master/datagram.h
author Edouard Tisserant <edouard.tisserant@gmail.com>
Sat, 29 Sep 2018 23:58:09 +0200
branchstable-1.5
changeset 2714 ec417efca1fd
parent 2269 1d0711235a61
permissions -rw-r--r--
This fix a segfault in xenomai_posix example when calling pthread_setschedparam(cyclic_thread, ...) from main thread. As a side effect EL2004 becomes EL2088 - that's what IU have for testing.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT datagram structure.
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*/
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/*****************************************************************************/
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#ifndef __EC_DATAGRAM_H__
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#define __EC_DATAGRAM_H__
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#include <linux/list.h>
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#include <linux/time.h>
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#include <linux/timex.h>
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#include "globals.h"
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/*****************************************************************************/
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/** EtherCAT datagram type.
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 */
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typedef enum {
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    EC_DATAGRAM_NONE = 0x00, /**< Dummy. */
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    EC_DATAGRAM_APRD = 0x01, /**< Auto Increment Physical Read. */
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    EC_DATAGRAM_APWR = 0x02, /**< Auto Increment Physical Write. */
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    EC_DATAGRAM_APRW = 0x03, /**< Auto Increment Physical ReadWrite. */
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    EC_DATAGRAM_FPRD = 0x04, /**< Configured Address Physical Read. */
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    EC_DATAGRAM_FPWR = 0x05, /**< Configured Address Physical Write. */
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    EC_DATAGRAM_FPRW = 0x06, /**< Configured Address Physical ReadWrite. */
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    EC_DATAGRAM_BRD  = 0x07, /**< Broadcast Read. */
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    EC_DATAGRAM_BWR  = 0x08, /**< Broadcast Write. */
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    EC_DATAGRAM_BRW  = 0x09, /**< Broadcast ReadWrite. */
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    EC_DATAGRAM_LRD  = 0x0A, /**< Logical Read. */
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    EC_DATAGRAM_LWR  = 0x0B, /**< Logical Write. */
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    EC_DATAGRAM_LRW  = 0x0C, /**< Logical ReadWrite. */
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    EC_DATAGRAM_ARMW = 0x0D, /**< Auto Increment Physical Read Multiple
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                               Write.  */
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    EC_DATAGRAM_FRMW = 0x0E, /**< Configured Address Physical Read Multiple
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                               Write. */
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} ec_datagram_type_t;
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/*****************************************************************************/
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/** EtherCAT datagram state.
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 */
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typedef enum {
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    EC_DATAGRAM_INIT,      /**< Initial state of a new datagram. */
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    EC_DATAGRAM_QUEUED,    /**< Queued for sending. */
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    EC_DATAGRAM_SENT,      /**< Sent (still in the queue). */
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    EC_DATAGRAM_RECEIVED,  /**< Received (dequeued). */
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    EC_DATAGRAM_TIMED_OUT, /**< Timed out (dequeued). */
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    EC_DATAGRAM_ERROR      /**< Error while sending/receiving (dequeued). */
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} ec_datagram_state_t;
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/*****************************************************************************/
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/** EtherCAT datagram.
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 */
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typedef struct {
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    struct list_head queue; /**< Master datagram queue item. */
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    struct list_head sent; /**< Master list item for sent datagrams. */
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    ec_device_index_t device_index; /**< Device via which the datagram shall
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                                      be / was sent. */
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    ec_datagram_type_t type; /**< Datagram type (APRD, BWR, etc.). */
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    uint8_t address[EC_ADDR_LEN]; /**< Recipient address. */
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    uint8_t *data; /**< Datagram payload. */
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    ec_origin_t data_origin; /**< Origin of the \a data memory. */
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    size_t mem_size; /**< Datagram \a data memory size. */
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    size_t data_size; /**< Size of the data in \a data. */
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    uint8_t index; /**< Index (set by master). */
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    uint16_t working_counter; /**< Working counter. */
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    ec_datagram_state_t state; /**< State. */
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#ifdef EC_HAVE_CYCLES
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    cycles_t cycles_sent; /**< Time, when the datagram was sent. */
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#endif
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    unsigned long jiffies_sent; /**< Jiffies, when the datagram was sent. */
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#ifdef EC_HAVE_CYCLES
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    cycles_t cycles_received; /**< Time, when the datagram was received. */
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#endif
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    unsigned long jiffies_received; /**< Jiffies, when the datagram was
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                                      received. */
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    unsigned int skip_count; /**< Number of requeues when not yet received. */
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    unsigned long stats_output_jiffies; /**< Last statistics output. */
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    char name[EC_DATAGRAM_NAME_SIZE]; /**< Description of the datagram. */
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} ec_datagram_t;
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/*****************************************************************************/
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void ec_datagram_init(ec_datagram_t *);
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void ec_datagram_clear(ec_datagram_t *);
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void ec_datagram_unqueue(ec_datagram_t *);
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int ec_datagram_prealloc(ec_datagram_t *, size_t);
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void ec_datagram_zero(ec_datagram_t *);
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int ec_datagram_aprd(ec_datagram_t *, uint16_t, uint16_t, size_t);
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int ec_datagram_apwr(ec_datagram_t *, uint16_t, uint16_t, size_t);
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int ec_datagram_aprw(ec_datagram_t *, uint16_t, uint16_t, size_t);
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int ec_datagram_armw(ec_datagram_t *, uint16_t, uint16_t, size_t);
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int ec_datagram_fprd(ec_datagram_t *, uint16_t, uint16_t, size_t);
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int ec_datagram_fpwr(ec_datagram_t *, uint16_t, uint16_t, size_t);
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int ec_datagram_fprw(ec_datagram_t *, uint16_t, uint16_t, size_t);
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int ec_datagram_frmw(ec_datagram_t *, uint16_t, uint16_t, size_t);
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14aeb79aa992 Renamed command structure to datagram.
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int ec_datagram_brd(ec_datagram_t *, uint16_t, size_t);
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int ec_datagram_bwr(ec_datagram_t *, uint16_t, size_t);
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int ec_datagram_brw(ec_datagram_t *, uint16_t, size_t);
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1d0711235a61 Redundant outputs via datagram pairs.
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int ec_datagram_lrd(ec_datagram_t *, uint32_t, size_t);
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int ec_datagram_lwr(ec_datagram_t *, uint32_t, size_t);
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int ec_datagram_lrw(ec_datagram_t *, uint32_t, size_t);
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int ec_datagram_lrd_ext(ec_datagram_t *, uint32_t, size_t, uint8_t *);
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int ec_datagram_lwr_ext(ec_datagram_t *, uint32_t, size_t, uint8_t *);
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int ec_datagram_lrw_ext(ec_datagram_t *, uint32_t, size_t, uint8_t *);
98
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void ec_datagram_print_state(const ec_datagram_t *);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
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void ec_datagram_print_wc_error(const ec_datagram_t *);
816
d02761e14eb0 Introduced ec_datagram_type_string().
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void ec_datagram_output_stats(ec_datagram_t *);
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const char *ec_datagram_type_string(const ec_datagram_t *);
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/*****************************************************************************/
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#endif