etherlabmaster: master/datagram.c@81a16ba13ae6 (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;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	97	datagram->index = 0x00;
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	98	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	99	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	100	#ifdef EC_HAVE_CYCLES
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	101	datagram->cycles_sent = 0;
1040 d2527675cdd5 Disable use of CPU timestamp counter by default. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	102	#endif
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	103	datagram->jiffies_sent = 0;
1040 d2527675cdd5 Disable use of CPU timestamp counter by default. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	104	#ifdef EC_HAVE_CYCLES
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	105	datagram->cycles_received = 0;
1040 d2527675cdd5 Disable use of CPU timestamp counter by default. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	106	#endif
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	107	datagram->jiffies_received = 0;
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	108	datagram->skip_count = 0;
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	109	datagram->stats_output_jiffies = 0;
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	110	memset(datagram->name, 0x00, EC_DATAGRAM_NAME_SIZE);
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	111	}
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	/** Destructor.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	116	*/
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	117	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	118	{
1333 7b9898062c8f merge -c1614 branches/stable-1.4: Fixed datagram cleaning. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	119	if (datagram->data_origin == EC_ORIG_INTERNAL && datagram->data) {
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	120	kfree(datagram->data);
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	121	datagram->data = NULL;
1333 7b9898062c8f merge -c1614 branches/stable-1.4: Fixed datagram cleaning. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	122	}
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	123	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	124
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	125	/*****************************************************************************/
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	/** Allocates internal payload memory.
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	* 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	130	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	131	* \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	132	* is done!
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	133	*
1312 74853e018898 Created backend versions of all API functions returing a pointer; using Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	134	* \return 0 in case of success, otherwise \a -ENOMEM.
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	135	*/
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	136	int ec_datagram_prealloc(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	137	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	138	size_t size /*< New payload size in bytes. /
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	139	)
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	140	{
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	141	if (datagram->data_origin == EC_ORIG_EXTERNAL
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	142	\|\| size <= datagram->mem_size)
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	143	return 0;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	144
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	145	if (datagram->data) {
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	146	kfree(datagram->data);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	147	datagram->data = NULL;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	148	datagram->mem_size = 0;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	149	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	150
998 05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	151	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	152	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	153	return -ENOMEM;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	154	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	155
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	156	datagram->mem_size = size;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	157	return 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	158	}
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	159
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	160	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	161
1225 4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	162	/** Fills the datagram payload memory with zeros.
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	163	*/
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	164	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	165	{
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	166	memset(datagram->data, 0x00, datagram->data_size);
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	167	}
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	168
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	169	/*****************************************************************************/
4d5b739edcb5 Introduced ec_datagram_zero(). Florian Pose <fp@igh-essen.com> parents: 1040 diff changeset	170
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	171	/** Initializes an EtherCAT APRD datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	172	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	173	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	174	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	175	int ec_datagram_aprd(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	176	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	177	uint16_t ring_position, /*< Auto-increment address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	178	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	179	size_t data_size /*< Number of bytes to read. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	180	)
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	181	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	182	int ret;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	183	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	184	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	185	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	186	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	187	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	188	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	189
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	190	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	191
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	192	/** Initializes an EtherCAT APWR datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	193	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	194	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	195	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	196	int ec_datagram_apwr(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	197	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	198	uint16_t ring_position, /*< Auto-increment address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	199	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	200	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	201	)
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	202	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	203	int ret;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	204	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	205	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	206	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	207	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	208	EC_FUNC_FOOTER;
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
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	211	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	212
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	213	/** Initializes an EtherCAT APRW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	214	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	215	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	216	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	217	int ec_datagram_aprw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	218	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	219	uint16_t ring_position, /*< Auto-increment address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	220	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	221	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	222	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	223	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	224	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	225	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	226	datagram->type = EC_DATAGRAM_APRW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	227	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	228	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	229	EC_FUNC_FOOTER;
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
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	232	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	233
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	234	/** Initializes an EtherCAT ARMW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	235	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	236	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	237	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	238	int ec_datagram_armw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	239	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	240	uint16_t ring_position, /*< Auto-increment address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	241	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	242	size_t data_size /*< Number of bytes to read. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	243	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	244	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	245	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	246	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	247	datagram->type = EC_DATAGRAM_ARMW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	248	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	249	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	250	EC_FUNC_FOOTER;
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
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	253	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	254
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	255	/** Initializes an EtherCAT FPRD datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	256	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	257	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	258	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	259	int ec_datagram_fprd(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	260	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	261	uint16_t configured_address, /*< Configured station address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	262	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	263	size_t data_size /*< Number of bytes to read. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	264	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	265	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	266	int ret;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	267
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	268	if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	269	EC_WARN("Using configured station address 0x0000!\n");
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	270
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	271	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	272	datagram->type = EC_DATAGRAM_FPRD;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	273	EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	274	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	275	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	276	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	277
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
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	280	/** Initializes an EtherCAT FPWR datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	281	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	282	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	283	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	284	int ec_datagram_fpwr(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	285	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	286	uint16_t configured_address, /*< Configured station address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	287	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	288	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	289	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	290	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	291	int ret;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	292
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	293	if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	294	EC_WARN("Using configured station address 0x0000!\n");
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	295
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	296	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	297	datagram->type = EC_DATAGRAM_FPWR;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	298	EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	299	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	300	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	301	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	302
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
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	305	/** Initializes an EtherCAT FPRW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	306	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	307	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	308	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	309	int ec_datagram_fprw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	310	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	311	uint16_t configured_address, /*< Configured station address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	312	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	313	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	314	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	315	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	316	int ret;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	317
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	318	if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	319	EC_WARN("Using configured station address 0x0000!\n");
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	320
