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-- |
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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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121 |
datagram->data = NULL; |
7b9898062c8f
merge -c1614 branches/stable-1.4: Fixed datagram cleaning.
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1326
diff
changeset
|
122 |
} |
809 | 123 |
} |
124 |
||
125 |
/*****************************************************************************/ |
|
126 |
||
127 |
/** Allocates internal payload memory. |
|
128 |
* |
|
129 |
* If the allocated memory is already larger than requested, nothing ist done. |
|
130 |
* |
|
131 |
* \attention If external payload memory has been provided, no range checking |
|
132 |
* is done! |
|
133 |
* |
|
1312
74853e018898
Created backend versions of all API functions returing a pointer; using
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diff
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|
134 |
* \return 0 in case of success, otherwise \a -ENOMEM. |
809 | 135 |
*/ |
815
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
136 |
int ec_datagram_prealloc( |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
137 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
002fe9ec778f
Implemented missing datagram types.
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parents:
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diff
changeset
|
138 |
size_t size /**< New payload size in bytes. */ |
809 | 139 |
) |
140 |
{ |
|
141 |
if (datagram->data_origin == EC_ORIG_EXTERNAL |
|
142 |
|| size <= datagram->mem_size) |
|
143 |
return 0; |
|
293
14aeb79aa992
Renamed command structure to datagram.
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parents:
246
diff
changeset
|
144 |
|
14aeb79aa992
Renamed command structure to datagram.
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parents:
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diff
changeset
|
145 |
if (datagram->data) { |
14aeb79aa992
Renamed command structure to datagram.
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parents:
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diff
changeset
|
146 |
kfree(datagram->data); |
14aeb79aa992
Renamed command structure to datagram.
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parents:
246
diff
changeset
|
147 |
datagram->data = NULL; |
14aeb79aa992
Renamed command structure to datagram.
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parents:
246
diff
changeset
|
148 |
datagram->mem_size = 0; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
149 |
} |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
150 |
|
998
05a24788f3b2
Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
151 |
if (!(datagram->data = kmalloc(size, GFP_KERNEL))) { |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
816
diff
changeset
|
152 |
EC_ERR("Failed to allocate %u bytes of datagram memory!\n", size); |
1312
74853e018898
Created backend versions of all API functions returing a pointer; using
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diff
changeset
|
153 |
return -ENOMEM; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
154 |
} |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
104
diff
changeset
|
155 |
|
293
14aeb79aa992
Renamed command structure to datagram.
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parents:
246
diff
changeset
|
156 |
datagram->mem_size = size; |
144
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
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parents:
104
diff
changeset
|
157 |
return 0; |
fdc24bf62f80
Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
158 |
} |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
159 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
160 |
/*****************************************************************************/ |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents:
diff
changeset
|
161 |
|
1225
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1040
diff
changeset
|
162 |
/** Fills the datagram payload memory with zeros. |
4d5b739edcb5
Introduced ec_datagram_zero().
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parents:
1040
diff
changeset
|
163 |
*/ |
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1040
diff
changeset
|
164 |
void ec_datagram_zero(ec_datagram_t *datagram /**< EtherCAT datagram. */) |
4d5b739edcb5
Introduced ec_datagram_zero().
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parents:
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diff
changeset
|
165 |
{ |
4d5b739edcb5
Introduced ec_datagram_zero().
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parents:
1040
diff
changeset
|
166 |
memset(datagram->data, 0x00, datagram->data_size); |
4d5b739edcb5
Introduced ec_datagram_zero().
