etherlabmaster: master/command.c@5cff10efb927 (annotated)

98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	* and/or modify it under the terms of the GNU General Public License
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	11	* as published by the Free Software Foundation; version 2 of the License.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	12	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	* GNU General Public License for more details.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	* You should have received a copy of the GNU General Public License
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* along with the IgH EtherCAT Master; if not, write to the Free Software
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	*
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	23
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	24	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	25	\file
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	26	Methods of an EtherCAT command.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	27	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	28
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	29	/*****************************************************************************/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	30
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	31	#include <linux/slab.h>
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	32	#include <linux/delay.h>
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	33
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	34	#include "command.h"
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	35	#include "master.h"
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	36
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	37	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	38
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	39	/** \cond */
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	40
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#define EC_FUNC_HEADER \
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	42	if (unlikely(ec_command_prealloc(command, data_size))) \
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	43	return -1; \
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	44	command->index = 0; \
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	45	command->working_counter = 0; \
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	46	command->state = EC_CMD_INIT;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	47
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	48	#define EC_FUNC_FOOTER \
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	49	command->data_size = data_size; \
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	50	memset(command->data, 0x00, data_size); \
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	51	return 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	52
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	53	/** \endcond */
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	54
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	55	/*****************************************************************************/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	56
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	57	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	58	Command constructor.
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	59	*/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	60
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	61	void ec_command_init(ec_command_t command /< EtherCAT command /)
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	62	{
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	63	command->type = EC_CMD_NONE;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	64	command->address.logical = 0x00000000;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	65	command->data = NULL;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	66	command->mem_size = 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	67	command->data_size = 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	68	command->index = 0x00;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	69	command->working_counter = 0x00;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	70	command->state = EC_CMD_INIT;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	71	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	72
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	73	/*****************************************************************************/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	74
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	75	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	76	Command destructor.
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	77	*/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	78
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	79	void ec_command_clear(ec_command_t command /< EtherCAT command /)
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	80	{
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	81	if (command->data) kfree(command->data);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	82	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	83
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	84	/*****************************************************************************/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	85
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	86	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	87	Allocates command data memory.
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	88	If the allocated memory is already larger than requested, nothing ist done.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	89	\return 0 in case of success, else < 0
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	90	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	91
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	92	int ec_command_prealloc(ec_command_t command, /< EtherCAT command /
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	93	size_t size /*< New size in bytes /
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	94	)
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	95	{
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	96	if (size <= command->mem_size) return 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	97
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	98	if (command->data) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	99	kfree(command->data);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	100	command->data = NULL;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	101	command->mem_size = 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	102	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	103
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	104	if (!(command->data = kmalloc(size, GFP_KERNEL))) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	105	EC_ERR("Failed to allocate %i bytes of command memory!\n", size);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	106	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	107	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	108
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	109	command->mem_size = size;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	110	return 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	111	}
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	112
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	113	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	114
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	115	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	116	Initializes an EtherCAT NPRD command.
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	117	Node-adressed physical read.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	118	\return 0 in case of success, else < 0
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	119	*/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	120
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	121	int ec_command_nprd(ec_command_t *command,
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	122	/*< EtherCAT command /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	123	uint16_t node_address,
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	124	/*< configured station address /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	125	uint16_t offset,
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	126	/*< physical memory address /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	127	size_t data_size
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	128	/*< number of bytes to read /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	129	)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	130	{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	131	if (unlikely(node_address == 0x0000))
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	132	EC_WARN("Using node address 0x0000!\n");
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	133
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	134	EC_FUNC_HEADER;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	135	command->type = EC_CMD_NPRD;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	136	command->address.physical.slave = node_address;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	137	command->address.physical.mem = offset;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	138	EC_FUNC_FOOTER;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	139	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	140
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	141	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	142
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	143	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	144	Initializes an EtherCAT NPWR command.
