etherlabmaster: master/datagram.c@629d3cf05180 (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	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	11	* published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	12	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	16	* Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	17	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	18	* You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1333 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1333 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1333 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1333 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1333 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 237 diff changeset	27	*
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	29
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	30	/**
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	31	\file
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	32	Methods of an EtherCAT datagram.
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	33	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	34
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	35	/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	36
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include <linux/slab.h>
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	38
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	39	#include "datagram.h"
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "master.h"
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	41
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	42	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	43
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	44	/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	45
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	46	#define EC_FUNC_HEADER \
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	47	ret = ec_datagram_prealloc(datagram, data_size); \
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	48	if (unlikely(ret)) \
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	49	return ret; \
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	50	datagram->index = 0; \
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	51	datagram->working_counter = 0; \
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	52	datagram->state = EC_DATAGRAM_INIT;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	53
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	54	#define EC_FUNC_FOOTER \
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	55	datagram->data_size = data_size; \
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	56	return 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	57
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	58	/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	59
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	60	/*****************************************************************************/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	61
816 d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	62	/** Array of datagram type strings used in ec_datagram_type_string().
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	63	*
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	64	* \attention This is indexed by ec_datagram_type_t.
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	65	*/
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	66	static const char *type_strings[] = {
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	67	"?",
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	68	"APRD",
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	69	"APWR",
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	70	"APRW",
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	71	"FPRD",
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	72	"FPWR",
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	73	"FPRW",
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	74	"BRD",
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	75	"BWR",
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	76	"BRW",
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	77	"LRD",
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	78	"LWR",
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	79	"LRW",
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	80	"ARMW",
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	81	"FRMW"
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	82	};
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	83
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	84	/*****************************************************************************/
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	85
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	86	/** Constructor.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	87	*/
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	88	void ec_datagram_init(ec_datagram_t datagram /< EtherCAT datagram. /)
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	89	{
2038 770e86a39c98 Datagram queue race fixed: insert datagrams into master-fsm_queue with fsm_queue list_head Martin Troxler <ch1010277@ch10pc446> parents: 1981 diff changeset	90	INIT_LIST_HEAD(&datagram->list); // mark as unqueued
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 398 diff changeset	91	INIT_LIST_HEAD(&datagram->queue); // mark as unqueued
2038 770e86a39c98 Datagram queue race fixed: insert datagrams into master-fsm_queue with fsm_queue list_head Martin Troxler <ch1010277@ch10pc446> parents: 1981 diff changeset	92	INIT_LIST_HEAD(&datagram->fsm_queue); // mark as unqueued
770e86a39c98 Datagram queue race fixed: insert datagrams into master-fsm_queue with fsm_queue list_head Martin Troxler <ch1010277@ch10pc446> parents: 1981 diff changeset	93	INIT_LIST_HEAD(&datagram->sent); // mark as unqueued
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	94	datagram->type = EC_DATAGRAM_NONE;
708 90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	95	memset(datagram->address, 0x00, EC_ADDR_LEN);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	96	datagram->data = NULL;
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	97	datagram->data_origin = EC_ORIG_INTERNAL;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	98	datagram->mem_size = 0;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	99	datagram->data_size = 0;
1981 c14b6bb14fdf Inplace I/O: let input Pdos use the same bus space as Output Pdos Martin Troxler <martin.troxler@komaxgroup.com> parents: 1822 diff changeset	100	datagram->domain = NULL;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	101	datagram->index = 0x00;
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	102	datagram->working_counter = 0x0000;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	103	datagram->state = EC_DATAGRAM_INIT;
1040 d2527675cdd5 Disable use of CPU timestamp counter by default. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	104	#ifdef EC_HAVE_CYCLES
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	105	datagram->cycles_sent = 0;
1040 d2527675cdd5 Disable use of CPU timestamp counter by default. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	106	#endif
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	107	datagram->jiffies_sent = 0;
1040 d2527675cdd5 Disable use of CPU timestamp counter by default. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	108	#ifdef EC_HAVE_CYCLES
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	109	datagram->cycles_received = 0;
1040 d2527675cdd5 Disable use of CPU timestamp counter by default. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	110	#endif
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	111	datagram->jiffies_received = 0;
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	112	datagram->skip_count = 0;
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	113	datagram->stats_output_jiffies = 0;
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	114	memset(datagram->name, 0x00, EC_DATAGRAM_NAME_SIZE);
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	115	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	116
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	117	/*****************************************************************************/
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	118
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	119	/** Destructor.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	120	*/
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	121	void ec_datagram_clear(ec_datagram_t datagram /< EtherCAT datagram. /)
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	122	{
1553 4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	123	ec_datagram_unqueue(datagram);
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	124
1333 7b9898062c8f merge -c1614 branches/stable-1.4: Fixed datagram cleaning. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	125	if (datagram->data_origin == EC_ORIG_INTERNAL && datagram->data) {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	126	kfree(datagram->data);
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	127	datagram->data = NULL;
1333 7b9898062c8f merge -c1614 branches/stable-1.4: Fixed datagram cleaning. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	128	}
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	129	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	130
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	131	/*****************************************************************************/
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	132
1553 4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	133	/** Unqueue datagram.
