master/datagram.c
author Florian Pose <fp@igh-essen.com>
Thu, 02 Oct 2008 15:38:35 +0000
changeset 1249 d64ed42e0d11
parent 1225 4d5b739edcb5
child 1312 74853e018898
permissions -rw-r--r--
Userspace example with priority.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  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
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General 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
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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   Methods of an EtherCAT datagram.
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*/
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/*****************************************************************************/
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#include <linux/slab.h>
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#include "datagram.h"
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#include "master.h"
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/*****************************************************************************/
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/** \cond */
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#define EC_FUNC_HEADER \
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    if (unlikely(ec_datagram_prealloc(datagram, data_size))) \
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        return -1; \
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    datagram->index = 0; \
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    datagram->working_counter = 0; \
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    datagram->state = EC_DATAGRAM_INIT;
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#define EC_FUNC_FOOTER \
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    datagram->data_size = data_size; \
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    return 0;
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/** \endcond */
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/*****************************************************************************/
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/** Array of datagram type strings used in ec_datagram_type_string().
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 *
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 * \attention This is indexed by ec_datagram_type_t.
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 */
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static const char *type_strings[] = {
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    "?",
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    "APRD",
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    "APWR",
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    "APRW",
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    "FPRD",
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    "FPWR",
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    "FPRW",
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    "BRD",
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    "BWR",
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    "BRW",
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    "LRD",
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    "LWR",
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    "LRW",
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    "ARMW",
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    "FRMW"
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};
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_datagram_init(ec_datagram_t *datagram /**< EtherCAT datagram. */)
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{
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    INIT_LIST_HEAD(&datagram->queue); // mark as unqueued
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    datagram->type = EC_DATAGRAM_NONE;
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    memset(datagram->address, 0x00, EC_ADDR_LEN);
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    datagram->data = NULL;
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    datagram->data_origin = EC_ORIG_INTERNAL;
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    datagram->mem_size = 0;
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    datagram->data_size = 0;
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    datagram->index = 0x00;
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    datagram->working_counter = 0x0000;
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    datagram->state = EC_DATAGRAM_INIT;
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#ifdef EC_HAVE_CYCLES
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    datagram->cycles_sent = 0;
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#endif
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    datagram->jiffies_sent = 0;
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#ifdef EC_HAVE_CYCLES
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    datagram->cycles_received = 0;
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#endif
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    datagram->jiffies_received = 0;
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    datagram->skip_count = 0;
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    datagram->stats_output_jiffies = 0;
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    memset(datagram->name, 0x00, EC_DATAGRAM_NAME_SIZE);
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_datagram_clear(ec_datagram_t *datagram /**< EtherCAT datagram. */)
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{
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    if (datagram->data_origin == EC_ORIG_INTERNAL && datagram->data)
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        kfree(datagram->data);
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}
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/*****************************************************************************/
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/** Allocates internal payload memory.
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 *
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 * If the allocated memory is already larger than requested, nothing ist done.
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 *
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 * \attention If external payload memory has been provided, no range checking
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 *            is done!
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 *
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 * \return 0 in case of success, else < 0
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 */
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int ec_datagram_prealloc(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        size_t size /**< New payload size in bytes. */
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        )
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{
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    if (datagram->data_origin == EC_ORIG_EXTERNAL
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            || size <= datagram->mem_size)
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        return 0;
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    if (datagram->data) {
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        kfree(datagram->data);
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        datagram->data = NULL;
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        datagram->mem_size = 0;
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    }
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    if (!(datagram->data = kmalloc(size, GFP_KERNEL))) {
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        EC_ERR("Failed to allocate %u bytes of datagram memory!\n", size);
144
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        return -1;
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    }
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    datagram->mem_size = size;
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    return 0;
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}
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f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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/*****************************************************************************/
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/** Fills the datagram payload memory with zeros.
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 */
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void ec_datagram_zero(ec_datagram_t *datagram /**< EtherCAT datagram. */)
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{
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    memset(datagram->data, 0x00, datagram->data_size);
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}
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/*****************************************************************************/
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/** Initializes an EtherCAT APRD datagram.
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 *
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 * \return 0 in case of success, else < 0
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 */
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int ec_datagram_aprd(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t ring_position, /**< Auto-increment address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to read. */
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        )
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{
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_APRD;
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    EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/
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/** Initializes an EtherCAT APWR datagram.
