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   510
 */
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   511
void ec_datagram_output_stats(
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   512
        ec_datagram_t *datagram
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   513
        )
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   514
{
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   515
    if (jiffies - datagram->stats_output_jiffies < HZ) {
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   516
        datagram->stats_output_jiffies = jiffies;
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   517
    
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   518
        if (unlikely(datagram->skip_count)) {
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   519
            EC_WARN("Datagram %x (%s) was SKIPPED %u time%s.\n",
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   520
                    (unsigned int) datagram, datagram->name,
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   521
                    datagram->skip_count,
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   522
                    datagram->skip_count == 1 ? "" : "s");
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   523
            datagram->skip_count = 0;
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   524
        }
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   525
    }
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   526
}
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   527
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   528
/*****************************************************************************/
816
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   529
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   530
/** Returns a string describing the datagram type.
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   531
 */
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   532
const char *ec_datagram_type_string(
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   533
        const ec_datagram_t *datagram /**< EtherCAT datagram. */
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   534
        )
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   535
{
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   536
    return type_strings[datagram->type];
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   537
}
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   538
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   539
/*****************************************************************************/