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	134	*/
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	135	void ec_datagram_unqueue(ec_datagram_t datagram /< EtherCAT datagram. /)
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	136	{
2038 770e86a39c98 Datagram queue race fixed: insert datagrams into master-fsm_queue with fsm_queue list_head Martin Troxler <ch1010277@ch10pc446> parents: 1981 diff changeset	137	if (!list_empty(&datagram->fsm_queue)) {
770e86a39c98 Datagram queue race fixed: insert datagrams into master-fsm_queue with fsm_queue list_head Martin Troxler <ch1010277@ch10pc446> parents: 1981 diff changeset	138	list_del_init(&datagram->fsm_queue);
1553 4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	139	}
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	140	}
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	141
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	142	/*****************************************************************************/
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	143
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	144	/** Allocates internal payload memory.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	145	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	146	* If the allocated memory is already larger than requested, nothing ist done.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	147	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	148	* \attention If external payload memory has been provided, no range checking
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	149	* is done!
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	150	*
1312 74853e018898 Created backend versions of all API functions returing a pointer; using Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	151	* \return 0 in case of success, otherwise \a -ENOMEM.
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	152	*/
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	153	int ec_datagram_prealloc(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	154	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	155	size_t size /*< New payload size in bytes. /
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	156	)
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	157	{
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	158	if (datagram->data_origin == EC_ORIG_EXTERNAL
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	159	\|\| size <= datagram->mem_size)
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	160	return 0;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	161
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	162	if (datagram->data) {
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	163	kfree(datagram->data);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	164	datagram->data = NULL;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	165	datagram->mem_size = 0;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	166	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	167
998 05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	168	if (!(datagram->data = kmalloc(size, GFP_KERNEL))) {
1543 373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	169	EC_ERR("Failed to allocate %zu bytes of datagram memory!\n", size);
1312 74853e018898 Created backend versions of all API functions returing a pointer; using Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	170	return -ENOMEM;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	171	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	172
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	173	datagram->mem_size = size;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	174	return 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	175	}
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	176
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	177	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	178
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	179	/** Fills the datagram payload memory with zeros.
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	180	*/
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	181	void ec_datagram_zero(ec_datagram_t datagram /< EtherCAT datagram. /)
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	182	{
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	183	memset(datagram->data, 0x00, datagram->data_size);
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	184	}
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	185
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	186	/*****************************************************************************/
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	187
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	188	/** Initializes an EtherCAT APRD datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	189	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	190	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	191	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	192	int ec_datagram_aprd(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	193	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	194	uint16_t ring_position, /*< Auto-increment address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	195	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	196	size_t data_size /*< Number of bytes to read. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	197	)
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	198	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	199	int ret;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	200	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	201	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	202	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	203	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	204	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	205	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	206
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	207	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	208
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	209	/** Initializes an EtherCAT APWR datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	210	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	211	* \return Return value of ec_datagram_prealloc().
815 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	int ec_datagram_apwr(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	214	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	215	uint16_t ring_position, /*< Auto-increment address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	216	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	217	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	218	)
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	219	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	220	int ret;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	221	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	222	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	223	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	224	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	225	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	226	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	227
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	228	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	229
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	230	/** Initializes an EtherCAT APRW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	231	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	232	* \return Return value of ec_datagram_prealloc().