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 *
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 * \return 0 in case of success, else < 0
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 */
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int ec_datagram_apwr(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t ring_position, /**< Auto-increment address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to write. */
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        )
293
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{
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_APWR;
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    EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/
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/** Initializes an EtherCAT APRW datagram.
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 *
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 * \return 0 in case of success, else < 0
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 */
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int ec_datagram_aprw(
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t ring_position, /**< Auto-increment address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to write. */
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        )
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{
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    EC_FUNC_HEADER;
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   224
    datagram->type = EC_DATAGRAM_APRW;
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    EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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   228
}
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/*****************************************************************************/
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   231
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/** Initializes an EtherCAT ARMW datagram.
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   233
 *
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 * \return 0 in case of success, else < 0
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 */
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   236
int ec_datagram_armw(
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   237
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
002fe9ec778f Implemented missing datagram types.
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   238
        uint16_t ring_position, /**< Auto-increment address. */
002fe9ec778f Implemented missing datagram types.
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   239
        uint16_t mem_address, /**< Physical memory address. */
002fe9ec778f Implemented missing datagram types.
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   240
        size_t data_size /**< Number of bytes to read. */
002fe9ec778f Implemented missing datagram types.
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   241
        )
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{
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   243
    EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types.
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   244
    datagram->type = EC_DATAGRAM_ARMW;
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   245
    EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
002fe9ec778f Implemented missing datagram types.
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   246
    EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types.
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   247
    EC_FUNC_FOOTER;
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   248
}
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/*****************************************************************************/
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   251
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/** Initializes an EtherCAT FPRD datagram.
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   253
 *
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 * \return 0 in case of success, else < 0
002fe9ec778f Implemented missing datagram types.
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   255
 */
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   256
int ec_datagram_fprd(
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   257
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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   258
        uint16_t configured_address, /**< Configured station address. */
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   259
        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to read. */
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        )
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{
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   263
    if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types.
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   264
        EC_WARN("Using configured station address 0x0000!\n");
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    EC_FUNC_HEADER;
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   267
    datagram->type = EC_DATAGRAM_FPRD;
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   268
    EC_WRITE_U16(datagram->address, configured_address);
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   269
    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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   271
}
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/*****************************************************************************/
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   274
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   275
/** Initializes an EtherCAT FPWR datagram.
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   276
 *
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 * \return 0 in case of success, else < 0
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   278
 */
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   279
int ec_datagram_fpwr(
002fe9ec778f Implemented missing datagram types.
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        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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        uint16_t configured_address, /**< Configured station address. */
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        uint16_t mem_address, /**< Physical memory address. */
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        size_t data_size /**< Number of bytes to write. */
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        )
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{
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    if (unlikely(configured_address == 0x0000))
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        EC_WARN("Using configured station address 0x0000!\n");
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    EC_FUNC_HEADER;
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    datagram->type = EC_DATAGRAM_FPWR;
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    EC_WRITE_U16(datagram->address, configured_address);
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    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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}
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/*****************************************************************************/
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   298
/** Initializes an EtherCAT FPRW datagram.
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 *
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 * \return 0 in case of success, else < 0
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 */
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   302
int ec_datagram_fprw(
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   303
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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   304
        uint16_t configured_address, /**< Configured station address. */
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   305
        uint16_t mem_address, /**< Physical memory address. */
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   306
        size_t data_size /**< Number of bytes to write. */
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        )
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{
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   309
    if (unlikely(configured_address == 0x0000))
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        EC_WARN("Using configured station address 0x0000!\n");
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   311
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    EC_FUNC_HEADER;
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   313
    datagram->type = EC_DATAGRAM_FPRW;
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   314
    EC_WRITE_U16(datagram->address, configured_address);
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   315
    EC_WRITE_U16(datagram->address + 2, mem_address);
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    EC_FUNC_FOOTER;
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   317
}
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   318
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   319
/*****************************************************************************/
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   320
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   321
/** Initializes an EtherCAT FRMW datagram.
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   322
 *
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   323
 * \return 0 in case of success, else < 0
002fe9ec778f Implemented missing datagram types.
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   324
 */
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   325
int ec_datagram_frmw(
002fe9ec778f Implemented missing datagram types.
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   326
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
002fe9ec778f Implemented missing datagram types.
