etherlabmaster: master/datagram.c@ec4ef8911824 (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	*
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	* and/or modify it under the terms of the GNU General Public License
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 237 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 237 diff changeset	12	* License, or (at your option) any later version.
197 b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	* GNU General Public License for more details.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	*
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* You should have received a copy of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
b9a6e2c22745 GPLv2 License and enhanced Doxygen output. Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	* 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	22	*
246 0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 237 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 237 diff changeset	24	* charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 237 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 237 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 237 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 237 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 237 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 237 diff changeset	30	* Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice. Florian Pose <fp@igh-essen.com> parents: 237 diff changeset	31	*
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	33
199 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	\file
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	36	Methods of an EtherCAT datagram.
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	37	*/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	38
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	39	/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	40
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include <linux/slab.h>
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	42
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	43	#include "datagram.h"
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	44	#include "master.h"
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	45
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	46	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	47
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	48	/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	49
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	50	#define EC_FUNC_HEADER \
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	51	if (unlikely(ec_datagram_prealloc(datagram, data_size))) \
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	52	return -1; \
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	53	datagram->index = 0; \
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	54	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	55	datagram->state = EC_DATAGRAM_INIT;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	56
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	57	#define EC_FUNC_FOOTER \
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	58	datagram->data_size = data_size; \
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	59	memset(datagram->data, 0x00, data_size); \
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	60	return 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	61
199 04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	62	/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation. Florian Pose <fp@igh-essen.com> parents: 197 diff changeset	63
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	64	/*****************************************************************************/
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	65
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	66	/** Constructor.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	67	*/
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	68	void ec_datagram_init(ec_datagram_t datagram /< EtherCAT datagram /)
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	69	{
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 398 diff changeset	70	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	71	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	72	memset(datagram->address, 0x00, EC_ADDR_LEN);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	73	datagram->data = NULL;
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	74	datagram->data_origin = EC_ORIG_INTERNAL;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	75	datagram->mem_size = 0;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	76	datagram->data_size = 0;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	77	datagram->index = 0x00;
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	78	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	79	datagram->state = EC_DATAGRAM_INIT;
344 5d8281f1aa2a Replaced longer cycle timestamps with jiffies. Florian Pose <fp@igh-essen.com> parents: 325 diff changeset	80	datagram->cycles_sent = 0;
398 ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	81	datagram->jiffies_sent = 0;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	82	datagram->cycles_received = 0;
ff37601361a8 Fixed serveral races while starting up under high CPU load. Florian Pose <fp@igh-essen.com> parents: 397 diff changeset	83	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	84	datagram->skip_count = 0;
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	85	datagram->stats_output_jiffies = 0;
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	86	memset(datagram->name, 0x00, EC_DATAGRAM_NAME_SIZE);
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	87	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	88
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	89	/*****************************************************************************/
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	90
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	91	/** Destructor.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	92	*/
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	93	void ec_datagram_clear(ec_datagram_t datagram /< EtherCAT datagram /)
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	94	{
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	95	if (datagram->data_origin == EC_ORIG_INTERNAL && datagram->data)
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	96	kfree(datagram->data);
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	97	}
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	98
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	99	/*****************************************************************************/
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	100
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	101	/** Allocates internal payload memory.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	102	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	103	* 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	104	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	105	* \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	106	* is done!
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	107	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	108	* \return 0 in case of success, else < 0
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	109	*/
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	110	int ec_datagram_prealloc(ec_datagram_t datagram, /< EtherCAT datagram /
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	111	size_t size /*< New size in bytes /
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	if (datagram->data_origin == EC_ORIG_EXTERNAL
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	115	\|\| size <= datagram->mem_size)
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	116	return 0;
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	117
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	118	if (datagram->data) {
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	119	kfree(datagram->data);
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	120	datagram->data = NULL;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	121	datagram->mem_size = 0;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	122	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	123
514 3e5989834735 Datagram preallocation with ATOMIC flag, because it is calles in timer context. Florian Pose <fp@igh-essen.com> parents: 511 diff changeset	124	if (!(datagram->data = kmalloc(size, GFP_ATOMIC))) {
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	125	EC_ERR("Failed to allocate %i bytes of datagram memory!\n", size);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	126	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	127	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	128
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	129	datagram->mem_size = size;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	130	return 0;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	131	}
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	132
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	133	/*****************************************************************************/
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	134
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	135	/** Initializes an EtherCAT NPRD datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	136	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	137	* Node-adressed physical read.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	138	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	139	* \return 0 in case of success, else < 0
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	140	*/
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	141	int ec_datagram_nprd(ec_datagram_t *datagram,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	142	/*< EtherCAT datagram /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	143	uint16_t node_address,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	144	/*< configured station address /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	145	uint16_t offset,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	146	/*< physical memory address /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	147	size_t data_size
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	148	/*< number of bytes to read /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	149	)
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	150	{
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	151	if (unlikely(node_address == 0x0000))
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	152	EC_WARN("Using node address 0x0000!\n");
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	153
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	154	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	155	datagram->type = EC_DATAGRAM_NPRD;
708 90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	156	EC_WRITE_U16(datagram->address, node_address);
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	157	EC_WRITE_U16(datagram->address + 2, offset);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	158	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	159	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	160
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	161	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	162
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	163	/** Initializes an EtherCAT NPWR datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	164	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	165	* Node-adressed physical write.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	166	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	167	* \return 0 in case of success, else < 0
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	168	*/
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	169	int ec_datagram_npwr(ec_datagram_t *datagram,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	170	/*< EtherCAT datagram /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	171	uint16_t node_address,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	172	/*< configured station address /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	173	uint16_t offset,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	174	/*< physical memory address /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	175	size_t data_size
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	176	/*< number of bytes to write /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	177	)
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	178	{
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	179	if (unlikely(node_address == 0x0000))
