author | Florian Pose <fp@igh-essen.com> |
Mon, 30 Jun 2008 11:28:32 +0000 | |
changeset 1070 | 348249d1f95c |
parent 1040 | d2527675cdd5 |
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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 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 |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General 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 |
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* along 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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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT datagram structure. |
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*/ |
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/*****************************************************************************/ |
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#ifndef __EC_DATAGRAM_H__ |
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#define __EC_DATAGRAM_H__ |
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#include <linux/list.h> |
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#include <linux/time.h> |
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#include <linux/timex.h> |
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#include "globals.h" |
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/*****************************************************************************/ |
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/** Size of the datagram description string. */ |
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#define EC_DATAGRAM_NAME_SIZE 20 |
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/*****************************************************************************/ |
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/** EtherCAT datagram type. |
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*/ |
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typedef enum { |
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EC_DATAGRAM_NONE = 0x00, /**< Dummy. */ |
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EC_DATAGRAM_APRD = 0x01, /**< Auto Increment Physical Read. */ |
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EC_DATAGRAM_APWR = 0x02, /**< Auto Increment Physical Write. */ |
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EC_DATAGRAM_APRW = 0x03, /**< Auto Increment Physical ReadWrite. */ |
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EC_DATAGRAM_FPRD = 0x04, /**< Configured Address Physical Read. */ |
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EC_DATAGRAM_FPWR = 0x05, /**< Configured Address Physical Write. */ |
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EC_DATAGRAM_FPRW = 0x06, /**< Configured Address Physical ReadWrite. */ |
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EC_DATAGRAM_BRD = 0x07, /**< Broadcast Read. */ |
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EC_DATAGRAM_BWR = 0x08, /**< Broadcast Write. */ |
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EC_DATAGRAM_BRW = 0x09, /**< Broadcast ReadWrite. */ |
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EC_DATAGRAM_LRD = 0x0A, /**< Logical Read. */ |
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EC_DATAGRAM_LWR = 0x0B, /**< Logical Write. */ |
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EC_DATAGRAM_LRW = 0x0C, /**< Logical ReadWrite. */ |
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EC_DATAGRAM_ARMW = 0x0D, /**< Auto Increment Physical Read Multiple |
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Write. */ |
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EC_DATAGRAM_FRMW = 0x0E, /**< Configured Address Physical Read Multiple |
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Write. */ |
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} ec_datagram_type_t; |
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/*****************************************************************************/ |
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/** EtherCAT datagram state. |
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*/ |
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typedef enum { |
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EC_DATAGRAM_INIT, /**< Initial state of a new datagram. */ |
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EC_DATAGRAM_QUEUED, /**< Queued for sending. */ |
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EC_DATAGRAM_SENT, /**< Sent (still in the queue). */ |
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EC_DATAGRAM_RECEIVED, /**< Received (dequeued). */ |
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EC_DATAGRAM_TIMED_OUT, /**< Timed out (dequeued). */ |
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EC_DATAGRAM_ERROR /**< Error while sending/receiving (dequeued). */ |
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} ec_datagram_state_t; |
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/*****************************************************************************/ |
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/** EtherCAT datagram. |
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*/ |
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typedef struct { |
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struct list_head list; /**< Needed by domain datagram lists. */ |
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struct list_head queue; /**< Master datagram queue item. */ |
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struct list_head sent; /**< Master list item for sent datagrams. */ |
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ec_datagram_type_t type; /**< Datagram type (APRD, BWR, etc.). */ |
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uint8_t address[EC_ADDR_LEN]; /**< Recipient address. */ |
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uint8_t *data; /**< Datagram payload. */ |
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ec_origin_t data_origin; /**< Origin of the \a data memory. */ |
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size_t mem_size; /**< Datagram \a data memory size. */ |
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size_t data_size; /**< Size of the data in \a data. */ |
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uint8_t index; /**< Index (set by master). */ |
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uint16_t working_counter; /**< Working counter. */ |
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ec_datagram_state_t state; /**< State. */ |
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#ifdef EC_HAVE_CYCLES |
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cycles_t cycles_sent; /**< Time, when the datagram was sent. */ |
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#endif |
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unsigned long jiffies_sent; /**< Jiffies, when the datagram was sent. */ |
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#ifdef EC_HAVE_CYCLES |
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cycles_t cycles_received; /**< Time, when the datagram was received. */ |
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#endif |
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unsigned long jiffies_received; /**< Jiffies, when the datagram was |
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received. */ |
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unsigned int skip_count; /**< Number of requeues when not yet received. */ |
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unsigned long stats_output_jiffies; /**< Last statistics output. */ |
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char name[EC_DATAGRAM_NAME_SIZE]; /**< Description of the datagram. */ |
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} ec_datagram_t; |
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/*****************************************************************************/ |
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void ec_datagram_init(ec_datagram_t *); |
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void ec_datagram_clear(ec_datagram_t *); |
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int ec_datagram_prealloc(ec_datagram_t *, size_t); |
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int ec_datagram_aprd(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_apwr(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_aprw(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_armw(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_fprd(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_fpwr(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_fprw(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_frmw(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_brd(ec_datagram_t *, uint16_t, size_t); |
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int ec_datagram_bwr(ec_datagram_t *, uint16_t, size_t); |
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int ec_datagram_brw(ec_datagram_t *, uint16_t, size_t); |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
|
140 |
int ec_datagram_lrd(ec_datagram_t *, uint32_t, size_t, uint8_t *); |
002fe9ec778f
Implemented missing datagram types.
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parents:
809
diff
changeset
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141 |
int ec_datagram_lwr(ec_datagram_t *, uint32_t, size_t, uint8_t *); |
809 | 142 |
int ec_datagram_lrw(ec_datagram_t *, uint32_t, size_t, uint8_t *); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents:
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changeset
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143 |
|
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
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144 |
void ec_datagram_print_wc_error(const ec_datagram_t *); |
816
d02761e14eb0
Introduced ec_datagram_type_string().
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parents:
815
diff
changeset
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145 |
void ec_datagram_output_stats(ec_datagram_t *); |
d02761e14eb0
Introduced ec_datagram_type_string().
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parents:
815
diff
changeset
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146 |
const char *ec_datagram_type_string(const ec_datagram_t *); |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
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parents:
708
diff
changeset
|
147 |
|
98
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MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents:
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148 |
/*****************************************************************************/ |
f564d0929292
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parents:
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149 |
|
f564d0929292
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parents:
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150 |
#endif |