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	145	Node-adressed physical write.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	146	\return 0 in case of success, else < 0
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	147	*/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	148
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	149	int ec_command_npwr(ec_command_t *command,
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	150	/*< EtherCAT command /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	151	uint16_t node_address,
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	152	/*< configured station address /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	153	uint16_t offset,
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	154	/*< physical memory address /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	155	size_t data_size
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	156	/*< number of bytes to write /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	157	)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	158	{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	159	if (unlikely(node_address == 0x0000))
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	160	EC_WARN("Using node address 0x0000!\n");
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	161
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	162	EC_FUNC_HEADER;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	163	command->type = EC_CMD_NPWR;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	164	command->address.physical.slave = node_address;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	165	command->address.physical.mem = offset;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	166	EC_FUNC_FOOTER;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	167	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	168
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	169	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	170
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	171	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	172	Initializes an EtherCAT APRD command.
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	173	Autoincrement physical read.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	174	\return 0 in case of success, else < 0
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	175	*/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	176
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	177	int ec_command_aprd(ec_command_t *command,
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	178	/*< EtherCAT command /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	179	uint16_t ring_position,
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	180	/*< auto-increment position /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	181	uint16_t offset,
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	182	/*< physical memory address /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	183	size_t data_size
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	184	/*< number of bytes to read /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	185	)
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	186	{
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	187	EC_FUNC_HEADER;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	188	command->type = EC_CMD_APRD;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	189	command->address.physical.slave = (int16_t) ring_position * (-1);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	190	command->address.physical.mem = offset;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	191	EC_FUNC_FOOTER;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	192	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	193
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	194	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	195
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	196	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	197	Initializes an EtherCAT APWR command.
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	198	Autoincrement physical write.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	199	\return 0 in case of success, else < 0
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	200	*/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	201
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	202	int ec_command_apwr(ec_command_t *command,
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	203	/*< EtherCAT command /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	204	uint16_t ring_position,
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	205	/*< auto-increment position /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	206	uint16_t offset,
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	207	/*< physical memory address /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	208	size_t data_size
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	209	/*< number of bytes to write /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	210	)
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	211	{
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	212	EC_FUNC_HEADER;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	213	command->type = EC_CMD_APWR;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	214	command->address.physical.slave = (int16_t) ring_position * (-1);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	215	command->address.physical.mem = offset;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	216	EC_FUNC_FOOTER;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	217	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	218
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	219	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	220
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	221	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	222	Initializes an EtherCAT BRD command.
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	223	Broadcast read.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	224	\return 0 in case of success, else < 0
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	225	*/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	226
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	227	int ec_command_brd(ec_command_t *command,
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	228	/*< EtherCAT command /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	229	uint16_t offset,
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	230	/*< physical memory address /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	231	size_t data_size
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	232	/*< number of bytes to read /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	233	)
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	234	{
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	235	EC_FUNC_HEADER;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	236	command->type = EC_CMD_BRD;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	237	command->address.physical.slave = 0x0000;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	238	command->address.physical.mem = offset;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	239	EC_FUNC_FOOTER;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	240	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	241
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	242	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	243
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	244	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	245	Initializes an EtherCAT BWR command.
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	246	Broadcast write.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	247	\return 0 in case of success, else < 0
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	248	*/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	249
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	250	int ec_command_bwr(ec_command_t *command,
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	251	/*< EtherCAT command /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	252	uint16_t offset,
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	253	/*< physical memory address /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	254	size_t data_size
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	255	/*< number of bytes to write /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	256	)
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	257	{
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	258	EC_FUNC_HEADER;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	259	command->type = EC_CMD_BWR;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	260	command->address.physical.slave = 0x0000;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	261	command->address.physical.mem = offset;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	262	EC_FUNC_FOOTER;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	263	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	264
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	265	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	266
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	267	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	268	Initializes an EtherCAT LRW command.
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	269	Logical read write.
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	270	\return 0 in case of success, else < 0
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	271	*/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	272
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	273	int ec_command_lrw(ec_command_t *command,
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	274	/*< EtherCAT command /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	275	uint32_t offset,
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	276	/*< logical address /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	277	size_t data_size
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	278	/*< number of bytes to read/write /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	279	)
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	280	{
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	281	EC_FUNC_HEADER;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	282	command->type = EC_CMD_LRW;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	283	command->address.logical = offset;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	284	EC_FUNC_FOOTER;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	285	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	286
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	287	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 24 Apr 2006 10:47:03 +0000
branch	stable-1.0
changeset 1618	5cff10efb927
parent 195	674071846ee3
child 1619	0d4119024f55
permissions	-rw-r--r--