etherlabmaster: master/datagram.c@63177d870116 (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	{
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 398 diff changeset	90	INIT_LIST_HEAD(&datagram->queue); // mark as unqueued
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	91	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	92	memset(datagram->address, 0x00, EC_ADDR_LEN);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	93	datagram->data = NULL;
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	94	datagram->data_origin = EC_ORIG_INTERNAL;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	95	datagram->mem_size = 0;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	96	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	97	datagram->domain = NULL;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	98	datagram->index = 0x00;
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	99	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	100	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	101	#ifdef EC_HAVE_CYCLES
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	102	datagram->cycles_sent = 0;
1040 d2527675cdd5 Disable use of CPU timestamp counter by default. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	103	#endif
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	104	datagram->jiffies_sent = 0;
1040 d2527675cdd5 Disable use of CPU timestamp counter by default. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	105	#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	106	datagram->cycles_received = 0;
1040 d2527675cdd5 Disable use of CPU timestamp counter by default. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	107	#endif
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	108	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	109	datagram->skip_count = 0;
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	110	datagram->stats_output_jiffies = 0;
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	111	memset(datagram->name, 0x00, EC_DATAGRAM_NAME_SIZE);
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	112	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	113
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	114	/*****************************************************************************/
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	/** Destructor.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	117	*/
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	118	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	119	{
1553 4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	120	ec_datagram_unqueue(datagram);
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	121
1333 7b9898062c8f merge -c1614 branches/stable-1.4: Fixed datagram cleaning. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	122	if (datagram->data_origin == EC_ORIG_INTERNAL && datagram->data) {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	123	kfree(datagram->data);
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	124	datagram->data = NULL;
1333 7b9898062c8f merge -c1614 branches/stable-1.4: Fixed datagram cleaning. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	125	}
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	126	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	127
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	128	/*****************************************************************************/
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	129
1553 4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	130	/** Unqueue datagram.
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	131	*/
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	132	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	133	{
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	134	if (!list_empty(&datagram->queue)) {
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	135	list_del_init(&datagram->queue);
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	136	}
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	137	}
4e8d56d6f12a Bugfix: Unqueue datagram before destroying. Florian Pose <fp@igh-essen.com> parents: 1543 diff changeset	138
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
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	141	/** Allocates internal payload memory.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	142	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	143	* 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	144	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	145	* \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	146	* is done!
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	147	*
1312 74853e018898 Created backend versions of all API functions returing a pointer; using Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	148	* \return 0 in case of success, otherwise \a -ENOMEM.
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	149	*/
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	150	int ec_datagram_prealloc(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	151	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	152	size_t size /*< New payload size in bytes. /
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	153	)
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	154	{
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	155	if (datagram->data_origin == EC_ORIG_EXTERNAL
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	156	\|\| size <= datagram->mem_size)
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	157	return 0;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	158
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	159	if (datagram->data) {
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	160	kfree(datagram->data);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	161	datagram->data = NULL;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	162	datagram->mem_size = 0;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	163	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	164
998 05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	165	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	166	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	167	return -ENOMEM;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	168	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	169
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	170	datagram->mem_size = size;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	171	return 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	172	}
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	173
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	174	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	175
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	176	/** Fills the datagram payload memory with zeros.