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   327
        uint16_t configured_address, /**< Configured station address. */
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   328
        uint16_t mem_address, /**< Physical memory address. */
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   329
        size_t data_size /**< Number of bytes to write. */
002fe9ec778f Implemented missing datagram types.
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   330
        )
002fe9ec778f Implemented missing datagram types.
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diff changeset
   331
{
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   332
    if (unlikely(configured_address == 0x0000))
002fe9ec778f Implemented missing datagram types.
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   333
        EC_WARN("Using configured station address 0x0000!\n");
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diff changeset
   334
002fe9ec778f Implemented missing datagram types.
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   335
    EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types.
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   336
    datagram->type = EC_DATAGRAM_FRMW;
002fe9ec778f Implemented missing datagram types.
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   337
    EC_WRITE_U16(datagram->address, configured_address);
002fe9ec778f Implemented missing datagram types.
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   338
    EC_WRITE_U16(datagram->address + 2, mem_address);
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   339
    EC_FUNC_FOOTER;
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diff changeset
   340
}
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diff changeset
   341
14aeb79aa992 Renamed command structure to datagram.
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   342
/*****************************************************************************/
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diff changeset
   343
809
ec4ef8911824 External domain memory.
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   344
/** Initializes an EtherCAT BRD datagram.
ec4ef8911824 External domain memory.
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   345
 *
815
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   346
 * \return 0 in case of success, else < 0
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   347
 */
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   348
int ec_datagram_brd(
002fe9ec778f Implemented missing datagram types.
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   349
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
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   350
        uint16_t mem_address, /**< Physical memory address. */
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   351
        size_t data_size /**< Number of bytes to read. */
002fe9ec778f Implemented missing datagram types.
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   352
        )
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
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parents:
diff changeset
   353
{
293
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   354
    EC_FUNC_HEADER;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
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diff changeset
   355
    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
   356
    EC_WRITE_U16(datagram->address, 0x0000);
815
002fe9ec778f Implemented missing datagram types.
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parents: 809
diff changeset
   357
    EC_WRITE_U16(datagram->address + 2, mem_address);
293
14aeb79aa992 Renamed command structure to datagram.
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parents: 246
diff changeset
   358
    EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram.
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parents: 246
diff changeset
   359
}
14aeb79aa992 Renamed command structure to datagram.
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parents: 246
diff changeset
   360
14aeb79aa992 Renamed command structure to datagram.
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diff changeset
   361
/*****************************************************************************/
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parents: 246
diff changeset
   362
809
ec4ef8911824 External domain memory.
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diff changeset
   363
/** Initializes an EtherCAT BWR datagram.
ec4ef8911824 External domain memory.
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parents: 758
diff changeset
   364
 *
815
002fe9ec778f Implemented missing datagram types.
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diff changeset
   365
 * \return 0 in case of success, else < 0
002fe9ec778f Implemented missing datagram types.
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diff changeset
   366
 */
002fe9ec778f Implemented missing datagram types.
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parents: 809
diff changeset
   367
int ec_datagram_bwr(
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
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diff changeset
   368
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
002fe9ec778f Implemented missing datagram types.
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parents: 809
diff changeset
   369
        uint16_t mem_address, /**< Physical memory address. */
002fe9ec778f Implemented missing datagram types.
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parents: 809
diff changeset
   370
        size_t data_size /**< Number of bytes to write. */
002fe9ec778f Implemented missing datagram types.
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diff changeset
   371
        )
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
{
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   373
    EC_FUNC_HEADER;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   374
    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
   375
    EC_WRITE_U16(datagram->address, 0x0000);
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   376
    EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   377
    EC_FUNC_FOOTER;
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
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   380
/*****************************************************************************/
002fe9ec778f Implemented missing datagram types.
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parents: 809
diff changeset
   381
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   382
/** Initializes an EtherCAT BRW datagram.
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   383
 *
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   384
 * \return 0 in case of success, else < 0
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   385
 */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   386
int ec_datagram_brw(
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   387
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   388
        uint16_t mem_address, /**< Physical memory address. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   389
        size_t data_size /**< Number of bytes to write. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   390
        )
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
    EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   393
    datagram->type = EC_DATAGRAM_BRW;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   394
    EC_WRITE_U16(datagram->address, 0x0000);
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   395
    EC_WRITE_U16(datagram->address + 2, mem_address);
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   396
    EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   397
}
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
/*****************************************************************************/
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   400
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   401
/** Initializes an EtherCAT LRD datagram.