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	321	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	322	datagram->type = EC_DATAGRAM_FPRW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	323	EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	324	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	325	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	326	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	327
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
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	330	/** Initializes an EtherCAT FRMW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	331	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	332	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	333	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	334	int ec_datagram_frmw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	335	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	336	uint16_t configured_address, /*< Configured station address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	337	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	338	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	339	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	340	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	341	int ret;
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	342
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	343	if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	344	EC_WARN("Using configured station address 0x0000!\n");
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	345
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	346	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	347	datagram->type = EC_DATAGRAM_FRMW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	348	EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	349	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	350	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	351	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	352
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	353	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	354
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	355	/** Initializes an EtherCAT BRD datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	356	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	357	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	358	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	359	int ec_datagram_brd(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	360	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	361	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	362	size_t data_size /*< Number of bytes to read. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	363	)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	364	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	365	int ret;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	366	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	367	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	368	EC_WRITE_U16(datagram->address, 0x0000);
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	369	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	370	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	371	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	372
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	373	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	374
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	375	/** Initializes an EtherCAT BWR datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	376	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	377	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	378	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	379	int ec_datagram_bwr(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	380	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	381	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	382	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	383	)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	384	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	385	int ret;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	386	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	387	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	388	EC_WRITE_U16(datagram->address, 0x0000);
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	389	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	390	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	391	}
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	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	394
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	395	/** Initializes an EtherCAT BRW datagram.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	396	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	397	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	398	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	399	int ec_datagram_brw(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	400	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	401	uint16_t mem_address, /*< Physical memory address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	402	size_t data_size /*< Number of bytes to write. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	403	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	404	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	405	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	406	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	407	datagram->type = EC_DATAGRAM_BRW;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	408	EC_WRITE_U16(datagram->address, 0x0000);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	409	EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	410	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	411	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	412
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	413	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	414
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	415	/** Initializes an EtherCAT LRD datagram.
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	416	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	417	* \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	418	* bytes large.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	419	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	420	* \return Return value of ec_datagram_prealloc().
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	421	*/
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	422	int ec_datagram_lrd(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	423	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	424	uint32_t offset, /*< Logical address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	425	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	426	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	427	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	428	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	429	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	430	datagram->data = external_memory;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	431	datagram->data_origin = EC_ORIG_EXTERNAL;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	432	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	433	datagram->type = EC_DATAGRAM_LRD;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	434	EC_WRITE_U32(datagram->address, offset);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	435	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	436	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	437
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	438	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	439
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	440	/** Initializes an EtherCAT LWR datagram.
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	* \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	443	* bytes large.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	444	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	445	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	446	*/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	447	int ec_datagram_lwr(
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	448	ec_datagram_t datagram, /< EtherCAT datagram. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	449	uint32_t offset, /*< Logical address. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	450	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	451	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	452	)
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	453	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	454	int ret;
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	455	datagram->data = external_memory;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	456	datagram->data_origin = EC_ORIG_EXTERNAL;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	457	EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	458	datagram->type = EC_DATAGRAM_LWR;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	459	EC_WRITE_U32(datagram->address, offset);
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	460	EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	461	}
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	462
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	463	/*****************************************************************************/
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	464
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	465	/** Initializes an EtherCAT LRW datagram.
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	* \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	468	* bytes large.
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	469	*
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	470	* \return Return value of ec_datagram_prealloc().
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	471	*/
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	472	int ec_datagram_lrw(
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 809 diff changeset	473	ec_datagram_t datagram, /< EtherCAT datagram. /
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	474	uint32_t offset, /*< Logical address. /
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	475	size_t data_size, /*< Number of bytes to read/write. /
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	476	uint8_t external_memory /< Pointer to the memory to use. /
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	477	)
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	478	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1312 diff changeset	479	int ret;
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	480	datagram->data = external_memory;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	481	datagram->data_origin = EC_ORIG_EXTERNAL;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	482	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	483	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	484	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	485	EC_FUNC_FOOTER;
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	486	}
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	487
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	488	/*****************************************************************************/
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	489
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	490	/** Evaluates the working counter of a single-cast datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	491	*
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	492	* Outputs an error message.
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	493	*/
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	494	void ec_datagram_print_wc_error(
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 719 diff changeset	495	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	496	)
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	497	{
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	498	if (datagram->working_counter == 0)
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	499	printk("No response.");
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	500	else if (datagram->working_counter > 1)
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	501	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	502	else
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	503	printk("Success.");
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	504	printk("\n");
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	505	}
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	506
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	507	/*****************************************************************************/
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	508
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	509	/** Outputs datagram statistics at most every second.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	510	*/
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	511	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	512	ec_datagram_t *datagram
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	513	)
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	514	{
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	515	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	516	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	517
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	518	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	519	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	520	datagram, datagram->name,
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	521	datagram->skip_count,
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	522	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	523	datagram->skip_count = 0;
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	524	}
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	525	}
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	526	}
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	527
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	528	/*****************************************************************************/
816 d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	529
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	530	/** Returns a string describing the datagram type.
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	531	*/
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	532	const char *ec_datagram_type_string(
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	533	const ec_datagram_t datagram /< EtherCAT datagram. /
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	534	)
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	535	{
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	536	return type_strings[datagram->type];
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	537	}
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	538
d02761e14eb0 Introduced ec_datagram_type_string(). Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	539	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Wed, 28 Oct 2009 13:47:39 +0100
changeset 1550	81a16ba13ae6
parent 1543	373cd456dc26
child 1553	4e8d56d6f12a
permissions	-rw-r--r--