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	177	*/
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	178	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	179	{
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	180	memset(datagram->data, 0x00, datagram->data_size);
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	181	}
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	/*****************************************************************************/
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	184
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	185	/** Initializes an EtherCAT APRD datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	186	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	187	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	188	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	189	int ec_datagram_aprd(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	190	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	191	uint16_t ring_position, /*< Auto-increment address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	192	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	193	size_t data_size /*< Number of bytes to read. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	194	)
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	195	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	196	int ret;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	197	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	198	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	199	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	200	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	201	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	202	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	203
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	204	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	205
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	206	/** Initializes an EtherCAT APWR datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	207	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	208	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	209	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	210	int ec_datagram_apwr(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	211	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	212	uint16_t ring_position, /*< Auto-increment address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	213	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	214	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	215	)
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	216	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	217	int ret;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	218	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	219	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	220	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	221	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	222	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	223	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	224
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	225	/*****************************************************************************/
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	/** Initializes an EtherCAT APRW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	228	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	229	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	230	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	231	int ec_datagram_aprw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	232	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	233	uint16_t ring_position, /*< Auto-increment address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	234	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	235	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	236	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	237	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	238	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	239	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	240	datagram->type = EC_DATAGRAM_APRW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	241	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	242	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	243	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	244	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	245
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	246	/*****************************************************************************/
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	/** Initializes an EtherCAT ARMW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	249	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	250	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	251	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	252	int ec_datagram_armw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	253	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	254	uint16_t ring_position, /*< Auto-increment address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	255	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	256	size_t data_size /*< Number of bytes to read. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	257	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	258	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	259	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	260	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	261	datagram->type = EC_DATAGRAM_ARMW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	262	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	263	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	264	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	265	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	266
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	267	/*****************************************************************************/
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	/** Initializes an EtherCAT FPRD datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	270	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	271	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	272	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	273	int ec_datagram_fprd(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	274	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	275	uint16_t configured_address, /*< Configured station address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	276	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	277	size_t data_size /*< Number of bytes to read. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	278	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	279	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	280	int ret;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	281
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	282	if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	283	EC_WARN("Using configured station address 0x0000!\n");
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	284
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	285	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	286	datagram->type = EC_DATAGRAM_FPRD;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	287	EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	288	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	289	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	290	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	291
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	292	/*****************************************************************************/
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	/** Initializes an EtherCAT FPWR datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	295	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	296	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	297	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	298	int ec_datagram_fpwr(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	299	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	300	uint16_t configured_address, /*< Configured station address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	301	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	302	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	303	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	304	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	305	int ret;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	306
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	307	if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	308	EC_WARN("Using configured station address 0x0000!\n");
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	309
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	310	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	311	datagram->type = EC_DATAGRAM_FPWR;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	312	EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	313	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	314	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	315	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	316
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	317	/*****************************************************************************/
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	/** Initializes an EtherCAT FPRW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	320	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	321	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	322	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	323	int ec_datagram_fprw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	324	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	325	uint16_t configured_address, /*< Configured station address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	326	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	327	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	328	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	329	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	330	int ret;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	331
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	332	if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	333	EC_WARN("Using configured station address 0x0000!\n");
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	334
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	335	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	336	datagram->type = EC_DATAGRAM_FPRW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	337	EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	338	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	339	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	340	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	341
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	342	/*****************************************************************************/
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	/** Initializes an EtherCAT FRMW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	345	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	346	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	347	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	348	int ec_datagram_frmw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	349	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	350	uint16_t configured_address, /*< Configured station address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	351	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	352	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	353	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	354	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	355	int ret;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	356
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	357	if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	358	EC_WARN("Using configured station address 0x0000!\n");
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	359
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	360	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	361	datagram->type = EC_DATAGRAM_FRMW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	362	EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	363	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	364	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	365	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	366
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	367	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	368
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	369	/** Initializes an EtherCAT BRD datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	370	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	371	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	372	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	373	int ec_datagram_brd(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	374	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	375	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	376	size_t data_size /*< Number of bytes to read. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	377	)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	378	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	379	int ret;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	380	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	381	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	382	EC_WRITE_U16(datagram->address, 0x0000);
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	383	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	384	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	385	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	386
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	387	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	388
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	389	/** Initializes an EtherCAT BWR datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	390	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	391	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	392	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	393	int ec_datagram_bwr(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	394	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	395	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	396	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	397	)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	398	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	399	int ret;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	400	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	401	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	402	EC_WRITE_U16(datagram->address, 0x0000);
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	403	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	404	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	405	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	406
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	407	/*****************************************************************************/
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	/** Initializes an EtherCAT BRW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	410	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	411	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	412	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	413	int ec_datagram_brw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	414	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	415	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	416	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	417	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	418	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	419	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	420	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	421	datagram->type = EC_DATAGRAM_BRW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	422	EC_WRITE_U16(datagram->address, 0x0000);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	423	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	424	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	425	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	426
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	427	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	428
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	429	/** Initializes an EtherCAT LRD datagram.