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	180	EC_WARN("Using node address 0x0000!\n");
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	181
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	182	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	183	datagram->type = EC_DATAGRAM_NPWR;
708 90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	184	EC_WRITE_U16(datagram->address, node_address);
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	185	EC_WRITE_U16(datagram->address + 2, offset);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	186	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	187	}
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
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	191	/** Initializes an EtherCAT APRD datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	192	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	193	* Autoincrement physical read.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	194	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	195	* \return 0 in case of success, else < 0
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	196	*/
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	197	int ec_datagram_aprd(ec_datagram_t *datagram,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	198	/*< EtherCAT datagram /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	199	uint16_t ring_position,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	200	/*< auto-increment position /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	201	uint16_t offset,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	202	/*< physical memory address /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	203	size_t data_size
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	204	/*< number of bytes to read /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	205	)
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	206	{
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	207	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	208	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	209	EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	210	EC_WRITE_U16(datagram->address + 2, offset);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	211	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	212	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	213
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	214	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	215
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	216	/** Initializes an EtherCAT APWR datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	217	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	218	* Autoincrement physical write.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	219	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	220	* \return 0 in case of success, else < 0
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	221	*/
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	222	int ec_datagram_apwr(ec_datagram_t *datagram,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	223	/*< EtherCAT datagram /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	224	uint16_t ring_position,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	225	/*< auto-increment position /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	226	uint16_t offset,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	227	/*< physical memory address /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	228	size_t data_size
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	229	/*< number of bytes to write /
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	230	)
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	231	{
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	232	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	233	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	234	EC_WRITE_S16(datagram->address, (int16_t) ring_position * (-1));
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	235	EC_WRITE_U16(datagram->address + 2, offset);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	236	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	237	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	238
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	239	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	240
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	241	/** Initializes an EtherCAT BRD datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	242	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	243	* Broadcast read.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	244	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	245	* \return 0 in case of success, else < 0
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	246	*/
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	247	int ec_datagram_brd(ec_datagram_t *datagram,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	248	/*< EtherCAT datagram /
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	249	uint16_t offset,
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	250	/*< physical memory address /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	251	size_t data_size
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	252	/*< number of bytes to read /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	253	)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	254	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	255	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	256	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	257	EC_WRITE_U16(datagram->address, 0x0000);
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	258	EC_WRITE_U16(datagram->address + 2, offset);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	259	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	260	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	261
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	262	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	263
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	264	/** Initializes an EtherCAT BWR datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	265	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	266	* Broadcast write.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	267	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	268	* \return 0 in case of success, else < 0
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	269	*/
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	270	int ec_datagram_bwr(ec_datagram_t *datagram,
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	271	/*< EtherCAT datagram /
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	272	uint16_t offset,
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	273	/*< physical memory address /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	274	size_t data_size
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	275	/*< number of bytes to write /
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	276	)
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: diff changeset	277	{
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	278	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	279	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	280	EC_WRITE_U16(datagram->address, 0x0000);
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	281	EC_WRITE_U16(datagram->address + 2, offset);
293 14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	282	EC_FUNC_FOOTER;
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	283	}
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	284
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	285	/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram. Florian Pose <fp@igh-essen.com> parents: 246 diff changeset	286
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	287	/** Initializes an EtherCAT LRW datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	288	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	289	* Logical read write.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	290	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	291	* \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	292	* bytes large.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	293	*
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	294	* \return 0 in case of success, else < 0
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	295	*/
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	296	int ec_datagram_lrw(
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	297	ec_datagram_t datagram, /< EtherCAT datagram /
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	298	uint32_t offset, /*< Logical address. /
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	299	size_t data_size, /*< Number of bytes to read/write. /
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	300	uint8_t external_memory /< Pointer to the memory to use. /
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	301	)
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	302	{
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	303	datagram->data = external_memory;
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	304	datagram->data_origin = EC_ORIG_EXTERNAL;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	305	EC_FUNC_HEADER;
325 7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines. Florian Pose <fp@igh-essen.com> parents: 293 diff changeset	306	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	307	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	308	EC_FUNC_FOOTER;
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	309	}
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	310
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves Florian Pose <fp@igh-essen.com> parents: 514 diff changeset	311	/*****************************************************************************/
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	312
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	313	/** Evaluates the working counter of a single-cast datagram.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	314	*
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	315	* Outputs an error message.
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	316	*/
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	317	void ec_datagram_print_wc_error(
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 719 diff changeset	318	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	319	)
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	320	{
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	321	if (datagram->working_counter == 0)
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	322	printk("No response.");
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	323	else if (datagram->working_counter > 1)
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	324	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	325	else
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	326	printk("Success.");
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	327	printk("\n");
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	328	}
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	329
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 708 diff changeset	330	/*****************************************************************************/
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	331
809 ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	332	/** Outputs datagram statistics at most every second.
ec4ef8911824 External domain memory. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	333	*/
719 03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	334	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	335	ec_datagram_t *datagram
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	336	)
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	337	{
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	338	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	339	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	340
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	341	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	342	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	343	(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	344	datagram->skip_count,
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	345	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	346	datagram->skip_count = 0;
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	347	}
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	348	}
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	349	}
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	350
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	351	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Thu, 21 Feb 2008 15:49:02 +0000
changeset 809	ec4ef8911824
parent 758	8fa6f825eb7d
child 815	002fe9ec778f
permissions	-rw-r--r--