master/datagram.c
author Martin Troxler <ch1010277@ch10pc446>
Thu, 16 Dec 2010 09:49:17 +0100
changeset 2018 6c05411fee9b
parent 1981 c14b6bb14fdf
child 2038 770e86a39c98
permissions -rw-r--r--
replaced injection_seq mechanism with fsm datagram queue
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   Methods of an EtherCAT datagram.
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*/
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/*****************************************************************************/
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#include <linux/slab.h>
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#include "datagram.h"
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#include "master.h"
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/*****************************************************************************/
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/** \cond */
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#define EC_FUNC_HEADER \
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    ret = ec_datagram_prealloc(datagram, data_size); \
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    if (unlikely(ret)) \
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        return ret; \
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    datagram->index = 0; \
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    datagram->working_counter = 0; \
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    datagram->state = EC_DATAGRAM_INIT;
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#define EC_FUNC_FOOTER \
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    datagram->data_size = data_size; \
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    return 0;
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/** \endcond */
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/*****************************************************************************/
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/** Array of datagram type strings used in ec_datagram_type_string().
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 *
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 * \attention This is indexed by ec_datagram_type_t.
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 */
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static const char *type_strings[] = {
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    "?",
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    "APRD",
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    "APWR",
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    "APRW",
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    "FPRD",
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    "FPWR",
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    "FPRW",
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    "BRD",
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    "BWR",
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    "BRW",
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    "LRD",
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    "LWR",
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    "LRW",
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    "ARMW",
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    "FRMW"
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};
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_datagram_init(ec_datagram_t *datagram /**< EtherCAT datagram. */)
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{
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    INIT_LIST_HEAD(&datagram->queue); // mark as unqueued
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    datagram->type = EC_DATAGRAM_NONE;
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    memset(datagram->address, 0x00, EC_ADDR_LEN);
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    datagram->data = NULL;
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    datagram->data_origin = EC_ORIG_INTERNAL;
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    datagram->mem_size = 0;
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    datagram->data_size = 0;
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    datagram->domain = NULL;
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    datagram->index = 0x00;
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    datagram->working_counter = 0x0000;
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    datagram->state = EC_DATAGRAM_INIT;
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#ifdef EC_HAVE_CYCLES
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    datagram->cycles_sent = 0;
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#endif
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    datagram->jiffies_sent = 0;
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#ifdef EC_HAVE_CYCLES
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    datagram->cycles_received = 0;
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#endif
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    datagram->jiffies_received = 0;
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    datagram->skip_count = 0;
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    datagram->stats_output_jiffies = 0;
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    memset(datagram->name, 0x00, EC_DATAGRAM_NAME_SIZE);
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_datagram_clear(ec_datagram_t *datagram /**< EtherCAT datagram. */)
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{
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    ec_datagram_unqueue(datagram);
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    if (datagram->data_origin == EC_ORIG_INTERNAL && datagram->data) {
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        kfree(datagram->data);
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        datagram->data = NULL;
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    }
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}
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/*****************************************************************************/
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/** Unqueue datagram.
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 */
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void ec_datagram_unqueue(ec_datagram_t *datagram /**< EtherCAT datagram. */)
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{
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    if (!list_empty(&datagram->queue)) {
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        list_del_init(&datagram->queue);
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    }
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}
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/*****************************************************************************/
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/** Allocates internal payload memory.
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 *
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 * If the allocated memory is already larger than requested, nothing ist done.
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 *
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 * \attention If external payload memory has been provided, no range checking
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 *            is done!
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 *
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 * \return 0 in case of success, otherwise \a -ENOMEM.
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 */
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int ec_datagram_prealloc(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        size_t size /**< New payload size in bytes. */
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        )
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{
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    if (datagram->data_origin == EC_ORIG_EXTERNAL
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            || size <= datagram->mem_size)
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        return 0;
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    if (datagram->data) {
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        kfree(datagram->data);
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        datagram->data = NULL;
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        datagram->mem_size = 0;
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    }
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    if (!(datagram->data = kmalloc(size, GFP_KERNEL))) {
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        EC_ERR("Failed to allocate %zu bytes of datagram memory!\n", size);
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        return -ENOMEM;
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    }
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    datagram->mem_size = size;
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    return 0;
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}
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/*****************************************************************************/
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/** Fills the datagram payload memory with zeros.
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 */
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void ec_datagram_zero(ec_datagram_t *datagram /**< EtherCAT datagram. */)
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{
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    memset(datagram->data, 0x00, datagram->data_size);
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}
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/*****************************************************************************/
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/** Initializes an EtherCAT APRD datagram.
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 *
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 * \return Return value of ec_datagram_prealloc().
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 */
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int ec_datagram_aprd(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t ring_position, /**< Auto-increment address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to read. */
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        )
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{
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    int ret;
293
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_APRD;
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    EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/
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/** Initializes an EtherCAT APWR datagram.
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 *
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 * \return Return value of ec_datagram_prealloc().
