author | Florian Pose <fp@igh-essen.com> |
Tue, 10 Jan 2012 10:11:20 +0100 | |
changeset 2249 | 6dbd7594dd1d |
parent 2095 | 53b5128e1313 |
child 2589 | 2b9c78543663 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2008 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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EtherCAT datagram structure. |
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*/ |
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/*****************************************************************************/ |
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#ifndef __EC_DATAGRAM_H__ |
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#define __EC_DATAGRAM_H__ |
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#include <linux/list.h> |
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#include <linux/time.h> |
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#include <linux/timex.h> |
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#include "globals.h" |
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/*****************************************************************************/ |
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/** EtherCAT datagram type. |
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*/ |
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typedef enum { |
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EC_DATAGRAM_NONE = 0x00, /**< Dummy. */ |
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EC_DATAGRAM_APRD = 0x01, /**< Auto Increment Physical Read. */ |
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EC_DATAGRAM_APWR = 0x02, /**< Auto Increment Physical Write. */ |
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EC_DATAGRAM_APRW = 0x03, /**< Auto Increment Physical ReadWrite. */ |
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EC_DATAGRAM_FPRD = 0x04, /**< Configured Address Physical Read. */ |
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EC_DATAGRAM_FPWR = 0x05, /**< Configured Address Physical Write. */ |
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EC_DATAGRAM_FPRW = 0x06, /**< Configured Address Physical ReadWrite. */ |
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EC_DATAGRAM_BRD = 0x07, /**< Broadcast Read. */ |
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EC_DATAGRAM_BWR = 0x08, /**< Broadcast Write. */ |
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EC_DATAGRAM_BRW = 0x09, /**< Broadcast ReadWrite. */ |
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EC_DATAGRAM_LRD = 0x0A, /**< Logical Read. */ |
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EC_DATAGRAM_LWR = 0x0B, /**< Logical Write. */ |
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EC_DATAGRAM_LRW = 0x0C, /**< Logical ReadWrite. */ |
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EC_DATAGRAM_ARMW = 0x0D, /**< Auto Increment Physical Read Multiple |
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Write. */ |
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EC_DATAGRAM_FRMW = 0x0E, /**< Configured Address Physical Read Multiple |
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Write. */ |
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} ec_datagram_type_t; |
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/*****************************************************************************/ |
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/** EtherCAT datagram state. |
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*/ |
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typedef enum { |
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EC_DATAGRAM_INIT, /**< Initial state of a new datagram. */ |
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EC_DATAGRAM_QUEUED, /**< Queued for sending. */ |
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EC_DATAGRAM_SENT, /**< Sent (still in the queue). */ |
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EC_DATAGRAM_RECEIVED, /**< Received (dequeued). */ |
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EC_DATAGRAM_TIMED_OUT, /**< Timed out (dequeued). */ |
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EC_DATAGRAM_ERROR /**< Error while sending/receiving (dequeued). */ |
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} ec_datagram_state_t; |
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/*****************************************************************************/ |
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/** EtherCAT datagram. |
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*/ |
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typedef struct { |
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struct list_head list; /**< Needed by domain datagram lists. */ |
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struct list_head queue; /**< Master datagram send-receive queue item. */ |
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struct list_head fsm_queue; /**< Master datagram fsm queue item. */ |
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struct list_head sent; /**< Master list item for sent datagrams. */ |
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ec_datagram_type_t type; /**< Datagram type (APRD, BWR, etc.). */ |
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uint8_t address[EC_ADDR_LEN]; /**< Recipient address. */ |
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uint8_t *data; /**< Datagram payload. */ |
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ec_origin_t data_origin; /**< Origin of the \a data memory. */ |
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size_t mem_size; /**< Datagram \a data memory size. */ |
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size_t data_size; /**< Size of the data in \a data. */ |
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ec_domain_t *domain; /**< Owning domain (may be null for non-domain |
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datagrams) */ |
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uint8_t index; /**< Index (set by master). */ |
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uint16_t working_counter; /**< Working counter. */ |
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ec_datagram_state_t state; /**< State. */ |
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#ifdef EC_HAVE_CYCLES |
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cycles_t cycles_sent; /**< Time, when the datagram was sent. */ |
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#endif |
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unsigned long jiffies_sent; /**< Jiffies, when the datagram was sent. */ |
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#ifdef EC_HAVE_CYCLES |
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cycles_t cycles_received; /**< Time, when the datagram was received. */ |
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#endif |
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unsigned long jiffies_received; /**< Jiffies, when the datagram was |
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received. */ |
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unsigned int skip_count; /**< Number of requeues when not yet received. */ |
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unsigned long stats_output_jiffies; /**< Last statistics output. */ |
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char name[EC_DATAGRAM_NAME_SIZE]; /**< Description of the datagram. */ |
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} ec_datagram_t; |
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/*****************************************************************************/ |
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void ec_datagram_init(ec_datagram_t *); |
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void ec_datagram_clear(ec_datagram_t *); |
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void ec_datagram_unqueue(ec_datagram_t *); |
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int ec_datagram_prealloc(ec_datagram_t *, size_t); |
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void ec_datagram_zero(ec_datagram_t *); |
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int ec_datagram_aprd(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_apwr(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_aprw(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_armw(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_fprd(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_fpwr(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_fprw(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_frmw(ec_datagram_t *, uint16_t, uint16_t, size_t); |
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int ec_datagram_brd(ec_datagram_t *, uint16_t, size_t); |
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int ec_datagram_bwr(ec_datagram_t *, uint16_t, size_t); |
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002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
135 |
int ec_datagram_brw(ec_datagram_t *, uint16_t, size_t); |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
136 |
int ec_datagram_lrd(ec_datagram_t *, uint32_t, size_t, uint8_t *); |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
809
diff
changeset
|
137 |
int ec_datagram_lwr(ec_datagram_t *, uint32_t, size_t, uint8_t *); |
809 | 138 |
int ec_datagram_lrw(ec_datagram_t *, uint32_t, size_t, uint8_t *); |
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
139 |
|
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
|
140 |
void ec_datagram_print_state(const ec_datagram_t *); |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
141 |
void ec_datagram_print_wc_error(const ec_datagram_t *); |
816
d02761e14eb0
Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
142 |
void ec_datagram_output_stats(ec_datagram_t *); |
d02761e14eb0
Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
143 |
const char *ec_datagram_type_string(const ec_datagram_t *); |
2095
53b5128e1313
Fixed skipped datagrams output again; added datagram information on skip.
Florian Pose <fp@igh-essen.com>
parents:
2094
diff
changeset
|
144 |
void ec_datagram_output_info(const ec_datagram_t *); |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
708
diff
changeset
|
145 |
|
98
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
146 |
/*****************************************************************************/ |
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
147 |
|
f564d0929292
MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
148 |
#endif |