815 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	int ec_datagram_aprw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	235	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	236	uint16_t ring_position, /*< Auto-increment address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	237	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	238	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	239	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	240	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	241	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	242	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	243	datagram->type = EC_DATAGRAM_APRW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	244	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	245	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	246	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	247	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	248
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	249	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	250
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	251	/** Initializes an EtherCAT ARMW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	252	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	253	* \return Return value of ec_datagram_prealloc().
815 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	int ec_datagram_armw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	256	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	257	uint16_t ring_position, /*< Auto-increment address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	258	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	259	size_t data_size /*< Number of bytes to read. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	260	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	261	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	262	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	263	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	264	datagram->type = EC_DATAGRAM_ARMW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	265	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	266	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	267	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	268	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	269
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	270	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	271
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	272	/** Initializes an EtherCAT FPRD datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	273	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	274	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	275	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	276	int ec_datagram_fprd(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	277	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	278	uint16_t configured_address, /*< Configured station address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	279	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	280	size_t data_size /*< Number of bytes to read. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	281	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	282	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	283	int ret;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	284
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	285	if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	286	EC_WARN("Using configured station address 0x0000!\n");
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	287
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	288	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	289	datagram->type = EC_DATAGRAM_FPRD;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	290	EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	291	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	292	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	293	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	294
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
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	297	/** Initializes an EtherCAT FPWR datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	298	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	299	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	300	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	301	int ec_datagram_fpwr(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	302	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	303	uint16_t configured_address, /*< Configured station address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	304	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	305	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	306	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	307	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	308	int ret;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	309
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	310	if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	311	EC_WARN("Using configured station address 0x0000!\n");
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	312
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	313	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	314	datagram->type = EC_DATAGRAM_FPWR;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	315	EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	316	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	317	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	318	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	319
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
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	322	/** Initializes an EtherCAT FPRW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	323	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	324	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	325	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	326	int ec_datagram_fprw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	327	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	328	uint16_t configured_address, /*< Configured station address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	329	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	330	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	331	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	332	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	333	int ret;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	334
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	335	if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	336	EC_WARN("Using configured station address 0x0000!\n");
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	337
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	338	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	339	datagram->type = EC_DATAGRAM_FPRW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	340	EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	341	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	342	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	343	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	344
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
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	347	/** Initializes an EtherCAT FRMW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	348	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	349	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	350	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	351	int ec_datagram_frmw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	352	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	353	uint16_t configured_address, /*< Configured station address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	354	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	355	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	356	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	357	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	358	int ret;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	359
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	360	if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	361	EC_WARN("Using configured station address 0x0000!\n");
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	362
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	363	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	364	datagram->type = EC_DATAGRAM_FRMW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	365	EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	366	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	367	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	368	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	369
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	370	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	371
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	372	/** Initializes an EtherCAT BRD datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	373	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	374	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	375	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	376	int ec_datagram_brd(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	377	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	378	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	379	size_t data_size /*< Number of bytes to read. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	380	)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	381	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	382	int ret;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	383	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	384	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	385	EC_WRITE_U16(datagram->address, 0x0000);
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	386	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	387	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	388	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	389
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	390	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	391
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	392	/** Initializes an EtherCAT BWR datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	393	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	394	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	395	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	396	int ec_datagram_bwr(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	397	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	398	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	399	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	400	)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	401	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	402	int ret;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	403	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	404	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	405	EC_WRITE_U16(datagram->address, 0x0000);
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	406	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	407	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	408	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	409
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	410	/*****************************************************************************/
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	/** Initializes an EtherCAT BRW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	413	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	414	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	415	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	416	int ec_datagram_brw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	417	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	418	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	419	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	420	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	421	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	422	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	423	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	424	datagram->type = EC_DATAGRAM_BRW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	425	EC_WRITE_U16(datagram->address, 0x0000);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	426	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	427	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	428	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	429
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	430	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	431
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	432	/** Initializes an EtherCAT LRD datagram.
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	433	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	434	* \attention It is assumed, that the external memory is at least \a data_size
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	435	* bytes large.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	436	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	437	* \return Return value of ec_datagram_prealloc().
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	438	*/
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	439	int ec_datagram_lrd(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	440	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	441	uint32_t offset, /*< Logical address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	442	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	443	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	444	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	445	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	446	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	447	datagram->data = external_memory;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	448	datagram->data_origin = EC_ORIG_EXTERNAL;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	449	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	450	datagram->type = EC_DATAGRAM_LRD;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	451	EC_WRITE_U32(datagram->address, offset);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	452	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	453	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	454
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	455	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	456
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	457	/** Initializes an EtherCAT LWR datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	458	*
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	459	* \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	460	* bytes large.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	461	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	462	* \return Return value of ec_datagram_prealloc().