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parents:
1040
diff
changeset
|
167 |
} |
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1040
diff
changeset
|
168 |
|
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1040
diff
changeset
|
169 |
/*****************************************************************************/ |
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1040
diff
changeset
|
170 |
|
809 | 171 |
/** Initializes an EtherCAT APRD datagram. |
172 |
* |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
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parents:
1312
diff
changeset
|
173 |
* \return Return value of ec_datagram_prealloc(). |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
174 |
*/ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
175 |
int ec_datagram_aprd( |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
176 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
177 |
uint16_t ring_position, /**< Auto-increment address. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
178 |
uint16_t mem_address, /**< Physical memory address. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
179 |
size_t data_size /**< Number of bytes to read. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
180 |
) |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
181 |
{ |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
182 |
int ret; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
183 |
EC_FUNC_HEADER; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
184 |
datagram->type = EC_DATAGRAM_APRD; |
708
90bdb315f560
Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents:
514
diff
changeset
|
185 |
EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1)); |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
186 |
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
|
187 |
EC_FUNC_FOOTER; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
188 |
} |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
189 |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
190 |
/*****************************************************************************/ |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
191 |
|
809 | 192 |
/** Initializes an EtherCAT APWR datagram. |
193 |
* |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
194 |
* \return Return value of ec_datagram_prealloc(). |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
195 |
*/ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
196 |
int ec_datagram_apwr( |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
197 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
198 |
uint16_t ring_position, /**< Auto-increment address. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
199 |
uint16_t mem_address, /**< Physical memory address. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
200 |
size_t data_size /**< Number of bytes to write. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
201 |
) |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
202 |
{ |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
203 |
int ret; |
293
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
204 |
EC_FUNC_HEADER; |
325
7833cf70c4f2
VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents:
293
diff
changeset
|
205 |
datagram->type = EC_DATAGRAM_APWR; |
708
90bdb315f560
Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents:
514
diff
changeset
|
206 |
EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1)); |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
207 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
208 |
EC_FUNC_FOOTER; |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
209 |
} |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
210 |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
211 |
/*****************************************************************************/ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
212 |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
213 |
/** Initializes an EtherCAT APRW datagram. |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
214 |
* |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
215 |
* \return Return value of ec_datagram_prealloc(). |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
216 |
*/ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
217 |
int ec_datagram_aprw( |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
218 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
219 |
uint16_t ring_position, /**< Auto-increment address. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
220 |
uint16_t mem_address, /**< Physical memory address. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
221 |
size_t data_size /**< Number of bytes to write. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
222 |
) |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
223 |
{ |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
224 |
int ret; |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
225 |
EC_FUNC_HEADER; |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
226 |
datagram->type = EC_DATAGRAM_APRW; |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
227 |
EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1)); |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
228 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
229 |
EC_FUNC_FOOTER; |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
230 |
} |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
231 |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
232 |
/*****************************************************************************/ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
233 |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
234 |
/** Initializes an EtherCAT ARMW datagram. |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
235 |
* |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
236 |
* \return Return value of ec_datagram_prealloc(). |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
237 |
*/ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
238 |
int ec_datagram_armw( |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
239 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
240 |
uint16_t ring_position, /**< Auto-increment address. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
241 |
uint16_t mem_address, /**< Physical memory address. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
242 |
size_t data_size /**< Number of bytes to read. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
243 |
) |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
244 |
{ |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
245 |
int ret; |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
246 |
EC_FUNC_HEADER; |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
247 |
datagram->type = EC_DATAGRAM_ARMW; |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
248 |
EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1)); |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
249 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
250 |
EC_FUNC_FOOTER; |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
251 |
} |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
252 |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
253 |
/*****************************************************************************/ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
254 |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
255 |
/** Initializes an EtherCAT FPRD datagram. |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
256 |
* |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
257 |
* \return Return value of ec_datagram_prealloc(). |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
258 |
*/ |
002fe9ec778f
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diff
changeset
|
259 |
int ec_datagram_fprd( |
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diff
changeset
|
260 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
002fe9ec778f
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diff
changeset
|
261 |
uint16_t configured_address, /**< Configured station address. */ |
002fe9ec778f
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809
diff
changeset
|
262 |
uint16_t mem_address, /**< Physical memory address. */ |
002fe9ec778f
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parents:
809
diff
changeset
|
263 |
size_t data_size /**< Number of bytes to read. */ |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
264 |
) |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
265 |
{ |
1313
ed15eef57d5c
Improved error case return codes of many functions.
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parents:
1312
diff
changeset
|
266 |
int ret; |
ed15eef57d5c
Improved error case return codes of many functions.
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parents:
1312
diff
changeset
|
267 |
|
815
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parents:
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diff
changeset
|
268 |
if (unlikely(configured_address == 0x0000)) |
002fe9ec778f
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parents:
809
diff
changeset
|
269 |
EC_WARN("Using configured station address 0x0000!\n"); |
002fe9ec778f
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parents:
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diff
changeset
|
270 |
|
002fe9ec778f
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diff
changeset
|
271 |
EC_FUNC_HEADER; |
002fe9ec778f
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diff
changeset
|
272 |
datagram->type = EC_DATAGRAM_FPRD; |
002fe9ec778f
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diff
changeset
|
273 |
EC_WRITE_U16(datagram->address, configured_address); |
002fe9ec778f
Implemented missing datagram types.
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diff
changeset
|
274 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
002fe9ec778f
Implemented missing datagram types.
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parents:
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diff
changeset
|
275 |
EC_FUNC_FOOTER; |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
276 |
} |
002fe9ec778f
Implemented missing datagram types.
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parents:
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diff
changeset
|
277 |
|
002fe9ec778f
Implemented missing datagram types.
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parents:
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diff
changeset
|
278 |
/*****************************************************************************/ |
002fe9ec778f
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parents:
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diff
changeset
|
279 |
|
002fe9ec778f
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parents:
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diff
changeset
|
280 |
/** Initializes an EtherCAT FPWR datagram. |
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diff
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|
281 |
* |
1313
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Improved error case return codes of many functions.
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|
282 |
* \return Return value of ec_datagram_prealloc(). |
815
002fe9ec778f
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diff
changeset
|
283 |
*/ |
002fe9ec778f
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parents:
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diff
changeset
|
284 |
int ec_datagram_fpwr( |
002fe9ec778f
Implemented missing datagram types.