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 */
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int ec_datagram_apwr(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t ring_position, /**< Auto-increment address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to write. */
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        )
293
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{
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    int ret;
293
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_APWR;
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    EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/
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/** Initializes an EtherCAT APRW datagram.
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 *
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 * \return Return value of ec_datagram_prealloc().
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 */
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int ec_datagram_aprw(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t ring_position, /**< Auto-increment address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to write. */
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        )
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{
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    int ret;
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_APRW;
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    EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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   244
}
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/*****************************************************************************/
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/** Initializes an EtherCAT ARMW datagram.
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 *
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 * \return Return value of ec_datagram_prealloc().
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   251
 */
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   252
int ec_datagram_armw(
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   253
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t ring_position, /**< Auto-increment address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to read. */
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        )
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{
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    int ret;
815
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    EC_FUNC_HEADER;
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   261
    datagram->type = EC_DATAGRAM_ARMW;
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   262
    EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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   264
    EC_FUNC_FOOTER;
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   265
}
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/*****************************************************************************/
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   268
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/** Initializes an EtherCAT FPRD datagram.
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 *
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 * \return Return value of ec_datagram_prealloc().
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 */
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int ec_datagram_fprd(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t configured_address, /**< Configured station address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to read. */
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        )
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{
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    int ret;
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    if (unlikely(configured_address == 0x0000))
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        EC_WARN("Using configured station address 0x0000!\n");
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_FPRD;
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    EC_WRITE_U16(datagram->address, configured_address);
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/
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/** Initializes an EtherCAT FPWR datagram.
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 *
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 * \return Return value of ec_datagram_prealloc().
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 */
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int ec_datagram_fpwr(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t configured_address, /**< Configured station address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to write. */
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        )
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{
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    int ret;
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    if (unlikely(configured_address == 0x0000))
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        EC_WARN("Using configured station address 0x0000!\n");
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_FPWR;
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    EC_WRITE_U16(datagram->address, configured_address);
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/
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   318
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   319
/** Initializes an EtherCAT FPRW datagram.
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 *
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 * \return Return value of ec_datagram_prealloc().
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   322
 */
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   323
int ec_datagram_fprw(
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   324
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t configured_address, /**< Configured station address. */
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   326
        uint16_t mem_address, /**< Physical memory address. */
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   327
        size_t data_size /**< Number of bytes to write. */
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   328
        )
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{
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    int ret;
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   331
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   332
    if (unlikely(configured_address == 0x0000))
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   333
        EC_WARN("Using configured station address 0x0000!\n");
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   334
002fe9ec778f Implemented missing datagram types.
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   335
    EC_FUNC_HEADER;
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   336
    datagram->type = EC_DATAGRAM_FPRW;
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   337
    EC_WRITE_U16(datagram->address, configured_address);
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    EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types.
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   339
    EC_FUNC_FOOTER;
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   340
}
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   341
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   342
/*****************************************************************************/
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   343
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   344
/** Initializes an EtherCAT FRMW datagram.
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 *
1313
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   346
 * \return Return value of ec_datagram_prealloc().
815
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   347
 */
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   348
int ec_datagram_frmw(
002fe9ec778f Implemented missing datagram types.
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   349
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
002fe9ec778f Implemented missing datagram types.
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   350
        uint16_t configured_address, /**< Configured station address. */
002fe9ec778f Implemented missing datagram types.
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   351
        uint16_t mem_address, /**< Physical memory address. */
002fe9ec778f Implemented missing datagram types.
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diff changeset
   352
        size_t data_size /**< Number of bytes to write. */
002fe9ec778f Implemented missing datagram types.
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diff changeset
   353
        )
002fe9ec778f Implemented missing datagram types.
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   354
{
1313
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diff changeset
   355
    int ret;
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diff changeset
   356
815
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diff changeset
   357
    if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types.
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diff changeset
   358
        EC_WARN("Using configured station address 0x0000!\n");
002fe9ec778f Implemented missing datagram types.
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diff changeset
   359
002fe9ec778f Implemented missing datagram types.
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diff changeset
   360
    EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types.
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parents: 809
diff changeset
   361
    datagram->type = EC_DATAGRAM_FRMW;
002fe9ec778f Implemented missing datagram types.
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diff changeset
   362
    EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
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diff changeset
   363
    EC_WRITE_U16(datagram->address + 2, mem_address);
293
14aeb79aa992 Renamed command structure to datagram.
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parents: 246
diff changeset
   364
    EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram.
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parents: 246
diff changeset
   365
}
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   366
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   367
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
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parents: 246
diff changeset
   368
809
ec4ef8911824 External domain memory.
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diff changeset
   369
/** Initializes an EtherCAT BRD datagram.
ec4ef8911824 External domain memory.
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diff changeset
   370
 *
1313
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parents: 1312
diff changeset
   371
 * \return Return value of ec_datagram_prealloc().
815
002fe9ec778f Implemented missing datagram types.
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diff changeset
   372
 */
002fe9ec778f Implemented missing datagram types.
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parents: 809
diff changeset
   373
int ec_datagram_brd(
002fe9ec778f Implemented missing datagram types.
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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
/*****************************************************************************/