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	430	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	431	* \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	432	* bytes large.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	433	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	434	* \return Return value of ec_datagram_prealloc().
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	435	*/
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	436	int ec_datagram_lrd(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	437	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	438	uint32_t offset, /*< Logical address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	439	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	440	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	441	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	442	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	443	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	444	datagram->data = external_memory;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	445	datagram->data_origin = EC_ORIG_EXTERNAL;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	446	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	447	datagram->type = EC_DATAGRAM_LRD;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	448	EC_WRITE_U32(datagram->address, offset);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	449	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	450	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	451
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	452	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	453
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	454	/** Initializes an EtherCAT LWR datagram.
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	* \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	457	* bytes large.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	458	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	459	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	460	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	461	int ec_datagram_lwr(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	462	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	463	uint32_t offset, /*< Logical address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	464	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	465	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	466	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	467	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	468	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	469	datagram->data = external_memory;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	470	datagram->data_origin = EC_ORIG_EXTERNAL;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	471	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	472	datagram->type = EC_DATAGRAM_LWR;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	473	EC_WRITE_U32(datagram->address, offset);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	474	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	475	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	476
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	477	/*****************************************************************************/
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	/** Initializes an EtherCAT LRW datagram.
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	* \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	482	* bytes large.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	483	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	484	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	485	*/
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	486	int ec_datagram_lrw(
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	487	ec_datagram_t datagram, /< EtherCAT datagram. /
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	488	uint32_t offset, /*< Logical address. /
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	489	size_t data_size, /*< Number of bytes to read/write. /
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	490	uint8_t external_memory /< Pointer to the memory to use. /
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	491	)
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	492	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	493	int ret;
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	494	datagram->data = external_memory;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	495	datagram->data_origin = EC_ORIG_EXTERNAL;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	496	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	497	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	498	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	499	EC_FUNC_FOOTER;
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	500	}
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	501
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	502	/*****************************************************************************/
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	503
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	504	/** 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	505	*
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1553 diff changeset	506	* 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	507	*/
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	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	509	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	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	{
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	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	513	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	514	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	515	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	516	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	517	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	518	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	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_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	521	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	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_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	524	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	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_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	527	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	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_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	530	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	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	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	533	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	534	}
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
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(".\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	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	/*****************************************************************************/
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
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	541	/** Evaluates the working counter of a single-cast datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	542	*
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	543	* Outputs an error message.
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	544	*/
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	545	void ec_datagram_print_wc_error(
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 719 diff changeset	546	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	547	)
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	548	{
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	549	if (datagram->working_counter == 0)
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	550	printk("No response.");
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	551	else if (datagram->working_counter > 1)
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	552	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	553	else
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	554	printk("Success.");
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	555	printk("\n");
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	556	}
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	557
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	558	/*****************************************************************************/
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	559
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	560	/** Outputs datagram statistics at most every second.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 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	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	563	ec_datagram_t *datagram
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	564	)
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	565	{
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	566	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	567	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	568
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	569	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	570	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	571	datagram, datagram->name,
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	572	datagram->skip_count,
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	573	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	574	datagram->skip_count = 0;
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	575	}
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	576	}
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	577	}
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	/*****************************************************************************/
816 d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	580
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	581	/** Returns a string describing the datagram type.
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	582	*/
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	583	const char *ec_datagram_type_string(
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	584	const ec_datagram_t datagram /< EtherCAT datagram. /
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	{
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	587	return type_strings[datagram->type];
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	/*****************************************************************************/

author	Martin Troxler <ch1010277@ch10pc446>
	Thu, 16 Dec 2010 09:52:17 +0100
changeset 2019	63177d870116
parent 1981	c14b6bb14fdf
child 2038	770e86a39c98
permissions	-rw-r--r--