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parents:
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diff
changeset
|
285 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
002fe9ec778f
Implemented missing datagram types.
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809
diff
changeset
|
286 |
uint16_t configured_address, /**< Configured station address. */ |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
287 |
uint16_t mem_address, /**< Physical memory address. */ |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
288 |
size_t data_size /**< Number of bytes to write. */ |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
289 |
) |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
290 |
{ |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
291 |
int ret; |
ed15eef57d5c
Improved error case return codes of many functions.
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parents:
1312
diff
changeset
|
292 |
|
815
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
293 |
if (unlikely(configured_address == 0x0000)) |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
294 |
EC_WARN("Using configured station address 0x0000!\n"); |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
295 |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
296 |
EC_FUNC_HEADER; |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
297 |
datagram->type = EC_DATAGRAM_FPWR; |
002fe9ec778f
Implemented missing datagram types.
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parents:
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diff
changeset
|
298 |
EC_WRITE_U16(datagram->address, configured_address); |
002fe9ec778f
Implemented missing datagram types.
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parents:
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diff
changeset
|
299 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
300 |
EC_FUNC_FOOTER; |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
301 |
} |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
302 |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
303 |
/*****************************************************************************/ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
304 |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
305 |
/** Initializes an EtherCAT FPRW datagram. |
002fe9ec778f
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parents:
809
diff
changeset
|
306 |
* |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
307 |
* \return Return value of ec_datagram_prealloc(). |
815
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
308 |
*/ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
309 |
int ec_datagram_fprw( |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
310 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
311 |
uint16_t configured_address, /**< Configured station address. */ |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
312 |
uint16_t mem_address, /**< Physical memory address. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
313 |
size_t data_size /**< Number of bytes to write. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
314 |
) |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
315 |
{ |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
316 |
int ret; |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
317 |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
318 |
if (unlikely(configured_address == 0x0000)) |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
319 |
EC_WARN("Using configured station address 0x0000!\n"); |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
320 |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
321 |
EC_FUNC_HEADER; |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
322 |
datagram->type = EC_DATAGRAM_FPRW; |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
323 |
EC_WRITE_U16(datagram->address, configured_address); |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
324 |
EC_WRITE_U16(datagram->address + 2, mem_address); |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
325 |
EC_FUNC_FOOTER; |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
326 |
} |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
327 |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
328 |
/*****************************************************************************/ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
329 |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
330 |
/** Initializes an EtherCAT FRMW datagram. |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
331 |
* |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
332 |
* \return Return value of ec_datagram_prealloc(). |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
333 |
*/ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
334 |
int ec_datagram_frmw( |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
335 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
336 |
uint16_t configured_address, /**< Configured station address. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
337 |
uint16_t mem_address, /**< Physical memory address. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
338 |
size_t data_size /**< Number of bytes to write. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
339 |
) |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
340 |
{ |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
341 |
int ret; |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
342 |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
343 |
if (unlikely(configured_address == 0x0000)) |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
344 |
EC_WARN("Using configured station address 0x0000!\n"); |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
345 |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
346 |
EC_FUNC_HEADER; |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
347 |
datagram->type = EC_DATAGRAM_FRMW; |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
348 |
EC_WRITE_U16(datagram->address, configured_address); |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
349 |
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
|
350 |
EC_FUNC_FOOTER; |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
351 |
} |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
352 |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
353 |
/*****************************************************************************/ |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
354 |
|
809 | 355 |
/** Initializes an EtherCAT BRD datagram. |
356 |
* |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
357 |
* \return Return value of ec_datagram_prealloc(). |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
358 |
*/ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
359 |
int ec_datagram_brd( |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
360 |
ec_datagram_t *datagram, /**< EtherCAT datagram. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
361 |
uint16_t mem_address, /**< Physical memory address. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
362 |
size_t data_size /**< Number of bytes to read. */ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
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>
parents:
1312
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.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
371 |
} |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
372 |
|
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
373 |
/*****************************************************************************/ |
14aeb79aa992
Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents:
246
diff
changeset
|
374 |
|
809 | 375 |
/** Initializes an EtherCAT BWR datagram. |
376 |
* |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
377 |
* \return Return value of ec_datagram_prealloc(). |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
378 |
*/ |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
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 | 416 |
* |
417 |
* \attention It is assumed, that the external memory is at least \a data_size |
|
418 |
* bytes large. |
|
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 | 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 | 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 | 474 |
uint32_t offset, /**< Logical address. */ |
475 |
size_t data_size, /**< Number of bytes to read/write. */ |
|
476 |
uint8_t *external_memory /**< Pointer to the memory to use. */ |
|
477 |
) |
|
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 | 480 |
datagram->data = external_memory; |
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 | 490 |
/** Evaluates the working counter of a single-cast datagram. |
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 | 509 |
/** Outputs datagram statistics at most every second. |
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 |
/*****************************************************************************/ |