815 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	int ec_datagram_lwr(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	465	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	466	uint32_t offset, /*< Logical address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	467	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	468	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	469	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	470	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	471	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	472	datagram->data = external_memory;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	473	datagram->data_origin = EC_ORIG_EXTERNAL;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	474	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	475	datagram->type = EC_DATAGRAM_LWR;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	476	EC_WRITE_U32(datagram->address, offset);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	477	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	478	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	479
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	480	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	481
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	482	/** Initializes an EtherCAT LRW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	483	*
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	484	* \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	485	* bytes large.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	486	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	487	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	488	*/
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	489	int ec_datagram_lrw(
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	490	ec_datagram_t datagram, /< EtherCAT datagram. /
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	491	uint32_t offset, /*< Logical address. /
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	492	size_t data_size, /*< Number of bytes to read/write. /
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	493	uint8_t external_memory /< Pointer to the memory to use. /
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	494	)
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	495	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	496	int ret;
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	497	datagram->data = external_memory;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	498	datagram->data_origin = EC_ORIG_EXTERNAL;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	499	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	500	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	501	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	502	EC_FUNC_FOOTER;
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	503	}
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	504
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	505	/*****************************************************************************/
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	506
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	507	/** Prints the state of a datagram.
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	508	*
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	509	* Outputs a text message.
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	510	*/
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	511	void ec_datagram_print_state(
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	512	const ec_datagram_t datagram /< EtherCAT datagram /
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	513	)
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	514	{
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	515	printk("Datagram ");
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	516	switch (datagram->state) {
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	517	case EC_DATAGRAM_INIT:
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	518	printk("initialized");
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	519	break;
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	520	case EC_DATAGRAM_QUEUED:
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	521	printk("queued");
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	522	break;
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	523	case EC_DATAGRAM_SENT:
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	524	printk("sent");
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	525	break;
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	526	case EC_DATAGRAM_RECEIVED:
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	527	printk("received");
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	528	break;
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	529	case EC_DATAGRAM_TIMED_OUT:
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	530	printk("timed out");
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	531	break;
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	532	case EC_DATAGRAM_ERROR:
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	533	printk("error");
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	534	break;
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	535	default:
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	536	printk("???");
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	537	}
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	538
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	539	printk(".\n");
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	540	}
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	541
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	542	/*****************************************************************************/
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	543
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	544	/** Evaluates the working counter of a single-cast datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	545	*
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	546	* Outputs an error message.
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	547	*/
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	548	void ec_datagram_print_wc_error(
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 719 diff changeset	549	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	550	)
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	551	{
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	552	if (datagram->working_counter == 0)
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	553	printk("No response.");
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	554	else if (datagram->working_counter > 1)
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	555	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	556	else
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	557	printk("Success.");
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	558	printk("\n");
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	559	}
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	560
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	561	/*****************************************************************************/
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	562
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	563	/** Outputs datagram statistics at most every second.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	564	*/
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	565	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	566	ec_datagram_t *datagram
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	567	)
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	568	{
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	569	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	570	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	571
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	572	if (unlikely(datagram->skip_count)) {
1543 373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	573	EC_WARN("Datagram %p (%s) was SKIPPED %u time%s.\n",
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	574	datagram, datagram->name,
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	575	datagram->skip_count,
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	576	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	577	datagram->skip_count = 0;
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	578	}
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	579	}
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	580	}
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	581
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	582	/*****************************************************************************/
816 d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	583
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	584	/** Returns a string describing the datagram type.
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	585	*/
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	586	const char *ec_datagram_type_string(
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	587	const ec_datagram_t datagram /< EtherCAT datagram. /
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	588	)
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	589	{
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	590	return type_strings[datagram->type];
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	591	}
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	592
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	593	/*****************************************************************************/

author	Martin Troxler <ch1010277@ch10pc446>
	Fri, 14 Jan 2011 12:23:00 +0100
changeset 2039	629d3cf05180
parent 2038	770e86a39c98
child 2040	45706e3273fd
permissions	-rw-r--r--