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   402
 *
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   403
 * \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
   404
 *            bytes large.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   405
 *
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   406
 * \return 0 in case of success, else < 0
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   407
 */
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   408
int ec_datagram_lrd(
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   409
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   410
        uint32_t offset, /**< Logical address. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   411
        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
   412
        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
   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
    datagram->data = external_memory;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   416
    datagram->data_origin = EC_ORIG_EXTERNAL;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   417
    EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   418
    datagram->type = EC_DATAGRAM_LRD;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   419
    EC_WRITE_U32(datagram->address, offset);
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   420
    EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   421
}
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   422
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   423
/*****************************************************************************/
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   424
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   425
/** Initializes an EtherCAT LWR datagram.
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   426
 *
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   427
 * \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
   428
 *            bytes large.
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   429
 *
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   430
 * \return 0 in case of success, else < 0
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   431
 */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   432
int ec_datagram_lwr(
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   433
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   434
        uint32_t offset, /**< Logical address. */
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   435
        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
   436
        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
   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
    datagram->data = external_memory;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   440
    datagram->data_origin = EC_ORIG_EXTERNAL;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   441
    EC_FUNC_HEADER;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   442
    datagram->type = EC_DATAGRAM_LWR;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   443
    EC_WRITE_U32(datagram->address, offset);
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   444
    EC_FUNC_FOOTER;
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   445
}
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
/*****************************************************************************/
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   448
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   449
/** Initializes an EtherCAT LRW datagram.
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   450
 *
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   451
 * \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
   452
 *            bytes large.
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   453
 *
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   454
 * \return 0 in case of success, else < 0
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   455
 */
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   456
int ec_datagram_lrw(
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 809
diff changeset
   457
        ec_datagram_t *datagram, /**< EtherCAT datagram. */
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   458
        uint32_t offset, /**< Logical address. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   459
        size_t data_size, /**< Number of bytes to read/write. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   460
        uint8_t *external_memory /**< Pointer to the memory to use. */
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   461
        )
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   462
{
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   463
    datagram->data = external_memory;
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   464
    datagram->data_origin = EC_ORIG_EXTERNAL;
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 104
diff changeset
   465
    EC_FUNC_HEADER;
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
   466
    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
   467
    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
   468
    EC_FUNC_FOOTER;
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 514
diff changeset
   469
}
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 514
diff changeset
   470
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 514
diff changeset
   471
/*****************************************************************************/
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   472
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   473
/** Evaluates the working counter of a single-cast datagram.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   474
 *
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   475
 * Outputs an error message.
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   476
 */
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   477
void ec_datagram_print_wc_error(
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 719
diff changeset
   478
        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
   479
        )
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   480
{
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   481
    if (datagram->working_counter == 0)
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   482
        printk("No response.");
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   483
    else if (datagram->working_counter > 1)
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   484
        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
   485
    else
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   486
        printk("Success.");
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   487
    printk("\n");
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   488
}
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   489
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 708
diff changeset
   490
/*****************************************************************************/
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   491
809
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   492
/** Outputs datagram statistics at most every second.
ec4ef8911824 External domain memory.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   493
 */
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   494
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
   495
        ec_datagram_t *datagram
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   496
        )
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   497
{
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   498
    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
   499
        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
   500
    
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   501
        if (unlikely(datagram->skip_count)) {
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   502
            EC_WARN("Datagram %x (%s) was SKIPPED %u time%s.\n",
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   503
                    (unsigned int) datagram, datagram->name,
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   504
                    datagram->skip_count,
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   505
                    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
   506
            datagram->skip_count = 0;
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   507
        }
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   508
    }
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   509
}
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   510
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   511
/*****************************************************************************/
816
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   512
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   513
/** Returns a string describing the datagram type.
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   514
 */
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   515
const char *ec_datagram_type_string(
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   516
        const ec_datagram_t *datagram /**< EtherCAT datagram. */
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   517
        )
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   518
{
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   519
    return type_strings[datagram->type];
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   520
}
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   521
d02761e14eb0 Introduced ec_datagram_type_string().
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   522
/*****************************************************************************/